CN208677859U - A kind of passive finger recovering training device of master - Google Patents

Abstract

The application discloses a kind of passive finger recovering training device of master, including pedestal, hand supporting plate, electric lifting vertical column is fixed on the base, electric lifting vertical column is fixedly connected with crossbeam, connecting cross beam fixes hand supporting plate, it is left-to-right on hand supporting plate that four finger training devices are successively installed, the rehabilitation training referred to for realizing four, four finger training devices are arranged along the longitudinal direction, and front side between left and right away from equal, four respectively arranged pins of finger training device front lower ends and hand supporting plate are rotatablely connected, the pin of rear portion setting and four guide grooves of sliding postlaminar part setting are slidably connected, and the left and right sides guide groove equal two sides deflection to the left and right from front to back, the finger training device for thumb training is symmetrically arranged at left and right sides of hand supporting plate, the rear side spacing of four finger training devices is adjustable, not only facilitate making for different patients With, while four fingers of patient being made to bend and stretch process closer to physiological movement track, improve the rehabilitation efficacy of patient.

Description

A kind of passive finger recovering training device of master

Technical field

The utility model relates to a kind of finger recovering training device more particularly to a kind of passive finger recovering training devices of master, belong to In rehabilitation medical instrument field.

Background technique

Hand is the important movable organ of human body, and since hand will be engaged in mankind's major part production activity, hand is also highly prone to hurt Evil, is easy to cause hand movement function obstacle, by environmental stimuli finger movement, realizes that the recovery of patient's finger function is current public affairs Recognize and effective treatment means.

The technical solution setting of the application finger training device essentially identical there are six structure, adapts to the right-hand man of patient The needs of the five fingers rehabilitation training；Spacing is equal on front side of four device for healing and training referred to, and rear side spacing is adjustable, not only facilitates different trouble The use of person, while four fingers of patient being made to bend and stretch process closer to physiological movement track, improve the rehabilitation efficacy of patient；Four refer to Thumb, which is connected on towing plate, is all made of magnet absorption connection, and when tractive force overload, magnet can disconnect automatically, improve safety Property；Towing plate is driven using tape handler to draw patient's finger, the external force that patient applies is indirectly transferred to moment of flexure sensor, The stress condition of real-time detection patient's finger；It is driven using servo motor, the encoder real-time detection being arranged on servo motor is suffered from The finger movement range of person realizes track detection and assessment to the movement of patient；Spring level branch can be used in wrist bracket part Support and adjustable level angle support construction, improve the comfort level of the finger training of patient, using can front and back adjust position Sliding equipment driving four refer to the spacing adjustment at mechanism rear portions, delicate structure is easy to implement.

Summary of the invention

The purpose of this utility model is that: provide one kind four finger bending state positions for the patient of hand the five fingers dysfunction When traction device adjustable interval, real-time detection patient's finger flex strength and moving displacement the passive finger rehabilitation exercise of master Device.

Purpose of the utility model is realized as follows: a kind of passive finger recovering training device of master, including pedestal 1, hand Supporting plate 6, electric lifting vertical column 7 are fixed on pedestal 1, and electric lifting vertical column 7 is fixedly connected with the front end of crossbeam 5, connecting cross beam 5 Hand supporting plate 6 is fixed in rear end, on hand supporting plate 6 it is left-to-right successively install finger training device 1, finger training device 2 12, Finger training device 3 13, finger training device 4 14, finger training device 1, finger training device 2 12, finger training Device 3 13, the structure of finger training device 4 14 are identical, are arranged along the longitudinal direction, and front side between left and right away from equal, use In the rehabilitation training that realization four refers to, the finger training device 1, finger training device 2 12, finger training device three 13, the rear side adjustable interval of finger training device 4 14.

The finger training device 1, finger training device 2 12, finger training device 3 13, finger training device Four pin holes 601 being arranged on the preceding pin and hand supporting plate 6 being arranged on front side of 4 14 lower ends are rotatablely connected respectively, the finger Training device 1, finger training device 2 12, finger training device 3 13,4 14 lower end of finger training device rear side are arranged Guide groove slide and be rotatablely connected respectively four be arranged on pin and sliding panel 16 afterwards in the front-back direction, on the left of two be oriented to Slot is from front to back towards left side deflection, and from front to back towards right side deflection, sliding panel is arranged in hand two guide grooves in right side On supporting plate 6, and front-rear position is adjustable.

The finger training device 1 includes: device for fixing finger one, servo motor 1, towing plate 1 Middle part is slidably connected with upper and lower slide bar one, and upper slide bar one, drop shot one are arranged in parallel along the longitudinal direction, towing plate one The fixed device one of 1121 upper end fixed finger, the lower end of towing plate 1 are fixed on the side band edge of synchronous belt 1, Fixed block 1 after the rear end of upper and lower slide bar one is fixed, fixed block 1 before front end is fixed, preceding fixed block 1 are fixed One fixing end of moment of flexure sensor 1, the front end of preceding one 1109 fixing and mounting bracket 1 of fixed block, mounting rack one The lower end of the fixed support chip 1 in 1117 rear end, fixed block 1 after the upper end of support chip 1 is fixed, servo electricity Before machine 1 is fixed on by motor rack 1 on fixed block 1, the fixed moment of flexure sensor one of preceding fixed block 1 1110 another fixing end, pulley shaft 1 after one 1103 lower end of belt wheel mounting blocks is fixed are living on rear pulley shaft 1 It is cased with rear side belt wheel 1, rear side belt wheel 1 forms V belt translation by synchronous belt 1 and front side belt wheel 1, Front side belt wheel 1 is fixed on the output shaft of servo motor 1, and belt wheel mounting blocks 1 are on upper and lower slide bar one Fixation position it is adjustable, the mounting rack 1 is arranged on hand supporting plate 6.

The structure on hand supporting plate 6 is arranged in the mounting rack 1 are as follows: under one 1117 front side of mounting rack Pin 1 before side is fixed with, pin 1 after one mounting rack 1 of rear side transverse slat is fixed, before the hand supporting plate 6 The pin hole 601 equal there are four spacing is arranged in portion from left to right, the left side pin hole rotation connection preceding pin 1 Lower end, sliding panel 16 are mounted on hand supporting plate 6, and 16 rear portion of sliding panel from left to right offers guide groove 1, guide groove 2 1602, the guide groove 1 being arranged on guide groove 3 1603, guide groove 4 1604, rear pin 1 and sliding panel 16 is sliding Dynamic and rotation connection, finger training device 2 12, finger training device 3 13,4 14 front side of finger training device and pin hole 601 Rotation connection, the rear side sliding and rotation connection with guide groove 2 1602, guide groove 3 1603, guide groove 4 1604 respectively.

The finger training device 1, finger training device 2 12, finger training device 3 13, finger training device The structure of 4 14 rear side adjustable interval are as follows: the guide groove 1, the guide groove 2 1602 equal court in direction from front to back Deflection to the left, the symmetrical structure of sliding panel 16, sliding panel 16 are slidably connected with hand supporting plate 6, are arranged on hand supporting plate 6 Have sliding panel 16 slides back and forth position adjustment and fixed device, guide groove 3 1603, guide groove 4 1604 and guide groove one 1601, guide groove 2 1602 is about sliding panel 16 bilateral symmetry plane bilateral symmetry.

The structure for sliding back and forth position adjustment and fixed device of sliding panel 16 is provided on the hand supporting plate 6 are as follows: 16 left and right sides of sliding panel symmetrically offers sliding slot 1605 in the front-back direction, and sliding slot and 6 left and right sides of hand supporting plate are right Fixed slide plate sliding pin 18 is claimed to be slidably connected, 16 front end of sliding panel is provided with the lower beam for being passed down through 6 gap of hand supporting plate 1606, lower 1606 fixed glides pin 22 of beam, the right end setting traction sliding slot 2101 of handlebar 21,22 lower end of slide plate pin can It is slided in traction sliding slot 2101 and rotation, the right part of handlebar 21 is rotated with the handle pin 23 being fixed on hand supporting plate 6 Connection, 21 left end fixed handle 19 of handlebar.

The symmetrical structure of the hand supporting plate 6, the middle part left side edge installation finger training dress of hand supporting plate 6 6 17 are set, finger rehabilitation training device six is used for the training of hand thumb, the finger training device 5 15 and finger training Bilateral symmetry plane symmetrical structure of the device 6 17 about hand supporting plate 6.

The finger training device 6 17 and the structure of finger training device 1 is essentially identical, and difference is: installation Frame 6 1717 is without preceding pin six fixed on front side transverse slat six and front side transverse slat six, the rear pin of finger training device 6 17 Six lower ends are fixed on the edge of 6 right side central of hand supporting plate, the fixed device six of the fixed thumb in 6 1721 upper end of towing plate.

Moment of flexure sensor 6 1710 is located at left, the rear of finger training device 6 17, mounting rack 6 1717 and hand support The angle of plate 6 is 20 degree to 40 degree.

Fixation position adjustable structure of the belt wheel mounting blocks 1 on upper and lower slide bar one are as follows: described Belt wheel mounting blocks 1 are slidably connected with upper and lower slide bar one, adjust front end and the belt wheel mounting blocks 1 of screw rod 1 Screw pair connection, adjustment screw rod 1 screw adjusting nut 1 after backing through rear fixed block 1, adjust screw rod One 1123 rear end inner holes are the interior hexagon for accommodating allen wrench.

The device for fixing finger one includes: finger connection frame 1, finger axis 1, the finger connection Frame 1 is in the U-shaped to dump forward, the both ends of fixed finger axis 1, spindle one between the both sides of the front end of U-shaped 1126 loops finger turning set 1, fixed finger fixed magnet 1 on finger turning set 1, finger is fixed Finger adsorption magnet 1128 is adsorbed on magnet 1, fixes fingerstall 1 on finger adsorption magnet 1128.

The fixed device six of the thumb includes: thumb connection frame 6 1706, thumb axis 6 1726, the towing plate six The left end of the fixed thumb connection frame 6 1706 in 1721 upper ends, the fixed thumb axis 6 1726 of the right end of thumb connection frame 1706, thumb On axis 6 1726 loop thumb wheel set 6 1729, thumb wheel set 6 1729 on fixes thumb fixed magnet 6 1730, thumb Refer to and adsorb thumb adsorption magnet 1728 on fixed magnet 6 1730, fixes fingerstall 6 1727 on thumb adsorption magnet 1728.

The support chip with a thickness of 0.2-0.5mm.

The fixed wrist brace 27 in 6 rear end of hand supporting plate, 27 upper end of wrist brace is successively fixed with small from bottom to top Arm crossbeam 26, wrist fixed mechanism 24, the fixed forearm fixed mechanism 25 in 26 rear end of forearm crossbeam.

The wrist fixed mechanism 24 includes: wrist fixed frame 2401, and the wrist fixed frame 2401 is in U-shape knot Structure, the U-shaped horizontal sides of wrist fixed frame 2401 open up the fixed frame sliding slot 2414 there are two along the longitudinal direction, wrist clamping screw 2 2415 are fixed in wrist brace 27 after fixed frame sliding slot 2414, forearm crossbeam 26, to realize wrist fixed frame The adjustment of 2401 front-rear positions.

The wrist fixed mechanism 24 further includes wrist swinging frame 2407, and the wrist swinging frame 2407 is also in U-shape Structure, wrist swinging frame 2407 and 2401 left side connection structure of wrist fixed frame are as follows: the left vertical edge upper end of wrist fixed frame 2401 It is rotatablely connected wrist shaft 2403, wrist spring catch 2402 is installed in the middle part of 2401 left side vertical side of wrist fixed frame, wrist is solid To determine to fix wrist rest set 2405 on 2401 left side vertical side of frame, wrist rest set 2405 is rotatablely connected with wrist shaft 2403, Wrist clamping screw 1 is installed on wrist rest set 2405, for fixing wrist shaft 2403, wrist swinging frame 2407 The fixed wrist shaft 2403 of left side U-shaped vertical edge, the left side U-shaped vertical edge lower part of wrist swinging frame 2407 and wrist spring catch 2402 adaptable positions are provided with wrist spring catch pin hole 2416, connect on the right side of wrist swinging frame 2407 and wrist fixed frame 2401 The bilateral symmetry plane bilateral symmetry of structure and left side connection structure about wrist fixed frame 2401.

The wrist spring catch pin hole 2416 is three holes that angles setting is waited centered on wrist shaft 2403, is used for Adjust the level angle of wrist swinging frame 2407.

The palm supporting plate 2406 forward extended out is provided in the middle part of wrist swinging frame 2407, for holding up the palm of patient.

It is provided in the middle part of the rear side of the wrist swinging frame 2407 and holds out against riser 2413, in 2401 rear end of wrist fixed frame Portion is provided with the support riser 2412 of vertical direction, and support riser 2412 is slidably connected the puller bolt of front-rear direction setting 2409,2409 rear end of puller bolt screws spring nut 2410, and 2409 front end of puller bolt is provided with circular boss 2417, top Tight bolt 2409 is located at boss 2417 and support 2412 position of riser is cased with spring 2411.

Forearm fixed mechanism 25 includes forearm attachment beam 2501, small fupport arm 2504, under the rear end of the forearm crossbeam 26 The fixed forearm crossbeam axis 2601 being arranged along the vertical direction in surface, the rotation of forearm crossbeam axis connect the front end circle of forearm attachment beam 2501 Column installs forearm clamping screw 2505 on the front end cylinder of forearm attachment beam 2501, for forearm attachment beam 2501 in forearm cross It is fixed on beam axis 2601, and fixed angle is adjustable, and 2501 rear end thereof of forearm attachment beam connects small fupport arm shaft 2502, small Small fupport arm 2504 is fixed in 2502 upper end of fupport arm shaft, is fixed with forearm bandage 2503 in small fupport arm 2504.

Fixed blade guard 28 on the hand supporting plate 6, shield 28 are located at finger training device 1, finger training dress Set 2 12, finger training device 3 13, the top of finger training device 4 14 opens up a rectangular notch, finger training device one 11 top fixed protection baffles 1 offer the notch 1132 of front-rear direction setting on protective baffle plate 1, for keeping away Allow the sliding back and forth of towing plate 1, the finger training device 2 12, finger training device 3 13, finger training device Fixed protection baffle 2 1231, protective baffle plate 3 1331, protective baffle plate 4 1431 are distinguished on 4 14, protective baffle plate 2 1231 is prevented Guard 3 1331, protective baffle plate 4 1431 are identical as one 1131 structure of protective baffle plate, the fixation of two adjacent protective baffle plates The different settings of height, high protective baffle plate are provided with the space for accommodating the low protective plate in two sides.

Connecting cross beam rear portion is set as hollow pipe 5-1 structure, and hollow pipe 5-1 inner hole is rotatablely connected the front of hollow shaft 9, empty Crossbeam spring catch 8 is provided on heart pipe 5-1, there are four circumference sides for the position setting being adapted in hollow shaft 9 with crossbeam spring catch 8 To uniformly distributed pin hole, the pin shaft front end of crossbeam spring catch 8 is inserted into the pin hole of hollow shaft 9, realizes the fixation of hollow shaft 9, and And hollow shaft fixed angle is adjustable, 9 rear end of hollow shaft is fixed in the inner hole of link block 10, and 10 lower end of link block is solid Determine the front end of hand supporting plate 6, on hand supporting plate 6 servo motor practice grade route and moment of flexure sensor line pass through hollow shaft 9 with Control element connects in control cabinet 2, and the control cabinet 2 is fixed on electronic upgrading column.

Compared with prior art, the utility model has the advantages that

1. adapting to the need of right-hand man's the five fingers rehabilitation training of patient using the essentially identical finger training device of six structures It wants；

2. spacing is equal on front side of four device for healing and training referred to, rear side spacing is adjustable, not only facilitates the use of different patients, So that four fingers of patient is bent and stretched process closer to physiological movement track simultaneously, improves the rehabilitation efficacy of patient；

3. four fingers and thumb, which are connected on towing plate, is all made of magnet absorption connection, when tractive force overload, magnet meeting is certainly Dynamic circuit breaker is opened, and safety is improved；Towing plate is driven using tape handler to draw patient's finger, the external force that patient applies passes indirectly Moment of flexure sensor is passed, real-time detection patient's finger accepts situation；

4. it is driven using servo motor, the finger movement range for the encoder real-time detection patient being arranged on servo motor, Track detection and assessment are realized to the movement of patient；

5. the support construction of spring level support and adjustable level angle can be used in wrist bracket part, patient is improved Finger training comfort level；

6. using can front and back adjustment position sliding equipment driving four refer to mechanism rear portions spacing adjustment, delicate structure, just In realization.

Detailed description of the invention

Fig. 1 is the overall construction drawing of main passive finger recovering training device.

Fig. 2 is the structural schematic diagram of height adjustment part and hand coupling part.

Fig. 3 is the structural schematic diagram of hand rehabilitation training mechanism.

Fig. 4 is that structural schematic diagram one is practiced by the finger instruction mechanism in four fingers.

Fig. 5 is that structural schematic diagram two is practiced by the finger instruction mechanism in four fingers.

Fig. 6 is the finger training mechanism structure schematic diagram three in four fingers.

Fig. 7 is the structural schematic diagram that the finger training structure in four fingers is mounted on hand supporting plate.

Fig. 8 is sliding panel sliding drive mechanism schematic diagram.

Fig. 9 is the structural schematic diagram that thumb training structure is mounted on hand supporting plate.

Figure 10 is the finger fixed structure schematic diagram in four fingers.

Figure 11 is thumb fixed structure schematic diagram.

Figure 12 is the structural schematic diagram that wrist and forearm consolidate part.

Figure 13 is wrist fixed structure schematic diagram one.

Figure 14 is wrist fixed structure schematic diagram two.

Figure 15 is small arm section fixed structure schematic diagram.

Figure 16 is finger rehabilitation exercise mechanism protective roof structure schematic diagram.

Figure 17 is that fixed protection baffle arrangement schematic diagram in structure is practiced by the finger instruction mechanism in four fingers.

Specific embodiment

Such as Fig. 1-17, a kind of passive finger recovering training device of master, including pedestal 1, control cabinet 2, display 3, desktop 4, company Connect crossbeam 5, hand supporting plate 6, electric lifting vertical column 7, crossbeam spring catch 8, hollow shaft 9, link block 10, finger training device one 11, finger training device 2 12, finger training device 3 13, finger training device 4 14, finger training device 5 15, sliding panel 16, finger training device 6 17, slide plate sliding pin 18, handle 19, handlebar 21, slide plate pin 22, handle pin 23, wrist are fixed Mechanism 24, forearm fixed mechanism 25, forearm crossbeam 26, wrist brace 27, shield 28, the fixed electric up-down of the pedestal 1 The movable end of column 7 is fixed with universal wheel on the downside of the pedestal 1, and the upper end of the electric lifting vertical column 7 is fixing end, Fixed control cabinet 2,7 upper end of electric lifting vertical column are fixedly connected with the front end of crossbeam 5 on rear side of the top of electric lifting vertical column 7, connect Crossbeam rear portion is set as hollow pipe 5-1 structure, and hollow pipe 5-1 inner hole is rotatablely connected the front of hollow shaft 9, sets on hollow pipe 5-1 It is equipped with the crossbeam spring catch 8, there are four circumferencial direction is equal for the position setting being adapted in hollow shaft 9 with crossbeam spring catch 8 The pin shaft front end of the pin hole of cloth, crossbeam spring catch 8 is inserted into the pin hole of hollow shaft 9, realizes the fixation of hollow shaft 9, and empty Mandrel fixed angle is adjustable, to adapt to the needs of different finger gymnastic patients.9 rear end of hollow shaft is fixed on link block In 10 inner hole, the front end of the fixed hand supporting plate 6 in 10 lower end of link block, servo motor practices grade route and curved on hand supporting plate 6 Square sensor line passes through hollow shaft 9 and connect with control element in control cabinet 2.

The hand supporting plate 6 from left to right successively installs the finger training device 1, finger training device two 12, finger training device 3 13, finger training device 4 14, finger training device 1, finger training device 2 12, finger instruction It is identical to practice device 3 13, the structure of finger training device 4 14, is arranged along the longitudinal direction, and between left and right away from equal, for real Existing four rehabilitation trainings referred to, the symmetrical structure of the hand supporting plate 6, the middle part left side edge installation of hand supporting plate 6 The finger training device 6 17, finger rehabilitation training device six are used for the training of hand thumb, the finger training dress 5 15 and bilateral symmetry plane symmetrical structure of the finger training device 6 17 about hand supporting plate 6 are set, both hand supporting plate 6 The middle part right side edge installation finger training device 5 15, finger rehabilitation training device 5 15 is used for the instruction of left hand thumb Practice.

The finger training device 1 includes: support chip 1, rear fixed block 1, belt wheel mounting blocks one 1103, drop shot 1, upper slide bar 1, device for fixing finger one, upper sliding sleeve 1, front side belt wheel 1, preceding Fixed block 1, moment of flexure sensor 1, motor rack 1, preceding pin 1, servo motor 1, synchronous belt One 1115, low sleeve 1116, mounting rack 1, rear side belt wheel 1, rear pin 1, towing plate 1, adjustment Nut 1, adjustment screw rod 1, rear pulley shaft 1, the fixed upper sliding sleeve one in one 1121 middle part of towing plate 1107, low sleeve 1116, upper sliding sleeve 1, low sleeve 1116 connect with upper slide bar 1, the sliding of drop shot 1 respectively It connects, upper slide bar 1, drop shot 1 are arranged in parallel along the longitudinal direction, and upper slide bar 1 is located at drop shot one 1104 surface, the fixed device one of the upper end fixed finger of the towing plate 1, the lower end of towing plate 1 are solid Determine on the side band edge of synchronous belt 1, upper slide bar 1, drop shot 1 rear end it is fixed after fixed block 1, Fixed block 1 before front end is fixed, the top rear side surface of the fixed moment of flexure sensor 1 of preceding fixed block 1 are preceding solid Determine the front end of the lower section front side surface fixing and mounting bracket 1 of block 1, the fixed support chip one in the rear end of mounting rack 1 1101 lower end, fixed block 1, the belt wheel mounting blocks 1 and upper cunning after the upper end of support chip 1 is fixed Bar 1, drop shot 1 are slidably connected, pulley shaft 1 after one 1103 lower end of belt wheel mounting blocks is fixed, rear pulley shaft On one 1124 loop the rear side belt wheel 1, rear side belt wheel 1 pass through synchronous belt 1 and front side belt wheel one 1108 form V belt translation, and front side belt wheel 1 is fixed on the output shaft of servo motor 1, and servo motor 1 is solid It is scheduled on motor rack 1, the lower end of fixed block 1, the adjustment screw rod one before motor rack 1 is fixed on 1123 front end and one 1103 threaded engagement of belt wheel mounting blocks, adjustment screw rod 1 back through rear one 1102 back spin of fixed block Adjusting nut 1 is closed, adjustment one 1123 rear end inner hole of screw rod is interior hexagon, fixes adjustment screw rod one with allen wrench 1123, adjusting nut 1 is rotated, moves backward belt wheel mounting blocks 1, for being tensioned synchronous belt 1.Work as trouble After the finger of person is fixed on device for fixing finger one, servo motor 1 is rotated, and one 1121 front and back of towing plate is driven to move Dynamic, the finger of patient applies resistance, the effect of one 1114 under tension of servo motor, and motor rack 1 is fixed on preceding fixed block One 1109 lower ends, the top rear side surface of the preceding fixed moment of flexure sensor 1 in one 1109 upper end of fixed block front side, moment of flexure sensing The front end of fixing and mounting bracket 1 below the front side surface of device 1, mounting rack 1 are arranged on hand supporting plate 6, institute Power with one 1110 back side top of moment of flexure sensor by forward direction, and its lower front is fixed on mounting rack 1, it is curved Square sensor 1 measures the resistance of patient's finger, the fixed support chip 1 in rear one 1102 lower end of fixed block, support chip One 1101 other ends and mounting rack 1 are fixed, because the rigidity of moment of flexure sensor 1 is poor, support chip 1 is made With being to provide Auxiliary support, support chip with a thickness of 0.2-0.5mm, provide Auxiliary support, and reduce to moment of flexure sensor one 1110 influence.

The one 1117 front side lower section of mounting rack is provided with front side transverse slat 1, and rear side transverse slat is provided with below rear end One 1119, the upper end of pin 1 before front side transverse slat 1 is fixed, pin 1 after rear side transverse slat 1 is fixed Upper end.

16 left and right sides of sliding panel symmetrically offers sliding slot 1605 in the front-back direction, and sliding slot and hand supporting plate 6 are left The slide plate sliding pin 18 that right two sides are symmetrically fixed is slidably connected, and realizes that sliding panel 16 is slidably connected along the longitudinal direction with hand supporting plate 6, 16 rear portion of sliding panel from left to right offers guide groove 1, guide groove 2 1602, guide groove 3 1603, guide groove four 1604, direction is towards left side deflection from front to back for guide groove 1, guide groove 2 1602, and guide groove 1 is greater than and leads To the angle excursion of slot 2 1602, guide groove 3 1603, guide groove 4 1604 and guide groove 1, guide groove 2 1602 about The symmetrical structure of hand supporting plate 6, finger training device 1, finger training dress when being slided backward for realizing sliding panel 16 It is separate to set 2 12, finger training device 3 13,4 14 rear portion of finger training device, finger is instructed when realizing 16 forward slip of sliding panel White silk device 1, finger training device 2 12, finger training device 3 13,4 14 rear portion of finger training device are gathered, and hand is adjusted Refer to training device 1, finger training device 2 12, finger training device 3 13, finger training device 4 14 rear portion finger lead Draw position, improves the comfort level of the training of patient.

The pin hole 601 equal there are four spacing is arranged in 6 front of hand supporting plate from left to right, and pin hole rotation in left side connects The lower end of the preceding pin 1 is connect, rear one 1120 lower end of pin and guide groove 1 are slided and be rotatablely connected, finger Training device 2 12, finger training device 3 13,4 14 front side of finger training device are rotatablely connected with pin hole 601, rear side difference With guide groove 2 1602, guide groove 3 1603, guide groove 4 1604 connection type with the front side of finger training device 1 and pin Hole 601 is rotatablely connected, and rear side is identical as the connection type of guide groove 1.

16 front center of sliding panel is provided with the lower beam 1606 for being passed down through 6 gap of hand supporting plate, lower beam The upper end of 1606 fixed glides pins 22, the right end setting traction sliding slot 2101 of handlebar 21,22 lower end of slide plate pin can led Drawing sliding and rotation in sliding slot 2101, the right part of handlebar 21 is rotatablely connected with the handle pin 23 being fixed on hand supporting plate 6, Swing backward the left end of handlebar 21, handlebar 21 is rotated around handle pin 23, the right end of handlebar 21 drive sliding panel 16 to Front slide, the left end of swing handle bar 21, drives sliding panel 16 to slide backward forward, and 21 left end fixed handle 19 of handlebar is used In lengthening handlebar, keep handlebar 21 laborsaving to forward and backward swing.

The finger training device 6 17 and the structure of finger training device 1 is essentially identical, and difference is: installation Frame 6 1717 is without preceding pin six fixed on front side transverse slat six and front side transverse slat six.The rear pin of finger training device 6 17 Six lower ends are fixed on the edge of 6 right side central of hand supporting plate, and moment of flexure sensor 6 1710 is located at finger training device 6 17 The angle of left, rear, mounting rack 6 1717 and hand supporting plate 6 is 20 degree to 40 degree, the fixed thumb in 6 1721 upper end of towing plate Fixed device six.

The device for fixing finger one includes: finger connection frame 1, finger axis 1, finger turning set one 1129, finger fixed magnet 1, finger adsorption magnet 1128, fingerstall 1, the finger connection frame 1 are in The U-shaped to dump forward, the both ends of fixed finger axis 1, one 1126 loop of spindle are set about between the both sides of the front end of U-shaped Refer to turning set 1, the fixed finger fixed magnet 1 on finger turning set 1, finger fixed magnet one The finger adsorption magnet 1128 is adsorbed on 1130, fixes fingerstall 1 on finger adsorption magnet 1128.

The fixed device six of the thumb includes: thumb connection frame 6 1706, thumb axis 6 1726, thumb wheel set six 1726, thumb fixed magnet 6 1730, thumb adsorption magnet 1728, fingerstall 6 1727,6 1721 upper end of towing plate are solid Determine the left end of thumb connection frame 6 1706, the fixed thumb axis 6 1726 of the right end of thumb connection frame 1706, on thumb axis 6 1726 Loop thumb wheel set 6 1729, the thumb fixed magnet 6 1730 on thumb wheel set 6 1729, thumb is solid The thumb adsorption magnet 1728 is adsorbed on fixed magnet 6 1730, fixes fingerstall 6 1727 on thumb adsorption magnet 1728.

The fixed wrist brace 27 in 6 rear end of hand supporting plate, 27 upper end of wrist brace is successively fixed with small from bottom to top Arm crossbeam 26, wrist fixed mechanism 24, the fixed forearm fixed mechanism 25 in 26 rear end of forearm crossbeam.

The wrist fixed mechanism 24 include: wrist fixed frame 2401, wrist spring catch 2402, wrist shaft 2403, Wrist clamping screw 1, wrist rest set 2405, wrist swinging frame 2407, wrist bandage 2408, puller bolt 2409, branch Riser 2412, wrist clamping screw 2 2415, spring 2411, spring nut 2410 are supportted, the wrist fixed frame 2401 is in U-shape Structure, the U-shaped horizontal sides of wrist fixed frame 2401 open up the fixed frame sliding slot 2414 there are two along the longitudinal direction, wrist locking screw Bolt 2 2415 is fixed in wrist brace 27 after passing through fixed frame sliding slot 2414, forearm crossbeam 26, to realize wrist fixed frame The adjustment of 2401 front-rear positions, the wrist swinging frame 2407 are also in U-shape structure, wrist swinging frame 2407 and wrist fixed frame 2401 left side connection structures are as follows: the left vertical edge upper end of wrist fixed frame 2401 is rotatablely connected wrist shaft 2403, wrist fixed frame Wrist spring catch 2402 is installed in the middle part of 2401 left side vertical sides, wrist fixed frame fixes wrist rest on 2401 left side vertical side Set 2405, wrist rest set 2405 are rotatablely connected with wrist shaft 2403, are equipped with wrist locking screw on wrist rest set 2405 Bolt 1, for fixing wrist shaft 2403, the left side U-shaped vertical edge of wrist swinging frame 2407 fixes wrist shaft 2403, The left side U-shaped vertical edge lower part of wrist swinging frame 2407 and wrist spring catch 2402 are adapted position and are provided with wrist spring catch pin hole 2416, the wrist spring catch pin hole 2416 is three holes that angles setting is waited centered on wrist shaft 2403, for adjusting The level angle of whole wrist swinging frame 2407, wrist swinging frame 2407 connect with 2401 right side connection structure of wrist fixed frame with left side Bilateral symmetry plane bilateral symmetry of the binding structure about wrist fixed frame 2401, is provided with to extension in the middle part of wrist swinging frame 2407 Palm supporting plate 2406 out is provided in the middle part of the rear side of the wrist swinging frame 2407 and holds out against for holding up the palm of patient Riser 2413,2401 rear end of wrist fixed frame middle part are provided with the support riser 2412 of vertical direction, and support riser 2412 slides The puller bolt 2409 of front-rear direction setting is connected, 2409 rear end of puller bolt screws spring nut 2410, puller bolt 2409 Front end is provided with circular boss 2417, and puller bolt 2409 is located at boss 2417 and support 2412 position of riser is cased with spring 2411, the extraction of wrist spring catch 2402 is rotated by 90 ° for patient, when the pin shaft of wrist spring catch is in retracted mode, is held out against Bolt 2409 flexibly supports palm supporting plate 2406, realizes that the elasticity of wrist swinging frame is held out against, adapts to the needs of different patients, described Wrist fixed frame 240, the symmetrical structure of wrist swinging frame 2407 are provided with wrist bandage 2408 on wrist swinging frame 240.

The forearm fixed mechanism 25 includes forearm attachment beam 2501, small fupport arm shaft 2502, forearm bandage 2503, small Fupport arm 2504, forearm clamping screw 2505, the rear end lower surface fixation of the forearm crossbeam 26 are arranged small along the vertical direction Arm crossbeam axis 2601, the rotation of forearm crossbeam axis connect the front end cylinder of forearm attachment beam 2501, the front end circle of forearm attachment beam 2501 Forearm clamping screw 2505 is installed on column, it is fixed on forearm crossbeam axis 2601 for forearm attachment beam 2501, and fixed angles Degree is adjustable, and 2501 rear end thereof of forearm attachment beam connects small fupport arm shaft 2502, the fixed forearm in small 2502 upper end of fupport arm shaft Support 2504 is fixed with forearm bandage 2503 in small fupport arm 2504.

Fixed blade guard 28 on the hand supporting plate 6, for covering finger training device 1, finger training device two 12, finger training device 3 13, finger training device 4 14, finger training device 5 15 and finger training device 6 17, and Make the fixed device five of device for fixing finger one, device for fixing finger two, device for fixing finger three, device for fixing finger four, thumb, The fixed device six of thumb is exposed, connects four fingers and thumb of patient, handle 19 is exposed, convenient for moving handlebar before and after patient.

The shield 28 be located at finger training device 1, finger training device 2 12, finger training device 3 13, The top of finger training device 4 14 opens up a rectangular notch, because of finger training device one when sliding panel 16 slides backward 11, finger training device 2 12, finger training device 3 13,4 14 rear portion of finger training device are separate, realize sliding panel 16 to When front slide after finger training device 1, finger training device 2 12, finger training device 3 13, finger training device 4 14 Portion gathers, one 11 top fixed protection baffle 1 of finger training device, both preceding fixed block 1, belt wheel mounting blocks one 1103 distinguish the rear and front end of fixed protection baffles 1, and the notch of front-rear direction setting is offered on protective baffle plate 1 1132, for avoiding sliding back and forth for towing plate 1, the finger training device 2 12, finger training device 3 13, Fixed protection baffle 2 1231, protective baffle plate 3 1331, protective baffle plate 4 1431, anti-guard block are distinguished on finger training device 4 14 Plate 2 1231, protective baffle plate 3 1331, protective baffle plate 4 1431 are identical as one 1131 structure of protective baffle plate, protective baffle plate two 1231,4 1431 downside of protective baffle plate is provided with the space for accommodating the adjacent protective baffle plate in its two sides, finger training device 1, hand Refer to protective baffle plate 2 1231 when training device 2 12, finger training device 3 13,4 14 rear portion of finger training device are gathered, protection 4 1431 downside of baffle accommodates the adjacent protective baffle plate in two sides, both the fixed height difference setting of two adjacent protective baffle plates. Or finger training device 1, finger training device 2 12, finger training device 3 13,4 14 top of finger training device are admittedly Determining in left-right direction can be with the protective baffle plate of free extension.

When patient needs the right hand four to refer to passive exercise, right side forearm is placed in small fupport arm 2504, tightens forearm bandage 2503, forearm clamping screw 2505 is unscrewed, the left and right directions angle of forearm attachment beam 2501 is adjusted, locks forearm clamping screw 2505, so that hand-lifting is gone out simultaneously rotary wrist spring catch 2402, so that wrist spring catch is in retracted mode, wrist swinging frame 2407 is forward It deflects and holds up, unscrew wrist clamping screw 2 2415, adjust the front-rear position of wrist fixed frame 2401, lock wrist locking screw Bolt 2 2415 decontrols wrist swinging frame 2407, unscrews wrist clamping screw 1, adjusts 2403 left and right directions position of wrist shaft It sets, locks wrist clamping screw 1, the centre of the palm is attached on palm supporting plate 2406, wrist bandage 2408 is tightened, immobilized patients Palm, if patient needs to adjust the level angle of wrist swinging frame 2407, the wrist spring catch pin hole of wrist swinging frame 2407 A pin hole in 2416 three pin holes is to just, and wrist spring catch 2402 is rotated by 90 °, at the pin shaft of wrist spring catch 2402 It in the state of stretching, and is inserted into the hole of wrist spring catch pin hole 2416, adjusts inclining for 2407 horizontal direction of wrist swinging frame Rake angle, the four of patient refer to that set is fixed on device for fixing finger one, device for fixing finger two, device for fixing finger three, hand respectively Refer on fixed device four, control finger training device 1, finger training device 2 12, finger training device 3 13, finger instruction The servo motor rotation for practicing device 4 14, drives the right side four of patient to refer to stretching motion, if the right side thumb of patient needs together When or independent rehabilitation exercise, thumb be fixed on the fixed device six of thumb, the servo motor of control finger training device 6 17 turns It is dynamic, it realizes the flexion and extension of patient's thumb, if patient's right finger needs active movement training, sets five fingers of the right hand Resistance, patient's finger draw finger training device 1, finger training device 2 12, finger training device 3 13, finger instruction Practice the towing plate of device 4 14, finger training device 6 17 by finger tractive force, finger training device 2 12, finger training dress Set 3 13, finger training device 4 14, the moment of flexure sensor of finger training device 6 17 detects when reaching the strength of setting, control Finger training device 2 12, finger training device 3 13, finger training device 4 14, finger training device 6 17 servo motor Follow rotation.

Adjustment and the basic phase of training method if patient needs left-hand finger main passive exercise, with right finger training Together, difference is to change finger training device 6 17 into finger training device 5 15.

Claims (22)

1. a kind of passive finger recovering training device of master, including pedestal (1), hand supporting plate (6), it is characterised in that: electric up-down is vertical Column (7) is fixed on pedestal (1), and electric lifting vertical column (7) is fixedly connected with the front end of crossbeam (5), and the rear end of connecting cross beam (5) is solid Determine hand supporting plate (6), it is left-to-right on hand supporting plate (6) that finger training device one (11), finger training device two are successively installed (12), finger training device three (13), finger training device four (14), finger training device one (11), finger training device two (12), finger training device three (13), the structure of finger training device four (14) are identical, are arranged along the longitudinal direction, and front side Between left and right away from equal, the rehabilitation training referred to for realizing four, the finger training device one (11), finger training device two (12), the rear side adjustable interval of finger training device three (13), finger training device four (14).

2. the passive finger recovering training device of master according to claim 1, it is characterised in that: the finger training device one (11), before finger training device two (12), finger training device three (13), the setting of finger training device four (14) lower end front side Four pin holes (601) being arranged on pin and hand supporting plate (6) are rotatablely connected respectively, the finger training device one (11), The rear pin that finger training device two (12), finger training device three (13), finger training device four (14) lower end rear side are arranged Be arranged on sliding panel (16) four in the front-back direction guide groove slide and be rotatablely connected respectively, two guide grooves in left side from It is preceding rearwardly towards left side deflection, from front to back towards right side deflection, sliding panel is arranged in hand supporting plate two guide grooves in right side (6) on, and front-rear position is adjustable.

3. the passive finger recovering training device of master according to claim 1, it is characterised in that: the finger training device one (11) include: device for fixing finger one, servo motor one (1114), slided in the middle part of towing plate one (1121) with upper and lower slide bar one Connection, upper slide bar one, drop shot one are arranged in parallel along the longitudinal direction, and the upper end fixed finger of towing plate one (1121) is fixed The lower end of device one, towing plate one (1121) is fixed on the side band edge of synchronous belt one (1115), and the rear end of upper and lower slide bar one is solid Fixed block one (1102) after fixed, fixed block one (1109) before front end is fixed, the fixed moment of flexure sensor one of preceding fixed block one (1109) (1110) a fixing end, the front end of preceding fixed block one (1109) fixing and mounting bracket one (1117), mounting rack one (1117) The lower end of rear end fixed support chip one (1101), fixed block one (1102) after the upper end of support chip one (1101) is fixed, servo electricity Before machine one (1114) is fixed on by motor rack one (1111) on fixed block one (1109), the fixed moment of flexure of preceding fixed block one (1109) Another fixing end of sensor one (1110), pulley shaft one (1124) after belt wheel mounting blocks one (1103) lower end is fixed, rear band Loop has rear side belt wheel one (1118) on wheel shaft one (1124), and rear side belt wheel one (1118) passes through synchronous belt one (1115) and front side Belt wheel one (1108) forms V belt translation, and front side belt wheel one (1108) is fixed on the output shaft of servo motor one (1114), belt wheel Fixation position of the mounting blocks one (1103) on upper and lower slide bar one is adjustable, and the mounting rack one (1117) is arranged in hand On supporting plate (6).

4. the passive finger recovering training device of master according to claim 3, it is characterised in that: the mounting rack one (1117) Structure on hand supporting plate (6) is set are as follows: pin one (1113) before lower section is fixed on front side of the mounting rack one (1117), Pin one (1120) after one mounting rack one (1117) of rear side transverse slat is fixed, described hand supporting plate (6) front is arranged from left to right There are four the equal pin hole (601) of spacing, the lower end of the left side pin hole rotation connection preceding pin one (1113), sliding panel (16) it is mounted on hand supporting plate (6), sliding panel (16) rear portion from left to right offers guide groove one (1601), guide groove two (1602), guide groove three (1603), guide groove four (1604), the guide groove being arranged on rear pin one (1120) and sliding panel (16) One (1601) sliding and rotation connection, finger training device two (12), finger training device three (13), finger training device four (14) front side with pin hole (601) be rotatablely connected, rear side respectively with guide groove two (1602), guide groove three (1603), guide groove four (1604) sliding and rotation connection.

5. the passive finger recovering training device of master according to claim 4, it is characterised in that: the finger training device one (11), the rear side adjustable interval of finger training device two (12), finger training device three (13), finger training device four (14) Structure are as follows: the guide groove one (1601), guide groove two (1602) from front to back direction towards left side deflection, sliding panel (16) symmetrical structure, sliding panel (16) are slidably connected with hand supporting plate (6), and hand supporting plate is provided with sliding panel on (6) (16) the position that slides back and forth adjusts and fixes device, guide groove three (1603), guide groove four (1604) and guide groove one (1601), guide groove two (1602) is about sliding panel (16) bilateral symmetry plane bilateral symmetry.

6. the passive finger recovering training device of master according to claim 5, it is characterised in that: on the hand supporting plate (6) It is provided with the structure for sliding back and forth position adjustment and fixed device of sliding panel (16) are as follows: at left and right sides of the sliding panel (16) Symmetrically offer sliding slot (1605) in the front-back direction, the slide plate sliding pin symmetrically fixed at left and right sides of sliding slot and hand supporting plate (6) (18) it is slidably connected, sliding panel (16) front end is provided with the lower beam (1606) for being passed down through hand supporting plate (6) gap, lower beam (1606) fixed glides pin (22), right end setting traction sliding slot (2101) of handlebar (21), slide plate pin (22) lower end can Sliding and rotation, the right part of handlebar (21) and the handle pin being fixed on hand supporting plate (6) in traction sliding slot (2101) (23) it is rotatablely connected, handlebar (21) left end fixed handle (19).

7. the passive finger recovering training device of master according to claim 6, it is characterised in that: the hand supporting plate (6) is in The middle part left side edge of symmetrical structure, hand supporting plate (6) installs finger training device six (17), finger rehabilitation exercise dress Six training for hand thumb are set, the finger training device five (15) and finger training device six (17) are about hand support The symmetrical structure of bilateral symmetry plane of plate (6).

8. the passive finger recovering training device of master according to claim 7, it is characterised in that: the finger training device six (17) essentially identical with the structure of finger training device one (11), difference is: mounting rack six (1717) does not have front side transverse slat six And the preceding pin six fixed on front side transverse slat six, six lower end of rear pin of finger training device six (17) is fixed on hand supporting plate (6) edge of right side central, the fixed device six of the fixed thumb in towing plate six (1721) upper end.

9. the passive finger recovering training device of master according to claim 7, it is characterised in that: moment of flexure sensor six (1710) position Left, rear in finger training device six (17), mounting rack six (1717) and the angle of hand supporting plate (6) are 20 degree to 40 Degree.

10. according to the passive finger recovering training device of the described in any item masters of claim 3-9, it is characterised in that: the belt wheel Fixation position adjustable structure of the mounting blocks one (1103) on upper and lower slide bar one are as follows: the belt wheel mounting blocks one (1103) it is slidably connected with upper and lower slide bar one, adjusts front end and belt wheel mounting blocks one (1103) screw pair of screw rod one (1123) Connection, adjustment screw rod one (1123) screw adjusting nut one (1122) after backing through rear fixed block one (1102), adjust screw rod One (1123) rear end inner hole is the interior hexagon for accommodating allen wrench.

11. according to the passive finger recovering training device of the described in any item masters of claim 3-9, it is characterised in that: the finger Fixed device one includes: finger connection frame one (1106), finger axis one (1126), the finger connection frame one (1106) be in Before the U-shaped toppled over, between the both sides of the front end of U-shaped the both ends of fixed finger axis one (1126), spindle one (1126) loop Finger turning set one (1129), fixed finger fixed magnet one (1130) on finger turning set one (1129), finger fixed magnet Finger adsorption magnet (1128) are adsorbed on one (1130), finger adsorption magnet fixes fingerstall one (1127) on (1128).

12. the passive finger recovering training device of master according to claim 8, it is characterised in that: the fixed device of the thumb Six include: thumb connection frame six (1706), thumb axis six (1726), the fixed thumb connection in towing plate six (1721) upper end The right end of the left end of frame six (1706), thumb connection frame six (1706) is fixed thumb axis six (1726), on thumb axis six (1726) Loop thumb wheel cover six (1729), thumb wheel cover six (1729) on fixes thumb fixed magnet six (1730), thumb is solid Thumb adsorption magnet (1728) are adsorbed on fixed magnet six (1730), thumb adsorption magnet fixes fingerstall six (1727) on (1728).

13. according to the passive finger recovering training device of the described in any item masters of claim 3-9, it is characterised in that: the thickness of support chip Degree is 0.2-0.5mm.

14. according to the passive finger recovering training device of the described in any item masters of claim 3-9, it is characterised in that: the hand Supporting plate (6) rear end is fixed wrist brace (27), and wrist brace (27) upper end is successively fixed with forearm crossbeam (26), wrist from bottom to top Portion's fixed mechanism (24), forearm crossbeam (26) rear end are fixed forearm fixed mechanism (25).

15. the passive finger recovering training device of master according to claim 14, it is characterised in that: the wrist fixed mechanism It (24) include: wrist fixed frame (2401), the wrist fixed frame (2401) is in U-shape structure, the U of wrist fixed frame (2401) Shape horizontal sides are opened up there are two fixed frame sliding slot (2414) along the longitudinal direction, and wrist clamping screw two (2415) passes through fixed frame It is fixed on wrist brace (27) after sliding slot (2414), forearm crossbeam (26), to realize wrist fixed frame (2401) anteroposterior position Set adjustment.

16. the passive finger recovering training device of master according to claim 14, it is characterised in that: the wrist fixed mechanism It (24) further include wrist swinging frame (2407), the wrist swinging frame (2407) is also in U-shape structure, wrist swinging frame (2407) With connection structure on the left of wrist fixed frame (2401) are as follows: the left vertical edge upper end of wrist fixed frame (2401) is rotatablely connected wrist shaft (2403), it is equipped with wrist spring catch (2402) in the middle part of wrist fixed frame (2401) left side vertical side, wrist fixed frame (2401) It is fixed on left side vertical side wrist rest set (2405), wrist rest set (2405) and wrist shaft (2403) are rotatablely connected, hand Wrist support sleeve is equipped with wrist clamping screw one (2404) on (2405), for fixing wrist shaft (2403), wrist swinging frame (2407) left side U-shaped vertical edge is fixed wrist shaft (2403), the left side U-shaped vertical edge lower part of wrist swinging frame (2407) and hand Wrist spring catch (2402) is adapted position and is provided with wrist spring catch pin hole (2416), and wrist swinging frame (2407) is fixed with wrist The bilateral symmetry plane bilateral symmetry of connection structure and left side connection structure about wrist fixed frame (2401) on the right side of frame (2401).

17. the passive finger recovering training device of master according to claim 16, it is characterised in that: the wrist spring catch pin Hole (2416) is three holes that angles setting is waited centered on wrist shaft (2403), for adjusting wrist swinging frame (2407) Level angle.

18. the passive finger recovering training device of master according to claim 17, it is characterised in that: in wrist swinging frame (2407) Portion is provided with the palm supporting plate (2406) forward extended out, for holding up the palm of patient.

19. the passive finger recovering training device of master according to claim 17, it is characterised in that: the wrist swinging frame (2407) it is provided with and holds out against riser (2413) in the middle part of rear side, be provided with vertical direction in the middle part of wrist fixed frame (2401) rear end Support riser (2412), support riser (2412) be slidably connected front-rear direction setting puller bolt (2409), puller bolt (2409) rear end screws spring nut (2410), and puller bolt (2409) front end is provided with circular boss (2417), holds out against spiral shell Bolt (2409) is located at boss (2417) and support riser (2412) position is cased with spring (2411).

20. the passive finger recovering training device of master according to claim 15, it is characterised in that: forearm fixed mechanism (25) packet Forearm attachment beam (2501), small fupport arm (2504) are included, the rear end lower surface of the forearm crossbeam (26) is fixed along the vertical direction The forearm crossbeam axis (2601) of setting, the rotation of forearm crossbeam axis connect the front end cylinder of forearm attachment beam (2501), forearm attachment beam (2501) forearm clamping screw (2505) are installed on front end cylinder, for forearm attachment beam (2501) in forearm crossbeam axis (2601) fixed on, and fixed angle is adjustable, and forearm attachment beam (2501) rear end thereof connects small fupport arm shaft (2502), Small fupport arm (2504) is fixed in small fupport arm shaft (2502) upper end, is fixed with forearm bandage (2503) on small fupport arm (2504).

21. -9 described in any item passive finger recovering training devices of master according to claim 1, it is characterised in that: the hand Fixed blade guard (28) on supporting plate (6), shield (28) be located at finger training device one (11), finger training device two (12), A rectangular notch, finger training device one are opened up above finger training device three (13), finger training device four (14) (11) top fixed protection baffle one (1131) offers the notch of front-rear direction setting on protective baffle plate one (1131) (1132), for avoiding sliding back and forth for towing plate one (1121), the finger training device two (12), finger training device Fixed protection baffle two (1231), protective baffle plate three (1331), protective baffle plate are distinguished on three (13), finger training device four (14) Four (1431), protective baffle plate two (1231), protective baffle plate three (1331), protective baffle plate four (1431) and protective baffle plate one (1131) Structure is identical, and the fixed height difference setting of two adjacent protective baffle plates, it is low anti-that high protective baffle plate is provided with receiving two sides The space of backplate.

22. -9 described in any item passive finger recovering training devices of master according to claim 1, it is characterised in that: connecting cross beam (5) Rear end fixed hand supporting plate (6) structure are as follows: connecting cross beam rear portion is set as hollow pipe (5-1) structure, in hollow pipe (5-1) Hole is rotatablely connected the front of hollow shaft (9), is provided with crossbeam spring catch (8) on hollow pipe (5-1), in hollow shaft (9) and crossbeam The adaptable position setting of spring catch (8) pin hole uniformly distributed there are four circumferencial direction, the pin shaft front end insertion of crossbeam spring catch (8) Into the pin hole of hollow shaft (9), and realization hollow shaft (9 fixation, and hollow shaft fixed angle is adjustable, the hollow shaft (9) rear end is fixed in the inner hole of link block (10), the front end of link block (10) lower end fixed hand supporting plate (6), hand supporting plate (6) servo motor practices grade route on and moment of flexure sensor line passes through hollow shaft (9) and control cabinet (2) interior control element and connects It connects, the control cabinet (2) is fixed on electronic upgrading column.