CN116350472A - Hand and wrist function integrated rehabilitation training robot - Google Patents

Abstract

The invention relates to a hand and wrist function integrated rehabilitation training robot which comprises a frame component, a finger rehabilitation component, a wrist rehabilitation component and a palm fixing frame, wherein the frame component is arranged on the wrist; wherein the finger rehabilitation component mainly realizes two degrees of freedom movements, namely flexion/extension and adduction/external convergence of finger joints; the wrist rehabilitation assembly mainly realizes three degrees of freedom, namely dorsi extension/palmar flexion, radial side/ulnar side deflection and internal rotation/external rotation of the wrist joint. According to the invention, the finger rehabilitation assembly drives the rope to simultaneously control the five fingers to cooperatively move through the cooperative mechanism, so that the light weight design is realized, and the cost is saved; simultaneously, the finger rehabilitation component and the wrist rehabilitation component are combined together through the palm fixing frame, so that the coordination of the finger and wrist rehabilitation movement is realized, and the rehabilitation process of a patient is more facilitated to be accelerated.

Description

Hand and wrist function integrated rehabilitation training robot

Technical Field

The invention belongs to the technical field of rehabilitation training devices, and particularly relates to a hand and wrist function integrated rehabilitation training robot.

Background

At present, the age structure of China is developing towards the top aging state, and the disease proportion of cerebral apoplexy in China is continuously increased and has a tendency of younger. Cerebral stroke often results in loss of neurological function of the brain and thus causes hemiplegia. The hemiplegia symptoms comprise movement disorders of upper limbs, lower limbs and the like, and the difficulty of recovering the functions of hands and wrists is the greatest and the slowest in the rehabilitation process of the movement functions of limbs.

Medical test data show that if a hemiplegic patient can develop rehabilitation training in time within three months after operation, the effective rate of treatment can reach 92.4 percent, and other symptoms of the patient can be prevented from occurring in the period. Compared with the traditional manual rehabilitation training, the robot is used for carrying out auxiliary treatment without continuous participation of therapists, and a large amount of labor cost is saved. The robotic adjuvant therapy ensures safe, dense and task-oriented rehabilitation at relatively moderate cost. The rehabilitation robot can accurately apply force according to training requirements, so that accuracy is improved and differences are reduced. The training actions provided by the rehabilitation robot can effectively improve muscle strength, movement range and movement coordination.

However, the existing hand rehabilitation robot separates finger joints and wrist joints for rehabilitation treatment, and the wrist joints and hands are integrated for rehabilitation. However, according to medical analysis, the bone joints of the hand of a person are formed by 27 bones, the association between the joints is strong, and the motion of the hand is realized by the joint of finger motion and wrist motion; the simple rehabilitation of the finger joint or the wrist joint relative to the rehabilitation of the whole hand, the movement of the patient can be very stiff, and the rehabilitation effect is not ideal. And rehabilitation training for the finger joints is usually focused on flexion/extension of the finger joints, and is rarely involved for adduction/adduction of the finger joints.

Disclosure of Invention

In order to overcome the defects in the prior art, the invention provides a hand and wrist function integrated rehabilitation training robot which can realize flexion/extension and adduction/outstretching of finger joints and dorsi extension/palmar flexion, radial side/ulnar side deflection and internal rotation/outstretching of wrist joints. Meanwhile, the five fingers are cooperatively driven by one motor on the design of the finger rehabilitation assembly, so that the portability of the mechanism is improved, and the cost is saved.

In order to solve the problems, the invention is realized by the following technical scheme:

the invention relates to a hand and wrist function integrated rehabilitation robot which comprises a frame component, a finger rehabilitation component, a wrist rehabilitation component and a palm fixing frame. The rack assembly comprises a forearm support frame;

the wrist rehabilitation component comprises a wrist circular ring, a second motor and a rotation direction driving gear, wherein the second motor drives the palm fixing frame to rotate in the wrist circular ring through the rotation direction driving gear, so that the internal rotation/external rotation movement of the wrist joint is realized; the wrist joint dorsiflexion/palmar flexion-radial side/ulnar side deflection mechanism comprises three wrist connecting components connected between a wrist circular ring and a forearm support frame and three wrist driving mechanisms which are distributed and used for driving the three wrist connecting components to stretch and move so as to realize the dorsiflexion/palmar flexion and radial side/ulnar side deflection of the wrist joint;

the finger rehabilitation component is arranged on the palm fixing frame and comprises a finger joint buckling/stretching mechanism, a finger joint inward/outward converging mechanism and a cooperative mechanism. The cooperating mechanism drives the finger joint buckling/stretching mechanism and the finger joint adduction/adduction mechanism to realize the buckling/stretching and adduction/adduction two degrees of freedom movements of the finger joint.

Further, the finger joint buckling/stretching mechanism comprises a thumb transmission mechanism, a four-finger connecting plate, an index finger driving rod, a ring finger driving rod, a little finger driving rod and a first compression spring. The length of each finger of the four-finger transmission mechanism is different, and the structure of each finger is completely the same; the middle finger transmission mechanism in the four-finger transmission mechanism is hinged with the four-finger connection plate, the other three-finger transmission mechanisms are respectively hinged with the index finger driving rod, the ring finger driving rod and the little finger driving rod, the index finger driving rod, the ring finger driving rod and the little finger driving rod are respectively hinged with the four-finger connection plate, the four-finger connection plate is slidably connected with the palm fixing frame through three cylindrical guide rails fixed on the palm fixing frame, first compression springs for supporting the four-finger connection plate are respectively sleeved on the three cylindrical guide rails, and the four-finger connection plate is connected with the cooperative mechanism through ropes.

Further, the thumb drive comprises a thumb connecting plate, a thumb rotating rod, a thumb proximal finger stall, a thumb distal finger stall and a second compression spring. The thumb far-end finger sleeve is rotatably connected with the thumb near-end finger sleeve through an annular track, the thumb near-end finger sleeve is hinged with the thumb rotating rod, the thumb rotating rod is hinged with the thumb connecting plate, the thumb connecting plate is slidably connected with the palm fixing frame through two cylindrical guide rails fixed on the palm fixing frame, second compression springs for supporting the thumb connecting plate are sleeved on the two cylindrical guide rails, and the thumb connecting plate is connected with the cooperative mechanism through a rope.

The four-finger transmission mechanism comprises a rotating rod, a proximal finger sleeve and a distal finger sleeve, wherein the distal finger sleeve is rotatably connected with the proximal finger sleeve through an annular track, the proximal finger sleeve is hinged with the rotating rod, the rotating rod of a middle finger is hinged with a four-finger connecting plate, and the rotating rods of the other three fingers are respectively hinged with an index finger driving rod, a ring finger driving rod and a little finger driving rod.

The cooperative mechanism comprises a near-end wire wheel, a driving gear, a far-end wire wheel, a driven gear, a steering wire wheel group, a thumb driving wire wheel, a first motor and a driving rope. The first motor is fixed on the palm fixing frame, and the motor output shaft is axially fixed with a near-end wire wheel, a driving gear and a far-end wire wheel which are connected in sequence from near to far. The steering wheel group comprises a steering wheel I, a steering wheel II, a steering wheel III and a steering wheel IV.

The steering wire wheels A and B are symmetrically distributed on two sides of the far-end wire wheel, the driving rope A and B are wound on the far-end wire wheel, the other ends of the driving rope A and B are respectively connected with the first connecting groove and the second connecting groove of the four-finger connecting plate through the steering wire wheel A and the steering wire wheel B, the driving rope C is wound on the near-end wire wheel, and the other end of the driving rope C is connected with the third connecting groove of the four-finger connecting plate (213). Thereby realizing that the motor drives the palm fixing frame to axially move along the three cylindrical guide rails at three points. The three connecting grooves are distributed in an isosceles triangle, and three-point driving can enable the palm fixing frame to move more stably. Besides the supporting function, the compression springs on the three cylindrical guide rails can also increase the flexibility of the palm fixing frame during movement.

The driving gear is meshed with the driven gear, the driven gear is fixedly connected with the thumb driving line wheel in a coaxial mode, a driving rope D is wound on the thumb driving line wheel, and the other end of the driving rope D is connected with the thumb connecting plate through steering of the steering line wheel III and the steering line wheel IV. The thumb connecting plate can be driven to axially move along the two cylindrical guide rails, so that the five fingers are driven to cooperatively move by one motor, and the flexion/extension of the finger joints is realized.

Further, the finger joint adduction/outstretching mechanism comprises an index finger sliding block, a middle finger sliding block, a ring finger sliding block, a three-finger connecting rod assembly, a little finger connecting rod, a safety limit sleeve, a driving nut, a middle finger fixing bolt, a driving gear set and a driving rope. The index finger sliding block is sleeved on the index finger driving rod in a sliding manner, the middle finger sliding block is sleeved on a middle finger track at the front end of the four-finger connecting plate in a sliding manner, and the ring finger sliding block is sleeved on the ring finger driving rod in a sliding manner. The safety limit sleeve is sleeved at the front end of the middle finger rail, the middle finger fixing bolt penetrates through the safety limit sleeve to be in threaded connection with the middle finger rail, and the driving nut is fixed on the middle finger sliding block;

the three-finger connecting rod assembly comprises a three-finger connecting rod I, a three-finger connecting rod II, a three-finger connecting rod III and a three-finger connecting rod IV; the two ends of the third finger connecting rod are respectively hinged with the ring finger sliding block and the middle finger fixing bolt, the two ends of the third finger connecting rod are respectively hinged with the middle finger sliding block and the ring finger sliding block, the two ends of the third finger connecting rod are respectively hinged with the index finger sliding block and the middle finger fixing bolt, the two ends of the fourth finger connecting rod are respectively hinged with the index finger sliding block and the middle finger sliding block, and the two ends of the little finger connecting rod are respectively hinged with the ring finger sliding block and the little finger driving rod.

The driving gear set comprises a first driving gear and a second driving gear which are coaxially and fixedly connected through a gear shaft, a driving rope E is wound on the gear shaft, and the other end of the driving rope E is connected with a driving nut. The two driving gears are respectively meshed with two racks fixed on the palm fixing frame. When the four-finger connecting plate moves up and down along the three cylindrical guide rails, the driving gear shaft can be rotated, so that the middle finger sliding block fixedly connected with the driving screw cap is driven to move back and forth, and the inward contraction/outward convergence of the finger joints is realized.

The adduction/outstretching of the finger joints is realized by adopting passive driving, because the adduction/outstretching of the finger joints can be caused under the action of muscles when the human finger is flexed/stretched, thus the physiological characteristics of the hand are better met.

Further, the palm fixing frame is rotationally connected with a guide rail on the inner side of the wrist circular ring, the second motor is fixed on the motor frame of the wrist circular ring, the rotation driving gear is coaxially and fixedly connected with an output shaft of the second motor, and the rotation driving gear is meshed with the sector teeth of the palm fixing frame. The second motor drives the palm fixing frame to rotate on the guide rail on the inner side of the wrist ring, so that the internal rotation/external rotation of the wrist joint is realized.

Further, the wrist connecting assembly comprises a wrist connecting shaft, a slide tube, a cylindrical sliding block, a small arm connecting shaft, a four-ball type ball cage universal joint, a compression spring A and a compression spring B. One end of the wrist connecting shaft is connected with the wrist circular ring through a four-ball type ball cage universal joint, the sliding tube is fixedly connected with the other end of the wrist connecting shaft through threads, and a compression spring B, a cylindrical sliding block and a compression spring A are sleeved in the sliding tube from inside to outside in sequence; one end of the cylindrical sliding block penetrates through the compression spring B and extends out of the sliding tube to be fixedly connected with one end of the small arm connecting shaft through threads, and the other end of the small arm connecting shaft is connected with the small arm supporting frame through the four-ball type ball cage universal joint.

Further, wrist actuating mechanism includes gear motor, drive line wheel, aligning ball bearing and drive rope, and three gear motor is fixed mounting respectively in three motor groove of forearm support frame, and gear motor's output shaft is from near to far axial fixedly in proper order and is connected drive line wheel and aligning ball bearing, and the winding has drive rope F on the drive line wheel, and drive rope F's the other end is connected with the spread groove of wrist ring, and aligning ball bearing is used for supporting the motor shaft and rotates.

Further, the frame assembly also comprises a base, and the forearm support frame is fixedly arranged on the base. The whole frame assembly mainly plays a role in supporting and fixing.

The invention has the following beneficial effects:

(1) The invention combines finger rehabilitation and wrist rehabilitation together, and can realize the flexion/extension and adduction/external convergence of finger joints, and the dorsi extension/palmar flexion, radial side/ulnar side deflection and internal rotation/external rotation of wrist joints, which have five degrees of freedom activities. Realize the hand, wrist cooperative rehabilitation, be favorable to the patient to accelerate the rehabilitation progress, promote rehabilitation training effect.

(2) The invention realizes the coordinated motions of flexion/extension and adduction/external convergence of the finger joints, so that the finger joints are more in line with the physiological structure of human hand motion.

(3) The invention realizes the coordinated movement of five fingers controlled by one motor, realizes portability and saves cost.

(4) Compared with the traditional ball pair and common universal joint, the four-ball type ball cage universal joint design at the wrist joint has the advantages of larger deflection angle tolerance, torsion resistance, low friction and the like.

Drawings

The invention will be further described with reference to the drawings and examples.

Fig. 1 is a schematic view of the overall mechanism of the present invention.

Fig. 2 is a schematic diagram of a finger rehabilitation assembly.

Fig. 3 is a schematic view of a finger joint flexion/extension mechanism.

Fig. 4 is a view a schematic diagram of the palm fixing frame and the cooperative mechanism.

Fig. 5 is a schematic view of the palm fixing frame and the cooperative mechanism from view B.

Fig. 6 is a schematic diagram of the distribution of notches on the back of the four-finger connecting plate.

Fig. 7 is a schematic view of a finger joint adduction/adduction mechanism.

Fig. 8 is a schematic diagram of the finger joint adduction/adduction mechanism assembly.

Fig. 9 is a schematic view of a wrist supination/supination mechanism.

Fig. 10 is a schematic view of the wrist internal/external rotation mechanism assembly.

Fig. 11 is a schematic view of the wrist dorsal extension/palmar flexion-radial/ulnar deviation mechanism.

Fig. 12 is a schematic view of the structure of the wrist driving mechanism of the wrist dorsal extension/palmar flexion-radial/ulnar deviation mechanism.

Fig. 13 is a schematic view of a connection structure between the wrist connection assembly and the wrist ring.

Fig. 14 is a schematic view of the wrist connection assembly of the wrist dorsi-palmar flexion-radial/ulnar deviation mechanism.

In the figure: 1-frame assembly, 11-forearm support, 2-finger rehabilitation assembly, 21-finger joint flexion/extension mechanism, 211-thumb drive mechanism, 2111-thumb connection plate, 2112-thumb turn bar, 2113-thumb proximal finger cuff, 2114-thumb distal finger cuff, 2115-second compression spring, 212-four-finger drive mechanism, 2121-turn bar, 2122-proximal finger cuff, 2123-distal finger cuff, 213-four-finger connection plate, 214-index finger drive bar, 215-ring finger drive bar, 216-little finger drive bar, 217-first compression spring, 22-finger joint adduction/adduction mechanism, 221-index finger slider, 222-middle finger slider, 223-ring finger slider, 224-three-finger link assembly, 2241-three-finger link one, 2242-three-finger link two, 2243-three-finger link three, 2244-three-finger link four, 225-little-finger link, 226-safety stop, 227-drive nut, 228-middle-finger fixing bolt, 229-drive gear set, 2291-drive gear one, 2292-drive gear two, 23-co-mechanism, 231-proximal-end pulley, 232-drive gear, 233-distal-end pulley, 234-driven gear, 2351-steering pulley one, 2352-steering pulley two, 2353-steering pulley three, 2354-steering pulley four, 236-thumb drive pulley, 237-first motor, 3-wrist rehabilitation assembly, 31-wrist pronation/supination mechanism, 311-wrist ring, 312-second motors, 313-spiral direction driving gears, 32-wrist joint dorsal extension/palmar flexion-radial side/ulnar side deflection mechanisms, 321-wrist connecting shafts, 322-slide tubes, 323-cylindrical sliding blocks, 324-forearm connecting shafts, 325-four-ball type ball cage universal joints, 326-speed reduction motors, 3261-speed reduction motors I, 3262-speed reduction motors II, 3263-speed reduction motors III, 327-driving wire wheels, 328-aligning ball bearings, 3291-compression springs A, 3292-compression springs B, 4-palm fixing frames, 5-palm elastic binding belts, 6-finger elastic binding belts and 7-palm models.

Detailed Description

The invention will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic representations which merely illustrate the basic structure of the invention and therefore show only the structures which are relevant to the invention, and the direction and reference may be used only to assist in the description of the features in the drawings. The following detailed description is, therefore, not to be taken in a limiting sense, and the scope of the claimed subject matter is defined only by the appended claims and equivalents thereof.

As shown in fig. 1, the hand and wrist function integrated rehabilitation robot comprises a frame component 1, a finger rehabilitation component 2, a wrist rehabilitation component 3 and a palm fixing frame 4, wherein the frame component 1 comprises a forearm supporting frame 11.

The wrist internal rotation/external rotation mechanism 31 comprises a wrist circular ring 311, a second motor 312 and a rotation direction driving gear 313, wherein the second motor 312 drives the palm fixing frame 4 to rotate in the wrist circular ring 311 through the rotation direction driving gear 313, so that the internal rotation/external rotation movement of the wrist joint is realized; the wrist joint dorsiflexion/palmar flexion-radial/ulnar deviation mechanism 32 comprises three wrist connection assemblies connected between the wrist circular ring 311 and the forearm support frame 11 and three wrist driving mechanisms which are distributed and used for driving the three wrist connection assemblies to do telescopic movement so as to realize the dorsiflexion/palmar flexion and radial/ulnar deviation two degrees of freedom movements of the wrist joint;

the finger rehabilitation assembly 2 is mounted on the palm fixing frame 4 and comprises a finger joint buckling/stretching mechanism 21, a finger joint inward/outward converging mechanism 22 and a cooperative mechanism 23. The cooperative mechanism 23 drives the knuckle buckling/stretching mechanism 21 and the knuckle adduction/adduction mechanism 22 to realize two degrees of freedom of buckling/stretching and adduction/adduction of the knuckle.

In specific implementation, the frame assembly 1 further includes a base 12, and the forearm support frame 11 is fixedly mounted on the base 12.

As shown in fig. 4 and 5, the palm fixing frame 4 includes a circular connecting plate with an upper half portion provided as a circular track and a lower half portion provided as a sector gear, a four-finger fixing plate and a thumb fixing plate fixed on the front side surface of the circular connecting plate, and two racks vertically fixed on the upper side surface of the four-finger fixing plate.

As shown in fig. 2 and 3, the finger joint flexion/extension mechanism 21 includes a thumb drive 211, a four-finger drive 212, a four-finger connection plate 213, an index finger drive bar 214, a ring finger drive bar 215, a little finger drive bar 216, and a first compression spring 217.

The four-finger connecting plate 213 is slidably connected with the palm fixing frame 4 through three cylindrical guide rods, the three cylindrical guide rods are sleeved with first compression springs 217, and the first compression springs 217 are used for elastically supporting the four-finger connecting plate 213. The index finger driving rod 214, the ring finger driving rod 215 and the little finger driving rod 216 are respectively hinged with the front ends of the four-finger connecting plates 213.

The thumb drive 211 includes a thumb web 2111, a thumb turn bar 2112, a thumb proximal finger cuff 2113, a thumb distal finger cuff 2114, and a second compression spring 2115. The thumb distal finger cuff 2114 is rotatably connected to the thumb proximal finger cuff 2113 by an annular track, the annular track including an annular guide rail fixed to the thumb proximal finger cuff 2113 and a slider fixed to the thumb distal finger cuff 2114, the annular guide rail being hinged to the thumb turning lever 2112, the thumb turning lever 2112 being hinged to the thumb connecting plate 2111, the thumb connecting plate 2111 being slidably connected to the thumb fixing plate by two cylindrical guide rails vertically fixed to the thumb fixing plate of the palm fixing frame 4, the two cylindrical guide rails being fitted with second compression springs 2115, the second compression springs 2115 elastically supporting the thumb connecting plate 2111, the thumb connecting plate 2111 being connected to the cooperative mechanism 23 by a rope.

The four-finger transmission mechanism 212 has different finger lengths and the structures of all the fingers are identical; the finger stall mainly comprises a rotating rod 2121, a proximal finger stall 2122 and a distal finger stall 2123, wherein the distal finger stall 2123 is connected with the proximal finger stall 2122 through an annular track, the annular track comprises an annular guide rail fixed on the proximal finger stall 2122 and a sliding block fixed on the distal finger stall 2123, and the sliding block slides in the annular guide rail; the annular guide rail is hinged with a rotating rod 2121, the rotating rod 2121 of the middle finger is hinged with a four-finger connecting plate 213, and the rotating rods 2121 of the other three fingers are respectively hinged with an index finger driving rod 214, a ring finger driving rod 215 and a little finger driving rod 216.

As shown in fig. 2, palm model 7 is fixed on the four-finger fixing plate of palm fixing frame 4 through palm elastic band 5, proximal finger cuff 2122 is fixed on the proximal phalanx through finger elastic band 6, distal finger cuff 2123 is fixed on the middle phalanx through elastic band 6, when four-finger connecting plate 213 moves down along the three cylinder guide rail axial direction, index finger driving rod 214, ring finger driving rod 215 and little finger driving rod 216 are driven to move down, under the action force, distal finger cuff 2123 slides in the annular track of proximal finger cuff 2122, so that the bending of proximal phalanx joint and palm phalanx joint of finger is realized at the same time, and big thumb transmission mechanism 211 is similar to the same. The compression springs may provide passive compliance as the four finger web 213, thumb web 2111, move axially.

As shown in fig. 4-6, the cooperating mechanism 23 includes a proximal wire wheel 231, a drive gear 232, a distal wire wheel 233, a driven gear 234, a steering wire wheel set, a thumb drive wire wheel 236, a first motor 237, and a drive cord. The steering wheel set includes a first steering wheel 2351, a second steering wheel 2352, a third steering wheel 2353, and a fourth steering wheel 2354.

The first motor 237 is fixed on a four-finger fixing plate of the palm fixing frame 4, and a motor output shaft is axially fixed with a near-end wire wheel 231, a driving gear 232 and a far-end wire wheel 233 which are connected in sequence from near to far through a coupler. The two sides of the far-end wire wheel 233 are symmetrically provided with a steering wire wheel I2351 and a steering wire wheel II 2352, the far-end wire wheel 233 is wound with a driving rope A and a driving rope B, the other ends of the driving rope A and the driving rope B are respectively connected with a first connecting groove and a second connecting groove of the four-finger connecting plate 213 through the steering wire wheel I2351 and the steering wire wheel II 2352, the near-end wire wheel 231 is wound with a driving rope C, the other end of the driving rope C is connected with a third connecting groove of the four-finger connecting plate 213, and the three connecting grooves are distributed in a triangle shape, so that the motor can drive the four-finger connecting plate 213 to axially move along three cylindrical guide rails in a three-point manner.

The driving gear 232 is meshed with the driven gear 234, the driven gear 234 is fixedly connected with the thumb driving line wheel 236 coaxially, a driving rope D is wound on the thumb driving line wheel 236, the other end of the driving rope D is connected with the thumb connecting plate 2111 after being turned through a steering line wheel III 2353 and a steering line wheel IV 2354, and the thumb connecting plate 2111 can be driven to axially move along two cylindrical guide rails, so that the five-finger collaborative motion is driven by a motor, and the buckling/stretching of a finger joint is realized.

As shown in fig. 2, 7 and 8, the finger joint inner/outer convergence mechanism 22 comprises an index finger slider 221, a middle finger slider 222, a ring finger slider 223, a three-finger link assembly 224, a little finger link 225, a safety stop sleeve 226, a drive nut 227, a middle finger fixing bolt 228, a drive gear set 229 and a drive rope. The three-finger linkage assembly 224 includes a first three-finger linkage 2241, a second three-finger linkage 2242, a third three-finger linkage 2243, and a fourth three-finger linkage 2244.

The index finger sliding block 221 is slidably sleeved on the index finger driving rod 214, the middle finger sliding block 222 is slidably sleeved on a middle finger rail at the front end of the four-finger connecting plate 213, and the ring finger sliding block 223 is slidably sleeved on the ring finger driving rod 215. The safety stop collar 226 is sleeved at the front end of the middle finger rail, and the middle finger fixing bolt 228 penetrates through the safety stop collar 226 to be in threaded connection with the middle finger rail.

The two ends of the first three-finger connecting rod 2241 are respectively hinged with the ring finger sliding block 223 and the middle finger fixing bolt 228, the two ends of the second three-finger connecting rod 2242 are respectively hinged with the middle finger sliding block 222 and the ring finger sliding block 223, the two ends of the third three-finger connecting rod 2243 are respectively hinged with the index finger sliding block 221 and the middle finger fixing bolt 228, the two ends of the fourth three-finger connecting rod 2244 are respectively hinged with the index finger sliding block 221 and the middle finger sliding block 222, the two ends of the little finger connecting rod 225 are respectively hinged with the ring finger sliding block 223 and the little finger driving rod 216, and the driving nut 227 is fixedly connected with the middle finger sliding block 222 in the axial direction.

The first driving gear 2291 and the second driving gear 2292 are fixedly connected coaxially through a gear shaft, and are symmetrically distributed on a gear frame fixed at the rear end of the four-finger connecting plate 213, a driving rope E is wound on the gear shaft, and the other end of the driving rope E is fixedly connected with a driving nut 227. The two drive gears 229 are meshed with two racks on the palm rest 4.

When the four-finger connecting plate 213 moves up and down along the three cylindrical guide rails, the rack drives the driving gear 229 to rotate, so that the middle finger sliding block 222 fixedly connected with the driving nut 227 is pulled to move back and forth through the driving rope on the gear shaft, and the index finger driving rod 214, the ring finger driving rod 215 and the little finger driving rod 216 are driven to rotate through the five-bar linkage matched with the middle finger sliding block 222, so that the inward contraction/outward contraction of the finger joints is realized.

As shown in fig. 9 and 10, the wrist internal/external rotation mechanism 31 includes a wrist ring 311, a second motor 312, and a rotation direction driving gear 313. The wrist can be fixed on the palm fixing frame 4 through wrist elastic fixing belt, the upper part annular track of the circular connecting plate of the palm fixing frame 4 is connected with the guide rail on the inner side of the wrist annular 311 in a rotating fit way, the second motor 312 is fixedly arranged on the wrist annular 311 through a motor frame, the output shaft of the second motor 312 is fixedly connected with the rotation direction driving gear 313 in a coaxial way, the rotation direction driving gear 313 is meshed with the lower part sector teeth of the circular connecting plate of the palm fixing frame 4, and the palm fixing frame 4 can be driven to rotate through the second motor 312, so that the internal rotation/external rotation of the wrist joint can be realized.

As shown in fig. 11-14, the wrist dorsiflexion/palmar-radial/ulnar deviation mechanism 32 includes a wrist connection assembly and a wrist driving mechanism, wherein the wrist connection assembly includes a wrist connection shaft 321, a slide tube 322, a cylindrical slider 323, a forearm connection shaft 324, a four-ball-and-socket universal joint 325, a compression spring a3291 and a compression spring B3292. The wrist drive mechanism includes a gear motor 326, a drive pulley 327, a self-aligning ball bearing 328, and a drive cord.

As shown in fig. 14, one end of a wrist connecting shaft 321 is connected with a wrist circular ring 311 through a four-ball type ball cage universal joint 325, a slide tube 322 is fixedly connected with the other end of the wrist connecting shaft 321 through threads, and a compression spring B3292, a cylindrical sliding block 323 and a compression spring A3291 are sleeved in the slide tube 322 from inside to outside in sequence; one end of the cylindrical sliding block 323 passes through the compression spring B3292, extends out of the sliding tube 322 and is fixed with one end of the forearm connecting shaft 324 through threads, the other end of the forearm connecting shaft 324 is connected with the forearm supporting frame 11 through the four-ball type ball cage universal joint 325, the wrist connecting assemblies are three in total, and the wrist connecting assemblies are distributed in a three-fold mode in the circumferential direction between the wrist circular ring 311 and the forearm supporting frame 11. In the specific embodiment, one end of the sliding tube is provided with an internal thread, the other end of the sliding tube is provided with a smooth step round hole, one end of the cylindrical sliding block 323 is provided with a step shaft, the large diameter of the step shaft is in sliding fit with the large hole of the step round hole, the small diameter of the step shaft is in sliding fit with the small hole of the step round hole, one end of the compression spring B3292 freely abuts against the shaft shoulder of the step shaft of the cylindrical sliding block 323, and the other end freely abuts against the step surface of the step round hole of the sliding tube; one end of the compression spring a3291 freely abuts against the arm connecting shaft 32, and the other end freely abuts against the cylindrical slider 323.

As shown in fig. 12, the wrist driving mechanism includes a gear motor 326, a driving wire wheel 327, a aligning ball bearing 328 and a driving rope, where the three gear motors 326 are respectively and fixedly installed in three motor grooves of the forearm support 11, and the three motor grooves are distributed between two wrist connection assemblies at intervals. The output shaft of the gear motor 326 is axially fixed with a driving wire wheel 327 and a aligning ball bearing 328 in sequence from near to far, the driving wire wheel 327 is wound with a driving rope F, one end of the driving rope F is fixed on the driving wire wheel, the other end of the driving rope F is connected on a connecting groove of the wrist ring 311, and the aligning ball bearing 328 plays a supporting role on a motor shaft.

When the first gear motor 3261 is driven in the forward direction, the second gear motor 3262 and the third gear motor 3263 are driven in the reverse direction, the cylindrical slider 323 of the wrist connecting assembly close to the first gear motor 3261 is retracted into the slide tube 322, and the compression spring A3291 is compressed; the cylindrical sliding blocks 323 of the other two wrist connecting assemblies extend out of the sliding tube 322, and the compression spring B3292 is compressed; thereby realizing the palmar flexion movement of the wrist joint;

when the first gear motor 3261 drives reversely, the second gear motor 3262 and the gear motor 3263 drive positively, the back extension movement of the wrist joint can be realized;

when the first gear motor 3261 is kept motionless, the second gear motor 3262 is driven in the forward direction, and the third gear motor 3263 is driven in the reverse direction, so that radial deflection movement of the wrist joint can be realized;

when the first gear motor 3261 is kept still, the second gear motor 3262 is driven in the reverse direction, and the third gear motor 3263 is driven in the forward direction, so that the lateral deflection motion of the wrist joint can be realized.

With the above-described preferred embodiments according to the present invention as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.

Claims (10)

1. The hand and wrist function integrated rehabilitation robot is characterized by comprising a frame component (1), a finger rehabilitation component (2), a wrist rehabilitation component (3) and a palm fixing frame (4); the frame assembly (1) comprises a forearm support frame (11);

the wrist rehabilitation assembly (3) comprises a wrist joint internal rotation/external rotation mechanism (31) and a wrist joint back extension/palmar flexion-radial side/ulnar side deflection mechanism (32), the wrist joint internal rotation/external rotation mechanism (31) comprises a wrist circular ring (311), a second motor (312) and a rotation direction driving gear (313), and the second motor (312) drives a palmar fixing frame (4) to rotate in the wrist circular ring (311) through the rotation direction driving gear (313), so that internal rotation/external rotation of the wrist joint is realized; the wrist joint dorsiflexion/palmar flexion-radial/ulnar deviation mechanism (32) comprises three wrist connecting components connected between a wrist circular ring (311) and a forearm support frame (11) and three wrist driving mechanisms which are distributed and used for driving the three wrist connecting components to do telescopic movement so as to realize the dorsiflexion/palmar flexion and radial/ulnar deviation two degrees of freedom movements of the wrist joint;

the finger rehabilitation assembly (2) is arranged on the palm fixing frame (4) and comprises a finger joint buckling/stretching mechanism (21), a finger joint inward/outward converging mechanism (22) and a cooperative mechanism (23); the cooperating mechanism (23) drives the finger joint buckling/stretching mechanism (21) and the finger joint adduction/outstretch mechanism (22) to realize two degrees of freedom movements of buckling/stretching and adduction/outstretch of the finger joint.

2. The robot for rehabilitation of integrated hand and wrist functions according to claim 1, wherein the finger joint flexion/extension mechanism (21) comprises a thumb transmission mechanism (211), a four-finger transmission mechanism (212), a four-finger connection plate (213), an index finger driving rod (214), a ring finger driving rod (215), a little finger driving rod (216) and a first compression spring (217); the middle finger transmission mechanism in the four-finger transmission mechanism (212) is hinged with the four-finger connecting plate (213), the other three-finger transmission mechanisms are respectively hinged with the index finger driving rod (214), the ring finger driving rod (215) and the little finger driving rod (216), the index finger driving rod (214), the ring finger driving rod (215) and the little finger driving rod (216) are respectively hinged with the four-finger connecting plate (213), the four-finger connecting plate (213) is in sliding connection with the palm fixing plate (4) through three cylindrical guide rails fixed on the palm fixing plate (4), first compression springs (217) for supporting the four-finger connecting plate (213) are sleeved on the three cylindrical guide rails, and the four-finger connecting plate (213) is connected with the cooperative mechanism (23) through ropes.

3. The robot for rehabilitation of integrated hand and wrist functions according to claim 2, wherein the thumb drive (211) comprises a thumb connecting plate (2111), a thumb rotating rod (2112), a thumb proximal finger cuff (2113), a thumb distal finger cuff (2114) and a second compression spring (2115); the thumb far-end fingerstall (2114) and the thumb near-end fingerstall (2113) are rotatably connected through annular tracks, the thumb near-end fingerstall (2113) is hinged with the thumb rotating rod (2112), the thumb rotating rod (2112) is hinged with the thumb connecting plate (2111), the thumb connecting plate (2111) is slidably connected with the palm fixing frame (4) through two cylindrical guide rails fixed on the palm fixing frame (4), second compression springs (2115) for supporting the thumb connecting plate (2111) are sleeved on the two cylindrical guide rails, and the thumb connecting plate (2111) is connected with the cooperative mechanism (23) through ropes.

4. The robot for rehabilitation of integrated hand and wrist functions according to claim 2, wherein the four-finger transmission mechanism (212) comprises a rotating rod (2121), a proximal finger cuff (2122) and a distal finger cuff (2123), the distal finger cuff (2123) and the proximal finger cuff (2122) are rotatably connected through an annular track, the proximal finger cuff (2122) is hinged with the rotating rod (2121), the rotating rod (2121) of the middle finger is hinged with the four-finger connecting plate (213), and the rotating rods (2121) of the other three fingers are respectively hinged with the index finger driving rod (214), the ring finger driving rod (215) and the little finger driving rod (216).

5. The robot of claim 2, wherein the cooperating mechanism (23) comprises a proximal wire wheel (231), a driving gear (232), a distal wire wheel (233), a driven gear (234), a steering wire wheel set, a thumb drive wire wheel (236), a first motor (237), and a drive rope; the first motor (237) is fixed on the palm fixing frame (4), and the output shaft of the motor is axially fixed with a near-end wire wheel (231), a driving gear (232) and a far-end wire wheel (233) which are connected in sequence from near to far; the steering wheel group comprises a steering wheel I (2351), a steering wheel II (2352), a steering wheel III (2353) and a steering wheel IV (2354);

the steering wire wheels (2351) and the steering wire wheels (2352) are symmetrically distributed on two sides of the far-end wire wheel (233), the driving rope A and the driving rope B are wound on the far-end wire wheel (233) in the same direction, the other ends of the driving rope A and the driving rope B are respectively connected with the first connecting groove and the second connecting groove of the four-finger connecting plate (213) through the steering wire wheels (2351) and the steering wire wheels (2352), the driving rope C is wound on the near-end wire wheel (231), and the other end of the driving rope C is connected with the third connecting groove of the four-finger connecting plate (213);

the driving gear (232) is meshed with the driven gear (234), the driven gear (234) is fixedly connected with the thumb driving line wheel (236) in a coaxial mode, a driving rope D is wound on the thumb driving line wheel (236), and the other end of the driving rope D is connected with the thumb connecting plate (2111) through a steering line wheel III (2353) and a steering line wheel IV (2354).

6. The robot of claim 5, wherein the finger joint adduction/adduction mechanism (22) comprises an index finger slider (221), a middle finger slider (222), a ring finger slider (223), a three-finger link assembly (224), a little finger link (225), a safety stop collar (226), a drive nut (227), a middle finger fixing bolt (228), a drive gear set (229), and a drive rope; the index finger sliding block (221) is sleeved on the index finger driving rod (214) in a sliding manner, the middle finger sliding block (222) is sleeved on a middle finger track at the front end of the four-finger connecting plate (213) in a sliding manner, and the ring finger sliding block (223) is sleeved on the ring finger driving rod (215) in a sliding manner; the safety limit sleeve (226) is sleeved at the front end of the middle finger rail, the middle finger fixing bolt (228) penetrates through the safety limit sleeve (226) to be in threaded connection with the middle finger rail, and the driving nut (227) is fixed on the middle finger sliding block (222);

the three-finger link assembly (224) comprises a first three-finger link (2241), a second three-finger link (2242), a third three-finger link (2243) and a fourth three-finger link (2244); two ends of a third finger connecting rod (2241) are respectively hinged with a ring finger sliding block (223) and a middle finger fixing bolt (228), two ends of a third finger connecting rod (2242) are respectively hinged with a middle finger sliding block (222) and a ring finger sliding block (223), two ends of a third finger connecting rod (2243) are respectively hinged with an index finger sliding block (221) and a middle finger fixing bolt (228), two ends of a fourth finger connecting rod (2244) are respectively hinged with the index finger sliding block (221) and the middle finger sliding block (222), and two ends of a little finger connecting rod (225) are respectively hinged with the ring finger sliding block (223) and a little finger driving rod (216);

the driving gear set (229) comprises a first driving gear (2291) and a second driving gear (2292) which are coaxially and fixedly connected through a gear shaft, a driving rope E is wound on the gear shaft, and the other end of the driving rope E is connected with a driving nut (227); the two driving gears are meshed with racks fixed on the palm fixing frame (4).

7. The robot for rehabilitation of hand and wrist function integration according to claim 1, wherein the palm fixing frame (4) is rotatably connected with a guide rail at the inner side of the wrist circular ring (311), the second motor (312) is fixed on the motor frame of the wrist circular ring (311), the rotation direction driving gear (313) is fixedly connected with the output shaft of the second motor (312) coaxially, and the rotation direction driving gear (313) is meshed with the sector teeth of the palm fixing frame (4).

8. The robot of claim 1, wherein the wrist connection assembly comprises a wrist connection shaft (321), a slide tube (322), a cylindrical slider (323), a forearm connection shaft (324), a four-ball-and-cage universal joint (325), a compression spring a (3291) and a compression spring B (3292);

one end of a wrist connecting shaft (321) is connected with a wrist circular ring (311) through a four-ball type ball cage universal joint (325), a slide tube (322) is fixedly connected with the other end of the wrist connecting shaft (321) through threads, and a compression spring B (3292), a cylindrical sliding block (323) and a compression spring A (3291) are sleeved in sequence from inside to outside in the slide tube (322); one end of the cylindrical sliding block (323) penetrates through the compression spring B (3292) and extends out of the sliding tube (322) to be fixedly connected with one end of the small arm connecting shaft (324) through threads, and the other end of the small arm connecting shaft (324) is connected with the small arm supporting frame (11) through the four-ball type ball cage universal joint (325).

9. The robot for rehabilitation of hand and wrist function integration according to claim 1, wherein the wrist driving mechanism comprises a gear motor (326), a driving wire wheel (327), a aligning ball bearing (328) and a driving rope, the three gear motors (326) are respectively and fixedly installed in three motor grooves of the forearm support frame (11), an output shaft of each gear motor (326) is axially and fixedly connected with the driving wire wheel (327) and the aligning ball bearing (328) from near to far in sequence, the driving wire wheel (327) is wound with the driving rope F, the other end of the driving rope F is connected with a connecting groove of the wrist circular ring (311), and the aligning ball bearing (328) is used for supporting a motor shaft to rotate.

10. The robot for rehabilitation of hand and wrist function integration according to claim 1, wherein the frame assembly (1) further comprises a base (12), and the forearm support frame (11) is fixedly mounted on the base (12).

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