Adaptive exoskeleton hand rehabilitation robot with adjustable joint length

Abstract

The invention relates to the technical field of hand rehabilitation training, and discloses an adaptive joint-length-adjustable exoskeleton hand rehabilitation robot which comprises a base, a connecting block is fixedly connected to the front face of the base, finger bodies are movably installed on the front face of the connecting block, a thumb body is arranged on the side face of the connecting block, and a first joint is movably installed on one side face of the connecting block. And a second joint is movably mounted on one side surface of the first joint. According to the auxiliary device for hand rehabilitation training, the whole finger is fixed to the side face of the finger body through the hook-and-loop fasteners, the whole finger body is conveniently fixed to the hand, a patient can be connected to a steering engine through a main control panel, the connecting end of the steering engine is connected with a rigid rope, the rigid rope penetrates through a first joint, a second joint and a third joint, and the steering engine starts, controls and pulls the rigid rope; and a hinge block can be continuously driven to be hinged to the outer surface of a fixed block, so that the rotation directions of a first joint, a second joint and a third joint are pulled, and continuous rehabilitation training of the finger body is achieved.

Description

Technical Field

[0001] The invention relates to the fields of mechanics, hand robots and hand rehabilitation training technology, and in particular to an exoskeleton hand rehabilitation robot with adaptive joint lengths that can be adjusted. Background Art

[0002] After the fingers, palms, or arms are injured, or when patients have hand dysfunction similar to that of a stroke, hand function rehabilitation training is generally required in the later stages of treatment. Hand function rehabilitation training is generally conducted under the guidance of a rehabilitation therapist, and the patient's fingers are restored to motor function through the force exerted by the fingers.

[0003] According to a hand function rehabilitation training device mentioned in the invention of Chinese patent application No. 202310522771.6, the hand function rehabilitation training device can provide good exercise and rehabilitation exercise needs for the patient's hands when used; and the setting of the main line and finger sleeve can strengthen the connection tightness of the patient's hands and assist in massaging the patient's fingers during exercise, thereby improving the rehabilitation effect. However, the hand function rehabilitation training device cannot adjust the three joints of each finger when in use to better adapt to the palms of different patients. Flexible bending of the finger joints of the hand is more important for the patient's rehabilitation training, thereby improving the flexibility of the patient's hand finger joints. Therefore, it is necessary to propose an exoskeleton hand rehabilitation robot with adaptive joint length adjustment to solve the above-mentioned problems. Summary of the invention

[0004] In order to solve the above technical problems, the present invention proposes an exoskeleton hand rehabilitation robot with adaptive joint length adjustment, which has the advantages of being able to perform bending rehabilitation training on the hand and finger joints, and solves the problem that the existing assistive device cannot adjust the joint length of each finger.

[0005] To achieve the above object, the technical solution adopted by the present invention is: An exoskeleton hand rehabilitation robot with adjustable joint length, characterized in that it comprises a base, a finger body, a steering gear and a main control board, wherein a connecting block is fixedly connected to the front of the base, the finger body is mounted on the connecting block, the steering gear is mounted on the upper end surface of the base, and the steering gear is connected to the main control board. The finger body includes a finger body and a thumb body, and the finger body includes a first joint, a second joint and a third joint. The first joint is movably installed on a side surface of the connecting block, a second joint is movably installed on one side surface of the first joint, and a third joint is movably installed on one side surface of the second joint. A connecting component is movably installed between the first joint, the second joint and the third joint, and an adjusting component is installed inside the first joint, the second joint and the third joint. A rigid rope runs through the first joint, the second joint and the third joint, and the end of the rigid rope is connected to the steering gear. It also includes a connecting seat, and the thumb body is movably mounted on one side of the base through the connecting seat. The connecting assembly comprises a fixed block, a fixed block is fixedly installed on one side of the connecting block, a hinge block is fixedly installed on one side of the first joint, the hinge block is hingedly installed on the outside of the fixed block, a connecting shaft is inserted inside the fixed block and the hinge block, and a torsion spring is movably installed on the outside of the connecting shaft. The adjustment component includes a plug-in block, the first joint, the second joint and the third joint are all plugged with the plug-in blocks, a first socket is opened on the side of the plug-in block, the first joint, the second joint and the third joint are externally provided with second sockets, and the first socket and the second socket are both internally plugged with limit rods.

[0006] As a preferred technical solution of the present invention: a fixing plate is fixedly installed on one side of the base, a hinged rod is movably installed inside the fixing plate, the connecting seat is hinged on the hinged rod, a connecting piece is movably installed on one side of the connecting seat, and the thumb body is fixedly installed on one end of the connecting piece.

[0007] As a preferred technical solution of the present invention: the connecting member includes a connecting column and a connecting disk, the end face of the connecting disk is fixed on the connecting seat, one end of the connecting column is fixed on the connecting disk, and one side surface of the thumb body is fixedly connected to the other end of the connecting column.

[0008] As a preferred technical solution of the present invention: it also includes Velcro, and the first joint, the second joint, the third joint and the outside of the thumb body are respectively covered with Velcro.

[0009] As a preferred technical solution of the present invention: a mounting hole is opened on the top of the base, a protective frame is installed on the top of the mounting hole, and the steering gear is fixedly installed inside the protective frame.

[0010] As a preferred technical solution of the present invention: through holes are respectively opened at the bottom of the first joint, the second joint and the third joint, and the rigid rope passes through the through holes to connect the first joint, the second joint and the third joint.

[0011] As a preferred technical solution of the present invention: it also includes a connecting wire, one end of which is connected to a side of the steering gear, and the other end is connected to the main control board.

[0012] As a preferred technical solution of the present invention: four fingers are provided, each of which is provided with a first joint, a second joint and a third joint, and one thumb body is provided.

[0013] In the above structure: the present invention proposes an adaptive exoskeleton hand rehabilitation robot with adjustable joint length, which includes a base, a finger body, a servo and a main control board. The front of the base is fixedly connected with a connecting block, the finger body is installed on the connecting block, the servo is installed on the upper end surface of the base, and the servo is connected to the main control board, wherein the finger body includes a finger body and a thumb body, the finger body is used to train the patient's four fingers, and the thumb body is used to train the patient's thumb.

[0014] Among them, the finger body includes a first joint, a second joint and a third joint. The first joint is movably installed on one side surface of the connecting block, the second joint is movably installed on one side surface of the first joint, and the third joint is movably installed on one side surface of the second joint. Connecting components are movably installed between the first joint, the second joint and the third joint, and adjustment components are installed inside the first joint, the second joint and the third joint. A rigid rope runs through the first joint, the second joint and the third joint.

[0015] During use, the patient can be connected to the servo through the main control panel, and a rigid rope is connected to the connection end of the servo, which runs through the first joint, the second joint and the third joint, and the end of the rigid rope is connected to the servo. When the servo is started, the servo controls the pulling of the rigid rope, and the pulling of the servo can control the rotation time and the rotation direction and inclination angle of the rigid rope, thereby continuously driving the hinge block to be hinged on the outer surface of the fixed block, thereby pulling the rotation direction of the first joint, the second joint and the third joint, and realizing continuous rehabilitation training of the finger body, solving the problem that the existing auxiliary device cannot exercise the three joints of each finger.

[0016] The thumb body is movably connected to the base through the connecting seat. When the thumb body rotates, the connecting column is connected and rotated in the connecting disk, so that the thumb body can realize more free rotation.

[0017] The connecting seat is installed on the fixing plate through a hinge rod and is integrated with the base. The connecting seat is movably rotated in the connecting fixing plate through the hinge rod. At this time, the thumb body can rotate left and right, so that the thumb body can be trained accordingly.

[0018] Compared with the prior art, the present invention has the following beneficial effects: 1. When the present invention is in use, Velcro is sleeved on the outside of the first joint, the second joint and the third joint, and the finger is sleeved between the Velcro to fix the finger as a whole on the side of the finger body, so that the finger body as a whole is conveniently fixed on the hand, and the patient can control the steering gear through the main control panel. When the steering gear is started, the control of the steering gear pulls the rigid rope, and can continuously drive the hinge block to be hinged on the outer surface of the fixed block, so as to realize the pulling of the rotation direction of the first joint, the second joint and the third joint, and realize continuous rehabilitation training of the finger body, which effectively solves the problem that the existing auxiliary device cannot exercise the three joints of each finger.

[0019] 2. The present invention achieves joint length adjustment by setting a plug-in block. For example, when it is necessary to adjust the length of the second joint, the plug-in block is pulled outward to a suitable position to extend the length of the second joint, and the limit rod is inserted from the second socket to the inside of the first socket, and the removed plug-in block is fixed, so that the length of the joint becomes longer or shorter, and the joint can be adaptively adjusted to patients with different joint lengths, thereby improving the applicable use range of the finger body.

[0020] 3. The connecting piece in the present invention is arranged between the thumb joint and the connecting seat. When the thumb rotates, the connecting column is connected and rotated in the connecting plate, and the thumb can achieve more free rotation; the connecting seat is installed on the fixed plate through a hinge rod and is integrated with the base. The connecting seat is movably rotated in the connecting fixed plate through the hinge rod. At this time, the thumb can rotate left and right, thereby obtaining relevant training for the thumb. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural stereogram of the present invention; Figure 2 For the present invention Figure 1 A magnified view of the structure at center; Figure 3 It is a three-dimensional diagram of the finger structure in the present invention; Figure 4 It is a back perspective view of the present invention; Figure 5 It is a front perspective view of the present invention.

[0022] List of reference numerals: 1. Base; 2. Connecting block; 3. Finger body; 4. Connecting assembly; 401. Fixed block; 402. Articulated block; 403. Connecting shaft; 404. Torsion spring; 5. First joint; 6. Second joint; 7. Third joint; 8. Velcro; 9. Protective frame; 10. Servo; 11. Connecting wire; 12. Main control board; 13. Connecting seat; 14. Connecting piece; 141. Connecting plate; 142. Connecting column; 15. Thumb body; 16. Through hole; 17. Rigid rope; 18. Mounting hole; 19. Adjusting assembly; 191. Plug-in block; 192. First socket; 193. Limiting rod; 194. Second socket; 20. Fixed plate; 21. Articulated rod. DETAILED DESCRIPTION

[0023] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments: like Figure 1-5 As shown, the present invention proposes an exoskeleton hand rehabilitation robot with adaptive joint length adjustment, comprising a base 1, a finger body, a steering gear 10 and a main control board 12, wherein the front of the base 1 is fixedly connected with a connecting block 2, the finger body is mounted on the connecting block 2, the steering gear 10 is mounted on the upper end surface of the base 1, and the steering gear 10 is connected to the main control board 12. The finger body includes a finger body 3 and a thumb body 15, the finger body 3 includes a first joint 5, a second joint 6 and a third joint 7, the first joint 5 is movably installed on one side of the connecting block 2, the second joint 6 is movably installed on one side of the first joint 5, the third joint 7 is movably installed on one side of the second joint 6, a connecting component 4 is movably installed between the first joint 5, the second joint 6 and the third joint 7, an adjusting component 19 is installed inside the first joint 5, the second joint 6 and the third joint 7, a rigid rope 17 runs through the first joint 5, the second joint 6 and the third joint 7, and the end of the rigid rope 17 is connected to the steering gear 10, It also includes a connecting seat 13, and the thumb body 15 is movably mounted on a side surface of the base 1 through the connecting seat 13. The connecting assembly 4 includes a fixed block 401, a fixed block 401 is fixedly installed on one side of the connecting block 2, a hinge block 402 is fixedly installed on one side of the first joint 5, the hinge block 402 is hingedly installed on the outside of the fixed block 401, a connecting shaft 403 is inserted inside the fixed block 401 and the hinge block 402, and a torsion spring 404 is movably installed on the outside of the connecting shaft 403. The adjustment component 19 includes a plug-in block 191, and the plug-in blocks 191 are all plugged into the inside of the first joint 5, the second joint 6 and the third joint 7. A first plug hole 192 is opened on the side of the plug-in block 191, and a second plug hole 194 is opened outside the first joint 5, the second joint 6 and the third joint 7. Limit rods 193 are inserted into the inside of the first plug hole 192 and the second plug hole 194.

[0024] A fixing plate 20 is fixedly installed on one side of the base 1, and a hinge rod 21 is movably installed inside the fixing plate 20. The connecting seat 13 is hinged on the hinge rod 21. A connecting member 14 is movably installed on one side of the connecting seat 13, and the thumb body 15 is fixedly installed on one end of the connecting member 14. The connecting member 14 includes a connecting column 142 and a connecting disk 141. The end surface of the connecting disk 141 is fixed on the connecting seat 13, one end of the connecting column 142 is fixed on the connecting disk 141, and one side of the thumb body 15 is fixedly connected to the other end of the connecting column 142. Velcro 8 is also included, and Velcro 8 is respectively sleeved on the outside of the first joint 5, the second joint 6, the third joint 7 and the thumb body 15. A mounting hole 18 is opened on the top of the base 1, and a protective frame 9 is installed on the top of the mounting hole 18. The servo 10 is fixedly installed inside the protective frame 9. The bottoms of the first joint 5, the second joint 6 and the third joint 7 are respectively provided with through holes 16, and the rigid rope 17 passes through the through holes 16 to connect the first joint 5, the second joint 6 and the third joint 7. A connecting wire 11 is also included, one end of which is connected to a side of the steering gear 10, and the other end is connected to the main control board 12. Four finger bodies 3 are provided, each of which is equipped with the first joint 5, the second joint 6 and the third joint 7, and one thumb body 15 is provided.

[0025] The present invention proposes an exoskeleton hand rehabilitation robot with an adaptive joint length that includes a base 1, a finger body, a servo 10, and a main control board 12. The front of the base 1 is fixedly connected to a connecting block 2, the finger body is mounted on the connecting block 2, the servo 10 is mounted on the upper end surface of the base 1, and the servo 10 is connected to the main control board 12. The finger body includes a finger body 3 and a thumb body 15. The finger body 3 is used to train the patient's four fingers, and the thumb body 15 is used to train the patient's thumb.

[0026] Among them, the finger body 3 includes a first joint 5, a second joint 6 and a third joint 7. The first joint 5 is movably installed on one side surface of the connecting block 2, the second joint 6 is movably installed on one side surface of the first joint 5, and the third joint 7 is movably installed on one side surface of the second joint 6. A connecting component 4 is movably installed between the first joint 5, the second joint 6 and the third joint 7. An adjustment component 19 is installed inside the first joint 5, the second joint 6 and the third joint 7. A rigid rope 17 runs through the first joint 5, the second joint 6 and the third joint 7.

[0027] During use, the patient can be connected to the servo 10 through the main control panel 12. A rigid rope 17 is connected to the connection end of the servo 10. The rigid rope 17 passes through the first joint 5, the second joint 6 and the third joint 7. The end of the rigid rope 17 is connected to the servo 10. When the servo 10 is started, the servo 10 controls the rigid rope 17 to pull the rigid rope 17. The servo 10 can control the rotation time and the rotation direction and inclination angle of the rigid rope 17, thereby continuously driving the hinge block 402 to be hinged on the outer surface of the fixed block 401, thereby pulling the rotation direction of the first joint 5, the second joint 6 and the third joint 7, and realizing continuous rehabilitation training of the finger body 3, which solves the problem that the existing auxiliary device cannot exercise the three joints of each finger.

[0028] The thumb body 15 is movably connected to the base 1 through the connecting seat 13. When the thumb body 15 rotates, the connecting column 142 is connected and rotated in the connecting disk 141, so that the thumb body 15 can achieve more free rotation.

[0029] The connecting seat 13 is installed on the fixing plate 20 through the hinge rod 21 and is integrated with the base 1. The connecting seat 13 is movably rotated in the connecting fixing plate 20 through the hinge rod 21. At this time, the thumb body 15 can rotate left and right, so that the thumb body 15 can be trained accordingly.

[0030] To sum up, the present invention is provided with a connecting component 4. When in use, Velcro 8 is sleeved on the outside of the first joint 5, the second joint 6 and the third joint 7, and the fingers are sleeved between the Velcro 8 to fix the fingers as a whole on the side of the finger body 3, so that the finger body 3 can be fixed as a whole on the hand. The patient can be connected to the steering engine 10 through the main control board 12. The connection end of the steering engine 10 is connected with a rigid rope 17, which passes through the first joint 5, the second joint 6 and the third joint 7. The end of the rigid rope 17 is connected to the steering engine 10. When the steering engine 10 is started, the control of the steering engine 10 pulls the rigid rope 17, and can continuously drive the hinge block 402 to be hinged on the outer surface of the fixed block 401, thereby realizing the pulling of the rotation direction of the first joint 5, the second joint 6 and the third joint 7, realizing continuous rehabilitation training of the finger body 3, and solving the problem that the existing auxiliary device cannot exercise the three joints of each finger.

[0031] In addition, by providing the adjustment component 19, when in use, the plug-in block 191 is inserted into the interior of the second joint 6, and the limiting rod 193 is inserted into the interior of the first hole 192 by passing through the second hole 194. When it is necessary to adjust the length of the second joint 6, the plug-in block 191 is pulled outward to a suitable position to extend the length of the second joint 6, and the limiting rod 193 is inserted from the second hole 194 to the interior of the first hole 192, and the removed plug-in block 191 is fixed, so that the length of the joint becomes longer or shorter, so that it can adapt to patients with different joint lengths, thereby improving the applicable use range of the finger body 3.

[0032] In addition, by setting a connecting piece 14, the connecting piece 14 is set between the thumb joint and the connecting seat 13. When the thumb rotates, the connecting column 142 is connected and rotated in the connecting plate 141, and the thumb can achieve more free rotation; the connecting seat 13 is installed on the fixed plate 20 through the hinge rod 21 and is integrated with the base 1. The connecting seat 13 is movably rotated in the connecting fixed plate 20 through the hinge rod 21. At this time, the thumb can rotate left and right, so as to obtain relevant training for the thumb.

[0033] The above description is only a preferred embodiment of the present invention and does not constitute any other form of limitation to the present invention. Any modification or equivalent change made based on the technical essence of the present invention still falls within the scope of protection required by the present invention.

Claims

1. An exoskeleton hand rehabilitation robot with adjustable joint length, characterized in that: The invention comprises a base (1), a finger body, a steering gear (10) and a main control board (12); the front side of the base (1) is fixedly connected to a connecting block (2); the finger body is mounted on the connecting block (2); the steering gear (10) is mounted on the upper end surface of the base (1); and the steering gear (10) is connected to the main control board (12). The finger body comprises a finger body (3) and a thumb body (15); the finger body (3) comprises a first joint (5), a second joint (6) and a third joint (7); the first joint (5) is movably mounted on a side surface of the connecting block (2); the second joint (6) is movably mounted on one side surface of the first joint (5); the third joint (7) is movably mounted on one side surface of the second joint (6); a connecting component (4) is movably mounted between the first joint (5), the second joint (6) and the third joint (7); an adjusting component (19) is mounted inside the first joint (5), the second joint (6) and the third joint (7); a rigid rope (17) runs through the first joint (5), the second joint (6) and the third joint (7); an end of the rigid rope (17) is connected to a steering gear (10); It also includes a connecting seat (13), and the thumb body (15) is movably mounted on a side surface of the base (1) through the connecting seat (13). The connecting assembly (4) comprises a fixed block (401), a fixed block (401) is fixedly mounted on one side of the connecting block (2), a hinge block (402) is fixedly mounted on one side of the first joint (5), the hinge block (402) is hingedly mounted on the outside of the fixed block (401), a connecting shaft (403) is inserted into the inside of the fixed block (401) and the hinge block (402), and a torsion spring (404) is movably mounted on the outside of the connecting shaft (403), The adjustment component (19) comprises a plug-in block (191), the first joint (5), the second joint (6) and the third joint (7) are all plugged with the plug-in block (191), a first plug hole (192) is provided on the side of the plug-in block (191), the first joint (5), the second joint (6) and the third joint (7) are externally provided with a second plug hole (194), and the first plug hole (192) and the second plug hole (194) are both internally plugged with a limiting rod (193).

2. The exoskeleton hand rehabilitation robot with adjustable joint length according to claim 1, characterized in that: A fixing plate (20) is fixedly mounted on one side of the base (1), a hinge rod (21) is movably mounted inside the fixing plate (20), the connecting seat (13) is hinged on the hinge rod (21), a connecting piece (14) is movably mounted on one side of the connecting seat (13), and the thumb body (15) is fixedly mounted on one end of the connecting piece (14).

3. The exoskeleton hand rehabilitation robot with adjustable joint length according to claim 2, characterized in that: The connecting member (14) comprises a connecting column (142) and a connecting disk (141), the end surface of the connecting disk (141) is fixed on the connecting seat (13), one end of the connecting column (142) is fixed on the connecting disk (141), and one side surface of the thumb body (15) is fixedly connected to the other end of the connecting column (142).

4. The exoskeleton hand rehabilitation robot with adjustable joint length according to claim 1, characterized in that: It also comprises a Velcro (8), and the first joint (5), the second joint (6), the third joint (7) and the outside of the thumb body (15) are respectively sleeved with the Velcro (8).

5. The exoskeleton hand rehabilitation robot with adjustable joint length according to claim 1, characterized in that: The top of the base (1) is provided with a mounting hole (18), the top of the mounting hole (18) is provided with a protection frame (9), and the steering gear (10) is fixedly mounted inside the protection frame (9).

6. The exoskeleton hand rehabilitation robot with adjustable joint length according to claim 1, characterized in that: The bottoms of the first joint (5), the second joint (6) and the third joint (7) are respectively provided with through holes (16), and the rigid rope (17) passes through the through holes (16) to connect the first joint (5), the second joint (6) and the third joint (7).

7. The exoskeleton hand rehabilitation robot with adaptive joint length adjustment according to claim 1, characterized in that: It also comprises a connecting wire (11), one end of which is connected to a side surface of the steering gear (10), and the other end of which is connected to a main control board (12).

8. The exoskeleton hand rehabilitation robot with adjustable joint length according to claim 1, characterized in that: Four finger bodies (3) are provided, each finger body (3) is provided with a first joint (5), a second joint (6) and a third joint (7), and one thumb body (15) is provided.

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