CN114145960B

CN114145960B - Intelligent multifunctional wrist and finger joint training device

Info

Publication number: CN114145960B
Application number: CN202111421309.4A
Authority: CN
Inventors: 陈小花; 陈侨楠; 陈侨锋
Original assignee: Shenzhen Peoples Hospital
Current assignee: Shenzhen Peoples Hospital
Priority date: 2021-11-26
Filing date: 2021-11-26
Publication date: 2022-09-27
Anticipated expiration: 2041-11-26
Also published as: CN114145960A

Abstract

The invention discloses an intelligent multifunctional wrist and finger joint training device which comprises: the palm support component comprises a palm support plate and a palm driving mechanism for driving the palm support plate to rotate in multiple angles, and the palm support plate is fixedly connected to the base through the palm driving mechanism; a flexible finger sleeve and a finger bending mechanism for adjusting the bending degree of the fingers are arranged on the palm supporting plate; the base is also provided with a controller which is respectively connected with and controls the palm driving mechanism and the finger bending mechanism. Compared with the prior art, the rotatable palm supporting component is arranged to realize stretching and buckling movement of wrist joints and fingers, assist a wrist or finger joint patient in rehabilitation training of functional recovery, and simultaneously achieve the vibration stretching function of the channels and collaterals of the upper limbs.

Description

Intelligent multifunctional wrist and finger joint training device

Technical Field

The invention relates to a medical instrument, in particular to an intelligent multifunctional wrist and finger joint training device.

Background

In patients with fractured upper limbs, for example: in the rehabilitation training device for the joints used after the internal fracture fixation at home and abroad, the training device usually only carries out rehabilitation aiming at one joint, but the rehabilitation training device for carrying out a plurality of joints after the internal fracture fixation of the upper limbs has no report in the literature at present, but in the rehabilitation outpatient service and the patients with the stiff upper limb joints, the functions of two or three joints of the upper limbs can be influenced after the internal fracture fixation of one part of the upper limbs, so that the upper limbs are in dysfunction to enable normal life and work, and the patients in doctor-visit mostly have the experience of rehabilitation training of the rehabilitation mechanism, but only the emphatic training of one joint, instead, some patients have wrist joint dislocation or muscle tissue pain around fracture during training, and do not want to continue training.

The stroke is a common disease in neurology, the disability rate is as high as 70-80%, the main complication is hemiplegia, and 55-75% of patients with hemiplegia after stroke have impaired functions of the upper limbs on the hemiplegia side, so that the individual mobility is greatly limited. In the prior art, there are many rehabilitation therapies for recovering the upper limb functions of patients, such as mandatory motor therapy, traditional hand function training, auxiliary robot rehabilitation training, functional electrical stimulation and co-training of both upper limbs. However, most of the above therapies require intensive training of the upper limbs of the patients, and the treatment requires a therapist to perform one-to-one training for the patients for several weeks, which makes it difficult for most patients to insist on the completion and makes the treatment expensive. In addition, the upper limb hemiplegia and shoulder pain reach 30% after four months of stroke occurrence, so that the patients are collided to carry out limb function training, the treatment effect is reduced, the upper limb function of the patients is recovered slowly, and the diseases such as shoulder-hand syndrome, shoulder joint subluxation, upper limb flexor spasm and the like are further caused.

Disclosure of Invention

The invention aims to provide an intelligent multifunctional wrist and finger joint training device which can assist a wrist or finger joint injured patient in rehabilitation training for function recovery.

In order to solve the problems, the invention adopts the following technical scheme: an intelligent multifunctional wrist and finger joint training device: the palm support component comprises a palm support plate and a palm driving mechanism for driving the palm support plate to rotate in multiple angles, and the palm support plate is fixedly connected to the base through the palm driving mechanism; a flexible finger sleeve and a finger bending mechanism for adjusting the bending degree of the fingers are arranged on the palm supporting plate; the base is also provided with a controller which is respectively connected with and controls the palm driving mechanism and the finger bending mechanism.

The palm driving mechanism comprises an outer ring piece, an inner ring piece, a first palm driving mechanism and a second palm driving mechanism, the outer ring piece is rotatably fixed on the base through an outer ring support, the first palm driving mechanism is fixed on the outer ring support and drives the outer ring piece to rotate up and down, a palm supporting plate is fixed on the inner ring piece, the inner ring piece is coaxially arranged in an inner hole of the outer ring piece, a circle of outer ring sliding groove is formed in the inner hole wall of the outer ring piece, a plurality of connecting rods are arranged on the outer wall of the inner ring piece and surround the outer wall of the inner ring piece, one of the connecting rods is composed of the second palm driving mechanism, and the other connecting rods extend into the outer ring sliding groove so as to enable the inner ring piece to axially rotate in the outer ring piece under the driving of the second palm driving mechanism.

Furthermore, the second palm driving mechanism comprises a second palm driving motor and a traveling wheel, the second palm driving motor is fixed on the outer wall of the inner ring piece, the traveling wheel is arranged in the outer ring sliding groove, the wheel wall of the traveling wheel is in contact with the groove wall of the outer ring sliding groove, and the output shaft of the second palm driving motor extends into the outer ring sliding groove and is connected with the traveling wheel so as to drive the traveling wheel to rotate and travel in the outer ring sliding groove after the second palm driving motor drives the traveling wheel to rotate, and the inner ring piece is driven to rotate.

Further, crooked mechanism of finger includes first crooked actuating mechanism, the crooked actuating mechanism of second, and first crooked actuating mechanism and the crooked actuating mechanism of second locate the top and the below of palm backup pad respectively, and first crooked actuating mechanism is connected with the finger stall through first acting as go-between to make finger stall bending upwards after first acting as go-between of first crooked actuating mechanism pulling, the crooked actuating mechanism of second is connected with the finger stall through the second acting as go-between, makes the finger stall bending downwards after acting as go-between with the second crooked actuating mechanism pulling second.

Further, still be equipped with the tensile actuating mechanism of finger on the finger sleeve, in order to stimulate the finger sleeve along the axial displacement of finger sleeve, the tensile actuating mechanism of finger is including rotating the support, pulling support and pulling motor, it rotationally sets up one of keeping away from palm actuating mechanism in the palm backup pad to rotate the support, it draws the line contact with the second to rotate the support, the pulling support rotationally sets up in the palm backup pad, the pulling motor locate in the palm backup pad and with pulling leg joint, the crooked actuating mechanism of second locates on this pulling support, when driving the crooked actuating mechanism of second through the pulling support and rotating, draw the line to the second and stimulate.

Further, first crooked actuating mechanism hangs in palm backup pad top through the arch support of locating palm backup pad top, first crooked actuating mechanism includes first crooked motor, first line of runner, first crooked motor is fixed in the center department of an arch support and the relative terminal surface of palm backup pad, the face of the pivot perpendicular and palm backup pad of first crooked motor, first line of runner is connected on the output shaft of first crooked motor, make first line of runner level rotate, first acting as go-between winding is on first line of runner, the one end of first acting as go-between is connected with finger sleeve's one end of keeping away from palm actuating mechanism, tighten up or loosen first acting as go-between when first line of runner rotates, thereby realize finger sleeve kickup.

Furthermore, the first bending driving mechanism is further provided with a wire rotating wheel shell, the wire rotating wheel shell is of a hollow cylindrical structure, the inner cavity of the wire rotating wheel shell is larger than the diameter of the first wire rotating wheel, the wire rotating wheel shell is sleeved outside the first wire rotating wheel, wire passing holes with the same number as the first wires are formed in the wire rotating wheel shell, the wire passing holes are formed in the circumferential direction of the wire rotating wheel shell, and the wire rotating wheel shell is fixed on the first bending motor or the arched support.

Further, the crooked actuating mechanism of second includes second crooked motor, second line runner, and second line runner is connected on the output shaft of second crooked motor, and second line runner and the output shaft of second crooked motor, the one end winding of second acting as go-between are on second line runner, and the other end is then fixed and is kept away from palm actuating mechanism at the finger stall one end to the realization is with finger stall downwarping.

Furthermore, the first stay wire and the second stay wire are elastic stay wires.

Furthermore, the finger stall is an inflatable bag body, an inflation hole is formed in the finger stall, an inflation pump is arranged on the base and connected with the inflation hole, and therefore the finger stall can be inflated.

Compared with the prior art, the rotatable palm support assembly is arranged to realize stretching and buckling movement of wrist joints and fingers, assist a wrist or finger joint patient in rehabilitation training for functional recovery, and simultaneously achieve the vibration stretching function of the channels and collaterals of the upper limbs, so that the rotatable palm support assembly is helpful for limb functional recovery, particularly spastic and contracture limb dysfunction, ensures the training accuracy, reduces the difficulty of rehabilitation training, and improves the rehabilitation treatment effect.

Drawings

Fig. 1 is a schematic structural view of the present invention.

Fig. 2 is a side view of the present invention.

Fig. 3 is a schematic structural view of the palm support assembly of the present invention.

Fig. 4 is a schematic structural view of a second palm drive mechanism of the present invention.

Fig. 5 is a schematic structural view of the finger bending mechanism of the present invention.

Fig. 6 is a schematic structural view of the first palm drive mechanism of the present invention.

Figure 7 is a schematic diagram of a finger glove of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples.

As shown in fig. 1 and fig. 2, the invention discloses an intelligent multifunctional wrist and finger joint training device, comprising a base 1, a palm support component 2,

palm supporting component 2 rotationally fixes on base 1 to it is rotatable to make palm supporting component 2, wherein:

the palm supporting component 2 comprises a palm supporting plate 21 and a palm driving mechanism for driving the palm supporting plate 21 to rotate in multiple angles, and the palm supporting plate 21 is fixedly connected to the base 1 through the palm driving mechanism; a flexible finger sleeve 23 and a finger bending mechanism for adjusting the bending degree of fingers are arranged on the palm support plate 21, and the finger sleeve 23 is connected to the palm support plate 21;

the base 1 is also provided with a controller 3, and the controller 3 is respectively connected with and controls the palm driving mechanism and the finger bending mechanism.

In the present invention, the end of finger stall 23 adjacent to the palm drive mechanism is attached to palm support plate 21 to ensure that finger stall 23 can flex.

In the present invention, the base 1 is implemented using a frame structure.

As shown in fig. 3, 4 and 5, the palm driving mechanism includes an outer ring member 221, an inner ring member 222, a first palm driving mechanism 223 and a second palm driving mechanism 224, the outer ring member 221 is rotatably fixed on the base 1 through an outer ring support 2211, the first palm driving mechanism 223 is fixed on the outer ring support 2211, the first palm driving mechanism 223 drives the outer ring member 221 to rotate up and down, the palm support plate 21 is fixed on the inner ring member 222, the inner ring member 222 is coaxially arranged in the inner hole of the outer ring member 221, a circle of outer ring sliding grooves 2212 are arranged on the inner hole wall of the outer ring piece 221, a plurality of connecting rods 2221 are arranged on the outer wall of the inner ring piece 222, the connecting rods 2221 are arranged around the outer wall of the inner ring piece 222 for a circle, one of the links 2221 is formed by the second palm drive mechanism 224, and the other links 2221 are inserted into the outer ring chute 2212, so that the inner ring member 222 is axially rotated in the outer ring member 221 by the second palm drive mechanism 224.

As shown in fig. 3, 4 and 5, the outer ring member 221 is fixed to the base 1 by an outer ring holder 2211, and the center of the outer ring member 221 is opposite to the center of the base 1.

In the present invention, the outer ring holders 2211 are provided in two, symmetrically disposed on both sides of the base 1.

As shown in fig. 1, in the present invention, the shape of the palm support plate 21 may be configured to be adapted to the shape of the palm, and includes two finger portions and a palm portion, wherein the two finger portions are provided as the thumb and are symmetrically provided on the palm portion, that is, six finger portions are provided in total, so as to satisfy the use of the left and right hands, and the finger sleeves are respectively provided on the finger portions.

As shown in fig. 6, the first palm driving mechanism 223 includes a first palm driving motor 2231 and a palm transmission mechanism 2232, two opposite ends of the outer ring member 221 are fixed on the outer ring support 2211 through a rotating shaft, the first palm driving motor 2231 is fixed on the outer ring support 2211, the first palm driving motor 2231 is connected with the rotating shaft of the outer ring member 221 through the palm transmission mechanism 2232, so that the first palm driving motor 2231 drives the palm transmission mechanism 2232 to drive the outer ring member 221 to rotate up and down; specifically, the palm transmission mechanism 2232 may adopt a belt transmission, and includes two rotating wheels 2233, a rotating wheel disposed on the output shaft of the first palm driving motor 2231, a rotating wheel disposed on the rotating shaft of the outer ring 221, and a transmission belt 2234, where the transmission belt 2234 is sleeved on the two rotating wheels 2233, so as to achieve the up-and-down stretching of the wrist joint.

As shown in fig. 4, the second hand driving mechanism 224 includes a second hand driving motor 2241 and a traveling wheel 2242, the second hand driving motor 2241 is fixed on the outer wall of the inner ring member 222, the traveling wheel 2242 is disposed in the outer ring chute 2212, the wheel wall of the traveling wheel 2242 contacts with the groove wall of the outer ring chute 2212, the output shaft of the second hand driving motor 2241 extends into the outer ring chute 2212 and is connected with the traveling wheel 2242, so that the traveling wheel 2242 rotates and travels in the outer ring chute 2212 after the traveling wheel 2242 is driven by the second hand driving motor 2241 to rotate, and the inner ring member 222 is driven to rotate, thereby realizing the rotation of the wrist joint, and achieving the rotation of the shoulder joint; specifically, in addition to the connecting rod 2221 serving as the second palm drive mechanism 224, three connecting rods 2221 are provided, and four connecting rods 2221 are distributed in a cross shape on the outer wall of the inner ring member 222.

As shown in fig. 5, the finger bending mechanism includes a first bending driving mechanism 241, a second bending driving mechanism 242, and a first bending driving mechanism 241 and a second bending driving mechanism 242 respectively disposed above and below the palm support plate 21, the first bending driving mechanism 241 is connected to the finger stall 23 by a first pulling wire 2413 to bend the finger stall 23 upward by pulling the first pulling wire 2413 by the first bending driving mechanism 241, and the second bending driving mechanism 242 is connected to the finger stall 23 by a second pulling wire 2421 to bend the finger stall 23 downward by pulling the second pulling wire 2421 by the second bending driving mechanism 242.

As shown in fig. 6, in the present invention, the number of the first pulling lines 2413 is equal to the number of the finger stalls, that is, six, and the number of the second pulling lines 2421 is four, and the four pulling lines are respectively connected to the remaining four finger stalls 23 excluding the two finger stalls 23 as thumbs, that is, the four middle finger stalls 23 as viewed in the drawing.

As shown in fig. 6, the first bending driving mechanism 241 is suspended above the palm support plate 21 through an arched bracket 2414 disposed above the palm support plate 21, the first bending driving mechanism 241 includes a first bending motor 2411 and a first line rotating wheel 2412, the first bending motor 2411 is fixed at a center of an end surface of the arched bracket 2414 opposite to the palm support plate 21, a rotating shaft of the first bending motor 2411 is perpendicular to the plate surface of the palm support plate 21, the first line rotating wheel 2412 is connected to an output shaft of the first bending motor 2411 to horizontally rotate the first line rotating wheel 2412, the first pulling wire 2413 is wound on the first line rotating wheel 2412, one end of the first pulling wire 2413 is connected to one end of the finger cover 23 away from the palm driving mechanism, so as to tighten or loosen the first pulling wire 2413 when the first line rotating wheel 2412 rotates, thereby bending the finger cover 23 upwards.

As shown in fig. 6, in order to ensure that the first pulling wire 2413 can be well tightened or loosened, the first bending driving mechanism 241 may further include a wire wheel housing 2416, the wire wheel housing 2416 is a hollow cylindrical structure, an inner cavity of the wire wheel housing 2416 is larger than a diameter of the first wire wheel 2412, the wire wheel housing 2416 is sleeved outside the first wire wheel 2412, the wire wheel housing 2416 is provided with wire passing holes 2415 with the same number as the first pulling wire 2413, the wire passing holes 2415 are arranged along a circumferential direction of the wire wheel housing 2416, the wire wheel housing 2416 is fixed on the first bending motor 2411 or the arched bracket 2414, and after the wire wheel housing 2416 is fixed on the first bending motor 2411 or the arched bracket 2414, the wire passing holes 2415 are right opposite to the wire grooves of the first wire wheel 2412; one end of each first pulling wire 2413 passes through the wire passing hole 2415 and then is wound on the first wire rotating wheel 2412.

As shown in fig. 6, the second bending driving mechanism 242 includes a second bending motor 2422 and a second wire turning wheel 2423, the second wire turning wheel 2423 is connected to an output shaft of the second bending motor 2422, where the number of the second wire turning wheels 2423 is the same as the number of the second wire 2421, and the second wire turning wheels 2423 are fixed on the same rotating shaft, the rotating shaft is connected to the output shaft of the second bending motor 2422, one end of the second wire 2421 is wound on the second wire turning wheel 2423, and the other end is fixed on one end of the finger stall 23 away from the palm driving mechanism, so as to bend the finger stall 23 downward.

The first bending driving mechanism and the second bending driving mechanism are adopted to realize the effect of bending the finger inserted into the finger sleeve 23.

As shown in fig. 6, in the present invention, the axes of the first wire reel 2412 and the second wire reel 2423 are perpendicular to each other.

As shown in fig. 6, a finger stretching driving mechanism 25 is further disposed on the finger stall 23 to pull the finger stall 23 to move along the axial direction of the finger stall 23, the controller 3 is connected to control the finger stretching driving mechanism 25, the finger stretching driving mechanism 25 includes a rotating bracket 251, a pulling bracket 252 and a pulling motor 253, the rotating bracket 251 and the first pulling wires 2413 are equal in number and rotatably disposed at an end of the palm support plate 21 away from the forearm support assembly 2, the rotating bracket 251 and the finger stall 23 having the first pulling wires 2413 are disposed in a one-to-one opposing manner, the rotating bracket 251 is in contact with the second pulling wires 2421 to pull the second pulling wires 2421 tightly, the pulling bracket 252 is rotatably disposed on the palm support plate 21, the pulling motor 253 is disposed on the palm support plate 21 and connected to the pulling bracket 252, the second bending driving mechanism 242 is disposed on the pulling bracket 252 to drive the second bending driving mechanism 242 to rotate through the pulling mechanism 252, the second pull wire 2421 is pulled to realize the stretching movement of the fingers, and certainly, when the finger stretching driving mechanism 25 continuously works, the support 252 is pulled to rotate back and forth, so that the support 252 is pulled to swing, the vibration stretching function of the meridian of the upper limb is achieved, and the function recovery of the limb, particularly the spastic type and contracture type limb dysfunction is facilitated; a rotating wheel 2511 is arranged on the rotating bracket 251, and the second wire 2421 is propped against the rotating wheel 2511.

As shown in fig. 6, the pulling frame 252 is composed of L-shaped frames 2521 symmetrically disposed at left and right sides of the palm portion of the palm support plate 21, one or two pulling motors 253 are disposed at left and/or right sides of the palm portion of the palm support plate 21, the L-shaped frame 2521 includes a first arm 2522 and a second arm 2523, the first arm 2522 is connected to an output shaft of the pulling motor 253, the second bending motor 2422 is fixed to the second arm 2523 of one of the L-shaped frames 2521, one end of a rotating shaft of the second wire reel 2423 is connected to the output shaft of the second bending motor 2422, and the other end is rotatably connected to the second arm 2523 of the opposite L-shaped frame 2521.

As shown in fig. 6, in order to ensure the synchronous rotation effect of the pulling bracket 252, two pulling motors 253 are provided; two second bending motors 2422 may be provided, such that the two second bending motors 2422 are respectively fixed on the second arms 2523 of the two L-shaped brackets 2521, and the rotating shafts of the second wire reels 2423 are connected with the output shafts of the second bending motors 2422.

As shown in fig. 6, a first groove 231 is provided on the upper surface of the end portion of the finger portion of the palm support plate 21, and the rotation bracket 251 is rotatably fixed on both side groove walls of the first groove 231, and of course, a second groove 232 is provided on the lower surface of the end portion of the finger portion, so that the second wire 2421 can pass through the second groove 232 and then be wound on the second wire reel 2423.

In order to prevent the problem that the first pulling thread 2413 and the second pulling thread 2421 are easily broken when pulled, the first pulling thread 2413 and the second pulling thread 2421 are both made of pulling threads having elasticity.

As shown in fig. 1, the finger stall 23 is an inflatable bag body, an inflation hole is formed in the finger stall 23, an inflator 26 is arranged on the base 1, the inflator 26 is connected with the inflation hole to inflate the finger stall 23, so that after a finger of a user is inserted into the finger stall 23, the finger stall 23 is inflated through the inflator 26, the finger stall 23 is firmly embedded with the finger, and the finger cannot be pulled out of the finger stall 23.

As shown in fig. 7, the finger stall 23 is composed of three inflatable bladders, the three bladders are communicated with each other, the sizes of the three bladders after being inflated can be different, so as to be more suitable for the diameters of the distal joint, the middle joint and the proximal joint of the finger, the inflation hole is arranged on the bladder opposite to the proximal joint, so that when the finger stall is inflated, the bladder located at the proximal joint can be inflated firstly, then the bladder located at the middle joint is inflated, and finally the bladder located at the distal joint is inflated.

In the present invention, the controller 3 is electrically connected to the first palm driving motor 2231, the second palm driving motor 2241, the first bending motor 2411, the second bending motor 2422, the pull motor 253, and the inflator 26, respectively, so as to control the first palm driving motor 2231, the second palm driving motor 2241, the first bending motor 2411, the second bending motor 2422, the pull motor 253, and the inflator 26 according to the start time, sequence, duration, mode, and the like.

The controller 3 can be provided with a touch screen for operation, a starting button is additionally arranged under the touch screen, and is respectively a wrist joint back stretching and palm bending function, an upper limb internal and external rotation function, a finger stretching function, an upper limb channel dredging function, a starting button of functional equipment combined with integrated training and the like, and meanwhile, a passive training button (depending on a machine training mode), an assistance movement button (man-machine combined common training mode), an active movement button (human body autonomous training mode) and an inflation key are arranged according to a movement mode.

When the device is used, fingers are inserted into the finger sleeves 23, and corresponding modes are set on the controller 3 to perform rehabilitation training.

The invention saves manpower and material resources, intelligently trains the rehabilitation training of the wrist and the knuckle, can ensure the correctness and the identity of the rehabilitation training, avoids the rehabilitation training from being mistaken, can also ensure the accuracy and the rigidness of the rehabilitation training, can be combined by a human machine when a patient has partial self-ability, and leads the wrist and the knuckle to carry out the limb function rehabilitation training together with the machine under the assistance of the kinetic energy device of the machine; when the wrist and the finger joints have the autonomous movement capability, the controller is closed, and the wrist and the finger joints autonomously perform functional rehabilitation training by means of a machine device and a training method integrating multiple modes and multiple functions into a whole is adopted to promote functional rehabilitation; the invention can also achieve the vibration and stretching of the meridians and collaterals of the upper limbs, and is very helpful for the recovery of limb functions, particularly spastic and contracture limb dysfunction.

Claims

1. The utility model provides a multi-functional wrist finger joint trainer of intelligence which characterized in that: the palm support device comprises a base (1) and a palm support assembly (2) arranged on the base (1), wherein the palm support assembly (2) comprises a palm support plate (21) and a palm driving mechanism for driving the palm support plate (21) to rotate in multiple angles, and the palm support plate (21) is fixedly connected to the base (1) through the palm driving mechanism; a palm support plate (21) is provided with a flexible finger sleeve (23) and a finger bending mechanism for adjusting the bending degree of fingers; the base (1) is also provided with a controller (3), and the controller (3) is respectively connected with a palm driving mechanism and a finger bending mechanism; the finger bending mechanism comprises a first bending driving mechanism (241) and a second bending driving mechanism (242), the first bending driving mechanism (241) and the second bending driving mechanism (242) are respectively arranged above and below the palm support plate (21), the first bending driving mechanism (241) is connected with the finger stall (23) through a first pull wire (2413) so as to enable the finger stall (23) to be bent upwards after the first pull wire (2413) is pulled through the first bending driving mechanism (241), and the second bending driving mechanism (242) is connected with the finger stall (23) through a second pull wire (2421) so as to enable the finger stall (23) to be bent downwards after the second pull wire (2421) is pulled through the second bending driving mechanism (242);

finger stretching drive mechanism (25) are further arranged on finger stall (23), axial movement of finger stall (23) is followed in order to pull finger stall (23), finger stretching drive mechanism (25) is including rotating support (251), pulling support (252) and pulling motor (253), rotating support (251) rotationally sets up on palm support plate (21) keeps away from palm drive mechanism's one end, rotating support (251) and second stay cord (2421) contact, pulling support (252) rotationally sets up on palm support plate (21), pulling motor (253) are located on palm support plate (21) and are connected with pulling support (252), crooked drive mechanism of second (242) are located on this pulling support (252), when driving crooked drive mechanism of second (242) through pulling support (252) and rotate, pull second stay cord (2421).

2. The intelligent multifunctional wrist and finger joint training device according to claim 1, wherein: the palm driving mechanism comprises an outer ring piece (221), an inner ring piece (222), a first palm driving mechanism (223) and a second palm driving mechanism (224), the outer ring piece (221) is rotatably fixed on the base (1) through an outer ring support (2211), the first palm driving mechanism (223) is fixed on the outer ring support (2211), the first palm driving mechanism (223) drives the outer ring piece (221) to rotate up and down, a palm support plate (21) is fixed on the inner ring piece (222), the inner ring piece (222) is coaxially arranged in an inner hole of the outer ring piece (221), a circle of outer ring sliding groove (2212) is arranged on the inner hole wall of the outer ring piece (221), a plurality of connecting rods (2221) are arranged on the outer wall of the inner ring piece (222), the connecting rods (2221) are arranged around the outer wall of the inner ring piece (222) for a circle, one connecting rod (2221) is composed of the second palm driving mechanism (224), and the other connecting rods (2221) extend into the outer ring sliding groove (2212), so that the inner ring member (222) is axially rotated in the outer ring member (221) by the second palm drive mechanism (224).

3. The intelligent multifunctional wrist and finger joint training device according to claim 2, wherein: second palm actuating mechanism (224) includes second palm driving motor (2241), walking wheel (2242), second palm driving motor (2241) is fixed on the outer wall of inner ring spare (222), walking wheel (2242) are located in outer loop spout (2212), the wheel wall of walking wheel (2242) and the cell wall contact of outer loop spout (2212), the output shaft of second palm driving motor (2241) stretches into outer loop spout (2212) and is connected with walking wheel (2242), rotate back walking wheel (2242) at second palm driving motor (2241) driving walking wheel (2242) and rotate the walking in outer loop spout (2212), drive ring spare inner ring spare (222) and rotate.

4. The intelligent multifunctional wrist-finger joint training device according to claim 1, characterized in that: the first bending driving mechanism (241) is suspended above the palm support plate (21) through an arched support (2414) arranged above the palm support plate (21), the first bending driving mechanism (241) comprises a first bending motor (2411) and a first line rotating wheel (2412), the first bending motor (2411) is fixed at the center of one end face, opposite to the palm support plate (21), of the arched support (2414), a rotating shaft of the first bending motor (2411) is perpendicular to the plate face of the palm support plate (21), the first line rotating wheel (2412) is connected to an output shaft of the first bending motor (2411) to enable the first line rotating wheel (2412) to horizontally rotate, the first pull wire (2413) is wound on the first line rotating wheel (2412), one end of the first pull wire (2413) is connected with one end, far away from the palm driving mechanism, of the finger sleeve (23), so that the first pull wire (2413) is tightened or loosened when the first line rotating wheel (2412) rotates, thereby achieving bending of the finger stall (23) upwards.

5. The intelligent multifunctional wrist and finger joint training device according to claim 4, wherein: the first bending driving mechanism (241) is further provided with a wire rotating wheel shell (2416), the wire rotating wheel shell (2416) is of a hollow cylindrical structure, the inner cavity of the wire rotating wheel shell (2416) is larger than the diameter of the first wire rotating wheel (2412), the wire rotating wheel shell (2416) is sleeved outside the first wire rotating wheel (2412), wire passing holes (2415) with the same quantity as the first pulling wires (2413) are formed in the wire rotating wheel shell (2416), the wire passing holes (2415) are formed along the circumferential direction of the wire rotating wheel shell (2416), and the wire rotating wheel shell (2416) is fixed on the first bending motor (2411) or the arched support (2414).

6. The intelligent multifunctional wrist and finger joint training device according to claim 1, wherein: the second bending driving mechanism (242) comprises a second bending motor (2422) and a second wire rotating wheel (2423), the second wire rotating wheel (2423) is connected to an output shaft of the second bending motor (2422), the second wire rotating wheel (2423) is connected with an output shaft of the second bending motor (2422), one end of a second pull wire (2421) is wound on the second wire rotating wheel (2423), and the other end of the second pull wire is fixed to one end, far away from the palm driving mechanism, of the finger sleeve (23), so that the finger sleeve (23) is bent downwards.

7. The intelligent multifunctional wrist and finger joint training device according to claim 1, wherein: the first stay wire (2413) and the second stay wire (2421) are both stay wires with elasticity.

8. The intelligent multifunctional wrist and finger joint training device according to any one of claims 1 to 3, wherein: the finger stall (23) is an inflatable bag body, an inflation hole is formed in the finger stall (23), an inflation pump (26) is arranged on the base (1), and the inflation pump (26) is connected with the inflation hole to inflate the finger stall (23).