Hand function rehabilitation equipment

Abstract

The invention provides hand function rehabilitation equipment, and relates to the technical field of rehabilitation equipment, and the hand function rehabilitation equipment provided by the invention comprises a rehabilitation table, a turntable, a first driver, a driving device and a plurality of rehabilitation suites; the first driver is connected between the rehabilitation table and the turntable and is configured to drive the turntable to rotate relative to the rehabilitation table; all the rehabilitation suites are installed on the rotating disc, and at least part of the rehabilitation suites comprise first transmission pieces; the driving device is connected with the rehabilitation table and comprises a second transmission part, and the second transmission part is configured to move close to or away from the first transmission part and drive the first transmission part to act when matched with the first transmission part. According to the hand function rehabilitation equipment, the problems of large weight, high cost, complex maintenance and the like caused by the fact that each suite is provided with an independent driving unit are solved, meanwhile, physical exhaustion of a patient and the workload of a rehabilitator can be reduced, and training continuity is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation equipment technology, and in particular to a hand function rehabilitation device. Background Technology

[0002] With the continuous development of rehabilitation medicine, hand function rehabilitation training equipment is being used more and more widely in clinical practice. Existing comprehensive hand function rehabilitation training tables are usually equipped with a variety of training kits to meet the diverse rehabilitation needs of patients, including active and resistance training.

[0003] In existing technologies, each training kit has its own independent drive mechanism, resulting in a significant weight for each kit. Furthermore, these kits are typically fixed to a table according to functional zones. Patients must use different training kits sequentially according to the training plan. Because the kits are fixed in position and independent of each other, patients must get up and adjust their position after using one kit before starting the next. While this design provides comprehensive hand function training, in practice, patients frequently need to move their bodies to accommodate the different kit positions. This not only increases the patient's physical exertion and the therapist's workload but also affects the continuity of training. Summary of the Invention

[0004] The purpose of this invention is to provide a hand function rehabilitation device that avoids the problems of heavy weight, high cost, and complex maintenance caused by equipping each kit with an independent drive unit. At the same time, it can reduce the physical exertion of patients and the workload of rehabilitation therapists, and ensure the continuity of training.

[0005] To achieve the above objectives, the present invention provides the following technical solution: In a first aspect, the present invention provides a hand function rehabilitation device, including a rehabilitation table, a turntable, a first driver, a driving device, and multiple rehabilitation kits; The turntable rotates in conjunction with the rehabilitation table, and the first driver is connected between the rehabilitation table and the turntable and configured to drive the turntable to rotate relative to the rehabilitation table; Each of the rehabilitation kits is mounted on the turntable, and at least some of the rehabilitation kits include a first transmission component; The drive device is connected to the rehabilitation table. The drive device includes a second transmission member, which is configured to move closer to or further away from the first transmission member and drive the first transmission member to move when cooperating with the first transmission member.

[0006] In an optional embodiment, the driving device includes a bracket, a first driving mechanism, a second driving mechanism, and a transmission shaft; The support frame is connected to the rehabilitation table, and both the first drive mechanism and the second drive mechanism are mounted on the support frame; The first drive mechanism is connected to the drive shaft and drives the drive shaft to rotate. The drive shaft slides along its own axis with the first drive mechanism. One end of the drive shaft is connected to the second drive component, and the other end is connected to the second drive mechanism. The second drive mechanism is configured to drive the drive shaft to slide relative to the first drive mechanism.

[0007] In an optional embodiment, the axial direction of the drive shaft is arranged radially along the turntable.

[0008] In an optional embodiment, the first drive mechanism includes a second driver and a transmission assembly. The second driver is mounted on the bracket, the transmission assembly is connected to the second driver, and the transmission shaft is drivenly connected to the transmission assembly and slides along its own axial direction with the transmission assembly.

[0009] In an optional embodiment, the second drive mechanism includes a third driver, a first adapter plate, a second adapter plate, a first guide assembly, and an elastic element; The third driver is mounted on the bracket, and the third driver is connected to the first adapter plate and configured to drive the first adapter plate to move axially along the transmission shaft; One end of the first guide assembly is fixedly connected to the first adapter plate, and the other end is slidably engaged with the second adapter plate along the axial direction of the drive shaft. The second adapter plate is rotatably engaged with the drive shaft. The elastic element is disposed between the first adapter plate and the second adapter plate.

[0010] In an optional embodiment, a second guide assembly is provided between the second adapter plate and the bracket. One end of the second guide assembly is fixedly connected to the bracket, and the other end slides along the axial direction of the drive shaft with the second adapter plate.

[0011] In an optional embodiment, the rehabilitation table is provided with a through hole, and the second transmission member is configured to cooperate with each of the first transmission members through the through hole.

[0012] In an optional implementation, the plurality of rehabilitation kits include at least two of the following: finger training kit, arm rotation training kit, comprehensive training kit, lateral lift training kit, grasping training kit, horizontal grasping flexion and extension training kit, rope disc training kit, and wrist joint training kit.

[0013] In an optional embodiment, the finger training kit, the arm rotation training kit, the comprehensive training kit, the side lifting training kit, the grip training kit, the rope disc training kit, and the wrist joint training kit are all equipped with the first transmission component.

[0014] In an optional embodiment, the hand function rehabilitation device further includes a chassis and a support column, the chassis being connected to the rehabilitation table via the support column, the rehabilitation table being provided with an armrest.

[0015] The hand function rehabilitation device provided by this invention can produce the following beneficial effects: 1. In the hand function rehabilitation device provided by the present invention, each rehabilitation kit shares a driving device for driving. The second transmission component only needs to dynamically connect with the first transmission component of the target rehabilitation kit and transmit power when needed, thus avoiding the problems of large weight, high cost and complex maintenance caused by each kit being equipped with an independent driving unit.

[0016] 2. The hand function rehabilitation device provided by this invention features a rotatable turntable on which multiple rehabilitation kits are centrally mounted, enabling the orderly switching of different rehabilitation kits. Compared to the traditional design where each kit has a fixed layout, patients can use each rehabilitation kit sequentially without getting up or making significant adjustments to their position. This significantly reduces physical exertion and operational inconvenience caused by position changes, alleviates the burden on rehabilitation therapists assisting patients with transfers, and improves the continuity and comfort of training. Attached Figure Description

[0017] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 A three-dimensional structural diagram of the hand function rehabilitation device provided in an embodiment of the present invention from a first-view perspective; Figure 2 A three-dimensional structural diagram of the hand function rehabilitation device provided in an embodiment of the present invention from a second perspective; Figure 3 for Figure 2 Enlarged view of point A; Figure 4 This is a three-dimensional structural diagram of a portion of the hand function rehabilitation device provided in an embodiment of the present invention; Figure 5 A cross-sectional view of a portion of the hand function rehabilitation device provided in an embodiment of the present invention; Figure 6A three-dimensional structural schematic diagram of the driving device provided in an embodiment of the present invention from a first perspective; Figure 7 A three-dimensional structural diagram of the driving device provided in an embodiment of the present invention from a second perspective; Figure 8 A three-dimensional structural diagram of the finger training kit provided in an embodiment of the present invention; Figure 9 A top view of the finger training kit provided in an embodiment of the present invention; Figure 10 This is a three-dimensional structural diagram of the internal structure of the finger training kit provided in an embodiment of the present invention; Figure 11 A partial cross-sectional view of a four-finger ring holder provided in an embodiment of the present invention; Figure 12 A partial cross-sectional view of the finger training kit provided in an embodiment of the present invention; Figure 13 A three-dimensional structural schematic diagram of the rotating arm training kit provided in an embodiment of the present invention; Figure 14 A three-dimensional structural diagram of the internal structure of the rotating arm training kit provided in an embodiment of the present invention; Figure 15 A three-dimensional structural diagram of the comprehensive training kit provided in an embodiment of the present invention; Figure 16 This is a three-dimensional structural diagram of the internal structure of the integrated training kit provided in an embodiment of the present invention; Figure 17 A three-dimensional structural schematic diagram of the side-lift training kit provided in an embodiment of the present invention; Figure 18 A three-dimensional structural diagram of the internal structure of the side-lift training kit provided in an embodiment of the present invention; Figure 19 A three-dimensional structural schematic diagram of the grip training kit provided in an embodiment of the present invention; Figure 20 A three-dimensional structural diagram of the internal structure of the grip training kit provided in an embodiment of the present invention; Figure 21 A top view of the grip training kit provided in an embodiment of the present invention; Figure 22 for Figure 21 BB cross-section diagram; Figure 23 A three-dimensional structural schematic diagram of the horizontal grip flexion and extension training kit provided in an embodiment of the present invention; Figure 24 This is a three-dimensional structural diagram of the internal structure of the horizontal grip flexion and extension training kit provided in an embodiment of the present invention; Figure 25A three-dimensional structural schematic diagram of the rope disc training kit provided in an embodiment of the present invention; Figure 26 A top view of the rope disc training kit provided in an embodiment of the present invention; Figure 27 for Figure 26 CC section view; Figure 28 A three-dimensional structural diagram of the wrist joint training kit provided in an embodiment of the present invention; Figure 29 This is a three-dimensional structural diagram of the internal structure of the wrist joint training kit provided in an embodiment of the present invention; Figure 30 This is a side view of the wrist joint training kit provided in an embodiment of the present invention.

[0019] Icons: 1-Rehabilitation table; 11-Through hole; 12-Arm support; 2-Turntable; 3-First driver; 4-Drive device; 41-Second transmission component; 42-Support; 43-First drive mechanism; 431-Second driver; 432-Transmission assembly; 4321-Driving wheel; 4322-Driven wheel; 4323-Belt; 44-Second drive mechanism; 441-Third driver; 442-First adapter plate; 443-Second adapter plate; 444-First guide assembly; 445-Elastic element; 45-Drive shaft; 5 6-First transmission component; 7-Second guide assembly; 8-Guide rod; 9-Guide sleeve; 10-Finger training kit; 11-Finger spindle; 12-Finger base; 13-Gear; 14-First rack; 15-Four-finger ring seat; 16-First groove; 17-Second groove; 18-Four-finger ring assembly; 19-Thumb ring seat; 20-Thumb ring assembly; 21-Rotating arm training kit; 22-Rotating arm spindle; 33-Rotating arm support; 44-Grip bar; 55-Comprehensive training kit; 66-Grip bar; 77-Thumb ring seat; 78-Thumb ring assembly; 99-Grip bar; 100-Grip bar; 11-Grip bar; 12-Grip bar; 13-Grip bar; 14-Grip bar; 15-Finger ring seat; 16-Finger ring seat; 17-Thumb ring seat; 18-Thumb ring assembly; 19-Grip bar; 10-Grip bar; 11-Grip bar; 12-Grip bar; 13-Grip bar; 14-Grip bar; 15-Grip bar; 16-Grip bar; 17-Grip bar; 18-Grip bar; 19-Grip bar; 10 ... Holding component; 10-Side lifting training kit; 101-Side lifting base; 102-Power output gear; 103-Slide rail; 104-Second rack; 105-Adapter; 106-Handle; 107-Vertical bar; 108-Guide shaft; 011-Grip training kit; 0111-Grip spindle; 0112-Grip base; 0113-Driving gear; 0114-Driven gear; 0115-Grip driven shaft; 0116-Grip long bar; 0117-Grip short bar; 012-Horizontal grip flexion and extension training kit; 012 1-Miniature servo motor; 0122-Grip shaft; 013-Rope reel training kit; 0131-Rope reel spindle; 0132-Rope reel base; 0133-Rope drive reel; 0134-Guide wheel; 014-Wrist joint training kit; 0141-Wrist joint spindle; 0142-Wrist joint base; 0143-Rotating disc; 0144-Side plate; 0145-Support plate; 0146-Wrist support plate; 0147-Wrist grip; 0148-Auxiliary motor; 0149-Five-star handle; 015-Chassis; 016-Support column. Detailed Implementation

[0020] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0022] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0023] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0024] This embodiment provides a hand function rehabilitation device, such as... Figures 1 to 5 As shown, it includes a rehabilitation table 1, a turntable 2, a first drive 3, a drive unit 4, and multiple rehabilitation kits; The turntable 2 rotates in coordination with the rehabilitation table 1, and the first driver 3 is connected between the rehabilitation table 1 and the turntable 2 and configured to drive the turntable 2 to rotate relative to the rehabilitation table 1; Each rehabilitation kit is mounted on turntable 2, and at least some of the rehabilitation kits include the first transmission component 5; The drive device 4 is connected to the rehabilitation table 1. The drive device 4 includes a second transmission member 41, which is configured to move closer to or further away from the first transmission member 5 and drive the first transmission member 5 to move when it cooperates with the first transmission member 5.

[0025] In this embodiment, the hand function rehabilitation device has multiple rehabilitation kits mounted on a turntable 2. When a patient needs to switch to a specific rehabilitation kit for training, the second transmission component 41 in the drive device 4 moves away from the rehabilitation kit being used. Subsequently, the first driver 3 drives the turntable 2 to rotate, causing the target rehabilitation kit to move with the turntable 2 to a predetermined position in front of the patient for easy operation. Then, the second transmission component 41 moves closer to the target rehabilitation kit and cooperates with the first transmission component 5 on the target rehabilitation kit. The drive device 4 can transmit power to the first transmission component 5 through the second transmission component 41, thereby driving the target rehabilitation kit to perform actions and realize hand rehabilitation training.

[0026] In the hand function rehabilitation device provided in the above embodiments, each rehabilitation kit shares a single drive unit 4 for driving. The second transmission component 41 only needs to dynamically connect with the first transmission component 5 of the target rehabilitation kit and transmit power when needed, thus avoiding the problems of heavy weight, high cost, and complex maintenance caused by equipping each rehabilitation kit with an independent drive unit. The above configuration can simultaneously reduce the load of the turntable 2 and the volume of the combination structure of the turntable and each rehabilitation kit, thereby facilitating the rotation design of the turntable 2.

[0027] Based on the above, the hand function rehabilitation device can drive the turntable 2 to rotate via the first driver 3. All rehabilitation kits are centrally mounted on the turntable 2, enabling the orderly switching between different rehabilitation kits. Compared to the traditional design with a fixed layout for each kit, patients can use each rehabilitation kit sequentially without getting up or significantly adjusting their position. This significantly reduces physical exertion and operational inconvenience caused by position changes, lessens the burden on rehabilitation therapists assisting with patient transfers, and improves the continuity and comfort of training.

[0028] The first transmission member 5 and the second transmission member 41 can both be bevel gears, with teeth that mesh with each other on their outer circumferences. The meshing and disengagement of the two can be achieved by the horizontal movement of the second transmission member 41; or the first transmission member 5 and the second transmission member 41 can both have teeth that mesh with each other on their axial end faces, and the meshing and disengagement of the two can be achieved by the up-and-down movement of the second transmission member 41.

[0029] It should be noted that any structure capable of driving the turntable 2 to rotate relative to the rehabilitation table 1 can be the first driver 3 mentioned in the above embodiments. For example, the first driver 3 can adopt a motor-gear transmission structure, or a hydraulic cylinder or pneumatic cylinder combined with a linkage mechanism or a rack and pinion mechanism to form a rotary drive unit, or a direct-drive rotary motor.

[0030] In alternative implementations, such as Figure 3As shown, the rehabilitation table 1 has through holes 11 extending through its upper and lower surfaces. These through holes 11 are located in the lower region of the turntable 2 and correspond to the positions of the first transmission components 5 on each rehabilitation kit, so that when any rehabilitation kit rotates with the turntable 2 to a predetermined working position, its first transmission component 5 aligns with the upper opening of the through hole 11. Correspondingly, the turntable 2 also has openings for each first transmission component 5 to extend below the turntable 2.

[0031] The drive unit 4 is located below the rehabilitation table 1, and can be fixedly installed on the base plate of the rehabilitation table 1. The second transmission component 41 of the drive unit 4 is movably inserted through the through hole 11, and can reciprocate in the vertical or horizontal direction, thereby realizing dynamic connection and separation with the first transmission component 5 on the rehabilitation kit.

[0032] In the above embodiments, the through hole 11 not only provides the necessary movement channel for the second transmission component 41, but also plays a role in space avoidance, making the structure of the rehabilitation equipment more compact, while avoiding the transmission structure being exposed on the outer side of the rehabilitation table 1 in the radial direction.

[0033] In an optional embodiment, the second transmission member 41 moves radially along the turntable 2.

[0034] It is understandable that the radial direction of turntable 2 is parallel to the horizontal direction.

[0035] Compared to moving vertically, the aforementioned direction of movement reduces the space occupied by the drive unit 4 in the vertical direction. Since multiple rehabilitation kits need to be arranged circumferentially on the turntable 2, the radial dimension of the turntable 2 is usually large, and the rehabilitation table 1 also has a large installation space in the aforementioned direction. The radial movement of the second transmission component 41 along the turntable 2 allows the drive unit 4 to make full use of the aforementioned installation space, making the structure of the equipment more compact. At the same time, it can avoid leaving space for placing the legs under the rehabilitation table 1, making the structural layout more reasonable.

[0036] It should be noted that there are various structures that can realize the reciprocating movement of the second transmission component 41. For example, there are electric push rod drive structures, lead screw and nut mechanism drive structures, or pneumatic / hydraulic cylinder drive structures. There are also various structures that enable the second transmission component 41 to drive the first transmission component 5 to move, such as a rotary motor, or a combination of a rotary motor and a transmission assembly.

[0037] In alternative implementations, such as Figure 6 and Figure 7 As shown, the drive device 4 further includes a bracket 42, a first drive mechanism 43, a second drive mechanism 44, and a transmission shaft 45. The bracket 42 is fixedly connected to the rehabilitation table 1 to provide a stable mounting base for the various components of the drive device 4, ensuring structural rigidity and smooth operation during power transmission.

[0038] The first drive mechanism 43 and the second drive mechanism 44 are both mounted on the bracket 42, and they work together to achieve compound motion control of the transmission shaft 45. Specifically, the first drive mechanism 43 is connected to the transmission shaft 45 and is configured to drive the transmission shaft 45 to rotate around its own axis, thereby providing the power source required for the rehabilitation kit's movements; at the same time, the transmission shaft 45 slides along its axial direction with the first drive mechanism 43, so that the transmission shaft 45 can not only rotate but also move freely along its axial direction.

[0039] One end of the drive shaft 45 is connected to the second transmission member 41, and the other end is connected to the second drive mechanism 44. The second drive mechanism 44 is configured to drive the drive shaft 45 to slide axially relative to the first drive mechanism 43, thereby realizing the overall telescopic movement of the drive shaft 45.

[0040] When it is necessary to switch rehabilitation kits, the second drive mechanism 44 first drives the transmission shaft 45 to move the second transmission component 41 away from the currently engaged first transmission component 5, completing the disengagement action; then the turntable 2 rotates under the drive of the first driver 3 to the predetermined position of the target rehabilitation kit at the operating station; then the second drive mechanism 44 moves again, pushing the transmission shaft 45 forward, so that the second transmission component 41 is accurately inserted into the first transmission component 5 on the target rehabilitation kit, establishing a mechanical transmission connection; finally, the first drive mechanism 43 starts, transmitting rotational power to the target rehabilitation kit through the transmission shaft 45 and the second transmission component 41, driving it to perform preset hand function training actions.

[0041] In the above embodiments, by decoupling the rotational motion from the linear motion and independently controlling them by the first drive mechanism 43 and the second drive mechanism 44 respectively, a fully automatic switching process of "dynamic docking - power transmission - active disengagement" for the drive device 4 to multiple rehabilitation kits is achieved. This design not only improves the ease of operation and automation level of the equipment but also effectively avoids the problems of large space occupation, high system complexity, and increased energy consumption caused by traditional multi-motor configurations. Furthermore, since only one shared drive system is needed to serve multiple rehabilitation modules, the overall cost and maintenance difficulty of the equipment are significantly reduced, which is conducive to the mass production and clinical application of the product.

[0042] The transmission shaft 45 can achieve circumferential fixation and axial sliding fit with the first drive mechanism 43 through a splined shaft or guide key structure, ensuring reliable transmission of rotational power while allowing axial displacement.

[0043] To ensure the rotational stability of the drive shaft 45, the drive shaft 45 can also rotate with the bracket 42 and slide relative to the bracket 42 along its own axial direction.

[0044] In alternative implementations, such as Figure 6 andFigure 7 As shown, the first drive mechanism 43 includes a second driver 431 and a transmission assembly 432.

[0045] The second driver 431 is fixedly mounted on the bracket 42 and serves as a power source to provide rotational power. For example, it can be a controllable precision drive device such as a servo motor or a stepper motor to achieve precise control over the speed, direction, and start / stop of the transmission shaft 45. The second driver 431 has an output shaft that is connected to the input end of the transmission assembly 432 to transmit power to the transmission assembly 432.

[0046] The transmission assembly 432 is connected to the second driver 431. The transmission assembly 432 includes, but is not limited to, a belt drive assembly, a chain drive assembly, or a gear drive assembly.

[0047] like Figure 7 As shown, the transmission assembly 432 adopts a belt drive assembly, such as... Figure 7 As shown, it includes a drive wheel 4321, a driven wheel 4322, and a belt 4323. The drive wheel 4321 is keyed to the second driver 431, the driven wheel 4322 is rotatably engaged with the bracket 42, and the belt 4323 is connected between the drive wheel 4321 and the driven wheel 4322.

[0048] One end of the drive shaft 45 is connected to the transmission assembly 432, and the other end is connected to the second transmission member 41. The drive shaft 45 and the driven wheel 4322 form a composite connection that can transmit rotational motion while allowing axial relative sliding. For example, in one embodiment, the driven wheel 4322 is provided with an internal spline sleeve or a sliding bearing structure, and the corresponding area of ​​the drive shaft 45 is provided with an external spline, allowing the drive shaft 45 to be locked in the circumferential direction while sliding freely in the axial direction. This sliding fit structure ensures that when the second drive mechanism 44 drives the drive shaft 45 to move axially, the mechanical connection between it and the transmission assembly 432 remains uninterrupted, and rotational power is continuously and effectively transmitted.

[0049] It should be noted that the second drive mechanism 44 can be an electric push rod, a lead screw and nut mechanism or a pneumatic / hydraulic cylinder or other linear actuator to meet the response speed and thrust requirements under different working conditions.

[0050] In alternative implementations, such as Figure 6 and Figure 7 As shown, the second drive mechanism 44 includes a third driver 441, a first adapter plate 442, a second adapter plate 443, a first guide assembly 444, and an elastic element 445.

[0051] The third actuator 441 is fixedly mounted on the bracket 42, and its output end is connected to the first adapter plate 442. Specifically, the third actuator 441 can be an actuator that can provide precise linear driving force, such as an electric actuator, a cylinder, or a linear motor. When the third actuator 441 is started, its output end moves axially along the drive shaft 45, thereby driving the first adapter plate 442 to move synchronously along the axial direction.

[0052] One end of the first guide assembly 444 is fixedly connected to the first adapter plate 442, and the other end is provided with a limiting member and forms a sliding fit with the second adapter plate 443. The sliding direction is parallel to the axis of the transmission shaft 45, and the limiting member can limit the sliding distance of the second adapter plate 443. The first guide assembly 444 may be composed of a guide rod and a linear bearing, used to guide and constrain the relative movement of the second adapter plate 443 in a predetermined direction, ensuring smooth and deflection-free movement, and improving transmission accuracy and system stability.

[0053] The second adapter plate 443 is axially fixed to the transmission shaft 45 but circumferentially rotatable through a bearing or other rotating support structure, so that when the second adapter plate 443 is pushed by an external force, it can drive the transmission shaft 45 to move axially as a whole.

[0054] Furthermore, an elastic element 445 is disposed between the first adapter plate 442 and the second adapter plate 443, and can specifically be a compression spring, a disc spring, or an elastic rubber element. The elastic element 445 is pre-pressed during installation, so that it applies a certain axial preload to the second adapter plate 443 under normal conditions. This design has multiple technical benefits: First, after the second transmission component 41 and the first transmission component 5 are docked, the elastic element 445 can absorb assembly errors or transient impacts through a flexible compensation mechanism, improving connection reliability; Second, when encountering unexpected resistance or overload, the elastic element 445 can undergo elastic deformation, playing a buffering and protective role and preventing damage to the transmission components; Third, during the automatic docking process, the elastic preload helps to push the second adapter plate 443 forward until it is fully in place, enhancing the fault tolerance and adaptability of the docking.

[0055] Preferably, the elastic element 445 is a helical spring, and the first guide assembly 444 includes a guide shaft, with the helical spring sleeved outside the guide shaft.

[0056] During operation, when the control system issues a command to switch rehabilitation kits, the first driver 3 first drives the turntable 2 to rotate until the target rehabilitation kit is aligned with the operating position; then the third driver 441 retracts, driving the first adapter plate 442 to move in the direction of retraction of the third driver 441. At this time, the first adapter plate 442 compresses the elastic element 445, and the elastic element 445 transmits the compressive force to the second adapter plate 443. The second adapter plate 443 extends against the drive shaft 45, causing the drive shaft 45 and its end second transmission element 41 to move towards the target rehabilitation kit. The second transmission element 41 contacts and engages with the corresponding first transmission element 5; after the current training kit completes the training, the third driver 441 retracts... 1. Extending, driving the first adapter plate 442 to move in the extension direction of the third driver 441. Since one end of the first guide component 444 is fixedly connected to the first adapter plate 442, the first guide component 444 also moves in the extension direction of the third driver 441. After the first adapter plate 442 has moved a distance, the limiting member set at the other end of the first guide component 444 will contact the second adapter plate 443 and drive the second adapter plate 443 to move in the extension direction of the third driver 441. Since the transmission shaft 45 is rotatably connected to the second adapter plate 443, the transmission shaft 45 is driven to move in the extension direction of the third driver 441, thereby realizing the separation of the second transmission component 41 and the first transmission component 5.

[0057] In the above embodiment, the second drive mechanism 44, through the coordinated cooperation of the third driver 441, the first adapter plate 442, the second adapter plate 443, the first guide component 444 and the elastic element 445, achieves precise control of the axial movement of the drive shaft 45 and smooth connection of power transmission, which significantly improves the automation level, docking reliability and safety of the equipment in the process of switching between multiple workstations.

[0058] In alternative implementations, such as Figure 6 As shown, a second guide assembly 6 is provided between the second adapter plate 443 and the bracket 42 to guide and constrain the axial movement of the second adapter plate 443, ensuring that it maintains a stable and accurate linear motion trajectory during movement, avoiding deflection or jamming, thereby improving the reliability and repeatability of the overall sliding action of the transmission shaft 45.

[0059] Specifically, the second guide assembly 6 includes a guide rod 61 and a guide sleeve 62. One end of the guide rod 61 is fixedly connected to the bracket 42 and extends axially along the drive shaft 45. The guide sleeve 62 is sleeved on the outer periphery of the guide rod 61 and forms a sliding fit with the guide rod 61. The guide sleeve 62 is also fixedly connected to the second adapter plate 443, so that the second adapter plate 443 can reciprocate relative to the bracket 42 along the axial direction of the guide rod 61.

[0060] In an optional implementation, the plurality of rehabilitation kits include at least two of the following: finger training kit 7, arm rotation training kit 8, comprehensive training kit 9, lateral lifting training kit 10, grasping training kit 011, horizontal grasping flexion and extension training kit 012, rope disc training kit 013, and wrist joint training kit 014.

[0061] The aforementioned rehabilitation kits provide targeted training for hand and forearm dysfunction in different parts and movement patterns, covering a variety of rehabilitation training modes such as active, passive, and resistance training.

[0062] The specific structure and working principle of each rehabilitation kit are explained below with reference to the attached diagrams: Please refer to Finger Training Kit 7 Figures 8 to 12 As shown, the finger training kit can train the opening and closing of the five fingers, is compatible with different finger sizes, allows for left and right hand switching, and can perform active, passive, and resistance training. It is suitable for rehabilitation patients with weak finger muscles or poor coordination.

[0063] The finger training kit 7 has a first transmission component 5 at its end, which is a bevel gear. This bevel gear can be connected to the second transmission component 41 in the drive device 4 to receive power input from the drive device 4. Power is transmitted to the finger spindle 71 through the first transmission component 5. The finger spindle 71 is rotatably mounted on the finger base 72 via bearings. A gear 73 is fixedly mounted at the end of the finger spindle 71 away from the first transmission component 5. Two first racks 74 are slidably mounted on the finger base 72. The gear 73 meshes with the two first racks 74 on the slide rail to form a gear-rack transmission mechanism.

[0064] The first rack 74 on one side is connected to a four-finger ring holder 75. The four-finger ring holder 75 has four independent second grooves 752, each containing a four-finger ring assembly 76. Each four-finger ring assembly 76 can slide and adjust its position within its corresponding second groove 752 and is locked in place by a hand-tightened screw to accommodate different finger lengths and spacings. Specifically, the four-finger ring assembly 76 is embedded in the first groove 751 and the four second grooves 752 between the upper and lower covers of the four-finger ring holder 75 via a deep groove ball bearing and a cam follower, maintaining stable guidance during movement, reducing frictional resistance, and improving training smoothness.

[0065] On the other side, the first rack 74 is connected to the thumb ring seat 77, which has a groove in which the thumb ring assembly 78 can slide and is limited by a hand screw.

[0066] When in use, when the drive device 4 is started, the rotational power is reversed by the first transmission component 5 and drives the gear 73 to rotate, which in turn drives the two first racks 74 to perform reciprocating linear motion, thereby guiding the four fingers and the thumb to complete flexion and extension movements simultaneously, achieving precise finger separation movement training.

[0067] The aforementioned finger training kit 7 not only enables rehabilitation training by switching between the left and right hands, but also provides greater driving force for the four-finger ring seat 75 and the thumb ring seat 77 by driving the rotation of the first transmission component 5 through the second transmission component 41, thus having a better training effect for patients with high muscle tone.

[0068] Of course, the structure of the finger training kit 7 is not limited to the one mentioned above; any structure that can perform rehabilitation training for the fingers is acceptable.

[0069] Please refer to the structure of the Rotary Arm Training Kit 8. Figure 13 and Figure 14 As shown, the forearm rotation training kit 8 is specifically designed for training the pronation and supination functions of the forearm. The end of the forearm rotation training kit 8 is also equipped with a first transmission component 5, which is a bevel gear. This bevel gear, after docking with the second transmission component 41, converts the horizontal rotational force into a vertical rotational force via the shaft 81. This force is then converted back into a horizontal rotational force via the bevel gear transmission structure at the top of the shaft 81 and transmitted to the forearm spindle 82. The spindle spindle 82 is supported on the forearm bracket 83 by bearings and externally connected to a grip bar 84 for the patient to grasp and operate.

[0070] In active training mode, the patient autonomously rotates the grip bar 84, and the system records parameters such as rotation angle, torque, and speed. In resistance training mode, the drive device 4 applies controllable resistance to enhance muscle strength. In passive mode, rotating the grip bar 84 drives the patient to perform passive training. The entire transmission path is simple and efficient, ensuring stable and reliable torque transmission.

[0071] Of course, the structure of the above-mentioned arm rotation training kit 8 is not limited to the one mentioned above; any structure that can perform rehabilitation training for the forearm is acceptable.

[0072] Please refer to the structure of the integrated training kit 9. Figure 15 and Figure 16 As shown, the comprehensive training kit 9 ​​aims to fully restore the overall motor function of the forearm, integrating training capabilities for compound movements such as flexion, extension, and rotation. Its structure is similar to that of the rotational arm training kit 8, with a first transmission component 5 at the end. The first transmission component 5 is a bevel gear, which receives driving power and distributes the power to the output ends of multiple degrees of freedom through an internal transmission mechanism.

[0073] Unlike the structure of the arm rotation training kit 8, the end of the comprehensive training kit 9 ​​for patients to hold is a steering wheel-like grip 91, which can be held with both hands, unlike the grip bar 84 in the arm rotation training kit 8.

[0074] Of course, the structure of the comprehensive training kit 9 ​​is not limited to the one mentioned above; any structure that can perform rehabilitation training for the forearm is acceptable.

[0075] Please refer to the structure of the Side Lift Training Kit 10. Figure 17 and Figure 18 As shown, the side-lift training kit 10 is mainly used to train finger grip strength and wrist support strength, and is particularly suitable for improving grip stability and endurance. Its end is equipped with a first transmission component 5, which is a bevel gear. The bevel gear transmits power to the side-lift main shaft, which is mounted on the side-lift base 101 via bearings. A power output gear 102 is connected to its distal end. The side-lift base 101 is equipped with a slide rail 103, on which a second rack 104 is slidably engaged. The power output gear 102 and the second rack 104 mesh to form a transmission pair.

[0076] A connector 105 is connected to the second rack 104, and a handle 106 is installed above the connector 105. Meanwhile, two vertical rods 107 are provided on the side lifting base 101, and a guide shaft 108 is connected between the two vertical rods 107. The top of the handle 106 is slidably sleeved on the guide shaft 108, restricting it to move only in a straight line.

[0077] When the drive device 4 provides power, the power output gear 102 rotates, driving the second rack 104 to move back and forth, which in turn pushes the hand grip 106 to move back and forth, allowing the patient to hold the grip 106 for active and resistance training.

[0078] The aforementioned gear and rack transmission mechanism can also be replaced by similar transmission mechanisms such as pulleys and chains.

[0079] Of course, the structure of the lateral lifting training kit 10 is not limited to the one mentioned above; any structure that can perform rehabilitation training for finger grip strength and wrist strength is acceptable.

[0080] Please refer to the structure of the grip training kit 011. Figures 19 to 22As shown, the grip training kit 011 focuses on the recovery training of finger gripping function. At its end is a first transmission component 5, which is a bevel gear connected to the gripping spindle 0111. The gripping spindle 0111 is rotatably engaged with the gripping base 0112 via bearings. At the distal end of the gripping spindle 0111, a drive gear 0113 is installed, meshing with a driven gear 0114. The driven gear 0114 is mounted on a gripping driven shaft 0115, which is rotatably engaged with the gripping base 0112 via bearings and is arranged parallel to the gripping spindle 0111.

[0081] A column is fixed at the upper end of both the driving gear 0113 and the driven gear 0114, and the top of the two columns are respectively connected to the gripping long rod 0116 and the gripping short rod 0117.

[0082] When the driving gear 0113 is driven to rotate, it drives the driven gear 0114 to rotate in the opposite direction, thereby causing the gripping long rod 0116 and gripping short rod 0117 to produce opening and closing motions, simulating the process of a human hand grasping an object.

[0083] When using the device, the patient places their palm between the long bar 0116 and the short bar 0117 and performs automatic opening and closing guided training under the system's control, or actively resists resistance to complete the closing action, effectively exercising the strength and flexibility of the flexor muscles.

[0084] Of course, the structure of the aforementioned grip training kit 011 is not limited to the one mentioned above; any structure that can perform rehabilitation training for grip strength is acceptable.

[0085] Please refer to the structure of the Horizontal Grip Extension Training Kit 012. Figure 23 and Figure 24 As shown, the horizontal grip flexion and extension training kit 012 adopts a direct-drive motor method, eliminating the need for a first transmission component 5. Its core component is a built-in micro servo motor 0121, the output end of which is connected to the motor shaft, and the other end of the motor shaft is connected to the grip shaft 0122 via a bearing.

[0086] When the micro servo motor 0121 is running, the motor shaft rotates in a circular motion, which drives the grip shaft 0122 to rotate, thereby training finger grip strength and wrist strength, enabling active and resistance training.

[0087] Of course, the structure of the above-mentioned horizontal grasping and flexion training kit 012 is not limited to the one mentioned above; any structure that can perform grasping and flexion training and rehabilitation training is acceptable.

[0088] Please refer to the structure of the rope disc training kit 013. Figures 25 to 27As shown, the rope reel training kit 013 utilizes a steel wire rope traction mechanism for hand tension training, suitable for enhancing finger flexor muscles and forearm stretching ability. Its end is equipped with a first transmission component 5, which is a bevel gear connected to the rope reel main shaft 0131. The rope reel main shaft 0131 is mounted on the rope reel base 0132 via bearings. A rope drive reel 0133 is fixedly installed at the distal end of the rope reel main shaft 0131. The steel wire rope is wound around the rope drive reel 0133 and led out to the outside via a guide wheel 0134.

[0089] The user pulls the free end of the steel wire rope, which rotates the rope drive disc 0133, and then the motion is fed back to the drive device 4 through the first transmission component 5. The system can provide constant resistance or variable resistance training according to a preset program, and can also record data such as the magnitude of the pulling force, duration and number of repetitions for assessing rehabilitation progress.

[0090] Of course, the structure of the rope training kit 013 is not limited to the one mentioned above; any structure that can perform rope training and rehabilitation training is acceptable.

[0091] Please refer to the structure of the wrist training kit 014. Figures 28 to 30 As shown, the wrist joint training kit 014 supports multi-degree-of-freedom wrist movement training, including palmar flexion / dorsiflexion, ulnar / radial deviation, and compound movements. Its end is equipped with a first transmission component 5, which is a bevel gear. The bevel gear transmits power to the wrist joint spindle 0141, which is rotatably mounted on the wrist joint base 0142 via bearings. A first gear is mounted at its distal end, meshing with a second gear for transmission.

[0092] The second gear is fixed to the driven shaft of the wrist joint, and a rotating disk 0143 is connected to it. Two side plates 0144 are provided on both sides of the rotating disk 0143. Two support plates 0145 are mounted between the two side plates 0144 via bearings and are connected as a whole by a wrist support plate 0146, on which a wrist grip 0147 is mounted. When the first gear rotates, it drives the second gear and the rotating disk 0143 to rotate, causing the wrist grip 0147 to swing around the vertical axis, thus achieving palmar flexion and extension training.

[0093] Optionally, such as Figure 29 As shown, the wrist grip 0147 is mounted on the wrist support plate 0146 via the existing five-star handle 0149. By turning the five-star handle 0149, the front and back positions of the wrist grip 0147 can be adjusted so that the center of the wrist of different sizes of hands can coincide with the rotation center of the support plate 0145, thereby improving the rehabilitation training effect.

[0094] Furthermore, an auxiliary motor 0148 is installed on one of the side plates 0144. The motor output is connected to a drive pulley, which drives a driven pulley mounted on the driven shaft via a synchronous belt. This drives the support plate 0145 on that side to move around the horizontal axis, achieving ulnar and radial deflection. The dual transmission paths work together, enabling the kit to independently or jointly control two motion planes, meeting complex clinical needs.

[0095] Of course, the belt drive mechanism mentioned above can also be replaced by a gear drive mechanism or a chain drive mechanism.

[0096] In summary, the finger training kit 7, arm rotation training kit 8, comprehensive training kit 9, side lifting training kit 10, grasping training kit 011, rope disc training kit 013, and wrist joint training kit 014 can all be dynamically connected to the second transmission component 41 in the drive device 4. This modular, shared drive source design significantly reduces the overall weight and manufacturing cost of the equipment, and improves space utilization and ease of operation.

[0097] In alternative implementations, such as Figure 1 and Figure 2 As shown, the hand function rehabilitation equipment also includes a chassis 015 and a support column 016. The chassis 015 serves as the basic load-bearing structure of the entire equipment, configured to support and stably place it on the ground or other usable surface. The support column 016 is fixedly connected between the chassis 015 and the rehabilitation table 1, used to raise the rehabilitation table 1 to a suitable working height and to achieve stable support for the rehabilitation table 1 relative to the chassis 015.

[0098] Specifically, one end of the support column 016 is fixedly connected to the chassis 015, and the other end is connected to the bottom structure of the rehabilitation table 1, thus forming a stable vertical support structure. The support column 016 can be made of rigid metal material, with sufficient structural strength to bear the overall weight of the rehabilitation table 1, the turntable 2 installed on it, multiple rehabilitation kits, and the drive device 4, and maintain the stability and vibration resistance of the overall structure during equipment operation.

[0099] In addition, the bottom of the chassis 015 is equipped with multiple casters, preferably four omnidirectional casters. The casters are equipped with a locking mechanism, which can be locked manually or electrically after the equipment is in place to prevent accidental movement of the equipment during rehabilitation training and improve safety. When it is necessary to move the equipment, the locking can be released, making it easy to flexibly transfer the entire hand function rehabilitation equipment to different places of use, thus improving the flexibility of equipment layout and spatial adaptability.

[0100] In addition, the rehabilitation table 1 is equipped with an armrest 12, on which a soft pad can be placed to fit the patient's upper arm and provide stable auxiliary support during rehabilitation training. This reduces the fatigue caused by maintaining a specific posture for a long time and helps maintain the correct training position, thereby improving the effectiveness and comfort of rehabilitation training.

[0101] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A hand function rehabilitation device, characterized in that, It includes a rehabilitation table (1), a turntable (2), a first drive (3), a drive unit (4), and multiple rehabilitation kits; The turntable (2) rotates in conjunction with the rehabilitation table (1), and the first driver (3) is connected between the rehabilitation table (1) and the turntable (2) and configured to drive the turntable (2) to rotate relative to the rehabilitation table (1); Each of the rehabilitation kits is mounted on the turntable (2), and at least some of the rehabilitation kits include a first transmission component (5). The drive device (4) is connected to the rehabilitation table (1). The drive device (4) includes a second transmission member (41). The second transmission member (41) is configured to move close to or away from the first transmission member (5) and drive the first transmission member (5) to move when cooperating with the first transmission member (5).

2. The hand function rehabilitation device according to claim 1, characterized in that, The drive device (4) includes a bracket (42), a first drive mechanism (43), a second drive mechanism (44), and a transmission shaft (45). The support (42) is connected to the rehabilitation table (1), and the first drive mechanism (43) and the second drive mechanism (44) are both installed on the support (42). The first drive mechanism (43) is connected to the drive shaft (45) and drives the drive shaft (45) to rotate. The drive shaft (45) slides along its own axis with the first drive mechanism (43). One end of the drive shaft (45) is connected to the second transmission member (41), and the other end is connected to the second drive mechanism (44). The second drive mechanism (44) is configured to drive the drive shaft (45) to slide relative to the first drive mechanism (43).

3. The hand function rehabilitation device according to claim 2, characterized in that, The axial direction of the drive shaft (45) is arranged along the radial direction of the turntable (2).

4. The hand function rehabilitation device according to claim 2, characterized in that, The first drive mechanism (43) includes a second driver (431) and a transmission assembly (432). The second driver (431) is mounted on the bracket (42). The transmission assembly (432) is connected to the second driver (431). The transmission shaft (45) is connected to the transmission assembly (432) and slides along its own axial direction with the transmission assembly (432).

5. The hand function rehabilitation device according to claim 3, characterized in that, The second drive mechanism (44) includes a third driver (441), a first adapter plate (442), a second adapter plate (443), a first guide assembly (444), and an elastic element (445). The third driver (441) is mounted on the bracket (42), and the third driver (441) is connected to the first adapter plate (442) and configured to drive the first adapter plate (442) to move axially along the drive shaft (45); One end of the first guide assembly (444) is fixedly connected to the first adapter plate (442), and the other end is slidably engaged with the second adapter plate (443) along the axial direction of the drive shaft (45). The second adapter plate (443) is rotatably engaged with the drive shaft (45). The elastic element (445) is disposed between the first adapter plate (442) and the second adapter plate (443).

6. The hand function rehabilitation device according to claim 5, characterized in that, A second guide assembly (6) is provided between the second adapter plate (443) and the bracket (42). One end of the second guide assembly (6) is fixedly connected to the bracket (42), and the other end slides along the axial direction of the transmission shaft (45) with the second adapter plate (443).

7. The hand function rehabilitation device according to any one of claims 1-6, characterized in that, The rehabilitation table (1) is provided with a through hole (11), and the second transmission component (41) is configured to cooperate with each of the first transmission components (5) through the through hole (11).

8. The hand function rehabilitation device according to any one of claims 1-6, characterized in that, The plurality of said rehabilitation kits include at least two of the following: finger training kit (7), arm rotation training kit (8), comprehensive training kit (9), lateral lifting training kit (10), grasping training kit (011), horizontal grasping flexion and extension training kit (012), rope disc training kit (013), and wrist joint training kit (014).

9. The hand function rehabilitation device according to claim 8, characterized in that, The finger training kit (7), the arm rotation training kit (8), the comprehensive training kit (9), the side lifting training kit (10), the grip training kit (011), the rope disc training kit (013), and the wrist joint training kit (014) are all equipped with the first transmission component (5).

10. The hand function rehabilitation device according to any one of claims 1-6, characterized in that, The hand function rehabilitation device also includes a chassis (015) and a support column (016). The chassis (015) is connected to the rehabilitation table (1) through the support column (016). The rehabilitation table (1) is provided with an armrest (12).

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