Manipulator for rehabilitation training of patient with hand movement dysfunction

Abstract

The utility model relates to the technical field of hand rehabilitation, and provides a manipulator for rehabilitation training of a patient with hand movement dysfunction, which comprises a height adjusting component. The abdomen lifting device comprises a base, a lifting guide rail fixed to the base, an electric air cylinder with the driving end connected with the lifting guide rail, and a sliding plate in sliding fit with the lifting guide rail through a guide sliding block. The abdomen supporting assembly comprises a connecting rod capable of sliding along a connecting plate and an inner arc-shaped supporting block connected through threads, the supporting position and angle can be finely adjusted, stable fitting supporting is provided from the lateral front portion of a patient, the trunk is prevented from shaking in the training process, and it is ensured that strength is concentrated on the hands; the height adjusting assembly drives a sliding plate to vertically ascend and descend along a lifting guide rail through an electric air cylinder to rapidly adapt to the initial height of the sitting posture or the prone posture of a patient, a correct posture basis is provided for joint training, and the problems of insufficient effectiveness and accuracy in the prior art are solved.

Description

Technical Field

[0001] This utility model relates to the field of hand rehabilitation technology, specifically to a robotic hand for rehabilitation training of patients with hand motor dysfunction. Background Technology

[0002] Hand motor dysfunction is a common sequela of stroke, spinal cord injury, and peripheral nerve injury, and rehabilitation training is crucial for patients to regain their ability to live independently. Traditional hand rehabilitation training often relies on manual assistance from therapists or the use of simple instruments, which suffers from low efficiency, difficulty in quantifying intensity, and a heavy workload for therapists. In recent years, rehabilitation robotics technology has been introduced into this field, resulting in some mechanical devices for upper limb or hand training. However, existing devices still have many limitations.

[0003] First, in terms of overall adaptability, existing equipment often struggles to simultaneously meet the personalized needs of patients with different heights, body types, and lying / sitting postures. Many devices have fixed mounting bases, offering only limited height or fore-and-aft position adjustments, and these adjustments are often manual pins or knobs, making operation cumbersome and hindering the quick and precise alignment of the training module with the patient's natural shoulder and elbow joint axes during treatment, thus affecting the comfort and effectiveness of the training.

[0004] Secondly, there are shortcomings in terms of stability during the training process. Fine motor skill training requires the stability of proximal joints (such as the shoulder, elbow, and wrist) for support. Most existing equipment focuses on the actuation of distal joints (such as the fingers), lacking effective fixation and support for the patient's trunk and proximal limbs. During training, patients are prone to compensatory trunk swaying or arm slippage due to fatigue or abnormal muscle tone. This not only reduces the accuracy of training movements but may also pose safety hazards and fails to effectively isolate and concentrate the training effect on the target muscle group. Utility Model Content

[0005] This invention proposes a robotic hand for rehabilitation training of patients with hand motor dysfunction, which solves the problems of insufficient effectiveness and accuracy in related technologies.

[0006] The technical solution of this utility model is as follows: A robotic hand for rehabilitation training of patients with hand motor dysfunction, including a height adjustment component, which includes a base, a rising guide rail fixed on the base, an electric cylinder with a drive end connected to the rising guide rail, and a sliding plate that slides with the rising guide rail through a guide slider, and a support frame fixed on the top of the sliding plate.

[0007] The front and rear adjustment components are in two sets, respectively installed on both sides of the top of the support frame; each set of front and rear adjustment components includes a support guide rail fixed on the support frame, a drive shaft mounted between the support guide rails, a drive belt sleeved on the drive shaft, a sliding guide block connected to the drive belt and slidingly engaged with the support guide rail, and a mounting plate fixed on the top of the sliding guide block.

[0008] The upper and lower arm training components are in two sets, respectively mounted on the mounting plates of the two sets of front and rear adjustment components; each set of upper and lower arm training components includes an upper arm support frame connected to the mounting plate, a lower arm support frame hinged to the upper arm support frame via a connecting shaft and equipped with an upper arm fixing plate, and a first harmonic motor that drives the connecting shaft to rotate; a second harmonic motor is provided at the end of the lower arm support frame, and the output end of the second harmonic motor is connected to a wrist support frame;

[0009] A finger training component, which is attached to the wrist support frame, is used to fix and train the fingers.

[0010] As a preferred embodiment of this utility model, an abdominal support component is provided on one side of the height adjustment component; the abdominal support component includes a connecting plate connected to the base, a connecting rod slidably connected to the connecting plate, and an inner arc-shaped support block connected to the end of the connecting rod via a threaded rod; the connecting rod is locked and fixed to the connecting plate by a connecting bolt, and the threaded rod is locked and fixed to the inner arc-shaped support block by a first locking bolt.

[0011] As a preferred embodiment of this utility model, the connecting plate is provided with an inner arc-shaped connecting block, and the inner arc-shaped connecting block is provided with a semi-arc support block, the surface of which is covered with a support pad.

[0012] As a preferred embodiment of this utility model, the end of the connecting rod is provided with a connecting thread head, and the threaded rod is threadedly connected to the connecting thread head through an internal threaded block.

[0013] As a preferred embodiment of this utility model, the finger training component includes a rigid hand fixing sleeve connected to a wrist support frame, a back-of-hand fixing sleeve disposed on the back of the rigid hand fixing sleeve, and a plurality of adjustable finger fixing pieces disposed on the front end of the rigid hand fixing sleeve. The adjustable finger fixing pieces are connected to the back-of-hand fixing sleeve via elastic fixing straps.

[0014] In a preferred embodiment of this utility model, the adjustable finger fixing piece is connected to a multi-section finger connecting tube, and the end of the multi-section finger connecting tube is connected to an adjustable finger connecting plate.

[0015] In a preferred embodiment of this utility model, the forearm support frame is fixedly connected to the housing of the second harmonic motor via a connecting block.

[0016] As a preferred embodiment of this utility model, the guide slider and the rising guide rail are a linear slider and guide rail mating structure.

[0017] The working principle and beneficial effects of this utility model are as follows:

[0018] This invention features an abdominal support component and a height adjustment component. The abdominal support component includes a connecting rod that can slide along a connecting plate and an inner arc-shaped support block connected by threads. It can finely adjust the support position and angle, providing stable and close support from the front side of the patient to prevent trunk swaying during training and ensure that the force is concentrated in the hands. The height adjustment component uses an electric cylinder to drive a sliding plate to rise and fall vertically along an ascending guide rail, quickly adapting to the initial height of the patient's sitting or lying position, providing a correct posture basis for joint training.

[0019] This invention utilizes a structure incorporating a harmonic motor, a linear slider, and a guide rail. The harmonic motor, through an internal wave generator, causes the flexible wheel to undergo controllable elastic deformation and mesh with the rigid wheel, directly driving the connecting shaft and wrist support frame to rotate. This outputs high-precision, low-backlash elbow flexion and extension movements and wrist rotation movements. The linear slider and guide rail employ a ball bearing cyclic engagement method, converting sliding friction into rolling friction, ensuring accurate reproduction and smooth execution of training movements, and improving rehabilitation quality. Attached Figure Description

[0020] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0021] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0022] Figure 2 This is a side view of the overall structure of this utility model;

[0023] Figure 3 This is a schematic diagram of the overall structure of the abdominal support component of this utility model;

[0024] Figure 4 This is a bottom view of the overall structure of the front and rear adjustment component of this utility model;

[0025] Figure 5 This is a schematic diagram of the connection of the front and rear adjustment components of this utility model;

[0026] Figure 6 This is a schematic diagram of the overall structure of the front and rear adjustment assembly of this utility model;

[0027] Figure 7 This is a schematic diagram of the overall structure of the arm and forearm training component of this utility model;

[0028] Figure 8 This is a schematic diagram of the overall structure of the finger training component of this utility model.

[0029] In the diagram: 1. Height adjustment assembly; 11. Base; 12. Lifting guide rail; 13. Electric cylinder; 14. Sliding plate; 15. Guide slider; 16. Support frame;

[0030] 2. Abdominal support assembly; 21. Internal threaded connector; 22. Threaded rod; 221. First locking bolt; 222. Inner arc-shaped support block; 23. Connecting plate; 231. Inner arc-shaped connecting block; 232. Semi-arc support block; 233. Support pad; 24. Connecting rod; 241. Connecting threaded head; 242. Connecting bolt;

[0031] 3. Front and rear adjustment assembly; 31. Support rail; 32. Drive shaft; 33. Drive belt; 34. Sliding guide block; 35. Mounting plate;

[0032] 4. Upper and lower arm training components; 41. Upper arm support frame; 411. Connecting shaft; 412. Upper arm fixing plate; 413. First harmonic motor; 42. Forearm support frame; 421. Second harmonic motor; 422. Connecting block; 423. Wrist support frame;

[0033] 5. Finger training components; 51. Hard hand fixation sleeve; 52. Back of hand fixation sleeve; 53. Adjustable finger fixation plate; 54. Elastic fixation strap; 55. Multi-segment finger connecting tube; 56. Adjustable finger connecting plate. Detailed Implementation

[0034] The technical solutions of this utility model will be clearly and completely described below with reference to the embodiments of this utility model. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this utility model.

[0035] Example

[0036] like Figures 1-8 As shown, a robotic hand for rehabilitation training of patients with hand motor dysfunction includes a height adjustment component 1, which includes a base 11, a rising guide rail 12 fixed on the base 11, an electric cylinder 13 whose drive end is connected to the rising guide rail 12, and a sliding plate 14 that slides with the rising guide rail 12 through a guide slider 15. A support frame 16 is fixed on the top of the sliding plate 14.

[0037] There are two sets of front and rear adjustment components 3, which are respectively installed on both sides of the top of the support frame 16. Each set of front and rear adjustment components 3 includes a support guide rail 31 fixed on the support frame 16, a drive shaft 32 mounted between the support guide rails 31, a drive belt 33 sleeved on the drive shaft 32, a sliding guide block 34 connected to the drive belt 33 and slidingly engaged with the support guide rail 31, and a mounting plate 35 fixed on the top of the sliding guide block 34.

[0038] Two sets of upper and lower arm training components 4 are installed on the mounting plates 35 of the two sets of front and rear adjustment components 3 respectively. Each set of upper and lower arm training components 4 includes an upper arm support frame 41 connected to the mounting plate 35, a lower arm support frame 42 hinged to the upper arm support frame 41 via a connecting shaft 411 and provided with an upper arm fixing plate 412, and a first harmonic motor 413 that drives the connecting shaft 411 to rotate. A second harmonic motor 421 is provided at the end of the lower arm support frame 42, and the output end of the second harmonic motor 421 is connected to a wrist support frame 423.

[0039] Finger training component 5, which is connected to the wrist support frame 423, is used to fix and train the fingers.

[0040] A specific embodiment of a robotic hand for rehabilitation training of patients with hand motor dysfunction includes complete functional modules. Its base 11 is fixed to the ground or the side of a bed. In the height adjustment assembly 1, two ascending guide rails 12 are vertically fixed to the base 11. The cylinder body of an electric cylinder 13 is hinged to the base 11, and the end of its piston rod is hinged to a sliding plate 14. The sliding plate 14 slides with the two ascending guide rails 12 via four guide sliders 15. When the electric cylinder 13 is energized, the piston rod extends and retracts, driving the sliding plate 14 to rise and fall vertically along the ascending guide rails 12, thereby adjusting the overall height of the support frame 16 fixed to the top of the sliding plate 14. A set of front-to-back adjustment assemblies 3 are bolted to the left and right sides of the top of the support frame 16. Each set of front-to-back adjustment assemblies 3 includes two parallel support guide rails 31, which are fixed to the support frame 16 by brackets. A drive shaft 32 is mounted between the front ends of the two support guide rails 31 via bearings and is driven by a servo motor. A closed transmission belt 33 is fitted onto a transmission shaft 32 and another driven shaft. A sliding guide block 34 has its lower part slidably engaged with a support rail 31 via a slider structure, and its internal clamping device is fixedly connected to one side of the transmission belt 33. When the servo motor drives the transmission shaft 32 to rotate, the transmission belt 33 moves, causing the sliding guide block 34 to move linearly back and forth along the support rail 31. A mounting plate 35 is bolted to the top of the sliding guide block 34. Two sets of upper and lower arm training components 4 are respectively mounted on the mounting plates 35 on the left and right sides. In each set of upper and lower arm training components 4, the upper arm support frame 41 is connected to the mounting plate 35 via a flange. The lower arm support frame 42 is hinged to the upper arm support frame 41 via a transverse connecting shaft 411, enabling flexion and extension movements of the elbow joint. The housing of the first harmonic motor 413 is fixed to the upper arm support frame 41, and its output shaft is connected to the connecting shaft 411 via a coupling. The first harmonic motor 413 internally uses a wave generator to cause the flexible wheel to elastically deform and mesh with the rigid wheel, thereby outputting high-precision, low-backlash rotary motion. This directly drives the connecting shaft 411 to rotate, causing the forearm support frame 42 to reciprocate and swing, thus achieving elbow joint rehabilitation training. A second harmonic motor 421 is fixed to the end side wall of the forearm support frame 42 via an L-shaped connecting block 422. The output shaft of the second harmonic motor 421 is horizontally forward, and its end is fixed to the wrist support frame 423 via a key connection. The working principle of the second harmonic motor 421 is the same as that of the first harmonic motor 413; it drives the wrist support frame 423 to rotate around a horizontal axis, simulating palmar flexion and dorsiflexion movements of the wrist. The end of the wrist support frame 423 is connected to the finger training component 5 via a detachable buckle or strap, used to fix the patient's hand and traction the fingers for movement.

[0041] The height adjustment component 1 is provided with an abdominal support component 2 on one side; the abdominal support component 2 includes a connecting plate 23 connected to the base 11, a connecting rod 24 slidably connected to the connecting plate 23, and an inner arc-shaped support block 222 connected to the end of the connecting rod 24 via a threaded rod 22; the connecting rod 24 is locked and fixed to the connecting plate 23 by a connecting bolt 242, and the threaded rod 22 is locked and fixed to the inner arc-shaped support block 222 by a first locking bolt 221.

[0042] An abdominal support component 2 is added to one side of the base 11 of the height adjustment component 1. This component provides support from the front side of the patient, increasing stability during training. A connecting plate 23 is vertically fixed to the side of the base 11 by bolts. An elongated oval guide groove is formed on the connecting plate 23. The connecting rod 24 is a round rod that passes through the guide groove and can slide within the groove to adjust the extension distance. A connecting bolt 242 passes through a threaded hole on the connecting plate 23 and presses against the connecting rod 24 to lock it in place. A connecting threaded head 241 is welded to the end of the connecting rod 24. An internal threaded connector 21 is welded to one end of a threaded rod 22. By screwing the internal threaded connector 21 into the connecting threaded head 241, a detachable connection is achieved between the threaded rod 22 and the connecting rod 24, and the extension length of the threaded rod 22 can be finely adjusted by rotation. The other end of the threaded rod 22 is hinged to an inner arc-shaped support block 222, the concave surface of which faces the patient. A first locking bolt 221 is provided on the hinge pivot. After rotating the inner arc-shaped support block 222 to adapt its angle to the curvature of the patient's side, tightening the first locking bolt 221 will lock its angle. In use, first slide the connecting rod 24 to bring it approximately close to the patient's side and tighten the connecting bolt 242; then rotate the threaded rod 22 to fine-tune the front and rear position of the support block; finally, adjust the angle of the inner arc-shaped support block 222 and lock it so that it fits snugly and supports the lower side of the patient's abdomen.

[0043] The connecting plate 23 is provided with an inner arc-shaped connecting block 231, and the inner arc-shaped connecting block 231 is provided with a semi-arc support block 232, the surface of which is covered with a support pad 233.

[0044] The connecting plate 23 is specifically designed to better conform to the human body. The main body of the connecting plate 23 is a vertical plate, with an inner arc-shaped connecting block 231 welded or bolted to its patient-facing side. The concave curvature of this connecting block approximates the physiological curvature of the human waist. A semi-circular support block 232 is detachably mounted on the concave surface of the inner arc-shaped connecting block 231 via bolts. The semi-circular support block 232 is made of rigid plastic or lightweight metal, its curvature matching that of the inner arc-shaped connecting block 231, but with a longer longitudinal length to provide a larger support area. To improve comfort, a support pad 233 is fixed to the entire contact surface of the semi-circular support block 232 via Velcro or wrapping. This support pad 233 is made of high-density slow-rebound foam, which can distribute pressure, adapt to patients of different body types, and avoid causing rigid pressure on the rib area during training. The connecting rod 24 passes through a guide groove from the other side of the connecting plate 23, away from the patient.

[0045] The end of the connecting rod 24 is provided with a connecting thread head 241, and the threaded rod 22 is threadedly connected to the connecting thread head 241 through an internal threaded block 21.

[0046] The connection structure between the connecting rod 24 and the threaded rod 22 is as follows: The end of the connecting rod 24 is machined with external threads to form a connecting threaded head 241. One end of the threaded rod 22 is welded or integrally formed with a cylindrical internally threaded connector 21, which has internal threads that match the connecting threaded head 241. The connection of the two rods is achieved by screwing the connecting threaded head 241 into the internally threaded connector 21. This threaded connection method allows the operator to continuously and precisely adjust the total length from the connecting plate 23 to the inner arc-shaped support block 222 by rotating the threaded rod 22, with a wide adjustment range. After adjustment to the appropriate length, the self-locking property of the threaded fit maintains that length without the need for additional tightening. This structure also facilitates the partial disassembly of the threaded rod 22 and the inner arc-shaped support block 222 for easy storage or disinfection.

[0047] The finger training component 5 includes a rigid hand fixation sleeve 51 connected to the wrist support frame 423, a back-of-hand fixation sleeve 52 disposed on the back of the rigid hand fixation sleeve 51, and a plurality of adjustable finger fixation pieces 53 disposed on the front end of the rigid hand fixation sleeve 51. The adjustable finger fixation pieces 53 are connected to the back-of-hand fixation sleeve 52 by elastic fixing straps 54.

[0048] The specific structure of the finger training component 5 is as follows: a rigid hand fixation sleeve 51 made of hard plastic, shaped to fit the palm, with an annular groove at the wrist position, is fixed to the flange at the end of the wrist support frame 423 by bolts, so that the hand posture is consistent with the wrist support frame 423. On the back of the hand area of ​​the rigid hand fixation sleeve 51, a back of the hand fixation sleeve 52 made of flexible fabric is sewn or glued on, with multiple transverse strap holes. At the front end of the rigid hand fixation sleeve 51, corresponding to the positions of the five fingers, there is an adjustable finger fixation piece 53. Each adjustable finger fixation piece 53 is a soft annular sleeve that can be adjusted to fit snugly around the proximal phalanx of the patient's finger. Five elastic fixation straps 54, such as latex tubing or elastic webbing, have one end connected to each of the five adjustable finger fixation pieces 53, and the other end passing through the corresponding strap holes on the back of the hand fixation sleeve 52, and fixed at the back of the hand by adjusting buckles. The principle is as follows: when the patient's fingers are unable to extend, the pre-tension of the elastic fixation band 54 can assist in straightening the fingers; when it is necessary to train the strength of the finger flexor muscles, the patient needs to overcome the tension of the elastic fixation band 54 by actively flexing the fingers, thereby achieving the effect of resistance training.

[0049] The adjustable finger fixing piece 53 is connected to a multi-segment finger connecting tube 55, and the end of the multi-segment finger connecting tube 55 is connected to an adjustable finger connecting plate 56.

[0050] On the dorsal side of each adjustable fixing plate 53, facing the nail, is a multi-segment finger connecting tube 55 connected by a small hinge axis. This connecting tube consists of three to four short tubes connected in series by transverse hinges, and each segment can be bent within a certain angle to simulate the linkage between the metacarpophalangeal joints and interphalangeal joints of the finger. At the end of the last segment of the multi-segment finger connecting tube 55, an adjustable finger connecting plate 56 is connected by a ball joint. This connecting plate is a soft, bendable metal or plastic sheet that can fit snugly around and fix to the patient's fingertip or distal phalanx. When the wrist support 423 reciprocates under the drive of the second harmonic motor 421, the fixed palm and fingertip can passively pull the joints of the entire finger to perform flexion and extension movements in coordination, achieving more refined and complex finger joint range of motion training.

[0051] The forearm support frame 42 is fixedly connected to the housing of the second harmonic motor 421 via a connecting block 422.

[0052] The specific connection between the forearm support frame 42 and the second harmonic motor 421 is as follows: The end of the forearm support frame 42 is a horizontally extending square tube. The connecting block 422 is an L-shaped hard alloy block, whose vertical side is tightly fixed to the side wall of the end of the square tube of the forearm support frame 42 by multiple bolts. The cylindrical housing of the second harmonic motor 421 is embedded in the circular mounting hole on the horizontal side of the connecting block 422, and the motor housing is clamped and fixed to the connecting block 422 from both sides by flanges and bolts. This rigid connection ensures that the housing of the second harmonic motor 421 and the forearm support frame 42 are integrated and will not experience relative displacement or vibration. The output shaft of the motor extends from the front end of the horizontal side of the connecting block 422 and is connected to the wrist support frame 423. Thus, when the first harmonic motor 413 drives the forearm support frame 42 to swing, the second harmonic motor 421 and the wrist and hand components it drives move as a whole.

[0053] The guide slider 15 and the rising guide rail 12 are a linear slider and guide rail mating structure.

[0054] The guide slider 15 and the rising guide rail 12 are specifically coupled using an industrially standardized linear slider and linear guide rail assembly. The rising guide rail 12 consists of two precision-ground rectangular steel rails, each with a V-shaped or rectangular hardened steel raceway on both sides. Each guide slider 15 is a rectangular block with two rows of circulating balls or rollers inside. The guide slider 15 is engaged with the raceway of the rising guide rail 12 by the balls / rollers inside, achieving a sliding fit. When the electric cylinder 13 drives the sliding plate 14 to rise and fall, the four guide sliders 15 roll synchronously on the two rising guide rails 12 respectively. This structure transforms sliding friction into rolling friction, resulting in minimal friction, smooth and stable movement, and the ability to withstand overturning moments from all directions. This ensures that the sliding plate 14 and the support frame 16 move without jamming or wobbling during the rising and falling process, providing high positioning accuracy and a stable and reliable vertical reference for the entire rehabilitation training.

[0055] Working principle: First, fix the device base 11 to the side of the rehabilitation bed. The operator activates the electric cylinder 13 of the height adjustment component 1, whose piston rod pushes the sliding plate 14, causing it to rise and fall smoothly and vertically on the two rising guide rails 12 via four guide sliders 15, thereby adjusting the entire support frame 16 to the initial height suitable for the patient's sitting or lying position. To enhance the stability of the patient's trunk, the abdominal support component 2 can be adjusted: loosen the connecting bolt 242, slide the connecting rod 24 along the guide groove of the connecting plate 23 to the side of the patient and then lock it; rotate the threaded rod 22, and through the threaded engagement of the internal threaded block 21 at its end with the connecting threaded head 241 at the end of the connecting rod 24, finely adjust the front and rear distance of the inner arc-shaped support block 222; finally, adjust the angle of the support block and lock it with the first locking bolt 221, so that it comfortably fits the lower side of the patient's abdomen through the semi-arc support block 232 and the support pad 233 to provide support. Next, the arm's spatial position is adjusted according to the patient's arm length: the servo motor of the forward and backward adjustment component 3 drives the transmission shaft 32 to rotate, which in turn drives the transmission belt 33 to move, causing the sliding guide block 34 fixed on the belt to slide back and forth along the support guide rail 31, thereby driving the mounting plate 35 and the forearm and upper arm training components 4 on it to move horizontally to the appropriate position. During training, the first harmonic motor 413 starts, and its internal wave generator causes the flexible wheel to produce controllable elastic deformation and mesh with the rigid wheel, outputting high-precision rotational motion, directly driving the connecting shaft 411 to rotate, driving the forearm support frame 42 to perform elbow joint flexion and extension training relative to the upper arm support frame 41. At the same time, the second harmonic motor 421, fixed to the end of the forearm support frame 42 and rigidly connected through the connecting block 422, works, driving the wrist support frame 423 to rotate on the same principle, performing wrist palmar flexion and dorsiflexion movements. The patient's right hand participates in training through finger training component 5: the palm is placed in a rigid hand fixation sleeve 51, and the wrist is fixed to the wrist support frame 423; the proximal phalanges of each finger are fixed by adjustable finger fixation plates 53, which are connected to the back of the hand fixation sleeve 52 through elastic fixation bands 54, providing assisted extension or resisted flexion force; to train the interphalangeal joints, multi-segment finger connecting tubes 55 can be connected to the adjustable finger fixation plates 53, and the adjustable finger connecting plates 56 at the ends of the tubes are fixed to the fingertips. When the wrist support frame 423 is driven to move, it can passively pull each finger joint to perform coordinated compound movements.

[0056] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A mechanical hand for rehabilitation training of a patient with hand movement dysfunction, characterized by, The utility model relates to a height adjusting assembly (1) comprising a base (11), an ascending guide rail (12) fixed to the base (11), an electric cylinder (13) with a driving end connected to the ascending guide rail (12), and a sliding plate (14) in sliding cooperation with the ascending guide rail (12) through a guide sliding block (15), wherein the top of the sliding plate (14) is fixed with a support frame (16). Two front and rear adjusting assemblies (3) are installed on the top of the support frame (16) on both sides respectively, each of which comprises a support guide rail (31) fixed to the support frame (16), a transmission shaft (32) erected between the support guide rails (31), a transmission belt (33) sleeved on the transmission shaft (32), a sliding guide block (34) connected to the transmission belt (33) and in sliding cooperation with the support guide rail (31), and a mounting plate (35) fixed to the top of the sliding guide block (34). Two size arm training assemblies (4) are installed on the mounting plates (35) of the two front and rear adjusting assemblies (3) respectively, each of which comprises a large arm support frame (41) connected to the mounting plate (35), a small arm support frame (42) hinged to the large arm support frame (41) through a connecting shaft (411) and provided with a large arm fixing plate (412), and a first harmonic motor (413) driving the rotation of the connecting shaft (411), wherein the end of the small arm support frame (42) is provided with a second harmonic motor (421), and the output end of the second harmonic motor (421) is connected with a wrist support frame (423). A finger training assembly (5) is connected to the wrist support frame (423) for fixing and training the fingers. One side of the height adjusting assembly (1) is provided with an abdominal lifting assembly (2), which comprises a connecting plate (23) connected to the base (11), a connecting rod (24) in sliding connection with the connecting plate (23), and an inner arc-shaped support block (222) connected to the end of the connecting rod (24) through a threaded rod (22), wherein the connecting rod (24) is locked and fixed to the connecting plate (23) through a connecting bolt (242), and the threaded rod (22) is locked and fixed to the inner arc-shaped support block (222) through a first locking bolt (221).

2. The mechanical hand according to claim 1, wherein An inner arc-shaped connecting block (231) is arranged on the connecting plate (23), and a semi-arc support block (232) is arranged on the inner arc-shaped connecting block (231), wherein the surface of the semi-arc support block (232) is covered with a support soft pad (233).

3. The mechanical hand according to claim 2, wherein The end of the connecting rod (24) is provided with a connecting threaded head (241), and the threaded rod (22) is threadedly connected to the connecting threaded head (241) through an inner threaded joint block (21).

4. The mechanical hand according to claim 2, wherein ​ 5. The mechanical hand according to claim 1, wherein The finger training assembly (5) comprises a hand hard fixing sleeve (51) connected with a wrist support frame (423), a back of hand fixing sleeve (52) arranged at the back of the hand hard fixing sleeve (51), and a plurality of finger adjustable fixing pieces (53) arranged at the front end of the hand hard fixing sleeve (51), wherein the finger adjustable fixing pieces (53) are connected with the back of hand fixing sleeve (52) through elastic fixing belts (54).

6. The mechanical hand according to claim 5, wherein The finger adjustable fixing pieces (53) are connected with finger multi-section connecting pipes (55), and the end portions of the finger multi-section connecting pipes (55) are connected with finger adjustable connecting plates (56).

7. The mechanical hand according to claim 1, wherein The forearm support frame (42) is fixedly connected with the shell of the second harmonic motor (421) through a connecting block (422).

8. The mechanical hand based on the rehabilitation training for the patient with hand movement dysfunction according to claim 1, characterized in that, The guide sliding block (15) and the ascending guide rail (12) are a linear sliding block and guide rail cooperation structure.

Images