Manipulator for hand rehabilitation training

Abstract

The invention discloses a hand rehabilitation training manipulator which comprises a support and a bending and stretching training mechanism. The five groups of bending and stretching training mechanisms respectively correspond to five fingers, and each bending and stretching training mechanism comprises an external member for sleeving a knuckle and a training driving mechanism for driving the external member to swing; the suite comprises a near finger suite, a middle finger suite and a far finger suite, the two ends of the near finger suite are rotationally connected with the support and the middle finger suite respectively, and the middle finger suite is rotationally connected with the middle finger suite and the far finger suite respectively; the training driving mechanism comprises a training driving part and a training transmission assembly, and the training driving part is arranged on the support; the training transmission assembly comprises a near finger transmission assembly, a middle finger transmission assembly and a far finger transmission assembly, and the near finger transmission assembly is used for transmitting power of the training driving part to the near finger sleeve part to promote the near finger sleeve part to swing. The manipulator has the advantages of being good in matching performance, light in weight, more comprehensive and the like.

Description

Technical Field

[0001] The present invention relates to a rehabilitation training device, in particular to a hand rehabilitation training manipulator. Background Art

[0002] Rehabilitation manipulators are assistive devices that combine robotics, biomedical engineering, and artificial intelligence. Numerous finger rehabilitation devices have emerged within the field of rehabilitation manipulator technology. Some passive rehabilitation manipulators employ fixed motions, mimicking the back-and-forth motion of the human hand to drive hand movements and assist in the recovery of the patient's fingers and joints. Other active rehabilitation manipulators utilize minimal force from the human hand to drive finger movements, enabling more complex hand movements.

[0003] The drive technology field for rehabilitation manipulators is showing a trend of diversified development. In the field of drive motors, the combination of micro-servo motors and shape memory alloys has overcome the limitations of traditional rigid transmission, giving the manipulator biomimetic compliance. In the field of pneumatic drive, the modular design of pneumatic artificial muscles decouples the drive unit from the actuator, improving system maintainability. In the field of magnetorheological technology, the application of new devices based on the magnetorheological effect in safety redundancy design has effectively solved the problem of equipment self-protection in sudden spasms.

[0004] In some newer fields, the deep integration of rehabilitation robots and virtual reality technology has changed the traditional rehabilitation training model. By constructing immersive training scenarios, it improves patients' active participation, which provides a new path to solving the problem of neural plasticity activation in the process of motor relearning.

[0005] Despite significant progress, the existing technology system still faces many bottlenecks. On the one hand, patients' compliance with long-term training is one aspect. On the other hand, the rehabilitation robot still needs to rely on a large amount of training data to ensure its safety. In addition, the dynamic adaptation and real-time adjustment mechanism capabilities of the rehabilitation robot must be improved at each stage of the patient's rehabilitation.

[0006] As a medical device that assists human movement, rehabilitation manipulators have great development potential in theory, but there are still many problems in practical application:

[0007] 1. Robotic arms used for hand rehabilitation at home and abroad generally use a linkage mechanism as the transmission system. However, this design makes it difficult to achieve speed control that matches the biomechanical characteristics of human fingers, thus affecting the effectiveness of rehabilitation training.

[0008] 2. Excessive weight: Most existing rehabilitation training devices are mechanically complex, bulky, and difficult to wear. This design flaw not only increases the difficulty for patients during use but also leads to significant fatigue after prolonged rehabilitation training, seriously affecting patient comfort and training experience.

[0009] 3. Existing rehabilitation manipulators often ignore the full consideration of distal finger movement characteristics during the design process, which directly leads to the lack of rehabilitation training of distal finger movement function, and thus affects the overall rehabilitation effect. Summary of the Invention

[0010] The purpose of the present invention is to overcome the above-mentioned problems and provide a hand rehabilitation training robot, which has the advantages of good matching, light weight, and more comprehensiveness.

[0011] The purpose of the present invention is achieved through the following technical solutions:

[0012] A hand rehabilitation training manipulator comprises a support and a bending and stretching training mechanism arranged on the support;

[0013] The bending and stretching training mechanism is provided with five groups corresponding to five fingers respectively, and each bending and stretching training mechanism includes a set for covering the knuckles and a training driving mechanism for driving the set to swing;

[0014] The kit includes a proximal finger kit, a middle finger kit and a distal finger kit, wherein both ends of the proximal finger kit are rotatably connected to the support and the middle finger kit respectively, and the middle finger kit is rotatably connected to the middle finger kit and the distal finger kit respectively;

[0015] The training drive mechanism includes a training drive member and a training transmission assembly, wherein the training drive member is disposed on a support; the training transmission assembly includes a proximal finger transmission assembly, a middle finger transmission assembly, and a distal finger transmission assembly; the proximal finger transmission assembly is used to transmit power from the training drive member to the proximal finger kit, causing the proximal finger kit to swing; the middle finger transmission assembly is used to cause the middle finger kit to swing in response to the swing of the proximal finger kit; and the distal finger transmission assembly is used to cause the distal finger kit to swing in response to the swing of the middle finger kit.

[0016] The flexion and extension training mechanism corresponding to the thumb eliminates the distal finger kit and the distal finger transmission component.

[0017] In a preferred embodiment of the present invention, a movable mounting plate is provided on the support, and the movable mounting plate is hinged to the support;

[0018] The bending and stretching training mechanism corresponding to the thumb is arranged on the movable mounting plate, and the bending and stretching training mechanisms corresponding to the other four fingers are arranged on the support.

[0019] Furthermore, a locking structure is provided between the support and the movable mounting plate, the locking structure comprising a locking gear and a locking boss, the locking gear being coaxially fixedly provided on the hinge shaft of the movable mounting plate, the hinge shaft being movable along its axial direction, the locking boss being fixedly provided on the support, and in a locked state, the locking boss being located in a tooth groove of the locking gear;

[0020] The locking structure further includes a locking spring for urging the locking gear to maintain a locked state in the absence of external force.

[0021] Through the above structure, the fixed position of the thumb is designed to be adjustable, which improves the user's comfort and the effectiveness of rehabilitation training. The specific operation is as follows:

[0022] Under normal conditions, the locking gear is restrained by the locking boss, locking the movable mounting plate in its current position or angle, allowing the thumb to be trained at the current angle. To adjust the movable mounting plate's position, pull the plate's hinge outward, moving the locking gear away from the locking boss, releasing the locking action and allowing the plate to be adjusted. After adjustment, the locking gear re-locks, securing the position.

[0023] Furthermore, the support is provided with an angle sensor for detecting the swing angle of the proximal finger kit.

[0024] In a preferred embodiment of the present invention, the training drive member is an electric push rod, and the telescopic rod of the electric push rod is connected to the near-finger kit through a near-finger transmission assembly.

[0025] A preferred embodiment of the present invention comprises a proximal finger transmission assembly comprising a proximal finger push rod and a proximal finger transmission sleeve; the proximal finger transmission sleeve is fixedly mounted on the proximal finger kit, and the proximal finger transmission sleeve is provided with a first proximal finger oblong hole; one end of the proximal finger push rod is connected to the driving end of the training drive member, and the other end of the proximal finger push rod extends into the first proximal finger oblong hole. With the above structure, when the training drive member is extended, the proximal finger push rod pushes forward, and under the action of the first proximal finger oblong hole, the proximal finger transmission sleeve and the proximal finger kit are driven to swing around the rotation center of the proximal finger kit and the support, thereby driving the knuckle closest to the palm to perform flexion training.

[0026] Furthermore, the middle finger transmission assembly includes a middle finger swing rod, a middle finger transmission gear assembly, a middle finger transmission rack, a middle finger push rod and a middle finger transmission sleeve;

[0027] The proximal finger transmission sleeve is provided with a second proximal finger oblong hole; one end of the middle finger swing rod extends into the second proximal finger oblong hole;

[0028] The middle finger transmission gear assembly includes a middle finger transmission gear frame, a first middle finger transmission gear, a second middle finger transmission gear set, and a third middle finger transmission gear. The middle finger transmission gear frame is fixedly arranged on a support. The other end of the middle finger swing rod is fixedly connected to the center of the first middle finger transmission gear. The first middle finger transmission gear is connected to the third middle finger transmission gear through the second middle finger transmission gear set. The third middle finger transmission gear is meshed with the middle finger transmission rack.

[0029] The middle finger transmission rack is slidably arranged on a rack frame, which is arranged on a support; one end of the middle finger push rod is connected to the middle finger transmission rack, and the other end of the middle finger push rod is connected to the middle finger transmission sleeve frame, which is fixedly arranged on the middle finger kit.

[0030] Through the above structure, when the proximal finger kit swings around its own rotation center, it will drive the middle finger swing rod to swing, converting the swinging force into the rotational force of the first middle finger transmission gear, and then transmit the rotational force to the middle finger transmission rack through the second middle finger transmission gear set and the third middle finger transmission gear, turning it into linear motion, and then moving the middle finger push rod forward, thereby prompting the middle finger transmission sleeve and the middle finger kit to swing around the corresponding rotation center, realizing the bending training of the middle finger joint.

[0031] Furthermore, the remote finger transmission assembly includes a remote finger transmission gear assembly, a remote finger transmission connecting rod, a remote finger synchronous transmission assembly, a remote finger swing rod and a remote finger transmission sleeve;

[0032] The distal finger transmission gear assembly includes a first distal finger transmission gear set, a second distal finger transmission gear, and a third distal finger transmission gear. The first distal finger transmission gear set is used to transmit the rotational power of the rotation center of the middle finger kit to the second distal finger transmission gear. The second distal finger transmission gear is rotatably connected to the proximal finger kit. The third distal finger transmission gear is rotatably connected to the middle finger transmission sleeve.

[0033] The remote finger transmission connecting rods are provided with two and are arranged in parallel, one end of the two remote finger transmission connecting rods is rotatably connected to the second remote finger transmission gear, and the other end of the two remote finger transmission connecting rods is rotatably connected to the third remote finger transmission gear;

[0034] The synchronous transmission assembly transmits the transmission from the third remote-pointing transmission gear to the remote-pointing swing rod;

[0035] One end of the remote-pointing swing rod is connected to the synchronous transmission assembly;

[0036] The distal finger transmission sleeve is fixedly arranged on the distal finger kit, and an arc-shaped distal finger oblong hole is provided on the distal finger transmission sleeve; the other end of the distal finger swing rod extends into the arc-shaped distal finger oblong hole.

[0037] Furthermore, the synchronous transmission assembly includes a rotating shaft and a bevel gear set, wherein the rotating shaft includes a first rotating shaft, a second rotating shaft and a third rotating shaft; the bevel gear set includes a first bevel gear set and a second bevel gear set;

[0038] The first rotating shaft, the second rotating shaft and the third rotating shaft are all rotatably connected to the middle finger transmission sleeve, and the first rotating shaft is coaxially and fixedly connected to the third distal finger transmission gear; the first bevel gear set is connected between the first rotating shaft and the second rotating shaft, and the first rotating shaft and the second rotating shaft are vertically arranged; the second bevel gear set is connected between the second rotating shaft and the third rotating shaft, and the second rotating shaft and the third rotating shaft are vertically arranged.

[0039] Through the above structure, when the middle finger kit swings around its own rotation center, the first distal finger transmission gear set rotates accordingly, transmitting power to the second distal finger transmission gear, and the second distal finger transmission gear drives the two distal finger transmission connecting rods to swing in parallel, prompting the third distal finger transmission gear to rotate synchronously, and then transmits power to the distal finger swing rod through the first rotating shaft, the first bevel gear, the second rotating shaft, the second bevel gear set, and the third rotating shaft in sequence, causing the distal finger swing rod to swing around the third rotating shaft, thereby prompting the distal finger transmission sleeve and the distal finger kit to swing around the corresponding rotation center, thereby realizing bending training of the terminal finger joint.

[0040] Compared with the prior art, the present invention has the following beneficial effects:

[0041] 1. The hand rehabilitation training robot of the present invention controls different finger joints respectively by setting a proximal finger kit, a middle finger kit and a distal finger kit, which can accurately match the biomechanical characteristics of human fingers and provide rehabilitation training that is more in line with physiological characteristics.

[0042] 2. The hand rehabilitation training robot of the present invention has low cost and simple structure, and is also lightweight and miniaturized.

[0043] 3. Through the specific transmission structure, accurate rehabilitation of distal fingers is achieved, which is more comprehensive and improves the training effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 This is a schematic diagram of the three-dimensional structure of the hand rehabilitation training robot of the present invention.

[0045] Figure 2 for Figure 1 Magnified view of the X in .

[0046] Figure 3 It is a schematic diagram of the three-dimensional structure of the bending and stretching training mechanism of the present invention.

[0047] Figure 4 It is a front view of the bending and stretching training mechanism of the present invention.

[0048] Figure 5 It is a top view of the bending and stretching training mechanism of the present invention.

[0049] Figure 6 for Figure 3 Enlarged view of Y in . DETAILED DESCRIPTION

[0050] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further described below in conjunction with embodiments and drawings, but the embodiments of the present invention are not limited thereto.

[0051] Combine Figure 1-Figure 2 The hand rehabilitation training robot of this embodiment includes a support 1 and a bending and stretching training mechanism arranged on the support 1; wherein, the support 1 is provided with a movable mounting plate 2, and the movable mounting plate 2 is hinged to the support 1; the bending and stretching training mechanism is provided with five groups corresponding to five fingers respectively, the bending and stretching training mechanism corresponding to the thumb is arranged on the movable mounting plate 2, and the bending and stretching training mechanisms corresponding to the other four fingers are arranged on the support 1.

[0052] Combine Figure 1-Figure 2 A locking structure is provided between the support 1 and the movable mounting plate 2, and the locking structure includes a locking gear 3 and a locking boss 4. The locking gear 3 is coaxially fixed on the hinge shaft of the movable mounting plate 2, and the hinge shaft can move along its axial direction. The locking boss 4 is fixed on the support 1. In the locked state, the locking boss 4 is located in the tooth groove of the locking gear 3; the locking structure also includes a locking spring for causing the locking gear 3 to maintain a locked state under non-external force.

[0053] Through the above structure, the fixed position of the thumb is designed to be adjustable, which improves the user's comfort and the effectiveness of rehabilitation training. The specific operation is as follows:

[0054] Under normal conditions, the locking gear 3 is restrained by the locking boss 4, locking the movable mounting plate 2 in its current position or angle, allowing the thumb to be trained at the current angle. To adjust the position of the movable mounting plate 2, pull the hinge of the movable mounting plate 2 outward, moving the locking gear 3 away from the locking boss 4, releasing the locking action and allowing the angle of the movable mounting plate 2 to be adjusted. After adjustment, the locking gear 3 returns to its locked position, ensuring that the position remains unchanged.

[0055] Combine Figure 3-Figure 6Each bending and extension training mechanism includes a kit for covering the knuckles and a training drive mechanism for driving the kit to swing; the kit includes a proximal finger kit 5, a middle finger kit 6 and a distal finger kit 7, and the two ends of the proximal finger kit 5 are respectively rotatably connected to the support 1 and the middle finger kit 6, and the middle finger kit 6 is respectively rotatably connected to the middle finger kit 6 and the distal finger kit 7.

[0056] Furthermore, the support 1 is provided with an angle sensor 8 for detecting the swing angle of the proximal finger assembly 5 .

[0057] Combine Figure 3-Figure 6 The training drive mechanism includes a training drive member 9 and a training transmission assembly. The training drive member 9 is arranged on the support 1; the training transmission assembly includes a proximal finger transmission assembly, a middle finger transmission assembly and a distal finger transmission assembly. The proximal finger transmission assembly is used to transmit the power of the training drive member 9 to the proximal finger kit 5, prompting the proximal finger kit 5 to swing; the middle finger transmission assembly is used to prompt the middle finger kit 6 to swing following the swing of the proximal finger kit 5; the distal finger transmission assembly is used to prompt the distal finger kit 7 to swing following the swing of the middle finger kit 6; the flexion and extension training mechanism corresponding to the thumb eliminates the distal finger kit 7 and the distal finger transmission assembly.

[0058] Furthermore, the training drive member 9 is an electric push rod, and the telescopic rod of the electric push rod is connected to the near-finger kit 5 through a near-finger transmission assembly.

[0059] Combine Figure 3-Figure 6 The proximal finger transmission assembly includes a proximal finger push rod 10 and a proximal finger transmission sleeve 11; the proximal finger transmission sleeve 11 is fixedly mounted on the proximal finger kit 5, and is provided with a first proximal finger oblong hole 11-1 on the proximal finger transmission sleeve 11; one end of the proximal finger push rod 10 is connected to the driving end of the training drive member 9, and the other end of the proximal finger push rod 10 extends into the first proximal finger oblong hole 11-1. Through the above structure, when the training drive member 9 is extended, the proximal finger push rod 10 is pushed forward, and under the action of the first proximal finger oblong hole 11-1, the proximal finger transmission sleeve 11 and the proximal finger kit 5 are driven to swing around the rotation center of the proximal finger kit 5 and the support 1, thereby driving the knuckle closest to the palm to perform flexion training.

[0060] Combine Figure 3-Figure 6The middle finger transmission assembly includes a middle finger swing rod 12, a middle finger transmission gear assembly, a middle finger transmission rack 13, a middle finger push rod 14 and a middle finger transmission sleeve 15; the near finger transmission sleeve 11 is provided with a second near finger oblong hole 11-2; one end of the middle finger swing rod 12 extends into the second near finger oblong hole 11-2; the middle finger transmission gear assembly includes a middle finger transmission gear frame 16, a first middle finger transmission gear 17, a second middle finger transmission gear set 18 and a third middle finger transmission gear 19, the middle finger transmission gear frame 16 is fixedly arranged on the support 1, and the other end of the middle finger swing rod 12 is fixedly arranged on the support 1. One end is fixedly connected to the center of the first middle finger transmission gear 17, the first middle finger transmission gear 17 is connected to the third middle finger transmission gear 19 through the second middle finger transmission gear set 18, and the third middle finger transmission gear 19 is engaged with the middle finger transmission rack 13; the middle finger transmission rack 13 is slidably set on the rack frame 20, and the rack frame 20 is set on the support 1; one end of the middle finger push rod 14 is connected to the middle finger transmission rack 13, and the other end of the middle finger push rod 14 is connected to the middle finger transmission sleeve 15, and the middle finger transmission sleeve 15 is fixedly set on the middle finger kit 6.

[0061] Through the above structure, when the proximal finger kit 5 swings around its own rotation center, it will drive the middle finger swing rod 12 to swing, and convert the swinging force into the rotational force of the first middle finger transmission gear 17, and then transmit the rotational force to the middle finger transmission rack 13 through the second middle finger transmission gear set 18 and the third middle finger transmission gear 19, and then convert it into linear motion, and then move the middle finger push rod 14 forward, thereby prompting the middle finger transmission sleeve 15 and the middle finger kit 6 to swing around the corresponding rotation center, thereby realizing the bending training of the middle finger joint.

[0062] Combine Figure 3-Figure 6, the distal finger transmission assembly includes a distal finger transmission gear assembly, a distal finger transmission connecting rod 21, a distal finger synchronous transmission assembly, a distal finger swing rod 22 and a distal finger transmission sleeve 23; the distal finger transmission gear assembly includes a first distal finger transmission gear set 24, a second distal finger transmission gear 25 and a third distal finger transmission gear 26, the first distal finger transmission gear set 24 is used to transmit the rotational power of the rotation center of the middle finger kit 6 to the second distal finger transmission gear 25, the second distal finger transmission gear 25 is rotatably connected to the proximal finger kit 5, and the third distal finger transmission gear 26 is rotatably connected to the middle finger transmission sleeve 15 ... There are two dynamic connecting rods 21 and they are arranged in parallel. One end of the two remote finger transmission connecting rods 21 is rotatably connected to the second remote finger transmission gear 25, and the other end of the two remote finger transmission connecting rods 21 is rotatably connected to the third remote finger transmission gear 26; the synchronous transmission assembly transmits the third remote finger transmission gear 26 to the remote finger rocker 22; one end of the remote finger rocker 22 is connected to the synchronous transmission assembly; the remote finger transmission sleeve 23 is fixedly set on the remote finger kit 7, and the remote finger transmission sleeve 23 is provided with an arc-shaped remote finger oblong hole 23-1; the other end of the remote finger rocker 22 extends into the arc-shaped remote finger oblong hole 23-1.

[0063] Combine Figure 3-Figure 6 The synchronous transmission assembly includes a rotating shaft and a bevel gear set, the rotating shaft includes a first rotating shaft 27, a second rotating shaft 28 and a third rotating shaft 29; the bevel gear set includes a first bevel gear set 30 and a second bevel gear set 31; the first rotating shaft 27, the second rotating shaft 28 and the third rotating shaft 29 are all rotatably connected to the middle finger transmission sleeve 15, and the first rotating shaft 27 is coaxially fixedly connected to the third distal finger transmission gear 26; the first bevel gear set 30 is connected between the first rotating shaft 27 and the second rotating shaft 28, and the first rotating shaft 27 and the second rotating shaft 28 are vertically arranged, and the second bevel gear set 31 is connected between the second rotating shaft 28 and the third rotating shaft 29, and the second rotating shaft 28 and the third rotating shaft 29 are vertically arranged.

[0064] Through the above structure, when the middle finger kit 6 swings around its own rotation center, the first distal finger transmission gear set 24 rotates accordingly, and transmits power to the second distal finger transmission gear 25, which drives the two distal finger transmission connecting rods 21 to swing in parallel, prompting the third distal finger transmission gear 26 to rotate synchronously, and then transmits power to the distal finger swing rod 22 through the first rotating shaft 27, the first bevel gear, the second rotating shaft 28, the second bevel gear set 31, and the third rotating shaft 29 in sequence, so that the distal finger swing rod 22 swings around the third rotating shaft 29, thereby prompting the distal finger transmission sleeve 23 and the distal finger kit 7 to swing around the corresponding rotation center, thereby realizing the bending training of the terminal finger joint.

[0065] Combine Figures 1-6The working principle of the hand rehabilitation training manipulator of this embodiment is as follows:

[0066] When in use, insert five fingers into the bending and stretching training mechanism respectively, and the difference of each finger directly corresponds to a different kit.

[0067] Start the training drive member 9, which drives the proximal finger push rod 10 to move forward. Under the action of the first proximal finger oblong hole 11-1, the proximal finger transmission sleeve 11 and the proximal finger kit 5 are driven to swing around the rotation center of the proximal finger kit 5 and the support 1, and then the knuckle closest to the palm is driven to perform bending training.

[0068] At the same time, when the proximal finger kit 5 swings around its own rotation center, it will drive the middle finger swing rod 12 to swing, converting the swinging force into the rotational force of the first middle finger transmission gear 17, and then transmitting the rotational force to the middle finger transmission rack 13 through the second middle finger transmission gear set 18 and the third middle finger transmission gear 19, turning it into linear motion, and then moving the middle finger push rod 14 forward, thereby prompting the middle finger transmission sleeve 15 and the middle finger kit 6 to swing around the corresponding rotation center, realizing the bending training of the middle finger joint.

[0069] At the same time, when the middle finger kit 6 swings around its own rotation center, the first distal finger transmission gear set 24 rotates accordingly, transmitting power to the second distal finger transmission gear 25, and the second distal finger transmission gear 25 drives the two distal finger transmission connecting rods 21 to swing in parallel, prompting the third distal finger transmission gear 26 to rotate synchronously, and then transmits power to the distal finger swing rod 22 through the first rotating shaft 27, the first bevel gear, the second rotating shaft 28, the second bevel gear set 31, and the third rotating shaft 29 in sequence, causing the distal finger swing rod 22 to swing around the third rotating shaft 29, thereby prompting the distal finger transmission sleeve 23 and the distal finger kit 7 to swing around the corresponding rotation center, realizing the bending training of the terminal finger joint.

[0070] The above is a preferred embodiment of the present invention, but the embodiment of the present invention is not limited to the above content. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principles of the present invention should be considered as equivalent replacement methods and are included in the scope of protection of the present invention.

Claims

1. A hand rehabilitation training robot, characterized in that: It includes a support and a bending and stretching training mechanism arranged on the support; The bending and stretching training mechanism is provided with five groups corresponding to five fingers respectively, and each bending and stretching training mechanism includes a set for covering the knuckles and a training driving mechanism for driving the set to swing; The kit includes a proximal finger kit, a middle finger kit and a distal finger kit, wherein both ends of the proximal finger kit are rotatably connected to the support and the middle finger kit respectively, and the middle finger kit is rotatably connected to the middle finger kit and the distal finger kit respectively; The training drive mechanism includes a training drive member and a training transmission assembly, wherein the training drive member is disposed on a support; the training transmission assembly includes a proximal finger transmission assembly, a middle finger transmission assembly, and a distal finger transmission assembly; the proximal finger transmission assembly is used to transmit power from the training drive member to the proximal finger kit, causing the proximal finger kit to swing; the middle finger transmission assembly is used to cause the middle finger kit to swing in response to the swing of the proximal finger kit; and the distal finger transmission assembly is used to cause the distal finger kit to swing in response to the swing of the middle finger kit. The flexion and extension training mechanism corresponding to the thumb eliminates the distal finger kit and the distal finger transmission assembly.

2. The hand rehabilitation training robot according to claim 1, characterized in that: The support is provided with a movable mounting plate, which is hinged to the support; The bending and stretching training mechanism corresponding to the thumb is arranged on the movable mounting plate, and the bending and stretching training mechanisms corresponding to the other four fingers are arranged on the support.

3. The hand rehabilitation training robot according to claim 2, characterized in that: A locking structure is provided between the support and the movable mounting plate, the locking structure comprising a locking gear and a locking boss, the locking gear being coaxially fixedly provided on the hinge shaft of the movable mounting plate, the hinge shaft being movable along its axis, the locking boss being fixedly provided on the support, and in a locked state, the locking boss being located in a tooth groove of the locking gear; The locking structure further includes a locking spring for urging the locking gear to maintain a locked state in the absence of external force.

4. The hand rehabilitation training robot according to claim 1, characterized in that: The support is provided with an angle sensor for detecting the swing angle of the proximal finger kit.

5. The hand rehabilitation training robot according to claim 1, characterized in that: The training driving component is an electric push rod, and the telescopic rod of the electric push rod is connected to the near finger kit through a near finger transmission assembly.

6. The hand rehabilitation training robot according to claim 1, characterized in that: The near finger transmission assembly includes a near finger push rod and a near finger transmission sleeve; the near finger transmission sleeve is fixedly arranged on the near finger kit, and the near finger transmission sleeve is provided with a first near finger oblong hole; One end of the proximal finger push rod is connected to the driving end of the training drive member, and the other end of the proximal finger push rod extends into the first proximal finger oblong hole.

7. The hand rehabilitation training robot according to claim 6, characterized in that: The middle finger transmission assembly includes a middle finger swing rod, a middle finger transmission gear assembly, a middle finger transmission rack, a middle finger push rod and a middle finger transmission sleeve; The proximal finger transmission sleeve is provided with a second proximal finger oblong hole; one end of the middle finger swing rod extends into the second proximal finger oblong hole; The middle finger transmission gear assembly includes a middle finger transmission gear frame, a first middle finger transmission gear, a second middle finger transmission gear set, and a third middle finger transmission gear. The middle finger transmission gear frame is fixedly arranged on a support. The other end of the middle finger swing rod is fixedly connected to the center of the first middle finger transmission gear. The first middle finger transmission gear is connected to the third middle finger transmission gear through the second middle finger transmission gear set. The third middle finger transmission gear is meshed with the middle finger transmission rack. The middle finger transmission rack is slidably arranged on a rack frame, which is arranged on a support; one end of the middle finger push rod is connected to the middle finger transmission rack, and the other end of the middle finger push rod is connected to the middle finger transmission sleeve frame, which is fixedly arranged on the middle finger kit.

8. The hand rehabilitation training robot according to claim 7, characterized in that: The remote finger transmission assembly includes a remote finger transmission gear assembly, a remote finger transmission connecting rod, a remote finger synchronous transmission assembly, a remote finger swing rod and a remote finger transmission sleeve; The distal finger transmission gear assembly includes a first distal finger transmission gear set, a second distal finger transmission gear, and a third distal finger transmission gear. The first distal finger transmission gear set is used to transmit the rotational power of the rotation center of the middle finger kit to the second distal finger transmission gear. The second distal finger transmission gear is rotatably connected to the proximal finger kit. The third distal finger transmission gear is rotatably connected to the middle finger transmission sleeve. The remote finger transmission connecting rods are provided with two and are arranged in parallel, one end of the two remote finger transmission connecting rods is rotatably connected to the second remote finger transmission gear, and the other end of the two remote finger transmission connecting rods is rotatably connected to the third remote finger transmission gear; The synchronous transmission assembly transmits the transmission from the third remote-pointing transmission gear to the remote-pointing swing rod; One end of the remote-pointing swing rod is connected to the synchronous transmission assembly; The distal finger transmission sleeve is fixedly arranged on the distal finger kit, and an arc-shaped distal finger oblong hole is provided on the distal finger transmission sleeve; the other end of the distal finger swing rod extends into the arc-shaped distal finger oblong hole.

9. The hand rehabilitation training robot according to claim 8, characterized in that: The synchronous transmission assembly includes a rotating shaft and a bevel gear set. The rotating shaft includes a first rotating shaft, a second rotating shaft and a third rotating shaft. The bevel gear set includes a first bevel gear set and a second bevel gear set.

10. The hand rehabilitation training robot according to claim 9, characterized in that: The first rotating shaft, the second rotating shaft and the third rotating shaft are all rotatably connected to the middle finger transmission sleeve, and the first rotating shaft is coaxially and fixedly connected to the third distal finger transmission gear; the first bevel gear set is connected between the first rotating shaft and the second rotating shaft, and the first rotating shaft and the second rotating shaft are vertically arranged; the second bevel gear set is connected between the second rotating shaft and the third rotating shaft, and the second rotating shaft and the third rotating shaft are vertically arranged.

Images