Auxiliary exercise rehabilitation mechanical glove

Abstract

The invention is suitable for the technical field of auxiliary exercise machinery, and provides an auxiliary exercise rehabilitation mechanical glove which comprises a mechanical hand back, five special-shaped notches are formed in the front end of the mechanical hand back, and connecting pieces are arranged at the five special-shaped notches respectively; the number of the driving devices is five, and the driving devices are installed on the manipulator back in the finger direction and connected with the connecting pieces; the thumb knuckle sleeve is arranged in the thumb direction and connected with the driving device through a connecting piece, and the thumb knuckle sleeve is of a one-section structure; the index finger knuckle sleeve, the middle finger knuckle sleeve, the ring finger knuckle sleeve and the little finger knuckle sleeve are respectively arranged in the directions of other four fingers and are connected with the driving device through connecting pieces, and the index finger knuckle sleeve, the middle finger knuckle sleeve, the ring finger knuckle sleeve and the little finger knuckle sleeve are of two-section structures. Linkage of a plurality of fingers can be achieved, and a more convenient and cheaper recovery choice is provided for a patient with hand dysfunction.

Description

Technical Field

[0001] The present invention belongs to the technical field of auxiliary exercise machinery, and particularly relates to an auxiliary exercise rehabilitation mechanical glove. Background Art

[0002] Stroke is an acute cerebrovascular disease. Even after medical treatment, about 70% of patients still face varying degrees of motor dysfunction, especially severe muscle weakness in the upper limbs and hands. Currently, the rehabilitation treatment for patients with upper limb motor dysfunction mainly relies on therapists for massage and upper limb rehabilitation exercise equipment. The former method, although comprehensive in treatment, consumes medical human resource costs and has a relatively high recovery cost; the latter method is simple and efficient but mainly focuses on the rehabilitation of the arm and still has great deficiencies in finger rehabilitation.

[0003] The hand is a precise and flexible organ that can perform actions ranging from delicate and complex to strong and powerful. Hand dysfunction and partial loss will seriously affect the patient's daily life and reduce the sense of happiness in life. Therefore, it is very necessary to develop a rehabilitation mechanical glove that can help patients with hand movement disorders gradually recover to normal. Summary of the Invention

[0004] The purpose of the embodiment of the present invention is to provide an auxiliary exercise rehabilitation mechanical glove, aiming to solve the problems raised in the above background art.

[0005] The embodiment of the present invention is implemented as follows. An auxiliary exercise rehabilitation mechanical glove includes:

[0006] The back of the mechanical hand, at the front end of which there are five special-shaped notches, each provided with a connecting member;

[0007] A driving device, there are five driving devices, which are respectively installed on the back of the mechanical hand in the finger direction and are connected to the connecting members;

[0008] The thumb phalanx sleeve, arranged in the thumb direction, is connected to the driving device through a connecting member, and the thumb phalanx sleeve is a one-piece structure;

[0009] The index finger phalanx sleeve, middle finger phalanx sleeve, ring finger phalanx sleeve, and little finger phalanx sleeve are respectively arranged in the directions of the other four fingers and are connected to the driving device through connecting members. The index finger phalanx sleeve, middle finger phalanx sleeve, ring finger phalanx sleeve, and little finger phalanx sleeve are two-piece structures;

[0010] Among them, the driving device includes:

[0011] A micro electric push rod, which is installed on the back of the mechanical hand, and a fork is provided on the output telescopic rod of the micro electric push rod;

[0012] The first connecting component is hinged to the shift fork, and the other end of the first connecting component is provided with a second connecting component, and the second connecting component is hinged to the connecting component on the back of the mechanical hand.

[0013] Preferably, circular notches are respectively arranged on both sides of the back of the mechanical hand, and the circular notches on both sides are connected by a palm tightening strap for fitting the palm to the back of the mechanical hand.

[0014] Preferably, the thumb phalanx sleeve includes:

[0015] The first thumb phalanx sleeve, and two circular openings are arranged on the upper side boss of the first thumb phalanx sleeve;

[0016] The first connecting rod and the second connecting rod are respectively hinged and installed on the two circular openings, and the second connecting rod is hinged to the second connecting component through the second sleeve;

[0017] The third connecting rod, the first connecting rod is hinged to the third connecting rod through the first sleeve, the second connecting rod is hinged to the third connecting rod through the third sleeve, and the third connecting rod is hinged to the connecting component on the back of the mechanical hand.

[0018] Preferably, the index finger phalanx sleeve, the middle finger phalanx sleeve, the ring finger phalanx sleeve and the little finger phalanx sleeve have the same structure but different sizes, and respectively include:

[0019] The first phalanx sleeve, and two circular openings are arranged on the upper side boss of the first phalanx sleeve, and one circular opening is arranged on each side;

[0020] The second phalanx sleeve, and a circular boss is arranged on the upper side of the second phalanx sleeve, and one boss is arranged on each side, and connecting plates are respectively arranged on the bosses on both sides and are engaged with the circular openings on both sides of the first phalanx sleeve to form rotation;

[0021] The fourth connecting rod, one end of the fourth connecting rod is hinged to the circular boss on the upper side of the second phalanx sleeve, the other end of the fourth connecting rod is hinged to the fifth connecting rod, the fifth connecting rod is hinged to the circular opening of the first phalanx sleeve through the fifth sleeve, the fifth connecting rod is hinged to one end of the seventh connecting rod through the fourth sleeve, and the other end of the seventh connecting rod is hinged to the connecting component on the back of the mechanical hand;

[0022] The sixth connecting rod, one end of the sixth connecting rod is hinged to the circular opening of the first phalanx sleeve, the other end of the sixth connecting rod is hinged to the second connecting component, and the sixth connecting rod is hinged to the seventh connecting rod.

[0023] An auxiliary motion rehabilitation mechanical glove provided by an embodiment of the present invention is designed according to the proportions of the human palm and fingers. The mechanical finger joints can be worn on the human fingers, and the movement of the second phalanx of the thumb and the second and third phalanges of the other four fingers can be realized separately, thereby driving the movement of other finger joints. Using a micro electric push rod as the driving method, with its advantages of small size, high transmission efficiency, low-noise operation, energy conservation and environmental protection, the linkage of multiple fingers can be realized, especially providing a more convenient and inexpensive recovery option for patients with hand dysfunction caused by stroke. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 FIG. is a schematic structural diagram of an auxiliary motion rehabilitation mechanical glove provided by an embodiment of the present invention;

[0025] Figure 2 FIG. is a schematic structural diagram of the back of the mechanical hand of an auxiliary motion rehabilitation mechanical glove provided by an embodiment of the present invention;

[0026] Figure 3 FIG. is a schematic structural diagram of the driving device of an auxiliary motion rehabilitation mechanical glove provided by an embodiment of the present invention;

[0027] Figure 4 FIG. is a schematic structural diagram of the thumb phalanx sleeve of an auxiliary motion rehabilitation mechanical glove provided by an embodiment of the present invention;

[0028] Figure 5 FIG. is a schematic structural diagram of the two-stage joint of the four-finger phalanx sleeve of an auxiliary motion rehabilitation mechanical glove provided by an embodiment of the present invention.

[0029] In the drawings: 1-back of the mechanical hand; 11-circular notch; 12-palm tightening strap; 2-driving device; 21-micro electric push rod; 22-fork; 23-connector one; 24-connector two; 3-thumb phalanx sleeve; 31-thumb phalanx sleeve one; 32-link one; 33-link two; 34-link three; 35-sleeve one; 36-sleeve two; 37-sleeve three; 4-index finger phalanx sleeve; 41-phalanx sleeve one; 42-phalanx sleeve two; 43-link four; 44-link five; 45-link six; 46-link seven; 47-sleeve four; 48-sleeve five; 5-middle finger phalanx sleeve; 6-ring finger phalanx sleeve; 7-little finger phalanx sleeve. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0030] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0031] The following describes the specific implementation of the present invention in detail with reference to specific embodiments.

[0032] As shown in Figure 1 FIG. [0000074], a structural diagram of an assisted motion rehabilitation mechanical glove provided by an embodiment of the present invention includes:

[0033] A mechanical hand back 1, the front end of the mechanical hand back 1 is provided with five special-shaped notches, and connecting members are respectively provided;

[0034] Five driving devices 2, which are respectively installed on the mechanical hand back 1 in the finger direction and are connected to the connecting members;

[0035] A thumb knuckle sleeve 3, which is arranged in the thumb direction and is connected to the driving device 2 through a connecting member. The thumb knuckle sleeve 3 is a one-piece structure;

[0036] An index finger knuckle sleeve 4, a middle finger knuckle sleeve 5, a ring finger knuckle sleeve 6, and a little finger knuckle sleeve 7 are respectively arranged in the directions of the other four fingers and are connected to the driving device 2 through connecting members. The index finger knuckle sleeve 4, the middle finger knuckle sleeve 5, the ring finger knuckle sleeve 6, and the little finger knuckle sleeve 7 are two-piece structures.

[0037] In an embodiment of the present invention, the assisted motion rehabilitation mechanical glove is provided with a mechanical hand back 1, a driving device 2, and mechanical finger knuckle sleeves in view of the problems in the prior art. The mechanical finger knuckle sleeves respectively include a thumb knuckle sleeve 3, an index finger knuckle sleeve 4, a middle finger knuckle sleeve 5, a ring finger knuckle sleeve 6, and a little finger knuckle sleeve 7. Among them, the thumb knuckle sleeve 3 is a one-piece structure and is sleeved on the second phalanx of the human thumb. The index finger knuckle sleeve 4, the middle finger knuckle sleeve 5, the ring finger knuckle sleeve 6, and the little finger knuckle sleeve 7 are two-piece structures and are respectively sleeved on the second phalanx and the third phalanx of the four fingers. The mechanical finger knuckle sleeves transmit power through hinges with the mechanical hand back 1 and the driving device 2 to control the phalanx movement of the human body and drive the movement of the first phalanx of the five fingers.

[0038] As shown in Figure 2 FIG. [0000087], as a preferred embodiment of the present invention, circular notches 11 are respectively provided on both sides of the mechanical hand back 1, and the circular notches 11 on both sides are connected by a palm tightening belt 12 for fitting the palm to the mechanical hand back 1.

[0039] The front end of the mechanical hand back 1 is provided with five special-shaped notches, and connecting members are respectively provided. The connecting members are provided with two circular openings, which are respectively connected to the driving device 2 and the mechanical finger knuckle sleeves. Four circular notches 11 are provided on both sides of the mechanical hand back 1, and a palm tightening belt 12 is connected between the two circular notches 11 to fit the human palm and prevent the mechanical glove from detaching from the human palm.

[0040] As shown in Figure 1 and Figure 3 FIGS. [0000092] and [0000093], as another preferred embodiment of the present invention, the driving device 2 includes:

[0041] A micro electric push rod 21, the micro electric push rod 21 is installed on the back 1 of the manipulator, and a fork 22 is arranged on the output telescopic rod of the micro electric push rod 21;

[0042] A first connecting piece 23, which is hinged to the fork 22, the other end of the first connecting piece 23 is provided with a second connecting piece 24, and the second connecting piece 24 is hinged to the connecting piece on the back 1 of the manipulator.

[0043] There are five driving devices 2, which are respectively installed on the back 1 of the manipulator according to the finger direction, and are connected and controlled with the mechanical finger joint sleeve through connecting pieces. Among them, the micro electric push rod 21 is fixed on the back 1 of the manipulator, the fork 22 is installed on the output telescopic rod of the micro electric push rod 21, the first connecting piece 23 is hinged to the fork 22, the second connecting piece 24 is of a triangular structure, and is respectively provided with three circular openings, and is respectively hinged to the first connecting piece 23, the upper circular opening of the connecting piece on the back 1 of the manipulator and the mechanical finger joint sleeve.

[0044] Such as Figure 1 And Figure 4 As shown in, as a preferred embodiment of the present invention, the thumb knuckle sleeve 3 includes:

[0045] A first thumb knuckle sleeve 31, and two circular openings are provided on the upper convex platform of the first thumb knuckle sleeve 31;

[0046] A first connecting rod 32 and a second connecting rod 33, which are respectively hinged and installed on the two circular openings, and the second connecting rod 33 is hinged to the second connecting piece 24 through a second sleeve 36;

[0047] A third connecting rod 34, the first connecting rod 32 is hinged to the third connecting rod 34 through a first sleeve 35, the second connecting rod 33 is hinged to the third connecting rod 34 through a third sleeve 37, and the third connecting rod 34 is hinged to the connecting piece on the back 1 of the manipulator.

[0048] Two circular openings are provided on the upper convex platform at the front end of the first thumb knuckle sleeve 31, and are respectively hinged to the first connecting rod 32 and the second connecting rod 33. The first connecting rod 32 is hinged to the third connecting rod 34 through a first sleeve 35. The other end of the third connecting rod 34 is hinged to the lower circular opening of the connecting piece on the back 1 of the manipulator. The bent part of the third connecting rod 34 is hinged to the second connecting rod 33 through a third sleeve 37, and one end of the second connecting rod 33 is hinged to the circular opening of the second connecting piece 24 through a second sleeve 36.

[0049] Such as Figure 1 And Figure 5 As shown in, as a preferred embodiment of the present invention, the index finger knuckle sleeve 4, the middle finger knuckle sleeve 5, the ring finger knuckle sleeve 6 and the little finger knuckle sleeve 7 have the same structure and different sizes, and respectively include:

[0050] Knuckle sleeve 1 (41), on the upper convex platform of the knuckle sleeve 1 (41), there are two circular openings, and on each side, there is one circular opening;

[0051] Knuckle sleeve 2 (42), on the upper side of the knuckle sleeve 2 (42), there is a circular convex platform, and on each side, there is one convex platform. On the convex platforms on both sides, there are connecting plates respectively, which are engaged with the circular openings on both sides of the knuckle sleeve 1 (41) to form a rotation;

[0052] Link 4 (43), one end of the link 4 (43) is hinged to the circular convex platform on the upper side of the knuckle sleeve 2 (42), the other end of the link 4 (43) is hinged to the link 5 (44). The link 5 (44) is hinged to the circular opening of the knuckle sleeve 1 (41) through the sleeve 5 (48). The link 5 (44) is hinged to one end of the link 7 (46) through the sleeve 4 (47). The other end of the link 7 (46) is hinged to the connecting piece on the back of the manipulator hand 1;

[0053] Link 6 (45), one end of the link 6 (45) is hinged to the circular opening of the knuckle sleeve 1 (41), the other end of the link 6 (45) is hinged to the connecting piece 2 (24). The link 6 (45) is hinged to the link 7 (46).

[0054] The structures of the index finger knuckle sleeve 4, the middle finger knuckle sleeve 5, the ring finger knuckle sleeve 6, and the little finger knuckle sleeve 7 are the same, only with slight differences in size to match different fingers. On the upper convex platform at the front end of the knuckle sleeve 1 (41), there are two circular openings, and at the lower sides of both ends at the back, there is one circular opening each. At the upper side of the front end of the knuckle sleeve 42, there is a circular convex platform, and at both sides at the lower side of the front end, there is one convex platform each, and there is a connecting plate which is engaged with the circular openings on both sides of the knuckle sleeve 1 (41) to form a rotation. Both ends of the link 4 (43) are respectively hinged to the link 5 (44) and the circular convex platform on the upper side of the knuckle sleeve 42. One end of the link 5 (44) is hinged to the link 4 (43), and the other end is hinged to one end of the link 7 (46) through the sleeve 4 (47). The bent part of the link 5 (44) is hinged to the circular opening on the upper side of the convex platform of the knuckle sleeve 1 (41) through the sleeve 5 (48). The other end of the link 7 (46) is hinged to the circular opening at the lower side of the connecting piece on the back of the manipulator hand 1. The middle part of the link 7 (46) is hinged to the link 6 (45). One end of the link 6 (45) is hinged to the circular opening at the lower side of the convex platform of the knuckle sleeve 1 (41), and the other end of the link 6 (45) is hinged to the connecting piece 2 (24). The transmission of the driving force is realized through the hinging of the links.

[0055] This auxiliary motion rehabilitation mechanical glove is designed according to the proportion of the human palm and fingers. The finger knuckle sleeves are put on the other finger knuckles except the first finger knuckle of the five human fingers. The micro electric push rod 21 is used as the power drive, and the link structure is used for power conversion to realize the simultaneous bending and straightening of the five fingers. It can also realize the independent control of a certain micro electric push rod 21 to control the bending and straightening of a single finger. At the same time, the micro electric push rod 21 also has the advantages of small volume, high transmission efficiency, low-noise operation, energy conservation and environmental protection, etc., greatly reducing the manufacturing and use costs;

[0056] Among them, the back of the manipulator 1, the driving device 2, and the mechanical finger joint sleeve can be composed of aluminum alloy and engineering plastic or stainless steel and engineering plastic, and the palm tightening belt 12 is made of nylon magic tape.

[0057] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An auxiliary exercise rehabilitation mechanical glove, characterized in that, Comprising: The back of the robotic hand (1), at the front end of the back of the robotic hand (1), there are five special-shaped notches, each provided with a connecting piece; Drive devices (2), there are five drive devices (2), which are respectively installed on the back of the robotic hand (1) in the finger direction and are connected to the connecting pieces; The thumb phalanx sleeve (3), arranged in the thumb direction, is connected to the drive device (2) through a connecting piece, and the thumb phalanx sleeve (3) is of a one-piece structure; The index finger phalanx sleeve (4), middle finger phalanx sleeve (5), ring finger phalanx sleeve (6), and little finger phalanx sleeve (7), are respectively arranged in the other four finger directions, are connected to the drive device (2) through connecting pieces, and the index finger phalanx sleeve (4), middle finger phalanx sleeve (5), ring finger phalanx sleeve (6), and little finger phalanx sleeve (7) are of a two-piece structure; Among them, the drive device (2) includes: A micro electric push rod (21), the micro electric push rod (21) is installed on the back of the robotic hand (1), and a fork (22) is provided on the output telescopic rod of the micro electric push rod (21); A first connecting piece (23), which is hingedly connected to the fork (22), the other end of the first connecting piece (23) is provided with a second connecting piece (24), and the second connecting piece (24) is hinged to the connecting piece on the back of the robotic hand (1).

2. The auxiliary motion rehabilitation mechanical glove according to claim 1, wherein On both sides of the back of the robotic hand (1), there are respectively circular notches (11), and the circular notches (11) on both sides are connected by a palm tightening strap (12) for fitting the palm to the back of the robotic hand (1).

3. The auxiliary motion rehabilitation mechanical glove according to claim 2, wherein The thumb phalanx sleeve (3) includes: The first thumb phalanx sleeve (31), on the upper side boss of the first thumb phalanx sleeve (31), there are two circular openings; A first connecting rod (32) and a second connecting rod (33), which are respectively hingedly installed on the two circular openings, and the second connecting rod (33) is hinged to the second connecting piece (24) through a second sleeve (36); A third connecting rod (34), the first connecting rod (32) is hinged to the third connecting rod (34) through a first sleeve (35), the second connecting rod (33) is hinged to the third connecting rod (34) through a third sleeve (37), and the third connecting rod (34) is hinged to the connecting piece on the back of the robotic hand (1).

4. The auxiliary motion rehabilitation mechanical glove according to claim 2, wherein, The index finger phalanx sleeve (4), middle finger phalanx sleeve (5), ring finger phalanx sleeve (6), and little finger phalanx sleeve (7) have the same structure but different sizes, and respectively include: The first phalanx sleeve (41), on the upper side boss of the first phalanx sleeve (41), there are two circular openings, and on both sides, there is one circular opening each; The second phalanx sleeve (42), on the upper side of the second phalanx sleeve (42), there is a circular boss, and on both sides, there is one boss each. On the bosses on both sides, there are respectively connecting plates that are engaged with the circular openings on both sides of the first phalanx sleeve (41) to form a rotation; Link four (43), one end of the link four (43) is hinged to the circular boss on the upper side of the knuckle sleeve two (42), the other end of the link four (43) is hinged to the link five (44), the link five (44) is hinged to the circular opening of the knuckle sleeve one (41) through the sleeve five (48), the link five (44) is hinged to one end of the link seven (46) through the sleeve four (47), and the other end of the link seven (46) is hinged to the connecting piece on the back of the manipulator (1); Link six (45), one end of the link six (45) is hinged to the circular opening of the knuckle sleeve one (41), the other end of the link six (45) is hinged to the connecting piece two (24), and the link six (45) is hinged to the link seven (46).

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