CN114081792A - Exoskeleton finger wrist rehabilitation power assisting device - Google Patents

Abstract

The invention is suitable for the technical field of rehabilitation assistance, and provides exoskeleton finger wrist rehabilitation assistance equipment which comprises a rehabilitation manipulator device, wherein the rehabilitation manipulator device comprises a fixing plate, a four-finger flexion and extension device and a thumb flexion and extension device, and the fixing plate is connected with a torsion driving part for driving the thumb flexion and extension device to integrally swing relative to the fixing plate; the four-finger flexion and extension device comprises a near finger connecting part, a middle finger connecting part which can rotate relative to the near finger connecting part, and a first movable bow part which is used for driving the near finger connecting part and the middle finger connecting part, and the exoskeleton finger wrist rehabilitation power assisting device further comprises a wrist joint rotating device which is used for driving the rehabilitation manipulator device to integrally rotate in a reciprocating mode. The exoskeleton finger wrist rehabilitation power assisting device provided by the embodiment of the invention is small and compact in structure, can realize integrated motion of flexion/extension of wrist joints, flexion/extension of five fingers and torsion of thumbs, and is better in rehabilitation treatment effect.

Description

Exoskeleton finger wrist rehabilitation power assisting device

Technical Field

The invention belongs to the technical field of rehabilitation assistance, and particularly relates to exoskeleton finger wrist rehabilitation assistance equipment.

Background

In the prior art, the exoskeleton hand rehabilitation training device is mainly used for the rehabilitation training of flexion/extension, grasping/opening of fingers, and the upper limb training device lacks a wrist joint training part and is not beneficial to the rehabilitation treatment of the upper limbs of a patient.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides the exoskeleton finger wrist rehabilitation assisting device which is small and compact in structure, can realize the integrated motion of flexion/extension of wrist joints, flexion/extension of five fingers and torsion of thumbs, and has better rehabilitation treatment effect.

The technical scheme of the invention is as follows: the exoskeleton finger wrist rehabilitation assistance device comprises a rehabilitation manipulator device, wherein the rehabilitation manipulator device comprises a fixing plate, a four-finger flexion and extension device and a thumb flexion and extension device which can be connected to the back of a hand of a user, and the fixing plate is connected with a torsion driving part which is used for driving the thumb flexion and extension device to swing integrally relative to the fixing plate; the four-finger flexion and extension device comprises a near finger connecting part, a middle finger connecting part capable of rotating relative to the near finger connecting part and a first movable arch part for driving the near finger connecting part and the middle finger connecting part, wherein the first movable arch part comprises a first power device, a first guide rail seat and a connecting rod mechanism, and the first guide rail seat is fixedly connected to the fixed plate and is provided with a first arc-shaped sliding groove; the connecting rod mechanism is rotatably connected with the first power device, the near finger connecting part and the middle finger connecting part; the exoskeleton finger wrist rehabilitation power assisting device further comprises a wrist joint rotating device for driving the rehabilitation manipulator device to integrally rotate in a reciprocating mode.

Optionally, the link mechanism and the middle finger connecting part have a sliding connection structure;

the connecting rod mechanism comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod; the rear end of the first connecting rod, the rear end of the near finger connecting component, the linear push rod at the front end of the first power device and the near finger connecting component are rotatably connected through a first pin shaft; the rear end of the second connecting rod is connected to the first guide rail seat, and the front end of the second connecting rod, the front end of the first connecting rod and the rear end of the third connecting rod are rotationally connected through a second pin shaft; the front end of the third connecting rod is rotatably connected with the rear upper end of the fourth connecting rod, and the rear lower end of the fourth connecting rod is rotatably connected with the front end of the proximal connecting component; the front end of the fourth connecting rod and the middle finger connecting part are provided with the sliding connection structure;

the sliding connection structure comprises a linear sliding chute arranged on the middle finger connecting part and a linear sliding part connected to the front end of the fourth connecting rod and connected to the linear sliding chute in a sliding manner;

the linear sliding component comprises a connecting shaft penetrating through the fourth connecting rod and first bearings connected to two ends of the connecting shaft, and the first bearings are arranged in the linear sliding grooves;

the middle finger connecting part comprises a middle finger connecting piece and a middle finger fixing band connected with the middle finger connecting piece, and the middle finger connecting piece comprises a middle finger bottom plate and two middle finger side plates which are oppositely arranged at intervals; the two middle finger side plates are respectively provided with the linear sliding groove, the front end of the fourth connecting rod extends into the space between the two middle finger side plates, the middle finger side plates are provided with two first through holes, the connecting shafts are provided with two first through holes which respectively penetrate through the two middle finger side plates, the first bearings are provided with four first bearings which are respectively sleeved at two ends of the two connecting shafts, and each linear sliding groove is internally provided with two first bearings which can slide along the linear sliding groove;

the first guide rail seat comprises a guide rail bottom plate and two guide rail side plates which are arranged oppositely at intervals; the two guide rail side plates are provided with the first arc-shaped sliding grooves;

the near finger connecting component comprises a near finger connecting piece and a near finger fixing band connected with the near finger connecting piece; the near finger connecting piece is provided with a near finger connecting rod positioned between the two guide rail side plates, the near finger connecting rod is provided with two second connecting holes, near finger shafts penetrate through the second connecting holes, the near finger shafts are provided with two near finger shafts respectively penetrating through the second connecting holes, the near finger bearings are provided with four near finger bearings which are respectively connected to two ends of the near finger shafts, and each first arc-shaped sliding chute is internally provided with two near finger bearings which can slide along the first arc-shaped sliding chute;

a proximal connecting shifting fork is arranged at one end, close to the first power device, of the proximal connecting rod, a first shifting fork is arranged at the rear end of the first connecting rod, and a second shifting fork is arranged at the front end of the first connecting rod;

the number of the second connecting rods is two, and a third connecting hole is formed in the position, below the middle part of the first arc-shaped sliding groove, of each guide rail side plate; the second connecting rod is arranged on the outer side of the guide rail side plate, and the rear end of the second connecting rod is rotatably connected to the third connecting hole through a third pin shaft;

the first shifting fork is arranged on the inner side of the near finger connecting shifting fork, the front end of the linear push rod extends into the inner side of the first shifting fork, and the first pin shaft penetrates through the near finger connecting shifting fork, the first shifting fork and the front end of the linear push rod;

the second shifting fork is positioned between the two second connecting rods, the rear end of the third connecting rod is positioned on the inner side of the second shifting fork, and the second pin shaft penetrates through the front end of the second connecting rod, the second shifting fork and the rear end of the third connecting rod;

a third shifting fork is arranged at the rear end of the fourth connecting rod, the third shifting fork is provided with an upper connecting hole and a lower connecting hole, and the front end of the third connecting rod is positioned between the third shifting forks and is rotatably connected to the upper connecting hole through a fourth pin shaft; the front end of the proximal connecting rod is located between the third shifting forks and is rotatably connected with the lower connecting hole through a fifth pin shaft.

Optionally, the middle finger fixing strap is slidably connected to the middle finger connecting piece through a middle finger sliding block; the near finger fixing band is connected with the near finger connecting piece through the near finger sliding block or directly connected with the near finger connecting piece.

Optionally, the thumb flexion and extension device comprises a second power device, a second guide rail seat and a thumb proximal finger clip, the second guide rail seat is provided with a second arc-shaped sliding groove, the thumb proximal finger clip is slidably connected to the second arc-shaped sliding groove, the rear end of the second power device is rotatably connected to the second guide rail seat, and the front end of the second power device is rotatably connected to the rear end of the thumb proximal finger clip;

the second guide rail seat comprises a thumb guide rail bottom plate and two thumb guide rail side plates which are arranged oppositely at intervals; the two thumb guide rail side plates are respectively provided with the second arc-shaped sliding groove, and the thumb near-finger clamp comprises a thumb connecting piece and a thumb fixing belt connected to the thumb connecting piece; the thumb connecting piece is provided with a thumb connecting rod positioned between the two thumb guide rail side plates, the thumb connecting rod is provided with two fifth connecting holes, fifth hinge pins penetrate through the two fifth connecting holes, and two ends of each fifth hinge pin are provided with second bearings; two second bearings are arranged in each second arc-shaped sliding groove; the rear end of the thumb connecting rod is provided with a thumb connecting shifting fork, and the front end of a second power device extends into the space between the thumb connecting shifting forks and is rotationally connected with the thumb connecting shifting fork through a sixth pin shaft; the thumb fixing strap is connected or directly connected to the thumb connecting rod through a thumb sliding block.

Optionally, the torsion driving part includes a third power device, a third guide rail seat and a third transmission rod member, the third guide rail seat is fixedly connected to the fixing plate, the third guide rail seat has a third arc-shaped sliding groove, the third transmission rod member is slidably connected to the third arc-shaped sliding groove, one end of the third transmission rod member is rotatably connected to the front end of the third power device, the other end of the third transmission rod member is connected to the thumb bending and stretching device, and the rear end of the third power device is rotatably connected to the fixing plate or the third guide rail seat.

Optionally, the third transmission rod is connected with two sixth pins, and both ends of each sixth pin are provided with a third bearing; two third bearings are arranged in each third arc-shaped sliding groove.

Optionally, the wrist joint rotating device includes a rotation support seat, an arm bracket connected to the rotation support seat and used for supporting the wrist of the user, a rotation support plate rotatable with respect to the rotation support seat, and a rotation driving component for driving the rotation support plate, and a docking structure is disposed between one side of the fixing plate away from the thumb bending and stretching device and the rotation support plate;

an electronic limiting device and a mechanical limiting device are arranged between the rotary supporting plate and the rotary supporting seat.

Optionally, the docking structure includes a docking hole provided in the rotating support plate and a docking protrusion provided in the fixing plate.

Optionally, the electronic position limiting device includes an induction sheet connected to the rotary support plate and a photoelectric sensor disposed on the rotary support seat;

the mechanical limiting device comprises a fixing piece and a limiting piece, the fixing piece is fixed on the rotary supporting seat, and the limiting piece is connected to the rotary supporting plate.

Optionally, the photoelectric sensors and the fixing pieces are respectively provided with two, and the two photoelectric sensors are located between the two fixing pieces.

The exoskeleton finger wrist rehabilitation power assisting device can drive each finger to carry out independent buckling/stretching movement, the thumb can be driven by the torsion driving part to carry out torsion movement, the torsion and the stretching of the thumb can simultaneously act, the rehabilitation training effect is good, the main actions of the fingers are completed by fewer mechanisms, the component arrangement is more compact, the limited space of the back of the hand is efficiently utilized, and the interference on the finger movement cannot be formed after the exoskeleton finger wrist rehabilitation power assisting device is worn; the fixing plate is provided with a through hole for penetrating the bandage, the bandage is worn and installed, the fixing mode is simpler, the integrated motion of the flexion/extension of the wrist joint, the flexion/extension of the five fingers and the torsion of the thumb can be realized, and the rehabilitation treatment effect is better.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic exploded perspective view of an exoskeleton finger wrist rehabilitation assistance device provided by an embodiment of the invention;

fig. 2 is a schematic perspective assembly view of a rehabilitation manipulator device (in an extended state) in the exoskeleton finger wrist rehabilitation assistance device provided by the embodiment of the invention;

fig. 3 is a schematic perspective assembly view of a four-finger flexion and extension device (in an extended state) in the exoskeleton finger wrist rehabilitation assistance device provided in the embodiment of the present invention;

fig. 4 is a schematic perspective exploded view of a four-finger flexion and extension device in the exoskeleton finger wrist rehabilitation assistance device according to the embodiment of the present invention;

fig. 5 is a schematic perspective assembly view of a torsion driving part, a thumb flexion-extension device and a fixing plate in the exoskeleton finger wrist rehabilitation assistance device provided by the embodiment of the invention;

FIG. 6 is a schematic perspective exploded view of a torsion driving part of an exoskeleton finger wrist rehabilitation assistance device provided by an embodiment of the invention;

fig. 7 is a schematic exploded perspective view of a thumb flexion-extension device in the exoskeleton finger wrist rehabilitation assistance device according to the embodiment of the present invention;

fig. 8 is a schematic plan view of a four-finger flexion and extension device (in an open state) in the exoskeleton finger wrist rehabilitation assistance device according to the embodiment of the present invention;

fig. 9 is a schematic plan view of a four-finger flexion and extension device (in a flexion state) in an exoskeleton finger wrist rehabilitation assistance device according to an embodiment of the present invention;

fig. 10 is a schematic plan view of the exoskeleton finger wrist rehabilitation assisting device in which a thumb flexion-extension device (in an open state) is applied according to the embodiment of the present invention;

fig. 11 is a schematic plan view of a thumb extending and retracting device (in a flexed and retracted state) of the exoskeleton finger wrist rehabilitation assisting device according to the embodiment of the present invention;

fig. 12 is a schematic perspective assembly view of a device for driving a thumb to flex and stretch by a torsion driving part in the exoskeleton finger wrist rehabilitation assistance device according to the embodiment of the present invention;

fig. 13 is a schematic perspective assembly view of a rehabilitation manipulator device (in a flexed and retracted state) in the exoskeleton finger wrist rehabilitation assistance device provided in the embodiment of the present invention;

fig. 14 is a schematic perspective assembly view of an exoskeleton finger wrist rehabilitation assisting device provided by an embodiment of the invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present.

It should be noted that the terms of orientation such as left, right, up and down in the embodiments of the present invention are only relative to each other or are referred to the normal use state of the product, and should not be considered as limiting.

As shown in fig. 1 to 14, an exoskeleton finger wrist rehabilitation assistance device provided by an embodiment of the present invention includes a rehabilitation manipulator device 10, where the rehabilitation manipulator device 10 includes a fixing plate 900 connectable to the back of a hand of a user, a four-finger flexion and extension device 100 and a thumb flexion and extension device 200, and the thumb flexion and extension device 200 may be provided with one and corresponds to a thumb (first finger); the four-finger flexion and extension device 100 may be provided with four fingers corresponding to the index finger (the second finger), the middle finger (the third finger), the ring finger (the fourth finger) and the little finger (the fifth finger), respectively. The fixing plate 900 is connected with a torsion driving component 300 for driving the thumb bending and stretching device 200 to swing integrally relative to the fixing plate 900, that is, each finger can perform independent flexion/extension movement, the thumb can be driven by the torsion driving component 300 to perform torsion movement, and the torsion and the bending and stretching of the thumb can act simultaneously, so that the rehabilitation training effect is good. Each flexion-extension device (the four-finger flexion-extension device 100 and the thumb flexion-extension device 200) can be independently controlled. When viewed along the forward extending direction of the bending and extending device, the front part is the front end (the direction close to the fingertips of a user when in use), and the back part is the back end; when viewed from the palm surface to the palm back, the upper part is the upper end, and the lower part is the lower end; the corresponding finger of the four-finger flexion-extension device 100 is divided into three segments, the portion near the palm is called the proximal finger, the middle portion is called the middle finger (in the present embodiment, the middle knuckle of the finger), and the portion far from the palm is called the distal finger. In specific application, if part of the fingers of the user are normal, the user does not need to recover, and the corresponding flexion and extension device for removing the corresponding fingers can be selected, and certainly, the user can select not to remove the corresponding fingers. The four-finger flexion-extension device 100 comprises a proximal finger connecting part 130, a middle finger connecting part 140 capable of rotating relative to the proximal finger connecting part 130, and a first movable arch part for driving the proximal finger connecting part 130 and the middle finger connecting part 140, wherein the first movable arch part comprises a first power device 110, a first guide rail seat 120 and a link mechanism, and the first guide rail seat 120 is fixedly connected to the fixing plate 900 and is provided with a first arc-shaped sliding chute 121; the proximal connecting part 130 is connected to the first arc-shaped sliding chute 121, and the link mechanism is rotatably connected to the first power device 110, the proximal connecting part 130 and the middle connecting part 140; each of the four-finger flexion-extension devices 100 includes a first power device 110 capable of being independently controlled, the first power device 110 is used for driving the four-finger flexion-extension device 100 to perform flexion-extension actions, simulating gripping actions and opening actions of human hands, and repeating the actions cyclically, and the first power device 110 may be a linear power device (a linear driver, a linear push rod), such as a linear motor, a screw rod slider driven by a servo motor, and the like. The exoskeleton finger wrist rehabilitation assisting device further comprises a wrist joint rotating device 400 for driving the rehabilitation manipulator device 10 to integrally rotate in a reciprocating manner, can be used for the flexion/extension movement of the wrist joint and is more beneficial to the rehabilitation treatment of the upper limb of a patient, therefore, the equipment provided by the embodiment, the arrangement is compact, the external dimension is small, the wrist joint can not interfere with the back of the manipulator when the wrist joint carries out the flexion/extension rehabilitation training, can independently control the flexion/extension of each finger, and the thumb can not only do independent flexion/extension movement, but also do twisting movement, the twisting and flexion/extension of the thumb can act simultaneously, can realize the integrated movement of the flexion/extension of the wrist joint, the flexion/extension of the five fingers and the torsion of the thumb, and has better rehabilitation treatment effect.

Specifically, the link mechanism and the middle finger connecting part 140 have a sliding connection structure, and the middle finger connecting part 140 can slide for a proper distance relative to the link mechanism in the rotating process under the action of the link mechanism, so that the connecting part is well matched with the movement track of a human hand, and the user experience is better.

Specifically, as shown in fig. 2 to 8, the link mechanism includes a first link 150, a second link 160, a third link 170, and a fourth link 180; the front end of the first power device 110 is a linear push rod, and the rear end of the first connecting rod 150, the rear end of the proximal finger connecting component 130, the front end of the linear push rod and the proximal finger connecting component 130 are rotatably connected through a first pin; the rear end of the second link 160 is connected to the first rail seat 120, and the front end of the second link 160, the front end of the first link 150 and the rear end of the third link 170 are rotatably connected by a second pin 192; the front end of the third connecting rod 170 is rotatably connected with the rear upper end of the fourth connecting rod 180, and the rear lower end of the fourth connecting rod 180 is rotatably connected with the front end of the proximal connecting component 130; the front end of the fourth link 180 and the middle connecting member 140 have the sliding connection structure, and the structure is reliable and compact.

Specifically, the sliding connection structure includes a linear sliding groove 143 provided in the middle connecting member 140 and a linear sliding member connected to a front end of the fourth link 180 and slidably connected to the linear sliding groove 143, and the structure is simple and reliable.

Specifically, the linear sliding member includes a connecting shaft passing through the fourth link 180 and first bearings 182 connected to both ends of the connecting shaft, the first bearings 182 are disposed on the linear sliding grooves 143, and each of the linear sliding grooves 143 has two first bearings 182, which slide smoothly. Of course, in the embodiment, the matching between the bearing and the sliding groove is adopted, and in specific application, a dovetail-shaped or T-shaped self-lubricating guide rail structure and the like can be adopted to realize linear sliding, and the invention also belongs to the protection scope of the invention.

Specifically, the middle finger connecting member 140 includes a middle finger connecting member 141 and a middle finger fixing band 142 connected to the middle finger connecting member 141, and the middle finger fixing band 142 may be an elastic band or a velcro tape. The middle finger connecting piece 141 comprises a middle finger bottom plate and two middle finger side plates which are oppositely arranged at intervals; the two middle finger side plates are provided with the linear sliding grooves 143, the front ends of the fourth connecting rods 180 extend into the space between the two middle finger side plates, the fourth connecting rods 180 are arranged between the two middle finger side plates, the fourth connecting rods 180 are not prone to swinging towards two sides, and the structure is reliable. The middle finger side plate is provided with two first through holes, the connecting shaft is provided with two and passes two respectively first through holes, the first bearing 182 is provided with four and overlaps respectively in the both ends of two connecting shafts, every it can follow to have two in the straight line spout 143 the gliding first bearing 182 of straight line spout 143 can smoothly realize the action of sliding while rotating, is difficult for the jamming.

Specifically, the first guide rail seat 120 includes a guide rail bottom plate and two guide rail side plates disposed at an interval in opposite directions and connected to the guide rail bottom plate; the two guide rail side plates are provided with the first arc-shaped sliding grooves 121; the first rail housing 120 may be integrally formed of an aluminum alloy.

Specifically, the proximal finger connecting member 130 includes a proximal finger connecting member 131 and a proximal finger fixing band 132 connected to the proximal finger connecting member 131, both ends of the proximal finger fixing band 132 may be connected to two connecting holes of the proximal finger connecting member 131, and the proximal finger fixing band 132 may be an elastic band or a magic towel band, etc.; the proximal finger connecting member 131 has a proximal finger connecting rod located between the two guide rail side plates. Nearly indicate the connecting rod to be provided with two second connecting holes, nearly indicate the axle be provided with two and divide pass in the second connecting hole, nearly indicate bearing 134 be provided with four and connect respectively in two the both ends of nearly finger axle, every it can follow to have two in the first arc spout 121 is gliding nearly indicate bearing 134, it is effectual to slide.

Specifically, one end of the proximal connecting rod 135, which is close to the first power device 110, has a proximal link fork 136, and the proximal link fork 136 may have a U-shape. The rear end of the first connecting rod 150 is provided with a first shifting fork 151, and the front end of the first connecting rod 150 is provided with a second shifting fork 152; the first and second forks 151 and 152 may have a U-shape.

Specifically, two second connecting rods 160 are provided, and the second connecting rods 160 are arranged in parallel at intervals and can move synchronously. A third connecting hole is formed in the lower portion of the middle of each guide rail side plate in the first arc-shaped sliding groove 121; the second connecting rod 160 is arranged on the outer side of the guide rail side plate, and the rear end of the second connecting rod 160 is rotatably connected to the third connecting hole through a third pin; the second connecting rod 160 and the proximal connecting rod 135 are separated by the guide rail side plate, so that the interference is avoided, and the movement structure is compact and reliable.

Specifically, the first shifting fork 151 is disposed inside the proximal finger connecting shifting fork 136, the front end of the linear push rod extends inside the first shifting fork 151, and the first pin shaft 191 penetrates through the proximal finger connecting shifting fork 136, the first shifting fork 151 and the front end of the linear push rod, so that the structure is compact.

Specifically, the second fork 152 is located between the two second links 160, the rear end of the third link 170 is located inside the second fork 152, and the second pin 192 passes through the front end of the second link 160, the second fork 152 and the rear end of the third link 170, so that the structure is compact.

Specifically, the rear end of the fourth link 180 is provided with a third fork 183, and the third fork 183 may be U-shaped. The third shifting fork 183 is provided with an upper connecting hole and a lower connecting hole, and the front end of the third connecting rod 170 is located between the third shifting forks 183 and is rotatably connected to the upper connecting hole through a fourth pin shaft; the front end of the proximal connecting rod 135 is located between the third shifting forks 183 and is rotatably connected to the lower connecting hole through a fifth pin shaft.

Specifically, the fixing plate 900 is connected to a fixing seat 910, and the rear end of the first power device 110 is hinged to the fixing seat 910.

Specifically, the middle finger fixing strap 142 may be slidably connected to the middle finger connecting element 141 through a middle finger sliding block, and the positions of the middle finger sliding block and the middle finger fixing strap 142 may be adjusted; the proximal finger fixing band 132 is connected or directly connected to the proximal finger connecting piece 131 through the proximal finger sliding block, and the positions of the proximal finger sliding block and the proximal finger fixing band 132 can be adjusted to meet the specific requirements of different users, so that the exoskeleton finger wrist rehabilitation assistance device has better adaptability.

Specifically, as shown in fig. 1 to 8, the thumb bending and stretching device 200 includes a second power device 210, a second guide rail seat 220 and a thumb proximal finger clip 230, the second guide rail seat 220 has a second arc-shaped sliding slot 221, and the second power device 210 may be the same as the first power device 110 (same type specification). The thumb proximal finger clip 230 is slidably connected to the second arc-shaped sliding groove 221, the rear end of the second power device 210 is rotatably connected to the second guide rail seat 220 (through the second connecting seat 920 or directly), and the front end of the second power device 210 is rotatably connected to the rear end of the thumb proximal finger clip 230.

Specifically, the second guide rail seat 220 includes a thumb guide rail bottom plate and two thumb guide rail side plates arranged opposite to each other at intervals; the two thumb guide side plates are respectively provided with the second arc-shaped sliding groove 221, and the thumb proximal finger clip 230 comprises a thumb connecting piece 231 and a thumb fixing strap 232 connected to the thumb connecting piece 231; the thumb connecting piece 231 is provided with a thumb connecting rod positioned between the two thumb guide rail side plates, the thumb connecting rod is provided with two fifth connecting holes, fifth hinge pins penetrate through the two fifth connecting holes, and two ends of each fifth hinge pin are provided with second bearings 242; two second bearings 242 are arranged in each second arc-shaped sliding groove 221; the rear end of the thumb connecting rod is provided with a thumb connecting shifting fork, and the front end of the second power device 210 extends into the thumb connecting shifting fork and is rotatably connected with the thumb connecting shifting fork through a sixth pin shaft.

Specifically, the thumb fixing strap 232 may be connected to the thumb connecting bar through a thumb slider or directly.

Specifically, the torsion driving unit 300 includes a third power means 310, a third rail holder 320, and a third transmission link 330, and the third power means 310 may be a linear motor, etc. The third guide rail seat 320 is fixedly connected to the fixing plate 900, the third guide rail seat 320 has a third arc-shaped sliding groove 321, the third transmission rod 330 is slidably connected to the third arc-shaped sliding groove 321, one end of the third transmission rod 330 is rotatably connected to the front end of the third power device 310, the other end of the third transmission rod 330 is connected to the second guide rail seat 220 of the thumb bending and stretching device 200, and the rear end of the third power device 310 is connected to the fixing plate 900 or the third guide rail seat 320 through a third rotating seat 930. In this way, the third power device 310 can drive the thumb bending and stretching device 200 to rotate integrally, so that the thumb can move integrally relative to the palm.

Specifically, the third transmission rod 330 is connected to two sixth pins, and a third bearing 342 is disposed at each of two ends of each sixth pin; each third arc-shaped sliding chute 321 is provided with two third bearings 342, and the transmission is stable and reliable.

Specifically, the wrist joint rotating device 400 includes a rotating support base, an arm bracket 510 connected to the rotating support base and used for supporting the wrist of the user, a rotating support plate 410 rotatable with respect to the rotating support base, and a rotating driving component 450 for driving the rotating support plate 410, and a docking structure is disposed between one side of the fixing plate 900 away from the thumb flexion-extension device 200 and the rotating support plate 410, so as to integrally place the rehabilitation manipulator device 10 on the rotating support plate 410. The rotary supporting plate 410 can swing left and right relative to the rotary supporting seat, so that the wrist of the patient can be rehabilitated and trained.

Specifically, the bottom of the arm support 510 may be provided with a height adjustment device 520 to meet the use requirements of different patients. The height adjustment device 520 may be electrically or pneumatically operated (e.g., air bag), etc. The arm support 510 may be used to support the patient's arm (near the wrist). The arm bracket 510 may be U-shaped. The rotating support plate 410 is located in front of the arm bracket 510.

Specifically, an electronic limiting device and a mechanical limiting device are disposed between the rotation support plate 410 and the rotation support seat to prevent the rotation support plate 410 and the rehabilitation manipulator device 10 from swinging excessively to cause an accident.

Specifically, the docking structure includes a docking hole 411 provided in the rotating support plate 410 and a docking protrusion 911 provided in the fixing plate 900. The docking hole 411 and the docking protrusion 911 may be in a shape of a kidney (long circle), polygon, or the like. In the specific application, a magnetic adsorption component can be selectively arranged between the rotating support plate 410 and the fixing plate 900, that is, a magnet is arranged on the rotating support plate 410, and another magnet or iron sheet can be arranged on the fixing plate 900, so that the rehabilitation manipulator device 10 can be stably connected to the rotating support plate 410 and can be pulled out and separated at any time without auxiliary tools.

Specifically, the rotation support plate 410 is driven by a rotation driving part 450, and the rotation driving part 450 is disposed below the rotation support plate 410 and connected to the rotation support base.

Specifically, as shown in fig. 1 to 12, the electronic position limiting device includes a sensing piece 461 connected to the rotating support plate 410 and a photo sensor 462 disposed on the rotating support base, when the sensing piece 461 extends to a light emitting end and a light receiving end of the photo sensor 462, the photo sensor 462 is triggered, the photo sensor 462 may be connected to a control module, and the control module may be connected to a motor. When the photoelectric sensor 462 is triggered, the rotation driving part 450 can be stopped in time, and the rotation supporting plate 410 and the rehabilitation manipulator device 10 can be swung back and forth only within a set angle range.

Specifically, the mechanical limiting device includes a fixing member 471 and a limiting member 472, the fixing member 471 is fixed to the rotary support base, the limiting member 472 is connected below the rotary support plate 410, when the rotary support plate 410 and the recovery manipulator device 10 rotate to set a limit position, the limiting member 472 abuts against the fixing member 471, and the rotary support plate 410 and the recovery manipulator device 10 are forcibly stopped, so that even if the photoelectric sensor 462 fails, the rotary support plate 410 and the recovery manipulator device 10 can still stop rotating at the set limit position through the mechanical limiting device, and safety and reliability are better.

Specifically, the two photoelectric sensors 462 and the two fixing parts 471 are respectively arranged, the two photoelectric sensors 462 are located between the two fixing parts 471, the photoelectric sensors 462 serve as a first heavy safety barrier, when the photoelectric sensors 462 work normally, the mechanical limiting device can not participate in the work, and can serve as a second heavy safety barrier, and the reliability is good.

Specifically, the rotary support includes a mounting plate 421, a support 423, and a bottom plate 422, and both ends of the support 423 are connected to the mounting plate 421 and the bottom plate 422. The support 423 may be a support shaft, a support plate, or a collar, etc. The arm bracket 510, the fixing member 471, the photoelectric sensor 462 and the like may be fixed to the mounting plate 421. The mounting plate 421 may be provided with a mounting hole, the rotation driving part 450 is located below the mounting hole and fixedly connected to the bottom plate 422, an output shaft of the rotation driving part 450 may be directly connected to the hollow rotating platform 430, the rotation supporting plate 410 may be fixedly or integrally connected to the hollow rotating platform 430, and the rotation supporting plate 410 may protrude from the surface of the mounting plate 421. The rotation driving part 450 may be a direct drive motor or a speed reduction motor, and in a specific application, the motor in the rotation driving part 450 may be a servo motor, and the motor may automatically rotate reversely or stop when the output torque is larger than a set range, and the reliability is high.

In this embodiment, the four-finger flexion and extension device 100, the thumb flexion and extension device 200 and the torsion driving component 300 all use linear drivers as power, and the four-finger flexion and extension device 100 and the thumb flexion and extension device 200 are equipped with a transmission mechanism composed of a grooved guide rail assembly and a link mechanism, so that the main actions of fingers can be completed by fewer mechanisms; the four-finger flexion and extension device 100 and the torsion driving component 300 are arranged on the fixing plate 900 covering the back area of the palm, and the thumb flexion and extension device 200 is fixed on the third transmission rod piece 330 of the torsion driving component 300, so that the components are arranged more compactly, the limited space of the back of the hand is utilized efficiently, and the interference on the movement of fingers after wearing is avoided; offer the through-hole that is used for wearing the bandage on the fixed plate 900 to dress the installation through the bandage, make fixed mode become simpler, fixed plate 900 can be L shape, and butt joint arch 911 can be the flat key, makes it become an organic whole with fixed plate 900 after the waist type groove interference fit of fixed plate 900 side, the flat key protrusion fixed plate 900's side surface, the cooperation of the waist type hole (butt joint hole 411) on flat key bulge and the rotation support plate 410, drives whole recovery manipulator rotation when rotation support plate 410 is rotatory, thereby realizes the rotation of wrist joint. The rotary supporting plate 410 can be fixed with the hollow rotary table 430 by screws, the fixed part of the hollow rotary table 430 can be fixed on the mounting plate 421 by screws, the rotating part (input end) of the hollow rotary table 430 can be directly connected with the motor, the limit part 472 (columnar) is in interference fit with the cylindrical hole at the front end of the rotary supporting plate 410 to form a whole, the left side and the right side of the hollow rotary table 430 on the mounting plate 421 are respectively distributed with a fixing part 471, the fixing parts 471 (can be block-shaped) are fixed on the mounting plate 421 by screws, and the limit part 472 and the fixing parts 471 form a mechanical limit device for the rotation of the wrist joint; the induction sheet 461 is fixed at the front end of the rotary support plate 410 by screws, the photoelectric sensors 462 (photoelectric switches) are distributed on the left and right sides of the hollow rotary table 430 on the mounting plate 421, a certain angle is formed between the photoelectric sensors 462 and the rotary center of the hollow rotary table 430, the photoelectric sensors 462 are fixed on the mounting plate 421 by screws, and the induction sheet 461 and the photoelectric sensors 462 form an electronic limit device for the rotation of the wrist joint; the mounting plate 421 is supported at a certain height by five supporting members 423 (collars) and is fixedly connected with the bottom plate 422 by screws; the arm bracket 510 and the height adjusting block are fixed to the mounting plate 421 by screws for supporting the weight of the arm.

The four-finger flexion and extension device 100 includes a linear driver arranged along the finger forward extension direction and a first movable bow composed of a guide rail seat 120 and a multi-link structural member, when the linear driver extends, the linear driver drives the near finger connecting member 130 to rotate along the track of the slotted guide rail (arc chute 121) of the guide rail seat 120, the corresponding center of the arc chute 121 fits (or closely fits) with a first virtual center a, the first virtual center a is the rotation center of the near finger rotating around the palm, so that the near finger connecting member 130 drives the near finger to rotate around the palm by a certain angle, such as 55 degrees; meanwhile, when the linear actuator extends, the multi-link structural component composed of the first link 150, the second link 160, the third link 170 and the fourth link 180 may be driven to operate, so as to realize that the fourth link 180 rotates around a third rotation center C, which is a hinge center where the middle finger connecting part 130 and the fourth link 180 are coaxially hinged, so as to realize that the fourth link 180 drives the middle finger connecting part 140 to rotate around the third rotation center, the middle finger connecting part 140 drives the middle finger to rotate around a second virtual center B, which is a rotation center where the middle finger rotates around the middle finger, as shown in fig. 8, since the second virtual center B and the third rotation center C cannot realize fitting (or approximate fitting), the middle finger connecting part 140 may slide relative to the middle finger when driving the middle finger joint to rotate, in order to solve this problem, the middle finger connecting part 140 is provided with linear sliding grooves 143 on both sides thereof, so that the fourth link 180 can slide along the track of the linear sliding grooves 143 on the middle finger connecting part 140 while rotating around the third rotation center C, and the slide of the position opposite to the middle finger when the middle finger connecting part 140 drives the middle finger to rotate is transferred to the slide of the fourth link 180 and the slot guide of the middle finger connecting part 140.

Fig. 10 shows the thumb flexion-extension device 200 before bending corresponding to the thumb, and fig. 11 shows the thumb flexion-extension device 200 after bending corresponding to the thumb. The thumb flexion and extension device 200 comprises a thumb power device 210 arranged along the thumb extension direction and a second movable arch consisting of a thumb guide rail seat 220 and a multi-link structural component. When the linear driver (the power device 210) extends, the thumb proximal finger clamp 230 is driven to rotate along the track of the thumb arc-shaped sliding groove 221 of the thumb guide rail seat 220, the center of the track of the thumb arc-shaped sliding groove 221 is fitted with the virtual center of the thumb, and the virtual center is the rotation center D of the proximal finger of the thumb rotating around the palm; thereby realizing that the thumb near-finger clamp 230 drives the near finger of the thumb to rotate a certain angle, such as 55 degrees, around the palm.

The torsion driving component 300 corresponding to the thumb comprises a third power device 310 and a third transmission rod 330 arranged along the thumb torsion direction (transverse direction), and a third movable arch of the third guide rail seat 320, when the third power device 310 extends, the third transmission rod 330 is driven to rotate along a third arc-shaped sliding groove 321 of the third guide rail seat 320, the corresponding center of the third arc-shaped sliding groove 321 is fitted (or approximately fitted) with the virtual center of the thumb torsion, and the virtual center of the torsion is the torsion center of the proximal finger of the thumb around the palm; thereby effecting a twist of the thumb.

In specific application, the protruding portion (docking protrusion 911) of the flat key of the rehabilitation manipulator device 10 is inserted into the waist-shaped hole (docking hole 411) of the rotary support plate 410 on the wrist joint rotary device 400, the arm is fixed on the arm bracket 510, and the motor drives the hollow rotary table 430 to rotate within a certain angle range (as shown in fig. 14, the dotted line is another position of the rehabilitation manipulator device 10), so as to drive the rotary support plate 410 fixed on the rotary surface of the hollow rotary table 430 to rotate around the rotation center of the rotary platform, and further drive the whole rehabilitation manipulator device 10 to rotate, thereby realizing the rotation of the wrist joint.

The exoskeleton finger wrist rehabilitation assisting device provided by the embodiment of the invention can be used as a wearable device and is used for assisting a patient to perform passive rehabilitation training on finger wrists of a hand, and is provided with four-finger flexion and extension devices 100 which respectively correspond to four fingers one by one and a thumb flexion and extension device 200 which corresponds to a thumb; the four-finger flexion and extension device 100 and the thumb flexion and extension device 200 both adopt a linear driver as power and are matched with a transmission mechanism consisting of the first guide rail seat 120 and a connecting rod mechanism, so that the main actions of fingers can be completed by fewer mechanisms; the four-finger flexion and extension device 100 and the thumb flexion and extension device 200 are arranged on the fixing plate 900 covering the metacarpal region, so that the arrangement of components is more compact, the limited space of the back of the hand is efficiently utilized, and the interference on the movement of fingers is avoided after wearing; the fixing plate 900 is provided with a through hole for passing the binding band, so that the binding band is worn and installed, and the fixing mode becomes simpler.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents or improvements made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (10)

1. The exoskeleton finger wrist rehabilitation assistance device is characterized by comprising a rehabilitation manipulator device, wherein the rehabilitation manipulator device comprises a fixing plate, a four-finger flexion and extension device and a thumb flexion and extension device which can be connected to the back of a hand of a user, and the fixing plate is connected with a torsion driving part which is used for driving the thumb flexion and extension device to integrally swing relative to the fixing plate; the four-finger flexion and extension device comprises a near finger connecting part, a middle finger connecting part capable of rotating relative to the near finger connecting part and a first movable arch part for driving the near finger connecting part and the middle finger connecting part, wherein the first movable arch part comprises a first power device, a first guide rail seat and a connecting rod mechanism, and the first guide rail seat is fixedly connected to the fixed plate and is provided with a first arc-shaped sliding groove; the connecting rod mechanism is rotatably connected with the first power device, the near finger connecting part and the middle finger connecting part; the exoskeleton finger wrist rehabilitation power assisting device further comprises a wrist joint rotating device for driving the rehabilitation manipulator device to integrally rotate in a reciprocating mode.

2. An exoskeleton finger wrist rehabilitation assisting device as claimed in claim 1, wherein the link mechanism and the middle finger connecting part have a sliding connection structure;

the connecting rod mechanism comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod; the rear end of the first connecting rod, the rear end of the near finger connecting component, the linear push rod at the front end of the first power device and the near finger connecting component are rotatably connected through a first pin shaft; the rear end of the second connecting rod is connected to the first guide rail seat, and the front end of the second connecting rod, the front end of the first connecting rod and the rear end of the third connecting rod are rotationally connected through a second pin shaft; the front end of the third connecting rod is rotatably connected with the rear upper end of the fourth connecting rod, and the rear lower end of the fourth connecting rod is rotatably connected with the front end of the proximal connecting component; the front end of the fourth connecting rod and the middle finger connecting part are provided with the sliding connection structure;

the sliding connection structure comprises a linear sliding chute arranged on the middle finger connecting part and a linear sliding part connected to the front end of the fourth connecting rod and connected to the linear sliding chute in a sliding manner;

the linear sliding component comprises a connecting shaft penetrating through the fourth connecting rod and first bearings connected to two ends of the connecting shaft, and the first bearings are arranged in the linear sliding grooves;

the middle finger connecting part comprises a middle finger connecting piece and a middle finger fixing band connected with the middle finger connecting piece, and the middle finger connecting piece comprises a middle finger bottom plate and two middle finger side plates which are oppositely arranged at intervals; the two middle finger side plates are respectively provided with the linear sliding groove, the front end of the fourth connecting rod extends into the space between the two middle finger side plates, the middle finger side plates are provided with two first through holes, the connecting shafts are provided with two first through holes which respectively penetrate through the two middle finger side plates, the first bearings are provided with four first bearings which are respectively sleeved at two ends of the two connecting shafts, and each linear sliding groove is internally provided with two first bearings which can slide along the linear sliding groove;

the first guide rail seat comprises a guide rail bottom plate and two guide rail side plates which are arranged oppositely at intervals; the two guide rail side plates are provided with the first arc-shaped sliding grooves;

the near finger connecting component comprises a near finger connecting piece and a near finger fixing band connected with the near finger connecting piece; the near finger connecting piece is provided with a near finger connecting rod positioned between the two guide rail side plates, the near finger connecting rod is provided with two second connecting holes, near finger shafts penetrate through the second connecting holes, the near finger shafts are provided with two near finger shafts respectively penetrating through the second connecting holes, the near finger bearings are provided with four near finger bearings which are respectively connected to two ends of the near finger shafts, and each first arc-shaped sliding chute is internally provided with two near finger bearings which can slide along the first arc-shaped sliding chute;

a proximal connecting shifting fork is arranged at one end, close to the first power device, of the proximal connecting rod, a first shifting fork is arranged at the rear end of the first connecting rod, and a second shifting fork is arranged at the front end of the first connecting rod;

the number of the second connecting rods is two, and a third connecting hole is formed in the position, below the middle part of the first arc-shaped sliding groove, of each guide rail side plate; the second connecting rod is arranged on the outer side of the guide rail side plate, and the rear end of the second connecting rod is rotatably connected to the third connecting hole through a third pin shaft;

the first shifting fork is arranged on the inner side of the near finger connecting shifting fork, the front end of the linear push rod extends into the inner side of the first shifting fork, and the first pin shaft penetrates through the near finger connecting shifting fork, the first shifting fork and the front end of the linear push rod;

the second shifting fork is positioned between the two second connecting rods, the rear end of the third connecting rod is positioned on the inner side of the second shifting fork, and the second pin shaft penetrates through the front end of the second connecting rod, the second shifting fork and the rear end of the third connecting rod;

a third shifting fork is arranged at the rear end of the fourth connecting rod, the third shifting fork is provided with an upper connecting hole and a lower connecting hole, and the front end of the third connecting rod is positioned between the third shifting forks and is rotatably connected to the upper connecting hole through a fourth pin shaft; the front end of the proximal connecting rod is located between the third shifting forks and is rotatably connected with the lower connecting hole through a fifth pin shaft.

3. The exoskeleton finger wrist rehabilitation assisting device as claimed in claim 2, wherein the middle finger fixing band is slidably connected to the middle finger connecting piece through a middle finger sliding block; the near finger fixing band is connected with the near finger connecting piece through the near finger sliding block or directly connected with the near finger connecting piece.

4. An exoskeleton finger wrist rehabilitation assisting device as claimed in claim 1, wherein the thumb flexion and extension device comprises a second power device, a second guide rail seat and a thumb proximal finger grip, the second guide rail seat is provided with a second arc-shaped sliding groove, the thumb proximal finger grip is slidably connected to the second arc-shaped sliding groove, the rear end of the second power device is rotatably connected to the second guide rail seat, and the front end of the second power device is rotatably connected to the rear end of the thumb proximal finger grip;

the second guide rail seat comprises a thumb guide rail bottom plate and two thumb guide rail side plates which are arranged oppositely at intervals; the two thumb guide rail side plates are respectively provided with the second arc-shaped sliding groove, and the thumb near-finger clamp comprises a thumb connecting piece and a thumb fixing belt connected to the thumb connecting piece; the thumb connecting piece is provided with a thumb connecting rod positioned between the two thumb guide rail side plates, the thumb connecting rod is provided with two fifth connecting holes, fifth hinge pins penetrate through the two fifth connecting holes, and two ends of each fifth hinge pin are provided with second bearings; two second bearings are arranged in each second arc-shaped sliding groove; the rear end of the thumb connecting rod is provided with a thumb connecting shifting fork, and the front end of a second power device extends into the space between the thumb connecting shifting forks and is rotationally connected with the thumb connecting shifting fork through a sixth pin shaft; the thumb fixing strap is connected or directly connected to the thumb connecting rod through a thumb sliding block.

5. An exoskeleton finger wrist rehabilitation assisting device as claimed in any one of claims 1 to 4, wherein the torsion driving unit comprises a third power unit, a third rail seat fixedly connected to the fixing plate, and a third transmission rod member having a third arc-shaped sliding slot, the third transmission rod member is slidably connected to the third arc-shaped sliding slot, one end of the third transmission rod member is rotatably connected to the front end of the third power unit, the other end of the third transmission rod member is connected to the thumb bending and stretching device, and the rear end of the third power unit is rotatably connected to the fixing plate or the third rail seat.

6. An exoskeleton finger wrist rehabilitation assisting device as claimed in claim 5, wherein two sixth pins are connected to the third transmission rod, and third bearings are arranged at two ends of each sixth pin; two third bearings are arranged in each third arc-shaped sliding groove.

7. An exoskeleton finger wrist rehabilitation assistance device as claimed in any one of claims 1 to 4,

the wrist joint rotating device comprises a rotating support seat, an arm bracket, a rotating support plate and a rotating driving component, wherein the arm bracket is connected with the rotating support seat and used for supporting the wrist of a user, the rotating support plate can rotate relative to the rotating support seat, the rotating driving component is used for driving the rotating support plate, and a butt joint structure is arranged between one side, away from the thumb bending and stretching device, of the fixing plate and the rotating support plate;

an electronic limiting device and a mechanical limiting device are arranged between the rotary supporting plate and the rotary supporting seat.

8. An exoskeleton finger wrist rehabilitation assisting device as claimed in claim 7, wherein the docking structure comprises a docking hole provided in the rotating support plate and a docking protrusion provided in the fixing plate.

9. The exoskeleton finger wrist rehabilitation assisting device as claimed in claim 7, wherein the electronic limiting device comprises a sensing piece connected to the rotating support plate and a photoelectric sensor arranged on the rotating support seat;

the mechanical limiting device comprises a fixing piece and a limiting piece, the fixing piece is fixed on the rotary supporting seat, and the limiting piece is connected to the rotary supporting plate.

10. An exoskeleton finger wrist rehabilitation assisting device as claimed in claim 9, wherein two of the photoelectric sensors and the fixing members are provided, and the two photoelectric sensors are located between the two fixing members.

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