CN113855482B

CN113855482B - Hand rehabilitation device and hand thumb control device based on spherical connecting rod mechanism

Info

Publication number: CN113855482B
Application number: CN202111161197.3A
Authority: CN
Inventors: 程龙; 李国涛; 高子文
Original assignee: Institute of Automation of Chinese Academy of Science
Current assignee: Institute of Automation of Chinese Academy of Science
Priority date: 2021-09-30
Filing date: 2021-09-30
Publication date: 2022-07-01
Anticipated expiration: 2041-09-30
Also published as: CN113855482A

Abstract

The invention belongs to the technical field of rehabilitation training instruments, and particularly relates to a hand rehabilitation device and a hand thumb control device based on a spherical connecting rod mechanism, aiming at solving the problems of poor flexibility and poor compatibility of the conventional hand rehabilitation device; the invention discloses a hand thumb control device, and provides a motion compatibility scheme of three-degree-of-freedom independent drive of a thumb, wherein a two-degree-of-freedom drive mechanism is designed by adopting a spherical connecting rod mechanism and a gear rack mechanism, so that the two-degree-of-freedom independent drive of a CMC joint of the thumb is realized; the motion compatibility mechanism of the thumb CMC joint is designed by adopting a PRRP space mechanism, so that the self-adaptive capacity of the thumb CMC joint can be realized, and the wearing comfort level is improved; through the scheme provided by the invention, each finger can independently move, the flexibility of the finger is greatly increased, and the movement modes of spherical grasp, two-fingertip pinching, multi-fingertip pinching and the like are realized.

Description

Hand rehabilitation device and hand thumb control device based on spherical connecting rod mechanism

Technical Field

The invention belongs to the technical field of rehabilitation training instruments, and particularly relates to a hand rehabilitation device and a hand thumb control device based on a spherical connecting rod mechanism.

Background

The hand is an important organ on the human body, and plays an important role in daily life and work. But patients suffer from various degrees of nerve damage and limb movement disorders due to accidents (e.g., car accidents, industrial injuries) or diseases (e.g., stroke), which seriously affect their quality of life and mobility. The traditional hand rehabilitation scheme depends on the experience and level of doctors to a great extent, and the traditional hand rehabilitation scheme has the disadvantages of high labor intensity of the doctors, low efficiency and difficulty in achieving the expected rehabilitation effect in the rehabilitation training process. Therefore, a hand rehabilitation device is needed to make up for some defects of professionals and improve rehabilitation effect.

The invention relates to a rigid hand rehabilitation exoskeleton robot. The existing rigid hand exoskeleton robot scheme mostly adopts an underactuated design, and can rarely realize independent actuation of different joints of fingers. In addition, the existing scheme adopts a Bowden cable for driving, so that the friction force is large and the reliability is poor. In the aspect of motion function, although partial schemes can realize two-degree-of-freedom independent driving of other hands except for the thumb, the motion adaptive compatible design of the fingers is not realized, and the wearing comfort is poor. For the thumb driving scheme, the existing scheme mainly adopts a Bowden cable to drive to complete independent driving of the thumb, and a rigid mechanism is not used to complete independent driving of the thumb. The project mainly solves the design problems of thumb independent driving and motion compatibility, and improves the motion function and the wearing comfort level of the hand exoskeleton robot.

Disclosure of Invention

In order to solve the above problems in the prior art, that is, to solve the problem of poor flexibility of the existing hand rehabilitation device, a first aspect of the present invention provides a hand rehabilitation device based on a spherical link mechanism, which includes a thumb driving assembly, an index finger driving assembly, a middle finger driving assembly, a ring finger driving assembly, a little finger driving assembly and a master control center, wherein the thumb driving assembly, the index finger driving assembly, the middle finger driving assembly, the ring finger driving assembly and the little finger driving assembly are all in signal connection with the master control center; the index finger driving assembly, the middle finger driving assembly, the ring finger driving assembly and the little finger driving assembly are fixed on a hand through a hand back mounting plate, and the thumb driving assembly is fixed on the hand back mounting plate through a thumb mounting plate; the thumb mounting plate is of an L-shaped structure;

the thumb driving assembly comprises a first thumb driving assembly, a second thumb driving assembly and a third thumb driving assembly, the first thumb driving assembly comprises a first motor, a first transmission assembly, a first cross shaft, a first C-shaped connecting plate and a first metacarpal swinging rod, and a power input end of the first transmission assembly is fixedly connected with a power output shaft of the first motor; the power output end of the first transmission assembly is hinged with the first end part of the first cross shaft; two free ends of the first C-shaped connecting plate are hinged with the first end part and the second end part of the first cross shaft respectively and are fixedly connected with the power output end of the first transmission assembly; wherein the first end part and the second end part are arranged oppositely; one end of the first metacarpal swinging rod is fixedly arranged on the first C-shaped connecting plate, and the other end of the first metacarpal swinging rod is arranged in a suspending manner;

the thumb second driving assembly comprises a second motor, a second transmission assembly and a thumb sliding base, a first sliding rail assembly is arranged on the thumb mounting plate, and the first sliding rail assembly comprises a first guide rail fixedly arranged on the thumb mounting plate and a first sliding block matched with the first guide rail; the thumb sliding base is fixedly arranged at the top of the first sliding block; the power input end of the second transmission assembly is fixedly connected with the power output shaft of the second motor, and the power output end of the second transmission assembly is fixedly connected with the thumb sliding base; the overhanging end, far away from the thumb mounting plate, of the thumb sliding base is hinged with the third end part of the first cross shaft; a cross shaft pressing plate which is opposite to the overhanging end of the thumb sliding base and fixedly connected with the overhanging end of the thumb sliding base is arranged at the fourth end part of the first cross shaft;

the thumb third driving assembly comprises a third motor, a third transmission assembly, a second sliding rail assembly and a proximal phalanx transmission assembly; the second slide rail assembly comprises a second guide rail fixedly arranged on a metacarpal bone of the thumb and a second slide block matched with the second guide rail, the third motor is fixedly arranged on the second slide block through the third transmission assembly, the power input end of the proximal phalanx transmission assembly is hinged with the second slide block, and the power output end of the proximal phalanx transmission assembly is fixedly connected with the proximal phalanx of the thumb; the overhanging end of the first swinging rod of the metacarpal bones is hinged with the second sliding block;

in a working state, the first thumb driving assembly can control flexion and extension movements of a carpometacarpal joint of a thumb, the second thumb driving assembly can control adduction and abduction movements of the thumb, the third thumb driving assembly can control flexion and extension movements of a metacarpal joint of the thumb, and the thumb can realize conical movement under the linkage control of the first thumb driving assembly, the second thumb driving assembly and the third thumb driving assembly;

the hand back mounting plate is provided with a transverse guide rail and a transverse sliding block matched with the transverse guide rail;

the index finger driving assembly comprises an index finger first driving assembly and an index finger second driving assembly, the index finger first driving assembly comprises a fourth motor, a fourth transmission assembly and an index finger sliding base, and the index finger sliding base is fixedly arranged at the top of the transverse sliding block; the power input end of the fourth transmission assembly is connected with the power output end of the fourth motor, and the power output end of the fourth transmission assembly is connected with the second cross shaft; the second index finger driving assembly comprises a fifth motor and a fifth transmission assembly, and the fifth motor is arranged on the proximal phalanx of the index finger through a third sliding rail assembly; the power input end of the fifth transmission assembly is fixedly connected with the power output end of the fifth motor, and the power output end of the fifth transmission assembly is arranged on the middle phalanx of the index finger; in the working state, the first index finger can realize the flexion and extension movement of the index finger under the control of the first index finger driving assembly and the second index finger driving assembly;

the middle finger driving assembly, the ring finger driving assembly and the index finger driving assembly are arranged in the same structure;

the little finger driving assembly comprises a little finger driving motor and a little finger transmission assembly, the little finger driving motor is arranged on the hand back mounting plate, one end of the little finger transmission assembly is connected with the little finger driving motor, the other end of the little finger transmission assembly is connected with the proximal phalanx of the little finger, and the little finger can realize flexion and extension movement under the control of the little finger driving assembly.

In some preferred embodiments, the first transmission assembly comprises a first thumb ball pair connecting rod, a second thumb ball pair connecting rod and a third thumb ball pair connecting rod, one end of the first thumb ball pair connecting rod is fixedly connected with the first motor, and the other end of the first thumb ball pair connecting rod is hinged with the second thumb ball pair connecting rod; the thumb third ball auxiliary connecting rod is hinged to one end, far away from the thumb first ball auxiliary connecting rod, of the thumb second ball auxiliary connecting rod; the overhanging end of the thumb third ball pair connecting rod is rotatably connected with the first end part of the first cross shaft;

the motor shaft of the first motor, the hinged shaft of the first ball pair connecting rod of the thumb and the second ball pair connecting rod of the thumb, and the axis extension lines of the hinged shaft of the second ball pair connecting rod of the thumb and the third ball pair connecting rod of the thumb are intersected in the sphere center of a virtual sphere with a preset radius, and the swing tracks of the first ball pair connecting rod of the thumb, the second ball pair connecting rod of the thumb and the third ball pair connecting rod of the thumb move along the spherical surface.

In some preferred embodiments, the metacarpal first swing rod comprises a first C-shaped connecting rod and a second C-shaped connecting rod, the second C-shaped connecting rod and the first C-shaped connecting rod form a downward folding structure, and the first C-shaped connecting rod is fixedly connected with the first C-shaped connecting plate;

and the second C-shaped connecting rod is provided with a mounting ring fixedly arranged on the third motor, and the longitudinal axis of the third motor is perpendicular to the cross section of the mounting ring.

In some preferred embodiments, the first C-shaped connecting rod and the longitudinal axis of the second C-shaped connecting rod form an angle of 129 degrees.

In some preferred embodiments, the second transmission assembly comprises a gear and a rack, the gear is fixedly arranged on the power output shaft of the second motor, and the rack is fixedly arranged on the thumb sliding base; the longitudinal axis of the rack is perpendicular to the plane where the back of hand mounting plate is located;

the second motor is fixedly arranged on the thumb mounting plate through a motor fixing plate;

the longitudinal axis of the second motor is arranged in parallel with the longitudinal axis of the first motor;

and the overhanging end of the thumb sliding base connected with the first cross shaft is perpendicular to the longitudinal axis of the rack.

In some preferred embodiments, the third transmission assembly comprises a first bevel gear, a second bevel gear and a stepped shaft, the first bevel gear is fixedly arranged at the power output end of the third motor, and the second bevel gear is in meshing transmission with the first bevel gear; the power output end of the second bevel gear is hinged with the stepped shaft;

the second slide rail assembly further comprises a first connecting block and a metacarpal joint fixing shell, and the bottom of the first connecting block is fixedly connected with the top of the second slide block; the first connecting block is of a C-shaped structure, and two overhanging parts are arranged outside the first connecting block; the stepped shaft penetrates through the two overhanging parts and is hinged with the first connecting block; the inner surface of the metacarpal joint fixing shell is fixedly matched with a thumb metacarpal bone, and the second guide rail is fixedly arranged on the outer side of the metacarpal joint fixing shell;

the proximal phalanx transmission assembly comprises a first proximal phalanx swinging rod, a second proximal phalanx swinging rod and a third proximal phalanx swinging rod, and one end of the first proximal phalanx swinging rod is hinged with the stepped shaft; the second swing rod of the proximal phalanx is arranged between the first swing rod of the proximal phalanx and the third swing rod of the proximal phalanx and is hinged with the first swing rod of the proximal phalanx; the inner surface of the third swinging rod of the proximal phalanx is fixedly matched with the proximal phalanx of the thumb.

In some preferred embodiments, the little finger transmission assembly comprises a little finger first ball pair connecting rod, a little finger second ball pair connecting rod, a little finger third ball pair connecting rod, a cross connecting piece, a U-shaped connecting plate, a little finger swinging rod and a little finger sliding rail assembly, one end of the little finger first ball pair connecting rod is fixedly arranged at the power output end of the little finger driving motor, and the other end of the little finger first ball pair connecting rod is hinged with the little finger second ball pair connecting rod; the second small-finger ball pair connecting rod is arranged between the first small-finger ball pair connecting rod and the third small-finger ball pair connecting rod and is hinged with the third small-finger ball pair connecting rod; the third ball pair connecting rod of the little finger is hinged with the first end part of the cross connecting piece;

two free ends of the U-shaped connecting plate are hinged with the first end part and the second end part of the cross connecting piece respectively, and one free end of the U-shaped connecting plate is fixedly connected with one end, far away from the little finger second ball pair connecting rod, of the little finger third ball pair connecting rod; the first end part and the second end part of the cross connecting piece are arranged oppositely;

the little finger driving assembly further comprises a displacement compensation assembly, the displacement compensation assembly comprises a little finger transverse sliding block, a little finger sliding base and a little finger sliding base pressing plate, and the little finger transverse sliding block is matched with the transverse guide rail; the little finger sliding base is fixedly arranged at the top of the little finger transverse sliding block; the little finger driving motor is fixedly arranged on the little finger sliding base through a little finger motor mounting plate; the little finger sliding base is provided with a connecting end part which is suspended and extended, the connecting end part is hinged with the third end part of the cross connecting piece, one end of the little finger sliding base pressing plate is fixedly connected with the little finger sliding base, and the other end of the little finger sliding base pressing plate is hinged with the fourth end part of the cross connecting piece; the little finger sliding base pressing plate and the connecting end part are arranged oppositely, and the third end part and the fourth end part of the cross connecting piece are arranged oppositely.

In some preferred embodiments, the longitudinal axis of the connecting end is disposed perpendicular to the longitudinal axis of the transverse rail.

In some preferred embodiments, in the first working state, the thumb first driving component, the thumb second driving component, the thumb third driving component, the index finger driving component, the middle finger driving component, the ring finger driving component and the little finger driving component can realize the spherical grasp of the hand under the control of the master control center;

in a second working state, the first thumb driving component, the second thumb driving component, the third thumb driving component and the index finger driving component can realize the first fingertip to finger of the hand under the control of the master control center;

in a third working state, the first thumb driving component, the second thumb driving component, the third thumb driving component and the middle finger driving component can realize second fingertip finger alignment of the hand under the control of the master control center;

in a fourth working state, the first thumb driving component, the second thumb driving component, the third thumb driving component and the ring finger driving component can realize third fingertip finger alignment of the hand under the control of the master control center;

in a fifth working state, the first thumb driving component, the second thumb driving component, the third thumb driving component and the little finger driving component can realize the fourth fingertip-to-finger of the hand under the control of the master control center;

in a sixth working state, the first thumb driving component, the second thumb driving component, the third thumb driving component, the index finger driving component, the middle finger driving component, the ring finger driving component and the little finger driving component can realize multi-finger pinching of a hand under the control of the master control center.

The invention provides a hand thumb control device, which comprises a first thumb driving component, a second thumb driving component, a third thumb driving component and a thumb mounting plate, wherein the first thumb driving component comprises a first motor, a first transmission component, a cross shaft, a first C-shaped connecting plate and a metacarpal first swing rod; the power input end of the first transmission assembly is fixedly connected with the power output shaft of the first motor; the power output end of the first transmission assembly is hinged with the first end part of the cross shaft; two free ends of the first C-shaped connecting plate are hinged with the first end part and the second end part of the cross shaft respectively and are fixedly connected with the power output end of the first transmission assembly; wherein the first end portion is arranged opposite to the second end portion; one end of the first metacarpal swinging rod is fixedly arranged on the first C-shaped connecting plate, and the other end of the first metacarpal swinging rod is arranged in a suspending manner;

the first transmission assembly comprises a first thumb ball pair connecting rod, a second thumb ball pair connecting rod and a third thumb ball pair connecting rod, one end of the first thumb ball pair connecting rod is fixedly connected with the first motor, and the other end of the first thumb ball pair connecting rod is hinged with the second thumb ball pair connecting rod; the thumb third ball auxiliary connecting rod is hinged to one end, far away from the thumb first ball auxiliary connecting rod, of the thumb second ball auxiliary connecting rod; the overhanging end of the third thumb ball pair connecting rod is rotatably connected with the first end part of the cross shaft; the motor shaft of the first motor, the hinged shaft of the first thumb ball pair connecting rod and the second thumb ball pair connecting rod, and the axis extension lines of the hinged shaft of the second thumb ball pair connecting rod and the third thumb ball pair connecting rod are intersected at the sphere center of a virtual sphere with a preset radius, and the swing tracks of the first thumb ball pair connecting rod, the second thumb ball pair connecting rod and the third thumb ball pair connecting rod move along the spherical surface;

the thumb second driving assembly comprises a second motor, a second transmission assembly and a thumb sliding base, a first sliding rail assembly is arranged on the thumb mounting plate, and the first sliding rail assembly comprises a first guide rail fixedly arranged on the thumb mounting plate and a first sliding block matched with the first guide rail; the thumb sliding base is fixedly arranged at the top of the first sliding block; the power input end of the second transmission assembly is fixedly connected with the power output shaft of the second motor, and the power output end of the second transmission assembly is fixedly connected with the thumb sliding base; the overhanging end, far away from the thumb mounting plate, of the thumb sliding base is hinged with the third end part of the cross shaft; a cross shaft pressing plate which is opposite to the overhanging end of the thumb sliding base and fixedly connected with the overhanging end of the thumb sliding base is arranged at the fourth end part of the cross shaft;

the second transmission assembly comprises a gear and a rack, the gear is fixedly arranged on a power output shaft of the second motor, and the rack is fixedly arranged on the thumb sliding base; the longitudinal axis of the rack is perpendicular to the plane where the back of hand mounting plate is located; the second motor is fixedly arranged on the thumb mounting plate through a motor fixing plate; the longitudinal axis of the second motor is arranged in parallel with the longitudinal axis of the first motor; the overhanging end of the thumb sliding base connected with the cross shaft is perpendicular to the longitudinal axis of the rack;

the thumb third driving assembly comprises a third motor, a third transmission assembly, a second sliding rail assembly and a proximal phalanx transmission assembly; the second slide rail assembly comprises a second guide rail fixedly arranged on a metacarpal bone of the thumb and a second slide block matched with the second guide rail, the third motor is fixedly arranged on the second slide block through the third transmission assembly, the power input end of the proximal phalanx transmission assembly is hinged with the second slide block, and the power output end of the proximal phalanx transmission assembly is fixedly connected with the proximal phalanx of the thumb;

the third transmission assembly comprises a first bevel gear, a second bevel gear and a stepped shaft, the first bevel gear is fixedly arranged at the power output end of the third motor, and the second bevel gear is in meshing transmission with the first bevel gear; the power output end of the second bevel gear is hinged with the stepped shaft; the second slide rail assembly further comprises a first connecting block and a metacarpal joint fixing shell, and the bottom of the first connecting block is fixedly connected with the top of the second slide block; the first connecting block is of a C-shaped structure, and two overhanging parts are arranged outside the first connecting block; the stepped shaft penetrates through the two overhanging parts and is hinged with the first connecting block; the inner surface of the metacarpal joint fixing shell is fixedly matched with a thumb metacarpal bone, and the second guide rail is fixedly arranged on the outer side of the metacarpal joint fixing shell; the proximal phalanx transmission assembly comprises a first proximal phalanx swinging rod, a second proximal phalanx swinging rod and a third proximal phalanx swinging rod, and one end of the first proximal phalanx swinging rod is hinged with the stepped shaft; the second swing rod of the proximal phalanx is arranged between the first swing rod of the proximal phalanx and the third swing rod of the proximal phalanx and is hinged with the first swing rod of the proximal phalanx; the inner surface of the third swinging rod of the proximal phalanx is fixedly matched with the proximal phalanx of the thumb; in a working state, the first thumb driving assembly can control flexion and extension movements of a carpometacarpal joint of a thumb, the second thumb driving assembly can control adduction and abduction movements of the thumb, the third thumb driving assembly can control flexion and extension movements of a metacarpophalangeal joint of the thumb, and the thumb can realize conical movement under the linkage control of the first thumb driving assembly, the second thumb driving assembly and the third thumb driving assembly.

The scheme disclosed by the invention has the advantages of compact structure, small volume, light weight, strong control force, outward convergence and inward convergence of fingers and large bending and stretching angle. The transmission is carried out by adopting the spherical connecting rod mechanism, the motor is more reasonable in arrangement, and the defects of large friction force, poor reliability and the like of Bowden cable transmission are overcome. The slider is installed at the human-computer interaction interface on palm and the finger, can compensate the little displacement of production when the finger is collected in and is buckled and extend outward, realizes man-machine motion compatible function, improves the comfort level. Most importantly, the thumb can realize the movement of three active degrees of freedom, and the fine movement assistance of the thumb can be realized.

Drawings

Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:

FIG. 1 is a first schematic structural diagram of a hand rehabilitation device based on a spherical linkage mechanism according to the present invention;

FIG. 2 is a second schematic structural view of the hand rehabilitation device based on the spherical linkage mechanism in the present invention;

FIG. 3 is a third schematic structural view of the hand rehabilitation device based on the spherical linkage mechanism in the present invention;

FIG. 4 is a fourth schematic structural view of the hand rehabilitation device based on the spherical linkage mechanism in the invention;

FIG. 5 is a schematic structural view of the thumb drive assembly of FIG. 1;

FIG. 6 is a partial schematic view of FIG. 5

FIG. 7 is a schematic illustration of the first cross of FIG. 5;

FIG. 8 is a schematic structural view of the index finger drive assembly of FIG. 1;

FIG. 9 is a schematic structural view of the little finger drive assembly of FIG. 1;

FIG. 10 is a schematic diagram of the fist-making state of the present invention;

FIG. 11 is a schematic structural view of the present invention in the expanded state;

FIG. 12 is a little finger pair indicating intent of the present invention;

FIG. 13 is an index finger pair indicating intent of the present invention;

fig. 14 is a schematic structural view of the metacarpal joint fixing shell in fig. 1.

Description of reference numerals:

100. a thumb drive assembly; 110. a thumb first drive assembly; 111. a thumb mounting plate; 112. a first motor; 113. a first transmission component 1131, a first ball pair connecting rod of thumb, 1132, a second ball pair connecting rod of thumb, 1133 and a third ball pair connecting rod of thumb; 120. a thumb second drive assembly; 121. a second motor; 122. a second transmission assembly, 1221, a gear, 1222, a rack; 123. a thumb slide base; 124. a cross shaft pressing plate; 125. a second slider; 126. a second guide rail; 127. a motor fixing plate; 130. a thumb third drive assembly; 131. a third motor; 132. a third transmission assembly 1321, a first bevel gear 1322, a second bevel gear 1323, a stepped shaft; 133. a proximal phalanx first swing lever; 134. a second proximal phalanx oscillating rod; 135. a third swing link of the proximal phalanx; 141. a first cross-shaft; 142. a first C-shaped connecting plate; 143. a metacarpal first swing lever; 144. a first connection block; 145. a first guide fixing plate; 146. a first slider; 147. a first guide rail; 148. a metacarpal joint fixing shell;

200. a forefinger drive assembly; 210. a first index finger drive assembly; 211. a fourth motor; 212. a fourth transmission component, 2121, a first ball pair connecting rod of the index finger, 2122, a second ball pair connecting rod of the index finger, 2123 and a third ball pair connecting rod of the index finger; 220. a second index finger drive assembly; 221. a fifth motor; 222. a fifth transmission component 2221, a third bevel gear 2222, a fourth bevel gear 2223 and an index finger connecting shaft; 223. a middle phalanx first swing lever; 224. a second swing lever of the middle phalanx; 225. a third swing rod of the middle phalanx; 231. a second cross-shaped shaft; 232. a second C-shaped connecting plate; 233. a second swing lever of the metacarpal bones; 234. a second connecting block; 235. a second guide fixing plate; 241. a transverse slide block; 242. a transverse guide rail; 251. a forefinger sliding base; 252. the forefinger slides the base pressing plate; 261. a third slider; 262. a third guide rail;

300. a middle finger drive assembly; 400. a ring finger drive assembly;

500. a little finger drive assembly; 511. the little finger drives the motor; 512. a little finger motor mounting plate; 513. a little finger sliding base; 514. the little finger slides the base pressing plate; 515. a little finger transverse sliding block; 521. a little finger first ball pair connecting rod; 522. a little finger second ball pair connecting rod; 523. a little finger third ball auxiliary connecting rod; 524. a cross-shaped connector; 525. a U-shaped connecting plate; 526. a little finger swing lever; 5271. the small finger guide rail 5272, the small finger guide rail mounting plate 5273, the small finger transverse sliding block 5274, the small finger connecting block 5275 and the small finger connecting shaft;

600. a hand back mounting plate;

10. a thumb; 20. the index finger; 30. middle finger; 40. a ring is used; 50. the little finger.

Detailed Description

Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and are not intended to limit the scope of the present invention.

The invention is further illustrated by the following examples with reference to the accompanying drawings.

Referring to fig. 1 to 14, a first aspect of the present invention provides a hand rehabilitation device based on a spherical linkage mechanism, which includes a thumb driving assembly 100 for controlling a thumb 10, an index finger driving assembly 200 for controlling an index finger 20, a middle finger driving assembly 300 for controlling a middle finger 30, a ring finger driving assembly 400 for controlling a ring finger 40, a little finger driving assembly 500 for controlling a little finger 50, and a general control center, wherein the thumb driving assembly 100, the index finger driving assembly 200, the middle finger driving assembly 300, the ring finger driving assembly 400, and the little finger driving assembly 500 are in signal connection with the general control center; the index finger driving assembly 200, the middle finger driving assembly 300, the ring finger driving assembly 400 and the little finger driving assembly 500 are fixed on the hand through a back mounting plate 600, and the thumb driving assembly 100 is fixed on the back mounting plate 600 through a thumb mounting plate 111; the thumb mounting plate 111 is an L-shaped structure.

The thumb driving assembly 100 comprises a first thumb driving assembly 110, a second thumb driving assembly 120 and a third thumb driving assembly 130, the first thumb driving assembly 110 comprises a first motor 112, a first transmission assembly 113, a first cross axle 141, a first C-shaped connecting plate 142 and a first metacarpal swing rod 143, and a power input end of the first transmission assembly 113 is fixedly connected with a power output shaft of the first motor 112; the power output end of the first transmission assembly 113 is hinged with the first end of the first cross shaft 141; two free ends of the first C-shaped connecting plate 142 are hinged to the first end and the second end of the first cross shaft 141 respectively, and are fixedly connected to the power output end of the first transmission assembly 113; wherein the first end portion is arranged opposite to the second end portion; one end of the first swinging rod 143 of the metacarpal bone is fixedly arranged on the first C-shaped connecting plate 142, and the other end is arranged in a suspending manner;

the first transmission assembly 113 includes a first thumb ball pair connecting rod 1131, a second thumb ball pair connecting rod 1132 and a third thumb ball pair connecting rod 1133, one end of the first thumb ball pair connecting rod 1131 is fixedly connected with the first motor 112, and the other end is hinged to the second thumb ball pair connecting rod 1132; the thumb third ball sub-link 1133 is hinged to one end of the thumb second ball sub-link 1132, which is far away from the thumb first ball sub-link 1131; the cantilevered end of the thumb third ball pair link 1133 is rotatably connected to a first end of the first cross 141.

The axis extension lines of the hinge shafts of the motor shaft of the first motor 112, the first thumb ball pair link 1131 and the second thumb ball pair link 1132, and the second thumb ball pair link 1132 and the third thumb ball pair link 1133 intersect with the center of a virtual ball with a preset radius, and the swing trajectories of the first thumb ball pair link 1131, the second thumb ball pair link 1132 and the third thumb ball pair link 1133 move along the spherical surface.

Further, the metacarpal first swing lever 143 includes a first C-shaped connecting rod and a second C-shaped connecting rod, the second C-shaped connecting rod and the first C-shaped connecting rod form a downward-folded structure, and the first C-shaped connecting rod is fixedly connected with the first C-shaped connecting plate 142; the second C-shaped connecting rod is provided with a mounting ring fixedly provided with a third motor 131, and the longitudinal axis of the third motor 131 is perpendicular to the cross section of the mounting ring.

The thumb second driving assembly 120 comprises a second motor 121, a second transmission assembly 122 and a thumb sliding base 123, a first sliding rail assembly is arranged on the thumb mounting plate 111, and the first sliding rail assembly comprises a first guide rail 147 fixedly arranged on the thumb mounting plate 111 and a first sliding block 146 matched with the first guide rail 147; the thumb sliding base 123 is fixedly arranged at the top of the first slider 146; the first guide 147 is fixed by the first guide fixing plate 145.

The power input end of the second transmission assembly 122 is fixedly connected with the power output shaft of the second motor 121, and the power output end of the second transmission assembly 122 is fixedly connected with the thumb sliding base 123; the overhanging end of the thumb sliding base 123 far away from the thumb mounting plate 111 is hinged with the third end part of the first cross shaft 141; the fourth end of the first cross 141 is provided with a cross pressing plate 124 which is opposite to and fixedly connected with the overhanging end of the thumb slide base 123.

The second transmission assembly 122 includes a gear 1221 and a rack 1222, the gear 1221 is fixedly disposed on the power output shaft of the second motor 121, and the rack 1222 is fixedly disposed on the thumb sliding base 123; the longitudinal axis of the rack 1222 is perpendicular to the plane of the backhand mounting plate 600; the second motor 121 is fixedly arranged on the thumb mounting plate 111 through a motor fixing plate 127; the longitudinal axis of the second motor 121 is arranged parallel to the longitudinal axis of the first motor 112; the cantilevered end of thumb slide 123 connected to first cross 141 is disposed perpendicular to the longitudinal axis of rack 1222.

The thumb third drive assembly 130 comprises a third motor 131, a third transmission assembly 132, a second slide assembly and a proximal phalanx transmission assembly; the second slide rail component comprises a second guide rail 126 fixedly arranged on the metacarpal bone of the thumb and a second slide block 125 matched with the second guide rail 126, a third motor 131 is fixedly arranged on the second slide block 125 through a third transmission component 132, the power input end of the proximal phalanx transmission component is hinged with the second slide block 125, and the power output end is fixedly connected with the proximal phalanx of the thumb; the overhanging end of the metacarpal first swinging rod 143 is hinged with the second slider 125.

The third transmission assembly 132 includes a first bevel gear 1321, a second bevel gear 1322 and a stepped shaft 1323, the first bevel gear 1321 is fixedly arranged at the power output end of the third motor 131, and the second bevel gear 1322 is in meshing transmission with the first bevel gear 1321; the power output end of the second bevel gear 1322 is hinged with a stepped shaft 1323.

The second slide rail assembly further comprises a first connecting block 144 and a metacarpal joint fixing shell 148, wherein the bottom of the first connecting block 144 is fixedly connected with the top of the second slide block 125; the first connecting block 144 is a C-shaped structure, and two overhanging portions are arranged outside the first connecting block 144; a stepped shaft 1323 is provided through the two overhanging portions and is hinged to the first connecting block 144; the inner surface of the metacarpal joint fixing shell 148 is fixedly matched with the metacarpal bone of the thumb, and the second guide rail 126 is fixedly arranged on the outer side of the metacarpal joint fixing shell 148; the proximal phalanx transmission component comprises a first proximal phalanx swinging rod 133, a second proximal phalanx swinging rod 134 and a third proximal phalanx swinging rod 135, and one end of the first proximal phalanx swinging rod 133 is hinged with a stepped shaft 1323; the proximal phalanx second swinging rod 134 is arranged between the proximal phalanx first swinging rod 133 and the proximal phalanx third swinging rod 135 and is hinged with the proximal phalanx first swinging rod 133; the inner surface of the third swing lever 135 of the proximal phalanx is fixedly matched with the proximal phalanx of the thumb;

in a working state, the first thumb driving component 110 can control the flexion and extension movement of the carpometacarpal joint of the thumb, the second thumb driving component 120 can control the adduction and abduction movement of the thumb, the third thumb driving component 130 can control the flexion and extension movement of the metacarpal joint of the thumb, and the thumb can realize conical movement under the linkage control of the first thumb driving component 110, the second thumb driving component 120 and the third thumb driving component 130;

the backhand mounting plate 600 is provided with a cross rail 242 and a cross slider 241 matching with the cross rail 242.

The index finger driving assembly 200 comprises an index finger first driving assembly 210 and an index finger second driving assembly 220, the index finger first driving assembly 210 comprises a fourth motor 211, a fourth transmission assembly 212 and an index finger sliding base 251, and the index finger sliding base 251 is fixedly arranged at the top of the transverse sliding block 241; the power input end of the fourth transmission assembly 212 is connected with the power output end of the fourth motor 211, and the power output end of the fourth transmission assembly 212 is connected with the second cross shaft 231.

Further, the fourth transmission assembly 212 includes a first index finger ball pair link 2121, a second index finger ball pair link 2122, a third index finger ball pair link 2123, a second cross shaft 231, a second C-shaped connecting plate 232, a second metacarpal bone swing rod 233, a second connecting block 234, and an index finger sliding guide rail assembly, wherein one end of the first index finger ball pair link 2121 is fixedly connected to the fourth motor 211, and the other end is hinged to the second index finger ball pair link 2122; the index finger third ball pair connecting rod 2123 is hinged to one end of the index finger second ball pair connecting rod 2122 away from the index finger first ball pair connecting rod 2121; the overhanging end of the third ball sub-link 2123 of the index finger is rotatably connected to the first end of the second cross-axle 231.

The index finger driving assembly 200 further comprises an index finger sliding base 251 and a transverse slide rail assembly arranged on the hand back mounting plate 600, wherein the transverse slide rail assembly comprises a transverse slider 241 and a transverse guide rail 242, the index finger sliding base 251 is fixedly arranged at the top of the transverse slider 241, and the index finger sliding base 251 is provided with an overhanging end far away from the transverse slider 241 and hinged with a third end of the third cross axle 231; the fourth end of the second cross axle 231 is provided with a pressing plate 252 of the index finger sliding base 251, which is opposite to the overhanging end of the index finger sliding base 251 and is fixedly connected with the overhanging end of the index finger sliding base 251.

Further, the axis extension lines of the motor shaft of the fourth motor 211, the hinge shaft of the first index finger ball pair link 2121 and the second index finger ball pair link 2122, and the hinge shaft of the second index finger ball pair link 2122 and the third index finger ball pair link 2123 intersect at the spherical center of the virtual ball with the preset radius, and the swing trajectories of the first index finger ball pair link 2121, the second index finger ball pair link 2122 and the third index finger ball pair link 2123 move along the spherical surface.

The index finger second driving assembly 220 comprises a fifth motor 221 and a fifth transmission assembly 222, wherein the fifth motor 221 is mounted on the proximal phalanx of the index finger through a third sliding rail assembly; the power input end of the fifth transmission assembly 222 is fixedly connected with the power output end of the fifth motor 221, and the power output end of the fifth transmission assembly 222 is arranged on the middle phalanx of the index finger; in the working state, the forefinger can realize the flexion and extension motions of the forefinger under the control of the forefinger first drive assembly 210 and the forefinger second drive assembly 220.

The third slide rail assembly comprises a third guide rail 262 fixedly arranged on the proximal phalanx of the index finger and a third slide block 261 matched with the third guide rail 262, the fifth motor 221 is fixedly arranged on the third slide block 261, and the third guide rail 262 is fixed on the index finger through the second guide rail 126.

The fifth transmission assembly 222 comprises a third bevel gear 2221, a fourth bevel gear 2222, a little finger connecting shaft 5275, a second connecting block 234, an index finger connecting shaft 2223, a middle phalanx first swinging rod 223, a middle phalanx second swinging rod 224 and a middle phalanx third swinging rod 225, wherein one end of the middle phalanx first swinging rod 223 is hinged with the index finger connecting shaft 2223; the middle phalanx second swing lever 224 is arranged between the middle phalanx first swing lever 223 and the middle phalanx third swing lever 225, and is hinged with the middle phalanx first swing lever 223; the inner surface of the third swing lever 225 of the middle phalanx fixedly mates with the middle phalanx of the index finger.

The third bevel gear 2221 is fixedly arranged at the power output end of the fifth motor 221, and the fourth bevel gear 2222 is in meshing transmission with the third bevel gear 2221; the power output end of the fourth bevel gear 2222 is hinged with the index finger connecting shaft 2223.

The middle finger driving assembly 300, the ring finger driving assembly 400 and the index finger driving assembly 200 are arranged in the same structure;

the little finger driving assembly 500 comprises a little finger driving motor 511 and a little finger transmission assembly, the little finger driving motor 511 is arranged on the hand back mounting plate 600, one end of the little finger transmission assembly is connected with the little finger driving motor 511, the other end is connected with the proximal phalanx of the little finger, and the little finger can realize the flexion and extension movement under the control of the little finger driving assembly 500.

Furthermore, the little finger transmission assembly comprises a little finger first ball pair connecting rod 521, a little finger second ball pair connecting rod 522, a little finger third ball pair connecting rod 523, a cross connecting piece 524, a U-shaped connecting plate 525, a little finger swinging rod 526 and a little finger sliding rail assembly, one end of the little finger first ball pair connecting rod 521 is fixedly arranged at the power output end of the little finger driving motor 511, and the other end of the little finger first ball pair connecting rod 521 is hinged with the little finger second ball pair connecting rod 522; the second ball pair link 522 of the little finger is arranged between the first ball pair link 521 of the little finger and the third ball pair link 523 of the little finger, and is hinged with the third ball pair link 523 of the little finger; the third ball auxiliary connecting rod 523 of the little finger is hinged with the first end part of the cross connecting piece 524; two free ends of the U-shaped connecting plate 525 are hinged with the first end and the second end of the cross connecting member 524 respectively, and one free end of the U-shaped connecting plate 525 is fixedly connected with one end of the little finger third ball pair connecting rod 523 far away from the little finger second ball pair connecting rod 522; the first end of the cross connector 524 is disposed opposite the second end.

The little finger driving assembly 500 further comprises a displacement compensation assembly, wherein the displacement compensation assembly comprises a little finger transverse sliding block 5273, a little finger sliding base 513 and a little finger sliding base pressing plate 514, and is matched with the transverse guide rail 242; the little finger sliding base 513 is fixedly arranged at the top of the little finger transverse sliding block 5273; the little finger driving motor 511 is fixedly arranged on the little finger sliding base 513 through a little finger motor mounting plate 512; the little finger sliding base 513 is provided with a connecting end part which is suspended and extended, the connecting end part is hinged with the third end part of the cross connecting piece 524, one end of the little finger sliding base pressing plate 514 is fixedly connected with the little finger sliding base 513, and the other end is hinged with the fourth end part of the cross connecting piece 524; the little finger sliding base pressing plate 514 is arranged opposite to the connecting end, and the third end and the fourth end of the cross connecting piece 524 are arranged opposite to each other.

The little finger sliding rail component comprises a little finger connecting block 5274, a little finger connecting shaft 5275, a little finger transverse sliding block 5273, a little guide rail 5271 and a little guide rail mounting plate 5272, one end of a little finger swinging rod 526 is fixedly connected with the U-shaped connecting plate 525, and the other end is fixedly connected with the little finger connecting shaft 5275; the little finger connecting shaft 5275 is fixedly connected with the little finger connecting block 5274; the little finger connecting block 5274 is fixedly arranged at the top of the little finger transverse sliding block 5273, and the little finger transverse sliding block 5273 and the little guide rail 5271 are arranged in a sliding matching way; the little guide rail 5271 is fixedly arranged on the proximal phalanx of the little finger through a little guide rail mounting plate 5272.

The scheme disclosed by the invention has the advantages of compact structure, small volume, light weight, wide motion range, strong control force, outward contraction and inward contraction of fingers and large flexion and extension angles, and can realize various motion postures of hands (such as spherical grasping, finger-to-finger grasping, columnar grasping and the like). The automatic rehabilitation training device has the advantages of high automation degree, good force transmission benefit, capability of executing a rehabilitation training process with high repeatability and high labor intensity, and is favorable for improving the rehabilitation training effect. The palm mounting panel has the slider, can compensate the little displacement when the finger is collected inwards outward, and the thumb has more motion postures. The purpose of rehabilitation training of hand joints is achieved through the cooperative operation of the motors.

In a first working state, the first thumb driving component 110, the second thumb driving component 120, the third thumb driving component 130, the index finger driving component 200, the middle finger driving component 300, the ring finger driving component 400 and the little finger driving component 500 can realize the spherical grasping of the hand under the control of the master control center;

in a second working state, the first thumb driving component 110, the second thumb driving component 120, the third thumb driving component 130 and the index finger driving component 200 can realize the first fingertip-to-finger of the hand under the control of the master control center;

in a third working state, the first thumb driving component 110, the second thumb driving component 120, the third thumb driving component 130 and the middle finger driving component 300 can realize the second fingertip-to-finger of the hand under the control of the master control center;

in a fourth working state, the first thumb driving component 110, the second thumb driving component 120, the third thumb driving component 130 and the ring finger driving component 400 can realize third fingertip-to-finger of the hand under the control of the master control center;

in a fifth working state, the first thumb driving component 110, the second thumb driving component 120, the third thumb driving component 130 and the little finger driving component 500 can realize the fourth fingertip-to-finger of the hand under the control of the master control center;

in a sixth working state, the thumb first driving component 110, the thumb second driving component 120, the thumb third driving component 130, the index finger driving component 200, the middle finger driving component 300, the ring finger driving component 400 and the little finger driving component 500 can realize multi-finger pinching of the hand under the control of the master control center.

Preferably, the first C-shaped connecting rod and the second C-shaped connecting rod form an angle with the longitudinal axis thereof.

Preferably, the longitudinal axis of the connecting end is disposed perpendicular to the longitudinal axis of the cross rail 242.

The second aspect of the invention provides a hand thumb control device, which comprises a first thumb driving component 110, a second thumb driving component 120, a third thumb driving component 130 and a thumb mounting plate 111, wherein the first thumb driving component 110 comprises a first motor 112, a first transmission component 113, a cross shaft, a first C-shaped connecting plate 142 and a metacarpal first swinging rod 143; the power input end of the first transmission assembly 113 is fixedly connected with the power output shaft of the first motor 112; the power output end of the first transmission assembly 113 is hinged with the first end part of the cross shaft; two free ends of the first C-shaped connecting plate 142 are hinged with the first end and the second end of the cross shaft respectively, and are fixedly connected with the power output end of the first transmission assembly 113; wherein the first end portion is arranged opposite to the second end portion; one end of the metacarpal first swing rod 143 is fixedly arranged on the first C-shaped connecting plate 142, and the other end is arranged in an overhanging manner;

the first transmission assembly 113 comprises a first thumb ball pair connecting rod 1131, a second thumb ball pair connecting rod 1132 and a third thumb ball pair connecting rod 1133, one end of the first thumb ball pair connecting rod 1131 is fixedly connected with the first motor 112, and the other end of the first thumb ball pair connecting rod 1131 is hinged with the second thumb ball pair connecting rod 1132; the thumb third ball pair link 1133 is hinged to one end of the thumb second ball pair link 1132, which is far away from the thumb first ball pair link 1131; the overhanging end of the third ball pair connecting rod 1133 of the thumb is rotatably connected with the first end part of the cross shaft; the motor shaft of the first motor 112, the axis extension lines of the hinge shafts of the thumb first ball pair connecting rod 1131 and the thumb second ball pair connecting rod 1132 are intersected at the center of a virtual ball with a preset radius, and the swing tracks of the thumb first ball pair connecting rod 1131, the thumb second ball pair connecting rod 1132 and the thumb third ball pair connecting rod 1133 move along the spherical surface;

the thumb second driving assembly 120 comprises a second motor 121, a second transmission assembly 122 and a thumb sliding base 123, a first sliding rail assembly is arranged on the thumb mounting plate 111, and the first sliding rail assembly comprises a first guide rail 147 fixedly arranged on the thumb mounting plate 111 and a first sliding block 146 matched with the first guide rail 147; the thumb sliding base 123 is fixedly arranged at the top of the first sliding block 146; the power input end of the second transmission assembly 122 is fixedly connected with the power output shaft of the second motor 121, and the power output end of the second transmission assembly 122 is fixedly connected with the thumb sliding base 123; the overhanging end of the thumb sliding base 123 far away from the thumb mounting plate 111 is hinged with the third end part of the cross shaft; a cross shaft pressing plate 124 which is opposite to the overhanging end of the thumb sliding base 123 and fixedly connected with the fourth end part of the cross shaft is arranged; the second transmission assembly 122 includes a gear 1221 and a rack 1222, the gear 1221 is fixedly disposed on the power output shaft of the second motor 121, and the rack 1222 is fixedly disposed on the thumb sliding base 123; the longitudinal axis of the rack 1222 is perpendicular to the plane of the backhand mounting plate 600; the second motor 121 is fixedly arranged on the thumb mounting plate 111 through a motor fixing plate 127; the longitudinal axis of the second motor 121 is arranged parallel to the longitudinal axis of the first motor 112; the overhanging end of the thumb slide base 123 connected to the cross shaft is arranged perpendicular to the longitudinal axis of the rack 1222;

the thumb third drive assembly 130 comprises a third motor 131, a third transmission assembly 132, a second sled assembly and a proximal phalanx transmission assembly; the second slide rail component comprises a second guide rail 126 fixedly arranged on the metacarpal bone of the thumb and a second slide block 125 matched with the second guide rail 126, a third motor 131 is fixedly arranged on the second slide block 125 through a third transmission component 132, the power input end of the proximal phalanx transmission component is hinged with the second slide block 125, and the power output end is fixedly connected with the proximal phalanx of the thumb;

the third transmission assembly 132 comprises a first bevel gear 1321, a second bevel gear 1322 and a stepped shaft 1323, the first bevel gear 1321 is fixedly arranged at the power output end of the third motor 131, and the second bevel gear 1322 is in meshing transmission with the first bevel gear 1321; the power output end of the second bevel gear 1322 is hinged with a stepped shaft 1323; the second slide rail assembly further comprises a first connecting block 144 and a metacarpal joint fixing shell 148, wherein the bottom of the first connecting block 144 is fixedly connected with the top of the second slide block 125; the first connecting block 144 is a C-shaped structure, and two overhanging portions are arranged outside the first connecting block 144; a stepped shaft 1323 is provided through the two overhanging portions and is hinged to the first connecting block 144; the inner surface of the metacarpal joint fixing shell 148 is fixedly matched with the metacarpal bone of the thumb, and the second guide rail 126 is fixedly arranged on the outer side of the metacarpal joint fixing shell 148; the proximal phalanx transmission component comprises a first proximal phalanx swinging rod 133, a second proximal phalanx swinging rod 134 and a third proximal phalanx swinging rod 135, and one end of the first proximal phalanx swinging rod 133 is hinged with a stepped shaft 1323; the proximal phalanx second swinging rod 134 is arranged between the proximal phalanx first swinging rod 133 and the proximal phalanx third swinging rod 135, and is hinged with the proximal phalanx first swinging rod 133; the inner surface of the third swing lever 135 of the proximal phalanx is fixedly matched with the proximal phalanx of the thumb;

in a working state, the first thumb driving component 110 can control flexion and extension movements of a carpometacarpal joint of the thumb, the second thumb driving component 120 can control adduction and abduction movements of the thumb, the third thumb driving component 130 can control flexion and extension movements of a metacarpal joint of the thumb, and the thumb can realize conical movements under the linkage control of the first thumb driving component 110, the second thumb driving component 120 and the third thumb driving component 130.

The invention provides a hand rehabilitation device based on a spherical connecting rod mechanism, wherein a thumb has three independent degrees of freedom, an index finger, a middle finger and a ring finger have two independent degrees of freedom, and a little finger has one independent degree of freedom. The hand exoskeleton design scheme provided by the invention can provide a motion compatibility function on the basis of ensuring the reliability of the system, and ensures the comfort level of a wearer. Due to important indexes in practical application of the hand exoskeleton which is designed with reliability and high comfort level, the hand exoskeleton disclosed by the invention has irreplaceable effect and obvious theoretical value and application value.

The invention provides a hand thumb control device, and discloses a motion compatibility scheme of three-degree-of-freedom independent drive of a thumb, wherein a two-degree-of-freedom driving mechanism is designed by adopting a spherical connecting rod mechanism and a gear 1221 rack 1222 mechanism, so that two-degree-of-freedom independent drive of a CMC joint of the thumb is realized; the motion compatibility mechanism of the thumb CMC joint is designed by adopting the PRRP space mechanism, so that the self-adaptive capacity of the thumb CMC joint can be realized, and the wearing comfort level is improved.

The scheme disclosed by the invention comprises a hand back mounting piece and five finger exoskeleton moving mechanisms connected to the hand back mounting piece, wherein each finger exoskeleton moving mechanism is provided with a motor, a spherical connecting rod mechanism, a universal joint and a swinging connecting rod. Linear guide rails are arranged above and on the side of the hand back installation piece, and the finger exoskeleton mechanism is fixed on the sliding block. The finger exoskeleton mechanism is divided into two sections, the first section is composed of a servo motor, a universal joint and a spherical connecting rod mechanism, the motion of the MCP joint and the CMC joint on the palm in all directions is controlled through the rotation of a driving connecting rod, and meanwhile, the sliding rail plays a role in displacement compensation. In particular, a motor for passive displacement of a sliding rail is added to the thumb exoskeleton part, and the thumb exoskeleton part is connected with a gear 1221 and a rack 1222 to realize adduction and abduction movement of the thumb. The second section is a three-bar linkage motion mechanism that controls the motion of the PIP joint. The second section of power source is a servo motor, the servo motor is arranged on the first section of oscillating rod, and the two bevel gears 1221 are meshed for transmission, so that the transmission space is greatly reduced, the size of the mechanism is reduced, and the weight is reduced. Each finger can independently move, so that the flexibility of the finger is greatly improved, and the movement modes of spherical grasping, finger tip pinching, multi-finger tip pinching and the like are realized.

While the invention has been described with reference to a preferred embodiment, various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention, and particularly, features shown in the various embodiments may be combined in any suitable manner without departing from the scope of the invention. It is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.

In the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like, which indicate directions or positional relationships, are based on the directions or positional relationships shown in the drawings, which are for convenience of description only, and do not indicate or imply that the devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The terms "comprises," "comprising," or any other similar term are intended to cover a non-exclusive inclusion, such that a process, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, article, or apparatus.

So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.

Claims

1. A hand rehabilitation device based on a spherical link mechanism is characterized by comprising a thumb driving assembly, an index finger driving assembly, a middle finger driving assembly, a ring finger driving assembly, a little finger driving assembly and a master control center, wherein the thumb driving assembly, the index finger driving assembly, the middle finger driving assembly, the ring finger driving assembly and the little finger driving assembly are in signal connection with the master control center; the index finger driving assembly, the middle finger driving assembly, the ring finger driving assembly and the little finger driving assembly are fixed on a hand through a hand back mounting plate, and the thumb driving assembly is fixed on the hand back mounting plate through a thumb mounting plate; the thumb mounting plate is of an L-shaped structure;

the thumb driving assembly comprises a first thumb driving assembly, a second thumb driving assembly and a third thumb driving assembly, the first thumb driving assembly comprises a first motor, a first transmission assembly, a first cross shaft, a first C-shaped connecting plate and a first metacarpal swinging rod, and a power input end of the first transmission assembly is fixedly connected with a power output shaft of the first motor; the power output end of the first transmission assembly is hinged with the first end part of the first cross shaft; two free ends of the first C-shaped connecting plate are hinged with the first end part and the second end part of the first cross shaft respectively and are fixedly connected with the power output end of the first transmission assembly; wherein the first end portion is arranged opposite to the second end portion; one end of the first metacarpal swinging rod is fixedly arranged on the first C-shaped connecting plate, and the other end of the first metacarpal swinging rod is arranged in a suspending manner;

the thumb second driving assembly comprises a second motor, a second transmission assembly and a thumb sliding base, a first sliding rail assembly is arranged on the thumb mounting plate, and the first sliding rail assembly comprises a first guide rail fixedly arranged on the thumb mounting plate and a first sliding block matched with the first guide rail; the thumb sliding base is fixedly arranged at the top of the first sliding block; the power input end of the second transmission assembly is fixedly connected with the power output shaft of the second motor, and the power output end of the second transmission assembly is fixedly connected with the thumb sliding base; the overhanging end, far away from the thumb mounting plate, of the thumb sliding base is hinged to the third end of the first cross shaft; a cross shaft pressing plate which is opposite to the overhanging end of the thumb sliding base and fixedly connected with the overhanging end of the thumb sliding base is arranged at the fourth end part of the first cross shaft;

in a working state, the first thumb driving component can control the flexion and extension movement of a carpometacarpal joint of a thumb, the second thumb driving component can control the adduction and abduction movement of the thumb, the third thumb driving component can control the flexion and extension movement of a metacarpophalangeal joint of the thumb, and the thumb can realize conical movement under the linkage control of the first thumb driving component, the second thumb driving component and the third thumb driving component;

2. The spherical linkage based hand rehabilitation device according to claim 1, wherein the first transmission assembly comprises a first ball pair connecting rod of the thumb, a second ball pair connecting rod of the thumb and a third ball pair connecting rod of the thumb, one end of the first ball pair connecting rod of the thumb is fixedly connected with the first motor, and the other end of the first ball pair connecting rod of the thumb is hinged with the second ball pair connecting rod of the thumb; the thumb third ball auxiliary connecting rod is hinged to one end, far away from the thumb first ball auxiliary connecting rod, of the thumb second ball auxiliary connecting rod; the overhanging end of the thumb third ball pair connecting rod is rotatably connected with the first end part of the first cross shaft;

3. The spherical linkage based hand rehabilitation device according to claim 2, wherein the metacarpal first swing lever comprises a first C-shaped connecting rod and a second C-shaped connecting rod, the second C-shaped connecting rod and the first C-shaped connecting rod form a downward folding structure, and the first C-shaped connecting rod is fixedly connected with the first C-shaped connecting plate;

4. The spherical linkage based hand rehabilitation device according to claim 3, wherein the angle between the longitudinal axes of the first and second C-shaped connecting rods is 129 degrees.

5. The spherical linkage based hand rehabilitation device according to claim 4, wherein the second transmission assembly comprises a gear and a rack, the gear is fixedly arranged on the power output shaft of the second motor, and the rack is fixedly arranged on the thumb sliding base; the longitudinal axis of the rack is perpendicular to the plane where the back of hand mounting plate is located;

and the overhanging end of the thumb sliding base connected with the cross shaft is perpendicular to the longitudinal axis of the rack.

6. The spherical linkage mechanism-based hand rehabilitation device according to claim 5, wherein the third transmission assembly comprises a first bevel gear, a second bevel gear and a stepped shaft, the first bevel gear is fixedly arranged at the power output end of the third motor, and the second bevel gear is in meshing transmission with the first bevel gear; the power output end of the second bevel gear is hinged with the stepped shaft;

7. The hand rehabilitation device based on the spherical linkage mechanism according to claim 6, wherein the little finger transmission assembly comprises a little finger first ball pair connecting rod, a little finger second ball pair connecting rod, a little finger third ball pair connecting rod, a cross connecting piece, a U-shaped connecting plate, a little finger swinging rod and a little finger sliding rail assembly, one end of the little finger first ball pair connecting rod is fixedly arranged at the power output end of the little finger driving motor, and the other end of the little finger first ball pair connecting rod is hinged with the little finger second ball pair connecting rod; the second small-finger ball pair connecting rod is arranged between the first small-finger ball pair connecting rod and the third small-finger ball pair connecting rod and is hinged with the third small-finger ball pair connecting rod; the third ball pair connecting rod of the little finger is hinged with the first end part of the cross connecting piece;

8. The spherical linkage based hand rehabilitation device of claim 6, wherein the longitudinal axis of the connecting end is disposed perpendicular to the longitudinal axis of the transverse rail.

9. The spherical linkage based hand rehabilitation device according to any of the claims 1-8, wherein in the first working state, the first thumb driving assembly, the second thumb driving assembly, the third thumb driving assembly, the index finger driving assembly, the middle finger driving assembly, the ring finger driving assembly and the little finger driving assembly can realize the spherical grasp of the hand under the control of the general control center;

in a third working state, the first thumb driving component, the second thumb driving component, the third thumb driving component and the middle finger driving component can realize second fingertip fingering of the hand under the control of the master control center;

10. A hand thumb control device is characterized by comprising a first thumb driving component, a second thumb driving component, a third thumb driving component and a thumb mounting plate, wherein the first thumb driving component comprises a first motor, a first transmission component, a first cross shaft, a first C-shaped connecting plate and a metacarpal first swing rod; the power input end of the first transmission assembly is fixedly connected with the power output shaft of the first motor; the power output end of the first transmission assembly is hinged with the first end part of the first cross shaft; two free ends of the first C-shaped connecting plate are hinged with the first end part and the second end part of the cross shaft respectively and are fixedly connected with the power output end of the first transmission assembly; wherein the first end portion is arranged opposite to the second end portion; one end of the first metacarpal swinging rod is fixedly arranged on the first C-shaped connecting plate, and the other end of the first metacarpal swinging rod is arranged in a suspending manner;

the first transmission assembly comprises a first thumb ball pair connecting rod, a second thumb ball pair connecting rod and a third thumb ball pair connecting rod, one end of the first thumb ball pair connecting rod is fixedly connected with the first motor, and the other end of the first thumb ball pair connecting rod is hinged with the second thumb ball pair connecting rod; the thumb third ball auxiliary connecting rod is hinged to one end, far away from the thumb first ball auxiliary connecting rod, of the thumb second ball auxiliary connecting rod; the overhanging end of the thumb third ball pair connecting rod is rotatably connected with the first end part of the cross shaft; the motor shaft of the first motor, the hinged shaft of the first thumb ball pair connecting rod and the second thumb ball pair connecting rod, and the axis extension lines of the hinged shaft of the second thumb ball pair connecting rod and the third thumb ball pair connecting rod are intersected at the sphere center of a virtual sphere with a preset radius, and the swing tracks of the first thumb ball pair connecting rod, the second thumb ball pair connecting rod and the third thumb ball pair connecting rod move along the spherical surface;

the second transmission assembly comprises a gear and a rack, the gear is fixedly arranged on a power output shaft of the second motor, and the rack is fixedly arranged on the thumb sliding base; the longitudinal axis of the rack is perpendicular to the plane of the hand back mounting plate; the second motor is fixedly arranged on the thumb mounting plate through a motor fixing plate; the longitudinal axis of the second motor is arranged in parallel with the longitudinal axis of the first motor; the overhanging end of the thumb sliding base connected with the first cross shaft is perpendicular to the longitudinal axis of the rack;

the third transmission assembly comprises a first bevel gear, a second bevel gear and a stepped shaft, the first bevel gear is fixedly arranged at the power output end of the third motor, and the second bevel gear is in meshing transmission with the first bevel gear; the power output end of the second bevel gear is hinged with the stepped shaft; the second slide rail assembly further comprises a first connecting block and a metacarpal joint fixing shell, and the bottom of the first connecting block is fixedly connected with the top of the second slide block; the first connecting block is of a C-shaped structure, and two overhanging parts are arranged outside the first connecting block; the stepped shaft penetrates through the two overhanging parts and is hinged with the first connecting block; the inner surface of the metacarpal joint fixing shell is fixedly matched with a thumb metacarpal bone, and the second guide rail is fixedly arranged on the outer side of the metacarpal joint fixing shell; the proximal phalanx transmission assembly comprises a first proximal phalanx swinging rod, a second proximal phalanx swinging rod and a third proximal phalanx swinging rod, and one end of the first proximal phalanx swinging rod is hinged with the stepped shaft; the proximal phalanx second swinging rod is arranged between the proximal phalanx first swinging rod and the proximal phalanx third swinging rod and is hinged with the proximal phalanx first swinging rod; the inner surface of the third swinging rod of the proximal phalanx is fixedly matched with the proximal phalanx of the thumb;

in a working state, the first thumb driving assembly can control flexion and extension movements of a carpometacarpal joint of a thumb, the second thumb driving assembly can control adduction and abduction movements of the thumb, the third thumb driving assembly can control flexion and extension movements of a metacarpophalangeal joint of the thumb, and the thumb can realize conical movement under the linkage control of the first thumb driving assembly, the second thumb driving assembly and the third thumb driving assembly.