CN112315745A

CN112315745A - Flexible cable traction type mirror image hand rehabilitation robot

Info

Publication number: CN112315745A
Application number: CN202011381264.8A
Authority: CN
Inventors: 路光达; 张秋月; 郄彤彤
Original assignee: Tianjin University of Technology and Education China Vocational Training Instructor Training Center
Current assignee: Tianjin University of Technology and Education China Vocational Training Instructor Training Center
Priority date: 2020-11-30
Filing date: 2020-11-30
Publication date: 2021-02-05

Abstract

The invention provides a flexible cable traction type mirror image hand rehabilitation robot which comprises a supporting frame, wherein two groups of straps are arranged on the supporting frame, a supporting arm is rotatably arranged on the supporting frame, the end part of the supporting arm is connected with a hand bending and stretching unit, the hand bending and stretching unit is connected with a hinge mechanism, the input end of the hinge mechanism is connected with a flexible cable driving device, the flexible cable driving device is connected to the supporting arm, and the device is placed on the back of a patient by utilizing the straps, so that the flexible cable traction type mirror image hand rehabilitation robot is convenient to wear and carry; the supporting frame can support the device, so that the load of the device is concentrated on the back of a patient, the burden of the arms and the hands of the patient is reduced, and the effect and the efficiency of rehabilitation training are improved; and the flexible cable driving device can drive the hand bending and stretching unit to move through the hinge mechanism, so that each finger of a patient is ensured to be trained, different placing postures of the arm during rehabilitation training are met by utilizing the supporting arm with adjustable freedom, and the use comfort level is improved.

Description

Flexible cable traction type mirror image hand rehabilitation robot

Technical Field

The invention relates to the technical field of rehabilitation treatment equipment, in particular to a flexible cable traction type mirror image hand rehabilitation robot.

Background

Modern rehabilitation theory and medicine prove that the hand can be treated by scientific rehabilitation training treatment with certain intensity for patients with hand motion function damage caused by accidental injury, operation sequelae, apoplexy, hemiplegia and the like, so that the hand motion function is recovered to the maximum extent. At present, the rehabilitation therapy for the hands is carried out on the hands of a therapist, the method is large in labor amount and high in cost, training efficiency and strength are difficult to guarantee, objective data for evaluating the relation between training parameters and rehabilitation effects are lacked, the training parameters are difficult to optimize, and therefore an optimal treatment scheme is difficult to obtain, and therefore some rehabilitation training devices are usually adopted for carrying out rehabilitation therapy on the hands of a patient. For example, a hand rehabilitation training robot is disclosed in chinese patent application No. 2019.04.17, publication No. CN109893400A, entitled "a finger flexion and extension movement mechanism for exoskeleton hand rehabilitation robot", but the aforementioned patents still have the following problems:

1. when the patient uses the above patent, the hand of the patient needs to bear the weight of the whole device, which causes great burden to the arm and the hand of the patient, reduces the treatment efficiency and the treatment effect of rehabilitation training, and is not practical;

2. the aforesaid patent is difficult for wearing and shirking the hand device of stretching to bend in the use, and is relatively poor with the laminating degree of hand, appears the phenomenon of mutual interference between the finger easily in the use, so the flexibility is relatively poor.

Disclosure of Invention

The invention mainly aims to solve the problems in the prior art and provides a flexible cable traction type mirror image hand rehabilitation robot.

In order to solve the technical problems, the invention adopts the technical scheme that: the utility model provides a recovered robot of gentle cable towed mirror image hand, includes braced frame, the last two sets of braces that are provided with of braced frame, and rotate on this braced frame and be provided with the support arm, the end connection who supports the arm has the hand to bend and stretch the unit, the hand is bent and is stretched and is connected with the hinge mechanism on the unit, the input of hinge mechanism is connected with the gentle cable drive arrangement, and this gentle cable drive arrangement connects on supporting the arm.

Further, the hand flexion-extension unit comprises a palm fixing plate, a first finger sleeve, a second finger sleeve, a third finger sleeve and a binding belt, the palm fixing plate is connected to the end portion of the supporting arm, the first finger sleeve, the second finger sleeve and the third finger sleeve are all connected with a hinge mechanism, one end of the first finger sleeve is hinged to the palm fixing plate, one end of the second finger sleeve is hinged to the other end of the first finger sleeve, the third finger sleeve is hinged to the other end of the second finger sleeve, and two ends of the binding belt are respectively connected to the palm fixing plate.

Furthermore, the hinge mechanism comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod and a fifth connecting rod, one end of the first connecting rod is hinged to the first finger sleeve, the other end of the first connecting rod is connected to the output end of the flexible cable driving device, two ends of the second connecting rod are hinged to one end of the third connecting rod and the first connecting rod respectively, the other end of the third connecting rod is fixedly connected to the second finger sleeve, two ends of the fourth connecting rod are hinged to one end of the fifth connecting rod and the third connecting rod respectively, and the other end of the fifth connecting rod is fixedly connected to the third finger sleeve.

Further, the flexible cable driving device comprises a shell, a driving motor, a winding drum, a wire passing plate and a traction flexible cable, wherein the shell is connected to the supporting arm, the driving motor is arranged inside the shell, the output end of the driving motor is arranged on the winding drum in a fixed sleeve mode, the wire passing plate is arranged on the shell, one end of the traction flexible cable is wound on the winding drum, the other end of the traction flexible cable is connected to the input end of the first connecting rod, and the traction flexible cable slides to pass through the inside of the wire passing plate.

Further, be connected with the separation blade on the palm fixed plate, it passes inside the separation blade to pull the flexible cable slip, it is equipped with the spring to pull to overlap on the flexible cable, the both ends of spring are connected respectively on separation blade and first connecting rod.

Further, the supporting arm comprises a horizontal rotating assembly, a vertical rotating assembly, a main arm and an auxiliary arm, the horizontal rotating assembly is arranged on the supporting frame, the vertical rotating assembly is connected to the output end of the horizontal rotating assembly, one end of the main arm is connected to the output end of the vertical rotating assembly, one end of the auxiliary arm is rotatably connected to the main arm, and the other end of the auxiliary arm is connected with the palm fixing plate.

Further, the horizontal rotation assembly comprises a first base and a first rotating motor, the first base is connected to the supporting frame, the first rotating motor is connected to the first base, and an output end of the first rotating motor is connected with an input end of the vertical rotation assembly.

Further, the vertical rotating assembly comprises a second base, a second rotating motor and a fixed block, the second base is fixedly connected to the output end of the first rotating motor, the second rotating motor is connected to the second base, the fixed block is connected to the output end of the second rotating motor, and the fixed block is connected with the main arm.

Furthermore, a driving cylinder is hinged to the main arm, and the output end of a piston rod of the driving cylinder is hinged to the auxiliary arm.

Furthermore, the two groups of braces are connected through a fastening bandage.

Furthermore, a plurality of groups of fixing straps are further arranged on the main arm and the auxiliary arm, and the plurality of groups of fixing straps are used for fixing the arms on the main arm and the auxiliary arm.

The invention has the advantages and positive effects that:

(1) the back strap type back strap device is convenient to use, stable and reliable, convenient to wear and use and convenient to carry and transfer due to the fact that the back strap and the supporting frame are used for placing the back strap type back strap device on the back of a patient; meanwhile, the supporting frame can support the whole device, so that the load on the device is concentrated on the back of the patient, the load on the arm and the hand of the patient is reduced, the load of the patient is relieved, and the training efficiency and the treatment efficiency of rehabilitation are effectively improved;

(2) the driving motor of the flexible cable driving device is utilized to drive the bobbin connected with the output end of the flexible cable driving device to rotate, so that the bobbin drives the traction flexible cable to move, the traction flexible cable drives the first finger sleeve, the second finger sleeve and the third finger sleeve to rotate relatively through the hinge mechanism, the hand bending and stretching unit is driven to simulate the bending and stretching movement of the hand, each finger joint in the hand bending and stretching unit is driven to bend and stretch, each finger joint of a patient is trained correspondingly, the fingers are guaranteed not to interfere with each other during training, and the flexible cable driving device has strong flexibility;

(3) utilize horizontal rotation subassembly and the vertical rotating assembly who sets up on the support arm to adjust its degree of freedom to adjust the contained angle between main arm and the fly jib through the flexible state that utilizes the actuating cylinder piston rod that drives, and then satisfy putting the posture of patient arm in the rehabilitation training process, comfort level when improving the patient and using this device.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a partially enlarged schematic view of the hand flexion-extension unit, the hinge mechanism and the cable drive;

FIG. 3 is a schematic view of the connection structure between the hand flexion-extension unit, the hinge mechanism and the flexible cable driving device;

FIG. 4 is a schematic view of a connection structure between the housing and the driving motor;

FIG. 5 is a schematic view of the connection between the horizontal rotating assembly and the vertical rotating assembly;

fig. 6 is a block diagram of electrical control relationships among the first rotating electrical machine, the second rotating electrical machine, the drive motor, and the drive cylinder.

In the figure: the support frame 1, the support arm 2, the horizontal rotation assembly 21, the first base 211, the first rotation motor 212, the vertical rotation assembly 22, the second base 221, the second rotation motor 222, the fixing block 223, the main arm 23, the auxiliary arm 24, the hand flexion and extension unit 3, the palm fixing plate 31, the first finger cot 32, the second finger cot 33, the third finger cot 34, the tightening band 35, the hinge mechanism 4, the first connecting rod 41, the second connecting rod 42, the third connecting rod 43, the fourth connecting rod 44, the fifth connecting rod 45, the flexible cable driving device 5, the housing 51, the driving motor 52, the bobbin 53, the wire passing plate 54, the traction flexible cable 55, the baffle 6, the spring 7, the driving cylinder 8, the strap 9, the fastening strap 10, and the fixing strap 11.

Detailed Description

For a better understanding of the present invention, reference is made to the following detailed description and accompanying drawings that illustrate the invention.

As shown in fig. 1 to 6, a flexible cable traction type mirror image hand rehabilitation robot comprises a supporting frame 1, two groups of braces 9 are arranged on the supporting frame 1, a supporting arm 2 is rotatably arranged on the supporting frame 1, a hand bending and stretching unit 3 is connected to the end of the supporting arm 2, a hinge mechanism 4 is connected to the hand bending and stretching unit 3, a flexible cable driving device 5 is connected to the input end of the hinge mechanism 4, the flexible cable driving device 5 is connected to the supporting arm 2, the device can be placed on the back of a patient by using the two groups of braces 9 connected to the supporting frame 1, the weight of the device can be transferred to the back of the patient, and the burden of the arm and the hand of the patient during training is reduced; the flexible cable driving device 5 drives the hinge mechanism 4 to move, the hinge mechanism 4 drives the hand bending and stretching unit 3 to move, and the hand bending and stretching unit 3 drives the fingers of the patient to simulate palm stretching and bending, so that the fingers perform bending and stretching movement, and the purpose of performing rehabilitation treatment on the hands of the patient is achieved.

Further, the hand flexion-extension unit 3 comprises a palm fixing plate 31, a first finger cot 32, a second finger cot 33, a third finger cot 34 and a bundling belt 35, the palm fixing plate 31 is connected with the end of the supporting arm 2, the first finger cot 32, the second finger cot 33 and the third finger cot 34 are all connected with the hinge mechanism 4, one end of the first finger cot 32 is hinged on the palm fixing plate 31, one end of the second finger cot 33 is hinged on the other end of the first finger cot 32, the third finger cot 34 is hinged on the other end of the second finger cot 33, two ends of the bundling belt 35 are respectively connected on the palm fixing plate 31, the palm of the patient is fixed on the palm fixing plate 31 by the bundling belt 35, and the fingers of the patient are respectively transmitted into the first finger cot 32, the second finger cot 33 and the third finger cot 34, when the hinge mechanism 4 moves, the first finger cot 32, the second finger cot 33 and the third finger cot 34 are respectively driven to move, namely, the hinge mechanism 4 drives the first finger cot 32 to rotate along the hinged position between the first finger cot 32 and the palm fixing plate 31, the second finger cot 33 rotates along the hinged position between the second finger cot 32, the third finger cot 34 rotates along the hinged position between the third finger cot 33, and then the hand flexion and extension unit 3 simulates the process of opening and bending of the palm, and drives the finger joint of the patient in the middle of the first finger cot 32, the second finger cot 33 and the third finger cot 34 to perform flexion and extension movement.

Further, the hinge mechanism 4 includes a first link 41, a second link 42, a third link 43, a fourth link 44 and a fifth link 45, one end of the first link 41 is hinged to the first finger stall 32, the other end of the first link 41 is connected to the output end of the flexible cable driving device 5, two ends of the second link 42 are respectively hinged to one end of the third link 43 and the first link 41, the other end of the third link 43 is fixedly connected to the second finger stall 33, two ends of the fourth link 44 are respectively hinged to one end of the fifth link 45 and the third link 43, the other end of the fifth link 45 is fixedly connected to the third finger stall 34, the flexible cable driving device 5 drives the first link 41 connected to the output end thereof to move, so that the first link 41 drives the first finger stall 32 and the second link 42 hinged thereto, and the second link 42 drives the third link 43 hinged to the end thereof to move, the third moving connecting rod 43 drives the fourth connecting rod 44 and the second finger cot 33 hinged to the third moving connecting rod to move, and meanwhile, the fourth moving connecting rod 44 drives the fifth connecting rod 45 hinged to the fifth moving connecting rod to move, and the fifth connecting rod 45 is fixedly connected to the third finger cot 34, so that the fifth connecting rod 45 drives the third finger cot 34 to move, and further the hinge mechanism 4 drives the first finger cot 32, the second finger cot 33 and the third finger cot 34 to move, and the hinge mechanism 4 drives the hand flexion and extension unit 3 to simulate the flexion and extension movement of the hand.

Further, the flexible cable driving device 5 includes a housing 51, a driving motor 52, a bobbin 53, a cable passing plate 54 and a pulling flexible cable 55, the housing 51 is connected to the supporting arm 2, the driving motor 52 is disposed inside the housing 51, the bobbin 53 is fixedly sleeved at an output end of the driving motor 52, the cable passing plate 54 is disposed on the housing 51, one end of the pulling flexible cable 55 is wound on the bobbin 53, the other end of the pulling flexible cable 55 is connected to an input end of the first connecting rod 41, the pulling flexible cable 55 slidably passes through the inside of the cable passing plate 54, the palm fixing plate 31 is connected with a baffle 6, the pulling flexible cable 55 slidably passes through the inside of the baffle 6, the pulling flexible cable 55 is sleeved with a spring 7, two ends of the spring 7 are respectively connected to the baffle 6 and the first connecting rod 41, the driving motor 52 drives the bobbin 53 connected to the output end thereof to rotate, so that the pulling flexible cable 55 is wound on the bobbin 53, the first connecting rod 41 connected to the output end thereof, meanwhile, the blocking piece 6 and the first connecting rod 41 extrude the spring 7, so that the first connecting rod 41 drives the hinge mechanism 4 to move, and the hand bending and stretching unit 3 is in a bending state; when the driving motor 52 rotates reversely, the pulling flexible cable 55 is unwound from the bobbin 53, and the elastic restoring force of the spring 7 drives the first link 41 to move, so that the first link 41 drives the hinge mechanism 4 to move, and the hand bending and stretching unit 3 is in an open state.

Further, the support arm 2 includes a horizontal rotation assembly 21, a vertical rotation assembly 22, a main arm 23 and an auxiliary arm 24, the horizontal rotation assembly 21 is disposed on the support frame 1, the vertical rotation assembly 22 is connected to an output end of the horizontal rotation assembly 21, one end of the main arm 23 is connected to an output end of the vertical rotation assembly 22, one end of the auxiliary arm 24 is rotatably connected to the main arm 23, and the other end thereof is connected to the palm fixing plate 31, the horizontal rotation assembly 21 includes a first base 211 and a first rotation motor 212, the first base 211 is connected to the support frame 1, the first rotation motor 212 is connected to the first base 211, an output end of the first rotation motor 212 is connected to an input end of the vertical rotation assembly 22, the vertical rotation assembly 22 includes a second base 221, a second rotation motor 222 and a fixing block 223, the second base 221 is fixedly connected to an output end of the first rotation motor 212, the second rotating motor 222 is connected to the second base 221, the fixing block 223 is connected to the output end of the second rotating motor 222, the fixing block 223 is connected to the main arm 23, the main arm 23 is hinged to the driving cylinder 8, the output end of the piston rod of the driving cylinder 8 is hinged to the auxiliary arm 24, and the vertical rotating assembly 22 and the main arm 23 connected to the output end thereof can be driven to rotate in the horizontal direction by the first rotating motor 212 rotating in the horizontal direction, so that the unfolding state of the main arm 23 in the horizontal direction can be adjusted; the expansion angle of the main arm 23 in the vertical direction can be adjusted by the second rotating motor 222 rotating in the vertical direction, thereby realizing adjustment of the degree of freedom of the support arm 2; by controlling the telescopic length of the piston rod of the driving cylinder 8, the angle between the main arm 23 and the auxiliary arm 24 can be adjusted, the different placing postures of the arms of a patient when the device is used are met, and the comfort level in use is improved.

Furthermore, two groups of braces 9 are connected through a fastening bandage 10, a plurality of groups of fixing bandages 11 are further arranged on the main arm 23 and the sub-arm 24, the plurality of groups of fixing bandages 11 are used for fixing arms on the main arm 23 and the sub-arm 24, when a patient uses the device, the braces 9 are connected through the fixing bandages 11, so that the patient can bear the device more firmly, the fitness with the back is higher, and the weight is favorably concentrated on the back; the arm of the patient is fixed on the main arm 23 and the auxiliary arm 24 of the supporting frame 1 by the fixing bandage 11, so that the device is prevented from shaking during use and the use is prevented from being influenced.

In addition, the connection between the first base 211 and the support frame 1, between the fixed block 223 and the main arm 23, between the palm fixing plate 31 and the sub-arm 24, between the housing 51 and the sub-arm 24, between the driving motor 52 and the housing 51, between the first rotating motor 212 and the first base 211, and between the second rotating motor 222 and the second base 221, which are mentioned above, may be performed by bolting, and the connection between the driving motor 52 and the bobbin 53 may be performed by a metallic key; the above mentioned tightening belt 35, back belt 9, fixing band 11 and fastening band 10 can be nylon band; as shown in fig. 2 and 4, the driving motors 52 and the hinge mechanisms 3 may be provided in multiple sets, and the two sets correspond to each other one by one, that is, one set of driving motors drives one set of hinge mechanisms 3 to move, so as to prevent the interference phenomenon from occurring when the driving motors 52 drive the hand bending and stretching unit 4 to move through the hinge mechanisms 3; the specific structures and operating principles of the above-mentioned tightening belt 35, back belt 9, fixing belt 11, fastening belt 10, driving motor 52, driving cylinder 8, first rotating motor 212 and second rotating motor 222 all belong to the prior art in the technical field, and are not improved in the present application; the principle, the manner and the relationship of electrical connection between the driving motor 52, the driving cylinder 8, the first rotating electrical machine 212, the second rotating electrical machine 222 and the controller are all prior art in the technical field, and thus are not described again.

The invention is convenient to use, stable and reliable, and the device is placed on the back of a patient through the braces 9 and the support frame 1, thereby being convenient to wear and use and simultaneously being convenient to carry and transfer; meanwhile, the supporting frame 1 can support the whole device, so that the load on the device is concentrated on the back of the patient, the load on the arm and the hand of the patient is reduced, the load of the patient is reduced, and the training efficiency and the treatment efficiency of rehabilitation treatment are effectively improved; the driving motor 52 of the flexible cable driving device 5 is utilized to drive the bobbin 53 connected with the output end thereof to rotate, so that the bobbin 53 drives the traction flexible cable 55 to move, and the traction flexible cable 55 drives the first finger cot 32, the second finger cot 33 and the third finger cot 34 to rotate relatively through the hinge mechanism 4, so as to drive the hand flexion and extension unit 3 to simulate the flexion and extension movement of the hand, and drive each finger joint in the hand flexion and extension unit 3 to flex and extend, so that each finger joint of a patient can be trained correspondingly, and the fingers can not interfere with each other during training, thereby having strong flexibility; the degree of freedom of the device is adjusted by utilizing a horizontal rotating assembly 21 and a vertical rotating assembly 22 which are arranged on the supporting arm 2, and the included angle between a main arm 23 and an auxiliary arm 24 is adjusted by utilizing the telescopic state of a piston rod of a driving cylinder 8, so that the placing posture of the arm of a patient in the rehabilitation training process is met, and the comfort degree of the patient when the patient uses the device is improved; the specific working process of the invention is as follows:

the patient bears the back of the support frame 1 through the straps 9 and is tightly bound through the fixing straps 11 to fix the support frame 1 and concentrate the weight on the back, the first rotating motor 212, the second rotating motor 222 and the driving cylinder 8 are respectively started, the opening angle of the main arm 23 in the horizontal direction is adjusted through the first rotating motor 212, the inclination angle of the main arm 23 in the vertical direction is adjusted through the second rotating motor 222, the included angle between the main arm 23 and the auxiliary arm 24 is adjusted through the telescopic state of the piston rod of the driving cylinder 8, and therefore the degree of freedom of the support arm 2 is adjusted, and the requirements of the patient in different using states are met; the arms are fixed on the main arm 23 and the auxiliary arm 24 by the fixing straps 11, and the palm is fixed on the palm fixing plate 31 by the tightening straps 35, so that the device is prevented from shaking when in use; the fingers of the patient are sequentially inserted into the first finger sleeve 32, the second finger sleeve 33 and the third finger sleeve 34 according to the distribution of finger joints, the driving motor 52 is started, the winding reel 53 connected with the output end of the driving motor 52 is driven to rotate by the driving motor 52, the traction flexible cable 55 is driven to wind on the winding reel 53, and the first connecting rod 41 connected with the output end of the traction flexible cable 55 is pulled to move, so that the blocking piece 6 and the first connecting rod 41 extrude the spring 7; the first connecting rod 41 is used for driving the first finger cot 32 and the second connecting rod 42 which are hinged with the first connecting rod to move, the second connecting rod 42 is used for driving the third connecting rod 43 which is hinged with the end part of the second connecting rod 42 to move, the moving third connecting rod 43 is used for driving the fourth connecting rod 44 and the second finger cot 33 which are hinged with the third connecting rod 43 to move, meanwhile, the moving fourth connecting rod 44 is used for driving the fifth connecting rod 45 which is hinged with the fifth connecting rod to move, and the fifth connecting rod 45 is connected with the third finger cot 34, so that the hinge mechanism 4 drives the first finger cot 32, the second finger cot 33 and the third finger cot 34 to move, and the bending of the hand flexion-extension unit 3 is realized; when the driving motor 52 rotates reversely, the traction flexible cable 55 is unwound from the bobbin 53, and the elastic restoring force of the spring 7 drives the first connecting rod 41 to move, so that the first connecting rod 41 drives the hinge mechanism 4 to move, and the hand driving unit is restored to the open state, so that the hinge mechanism 4 drives the hand bending and stretching unit 3 to simulate the opening and bending and stretching of fingers.

The embodiments of the present invention have been described in detail, but the present invention is only the preferred embodiments of the present invention, and is not to be considered as limiting the scope of the present invention. All equivalent changes and modifications made within the scope of the present invention should be covered by the present patent.

Claims

1. The utility model provides a recovered robot of gentle cable towed mirror image hand which characterized in that: including braced frame (1), be provided with two sets of braces (9) on braced frame (1), and rotate on this braced frame (1) and be provided with support arm (2), the end connection of support arm (2) has hand to bend and stretch unit (3), be connected with hinge mechanism (4) on hand bends and stretches unit (3), the input of hinge mechanism (4) is connected with flexible cable drive arrangement (5), and this flexible cable drive arrangement (5) connect on supporting arm (2).

2. The flexible cable traction mirror image hand rehabilitation robot according to claim 1, wherein: the hand flexion-extension unit (3) comprises a palm fixing plate (31), a first finger stall (32), a second finger stall (33), a third finger stall (34) and a binding belt (35), the palm fixing plate (31) is connected to the end part of the supporting arm (2), the first finger stall (32), the second finger stall (33) and the third finger stall (34) are connected with a hinge mechanism (4), one end of the first finger stall (32) is hinged to the palm fixing plate (31), one end of the second finger stall (33) is hinged to the other end of the first finger stall (32), the third finger stall (34) is hinged to the other end of the second finger stall (33), and two ends of the binding belt (35) are connected to the palm fixing plate (31) respectively.

3. The flexible cable traction mirror image hand rehabilitation robot according to claim 2, wherein: the hinge mechanism (4) comprises a first connecting rod (41), a second connecting rod (42), a third connecting rod (43), a fourth connecting rod (44) and a fifth connecting rod (45), one end of the first connecting rod (41) is hinged to the first finger stall (32), the other end of the first connecting rod is connected to the output end of the flexible cable driving device (5), two ends of the second connecting rod (42) are hinged to one end of the third connecting rod (43) and the first connecting rod (41) respectively, the other end of the third connecting rod (43) is fixedly connected to the second finger stall (33), two ends of the fourth connecting rod (44) are hinged to one end of the fifth connecting rod (45) and the third connecting rod (43) respectively, and the other end of the fifth connecting rod (45) is fixedly connected to the third finger stall (34).

4. The flexible cable traction mirror image hand rehabilitation robot according to claim 3, wherein: the flexible cable driving device (5) comprises a shell (51), a driving motor (52), a winding reel (53), a cable passing plate (54) and a traction flexible cable (55), wherein the shell (51) is connected to the supporting arm (2), the driving motor (52) is arranged inside the shell (51), the winding reel (53) is fixedly sleeved on the output end of the driving motor (52), the cable passing plate (54) is arranged on the shell (51), one end of the traction flexible cable (55) is wound on the winding reel (53), the other end of the traction flexible cable is connected to the input end of the first connecting rod (41), and the traction flexible cable (55) slides to pass through the inside of the cable passing plate (54).

5. The flexible cable traction mirror image hand rehabilitation robot according to claim 4, wherein: be connected with separation blade (6) on palm fixed plate (31), it is inside that separation blade (6) are passed in the slip of traction flexible cable (55), it is equipped with spring (7) to pull to go up the cover in flexible cable (55), the both ends of spring (7) are connected respectively on separation blade (6) and first connecting rod (41).

6. The flexible cable traction mirror image hand rehabilitation robot according to claim 2, wherein: the supporting arm (2) comprises a horizontal rotating assembly (21), a vertical rotating assembly (22), a main arm (23) and an auxiliary arm (24), the horizontal rotating assembly (21) is arranged on the supporting frame (1), the vertical rotating assembly (22) is connected to the output end of the horizontal rotating assembly (21), one end of the main arm (23) is connected to the output end of the vertical rotating assembly (22), one end of the auxiliary arm (24) is rotatably connected to the main arm (23), and the other end of the auxiliary arm is connected with the palm fixing plate (31).

7. The flexible cable traction mirror image hand rehabilitation robot according to claim 6, wherein: the horizontal rotating assembly (21) comprises a first base (211) and a first rotating motor (212), the first base (211) is connected to the supporting frame (1), the first rotating motor (212) is connected to the first base (211), and the output end of the first rotating motor (212) is connected with the input end of the vertical rotating assembly (22).

8. The flexible cable traction mirror image hand rehabilitation robot according to claim 7, wherein: the vertical rotating assembly (22) comprises a second base (221), a second rotating motor (222) and a fixed block (223), the second base (221) is fixedly connected to the output end of the first rotating motor (212), the second rotating motor (222) is connected to the second base (221), the fixed block (223) is connected to the output end of the second rotating motor (222), and the fixed block (223) is connected with the main arm (23).

9. The flexible cable traction mirror image hand rehabilitation robot according to claim 1, wherein: the main arm (23) is hinged with a driving cylinder (8), and the output end of a piston rod of the driving cylinder (8) is hinged with the auxiliary arm (24).

10. The flexible cable traction mirror image hand rehabilitation robot according to claim 1, wherein: the two groups of straps (9) are connected through a fastening bandage (10), a plurality of groups of fixing bandages (11) are further arranged on the main arm (23) and the auxiliary arm (24), and the plurality of groups of fixing bandages (11) are used for fixing the arms on the main arm (23) and the auxiliary arm (24).