Manipulator for rehabilitation training of hand and wrist joints

Abstract

The utility model relates to the technical field of rehabilitation training instruments, in particular to a manipulator for rehabilitation training of hand and wrist joints, which comprises a frame, a finger training component, a motion disc, a first rotation driving mechanism and a second rotation driving mechanism. A first through cavity through which an arm of a patient passes and a wrist supporting piece for supporting a wrist of the patient are arranged on the motion disc; the finger training assembly is connected with the wrist supporting piece. The finger and wrist training device overcomes the defect that fingers and wrists of patients cannot be trained at the same time in the prior art, and the first rotation driving mechanism and the second rotation driving mechanism are arranged to drive the movement disc to rotate around different rotation axes. A patient can conduct finger training, wrist flexion / extension, ulnar flexion / radial flexion and wrist joint internal and external rotation training at the same time, the number of used training instruments can be reduced, coordination between the fingers and the wrist of the patient can be promoted, and the rehabilitation training effect is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of rehabilitation training equipment, and more specifically, to a manipulator used for hand and wrist joint rehabilitation training. Background Art

[0002] The function of the finger rehabilitation training device is to drive the fingers of patients with finger dysfunction to flex and extend, so that such patients can receive rehabilitation training for their fingers. The function of the wrist joint rehabilitation training device is to drive the wrist of patients with wrist joint dysfunction to flex and extend the wrist and ulna and radioflexion, so that such patients can receive rehabilitation training for their wrist joints.

[0003] The prior art discloses a finger rehabilitation trainer, which relates to the field of rehabilitation training equipment, specifically including a support plate, and also including a linkage mechanism, wherein the linkage mechanism includes a first linkage component and a second linkage component, wherein the first linkage component and the second linkage component are both arranged on the support plate, and the first linkage component and the second linkage component both include a connecting plate connected to the end of the support plate. The prior art also discloses a hand rehabilitation training device with wrist rehabilitation training function, wherein the device includes at least one two-joint finger training mechanism and a wrist training mechanism; wherein each two-joint finger training mechanism includes a power drive source fixed by a finger proximal finger joint bracket, and a push rod of the power drive source is connected to a finger proximal finger joint driving member to control a posterior joint of a person's finger; a finger proximal finger joint bracket, wherein the finger proximal finger joint driving member is fixed by the finger proximal finger joint bracket and the finger proximal finger joint bracket defines the moving path of the finger proximal finger joint driving member, a finger distal finger joint bracket, and a multi-link mechanism connected to the finger distal finger joint bracket.

[0004] However, patients with hand dysfunction often have motor dysfunction in both fingers and wrist joints, and such patients need to undergo rehabilitation training in both parts at the same time to achieve the best rehabilitation effect. The above-mentioned existing technologies can only be used for training fingers or wrist joints alone, and patients usually need to buy two separate training devices to train the two parts separately, which leads to high costs. In addition, since the two parts of the patient cannot be trained at the same time, the coordination of the patient's fingers and wrists cannot be effectively trained and improved. Utility Model Content

[0005] In view of the problem that the above-mentioned prior art cannot train the patient's fingers and wrists at the same time, resulting in high cost of training equipment and the inability to effectively train and improve the coordination between the patient's fingers and wrists, the utility model provides a manipulator for hand and wrist joint rehabilitation training, which can be used for simultaneous training of fingers and wrists, can reduce the cost of training equipment, and promote the coordination between the patient's fingers and wrists.

[0006] In order to solve the above technical problems, the technical solution provided by the utility model is:

[0007] A manipulator for hand and wrist rehabilitation training comprises a frame and a finger training component, and also comprises a moving disk, a first rotating drive mechanism and a second rotating drive mechanism arranged on the frame, wherein the moving disk is provided with a first through cavity for allowing a patient's arm to pass through and a wrist support for supporting the patient's wrist, and the supporting surface of the wrist support is parallel to the bottom surface of the frame; the first rotating drive mechanism is used to drive the moving disk to rotate; the second rotating drive mechanism is used to drive the moving disk to rotate, and the rotation axis of the moving disk rotating under the drive of the second rotating drive mechanism and the rotation axis of the moving disk rotating under the drive of the rotating drive mechanism are perpendicular to each other and parallel to the bottom surface of the frame; the finger training component is connected to the wrist support; the finger training component is connected to the wrist support.

[0008] In the above technical solution, after the patient passes the arm through the first through cavity, the patient places the wrist on the support surface of the wrist support, and then fixes the finger on the finger training component, and uses the finger training component to perform flexion and extension training on the finger. The rotation axes of the moving disk driven by the second rotation drive mechanism and the rotation drive mechanism are perpendicular to each other. The second rotation drive mechanism is first used to drive the moving disk to rotate, so that the wrist support is rotated, so that the patient's wrist placed on the wrist support is trained in wrist flexion and extension; then the first rotation drive mechanism is used to drive the moving disk to rotate, so that the wrist support is rotated, so that the patient's wrist placed on the wrist support is trained in ulnar / radial flexion or internal and external rotation of the wrist joint. Patients using this device can perform finger training, wrist flexion / extension, ulnar / radial flexion and internal and external rotation training of the wrist joint at the same time. The rotation axes of the moving disk driven by the second rotation drive mechanism and the first rotation drive mechanism are perpendicular to each other. The first rotation drive mechanism is used to drive the moving disk to rotate, so that the wrist support is rotated, so that the patient's wrist placed on the wrist support is trained in ulnar flexion and radial flexion. At the same time, the second rotary drive mechanism can drive the motion disk to rotate, so that the wrist support can rotate, so that the patient's wrist placed on the wrist support can be trained in wrist flexion and extension. Patients using the device can simultaneously perform finger training, wrist flexion / extension and ulnar / radial flexion training, which can not only reduce the number of training devices used, but also promote the coordination between the patient's fingers and wrists, and improve the rehabilitation training effect.

[0009] Preferably, the finger training assembly includes a thumb assembly, a first bending drive mechanism, a plurality of long finger assemblies and second bending drive mechanisms corresponding to the long finger assemblies one by one, that is, one long finger assembly corresponds to one second bending drive mechanism; the thumb assemblies each include a first proximal phalanx and a first distal phalanx, one end of the first proximal phalanx is rotatably connected to the wrist support, and the other end is rotatably connected to one end of the first distal phalanx, and the rotation axes of the first proximal phalanx and the first distal phalanx both form an angle with the bottom surface of the frame; a first connecting rod is provided on the wrist support, and a second connecting rod is provided at one end of the first distal phalanx close to the first proximal phalanx, and an angle is formed between the first connecting rod and the second connecting rod, and the end of the first connecting rod is rotatably connected to the second connecting rod below the first proximal phalanx and is slidably connected to the first connecting rod along the length direction of the second connecting rod; the first bending drive mechanism is used to drive the first proximal phalanx to rotate relative to the wrist support. It is understandable that the first proximal phalanx and the first distal phalanx of the thumb assembly correspond to the proximal phalanx and the distal phalanx of the patient's thumb, respectively. Such a thumb assembly has a high bionics and can better imitate the movement and action of the human thumb. The patient can fix the thumb on the thumb assembly and bend it as the thumb assembly bends, thereby improving the rehabilitation training effect. When the thumb assembly needs to be bent, the first bending drive mechanism drives the first proximal phalanx to rotate, and the first proximal phalanx rotates while pushing the first distal phalanx to move downward, so that the second connecting rod slides and rotates relative to the first connecting rod, thereby rotating the first distal phalanx relative to the first proximal phalanx. In other words, after the first bending drive mechanism drives the first proximal phalanx to rotate, the first distal phalanx will also rotate with it, so that the entire thumb assembly reaches a naturally bent state. The first proximal phalanx and the first distal phalanx coordinate with each other, making the movement of the entire thumb assembly more natural and flexible. In addition, this can simplify the structure of the first bending drive mechanism and reduce the cost of the instrument.

[0010] Furthermore, the long finger assemblies each include a second proximal phalanx, an intermediate phalanx, and a second distal phalanx which are rotatably connected in sequence, an end of the second proximal phalanx away from the intermediate phalanx being rotatably connected to the moving disk, and in an initial state, that is, when the first rotation drive mechanism does not drive the moving disk to rotate, the rotation axes of the second proximal phalanx, the intermediate phalanx, and the second distal phalanx are all parallel to the bottom surface of the frame; a third connecting rod is also provided on the wrist support, a fourth connecting rod is provided at one end of the second proximal phalanx close to the intermediate phalanx, a fifth connecting rod is provided at one end of the intermediate phalanx close to the second proximal phalanx, and the second A sixth connecting rod is provided at one end of the distal phalanx near the middle phalanx; an angle is formed between the third connecting rod and the fifth connecting rod, the end of the third connecting rod is rotatably connected to the lower part of the second proximal phalanx with the fifth connecting rod and is slidably connected to the fifth connecting rod along the length direction of the fifth connecting rod; an angle is formed between the fourth connecting rod and the sixth connecting rod, the end of the fourth connecting rod is rotatably connected to the lower part of the middle phalanx with the sixth connecting rod and is slidably connected to the sixth connecting rod along the length direction of the sixth connecting rod; the second bending drive mechanism is used to drive the second proximal phalanx to rotate relative to the wrist support. It can be understood that the long finger assembly can correspond to the patient's index finger / middle finger / ring finger / little finger, the second proximal phalanx, the middle phalanx and the second distal phalanx correspond to the proximal phalanx, the middle phalanx and the distal phalanx of the patient's finger respectively, and the patient can fix the index finger / middle finger / ring finger / little finger on the long finger assembly to bend as the long finger assembly bends. When the long finger assembly needs to be bent, the second bending drive mechanism drives the second proximal phalanx to rotate, so that the middle phalanx and the second distal phalanx also rotate together. The action process and principle of the middle phalanx and the second distal phalanx are the same as those of the first distal phalanx, so they are not repeated here.

[0011] Preferably, the wrist support is provided with a first angle sensor and a second angle sensor, the first angle sensor is used to measure the rotation angle of the first proximal phalanx relative to the wrist support, and the second angle sensor is used to measure the rotation angle of the second proximal phalanx relative to the wrist support. The bending angle of the first proximal phalanx can be known based on the rotation angle data measured by the first angle sensor, and the bending angle of the first distal phalanx relative to the first proximal phalanx can be calculated based on the bending angle of the first proximal phalanx, thereby understanding the bending degree and bending strength of the entire thumb assembly, so that the first bending drive mechanism can timely adjust the rotation angle of the first proximal phalanx to avoid the thumb assembly from applying excessive pressure and bending angle to the patient's thumb, thereby promoting the patient's recovery process. The function of the second angle sensor is the same as that of the first angle sensor.

[0012] Preferably, the first angle sensor and the second angle sensor are both rotary encoders, the housings of the first angle sensor and the second angle sensor are both connected to the wrist support, the rotation axis of the first angle sensor is connected to the first proximal phalanx, and the rotation axis of the second angle sensor is connected to the second proximal phalanx. Compared with angle sensors such as potentiometers / optical encoders / magnetic encoders, rotary encoders have higher measurement accuracy and can provide rotation angle information in real time, making the bending control of the thumb assembly and the long finger assembly more timely and reliable.

[0013] Preferably, the first bending drive mechanism includes a first electric push rod disposed on the moving disk, and the power output end of the first electric push rod is connected to the first proximal phalanx; the second bending drive mechanism includes a second electric push rod disposed on the moving disk, and the power output end of the second electric push rod is connected to the second proximal phalanx; the second rotation drive mechanism includes a third electric push rod disposed on the frame, and the power output end of the third electric push rod is connected to a limiter provided with an arc guide groove, and the moving disk is provided with an arc slide rail, and the centers of the arc guide groove and the arc slide rail pass through the rotation axis of the moving disk driven by the first rotation drive mechanism, and the arc slide rail is slidably connected to the arc guide groove. The first and second proximal phalanx are driven to rotate by the first electric push rod and the second electric push rod, respectively. The electric push rod can achieve precise motion control. By adjusting the thrust and pushing speed of the electric push rod, the bending degree and speed of the thumb assembly and the long finger assembly can be accurately adjusted. At the same time, by adjusting the thrust and pushing speed of the electric push rod, the rotation speed and angle of the motion disk can be accurately adjusted, which can make rehabilitation training more effective, safer and more reliable.

[0014] Preferably, the moving disk is provided with a first connecting structure and a second connecting structure, the outer shell end of the first electric push rod is rotatably connected to the first connecting structure, and the power output end of the first electric push rod is rotatably connected to the first proximal phalanx. It can be understood that the outer shell end of the first electric push rod and its power output end are respectively opposite ends of the first electric push rod. The rotation axis of the first electric push rod relative to the first connecting structure and the first proximal phalanx is parallel to the rotation axis of the first proximal phalanx relative to the wrist support; the outer shell end of the second electric push rod is rotatably connected to the second connecting structure, and the power output end of the second electric push rod is rotatably connected to the second connecting structure, and the rotation axis of the second electric push rod relative to the second connecting structure and the second proximal phalanx is parallel to the rotation axis of the second proximal phalanx relative to the wrist support; the outer shell end of the third electric push rod is rotatably connected to the frame, and the The power output end of the three electric push rods is rotatably connected to the limiter, and the rotation axis of the third electric push rod relative to the frame and the limiter is parallel to the rotation axis of the moving disk driven by the third electric push rod; in the initial state, that is, when the thumb assembly and the long finger assembly are not bent, an acute angle is formed between the push rod axis of the first electric push rod and the axis in the length direction of the first proximal phalanx, an acute angle is formed between the push rod axis of the second electric push rod and the axis in the length direction of the second proximal phalanx, and an acute angle is formed between the push rod axis of the third electric push rod and the support surface of the wrist support. The support surface of the wrist support is the top surface of the wrist support, which is parallel to the bottom surface of the frame. It is understandable that the first electric push rod can rotate relative to the first connection structure and the first proximal phalanx in the process of driving the first proximal phalanx to rotate, so that its posture can be flexibly changed. In this way, not only can the first proximal phalanx be driven to move continuously and stably, but also the first proximal phalanx can have a larger rotation angle range, so that the thumb assembly can better simulate the natural movement of the human hand, which is conducive to promoting the patient's finger flexibility and muscle strength recovery. Similarly, the second electric push rod can rotate relative to the second connection structure and the wrist support in the process of driving the second proximal phalanx to rotate, so that the third electric push rod can rotate relative to the limiter and the frame in the process of driving the motion disk to swing.

[0015] Preferably, the first rotation drive mechanism comprises a mounting ring, a motor, a pinion gear and a large gear meshing with the pinion gear, the mounting ring is connected to the frame, the pinion gear is rotationally connected to the mounting ring, the large gear gear is connected to the mounting ring, and the large gear gear is provided with a second through cavity for the patient's arm to pass through; the motor is used to drive the pinion gear to rotate; the moving disk is connected to the large gear gear or the mounting ring. The motor drives the pinion gear to rotate, and the pinion gear drives the large gear gear to rotate in conjunction with the mounting ring, thereby rotating the moving disk. Such a first rotation drive mechanism has a relatively simple structure, and such a setting can avoid mutual interference between the first rotation drive mechanism and the patient's arm.

[0016] Preferably, a cross-axis universal joint is provided between the moving disk and the large gear, the moving disk is connected to one of the rotating shafts of the cross-axis universal joint, and the large gear is connected to the other rotating shaft of the cross-axis universal joint; in the initial state, the axis of the rotating shaft connected to the moving disk by the cross-axis universal joint coincides with the rotating axis of the moving disk when the moving disk is driven by the second rotating drive mechanism. After the first rotating drive mechanism drives the moving disk to rotate 90°, the rotating shaft connected to the large gear by the cross-axis universal joint changes from a vertical state to a horizontal state and the axis of the rotating shaft coincides with the rotating axis of the moving disk when the moving disk is driven by the third electric push rod. Therefore, after the moving disk is driven by the first rotating drive mechanism to rotate 90°, the third electric push rod can still drive the moving disk to rotate, so that the patient's wrist can have a larger range of motion, which is conducive to improving the mobility of the patient's wrist. The cross-axis universal joint is a prior art, so its structure and working principle are not described in detail.

[0017] Preferably, the frame is provided with an arc-shaped plate for supporting the patient's upper arm. After placing the wrist on the wrist support, the patient can place the upper arm on the arc-shaped plate, thereby reducing the burden on the arm and improving the comfort of training.

[0018] Preferably, the first proximal phalanx and / or the first distal phalanx are provided with a first finger sleeve, and the second proximal phalanx and / or the middle phalanx and / or the second distal phalanx are provided with a second finger sleeve. The patient only needs to pass the finger through the corresponding finger sleeve to quickly fix the finger on the thumb assembly and the long finger assembly. Compared with fixing structures such as straps, the structures of the first finger sleeve and the second finger sleeve are simpler, and the method of fixing the finger is simpler and faster.

[0019] Beneficial effects of the utility model:

[0020] (1) A first rotation drive mechanism and a second rotation drive mechanism are provided to respectively drive the motion disk to rotate. The patient places the wrist on a wrist support connected to the motion disk and fixes the fingers on the finger training assembly to simultaneously perform finger training, wrist flexion / extension, ulnar / radial flexion, and internal and external rotation training of the wrist joint. This can not only reduce the number of training devices used, but also promote the coordination between the patient's fingers and wrist, thereby improving the rehabilitation training effect.

[0021] (2) The thumb component and the long finger component of the finger training component have high bionics and can better imitate the movement and action of the human thumb. The bending of the first proximal phalanx of the thumb component can drive the bending of its first distal phalanx, and the bending of the second proximal phalanx of the long finger component can drive the bending of its middle phalanx and the second distal phalanx. The two adjacent and connected joints are coordinated with each other. The movements of the thumb component and the long finger component are more natural and flexible, and the structures of the first bending drive mechanism and the second bending drive mechanism are simpler.

[0022] (3) A first angle sensor and a second angle sensor are provided to respectively measure in real time the rotation angles of the first proximal phalanx and the second proximal phalanx relative to the wrist support, so as to understand the bending degree and bending strength of the thumb assembly and the long finger assembly, and facilitate real-time adjustment of the rotation angles of the first proximal phalanx and the second proximal phalanx to adjust the bending degree and strength of the thumb assembly and the long finger assembly, which is beneficial to promoting the patient's recovery process.

[0023] (4) A cross-axis universal joint is provided to connect the motion disc and the large gear, so that the patient can perform wrist flexion and extension training in the ulnar / radial flexion state, which is beneficial to improving the patient's wrist mobility. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the structure of a manipulator used for hand and wrist joint rehabilitation training;

[0025] Figure 2 is a structural schematic diagram of a finger training component, a first rotation drive mechanism, and a second rotation drive mechanism from one perspective;

[0026] Figure 3 is a structural schematic diagram of the finger training assembly, the first rotation drive mechanism and the second rotation drive mechanism from another perspective;

[0027] Figure 4 It is a schematic diagram of the structure of the thumb component and the long finger component;

[0028] Figure 5 It is a structural diagram of a cross-axis universal joint.

[0029] In the attached drawings: 1-frame; 101-lifting handle; 2-moving plate; 201-first through cavity; 202-arc-shaped slide rail; 203-first connecting structure; 204-second connecting structure; 3-first rotary drive mechanism; 301-motor; 302-mounting ring; 3021-second through cavity; 303-small gear; 304-large gear; 3041-second through cavity; 4-second rotary drive mechanism; 401-third electric push rod; 402-limiting member; 4021-arc-shaped guide groove; 5-wrist support member; 6-thumb assembly; 601-first proximal phalanx ;602-first distal phalanx;603-first connecting rod;604-second connecting rod;7-first bending drive mechanism;8-long finger assembly;801-second proximal phalanx;802-middle phalanx;803-second distal phalanx;804-third connecting rod;805-fourth connecting rod;806-fifth connecting rod;807-sixth connecting rod;9-second bending drive mechanism;10-first angle sensor;11-second angle sensor;12-cross-axis universal joint;13-first finger sleeve;14-second finger sleeve;15-arc plate;16-gear transmission assembly. DETAILED DESCRIPTION

[0030] The drawings are only for illustrative purposes and cannot be construed as limiting the present invention. To better illustrate the present embodiment, some parts of the drawings may be omitted, enlarged, or reduced, and do not represent the size of the actual product. For those skilled in the art, it is understandable that some well-known structures and their descriptions may be omitted in the drawings. The positional relationships described in the drawings are only for illustrative purposes and cannot be construed as limiting the present invention.

[0031] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "long", "short" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limitations on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0032] The technical solution of the present invention is further described in detail below through specific embodiments and in conjunction with the accompanying drawings:

[0033] Example 1

[0034] like Figures 1 to 4A manipulator for hand and wrist rehabilitation training shown in the figure comprises a frame 1 and a finger training assembly, and two lifting handles 101 are provided on the top of the frame 1. Furthermore, it also comprises a moving disk 2, a first rotary drive mechanism 3 and a second rotary drive mechanism 4 arranged on the frame 1, the moving disk 2 is provided with a first through cavity 201 for the patient's arm to pass through, and a wrist support 5 located below the first through cavity 201 for supporting the patient's wrist, and the support surface of the wrist support 5 (i.e., the top surface of the wrist support 5 for contacting the patient's wrist) is parallel to the bottom surface of the frame 1. The first rotary drive mechanism 3 is used to drive the moving disk 2 to rotate; the second rotary drive mechanism 4 is used to drive the moving disk 2 to rotate, and the rotation axis of the moving disk 2 driven by the second rotary drive mechanism 4 and the rotation axis of the moving disk 2 driven by the first rotary drive mechanism 3 are perpendicular to each other and parallel to the bottom surface of the frame 1; the finger training assembly is connected to the wrist support 5.

[0035] Specifically, the finger training assembly includes a thumb assembly 6, a first bending drive mechanism 7, four long finger assemblies 8 and second bending drive mechanisms 9 corresponding to the long finger assemblies 8, that is, one long finger assembly 8 corresponds to one second bending drive mechanism 9. The thumb assemblies 6 each include a first proximal phalanx 601 and a first distal phalanx 602. One end of the first proximal phalanx 601 is rotatably connected to the wrist support 5, and the other end is rotatably connected to one end of the first distal phalanx 602. The rotation axes of the first proximal phalanx 601 and the first distal phalanx 602 both form an angle with the bottom surface of the frame 1. The rotation axes of the first proximal phalanx 601 and the first distal phalanx 602, that is, the rotation axis of the first proximal phalanx 601 that can rotate relative to the wrist support 5 and the rotation axis of the first distal phalanx 602 that can rotate relative to the first proximal phalanx 601. The first connecting rod 603 is provided on the wrist support 5, and the second connecting rod 604 is provided at one end of the first distal phalanx 602 close to the first proximal phalanx 601, and an angle is formed between the first connecting rod 603 and the second connecting rod 604, and the end of the first connecting rod 603 is rotatably connected to the second connecting rod 604 below the first proximal phalanx 601 and is slidably connected to the first connecting rod 603 along the length direction of the second connecting rod 604; the first bending drive mechanism 7 is used to drive the first proximal phalanx 601 to rotate relative to the wrist support 5. It can be understood that the first proximal phalanx 601 and the first distal phalanx 602 of the thumb assembly 6 correspond to the proximal phalanx and the distal phalanx of the patient's thumb, respectively. Such a thumb assembly 6 has a high bionics and can better imitate the movement and action of the human thumb. The patient can fix the thumb on the thumb assembly 6 and bend it as the thumb assembly 6 bends, thereby improving the rehabilitation training effect. When the thumb assembly 6 needs to be bent, the first bending drive mechanism 7 drives the first proximal phalanx 601 to rotate, and the first proximal phalanx 601 rotates while pushing the first distal phalanx 602 to move downward, so that the second connecting rod 604 slides and rotates relative to the first connecting rod 603, thereby rotating the first distal phalanx 602 relative to the first proximal phalanx 601. In other words, after the first bending drive mechanism 7 drives the first proximal phalanx 601 to rotate, the first distal phalanx 602 will also rotate, so that the entire thumb assembly 6 reaches a naturally bent state. The first proximal phalanx 601 and the first distal phalanx 602 coordinate with each other, making the movement of the entire thumb assembly 6 more natural and flexible. In addition, this can simplify the structure of the first bending drive mechanism 7 and reduce the cost of the instrument.

[0036] Furthermore, the long finger assembly 8 includes a second proximal phalanx 801, an intermediate phalanx 802 and a second distal phalanx 803 which are rotatably connected in sequence, and an end of the second proximal phalanx 801 away from the intermediate phalanx 802 is rotatably connected to the moving disk 2. In an initial state, that is, when the first rotation drive mechanism 3 does not drive the moving disk 2 to rotate, the rotation axes of the second proximal phalanx 801, the intermediate phalanx 802 and the second distal phalanx 803 are all parallel to the bottom surface of the frame 1; a third connecting rod 804 is also provided on the wrist support 5, a fourth connecting rod 805 is provided at one end of the second proximal phalanx 801 close to the intermediate phalanx 802, and a fifth connecting rod 806 is provided at one end of the intermediate phalanx 802 close to the second proximal phalanx 801. A sixth link 807 is provided at one end of the second distal phalanx 803 close to the middle phalanx 802; an angle is formed between the third link 804 and the fifth link 806, and the end of the third link 804 is rotatably connected to the fifth link 806 below the second proximal phalanx 801 and is slidably connected to the fifth link 806 along the length direction of the fifth link 806; an angle is formed between the fourth link 805 and the sixth link 807, and the end of the fourth link 805 is rotatably connected to the sixth link 807 below the middle phalanx 802 and is slidably connected to the sixth link 807 along the length direction of the sixth link 807; the second bending drive mechanism 9 is used to drive the second proximal phalanx 801 to rotate relative to the wrist support 5. It can be understood that the four long finger assemblies 8 can correspond to the patient's index finger, middle finger, ring finger and little finger respectively, and the second proximal phalanx 801, the middle phalanx 802 and the second distal phalanx 803 correspond to the proximal phalanx, the middle phalanx and the distal phalanx of the patient's fingers respectively. The patient can fix the index finger, the middle finger, the ring finger and the little finger on the corresponding long finger assembly 8 respectively and bend them as the long finger assembly 8 bends. When the long finger assembly 8 needs to bend, the second bending drive mechanism 9 drives the second proximal phalanx 801 to rotate, so that the middle phalanx 802 and the second distal phalanx 803 also rotate together. The action process and principle of the middle phalanx 802 and the second distal phalanx 803 are the same as those of the first distal phalanx 602, so they will not be repeated.

[0037] The working principle or workflow of this embodiment is as follows: after the patient passes his arm through the first through cavity 201, he places his wrist on the support surface of the wrist support 5, and at the same time places his thumb on the thumb assembly 6, and the index finger, middle finger, ring finger and little finger are placed on different long finger assemblies 8 respectively, and then the first bending drive mechanism 7 is used to drive the thumb assembly 6 to bend, and at the same time the second bending drive mechanism 9 is used to drive the corresponding long finger assembly 8 to bend, so that the patient's fingers can be flexed and extended. In the process of the finger training assembly training the patient's fingers, the second rotating drive mechanism 4 is first used to drive the motion disk 2 to rotate, so that the wrist support 5 rotates, so that the patient's wrist placed on the wrist support 5 can be trained in wrist flexion and extension; then the first rotating drive mechanism 3 is used to drive the motion disk 2 to rotate, so that the wrist support 5 rotates, so that the patient's wrist placed on the wrist support 5 can be trained in ulnar / radial flexion or internal and external rotation of the wrist joint.

[0038] Beneficial effects of this embodiment:

[0039] (1) A first rotation drive mechanism and a second rotation drive mechanism are provided to respectively drive the motion disk to rotate. The patient places the wrist on a wrist support connected to the motion disk and fixes the fingers on the finger training assembly to simultaneously perform finger training, wrist flexion / extension, ulnar / radial flexion, and internal and external rotation training of the wrist joint. This can not only reduce the number of training devices used, but also promote the coordination between the patient's fingers and wrists, thereby improving the rehabilitation training effect.

[0040] (2) The thumb component and the long finger component of the finger training component have high bionics and can better imitate the movement and action of the human thumb. The bending of the first proximal phalanx of the thumb component can drive the bending of its first distal phalanx, and the bending of the second proximal phalanx of the long finger component can drive the bending of its middle phalanx and the second distal phalanx. The two adjacent and connected joints are coordinated with each other. The movements of the thumb component and the long finger component are more natural and flexible, and the structures of the first bending drive mechanism and the second bending drive mechanism are simpler.

[0041] Example 2

[0042] This embodiment is based on the embodiment 1. Figures 1 to 4As shown, the wrist support 5 is provided with a first angle sensor 10 and a second angle sensor 11. The first angle sensor 10 is used to measure the rotation angle of the first proximal phalanx 601 relative to the wrist support 5, and the second angle sensor 11 is used to measure the rotation angle of the second proximal phalanx 801 relative to the wrist support 5. The bending angle of the first proximal phalanx 601 can be obtained according to the rotation angle data measured by the first angle sensor 10, and the bending angle of the first distal phalanx 602 relative to the first proximal phalanx 601 can be calculated according to the bending angle of the first proximal phalanx 601, so as to understand the bending degree and bending strength of the entire thumb assembly 6, so that the first bending drive mechanism 7 can timely adjust the rotation angle of the first proximal phalanx 601 to avoid the thumb assembly 6 from applying excessive pressure and bending angle to the patient's thumb, thereby promoting the patient's recovery process. The function of the second angle sensor 11 is the same as that of the first angle sensor 10.

[0043] Specifically, the first angle sensor 10 and the second angle sensor 11 are both rotary encoders, the housings of the first angle sensor 10 and the second angle sensor 11 are connected to the wrist support 5, the rotation axis of the first angle sensor 10 is connected to the first proximal phalanx 601, and the rotation axis of the second angle sensor 11 is connected to the second proximal phalanx 801 through the gear transmission assembly 16, the transmission ratio of the gear transmission assembly 16 is 1, and the gear transmission assembly 16 is provided to facilitate the arrangement of the second angle sensor 11. Compared with angle sensors such as potentiometers / optical encoders / magnetic encoders, rotary encoders have higher measurement accuracy and can provide rotation angle information in real time, making the bending control of the thumb assembly 6 and the long finger assembly 8 more timely and reliable.

[0044] Further, the first bending drive mechanism 7 is a first electric push rod arranged on the moving disk 2, and the power output end of the first electric push rod is connected to the first proximal phalanx 601; the second bending drive mechanism 9 is a second electric push rod arranged on the moving disk 2, and the power output end of the second electric push rod is connected to the second proximal phalanx 801; the second rotation drive mechanism 4 includes a third electric push rod 401 arranged on the frame 1, and the power output end of the third electric push rod 401 is connected to a limiter 402 provided with an arc guide groove 4021, and an arc slide rail 202 is provided on the outer edge of the moving disk 2, and the centers of the arc guide groove 4021 and the arc slide rail 202 both pass through the rotation axis of the moving disk 2 driven by the first rotation drive mechanism 3, and the arc slide rail 202 is slidably connected to the arc guide groove 4021. The first electric push rod and the second electric push rod are used to respectively drive the first proximal phalanx 601 and the second proximal phalanx 801 to rotate. The electric push rod can achieve precise motion control. The bending degree and speed of the thumb component 6 and the long finger component 8 can be accurately adjusted by adjusting the thrust and pushing speed of the electric push rod. At the same time, the rotation speed and angle of the motion disk 2 can be accurately adjusted by adjusting the thrust and pushing speed of the electric push rod, which can make rehabilitation training more effective, safer and more reliable.

[0045] Specifically, the moving disk 2 is provided with a first connection structure 203 and a second connection structure 204, the outer shell end of the first electric push rod is rotationally connected to the first connection structure 203, and the power output end of the first electric push rod is rotationally connected to the first proximal phalanx 601. It can be understood that the outer shell end of the first electric push rod and its power output end are the opposite ends of the first electric push rod. The rotation axis of the first electric push rod relative to the first connection structure 203 and the first proximal phalanx 601 is parallel to the rotation axis of the first proximal phalanx 601 relative to the wrist support 5; the outer shell end of the second electric push rod is rotationally connected to the second connection structure 204, and the power output end of the second electric push rod is rotationally connected to the second connection structure 204, and the rotation axis of the second electric push rod relative to the second connection structure 204 and the second proximal phalanx 801 is parallel to the rotation axis of the second proximal phalanx 801 relative to the wrist support 5; the outer shell end of the third electric push rod 401 is rotationally connected to the frame 1, and the third electric push rod 401 is rotationally connected to the frame 1. 01's power output end is rotatably connected to the limit member 402, and the rotation axis of the third electric push rod 401 rotating relative to the frame 1 and the limit member 402 is parallel to the rotation axis of the moving disk 2 rotating under the drive of the third electric push rod 401; in the initial state, that is, when the thumb component 6 and the long finger component 8 are not bent, an acute angle is formed between the push rod axis of the first electric push rod and the axis in the length direction of the first proximal phalanx 601, an acute angle is formed between the push rod axis of the second electric push rod and the axis in the length direction of the second proximal phalanx 801, and an acute angle is formed between the push rod axis of the third electric push rod 401 and the supporting surface of the wrist support 5. It is understandable that the first electric push rod can rotate relative to the first connection structure 203 and the first proximal phalanx 601 in the process of driving the first proximal phalanx 601 to rotate, so that its posture can be flexibly changed. In this way, not only can the first proximal phalanx 601 be driven to move continuously and stably, but also the first proximal phalanx 601 can have a larger rotation angle range, so that the thumb component 6 can better simulate the natural movement of the human hand, which is conducive to promoting the patient's finger flexibility and muscle strength recovery. Similarly, the second electric push rod can rotate relative to the second connection structure 204 and the wrist support 5 in the process of driving the second proximal phalanx 801 to rotate, so that the third electric push rod 401 can rotate relative to the limit member 402 and the frame 1 in the process of driving the motion disk 2 to swing.

[0046] The other features, working principles and beneficial effects of this embodiment are consistent with those of Embodiment 1.

[0047] Example 3

[0048] This embodiment is based on embodiment 2. Figures 1 to 5As shown, the first rotary drive mechanism 3 includes a mounting ring 302, a motor 301, a pinion 303 and a large gear 304. The mounting ring 302 is connected to the frame 1; there are four pinion gears 303 and they are circumferentially distributed along the axis direction of the large gear 304. The pinion gears 303 are all rotatably connected to the mounting ring 302 and mesh with the large gear 304. The output shaft of the motor 301 is coaxially fixedly connected to a pinion gear 303 located below the large gear 304; the large gear 304 is coaxial with the mounting ring 302 and the two are circumferentially fixedly connected. The large gear 304 is provided with a second through cavity 3041 for the patient's arm to pass through; and the moving disk 2 is connected to the large gear 304. The motor 301 drives the pinion gear 303 to rotate, and the pinion gear 303 drives the large gear 304 to rotate in conjunction with the mounting ring 302, thereby rotating the moving disk 2. Such a first rotary drive mechanism 3 has a relatively simple structure, and such a setting can avoid mutual interference between the first rotary drive mechanism 3 and the patient's arm.

[0049] Furthermore, a cross-axis universal joint 12 is provided between the moving disk 2 and the large gear 304, the moving disk 2 is connected to one of the rotating shafts of the cross-axis universal joint 12, and the large gear 304 is connected to the other rotating shaft of the cross-axis universal joint 12; in the initial state, the axis of the rotating shaft connected to the moving disk 2 by the cross-axis universal joint 12 coincides with the rotating axis of the moving disk 2 rotating under the drive of the second rotating drive mechanism 4. After the first rotating drive mechanism 3 drives the moving disk 2 to rotate 90°, the rotating shaft connected to the large gear 304 by the cross-axis universal joint 12 changes from a vertical state to a horizontal state and the axis of the rotating shaft coincides with the rotating axis of the moving disk 2 rotating under the drive of the third electric push rod 401. Therefore, after the moving disk 2 rotates 90° under the drive of the first rotating drive mechanism 3, the third electric push rod 401 can still drive the moving disk 2 to rotate, so that the patient's wrist can have a larger range of motion, which is conducive to improving the mobility of the patient's wrist. The cross-axis universal joint 12 is a prior art, so its structure and working principle are no longer described in detail.

[0050] Furthermore, an arc-shaped plate 15 for supporting the patient's upper arm is provided on the frame 1. After placing the wrist on the wrist support 5, the patient can place the upper arm on the arc-shaped plate 15, thereby reducing the burden on the arm and improving the comfort of the training.

[0051] Furthermore, the first proximal phalanx 601 and the first distal phalanx 602 are both provided with a first finger sleeve 13, and the second proximal phalanx 801, the middle phalanx 802 and the second distal phalanx 803 are both provided with a second finger sleeve 14. The patient only needs to pass the finger through the corresponding finger sleeve to quickly fix the finger on the thumb component 6 and the long finger component 8. Compared with a fixing structure such as a strap, the structure of the first finger sleeve 13 and the second finger sleeve 14 is simpler, and the method of fixing the finger is simpler and faster.

[0052] The other features, working principles and beneficial effects of this embodiment are consistent with those of Embodiment 2.

[0053] Obviously, the above embodiments of the present invention are merely examples for clearly explaining the present invention, and are not intended to limit the implementation methods of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description, and it is not necessary and impossible to list all the implementation methods here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A manipulator for hand and wrist joint rehabilitation training, comprising a frame (1) and a finger training component, characterized in that: The invention also comprises a moving disk (2), a first rotating drive mechanism (3) and a second rotating drive mechanism (4) arranged on the frame (1); the moving disk (2) is provided with a first through cavity (201) for allowing the patient's arm to pass through, and a wrist support (5) for supporting the patient's wrist; the first rotating drive mechanism (3) is used to drive the moving disk (2) to rotate; the second rotating drive mechanism (4) is used to drive the moving disk (2) to rotate, and the rotation axis of the moving disk (2) driven by the second rotating drive mechanism (4) and the rotation axis of the moving disk (2) driven by the first rotating drive mechanism (3) are perpendicular to each other and are parallel to the bottom surface of the frame (1); the finger training component is connected to the wrist support (5).

2. A manipulator for hand and wrist joint rehabilitation training according to claim 1, characterized in that: The finger training component comprises a thumb component (6), a first bending drive mechanism (7), a plurality of long finger components (8) and a second bending drive mechanism (9) corresponding to the long finger components (8); the thumb components (6) each comprise a first proximal phalanx (601) and a first distal phalanx (602); one end of the first proximal phalanx (601) is rotatably connected to the wrist support (5), and the other end is rotatably connected to one end of the first distal phalanx (602); the rotation axes of the first proximal phalanx (601) and the first distal phalanx (602) both form an angle with the bottom surface of the frame (1); the wrist support The wrist support member (5) is provided with a first connecting rod (603), and a second connecting rod (604) is provided at one end of the first distal phalanx (602) close to the first proximal phalanx (601), and an angle is formed between the first connecting rod (603) and the second connecting rod (604), and the end of the first connecting rod (603) is rotatably connected to the second connecting rod (604) below the first proximal phalanx (601) and is slidably connected to the first connecting rod (603) along the length direction of the second connecting rod (604); the first bending drive mechanism (7) is used to drive the first proximal phalanx (601) to rotate relative to the wrist support member (5); The long finger assembly (8) comprises a second proximal phalanx (801), an intermediate phalanx (802) and a second distal phalanx (803) which are rotatably connected in sequence, wherein the end of the second proximal phalanx (801) away from the intermediate phalanx (802) is rotatably connected to the moving disk (2), and in an initial state, the rotation axes of the second proximal phalanx (801), the intermediate phalanx (802) and the second distal phalanx (803) are all parallel to the bottom surface of the frame (1); a third connecting rod (804) is also provided on the wrist support (5), a fourth connecting rod (805) is provided at the end of the second proximal phalanx (801) close to the intermediate phalanx (802), a fifth connecting rod (806) is provided at the end of the intermediate phalanx (802) close to the second proximal phalanx (801), and a fifth connecting rod (807) is provided at the end of the second distal phalanx (803) close to the intermediate phalanx (803). 02); a sixth connecting rod (807) is provided at one end of the third connecting rod (804) and the fifth connecting rod (806); an angle is formed between the third connecting rod (804) and the fifth connecting rod (806), and the end of the third connecting rod (804) is rotatably connected to the lower part of the second proximal phalanx (801) and is slidably connected to the fifth connecting rod (806) along the length direction of the fifth connecting rod (806); an angle is formed between the fourth connecting rod (805) and the sixth connecting rod (807), and the end of the fourth connecting rod (805) is rotatably connected to the lower part of the middle phalanx (802) and is slidably connected to the sixth connecting rod (807) along the length direction of the sixth connecting rod (807); the second bending drive mechanism (9) is used to drive the second proximal phalanx (801) to rotate relative to the wrist support (5).

3. A manipulator for hand and wrist joint rehabilitation training according to claim 2, characterized in that: The wrist support (5) is provided with a first angle sensor (10) and a second angle sensor (11), wherein the first angle sensor (10) is used to measure the rotation angle of the first proximal phalanx (601) relative to the wrist support (5), and the second angle sensor (11) is used to measure the rotation angle of the second proximal phalanx (801) relative to the wrist support (5).

4. A manipulator for hand and wrist joint rehabilitation training according to claim 3, characterized in that: The first angle sensor (10) and the second angle sensor (11) are both rotary encoders, the housings of the first angle sensor (10) and the second angle sensor (11) are connected to the wrist support (5), the rotation axis of the first angle sensor (10) is connected to the first proximal phalanx (601), and the rotation axis of the second angle sensor (11) is connected to the second proximal phalanx (801).

5. The manipulator for hand and wrist joint rehabilitation training according to claim 3, characterized in that: The first bending drive mechanism (7) includes a first electric push rod arranged on the moving disk (2), and the power output end of the first electric push rod is connected to the first proximal phalanx (601); the second bending drive mechanism (9) includes a second electric push rod arranged on the moving disk (2), and the power output end of the second electric push rod is connected to the second proximal phalanx (801); the second rotation drive mechanism (4) includes a third electric push rod (401) arranged on the frame (1), and the power output end of the third electric push rod (401) is connected to a limit member (402) provided with an arc guide groove (4021), and the moving disk (2) is provided with an arc guide rail (202), and the centers of the arc guide groove (4021) and the arc guide rail (202) both pass through the rotation axis of the moving disk (2) driven by the first rotation drive mechanism (3), and the arc guide rail (202) is slidably connected to the arc guide groove (4021).

6. A manipulator for hand and wrist joint rehabilitation training according to claim 5, characterized in that: The moving disk (2) is provided with a first connecting structure (203) and a second connecting structure (204), the outer shell end of the first electric push rod is rotationally connected to the first connecting structure (203), the power output end of the first electric push rod is rotationally connected to the first proximal phalanx (601), and the rotation axis of the first electric push rod relative to the first connecting structure (203) and the first proximal phalanx (601) is parallel to the rotation axis of the first proximal phalanx (601) relative to the wrist support (5); the outer shell end of the second electric push rod is rotationally connected to the second connecting structure (204), the power output end of the second electric push rod is rotationally connected to the second connecting structure (204), and the rotation axis of the second electric push rod relative to the second connecting structure (204) and the second proximal phalanx (801) is parallel to the rotation axis of the second proximal phalanx (801) relative to the wrist support (5); The outer shell end of the third electric push rod (401) is rotatably connected to the frame (1), and the power output end of the third electric push rod (401) is rotatably connected to the limit member (402). The rotation axis of the third electric push rod (401) relative to the frame (1) and the limit member (402) is parallel to the rotation axis of the moving disk (2) driven by the third electric push rod (401). In the initial state, an acute angle is formed between the push rod axis of the first electric push rod and the axis in the length direction of the first proximal phalanx (601), an acute angle is formed between the push rod axis of the second electric push rod and the axis in the length direction of the second proximal phalanx (801), and an acute angle is formed between the push rod axis of the third electric push rod (401) and the supporting surface of the wrist support (5).

7. A manipulator for hand and wrist joint rehabilitation training according to claim 5, characterized in that: The first rotation drive mechanism (3) comprises a mounting ring (302), a motor (301), a pinion (303) and a large gear (304) meshing with the pinion (303); the mounting ring (302) is connected to the frame (1); the pinion (303) is rotationally connected to the mounting ring (302); the large gear (304) is connected to the mounting ring (302); a second through cavity (3041) for allowing a patient's arm to pass through is provided on the large gear (304); the motor (301) is used to drive the pinion (303) to rotate; and the moving disk (2) is connected to the large gear (304) or the mounting ring (302).

8. A manipulator for hand and wrist joint rehabilitation training according to claim 7, characterized in that: A cross-axis universal joint (12) is provided between the moving disk (2) and the large gear (304); the moving disk (2) is connected to one of the rotating shafts of the cross-axis universal joint (12), and the large gear (304) is connected to the other rotating shaft of the cross-axis universal joint (12); in an initial state, the axis of the rotating shaft connecting the cross-axis universal joint (12) and the moving disk (2) coincides with the rotation axis of the moving disk (2) driven by the second rotation drive mechanism (4).

9. A manipulator for hand and wrist joint rehabilitation training according to claim 7, characterized in that: The frame (1) is provided with an arc-shaped plate (15) for supporting the patient's upper arm, and the mounting ring (302) is located between the moving disk (2) and the arc-shaped plate (15).

10. A manipulator for hand and wrist joint rehabilitation training according to any one of claims 2 to 9, characterized in that: A first finger sleeve (13) is provided on the first proximal phalanx (601) and / or the first distal phalanx (602), and a second finger sleeve (14) is provided on the second proximal phalanx (801) and / or the middle phalanx (802) and / or the second distal phalanx (803).

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