CN114712163B

CN114712163B - Rigid-flexible integrated hand function massage rehabilitation device

Info

Publication number: CN114712163B
Application number: CN202210372293.0A
Authority: CN
Inventors: 吴锋锋; 李珺; 宁萌; 张自强; 徐艳; 张社红; 杨慧; 沈新培
Original assignee: Huzhou Central Hospital
Current assignee: Huzhou Central Hospital
Priority date: 2022-04-11
Filing date: 2022-04-11
Publication date: 2023-05-02
Anticipated expiration: 2042-04-11
Also published as: CN114712163A

Abstract

The utility model discloses a rigid-flexible integrated hand function massage rehabilitation device which comprises a flexible driving mechanism and a rigid driving mechanism, wherein the flexible driving mechanism comprises an air driving component and a flexible profiling finger, the bottom of the flexible profiling finger is provided with a finger fixing part, the rigid driving mechanism comprises a motor driving component and a connecting rod mechanism, the connecting rod mechanism is positioned on the flexible profiling finger, the air driving component drives the flexible profiling finger to do bending and stretching movement, the motor driving component drives the connecting rod mechanism to move so as to drive the flexible profiling finger to do bending and stretching movement, and the flexible driving mechanism and the rigid driving mechanism independently or simultaneously run. The utility model respectively provides driving forces with different proportions through the connecting rod mechanism and the flexible profiling finger to form a plurality of driving modes to bend the manipulator so as to meet the driving force requirements provided by different patients on the hand function massage rehabilitation device.

Description

Rigid-flexible integrated hand function massage rehabilitation device

Technical Field

The utility model belongs to the field of rehabilitation robots, and particularly relates to a rigid-flexible integrated hand function massage rehabilitation device.

Background

The hand function massage rehabilitation device is a device for assisting a patient with hand diseases to carry out hand bending rehabilitation treatment. The device is mainly used for assisting hand trauma or hemiplegic patients to carry out massage training, gradually recovering the motion of the joints of the hands of the human body, helping the motion functions of bending, stretching and the like of each finger, and realizing multiple motion forms through a control system to help single or multiple fingers to carry out rehabilitation treatment. The repeated training treatment with certain strength for a certain time reduces atrophy of brain motor nervous system function caused by long-time hand movement of fingers after illness. Meanwhile, the hand function rehabilitation device is used for massaging training, the motor nervous system functions of the hands of the patient can be recovered, the motion functions of the single fingers can be gradually recovered, and finally the life self-care ability and the working ability of the patient are slowly recovered. The degree of assistance required varies for patients with varying degrees of illness. In addition, the patient's auxiliary force provided by the rehabilitation device is constantly changing with the change of the illness state.

For the design of the existing manipulator, the utility model patent of the bulletin No. CN209154401U discloses an auxiliary rehabilitation soft hand which can be better attached to a human hand, but has smaller pneumatic driving force and cannot adapt to the rehabilitation training requirement of a patient which is changed continuously. In addition, the utility model patent of publication number CN204995746U discloses a manipulator skeleton for rehabilitation of finger functions, which has more degrees of freedom and greater control difficulty although the joint control is fine.

Aiming at the problems in the design, a hand function massage rehabilitation device with adjustable driving force, simple control and high reliability is needed.

Disclosure of Invention

In order to solve the problems, the utility model provides a rigid-flexible integrated hand function massage rehabilitation device, which respectively provides driving forces with different proportions through a connecting rod mechanism and flexible profiling fingers so as to form a plurality of driving modes to bend a manipulator to meet the requirements of different patients on the driving forces provided by the hand function massage rehabilitation device.

The utility model is realized by the following technical scheme.

A rigid-flexible integrated hand function massage rehabilitation device comprises a flexible driving mechanism and a rigid driving mechanism, wherein the flexible driving mechanism comprises an air driving component and a flexible profiling finger, a finger fixing part is arranged at the bottom of the flexible profiling finger, the rigid driving mechanism comprises a motor driving component and a connecting rod mechanism, the connecting rod mechanism is positioned on the flexible profiling finger, the air driving component drives the flexible profiling finger to conduct bending and stretching movement, the motor driving component drives the connecting rod mechanism to move so as to drive the flexible profiling finger to conduct bending and stretching movement, and the flexible driving mechanism and the rigid driving mechanism independently or simultaneously run.

Preferably, the bottom of the flexible profiling finger is provided with an inextensible layer, and the inextensible layer is paper or plastic film and is adhered to the flexible profiling finger through an adhesive.

Preferably, the finger fixing part is a finger ring, the number of the thumb flexible profiling finger ring is 1, the number of the index finger, the middle finger, the ring finger and the little finger flexible profiling finger ring is 2, and the finger fixing part corresponds to the knuckle of the finger respectively, or the finger fixing part is a finger stall, and part or all of the fingers of a human body are placed in the finger stall.

Preferably, when the finger fixing part is a finger ring, the bottom of the flexible profiling finger is provided with a spring mounting groove, a tension and compression spring is arranged in the spring mounting groove, the finger ring mounting seat is slidably arranged in the spring mounting groove, one end of the tension and compression spring is fixed with the wall of the spring mounting groove, the other end of the tension and compression spring is fixed with the finger ring mounting seat, and the tension and compression spring stretches or compresses in the length direction of the flexible profiling finger.

Preferably, the air source is connected with the connecting part by adopting an air pump, the connecting part is connected with one end of the palm through an air pipeline, and the number of the air pipelines can be one or five, and the air pipelines respectively correspond to five profiling fingers; the connecting part and the palm are internally provided with a ventilation pipeline or a cavity structure; the end part of each flexible profiling finger is provided with a finger air inlet hole, the other end of the palm is provided with palm air outlet holes corresponding to the number of the flexible profiling fingers, and the finger air inlet holes of each profiling finger are respectively communicated with the palm air outlet holes.

Preferably, the side part of the flexible profiling finger is a plane, a first fixed shaft, a second fixed shaft, a third fixed shaft and a fourth fixed shaft are arranged on the plane, the link mechanism comprises a driving link, a fixed link, a driven link, a middle link, an elastic link and a fingertip link, the first end of the fixed link is fixed on the first fixed shaft, the first end of the middle link is pivotally connected to the second end of the fixed link, the second end of the middle link is pivotally connected to the first end of the fingertip link, a first pivot point between two ends of the driving link is pivotally connected to the first end of the fixed link, the first end of the driven link is pivotally connected to one end of the driving link, the second end of the driven link is pivotally connected to the first end of the elastic link, a second pivot point between two ends of the driven link is pivotally connected to the middle link, and the second end of the elastic link is pivotally connected to a third pivot point between two ends of the driven link; the middle connecting rod is fixed with a first chute, the fixed point is on a second pivot point, the second fixed shaft and the first chute form a sliding pair, the first end of the elastic connecting rod is fixed with a second chute, the third fixed shaft and the second chute form a sliding pair, the second end of the fingertip connecting rod is fixed with a third chute, and the fourth fixed shaft and the third chute form a sliding pair.

Preferably, the elastic connecting rod comprises a connecting rod outer sleeve, a telescopic spring and a connecting rod inner shaft, one end of the telescopic spring is fixed with the inner wall of the connecting rod outer sleeve, and the other end of the telescopic spring is fixed with the connecting rod inner shaft.

Preferably, the first fixed shaft is positioned at the root of the finger, the second fixed shaft is positioned at the proximal phalanx, the third fixed shaft is positioned at the middle phalanx, and the fourth fixed shaft is positioned at the distal phalanx.

Preferably, the first chute, the second chute and the third chute comprise a chute body and a return spring, the chute body is in a waist round hole shape, one end of the return spring is fixed with one side of the inner wall of the chute body, and the other end of the return spring is connected with a shaft forming a sliding pair with the chute body.

Preferably, the first end of the first chute is fixed with the middle connecting rod, the fixed point is on the second pivot point, the second end of the first chute faces the flexible profiling finger tip, the first end of the second chute is fixed with the first end of the elastic connecting rod, the second end of the second chute faces the flexible profiling finger tip, the first end of the third chute is fixed with the second end of the fingertip connecting rod, and the second end of the third chute faces the flexible profiling finger root.

Preferably, the elastic connecting rod is parallel to the second chute.

Preferably, the driving assembly comprises a motor, a wiring disc and a traction wire, wherein the motor is fixed on the upper surface of the connecting part through a bolt, the wiring disc is connected to the motor through a key, one end of the traction wire is connected to the wiring disc, and the other end of the traction wire penetrates through a wire groove of the palm to be connected with the driving connecting rod of the flexible profiling finger.

Preferably, each flexible profiling finger is pulled by two groups of traction wires, the driving connecting rod is provided with a first binding post and a second binding post, the circle centers of the binding plates are symmetrically distributed, the palm is provided with an upper wire groove and a lower wire groove corresponding to each flexible profiling finger, the upper wire groove and the lower wire groove are distributed up and down, one group of traction wires on the first winding post penetrates through the upper wire groove to be fixed with the first binding post on the driving connecting rod, and the other group of traction wires on the second winding post penetrates through the lower wire groove to be fixed with the second binding post on the driving connecting rod.

Preferably, the traction wire is made of one of silk, cotton, hemp, and metal.

The beneficial effects of the utility model are as follows:

1. the utility model combines the flexible profiling finger with the link mechanism, has better flexibility of software and larger rigidity of the link mechanism, and has three modes of pure rigid link driving, pure flexible profiling finger driving and mixed driving so as to realize different rigidities, and massage and training the hands of patients so as to meet the requirements of different patients on driving force provided by the auxiliary hand function rehabilitation device.

2. The connecting rod mechanism is a single-degree-of-freedom mechanism, is driven by a motor, is pulled by a rope, and is simple to control, high in reliability and high in rigidity.

3. The connecting rod mechanism is connected with the flexible profiling finger by adopting the sliding pair comprising the spring, so that the matching performance of the finger movement is improved.

4. The flexible profiling finger structure is provided with the tension and compression springs at the parts connected with the fingers, so that the adaptability of different people is improved.

Drawings

FIG. 1 is a schematic diagram of the overall structure of the rehabilitation device of the present utility model.

Fig. 2 is a schematic structural view of the air pump and the driving assembly of the rehabilitation apparatus according to the present utility model.

Fig. 3 is a schematic view of a single finger unit of the rehabilitation apparatus according to the first embodiment of the present utility model.

Fig. 4 is a schematic diagram of a single finger unit of the rehabilitation apparatus according to the second embodiment of the present utility model.

Fig. 5 is a schematic diagram of a single finger unit of the rehabilitation apparatus according to the third embodiment of the present utility model.

Fig. 6 is a schematic diagram of a single finger unit of the rehabilitation apparatus according to the present utility model.

Fig. 7 is a schematic diagram of a single finger unit of the rehabilitation apparatus according to the present utility model.

Fig. 8 is a schematic diagram of a single finger unit of the rehabilitation apparatus according to the present utility model.

Fig. 9 is a schematic structural view of a first chute, a second chute and a third chute of the rehabilitation apparatus according to the present utility model.

Fig. 10 is a schematic structural view of an elastic connecting rod of the rehabilitation apparatus according to the present utility model.

FIG. 11 is a cross-sectional view of the elastic connecting rod of the rehabilitation apparatus of the present utility model.

Fig. 12 is a schematic view of the rehabilitation apparatus according to the present utility model in a fully curved posture.

FIG. 13 is a schematic view of the microbend gesture of the rehabilitation apparatus according to the present utility model.

Fig. 14 is a schematic view of the rehabilitation apparatus according to the present utility model in an extended position.

Fig. 15 is a schematic block diagram of the rehabilitation apparatus of the present utility model.

The marks in the figure are as follows: 1-1 an air pump; 1-2 connection parts; 1-3 motors; 1-4 wiring boards; 1-4-1 first stub; 1-4-2 second turn post; 1-5 ventilation ducts; 1-6 traction wires; 1-7 palms; 1-7-1 upper wire slot; 1-7-2 lower wire slots; 1-7-3 palm air outlet holes; 2-1 a link mechanism; 2-1-1 active links; 2-1-1-1 first binding post; 2-1-1-2 second binding posts; 2-1-2 stationary links; 2-1-3 driven connecting rods; 2-1-4 intermediate links; 2-1-5 elastic connecting rods; 2-1-6 fingertip connecting rods; 2-3-1 a first fixed shaft; 2-3-2 second fixed shaft; 2-3-3 third fixed shaft; 2-3-4 fourth fixed shaft; 2-4-1 first chute; 2-4-2 second sliding grooves; 2-4-3 third sliding grooves; 2-4-4 groove bodies; 2-4-5 return springs; 2-5-1 a first pivot point; 2-5-2 second pivot points; 2-5-3 third pivot points; 2-1-5-1 connecting rod jacket; 2-1-5-2 telescopic springs; 2-1-5-3 connecting rod inner shafts; 2-2 flexible profiling finger; 2-2-2 non-telescoping layers; 2-2-3 finger rings; 2-2-4 of a tension and compression spring; 2-2-5 spring mounting slots; 2-2-1-1 finger air inlet holes; 3-1 buses; 3-2 controllers; 3-3 memory; a 3-4 sensor assembly; 3-5 communication modules; 3-6 input/output devices; 3-7 servers.

Detailed Description

The technical solution of the present utility model is further described below with reference to the accompanying drawings, but the scope of the claimed utility model is not limited to the above.

Artificial intelligence (Artificial Intelligence) is a theory, method, technique, and application system that simulates, extends, and extends human intelligence using a digital computer or a machine controlled by a digital computer, senses the environment, obtains knowledge, and uses the knowledge to obtain optimal results.

The artificial intelligence technology is a comprehensive subject, and relates to the technology with wide fields, namely the technology with a hardware level and the technology with a software level. Artificial intelligence infrastructure technologies generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing technologies, operation/interaction systems, mechatronics, and the like. The artificial intelligence software technology mainly comprises the directions of computer vision technology, voice technology, natural language processing technology, machine learning/deep learning and the like.

The hand function massage rehabilitation device can be used for people recovering the symptoms of cramps, paralysis and the like of fingers after finger injury and finger fracture operation.

As shown in fig. 1-15, the rigid-flexible integrated hand function massage rehabilitation device comprises a flexible driving mechanism and a rigid driving mechanism, wherein the flexible driving mechanism comprises an air driving component and a flexible profiling finger 2-2, a finger fixing part is arranged at the bottom of the flexible profiling finger 2-2, the rigid driving mechanism comprises a motor driving component and a connecting rod mechanism 2-1, the connecting rod mechanism 2-1 is positioned on the flexible profiling finger 2-2, the air driving component drives the flexible profiling finger 2-2 to do bending and stretching movement, the motor driving component drives the connecting rod mechanism 2-1 to move so as to drive the flexible profiling finger 2-2 to do bending and stretching movement, and the flexible driving mechanism and the rigid driving mechanism independently or simultaneously run.

When the flexible driving mechanism and the rigid driving mechanism independently operate, namely, only the connecting rod mechanism 2-1 is used as driving force, the motor driving assembly drives the connecting rod mechanism 2-1 to carry out bending and stretching movement, and at the moment, the flexible profiling finger 2-2 is not inflated and only serves as a fixing mechanism of the finger. When only the flexible profiling finger 2-2 is used as the driving force, the air source drives the flexible profiling finger 2-2 to perform bending and stretching movement (namely bending and stretching movement), and the connecting rod mechanism 2-1 only plays a limiting role. When the flexible driving mechanism and the rigid driving mechanism are operated simultaneously, namely, when the connecting rod mechanism 2-1 and the flexible profiling finger 2-2 are driven simultaneously, the connecting rod mechanism 2-1 and the flexible profiling finger 2-2 synchronously bend and stretch. In either case, the two are coupled, and the term "coupled" as used herein means that the two forms of motion affect each other through various interactions to cooperatively accomplish a particular task.

Flexible profiling finger

As shown in fig. 1-2, the flexible contoured finger 2-2 is a tubular structure shaped like a finger. When the flexible profiling finger 2-2 is inflated, the flexible profiling finger is inflated and bent; when not inflated, the flexible contoured finger 2-2 has a basic hand skeleton.

In some embodiments, the flexible contoured finger 2-2 may be made of silicone, or other flexible soft material, to ensure the softness of the contoured finger. The flexible contoured finger 2-2 may be made by casting or 3D printing techniques.

The number of flexible profiling fingers 2-2 is at least one. As a specific example, the number of the flexible profiling fingers 2-2 is 5, which respectively correspond to the thumb, the index finger, the middle finger, the ring finger and the little finger of a person. Of course, the length and thickness of the flexible profiling finger 2-2 are adjusted or customized according to different people. For some special groups, such as broken fingers and multiple fingers, the number of the flexible profiling fingers 2-2 can be adaptively adjusted according to actual conditions.

In some embodiments, the sides of the flexible contoured finger 2-2 are planar, facilitating the positioning of the linkage mechanism 2-1 along the sides of the flexible contoured finger 2-2.

In some embodiments, the flexible contoured finger 2-2 is provided with a non-telescoping layer 2-2-2 on the underside. The non-stretchable layer as used herein means that it cannot be stretched or shortened but can be bent. When the flexible profiling finger 2-2 is bent or stretched under the driving of the gas, the non-stretchable layer 2-2 enables the flexible profiling finger 2-2 not to be stretched or shortened in the length direction or the width direction, and only can be bent. Specifically, the non-stretchable layer 2-2-2 is made of paper, plastic film or the like, and is attached to the bottom surface of the flexible profiling finger 2-2. Specifically, the non-stretchable layer 2-2-2 is secured to the bottom of the flexible contoured finger 2-2 by an adhesive.

The finger fixing part is used for fixing and attaching the fingers of the human body to the bottom of the flexible profiling finger 2-2 to drive the fingers of the human body to bend or stretch so as to achieve the aim of rehabilitation training of the opponent. Specifically, when the finger fixing part is the finger ring 2-2-3, the number of the thumb flexible profiling finger ring 2-2-3 is 1, and the numbers of the index finger, the middle finger, the ring finger and the little finger flexible profiling finger ring 2-2-3 are all 2, which correspond to the knuckles of the fingers respectively. Or the finger fixing part is a finger stall, and part or all of the fingers of the human body are placed in the finger stall.

In some embodiments, when the finger fixing part is a finger ring 2-2-3, a spring mounting groove 2-2-5 is formed in the bottom of the flexible profiling finger 2-2, a tension and compression spring 2-2-4 is mounted in the spring mounting groove 2-2-5, when the finger fixing part is the finger ring 2-3, a finger ring mounting seat is slidably mounted in the spring mounting groove 2-2-5, one end of the tension and compression spring 2-2-4 is fixed with the wall of the spring mounting groove, the other end of the tension and compression spring is fixed with the finger ring mounting seat, and the tension and compression spring 2-2-4 stretches or compresses in the length direction of the flexible profiling finger 2-2. Under the action of the tension and compression springs 2-2-4, the finger ring 2-2-3 moves along the length direction of the flexible profiling finger 2-2, so that the application adaptability of different people is improved. The spring mounting grooves 2-2-5 have a certain length, so that the use of different people can be met. The bottom of the flexible profiling finger 2-2 is a plane, which is convenient for slotting and installing a finger ring or a finger stall.

The exhaust of the flexible profiling finger 2-2 can be automatically exhausted through a flow dividing valve and an electromagnetic valve, and also can be manually exhausted.

Air drive assembly

As shown in fig. 1-2, the air drive assembly includes an air source, a connection 1-2, and a palm 1-7. The air source sequentially provides compressed air to the flexible profiling finger 2-2 through the connecting part 1-2 and the palm 1-7, so that the flexible profiling finger 2-2 bends or stretches.

As shown in FIG. 2, a gas source, such as a gas pump 1-1, supplies gas to each flexible profiling finger 2-2 through a connecting portion 1-2 and a palm 1-7, respectively. The air pump 1-1 is connected with the connecting part 1-2, the connecting part 1-2 is connected with one end of the palm 1-7 through the air pipeline 1-5, and the number of the air pipelines 1-5 can be one or five, and the air pipelines correspond to five profiling fingers respectively. The connecting part 1-2 and the palm 1-7 are internally provided with ventilation pipelines or are internally provided with a cavity structure. The end part of each flexible profiling finger 2-2 is provided with finger air inlets 2-2-1-1, the other end of the palm 1-7 is provided with palm air outlets 1-7-2 corresponding to the flexible profiling fingers 2-2 in number, and the finger air inlets 2-2-1-1 of each flexible profiling finger are respectively communicated with the palm air outlets 1-7-2.

Link mechanism

As shown in fig. 3-11, the link mechanism 2-1 is located at one side of the flexible profiling finger 2-2 and is used for driving the flexible profiling finger 2-2 to bend or stretch.

The side part of the flexible profiling finger 2-2 is provided with a first fixed shaft 2-3-1, a second fixed shaft 2-3-2, a third fixed shaft 2-3-3 and a fourth fixed shaft 2-3-4 respectively, the link mechanism 2-1 comprises a driving link 2-1-1, an immovable link 2-1-2, a driven link 2-1-3, an intermediate link 2-1-4, an elastic link 2-1-5 and a fingertip link 2-1-6, a first end of the immovable link 2-1-2 is fixed on the first fixed shaft 2-3-1, a first end of the intermediate link 2-1-4 is pivotally connected to a second end of the immovable link 2-1-2, the second end of the intermediate link 2-1-4 is pivotally connected to the first end of the fingertip link 2-1-6, a first pivot point 2-5-1 located between the two ends of the driving link 2-1 is pivotally connected to the first end of the stationary link 2-1-2, the first end of the driven link 2-1-3 is pivotally connected to one end of the driving link 2-1, the second end of the driven link 2-1-3 is pivotally connected to the first end of the elastic link 2-1-5, a second pivot point 2-5-2 located at the two ends of the driven link 2-1-3 is pivotally connected to the intermediate link 2-1-4, the second end of the elastic link 2-1-5 is pivotally connected to a third pivot point 2-5-3 located between the two ends of the fingertip link 2-1-6; the middle connecting rod 2-1-4 is fixed with a first sliding groove 2-4-1, a fixed point is arranged on a second pivot point 2-5-2, a second fixed shaft 2-3-2 and the first sliding groove 2-4-1 form a sliding pair, a first end of the elastic connecting rod 2-1-5 is fixed with a second sliding groove 2-4-2, a third fixed shaft 2-3-3 and the second sliding groove 2-4-2 form a sliding pair, a second end of the fingertip connecting rod 2-1-6 is fixed with a third sliding groove 2-4-3, and a fourth fixed shaft 2-3-4 and the third sliding groove 2-4-3 form a sliding pair.

Wherein the first sliding groove 2-4-1 is fixed on the middle connecting rod 2-1-4, the first sliding groove 2-4-1 and the middle connecting rod 2-1-4 are relatively static, the second sliding groove 2-4-2 is fixed on the first end of the elastic connecting rod 2-1-5, the second sliding groove 2-4-2 and the elastic connecting rod 2-1-5 are relatively static, the third sliding groove 2-4-3 is fixed on the second end of the fingertip connecting rod 2-1-6, and the third sliding groove 2-4-3 and the fingertip connecting rod 2-1-6 are relatively static.

The plurality of links form a single degree of freedom link mechanism that approximates the bending or stretching of a human finger. The sliding grooves can reduce the pulling force of a simple link mechanism to fingers. The elastic connecting rod 2-1-5 is arranged to improve the adaptability of the connecting rod mechanism 2-1 and the fingers of a person, so that the change of the contact force is more gentle.

The positions of the first fixed shaft 2-3-1, the second fixed shaft 2-3-2, the third fixed shaft 2-3-3 and the fourth fixed shaft 2-3-4 on the flexible profiling finger 2-2 can be set according to actual needs. As a specific example, the first fixed axle 2-3-1 is positioned at the root of the finger, the second fixed axle 2-3-2 is positioned at the proximal phalanx of the finger, the third fixed axle 2-3-3 is positioned at the middle phalanx of the finger, and the fourth fixed axle 2-3-4 is positioned at the distal phalanx of the finger.

The first chute 2-4-1, the second chute 2-4-2 and the third chute 2-4-3 comprise a chute body 2-4-4 and a return spring 2-4-5, the chute body 2-4-4 is in a waist round hole shape, one end of the return spring 2-4-5 is fixed with one side of the inner wall of the chute body 2-4-4, and the other end of the return spring is connected with a shaft forming a sliding pair with the chute body 2-4-4, as shown in figure 9.

The elastic connecting rods 2-1-5 are in the forms of spiral springs, elastic sheets and the like. As a specific example, the elastic connecting rod 2-1-5 comprises a connecting rod outer sleeve 2-1-5-1, a telescopic spring 2-1-5-2 and a connecting rod inner shaft 2-1-5-3, wherein one end of the telescopic spring 2-1-5-2 is fixed with the inner wall of the connecting rod outer sleeve 2-1-5-1, and the other end is fixed with the connecting rod inner shaft 2-1-5-3, see fig. 10 and 11.

As a specific embodiment, the first end of the first chute 2-4-1 is fixed with the middle connecting rod 2-1-4, the fixed point is on the second pivot point 2-5-2, the second end of the first chute 2-4-1 faces the flexible profiling finger tip, the first end of the second chute 2-4-2 is fixed with the first end of the elastic connecting rod 2-1-5, the second end of the second chute 2-4-2 faces the flexible profiling finger tip, the first end of the third chute 2-4-3 is fixed with the second end of the fingertip connecting rod 2-1-6, and the second end of the third chute 2-4-3 faces the flexible profiling finger root.

As a specific example, the elastic connecting rod 2-1-5 is parallel to the second chute 2-4-2.

The "connecting rod" described in the present disclosure is not limited to the rod shape, but may be other shapes.

Motor driving assembly

As shown in fig. 1-2, the motor drive assembly is used to drive the movement of the linkage mechanism 2-1.

The motor driving assembly comprises a motor 1-3, a wiring disc 1-4 and a traction wire 1-6, wherein the motor 1-3 is fixed on the upper surface of the connecting part 1-2 through bolts, the wiring disc 1-4 is connected to the motor 1-3 through keys, one end of the traction wire 1-6 is connected to the wiring disc 1-4, and the other end of the traction wire passes through a wire slot of the palm 1-7 to be connected with the driving connecting rod 2-1-1 of the flexible profiling finger.

As a specific implementation mode, each flexible profiling finger 2-2 is pulled by two groups of pulling wires 1-6, a first binding post 2-1-1-1 and a second binding post 2-1-1-2 are arranged on the driving connecting rod 2-1-1, a first rotating wire post 1-4-1 and a second rotating wire post 1-4-2 are arranged on the binding plate 1-4, the first rotating wire post 1-4-1 and the second rotating wire post 1-4-2 are symmetrically distributed along the circle center of the binding plate 1-4, the palm 1-7 is provided with an upper wire slot 1-7-1 and a lower wire slot 1-7-2 corresponding to each flexible profiling finger 2-2, the upper wire slot 1-7-1 and the lower wire slot 1-7-2 are vertically distributed, one group of pulling wires on the first rotating wire post 1-4-1 penetrate through the upper wire slot 1-7-1 and the first binding post 2-1-1-1 on the driving connecting rod 2-1-1, and one group of wires on the second rotating wire post 1-4-2 penetrate through the lower wire slot 1-2-7-2 and penetrate through the lower wire slot 1-1-2 and are fixed on the driving connecting rod 2-1-1-2. Each flexible profiling finger 2-2 is pulled by two groups of pulling wires 1-6 and distributed up and down to realize two motions of bending and stretching of the finger.

The traction wires 1-6 are made of silk, cotton, hemp, metal and the like, can be bent and have certain strength. As a specific embodiment, the traction wires 1-6 are flexible steel wires, so that the strength is high, the wire is not easy to break, the flexibility is good, and the traction requirement of the wires is met.

Control module

In order to realize accurate control, the hand function massage rehabilitation device further comprises a control module, wherein the control module comprises a bus 3-1, a controller 3-2, a memory 3-3, a sensor assembly 3-4, a communication module 3-5, an input and output device 3-6, a server 3-7 and the like, and the figure 15 is seen.

Bus 3-1 may be circuitry that interconnects the aforementioned components and communicates communications messages and/or power between the aforementioned components.

The memory 3-2 may be volatile memory and/or nonvolatile memory. The memory may store commands or data related to, for example, one or more other components of the hand function rehabilitation device. As an example, the memory 3-2 may store software and/or programs.

The sensor assembly 3-3 may sense the physical world, such as a camera, a pressure sensor for collecting finger pressure signals, a bending sensor for collecting finger bending angle signals, etc. In one embodiment, when the finger fixing part is a finger ring 2-2-3, a pressure sensor is arranged on the inner side of the finger ring 2-2-3, so that the finger force condition of a patient can be detected, the driving force ratio of the connecting rod mechanism and the flexible profiling finger is automatically adjusted, and three modes of pure rigid connecting rod driving, pure flexible profiling finger driving and mixed driving are provided, so that different rigidities are realized, and the requirements of different patients on driving forces provided by an auxiliary hand function rehabilitation device are met. In addition, the sensor assembly 3-3 may also include a pivot angle between links for measuring various pivot points of the hand function rehabilitation device, such as hall sensors, laser sensors.

The controller 3-4 is used to control the operation of the hand function rehabilitation device, for example in an artificial intelligence control manner. Specifically, the controller 3-4 may receive a signal from the sensor assembly 3-3 and control an air pump or a motor of the hand function rehabilitation device based on the signal. The controller 3-4 comprises, for example, a processing means. The processing means may include a microprocessor, digital signal processor ("DSP"), application specific integrated circuit ("ASIC"), field programmable gate array ("FPGA"), state or other processing device for processing electrical signals received from the sensor lines. Such a processor may include programmable electronics, such as a PLC, a programmable interrupt controller ("PIC"), a programmable logic device ("PLD"), a programmable read-only memory ("PROM"), an electronically programmable read-only memory ("EPROM" or "EEPROM").

The communication module 3-5 may be connected to a network by wire or wirelessly so as to communicate with the server 3-7. The communication module 3-5 may be wireless and may be a wireless interface such as bluetooth, a wireless local area network transceiver, a radio interface for accessing a cellular telephone network (e.g., a transceiver/antenna for accessing CDMA, GSM, UMTS or other mobile communication networks). The communication module 3-5 may also be wired and an interface such as ethernet, USB or the like.

The input-output means 3-6 may transmit, for example, commands or data input by a user or any other external device to one or more other components of the hand function rehabilitation device, or may output commands or data received by one or more other components of the hand function rehabilitation device to the user or other external device.

The hand function rehabilitation device is communicatively connected to the server 3-7 and receives collaborative hand function rehabilitation device instructions from the server 3-7.

The working process of the utility model comprises the following steps:

when only the connecting rod mechanism 2-1 is used as a driving force, at the moment, the motor 1-3 rotates positively and negatively, and the driving connecting rod 2-1 is pulled to rotate through the traction wire 1-6 so as to enable the connecting rod mechanism 2-1 to perform bending and stretching motions, at the moment, the inside of the flexible profiling finger 2-2 is not inflated, and the flexible profiling finger is only used as a fixing mechanism of the finger, so that the flexibility of the motion is improved.

When only the flexible profiling finger 2-2 is used as a driving force, and at the moment, the air pump 1-1 is used for inflating and expanding the inside of the flexible profiling finger 2-2 through the connecting part 1-2, and the flexible profiling finger 2-2 is bent due to the fact that the non-stretchable layer 2-2-2 is attached to the bottom, and at the moment, the connecting rod mechanism 2-1 only plays a limiting role.

When the connecting rod mechanism 2-1 and the flexible profiling finger 2-2 are driven simultaneously, the motor 1-3 and the air pump 1-1 work simultaneously, so that the connecting rod mechanism 2-1 and the flexible profiling finger 2-2 synchronously bend and stretch together.

Referring to fig. 6-8, a rotating pair and a sliding pair are formed by the connecting rod mechanism 2-1 and a shaft on the flexible profiling finger 2-2, so that a gap exists between the rotating pair and the sliding pair directly, and the movement posture is synchronous.

Referring to fig. 8, 10 and 11, the elastic link 2-1-5 structure can alleviate the posture difference generated when the link mechanism 2-1 and the flexible profiling finger 2-2 move simultaneously when the rehabilitation device works, and improve the stability of the result.

When the motor 1-3 and the air pump 1-1 are driven simultaneously to enable the connecting rod mechanism 2-1 to reach the maximum limit. At this time, the degree of bending is maximum, and referring to fig. 12, the rehabilitation device is in a full-bending posture.

When the motor 1-3 is reversed and the pressure in the flexible profiling finger 2-2 is reduced, the finger gradually stretches, and referring to fig. 13, the rehabilitation device is in a slightly bent posture.

When the motor 1-3 continues to rotate reversely and the air pressure in the flexible profiling finger 2-2 continues to drop, the finger returns to the initial state, and the rehabilitation device is in an extending posture with reference to fig. 14.

The foregoing embodiments are merely exemplary, so that those skilled in the art may better understand the present disclosure, and should not be construed as limiting the scope of the present disclosure, so long as modifications and simple alternatives made according to the present disclosure fall within the scope of the present disclosure.

Claims

1. A rigid-flexible integrated hand function massage rehabilitation device is characterized in that: comprises a flexible driving mechanism and a rigid driving mechanism, wherein the flexible driving mechanism comprises an air driving component and a flexible profiling finger (2-2), the bottom of the flexible profiling finger (2-2) is provided with a finger fixing part, the rigid driving mechanism comprises a motor driving component and a connecting rod mechanism (2-1), the connecting rod mechanism (2-1) is positioned on the flexible profiling finger (2-2), the air driving component drives the flexible profiling finger (2-2) to do bending and stretching movement, the motor driving component drives the connecting rod mechanism (2-1) to move so as to drive the flexible profiling finger (2-2) to do bending and stretching movement, the flexible driving mechanism and the rigid driving mechanism independently or simultaneously operate, the side part of the flexible profiling finger (2-2) is a plane, a first fixed shaft (2-3-1), a second fixed shaft (2-3-2), a third fixed shaft (2-3-3) and a fourth fixed shaft (2-3-4) are arranged on the plane, the connecting rod mechanism (2-1) comprises a driving connecting rod (2-1-1), an immovable connecting rod (2-1-2), a driven connecting rod (2-1-3), an intermediate connecting rod (2-1-4), an elastic connecting rod (2-1-1) and a finger tip (2-1-5), the first end of the stationary link (2-1-2) is fixed on the first fixed shaft (2-3-1), the first end of the intermediate link (2-1-4) is pivotally connected to the second end of the stationary link (2-1-2), the second end of the intermediate link (2-1-4) is pivotally connected to the first end of the fingertip link (2-1-6), the first pivot point (2-5-1) located between the two ends of the driving link (2-1-1) is pivotally connected to the first end of the stationary link (2-1-2), the first end of the driven link (2-1-3) is pivotally connected to one end of the driving link (2-1-1), the second end of the driven link (2-1-3) is pivotally connected to the first end of the elastic link (2-1-5), the second pivot point (2-5-2) located at the two ends of the driven link (2-1-3) is pivotally connected to the first end of the intermediate link (2-1-4), and the second pivot point (2-5-2) located between the two ends of the driven link (2-1-5) is pivotally connected to the third end (2-5); the middle connecting rod (2-1-4) is fixedly provided with a first sliding groove (2-4-1), a fixed point is arranged on a second pivot point (2-5-2), a second fixed shaft (2-3-2) and the first sliding groove (2-4-1) form a sliding pair, the first end of the elastic connecting rod (2-1-5) is fixedly provided with the second sliding groove (2-4-2), a third fixed shaft (2-3-3) and the second sliding groove (2-4-2) form a sliding pair, the second end of the fingertip connecting rod (2-1-6) is fixedly provided with a third sliding groove (2-4-3), the fourth fixed shaft (2-3-4) and the third sliding groove (2-4-3) form a sliding pair, the motor driving component comprises a motor (1-3), a wiring plate (1-4) and a traction wire (1-6), the motor (1-3) is fixedly arranged on the upper surface of the connecting part (1-2) through bolts, the traction plate (1-4) is connected to the motor (1-3) through keys, the traction wire (1-6) is connected to the other end of the connecting rod (1-4) through the flexible wire groove (1-4), and the other end of the connecting rod (1-4) passes through the flexible wire groove (1-4); each flexible profiling finger (2-2) is pulled by two groups of traction wires (1-6), an upper wire groove (1-7-1) and a lower wire groove (1-7-2) corresponding to each flexible profiling finger (2-2) are arranged on the driving connecting rod (2-1-1), a first wire rotating post (1-4-1) and a second wire rotating post (1-4-2) are arranged on the wiring disc (1-4), the first wire rotating post (1-4-1) and the second wire rotating post (1-4-2) are symmetrically distributed along the circle center of the wiring disc (1-4), the palm (1-7) is provided with an upper wire groove (1-7-1) and a lower wire groove (1-7-2) corresponding to each flexible profiling finger (2-2), one group of traction wires on the first wire rotating post (1-4-1) passes through the upper wire groove (1-7-1) and the second wire rotating post (1-2) and the first wire rotating post (1-1-1-1) on the driving connecting rod (2-1) passes through the upper wire groove (1-7-1) and the lower wire groove (1-2) is fixed on the first wire rotating post (1-2-1-2) and the lower wire rotating post (1-2-1-2) which passes through the upper wire groove (1-1-1-2), the traction wire (1-6) is made of one of silk, cotton, hemp and metal.

2. The rigid-flexible integrated hand function massage rehabilitation device according to claim 1, wherein: the bottom of the flexible profiling finger (2-2) is provided with a non-stretchable layer (2-2-2), the non-stretchable layer (2-2) is made of paper or plastic film, and the non-stretchable layer is stuck on the flexible profiling finger (2-2) through an adhesive.

3. The rigid-flexible integrated hand function massage rehabilitation device according to claim 1, wherein: the finger fixing parts are finger rings (2-2-3), the number of the thumb flexible profiling finger rings (2-2-3) is 1, the number of the index finger, the middle finger, the ring finger and the little finger flexible profiling finger rings (2-2-3) are all 2, and respectively correspond to the knuckles of the fingers, or the finger fixing parts are finger sleeves, and part or all of the fingers of a human body are placed in the finger sleeves.

4. A rigid-flexible integrated hand function massage rehabilitation device according to claim 3, wherein: when the finger fixing part is a finger ring (2-2-3), a spring mounting groove (2-2-5) is formed in the bottom of the flexible profiling finger (2-2), a tension and compression spring (2-2-4) is mounted in the spring mounting groove (2-2-5), the finger ring mounting seat is slidably mounted in the spring mounting groove (2-2-5), one end of the tension and compression spring (2-2-4) is fixed with the wall of the spring mounting groove, the other end of the tension and compression spring is fixed with the finger ring mounting seat, and the tension and compression spring (2-2-4) stretches or compresses in the length direction of the flexible profiling finger (2-2).

5. The rigid-flexible integrated hand function massage rehabilitation device according to claim 1, wherein: the air driving assembly comprises an air source, a connecting part (1-2) and a palm (1-7), wherein the air source adopts an air pump (1-1), the air pump (1-1) is connected with the connecting part (1-2), the connecting part (1-2) is connected with one end of the palm (1-7) through an air pipeline (1-5), and the number of the air pipelines (1-5) can be one or five and respectively correspond to five profiling fingers; the connecting part (1-2) and the palm (1-7) are internally provided with a ventilation pipeline or a cavity structure; the end part of each flexible profiling finger (2-2) is provided with a finger air inlet hole (2-2-1-1), the other end of the palm (1-7) is provided with palm air outlet holes (1-7-2) corresponding to the number of the flexible profiling fingers (2-2), and the finger air inlet holes (2-2-1-1) of each flexible profiling finger are respectively communicated with the palm air outlet holes (1-7-2).

6. The rigid-flexible integrated hand function massage rehabilitation device according to claim 1, wherein: the elastic connecting rod (2-1-5) comprises a connecting rod jacket (2-1-5-1), a telescopic spring (2-1-5-2) and a connecting rod inner shaft (2-1-5-3), one end of the telescopic spring (2-1-5-2) is fixed with the inner wall of the connecting rod jacket (2-1-5-1), and the other end of the telescopic spring is fixed with the connecting rod inner shaft (2-1-5-3).

7. The rigid-flexible integrated hand function massage rehabilitation device according to claim 1, wherein: the first sliding groove (2-4-1), the second sliding groove (2-4-2) and the third sliding groove (2-4-3) comprise a groove body (2-4-4) and a reset spring (2-4-5), the groove body (2-4-4) is in a waist round hole shape, one end of the reset spring (2-4-5) is fixed with one side of the inner wall of the groove body (2-4-4), and the other end of the reset spring is connected with a shaft which forms a sliding pair with the groove body (2-4-4).

8. The rigid-flexible integrated hand function massage rehabilitation device according to claim 1, wherein: the first fixed shaft (2-3-1) is positioned at the root of the finger, the second fixed shaft (2-3-2) is positioned at the proximal phalanx, the third fixed shaft (2-3-3) is positioned at the middle phalanx, and the fourth fixed shaft (2-3-4) is positioned at the distal phalanx; the first end of the first sliding groove (2-4-1) is fixed with the middle connecting rod (2-1-4), the second end of the first sliding groove (2-4-1) faces the finger tip of the flexible profiling finger, the first end of the second sliding groove (2-4-2) is fixed with the first end of the elastic connecting rod (2-1-5), the second end of the second sliding groove (2-4-2) faces the finger tip of the flexible profiling finger, the first end of the third sliding groove (2-4-3) is fixed with the second end of the finger tip connecting rod (2-1-6), and the second end of the third sliding groove (2-4-3) faces the finger root of the flexible profiling finger; the elastic connecting rod (2-1-5) is parallel to the second chute (2-4-2).