Five-finger exercise rehabilitation training device

Abstract

The invention relates to a five-finger exercise rehabilitation training device which comprises a finger exercise rehabilitation assembly and a rack assembly. The finger movement rehabilitation assembly comprises a thumb driving mechanism, an index finger driving mechanism, a middle finger driving mechanism, a ring finger driving mechanism, a little finger driving mechanism, a push rod motor set, a holding rod and a ball cover, the ball cover is fixedly installed at the top of the holding rod, and the bottom of the holding rod is fixedly connected with the rack assembly; the two ends of the thumb driving mechanism, the index finger driving mechanism, the middle finger driving mechanism, the ring finger driving mechanism and the little finger driving mechanism are hinged to five push rod motors of the push rod motor set and the holding rod correspondingly, and the push rod motor set drives the single finger to bend / stretch and the five fingers move cooperatively. By means of the ingenious structural design, the system is simple in structure, driving force is provided from the interiors of the fingers, action training such as stretching and grabbing of the fingers can be conducted more effectively, the rehabilitation training effect can be improved, and therefore the rehabilitation process of a patient is accelerated.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation training equipment, and particularly relates to a five-finger movement rehabilitation training device. Background Art

[0002] With the acceleration of the aging development process, the number of patients with upper limb motor dysfunction caused by brain diseases (such as stroke, brain trauma, etc.) shows a significant upward trend. Among them, the restoration of hand motor function is the core difficulty in rehabilitation treatment, especially the rehabilitation of finger fine movements, which is directly related to the reconstruction of the patient's daily self-care ability. However, traditional rehabilitation treatment relies on manual operation by physical therapists, which has problems such as low efficiency, poor consistency, and high labor costs.

[0003] Robot-assisted rehabilitation technology provides a new rehabilitation path for patients with hand motor dysfunction with its high precision, repeatability, and task orientation. Existing hand rehabilitation robots are mainly divided into two categories: exoskeleton support type and end pulling type. These two types of devices generally face the dilemmas of complex structure, large volume, and high cost. In order to achieve independent movement control of five fingers, the system structure of most products is usually designed to be relatively complex. In addition, existing finger rehabilitation movement training mechanisms usually provide driving force from outside the finger. Due to the characteristics of the structure design, there is a lack of certain support at the palm position, and the finger movement usually has a certain deformation, which has certain limitations in the implementation of training actions. Summary of the Invention

[0004] In order to solve the above technical problems, the present invention provides a five-finger movement rehabilitation training device, which can realize single-finger movement and the coordinated grasping movement of five fingers, with a simple system structure and low cost.

[0005] The present invention is realized through the following technical solutions:

[0006] A five-finger movement rehabilitation training device includes a frame assembly and a finger movement rehabilitation assembly; the finger movement rehabilitation assembly includes a thumb driving mechanism, an index finger driving mechanism, a middle finger driving mechanism, a ring finger driving mechanism, a little finger driving mechanism, a push rod motor group, a grip rod, and a ball cover. The ball cover is fixedly installed at the top of the grip rod, and the bottom of the grip rod is fixedly connected to the frame assembly; both ends of the thumb driving mechanism, the index finger driving mechanism, the middle finger driving mechanism, the ring finger driving mechanism, and the little finger driving mechanism are hinged to five push rod motors of the push rod motor group and the grip rod respectively, and are driven by the push rod motor group to realize the flexion / extension of a single finger and the coordinated movement of five fingers.

[0007] Further, the five-finger push rod motor group includes a thumb push rod motor, an index finger push rod motor, a middle finger push rod motor, a ring finger push rod motor, and a little finger push rod motor. The five-finger push rod motor group is fixed at the lower end of the grip. The output ends of the motors are respectively slidably connected to the grip (17) through five finger sliders. The sliders are respectively restricted in the vertical sliding grooves of the grip and are respectively hinged to the transmission rods II of the thumb driving mechanism, the index finger driving mechanism, the middle finger driving mechanism, the ring finger driving mechanism, and the little finger driving mechanism.

[0008] Further, the thumb driving mechanism, the index finger driving mechanism, the middle finger driving mechanism, the ring finger driving mechanism, and the little finger driving mechanism are of different lengths but the same structure. The thumb driving mechanism includes a thumb transmission rod I, a thumb transmission rod II, a thumb fixing device, and a thumb slider. One end of the thumb transmission rod I is hinged to one end of the thumb transmission rod II, and the other end is hinged to the grip. The other end of the thumb transmission rod II is hinged to the thumb slider. The thumb slider is fixedly connected to the motor output end of the thumb push rod motor. The thumb fixing device is fixedly installed on the thumb transmission rod I.

[0009] Further, both the thumb transmission rod I and the thumb transmission rod II are arc-shaped rods, and the curvature of the arc-shaped rod gradually increases from the starting end to the ending end. The ending end of the thumb transmission rod I is provided with a U-shaped opening. The ending end of the thumb transmission rod II is hinged to the thumb transmission rod I through a rotating shaft passing through the U-shaped opening. The starting end of the thumb transmission rod I is hinged to the grip. The starting end of the thumb transmission rod II is hinged to the thumb slider.

[0010] Further, the arc of the thumb transmission rod I protrudes away from the grip, and the arc of the thumb transmission rod II protrudes towards the grip.

[0011] Further, the frame assembly includes a fixing device and an armrest. The armrest is fixedly installed on the fixing device and mainly functions to support and fix the forearm of the hand.

[0012] Further, the fixing device is provided with threaded holes, and the grip is threadedly connected to the fixing device.

[0013] The present invention has the following beneficial effects:

[0014] 1. Aiming at the special needs of finger rehabilitation exercises, the present invention focuses on finger rehabilitation. Through a streamlined structural design, it provides the driving force for movement from within the fingers. This design not only greatly reduces the complexity of the rehabilitation system structure and manufacturing cost, but also can more effectively perform finger stretching, grasping and other movement training, thereby improving the rehabilitation training effect and accelerating the rehabilitation process of patients.

[0015] 2. It can realize single-finger movement and the coordinated grasping movement of five fingers, further improving the rehabilitation training effect. Description of the Drawings

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0017] Figure 2 This is a schematic diagram of the structure of the thumb driving mechanism.

[0018] Figure 3 This is a schematic diagram of the extension movement of the thumb driving mechanism and the index finger driving mechanism.

[0019] In the figure: 1 - Finger movement rehabilitation component, 11 - Thumb driving mechanism, 111 - First thumb transmission rod, 112 - Second thumb transmission rod, 113 - Thumb fixing device, 114 - Thumb slider, 12 - Index finger driving mechanism, 121 - First index finger transmission rod, 122 - Second index finger transmission rod, 123 - Index finger fixing device, 124 - Index finger slider, 13 - Middle finger driving mechanism, 131 - First middle finger transmission rod, 132 - Second middle finger transmission rod, 133 - Middle finger fixing device, 134 - Middle finger slider, 14 - Ring finger driving mechanism, 141 - First ring finger transmission rod, 142 - Second ring finger transmission rod, 143 - Ring finger fixing device, 144 - Ring finger slider, 15 - Little finger driving mechanism, 151 - First little finger transmission rod, 152 - Second little finger transmission rod, 153 - Little finger fixing device, 154 - Little finger slider, 16 - Five-finger push rod motor group, 161 - Thumb push rod motor, 162 - Index finger push rod motor, 163 - Middle finger push rod motor, 164 - Ring finger push rod motor, 165 - Little finger push rod motor, 17 - Grip rod, 18 - Ball cover, 2 - Frame component, 21 - Fixing device, 22 - Armrest. Detailed implementation manners

[0020] Now, the present invention will be further described in detail with reference to the accompanying drawings. These drawings are all simplified schematic diagrams, only illustrating the basic structure of the present invention in a schematic manner. Therefore, they only show the components related to the present invention, and the directions and references can only be used to assist in the description of the features in the drawings. Therefore, the following detailed implementation manners are not adopted in a restrictive sense, and the scope of the claimed subject matter is only defined by the appended claims and their equivalents.

[0021] As Figure 1 shown, a five-finger movement rehabilitation training device includes a finger movement rehabilitation component 1 and a frame component 2.

[0022] The frame component 2 includes a fixing device 21 and an armrest 22. In this embodiment, the fixing device 21 includes a flat base and a conical base. The armrest 22 is fixedly installed on the flat base of the fixing device 21, mainly playing the role of supporting and fixing the forearm of the hand. The conical base is fixedly installed on the flat base, and a threaded hole is provided inside it for installing the grip rod 17.

[0023] The finger movement rehabilitation component 1 includes a thumb driving mechanism 11, an index finger driving mechanism 12, a middle finger driving mechanism 13, a ring finger driving mechanism 14, a little finger driving mechanism 15, a push rod motor group 16, a grip rod 17 and a ball cover 18. The ball cover 18 is fixedly installed at the top of the grip rod 17, and the bottom of the grip rod 17 is threadedly connected to the conical base of the fixing device 21 for easy disassembly; the push rod motor group 16 is fixedly installed at the lower end of the grip rod 17, and the thumb driving mechanism 11, the index finger driving mechanism 12, the middle finger driving mechanism 13, the ring finger driving mechanism 14 and the little finger driving mechanism 15 are respectively hinged to the five push rod motors of the push rod motor group 16 and the grip rod 17. The five push rod motors of the push rod motor group 16 move up and down telescopically to drive the thumb driving mechanism 11, the index finger driving mechanism 12, the middle finger driving mechanism 13, the ring finger driving mechanism 14 and the little finger driving mechanism 15 to achieve flexion / extension of a single finger and coordinated movement of the five fingers.

[0024] During specific implementation, the grip rod 17 is cylindrical, with the ball cover 18 fixedly connected to the top of the cylinder and threadedly connected to the fixing device 21 at the bottom; five vertical sliding grooves are opened on the cylindrical surface at the bottom of the grip rod, and five sliders are respectively slidably connected, while the five-finger push rod motor group 16 is fixed. The five-finger push rod motor group 16 includes a thumb push rod motor 161, an index finger push rod motor 162, a middle finger push rod motor 163, a ring finger push rod motor 164 and a little finger push rod motor 165. The output ends of the respective push rod motors are fixedly connected to the sliders of the respective finger driving mechanisms, and the five sliders are respectively restricted within the five vertical sliding grooves of the grip rod 17 and are respectively hinged to the ends with smaller curvature of the thumb transmission rod two 112, the index finger transmission rod two 122, the middle finger transmission rod two 132, the ring finger transmission rod two 142 and the little finger transmission rod two 152.

[0025] As Figure 2As shown, the thumb driving mechanism 11 includes a first thumb transmission rod 111, a second thumb transmission rod 112, a thumb fixing device 113 and a thumb slider 114. Both the first thumb transmission rod 111 and the second thumb transmission rod 112 are arc-shaped rods, and the curvature of the arc-shaped rod gradually increases from the starting end to the ending end. The first thumb transmission rod 111 has a U-shaped opening at the end with a larger curvature. The end of the first thumb transmission rod 111 with the U-shaped opening is hinged to the end of the second thumb transmission rod 112 with a larger curvature through a rotating shaft, and the other end is hinged to the grip rod 17; the other end of the second thumb transmission rod 112 is hinged to the thumb slider 114, and the thumb slider 114 is fixed on the electric push rod of the thumb push rod motor 161; the arc of the first thumb transmission rod 111 protrudes away from the grip rod 17, and the arc of the second thumb transmission rod 112 protrudes towards the grip rod 17, making the finger movement more comfortable and the hinge points not easily jammed; the thumb fixing device 113 is fixedly installed on the first thumb transmission rod 111. The index finger driving mechanism 12, the middle finger driving mechanism 13, the ring finger driving mechanism 14 and the little finger driving mechanism 15 have different lengths from the thumb driving mechanism 11 but the same structure.

[0026] The working principle of the above-mentioned finger movement rehabilitation component 1 is as follows:

[0027] As Figure 3 shown, during rehabilitation training, the forearm is placed on the armrest 22, the palm is placed on the ball cover 18, and each finger is fixed on the first transmission rod of each finger driving mechanism through a finger fixing device;

[0028] Taking Figure 3 as an example, when observing along the direction pointing into the paper surface, when the thumb push rod motor 161 extends upward, the connected thumb slider 114 will also move upward along the vertical chute, driving the second thumb transmission rod 112 to rotate clockwise, thereby driving the first thumb transmission rod 111 to rotate counterclockwise upward, realizing the extension action of the thumb; conversely, when the thumb push rod motor 161 contracts downward, the connected thumb slider 114 will move downward along the vertical chute, driving the second thumb transmission rod 112 to rotate counterclockwise, and thus the first thumb transmission rod 111 to rotate clockwise downward, realizing the flexion action of the thumb. The movement modes of the index finger driving mechanism 12, the middle finger driving mechanism 13, the ring finger driving mechanism 14 and the little finger driving mechanism 15 are the same as those of the thumb driving mechanism 11.

[0029] When the thumb push rod motor 161, the index finger push rod motor 162, the middle finger push rod motor 163, the ring finger push rod motor 164, and the little finger push rod motor 165 extend upward, the sliders connected thereto will also move upward along the vertical chutes simultaneously, driving the second transmission rod to rotate, thereby driving the first transmission rod to rotate, realizing the extension action of the five fingers; conversely, when the push rod motor group 16 contracts downward, the sliders connected thereto will move downward along the vertical chutes, driving the second transmission rod to rotate, thereby driving the first transmission rod to rotate, realizing the grasping action of the five fingers.

[0030] Inspired by the above ideal embodiments of the present invention, through the above description, relevant staff can completely make various changes and modifications without departing from the technical idea of this invention. The technical scope of this invention is not limited to the content in the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A five-finger movement rehabilitation training device, characterized in that, It includes a finger movement rehabilitation component (1) and a frame component (2); the finger movement rehabilitation component (1) includes a thumb driving mechanism (11), an index finger driving mechanism (12), a middle finger driving mechanism (13), a ring finger driving mechanism (14), a little finger driving mechanism (15), a five-finger push rod motor group (16), a grip rod (17), and a ball cover (18). The ball cover (18) is fixedly installed at the top of the grip rod (17), and the bottom of the grip rod (17) is fixedly connected to the frame component (2); both ends of the thumb driving mechanism (11), the index finger driving mechanism (12), the middle finger driving mechanism (13), the ring finger driving mechanism (14), and the little finger driving mechanism (15) are hinged to the five push rod motors of the push rod motor group (16) and the grip rod (17), and the push rod motor group (16) drives to achieve the flexion / extension of a single finger and the coordinated movement of the five fingers.

2. The five-finger movement rehabilitation training device according to claim 1, characterized in that, The five-finger push rod motor group (16) includes a thumb push rod motor (161), an index finger push rod motor (162), a middle finger push rod motor (163), a ring finger push rod motor (164), and a little finger push rod motor (165). The five-finger push rod motor group (16) is fixed at the lower end of the grip rod (17), and the output ends of each motor are respectively slidably connected to the grip rod (17) through five finger sliders. The sliders are restricted in the vertical chute of the grip rod (17) and are respectively hinged to the second transmission rods of the thumb driving mechanism (11), the index finger driving mechanism (12), the middle finger driving mechanism (13), the ring finger driving mechanism (14), and the little finger driving mechanism (15).

3. The five-finger motion rehabilitation training device according to claim 1, wherein The thumb driving mechanism (11), the index finger driving mechanism (12), the middle finger driving mechanism (13), the ring finger driving mechanism (14), and the little finger driving mechanism (15) have different lengths and the same structure; the thumb driving mechanism (11) includes a first thumb transmission rod (111), a second thumb transmission rod (112), a thumb fixing device (113), and a thumb slider (114); one end of the first thumb transmission rod (111) is hinged to one end of the second thumb transmission rod (112), and the other end is hinged to the grip rod (17); the other end of the second thumb transmission rod (122) is hinged to the thumb slider (114); the thumb slider (114) is fixedly connected to the motor output end of the thumb push rod motor (161); the thumb fixing device (113) is fixedly installed on the first thumb transmission rod (111).

4. The five-finger movement rehabilitation training device according to claim 3, wherein, Both the first thumb transmission rod (111) and the second thumb transmission rod (112) are arc-shaped rods, and the curvature of the arc-shaped rod gradually increases from the starting end to the ending end; a U-shaped opening is provided at the ending end of the first thumb transmission rod (111), and the ending end of the second thumb transmission rod (112) is hinged to the first thumb transmission rod (111) through a rotating shaft passing through the U-shaped opening. The starting end of the first thumb transmission rod (111) is hinged to the grip rod (17); the starting end of the second thumb transmission rod (112) is hinged to the thumb slider (114).

5. The five-finger motion rehabilitation training device according to claim 4, characterized in that, The arc of the first thumb transmission rod (111) protrudes away from the grip rod (17), and the arc of the second thumb transmission rod (112) protrudes towards the grip rod (17).

6. The five-finger movement rehabilitation training device according to claim 1, characterized in that, The frame assembly (2) includes a fixing device (21) and an armrest (22); the armrest (22) is fixedly installed on the fixing device (21), mainly serving to support and fix the forearm of the hand.

7. A five-finger movement rehabilitation training device according to claim 1, characterized in that, The fixing device (21) is provided with threaded holes, and the grip rod (17) is threadedly connected to the fixing device (21).

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