CN217014622U - Exoskeleton hand passive rehabilitation assistance device - Google Patents

Abstract

The utility model is suitable for the technical field of rehabilitation assistance, and provides exoskeleton hand passive rehabilitation assistance equipment which comprises a fixing plate and four-finger flexion and extension devices; the four-finger flexion and extension device comprises a power device which can be independently controlled, a guide rail seat, a near finger connecting component which is connected with the guide rail seat and can rotate around a first rotation center relative to the guide rail seat, and a middle finger connecting component which is rotatably connected with the near finger connecting component and can rotate around a second rotation center relative to the near finger connecting component, wherein the guide rail seat is fixedly connected with the fixed plate and is provided with an arc-shaped sliding chute; the four-finger flexion and extension device further comprises a multi-connecting-rod structural component which is rotatably connected to the power device, the near-finger connecting component and the middle-finger connecting component. The exoskeleton hand passive rehabilitation power-assisted device provided by the embodiment of the utility model has the advantages that the component arrangement is more compact, the interference to the finger movement is avoided after the exoskeleton hand passive rehabilitation power-assisted device is worn, the structure is light, the assembly is simple, the assembly time is short, and the like.

Description

Exoskeleton hand passive rehabilitation power assisting device

Technical Field

The utility model belongs to the technical field of rehabilitation assistance, and particularly relates to exoskeleton hand passive rehabilitation assistance equipment.

Background

The hand is an organ with a very fine anatomical structure and very easy to be injured, and clinically, after hand trauma surgery, affected fingers are required to be fixed in a certain position for 3-4 weeks, so that blood stasis accumulating around tendons in joints is often caused to form fibrosis, the adhesion of the finger joints and the tendons is directly caused, and the function of the hand of a patient is influenced to a great extent. The existing exoskeleton hand passive rehabilitation power assisting device finger assembly mainly has the problems of excessively complex structure, high assembly difficulty, long assembly time, large occupied space among fingers and the like.

SUMMERY OF THE UTILITY MODEL

The utility model aims to overcome the defects of the prior art and provides exoskeleton hand passive rehabilitation assistance equipment which is compact in component arrangement, capable of efficiently utilizing the limited space of the back of a hand, free of interference on finger movement after being worn, light in structure, simple to assemble, short in assembling time and the like.

The technical scheme of the utility model is as follows: the exoskeleton hand passive rehabilitation assistance device comprises a fixing plate which can be connected to the back of a hand of a user and four-finger flexion and extension devices which are connected to the fixing plate, wherein each four-finger flexion and extension device comprises an independently controllable power device; the four-finger flexion and extension device comprises a guide rail seat, a near finger connecting part connected with the guide rail seat and a middle finger connecting part rotatably connected with the near finger connecting part, and the guide rail seat is fixedly connected with the fixed plate and is provided with an arc-shaped sliding chute; the four-finger flexion-extension device comprises a power device, a middle finger connecting component, a near finger connecting component, a four-finger flexion-extension device and a four-finger extension device, wherein the middle finger connecting component and the four-finger flexion-extension device are connected with the arc sliding groove, the four-finger flexion-extension device further comprises a multi-connecting-rod structural component used for enabling the middle finger connecting component and the near finger connecting component to be linked, and the multi-connecting-rod structural component is rotatably connected with the power device, the near finger connecting component and the middle finger connecting component.

Optionally, the power device comprises a linear push rod, and the multi-link structural component and the middle finger connecting component have a sliding connection structure.

Optionally, the multi-link structural component comprises a first link, a second link, a third link, and a fourth link; the rear end of the first connecting rod, the rear end of the near finger connecting component and the front end of the linear push rod are rotatably connected through a first pin shaft; the rear end of the second connecting rod is connected to the guide rail seat, and the front end of the second connecting rod, the front end of the first connecting rod and the rear end of the third connecting rod are rotationally connected through a second pin shaft; the front end of the third connecting rod is rotatably connected with the rear upper end of the fourth connecting rod, and the rear lower end of the fourth connecting rod is rotatably connected with the front end of the proximal connecting component; the front end of the fourth connecting rod and the middle finger connecting part are provided with the sliding connection structure.

Optionally, the sliding connection structure includes a straight sliding groove disposed in the middle finger connection part and a straight sliding part connected to the front end of the fourth link and slidably connected to the straight sliding groove.

Optionally, the linear sliding unit includes a first rotating shaft passing through the fourth link and first bearings connected to both ends of the first rotating shaft, and the first bearings are disposed in the linear sliding groove.

Optionally, the middle finger connecting part includes a middle finger connecting piece and a middle finger fixing strap connected to the middle finger connecting piece, and the middle finger connecting piece includes a middle finger bottom plate and two middle finger side plates arranged at an interval in opposite directions; the two middle finger side plates are provided with the linear sliding grooves, the front ends of the fourth connecting rods extend into the space between the two middle finger side plates, the middle finger side plates are provided with two first through holes, the first rotating shafts are provided with two first through holes which penetrate through the two middle finger side plates respectively, the first bearings are provided with four first through holes which are sleeved at the two ends of the two first rotating shafts respectively, and each linear sliding groove is internally provided with two first bearings which can slide along the linear sliding grooves.

Optionally, the guide rail seat includes a guide rail bottom plate and two guide rail side plates arranged at an interval in opposite directions; the two guide rail side plates are provided with the arc-shaped sliding grooves;

the near finger connecting component comprises a near finger connecting piece and a near finger fixing band connected with the near finger connecting piece; the near finger connecting piece is provided with a near finger connecting rod positioned between the two guide rail side plates, the near finger connecting rod is provided with two second connecting holes, near finger shafts penetrate through the second connecting holes, the near finger shafts are provided with two near finger shafts which respectively penetrate through the second connecting holes, the near finger bearings are provided with four near finger bearings which are respectively connected to two ends of the near finger shafts, and two near finger bearings which can slide along the arc sliding grooves are arranged in each arc sliding groove;

one end of the near finger connecting rod, which is close to the power device, is provided with a near finger connecting shifting fork, the rear end of the first connecting rod is provided with a first shifting fork, and the front end of the first connecting rod is provided with a second shifting fork;

the number of the second connecting rods is two, and a third connecting hole is formed in the position, below the middle part of the arc-shaped sliding groove, of each guide rail side plate; the second connecting rod is arranged on the outer side of the guide rail side plate, and the rear end of the second connecting rod is rotatably connected to the third connecting hole through a third pin shaft;

the first shifting fork is arranged on the inner side of the near finger connecting shifting fork, the front end of the linear push rod extends into the inner side of the first shifting fork, and the first pin shaft penetrates through the near finger connecting shifting fork, the first shifting fork and the front end of the linear push rod;

the second shifting fork is positioned between the two second connecting rods, the rear end of the third connecting rod is positioned on the inner side of the second shifting fork, and the second pin shaft penetrates through the front end of the second connecting rod, the second shifting fork and the rear end of the third connecting rod;

a third shifting fork is arranged at the rear end of the fourth connecting rod, the third shifting fork is provided with an upper connecting hole and a lower connecting hole, and the front end of the third connecting rod is positioned between the third shifting forks and is rotatably connected to the upper connecting hole through a fourth pin shaft; the front end of the proximal connecting rod is located between the third shifting forks and is rotatably connected with the lower connecting hole through a fifth pin shaft.

Optionally, the middle finger fixing strap is slidably connected to the middle finger connecting piece through a middle finger sliding block; the proximal fixing belt is connected or directly connected to the proximal connecting piece through the proximal sliding block.

Optionally, the fixing plate is connected with a thumb bending and stretching device for bending and stretching the thumb of the user, the thumb bending and stretching device includes a thumb power device, a thumb guide rail seat and a thumb near-finger clip, the thumb guide rail seat has a thumb arc-shaped sliding slot, the thumb near-finger clip is slidably connected to the thumb arc-shaped sliding slot, the rear end of the thumb power device is rotatably connected to the fixing plate or the thumb guide rail seat, and the front end of the thumb power device is rotatably connected to the rear end of the thumb near-finger clip.

Optionally, the thumb guide rail seat comprises a thumb guide rail bottom plate and two thumb guide rail side plates arranged in opposite directions at intervals; the two thumb guide rail side plates are respectively provided with a thumb arc-shaped sliding groove, and the thumb near-finger clamp comprises a thumb connecting piece and a thumb fixing belt connected to the thumb connecting piece; the thumb connecting piece is provided with a thumb connecting rod positioned between the two thumb guide rail side plates, the thumb connecting rod is provided with two fifth connecting holes, a fifth pin shaft penetrates through the two fifth connecting holes, and two ends of each fifth pin shaft are provided with second bearings; each thumb arc-shaped sliding groove is internally provided with two second bearings; the rear end of the thumb connecting rod is provided with a thumb connecting shifting fork, and the front end of a thumb power device extends into the space between the thumb connecting shifting forks and is rotationally connected with the thumb connecting shifting fork through a sixth pin shaft; the thumb fixing strap is connected with or directly connected with the thumb connecting rod through the thumb sliding block.

According to the exoskeleton hand passive rehabilitation assistance device provided by the embodiment of the utility model, the four-finger flexion and extension device and the thumb flexion and extension device both adopt the linear drivers as power and are matched with the transmission mechanism consisting of the guide rail seat and the multi-connecting-rod structural component, so that the main actions of fingers can be completed by fewer mechanisms; the four-finger flexion and extension device and the thumb flexion and extension device are arranged on the fixing plate covering the metacarpal region, so that the parts are arranged more compactly, the limited space of the back of the hand is efficiently utilized, the interference on the movement of the fingers can not be formed after the hand is worn, and the palm folding device has the advantages of light structure, simplicity in assembly, short assembly time and the like.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a perspective assembly view of an exoskeleton hand passive rehabilitation assistance device (in an extended state) provided by an embodiment of the utility model;

fig. 2 is a schematic perspective assembly view of a four-finger flexion and extension device (in an extended state) in the exoskeleton hand passive rehabilitation assistance device provided in the embodiment of the present invention;

fig. 3 is a schematic perspective assembly view of a thumb extending and retracting device (in an extended state) in the exoskeleton hand passive rehabilitation assistance device provided in the embodiment of the present invention;

fig. 4 is a schematic perspective exploded view of a four-finger flexion-extension device in the exoskeleton hand passive rehabilitation assistance device provided in the embodiment of the present invention;

fig. 5 is a schematic exploded perspective view of a thumb flexion-extension device of the exoskeleton hand passive rehabilitation assistance device provided by the embodiment of the utility model;

fig. 6 is a schematic plan view of a four-finger flexion-extension device (in an extended state) of the exoskeleton hand passive rehabilitation assistance device according to the embodiment of the present invention;

fig. 7 is a schematic plan view illustrating an application of a four-finger flexion and extension device (in a flexion state) in the exoskeleton hand passive rehabilitation assistance device according to the embodiment of the present invention;

fig. 8 is a schematic plan view of the exoskeleton hand passive rehabilitation assisting device according to an embodiment of the present invention in use with a thumb stretching device (in a stretching state);

fig. 9 is a schematic plan view illustrating an application of a thumb flexion-extension device (flexion state) in the exoskeleton hand passive rehabilitation assistance device according to the embodiment of the present invention;

fig. 10 is a schematic perspective assembly view of the exoskeleton hand passive rehabilitation assisting device (in a flexed and retracted state) according to the embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and do not limit the utility model.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present.

It should be noted that the terms of orientation such as left, right, up and down in the embodiments of the present invention are only relative concepts or are referred to the normal use state of the product, and should not be considered as limiting.

As shown in fig. 1 to 10, in the exoskeleton hand passive rehabilitation assistance device provided by the embodiment of the present invention, a fixing plate 900 may be connected to the back of a hand of a user, and four-finger flexion-extension devices 100 may be connected to the fixing plate 900, and four-finger flexion-extension devices 100 may be provided, which correspond to an index finger (second finger), a middle finger (third finger), a ring finger (fourth finger), and a little finger (fifth finger), respectively. Each of the four-pronged extension devices 100 can be independently controlled. Looking in the forward direction of the four-finger flexion-extension device 100, the front side is the "front end" (the direction close to the user's fingertips when in use), and the rear side is the "rear end"; when viewed from the direction from the palm surface to the palm back, the upper part is the upper end, and the lower part is the lower end; the finger is divided into three segments, the part close to the palm is called a near finger, the middle part is called a middle finger (middle knuckle in the finger in the embodiment), and the part far from the palm is called a far finger. In specific application, if part of the fingers of the user are normal, the user does not need to recover, and the corresponding flexion and extension device for removing the corresponding fingers can be selected, and certainly, the user can select not to remove the corresponding fingers. Each four-finger flexion-extension device 100 comprises a power device 110 capable of being independently controlled, the power device 110 is used for driving the four-finger flexion-extension device 100 to perform flexion and extension actions, simulating the holding actions and the opening actions of human hands, and repeating the actions in a circulating manner, and the power device 110 can be a linear power device (linear driver), such as a linear motor, a screw rod slide block driven by a servo motor, and the like; the four-finger flexion and extension device 100 includes a rail base 120, a proximal finger connecting member 130 connected to the rail base 120 and rotatable about a first rotation center a with respect to the rail base 120, and a middle finger connecting member 140 rotatably connected to the proximal finger connecting member 130 and rotatable about a second rotation center B with respect to the proximal finger connecting member 130, wherein the proximal finger connecting member 130 is bindable with a proximal finger of a user, and the middle finger connecting member 140 is bindable with a middle finger (middle knuckle) of the user. The rail holder 120 is fixedly connected to the fixing plate 900, and the rail holder 120 has an arc-shaped sliding groove 121. The middle finger connecting part 140 is connected to the arc-shaped sliding groove 121, the four-finger flexion-extension device 100 further comprises a multi-link structural part for enabling the middle finger connecting part 140 and the near finger connecting part 130 to be linked, the multi-link structural part is rotatably connected to the power device 110, the near finger connecting part 130 and the middle finger connecting part 140, and when the power device 110 moves linearly, the multi-link structural part drives the middle finger connecting part 140 and the near finger connecting part 130 to move according to a set track.

Specifically, the proximal finger connecting part 130 is connected with a proximal finger shaft, the proximal finger shaft is connected with a proximal finger bearing which can follow the arc-shaped sliding groove 121, so that transmission is stable and reliable, the proximal finger bearing of the proximal finger connecting part 130 can reliably slide smoothly along the arc-shaped sliding groove 121 and is not easy to be clamped, the power device 110 comprises a linear push rod, and the multi-link structural part and the middle finger connecting part 140 have a sliding connection structure, so that the middle finger connecting part 140 can slide relatively during rotation and can be well matched with the movement track of a human hand.

Specifically, the multi-link structural member includes a first link 150, a second link 160, a third link 170, and a fourth link 180; the rear end of the first connecting rod 150, the rear end of the proximal connecting component 130, the front end of the linear push rod and the proximal connecting component 130 are rotatably connected through a first pin shaft 191; the rear end of the second link 160 is connected to the guide rail seat 120, and the front end of the second link 160, the front end of the first link 150 and the rear end of the third link 170 are rotatably connected by a second pin 192; the front end of the third connecting rod 170 is rotatably connected with the rear upper end of the fourth connecting rod 180, and the rear lower end of the fourth connecting rod 180 is rotatably connected with the front end of the proximal connecting component 130; the front end of the fourth connecting rod 180 and the middle finger connecting part 140 have the sliding connection structure, so that the middle finger connecting part 140 can slide a proper distance relative to the fourth connecting rod 180 in the rotating process under the action of the fourth connecting rod 180, can be well matched with the motion track of a human hand, and can enable the user experience to be better.

Specifically, the sliding connection structure includes a linear sliding groove 143 provided in the middle connecting member 140 and a linear sliding member connected to a front end of the fourth link 180 and slidably connected to the linear sliding groove 143, and the structure is simple and reliable.

Specifically, the linear sliding member includes a first rotating shaft 181 inserted through the fourth link 180 and first bearings 182 connected to both ends of the first rotating shaft 181, and the first bearings 182 are provided in the linear sliding groove 143 such that they can slide smoothly. Of course, in the embodiment, the matching between the bearing and the sliding groove is adopted, and in specific application, a dovetail-shaped or T-shaped self-lubricating guide rail structure and the like can be adopted to realize linear sliding, and the utility model also belongs to the protection scope of the utility model.

Specifically, the middle finger connecting part 140 includes a middle finger connecting part 141 and a middle finger fixing band 142 connected to the middle finger connecting part 141, and the middle finger connecting part 141 includes a middle finger bottom plate and two middle finger side plates arranged at an interval in opposite directions; both ends of the middle finger fixing band 142 may be connected to the two connecting holes of the middle finger base plate, and the middle finger fixing band 142 may be an elastic band or a velcro tape. The two middle finger side plates are provided with the linear sliding grooves 143, the front end of the fourth connecting rod 180 extends into the space between the two middle finger side plates, the fourth connecting rod 180 is arranged between the two middle finger side plates, the fourth connecting rod 180 is not prone to swinging towards two sides, and the structure is reliable. The middle finger side plate is provided with two first through holes, the first rotating shafts 181 are provided with two first through holes which penetrate through the two first through holes respectively, the first bearings 182 are provided with four first through holes which are sleeved at two ends of the two first rotating shafts 181 respectively, each first bearing 182 is arranged in the linear sliding groove 143 and can slide along the linear sliding groove 143, the sliding movement while rotating can be achieved smoothly, and clamping stagnation is not prone to occurring.

Specifically, the guide rail seat 120 includes a guide rail bottom plate and two guide rail side plates which are oppositely arranged at an interval and connected to the guide rail bottom plate; the two guide rail side plates are provided with the arc-shaped sliding grooves 121; the rail housing 120 may be formed integrally of an aluminum alloy.

Specifically, the proximal connection component 130 includes a proximal connection component 131 and a proximal fixation strap 132 connected to the proximal connection component 131, both ends of the proximal fixation strap 132 may be connected to two connection holes of the proximal connection component 131, and the proximal fixation strap 132 may be an elastic strap or a magic towel strap, etc.; the proximal connector 131 has a proximal connector bar located between the two rail side plates. Nearly indicate the connecting rod to be provided with two second connecting holes, nearly indicate that axle 133 is provided with two and divide pass in the second connecting hole, nearly indicate bearing 134 be provided with four and connect respectively in two nearly indicate the both ends of axle 133, every it can follow to have two in the arc spout 121 is gliding nearly indicate bearing 134, it is effectual to slide.

Specifically, one end of the proximal connecting rod 135, which is close to the power device 110, has a proximal link fork 136, and the proximal link fork 136 may have a U-shape. The rear end of the first connecting rod 150 is provided with a first shifting fork 151, and the front end of the first connecting rod 150 is provided with a second shifting fork 152; the first and second forks 151 and 152 may have a U-shape.

Specifically, two second connecting rods 160 are provided, and the second connecting rods 160 are arranged in parallel at intervals and can move synchronously. A third connecting hole is formed in the lower part of the middle part of each guide rail side plate in the arc-shaped sliding groove 121; the second connecting rod 160 is arranged on the outer side of the guide rail side plate, and the rear end of the second connecting rod 160 is rotatably connected to the third connecting hole through a third pin; the second connecting rod 160 and the proximal connecting rod 135 are separated by the guide rail side plate, so that the interference is avoided, and the movement structure is compact and reliable.

Specifically, the first shifting fork 151 is disposed inside the proximal finger connecting shifting fork 136, the front end of the linear push rod extends inside the first shifting fork 151, and the first pin shaft 191 penetrates through the proximal finger connecting shifting fork 136, the first shifting fork 151 and the front end of the linear push rod, so that the structure is compact.

Specifically, the second fork 152 is located between the two second links 160, the rear end of the third link 170 is located inside the second fork 152, and the second pin 192 passes through the front end of the second link 160, the second fork 152 and the rear end of the third link 170, so that the structure is compact.

Specifically, a third fork 183 is disposed at a rear end of the fourth link 180, and the third fork 183 may have a U-shape. The third shifting fork 183 is provided with an upper connecting hole and a lower connecting hole, and the front end of the third connecting rod 170 is located between the third shifting forks 183 and is rotatably connected to the upper connecting hole through a fourth pin shaft; the front end of the proximal connecting rod 135 is located between the third shifting forks 183 and is rotatably connected to the lower connecting hole through a fifth pin shaft.

Specifically, the fixing plate 900 is connected with a fixing seat 910, and the rear end of the power device 110 is hinged to the fixing seat 910; the middle finger fixing strap 142 can be slidably connected to the middle finger connecting piece 141 through a middle finger sliding block, and the positions of the middle finger sliding block and the middle finger fixing strap 142 can be adjusted; the proximal fixing band 132 is connected to the proximal connecting member 131 through the proximal slider or directly connected to the proximal fixing band 132, and the positions of the proximal slider and the proximal fixing band 132 can be adjusted to meet specific requirements of different users, so that the exoskeleton hand passive rehabilitation assistance device has better adaptability.

Specifically, the fixing plate 900 is connected with a thumb bending and stretching device 200 for bending and stretching the thumb of the user, the thumb bending and stretching device 200 comprises a thumb power device 210, a thumb guide rail seat 220 and a thumb proximal finger clip 230, the thumb guide rail seat 220 is provided with a thumb arc-shaped sliding groove 221, and the thumb power device 210 can be the same as the power device 110 (same model specification). The thumb proximal finger clip 230 is slidably connected to the thumb arc-shaped sliding groove 221, the rear end of the thumb power device 210 (connected to the connecting seat 920 or directly) is rotatably connected to the fixing plate 900 or the thumb guide rail seat 220, and the front end of the thumb power device 210 is rotatably connected to the rear end of the thumb proximal finger clip 230.

Specifically, the thumb guide rail seat 220 includes a thumb guide rail bottom plate and two thumb guide rail side plates arranged opposite to each other at an interval; the two thumb guide rail side plates are respectively provided with the thumb arc-shaped sliding groove 221, and the thumb near-finger clamp 230 comprises a thumb connecting piece 231 and a thumb fixing belt 232 connected to the thumb connecting piece 231; the thumb connecting piece 231 is provided with a thumb connecting rod positioned between the two thumb guide rail side plates, the thumb connecting rod is provided with two fifth connecting holes, the two fifth connecting holes penetrate through fifth hinge pins 241, and two ends of each fifth hinge pin 241 are provided with second bearings 242; each thumb arc-shaped sliding groove 221 is internally provided with two second bearings 242; the rear end of the thumb connecting rod is provided with a thumb connecting shifting fork 233, and the front end of the thumb power device 210 extends into the space between the thumb connecting shifting forks 233 and is rotatably connected to the thumb connecting shifting fork 233 through a sixth pin 261.

Specifically, the thumb fixing strap 232 may be connected to the thumb connecting bar through a thumb slider or directly.

In one embodiment of the present invention, the fixation plate 900 includes a four-finger area 931 and a thumb area 932, which in use covers the metacarpal area of a single hand, and the four sets of four-finger flexion-extension devices 100 are mounted on the four-finger area 931 of the fixation plate 900, while the thumb flexion-extension device 200 is mounted on the thumb area 932. In order to realize wearing, through holes for passing through the bandage are respectively formed in the four-finger region 931 at positions close to the index finger side and positions close to the little finger side. Fig. 1 shows the four-finger flexion and extension device 100 and the thumb flexion and extension device 200 before bending, and fig. 10 shows the four-finger flexion and extension device 100 after bending. The four-finger flexion and extension device 100 includes a linear driver arranged along the finger forward extension direction and a first movable bow composed of a guide rail seat 120 and a multi-link structural member, when the linear driver extends, the linear driver drives the near finger connecting member 130 to rotate along the track of the slotted guide rail (arc-shaped chute 121) of the guide rail seat 120, the corresponding center of the arc-shaped chute 121 fits (or closely fits) with a first virtual center, the first virtual center is a rotation center of the near finger rotating around the palm, so that the near finger connecting member 130 drives the near finger to rotate around the palm by a certain angle, such as 55 degrees; meanwhile, when the linear actuator extends, the multi-link structural component composed of the first link 150, the second link 160, the third link 170 and the fourth link 180 may be driven to operate, so as to realize that the fourth link 180 rotates around a third rotation center C, which is a hinge center where the near finger connecting component 130 and the fourth link 180 are coaxially hinged, so as to realize that the fourth link 180 drives the middle finger connecting component 140 to rotate around the third rotation center, the middle finger connecting component 140 drives the middle finger to rotate around a second virtual center, which is a rotation center where the middle finger rotates around the near finger, as shown in fig. 7, since the second virtual center and the third rotation center cannot realize fitting (or approximate fitting), the middle finger connecting component 140 may slide relative to the middle finger when driving the middle finger joint to rotate, in order to solve this problem, the middle finger connecting part 140 is provided with linear sliding grooves 143 on both sides thereof, so that the fourth link 180 can slide along the track of the linear sliding groove 143 on the middle finger connecting part 140 while rotating around the third rotation center, thereby transferring the sliding of the position opposite to the middle finger when the middle finger connecting part 140 drives the middle finger to rotate to the sliding of the fourth link 180 and the slot guide of the middle finger connecting part 140.

Fig. 8 shows the thumb flexion-extension device 200 before bending corresponding to the thumb, and fig. 9 shows the thumb flexion-extension device 200 after bending corresponding to the thumb. The thumb flexion and extension device 200 comprises a thumb power device 210 arranged along the thumb extension direction and a second movable arch consisting of a thumb guide rail seat 220 and a multi-link structural component. When the linear driver (the power device 210) extends, the thumb proximal finger clip 230 is driven to rotate along the track of the thumb arc-shaped sliding groove 221 of the thumb guide rail seat 220, the center of the track of the thumb arc-shaped sliding groove 221 is fitted with the virtual center of the thumb, and the virtual center is the rotation center D of the proximal finger of the thumb rotating around the palm; thereby realizing that the proximal finger clip 230 of the thumb drives the proximal finger of the thumb to rotate a certain angle, such as 55 degrees, around the palm. .

The assembly of the exoskeleton hand passive rehabilitation assistance device can refer to the following steps:

firstly, preparing a fixing plate 900 capable of covering a metacarpal bone area of a single hand, wherein the fixing plate 900 comprises a four-finger area 931 and a thumb area 932, and through holes for penetrating a bandage are respectively formed in the position, close to the index finger side, of the four-finger area 931 and the position, close to the little finger side, of the fixing plate 900; four sets of four finger flexion and extension devices 100 installed on the four finger area 931 of the fixing plate 900, four sets of four finger flexion and extension devices 100 respectively correspond to four fingers one by one, each set of four finger flexion and extension device 100 comprises a power device 110 arranged along the finger forward extension direction and a first movable bow composed of a guide rail seat 120 and a multi-link structural component, the rear end of the power device 110 is hinged on a fixed seat 910 through a pin shaft, the front end (push rod end) of the power device 110 is coaxially hinged with the rear end of the proximal finger connecting component 130 and the rear end of the first link 150 through a first pin shaft 191, the fixed seat 910 and the fixing plate 900 can be fastened through screws, the front end of the first movable bow is the middle finger connecting component 140, the middle finger connecting component 140 can be clamped on the corresponding middle finger through a magic tape, the guide rail seat 120 at the rear end of the first movable bow and the fixing plate 900 can be fastened through screws, the near finger connecting component 130 is provided with two cylindrical through holes, a near finger shaft 133 is arranged in the cylindrical through hole, near finger bearings 134 (rolling bearings) are arranged on two sides of the near finger shaft 133, the near finger bearings 134 are arranged in arc chutes 121 of guide rail side plates on two sides of the guide rail seat 120, so that the near finger connecting component 130 can rotate along the arc chutes 121 of the guide rail seat 120, a cylindrical through hole is respectively arranged below the arc chutes 121 on two sides of the guide rail seat 120, the second connecting rods 160 are distributed on the left side and the right side of the guide rail seat 120, the rear ends of the second connecting rods 160 are coaxially hinged with the cylindrical through holes below the arc chutes 121 on two sides of the guide rail seat 120 through third pin shafts, the front ends of the second connecting rods 160 on two sides of the guide rail seat 120 are coaxially hinged with the front ends of the first connecting rods 150 and the rear ends of the third connecting rods 170, the front ends of the third connecting rods 170 are hinged with the upper ends of the fourth connecting rods 180, the lower ends of the fourth connecting rods 180 are hinged with the front ends of the near finger connecting component 130, the front end of the fourth link 180 is formed with two cylindrical through holes, a first rotating shaft 181 is disposed in the through holes, first bearings 182 (rolling bearings) are disposed at both sides of the first rotating shaft 181, and the first bearings 182 are installed in the linear sliding grooves 143 at both sides of the middle finger link 140, so that the fourth link 180 can slide in the linear sliding grooves 143 of the middle finger link 140.

The thumb bending and stretching device 200 corresponding to the thumb comprises a thumb power device 210, a thumb guide rail seat 220 and a second movable bow consisting of multi-connecting-rod structural components, wherein the thumb power device 210 and the thumb guide rail seat 220 are arranged along the front stretching direction of the thumb, the rear end of the thumb power device 210 is hinged to a thumb fixing seat 920 through a pin shaft, and the thumb fixing seat 920 is fixed on the thumb guide rail seat 220. The front end (push rod end) of the thumb power device 210 is coaxially hinged with the rear end of the thumb near-finger clamp 230 through a sixth pin shaft 261, two cylindrical through holes (fifth connecting holes) are formed in the thumb near-finger clamp 230, a fifth pin shaft 241 is arranged in each cylindrical through hole, second bearings 242 (rolling bearings) are arranged on two sides of each fifth pin shaft 241, and the second bearings 242 are installed in the thumb arc-shaped sliding grooves 221, so that the thumb near-finger clamp 230 can rotate along the guide rail tracks of the thumb arc-shaped sliding grooves 221, and the thumb guide rail seat 220 and the fixing plate 900 can be fastened through screws.

The exoskeleton hand passive rehabilitation power-assisted equipment provided by the embodiment of the utility model can be used as wearable equipment for assisting a patient to perform hand passive rehabilitation training, and is provided with four-finger flexion and extension devices 100 which respectively correspond to four fingers one by one and a thumb flexion and extension device 200 which corresponds to a thumb; the four-finger flexion and extension device 100 and the thumb flexion and extension device 200 both adopt linear drivers as power and are matched with a transmission mechanism consisting of the guide rail seat 120 and a multi-connecting-rod structural component, so that the main actions of fingers can be completed by fewer mechanisms; the four-finger flexion and extension device 100 and the thumb flexion and extension device 200 are arranged on the fixing plate 900 covering the metacarpal region, so that the arrangement of parts is more compact, the limited space of the back of the hand is efficiently utilized, and the interference on the movement of fingers is avoided after the device is worn; the fixing plate 900 is provided with a through hole 901 for passing a binding band, and the binding band is worn and installed, so that the fixing mode becomes simpler.

The above description is intended to be illustrative of the preferred embodiment of the present invention and should not be taken as limiting the utility model, but rather, the utility model is intended to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the utility model.

Claims (10)

1. An exoskeleton hand passive rehabilitation assisting device is characterized by comprising a fixing plate which can be connected to the back of a hand of a user and four-finger flexion-extension devices which are connected to the fixing plate, wherein each four-finger flexion-extension device comprises an independently controllable power device; the four-finger flexion and extension device comprises a guide rail seat, a near finger connecting part connected with the guide rail seat and a middle finger connecting part rotatably connected with the near finger connecting part, and the guide rail seat is fixedly connected with the fixing plate and is provided with an arc-shaped sliding chute; the four-finger flexion and extension device further comprises a multi-connecting-rod structure component used for enabling the middle finger connecting component and the near finger connecting component to be linked, and the multi-connecting-rod structure component is rotatably connected to the power device, the near finger connecting component and the middle finger connecting component.

2. The exoskeleton hand passive rehabilitation assistance device of claim 1 wherein said powered means comprises a linear push rod, said multi-link structural member having a sliding connection with said middle finger link member.

3. The exoskeleton hand passive rehabilitation assistance device of claim 2 wherein the multi-link structural member comprises a first link, a second link, a third link and a fourth link; the rear end of the first connecting rod, the rear end of the near finger connecting component and the front end of the linear push rod are rotatably connected through a first pin shaft; the rear end of the second connecting rod is connected to the guide rail seat, and the front end of the second connecting rod, the front end of the first connecting rod and the rear end of the third connecting rod are rotationally connected through a second pin shaft; the front end of the third connecting rod is rotatably connected with the rear upper end of the fourth connecting rod, and the rear lower end of the fourth connecting rod is rotatably connected with the front end of the proximal connecting component; the front end of the fourth connecting rod and the middle finger connecting part are provided with the sliding connection structure.

4. The exoskeleton hand passive rehabilitation assistance device of claim 3, wherein the sliding connection structure comprises a linear sliding groove disposed on the middle finger connection part and a linear sliding part connected to the front end of the fourth link and slidably connected to the linear sliding groove.

5. The exoskeleton hand passive rehabilitation assistance device of claim 4, wherein the linear sliding member comprises a first rotating shaft passing through the fourth link and first bearings connected to two ends of the first rotating shaft, and the first bearings are disposed on the linear sliding grooves.

6. The exoskeleton hand passive rehabilitation assistance device according to claim 5 wherein the middle finger link member comprises a middle finger link and a middle finger strap connected to the middle finger link, the middle finger link member comprises a middle finger base plate and two middle finger side plates arranged at an interval in opposite directions; the two middle finger side plates are provided with the linear sliding grooves, the front ends of the fourth connecting rods extend into the space between the two middle finger side plates, the middle finger side plates are provided with two first through holes, the first rotating shafts are provided with two first through holes which penetrate through the two middle finger side plates respectively, the first bearings are provided with four first through holes which are sleeved at the two ends of the two first rotating shafts respectively, and each linear sliding groove is internally provided with two first bearings which can slide along the linear sliding grooves.

7. The exoskeleton hand passive rehabilitation assistance device of claim 6 wherein the rail base includes a rail base plate and two rail side plates spaced apart from each other; the two guide rail side plates are provided with the arc-shaped sliding grooves;

the proximal connecting component comprises a proximal connecting piece and a proximal fixing belt connected with the proximal connecting piece; the near finger connecting piece is provided with a near finger connecting rod positioned between the two guide rail side plates, the near finger connecting rod is provided with two second connecting holes, near finger shafts penetrate through the second connecting holes, the near finger shafts are provided with two near finger shafts which respectively penetrate through the second connecting holes, the near finger bearings are provided with four near finger bearings which are respectively connected to two ends of the near finger shafts, and two near finger bearings which can slide along the arc sliding grooves are arranged in each arc sliding groove;

one end of the near finger connecting rod, which is close to the power device, is provided with a near finger connecting shifting fork, the rear end of the first connecting rod is provided with a first shifting fork, and the front end of the first connecting rod is provided with a second shifting fork;

the number of the second connecting rods is two, and a third connecting hole is formed in the position, below the middle part of the arc-shaped sliding groove, of each guide rail side plate; the second connecting rod is arranged on the outer side of the guide rail side plate, and the rear end of the second connecting rod is rotatably connected to the third connecting hole through a third pin shaft;

the first shifting fork is arranged on the inner side of the proximal finger connecting shifting fork, the front end of the linear push rod extends into the inner side of the first shifting fork, and the first pin shaft penetrates through the proximal finger connecting shifting fork, the first shifting fork and the front end of the linear push rod;

the second shifting fork is positioned between the two second connecting rods, the rear end of the third connecting rod is positioned on the inner side of the second shifting fork, and the second pin shaft penetrates through the front end of the second connecting rod, the second shifting fork and the rear end of the third connecting rod;

a third shifting fork is arranged at the rear end of the fourth connecting rod, the third shifting fork is provided with an upper connecting hole and a lower connecting hole, and the front end of the third connecting rod is positioned between the third shifting forks and is rotatably connected to the upper connecting hole through a fourth pin shaft; the front end of the proximal connecting rod is located between the third shifting forks and is rotatably connected with the lower connecting hole through a fifth pin shaft.

8. The exoskeleton hand passive rehabilitation assistance device of claim 7, wherein the middle finger fixing strap is slidably connected to the middle finger link through a middle finger slider; the near finger fixing band is connected with the near finger connecting piece through the near finger sliding block or directly connected with the near finger connecting piece.

9. The exoskeleton hand passive rehabilitation assisting device of any one of claims 1 to 8, wherein a thumb flexion and extension device for flexion and extension of a thumb of a user is connected to the fixing plate, the thumb flexion and extension device comprises a thumb power device, a thumb guide rail seat and a thumb near-finger grip, the thumb guide rail seat is provided with a thumb arc-shaped sliding groove, the thumb near-finger grip is slidably connected to the thumb arc-shaped sliding groove, the rear end of the thumb power device is rotatably connected to the fixing plate or the thumb guide rail seat, and the front end of the thumb power device is rotatably connected to the rear end of the thumb near-finger grip.

10. The exoskeleton hand passive rehabilitation assistance device of claim 9 wherein said thumb rail base includes a thumb rail base plate and two spaced opposed thumb rail side plates; the two thumb guide rail side plates are respectively provided with a thumb arc-shaped sliding groove, and the thumb near-finger clamp comprises a thumb connecting piece and a thumb fixing belt connected to the thumb connecting piece; the thumb connecting piece is provided with a thumb connecting rod positioned between the two thumb guide rail side plates, the thumb connecting rod is provided with two fifth connecting holes, fifth hinge pins penetrate through the two fifth connecting holes, and two ends of each fifth hinge pin are provided with second bearings; two second bearings are arranged in each thumb arc-shaped sliding groove; the rear end of the thumb connecting rod is provided with a thumb connecting shifting fork, and the front end of a thumb power device extends into the space between the thumb connecting shifting forks and is rotationally connected with the thumb connecting shifting fork through a sixth pin shaft; the thumb fixing strap is connected with or directly connected with the thumb connecting rod through the thumb sliding block.

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