Finger rehabilitation robot

Abstract

The utility model discloses a finger rehabilitation robot which comprises a finger rehabilitation robot body, a training intensity deepening mechanism is arranged at the position, located on the hand back, of the surface of the finger rehabilitation robot body, and a guide tension bar is arranged in the training intensity deepening mechanism. A finger supporting plate is arranged at the front end of the finger rehabilitation robot body, and a wearing fingerstall is arranged at the finger tip position of the finger supporting plate. The electric hydraulic rod is arranged in the base, the driving module is separated from the finger module, the electric hydraulic rod can serve as an auxiliary tool to pull the bent position of the finger, a patient can bend more easily in a labor-saving mode, one part of the electric hydraulic rod is driven by the driving force of the electric hydraulic rod, and the other part of the electric hydraulic rod is driven by the muscle force of the patient. Bending is performed by not completely depending on power of the driving module, the patient also needs to exert force, the two kinds of force are combined, rehabilitation training of the fingers of the patient is better facilitated, and rehabilitation time is shortened.

Description

Technical Field

[0001] This utility model relates to the field of finger rehabilitation, specifically a finger rehabilitation robot. Background Technology

[0002] Finger rehabilitation robots are devices for training and rehabilitating individual fingers. Through task-oriented functional training and synergistic movement training of the whole finger or a single finger, they effectively improve patients' hand muscle strength, joint range of motion, superficial and deep sensation, finger dexterity and coordination. Through functional training, patients can acquire corresponding daily living abilities and achieve active and passive training modes, making them suitable for the treatment of patients with various muscle strength levels.

[0003] Existing technologies for finger rehabilitation robots still have certain drawbacks. Traditional finger rehabilitation robots rely on a drive module to automatically bend each joint to achieve rehabilitation. This method can lead to finger dependence, and once the finger is removed from the rehabilitation robot, the finger cannot move flexibly, which is not conducive to the recovery of finger muscle strength and results in a relatively slow rehabilitation effect. Utility Model Content

[0004] The purpose of this invention is to provide a finger rehabilitation robot to solve the problem mentioned in the background art that each joint of a traditional finger rehabilitation robot is driven by a drive module to automatically bend in order to achieve the purpose of rehabilitation. This method will make the fingers dependent, and once they are separated from the finger rehabilitation robot, the fingers still cannot move flexibly, which is not conducive to the recovery of finger muscle strength and the rehabilitation effect is relatively slow.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a finger rehabilitation robot, comprising a finger rehabilitation robot body, a training intensity enhancement mechanism located on the back of the hand on the surface of the finger rehabilitation robot body, a guide tension rod inside the training intensity enhancement mechanism, a finger support plate at the front end of the finger rehabilitation robot body, a wearable finger sleeve at the fingertip of the finger support plate, a thumb support plate on one side of the finger rehabilitation robot body, a bending component on the outer side of the thumb support plate, a second data connection line at one end of the bending component, and a thumb wearable finger sleeve at the fingertip of the inner side of the thumb support plate. The rear end of the finger support plate is connected to the main body of the finger rehabilitation robot via a fixed ear, and the thumb support plate is hinged to the fixed ear via a first fixed hinge. The rear end of the main body of the finger rehabilitation robot is provided with a wrist sleeve. The main body of the finger rehabilitation robot is located above the base. The surface of the base is provided with a palm support block at the palm position. The front end of the surface of the base is provided with a finger pad. The bottom of the finger pad is provided with a positioning slider. One end of the positioning slider is connected to a support rod. The support rod is located inside an electro-hydraulic rod. One end of the electro-hydraulic rod is provided with a first data connection line. The rear end of the surface of the base is provided with a support base. The bottom of the base is provided with a front rubber anti-slip pad and a rear rubber anti-slip strip in sequence.

[0006] In a further embodiment, the guide tension rod is connected to the finger support plate via a connecting segment, and the connecting segment is hinged to the finger support plate via a hinge.

[0007] In a further embodiment, the finger pad has finger straps on both sides, and the finger straps are fixedly connected to the wearing finger sleeve by buckles.

[0008] In a further embodiment, the finger pad and the base are slidably connected by a positioning slider, the finger pad and the positioning slider are hinged together by a hinge, and the finger pad is designed as a circular structure.

[0009] In a further embodiment, the inner end of the guide tension rod is fixedly connected to the training intensity enhancement mechanism by a strength enhancement spring, and the inner end of the top surface of the guide tension rod is slidably connected to the training intensity enhancement mechanism by a limiting slider and a limiting groove. The rear end of the surface of the training intensity enhancement mechanism is provided with a sealing cover, and the sealing cover is fixedly connected to the training intensity enhancement mechanism by a buckle.

[0010] In a further embodiment, a cable tray is provided between the support and the palm support block, the palm support block is fixedly connected to the base by screws, and the palm support block is designed as a hemispherical structure. A wrist strap is provided on one side of the support, and the wrist strap is connected to the wrist sleeve by Velcro.

[0011] Compared with the prior art, the beneficial effects of this utility model are:

[0012] 1. In this utility model, the electro-hydraulic rod is located inside the base, separating the drive module from the finger module. The electro-hydraulic rod can serve as an auxiliary tool to traction the bent position of the finger, making it easier and less strenuous for the patient to bend the finger. It utilizes part of the driving force of the electro-hydraulic rod and part of the patient's own muscle strength, not relying entirely on the power of the drive module for bending. The patient also needs to exert force. The combination of these two forces is more conducive to the rehabilitation training of the patient's fingers, shortening the rehabilitation time. Furthermore, an intensity-enhancing spring is installed inside the training intensity-enhancing mechanism. The intensity-enhancing spring serves two purposes: first, it is used to automatically reset the bent finger; second, it is used to increase the intensity of finger bending, which is beneficial to the improvement of muscle strength. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the structure of a finger rehabilitation robot according to the present invention;

[0014] Figure 2 This is a schematic diagram showing the detailed structure of part A of this utility model;

[0015] Figure 3 This is a schematic diagram of the internal structure of the training intensity enhancement mechanism of this utility model;

[0016] Figure 4 This is a top view of the base of this utility model;

[0017] Figure 5 This is a side view of the finger pad of this utility model;

[0018] Figure 6 This is a schematic diagram of the bottom structure of the base of this utility model.

[0019] In the diagram: 1. Base; 2. Wearable finger cot; 3. Finger strap; 4. Finger support plate; 5. Connecting section; 6. Training intensity enhancement mechanism; 7. Main body of the finger rehabilitation robot; 8. Fixed ear; 9. First fixed hinge; 10. Wearable finger cot for thumb; 11. Thumb support plate; 12. Bending component; 13. Wrist cot; 14. Support; 15. Wrist strap; 16. First data connection cable; 17. Second data connection cable; 18. Limiting groove; 19. Sealing cover; 20. Limiting slider; 21. Guide tension rod; 22. Intensity enhancement spring; 23. Buckle; 24. Finger pad; 25. Support rod; 26. Electro-hydraulic rod; 27. Palm support block; 28. Cable tray; 29. ​​Positioning slider; 30. Front rubber anti-slip pad; 31. Rear rubber anti-slip strip. Detailed Implementation

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0021] Please see Figure 1-6 This utility model provides an embodiment of a finger rehabilitation robot, comprising a finger rehabilitation robot body 7, a training intensity enhancement mechanism 6 located on the back of the hand on the surface of the finger rehabilitation robot body 7, a guide tension rod 21 located inside the training intensity enhancement mechanism 6, a finger support plate 4 located at the front end of the finger rehabilitation robot body 7, a wearable finger sleeve 2 located at the fingertip of the finger support plate 4, a thumb support plate 11 located on one side of the finger rehabilitation robot body 7, a bending component 12 located on the outer side of the thumb support plate 11, a second data connection line 17 located at one end of the bending component 12, a thumb wearable finger sleeve 10 located at the fingertip of the inner side of the thumb support plate 11, the rear end of the thumb support plate 11 connected to the finger rehabilitation robot body 7 via a fixed ear 8, and the thumb support plate 11 and the fixed ear 8 are hinged together via a first fixed hinge 9, a wrist sleeve 13 located at the rear end of the finger rehabilitation robot body 7, the finger rehabilitation robot body 7 being positioned above a base 1, a palm support block 27 located on the palm of the base 1, a finger pad 24 located at the front end of the surface of the base 1, and the finger pad 2... Below the base 4 is a positioning slider 29, one end of which is connected to the support rod 25. The support rod 25 is located inside the electric hydraulic rod 26. One end of the electric hydraulic rod 26 is provided with a first data connection line 16. The rear end of the surface of the base 1 is provided with a support 14. The bottom of the base 1 is provided with a front rubber anti-slip pad 30 and a rear rubber anti-slip strip 31 in sequence. The training intensity deepening mechanism 6 is used to increase the bending force of the fingers. The finger support plate 4 is used to support and fix the fingers. The finger sleeve 2 is used to facilitate the wearing of the finger support plate 4 and the fingers. The thumb is supported. The plate 11 is used to support and fix the thumb, the bending component 12 is used to electrically bend the thumb, the wrist sleeve 13 is used to put on the main body 7 of the finger rehabilitation robot, the base 1 is used to increase the stability of the bottom, the palm support block 27 is used to facilitate hand support, the finger pad 24 is used to fix the fingertip position, the electric hydraulic rod 26 is used to increase the driving force, the support 14 is used to support and position the wrist, and the front rubber anti-slip pad 30 and the rear rubber anti-slip strip 31 are used to increase the anti-slip effect on the bottom of the base 1.

[0022] The guide tension rod 21 is connected to the finger support plate 4 through the connecting section 5, and the connecting section 5 is hinged to the finger support plate 4. The connecting section 5 is used to connect the guide tension rod 21 and the finger support plate 4 into one unit.

[0023] The finger pad 24 has finger straps 3 on both sides, and the finger straps 3 are fixedly connected to the wearing finger sleeve 2 by buckles. The finger straps 3 are used to bind and fix the finger pad 24 to the finger support plate 4. The finger pad 24 is slidably connected to the base 1 by the positioning slider 29. The finger pad 24 and the positioning slider 29 are hinged together, and the finger pad 24 is designed with a circular structure. The positioning slider 29 makes it easy to slide and adjust the finger pad 24.

[0024] The inner end of the guide tension rod 21 is fixedly connected to the training intensity enhancement mechanism 6 via the intensity enhancement spring 22, and the inner end of the top surface of the guide tension rod 21 is slidably connected to the training intensity enhancement mechanism 6 via the limiting slider 20 and the limiting groove 18. The rear end of the surface of the training intensity enhancement mechanism 6 is provided with a sealing cover 19, and the sealing cover 19 is fixedly connected to the training intensity enhancement mechanism 6 via a buckle 23. The intensity enhancement spring 22 is used to increase the bending force of the finger, and the limiting slider 20 is used to limit and position the extension and retraction of the guide tension rod 21.

[0025] A cable tray 28 is provided between the support 14 and the palm support block 27. The palm support block 27 is fixedly connected to the base 1 by screws, and the palm support block 27 is designed with a hemispherical structure. A wrist strap 15 is provided on one side of the support 14, and the wrist strap 15 is connected to the wrist sleeve 13 by Velcro. The cable tray 28 is used to neatly arrange the connected cables. The hemispherical structure of the palm support block 27 can increase the comfort of holding the hand.

[0026] Working principle: In use, the main body 7 of the finger rehabilitation robot is worn on the hand through the wrist sleeve 13, and the fingertips of the little finger, ring finger, middle finger and index finger are respectively worn in the wearing finger sleeve 2. The thumb support plate 11 is fixed on the thumb through the thumb wearing finger sleeve 10. The hand is placed on the base 1, and the wrist is placed in the support 14. The palm holds the palm support block 27 and is fixed by the wrist strap 15. The fingertips of the little finger, ring finger, middle finger and index finger are placed on the finger pad 24 and fixed by the finger strap 3. The finger pad 24 is moved back and forth by the electric hydraulic rod 26 to achieve the effect of bending the fingers. At the same time, the patient also needs to bend the fingers to adjust the extension and retraction of the guide tension rod 21, thus training the fingers.

[0027] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A finger rehabilitation robot, comprising a finger rehabilitation robot body (7), characterized in that: The surface of the finger rehabilitation robot body (7) located on the back of the hand is provided with a training intensity enhancement mechanism (6). The training intensity enhancement mechanism (6) is provided with a guide tension rod (21) inside. The front end of the finger rehabilitation robot body (7) is provided with a finger support plate (4). The finger tip of the finger support plate (4) is provided with a wearable finger sleeve (2). The side of the finger rehabilitation robot body (7) is provided with a thumb support plate (11). The outer side of the thumb support plate (11) is provided with a bending component (12). One end of the bending component (12) is provided with a second data connection line (17). The finger tip of the inner side of the thumb support plate (11) is provided with a thumb wearable finger sleeve (10). The rear end of the thumb support plate (11) is connected to the finger rehabilitation robot body (7) through a fixing ear (8). (11) is hinged to the fixed ear (8) via the first fixed hinge (9). The rear end of the finger rehabilitation robot body (7) is provided with a wrist sleeve (13). The finger rehabilitation robot body (7) is located above the base (1). The surface of the base (1) is provided with a palm support block (27) at the palm position. The front end of the surface of the base (1) is provided with a finger pad (24). The lower part of the finger pad (24) is provided with a positioning slider (29). One end of the positioning slider (29) is connected to the support rod (25). The support rod (25) is located inside the electric hydraulic rod (26). One end of the electric hydraulic rod (26) is provided with a first data connection line (16). The rear end of the surface of the base (1) is provided with a support (14). The bottom of the base (1) is provided with a front rubber anti-slip pad (30) and a rear rubber anti-slip strip (31) in sequence.

2. The finger rehabilitation robot according to claim 1, characterized in that: The guide tension rod (21) is connected to the finger support plate (4) through a connecting section (5), and the connecting section (5) is hinged to the finger support plate (4).

3. The finger rehabilitation robot according to claim 1, characterized in that: The finger pad (24) is provided with finger straps (3) on both sides, and the finger straps (3) are fixedly connected to the wearing finger sleeve (2) by buckles.

4. The finger rehabilitation robot according to claim 1, characterized in that: The finger pad (24) and the base (1) are slidably connected by a positioning slider (29), and the finger pad (24) and the positioning slider (29) are hinged together by a hinge, and the finger pad (24) is designed as a circular structure.

5. A finger rehabilitation robot according to claim 1, characterized in that: The inner end of the guide tension rod (21) is fixedly connected to the training intensity enhancement mechanism (6) through the intensity enhancement spring (22), and the inner end of the top surface of the guide tension rod (21) is slidably connected to the training intensity enhancement mechanism (6) through the limiting slider (20) and the limiting groove (18). The rear end of the surface of the training intensity enhancement mechanism (6) is provided with a sealing cover (19), and the sealing cover (19) is fixedly connected to the training intensity enhancement mechanism (6) through a buckle (23).

6. A finger rehabilitation robot according to claim 1, characterized in that: A cable tray (28) is provided between the support (14) and the palm support block (27). The palm support block (27) is fixedly connected to the base (1) by screws. The palm support block (27) is designed as a hemispherical structure. A wrist strap (15) is provided on one side of the support (14). The wrist strap (15) is connected to the wrist sleeve (13) by Velcro.

Images