CN112043551A

CN112043551A - Finger and palm rehabilitation training instrument

Info

Publication number: CN112043551A
Application number: CN202011064009.0A
Authority: CN
Inventors: 韦纯福; 常呈霞; 杨中华; 杜曙扬; 张弼玥; 梁慧; 张志伟; 常祯邘
Original assignee: Henan University of Technology
Current assignee: Henan University of Technology
Priority date: 2020-09-30
Filing date: 2020-09-30
Publication date: 2020-12-08

Abstract

The invention relates to a finger and palm rehabilitation training instrument which comprises a supporting mechanism and a linkage mechanism, wherein the supporting mechanism is arranged at the palm center, the supporting mechanism acts to drive the linkage mechanism to bend, the linkage mechanism comprises a connecting rod arranged at a finger and palm joint, a first supporting rod arranged between a proximal finger joint and the finger and palm joint and a second supporting rod arranged at the proximal finger joint, a third supporting rod is arranged between the first supporting rod and the second supporting rod, the first supporting rod and the second supporting rod are hinged through the third supporting rod, a glove comprises a finger and palm-shaped sleeve layer, an air bag arranged on the sleeve layer and used for limiting fingers and a heating and massaging mechanism arranged along the inner side surface of the sleeve layer, and the supporting mechanism and the heating and massaging mechanism are connected with a control system used for rehabilitation. The supporting mechanism drives the linkage mechanism to bend and reset the finger palm through the gloves, and meanwhile, the control system is arranged to realize intelligent adjustment of bending force, so that the comfort level and the rehabilitation effect of rehabilitation are improved.

Description

Finger and palm rehabilitation training instrument

Technical Field

The invention relates to the field of palm rehabilitation, in particular to a palm rehabilitation training instrument.

Background

The motion of the human hand can be reflected by the cooperation of joints and tendons, the main joints of the human hand are the proximal finger joints and the metacarpophalangeal joints of four fingers, the interphalangeal joints and the metacarpophalangeal joints of the thumb and the wrist and palm joints for controlling the whole hand to rotate, and when the palm moves, the forearm muscles transmit the force to the fingers through the tendons to drive the fingers to complete the bending and stretching actions. The muscle starting point and the muscle stopping point play a role in fixing and are connected with the tendons, the annular ligaments play a role in pulleys, the paths of the tendons are limited and changed, and the fingers can be driven to complete corresponding movement when the muscles contract.

According to the existing finger palm rehabilitation equipment based on the motion mechanism, most of the existing finger palm rehabilitation equipment is provided with a stretching belt structure, the stretching belt is sleeved at the position of a fingertip, and the finger bending and stretching is completed by changing the length of the stretching belt, for example, the rehabilitation training device disclosed in the patent document with the patent publication number of CN201910930463.0 named as 'a palm rehabilitation training device', when the finger palm rehabilitation training device is used, a glove is worn on a hand, a palm fixing ring assembly on the glove is connected with a finger fixing ring assembly on the glove through an elastic rubber belt, fingers of a patient are pulled by the elastic rubber belt to contract and curl, the finger and the palm of the patient are forcibly unfolded through the hand, and then the force is slowly released to achieve the purpose of training hand muscles through repeated training.

This kind of equipment has certain not enough when using, at first train the hardness too big, repeated training makes the patient produce strong uncomfortable sense, lead to follow-up training difficult to persist, secondly this kind of equipment suitability is relatively poor, because the unable accurate positioning joint position of this kind of equipment of people's finger length, thickness difference, thereby it influences treatment to lead to the deviation can appear in the training position, moreover this kind of equipment needs the patient to carry out some preparation training before using, promote hand blood circulation, thereby lead to the training time extension.

Disclosure of Invention

The invention provides a finger and palm rehabilitation training instrument for solving the problem that the existing palm rehabilitation training instrument is inconvenient to use, and the finger and palm rehabilitation training instrument is provided with a support for rehabilitation and a glove matched with the support for increasing the comfort level of rehabilitation.

In order to achieve the purpose, the technical scheme of the invention is as follows:

a finger and palm rehabilitation training instrument, which comprises a bracket for rehabilitation and gloves matched with the bracket for increasing the comfort level of rehabilitation, the support comprises a support mechanism and a linkage mechanism, the support mechanism and the linkage mechanism are both fixed with the glove, the support mechanism is arranged at the palm center position, the support mechanism acts to drive the linkage mechanism to bend, the linkage mechanism comprises a connecting rod arranged at the finger and palm joint, a first supporting rod arranged between the proximal finger joint and the finger and palm joint and a second supporting rod arranged at the proximal finger joint, a third supporting rod is arranged between the first supporting rod and the second supporting rod, the first supporting rod and the second supporting rod are hinged through the third supporting rod, the glove comprises a glove body, a connecting rod, a support mechanism, a first support rod, a second support rod and a third support rod, wherein the first support rod, the second support rod and the third support rod are arranged at the five-finger positions of the glove body;

the glove comprises a palm-shaped glove layer, an air bag arranged on the glove layer and used for limiting the position of fingers, and a heating and massaging mechanism arranged along the inner side surface of the glove layer, wherein the supporting mechanism and the heating and massaging mechanism are connected with a control system used for rehabilitation.

Further, branch includes supporting part and connecting portion, the supporting part sets up between nearly finger joint and finger palm joint, and the supporting part is the square plate body, and the supporting part is fixed with the lateral surface bonding of jacket layer bottom, and the supporting part is articulated with connecting portion, second branch includes second supporting part and second connecting portion, second connecting portion one end is articulated with the middle part of connecting portion, the articulated second supporting part of the other end, the second supporting part is the square plate body, and the second supporting part is fixed with the lateral surface bonding of jacket layer bottom, and the second supporting part sets up in nearly finger joint position for support palm nearly indicates joint and far indicates that the position between the joint, the articulated third branch in middle part of second supporting part, the middle part and the connecting portion other end of third branch are articulated.

Further, the connecting rod comprises an upper portion and a lower portion, the upper portion and the lower portion are long-strip-shaped arc plates with equal length, the upper portion is transversely arranged at the position of the finger-palm joint, the upper portion is arranged in parallel with the lower portion, the upper portion is fixedly connected with the supporting portion, and the lower portion is hinged to one end, far away from the second supporting portion, of the third supporting rod.

Furthermore, the supporting mechanism comprises a first tray, a second tray and a fixing rod, the first tray comprises a first telescopic rod and circular fixing blocks symmetrically arranged at two ends of the first telescopic rod, the two annular fixing blocks are fixedly connected with the upper portion and the lower portion respectively, and the first telescopic rod completes bending of the finger palm four-finger position linkage mechanism by changing the distance between the upper portion and the lower portion;

the second tray comprises a second telescopic rod and circular fixing blocks symmetrically arranged at two ends of the second telescopic rod, the circular fixing block at the upper part of the second tray is fixed with the first supporting rod at the position of the thumb, the circular fixing block at the lower part of the second tray is hinged with the third supporting rod at the position of the thumb, the second telescopic rod completes the bending of the thumb position linkage mechanism by changing the distance between the first supporting rod at the position of the upper thumb and the third supporting rod at the position of the thumb, and the second tray is arranged at the position of a palm tiger's mouth;

set up the dead lever along first tray and second tray central line respectively, the dead lever all with the circular fixed block in upper portion of first tray and second tray is articulated, and the dead lever is rectangular form structure, is provided with the spring between the circular fixed block bottom in upper portion of dead lever middle part and first tray and second tray, and the dead lever is used for the shock attenuation.

Furthermore, communicated holes are formed in the four finger positions and the back of the hand of the sleeve layer, an air bag is arranged in each hole, an inflation inlet is formed in each air bag, and the air bags are exposed out of the holes formed in the sleeve layer after being inflated, so that the sleeve layer is attached to the palm tightly.

Further, heating, massage mechanism, protruding including zone of heating and hemisphere, the zone of heating is the flexible thin layer that two-layer TPU film package double-layered carbon fiber silk formed, the zone of heating is established along the subsides of mantle inner wall, and the zone of heating is fixed with the mantle, and the hemisphere arch is laid to the zone of heating opposite side is intensive, the bellied plane of hemisphere is fixed with the zone of heating.

Further, control system includes main control unit, drive unit and communication unit, the jacket bottom is provided with temperature sensor, main control unit includes the MCU chip, the MCU chip passes through ADC serial ports communication with temperature sensor, and main control unit detects parameter control drive unit work according to temperature sensor, drive unit is connected with the pump, and the drive unit input is connected with the IO mouth of MCU chip, and drive unit's output is connected with first tray and second tray telescopic link, pump and zone of heating respectively.

Further, the communication unit includes the bluetooth chip, the bluetooth chip passes through UART serial ports communication with the MCU chip, the main control unit is connected with outside bluetooth equipment through the communication unit, outside bluetooth equipment is used for sending control command to the main control unit, and the main control unit simulates the extension speed of PWM signal control first tray and second tray telescopic link according to outside bluetooth equipment control command.

Through the technical scheme, the invention has the beneficial effects that:

1. the invention is provided with a bracket for rehabilitation and a glove which is matched with the bracket for increasing the comfort level of rehabilitation, the support comprises a support mechanism and a linkage mechanism, the support mechanism and the linkage mechanism are both fixed with the glove, the support mechanism is arranged at the palm center position, the support mechanism acts to drive the linkage mechanism to bend, the linkage mechanism comprises a connecting rod arranged at the finger and palm joint, a first supporting rod arranged between the proximal finger joint and the finger and palm joint and a second supporting rod arranged at the proximal finger joint, a third supporting rod is arranged between the first supporting rod and the second supporting rod, the first supporting rod and the second supporting rod are hinged through the third supporting rod, the glove comprises a glove body, a connecting rod, a support mechanism, a first support rod, a second support rod and a third support rod, wherein the first support rod, the second support rod and the third support rod are arranged at the five-finger positions of the glove body;

when the glove is used, the glove is worn on the hand, the supporting mechanism drives the positions of the first supporting rod, the second supporting rod and the third supporting rod to change, the hand in the glove is bent and reset along with the linkage of the first supporting rod, the second supporting rod and the third supporting rod, and the finger joints are driven by a machine to perform rehabilitation training, so that the discomfort generated by training is relieved.

2. The invention is provided with a glove, the glove comprises a palm-shaped sleeve layer, an air bag arranged on the sleeve layer and used for limiting the position of fingers, and a heating and massaging mechanism arranged along the inner side surface of the sleeve layer;

after the glove is worn on the hand, the air bag is inflated, when the air bag fills the space where the finger and palm do not touch, the cover layer is tightly attached to the palm, and the bonding position of the support and the glove is adjusted to enable the linkage mechanism to be located at the joint of the finger and palm, so that the poor effect caused by deviation of the rehabilitation position is avoided.

3. The supporting mechanism and the heating and massaging mechanism are connected with the control system for rehabilitation, the control system is used for adjusting the supporting mechanism to change the training intensity, and the control system is used for adjusting the heating and massaging mechanism during training to ensure that the finger and palm can obtain the physical therapy effect of promoting blood circulation while training, so that the comfort level of rehabilitation is improved.

4. The portable umbrella is convenient to carry, the structure of the linkage mechanism is similar to the design of umbrella ribs, and the linkage mechanism is folded after training is finished, so that the size of the device can be reduced.

Drawings

Fig. 1 is one of the schematic structural diagrams of a finger and palm rehabilitation training instrument.

Fig. 2 is a second schematic structural view of a palm rehabilitation training device.

Fig. 3 is a third schematic structural view of a palm rehabilitation training instrument.

Fig. 4 is a fourth schematic structural view of a finger and palm rehabilitation training instrument.

Fig. 5 is one of the simulated motion schematic diagrams of a palm rehabilitation training device.

Fig. 6 is a second schematic diagram of the simulated motion of the finger-palm rehabilitation training device.

Fig. 7 is a fifth schematic structural view of a finger and palm rehabilitation training instrument.

Fig. 8 is a control system schematic diagram of a finger and palm rehabilitation training instrument.

The reference numbers in the drawings are as follows: 1 is the supporting mechanism, 2 is the connecting rod, 3 is the third branch, 4 is first branch, 5 is the second branch, 6 is the jacket layer, 7 is the gasbag, 8 is the heating, massage mechanism, 9 is the main control unit, 10 is the drive unit, 11 is the communication unit, 12 is temperature sensor, 13 is outside bluetooth equipment, 101 is first tray, 102 is the second tray, 103 is the dead lever, 201 is the upper portion, 202 is the lower part, 401 is the supporting part, 402 is the connecting portion, 501 is the second supporting part, 502 is the second connecting portion, 801 is the zone of heating, 802 is the hemisphere arch.

Detailed Description

The invention is further described with reference to the following figures and detailed description:

as shown in fig. 1 to 8, a finger and palm rehabilitation training instrument comprises a support for rehabilitation and a glove matched with the support for increasing the comfort level of rehabilitation, wherein the support comprises a support mechanism 1 and a linkage mechanism, the support mechanism 1 and the linkage mechanism are both fixed with the glove, the support mechanism 1 is arranged at the palm position, the support mechanism 1 acts to drive the linkage mechanism to bend, the linkage mechanism comprises a connecting rod 2 arranged at the finger and palm joint, a first supporting rod 4 arranged between the proximal finger joint and the finger and palm joint, and a second supporting rod 5 arranged at the proximal finger joint position, a third supporting rod 3 is arranged between the first supporting rod 4 and the second supporting rod 5, the first supporting rod 4 and the second supporting rod 5 are hinged through the third supporting rod 3, the first supporting rod 4, the second supporting rod 5 and the third supporting rod 3 are arranged at the five finger position of the glove, the first supporting rod 4 at the four finger position of the glove is respectively fixed with the connecting rod 2, the connecting rod 2 is fixed with the supporting mechanism 1, and the first support rod 4 at the thumb position of the glove is fixed with the supporting mechanism 1;

the glove comprises a palm-shaped sleeve layer 6, an air bag 7 arranged on the sleeve layer 6 and used for limiting fingers, and a heating and massaging mechanism 8 arranged along the inner side surface of the sleeve layer 6, wherein the supporting mechanism 1 and the heating and massaging mechanism 8 are connected with a control system used for rehabilitation.

For the convenience of finger support and bending training, and for the convenience of folding and carrying, the first leg 4 includes a support portion 401 and a connection portion 402, the supporting part 401 is arranged between the proximal knuckle and the metacarpal knuckle, the supporting part 401 is a square plate body, the supporting part 401 is fixedly bonded with the outer side surface of the bottom of the jacket layer 6, the supporting part 401 is hinged with the connecting part 402, the second strut 5 comprises a second supporting part 501 and a second connecting part 502, one end of the second connecting part 502 is hinged with the middle part of the connecting part 402, the other end is hinged with the second supporting part 501, the second supporting portion 501 is a square plate, the second supporting portion 501 is fixed to the outer side surface of the bottom of the jacket layer 6 in an adhesion manner, the second supporting portion 501 is arranged at a position close to the knuckle, the middle part of the second supporting part 501 is hinged with a third supporting rod 3, and the middle part of the third supporting rod 3 is hinged with the other end of the connecting part 402.

In order to facilitate synchronous training of the four fingers of the palm, the connecting rod 2 comprises an upper portion 201 and a lower portion 202, the upper portion 201 and the lower portion 202 are long-strip-shaped arc plates with equal length, the upper portion 201 is transversely arranged at the position of the palm joint, the upper portion 201 and the lower portion 202 are arranged in parallel, the upper portion 201 is fixedly connected with the supporting portion 401, and the lower portion 202 is hinged with one end, far away from the second supporting portion 501, of the third supporting rod 3.

In order to realize power-assisted training and reduce the rehabilitation strength, the supporting mechanism 1 comprises a first tray 101, a second tray 102 and a fixing rod 103, wherein the first tray 101 comprises a first telescopic rod and circular fixing blocks symmetrically arranged at two ends of the first telescopic rod, the two annular fixing blocks are fixedly connected with an upper part 201 and a lower part 202 respectively, and the first telescopic rod completes the bending of the finger palm four-finger position linkage mechanism by changing the distance between the upper part 201 and the lower part 202;

the second tray 102 comprises a second telescopic rod and circular fixing blocks symmetrically arranged at two ends of the second telescopic rod, the circular fixing block at the upper part of the second tray 102 is fixed with the first support rod 4 at the position of the thumb, the circular fixing block at the lower part of the second tray 102 is hinged with the third support rod 3 at the position of the thumb, the second telescopic rod completes bending of the thumb position linkage mechanism by changing the distance between the first support rod 4 at the position of the upper thumb and the third support rod 3 at the position of the thumb, and the second tray 102 is arranged at the position of a palm tiger's mouth;

the fixing rods 103 are respectively arranged along the center lines of the first tray 101 and the second tray 102, the fixing rods 103 are hinged to the upper circular fixing blocks of the first tray 101 and the second tray 102, the fixing rods 103 are of long strip-shaped structures, springs are arranged between the middle portions of the fixing rods 103 and the bottoms of the upper circular fixing blocks of the first tray 101 and the second tray 102, and the fixing rods 103 are used for shock absorption.

In order to increase the use comfort and to ensure that the finger palm and the glove are matched to the maximum extent, the communicated holes are formed in the four finger positions and the back of the hand position of the sleeve layer 6, the air bag 7 is arranged in the holes, the air bag 7 is provided with an inflation inlet, and the air bag 7 is inflated and then is exposed out of the holes formed in the sleeve layer 6, so that the sleeve layer 6 is attached to the palm.

Play the physiotherapy effect of invigorating blood circulation for further improving the comfort level, heating, massage mechanism 8, including zone of heating 801 and the protruding 802 of hemisphere, zone of heating 801 is the flexible film layer that two-layer TPU film package double-layered carbon fiber silk formed, zone of heating 801 is established along 6 inner wall subsides of jacket layer, and zone of heating 801 is fixed with jacket layer 6, and the protruding 802 of hemisphere is densely laid to zone of heating 801 opposite side, the plane of the protruding 802 of hemisphere is fixed with zone of heating 801.

For convenient intelligent control, control system includes main control unit 9, drive unit 10 and

communication unit

11, 6 bottoms in jacket layer are provided with temperature sensor 12, main control unit 9 includes the MCU chip, the MCU chip passes through ADC serial ports communication with temperature sensor 12, and main control unit 9 detects parameter control drive unit 10 work according to temperature sensor 12, drive unit 10 is connected with the pump, and the drive unit 10 input is connected with the IO mouth of MCU chip, and drive unit 10's output is connected with first tray 101 and second tray 102 telescopic link, pump and zone of heating 801 respectively.

For optimizing circuit structure, communication unit 11 includes the bluetooth chip, the bluetooth chip passes through UART serial ports communication with the MCU chip, main control unit 9 is connected with outside bluetooth equipment 13 through communication unit 11, outside bluetooth equipment 13 is used for sending control command to main control unit 9, and main control unit 9 simulates the extension speed of PWM signal control first tray 101 and second tray 102 telescopic link according to outside bluetooth equipment 13 control command.

In this embodiment, the control system is connected with a power module, the power module includes a power supply and a rectification module, the power supply is 220V commercial power, and DC12V and DC3.3V voltages are output through the rectification module to supply power to the control system.

The MCU chip is a STM32F103RBT6 type singlechip, the heating layer 801 runs at the temperature of 40-60 ℃, and heat is conducted to the heated body in a heat conduction mode and a far infrared radiation mode. Drive circuit includes a L289N chip, the output of L289N chip is connected with the telescopic link of first tray 101 and the telescopic link of second tray 102 respectively, makes the telescopic link of first tray 101 and the operation of second tray 102 telescopic link circular telegram, the PWM pin of MCU chip is connected to the input, the rated thrust of telescopic link is 30N, and drive circuit still includes two opto-coupler drive circuit, the output port other end that MCU chip was connected to opto-coupler drive circuit one end is connected with zone of heating 801 and pump, and opto-coupler drive circuit switches on zone of heating 801 and pump circular telegram work when the MCU chip corresponds output pin output high level signal, and when the MCU chip output low level signal, opto-coupler drive circuit ends zone of heating 801 and pump stop work, temperature sensor 12 specifically is DS18B20 digital temperature collection ware.

The five-finger position supporting part 401 and the second supporting part 501 are adhered to the jacket layer 6 through magic tapes, the external bluetooth device 13 is a mobile phone, and related apps are arranged on the mobile phone.

When training is carried out, the glove is worn on the hand, the palm of the finger is positioned in the sleeve layer 6, the inflator pump is connected with the inflation port of the air bag 7 to inflate the air bag 7, the part of the air bag 7 in the sleeve layer 6 of the palm of the finger is positioned outside the hole formed in the sleeve layer 6 due to inflation, on the other hand, the size of the air bag 7 is increased to press the sleeve layer 6 and the palm of the finger tightly, so that the two are fixed relatively, the supporting part 401 is fixed between the proximal knuckle and the knuckle by the magic tape, the second supporting part 501 is fixed at the position of the proximal knuckle, the palm of the finger is in a comfortable state after adjustment, and the thumb position support is fixed at the tiger's mouth, the proximal knuckle and the knuckle of.

The main control unit 9 is powered on, the MCU chip outputs a PWM signal to control the L289N chip to enable two telescopic rods to work synchronously, and the mobile phone App can adjust the extension speed of the telescopic rods;

as shown in FIG. 5, in the initial position, the support portion 401 and the second support portion 501 support the fingers to make the fingers in a straight state, at this time, the connection portion 402 and the second connection portion 502, the third support bar 3 and the upper portion 201 and the lower portion 202 are in the limit positions, the palm is in an extended state, when the first tray 101 and the second tray 102 synchronously operate, the telescopic rod is extended, the distance between the upper portion 201 and the lower portion 202 of the palm four fingers position is increased along with the extension of the first tray 101, further, as shown in FIG. 6, the third support bar 3 moves downwards along with the lower portion 202, the angle between the second connection portion 502 and the second support portion 501 influenced by the third support bar 3 is changed from an obtuse angle to an acute angle, the distance between the second connection portion 502 and the support portion 401 is shortened, the hinged position between the second connection portion 502 and the second support portion 501 is upwards jacked to make the four fingers in a bent state, at this time, the second tray 102 drives the, The second supporting rod 5 and the third supporting rod 3 are linked according to the actions, so that the thumb is in a bending state, the palm of the finger is in a fist-making state, when the palm of the finger is in a stretching state along with the main control unit 9 adjusting the motor in the telescopic rod to perform reverse reset through the L289N chip, the palm of the finger is in a stretching state again, and the muscles of the palm of the finger are trained through repeated stretching and fist making;

when the finger and palm are bent, the fixing rod 103 is extruded to generate stress to be attached to the palm, so that the impact of the telescopic rod on the palm is relieved.

When stretching and fist making actions are carried out, the main control unit 9 controls the heating layer 801 to be electrified to work to heat the interior of the sleeve layer 6, the temperature sensor 12 detects the surface temperature of the sleeve layer 6, a program is written in the MUC chip, and when the temperature in the sleeve layer 6 is higher than 50 ℃, the MUC chip controls the heating layer 801 to be powered off;

when the supporting mechanism drives the linkage mechanism to act, the sleeve layer 6 acts along with the linkage mechanism, and the hemispherical bulges 802 rub with the palm of the finger along with the action of the sleeve layer 6 to massage the palm of the finger so as to achieve the effect of promoting blood circulation.

The above-described embodiments are merely preferred embodiments of the present invention, and not intended to limit the scope of the invention, so that equivalent changes or modifications in the structure, features and principles described in the present invention should be included in the claims of the present invention.

Claims

1. The utility model provides a indicate palm rehabilitation training appearance, is used for increasing the gloves of rehabilitating the comfort level including the support that is used for rehabilitating and with the support cooperation, a serial communication port, the support includes supporting mechanism (1) and link gear, supporting mechanism (1) and link gear all are fixed with gloves, and supporting mechanism (1) sets up in the palm center position, and supporting mechanism (1) action drives the link gear crooked, link gear is including setting up connecting rod (2) and setting up near indicating joint and indicating first branch (4) between the joint and setting near indicating the joint and setting up second branch (5) near indicating the joint position, set up third branch (3) between first branch (4) and second branch (5), first branch (4) and second branch (5) are articulated through third branch (3), gloves five indicate the position all to set up first branch (4), The glove comprises a second supporting rod (5) and a third supporting rod (3), wherein the first supporting rod (4) at the four-finger position of the glove is respectively fixed with the connecting rod (2), the connecting rod (2) is fixed with the supporting mechanism (1), and the first supporting rod (4) at the thumb position of the glove is fixed with the supporting mechanism (1);

the glove comprises a palm-shaped glove layer (6), an air bag (7) arranged on the glove layer (6) and used for limiting fingers, and a heating and massaging mechanism (8) arranged along the inner side surface of the glove layer (6), wherein the supporting mechanism (1) and the heating and massaging mechanism (8) are connected with a control system used for rehabilitation.

2. The finger and palm rehabilitation training instrument according to claim 1, wherein the first supporting rod (4) comprises a supporting portion (401) and a connecting portion (402), the supporting portion (401) is arranged between a proximal knuckle and a finger and palm knuckle, the supporting portion (401) is a square plate, the supporting portion (401) is fixedly bonded with the outer side surface of the bottom of the jacket layer (6), the supporting portion (401) is hinged with the connecting portion (402), the second supporting rod (5) comprises a second supporting portion (501) and a second connecting portion (502), one end of the second connecting portion (502) is hinged with the middle portion of the connecting portion (402), the other end of the second supporting portion (501) is hinged with the second supporting portion (501), the second supporting portion (501) is a square plate, the second supporting portion (501) is fixedly bonded with the outer side surface of the bottom of the jacket layer (6), the second supporting portion (501) is arranged at a proximal knuckle position for supporting a proximal knuckle and a distal knuckle, the middle part of the second supporting part (501) is hinged with a third supporting rod (3), and the middle part of the third supporting rod (3) is hinged with the other end of the connecting part (402).

3. The palmar digital rehabilitation training instrument according to claim 2, wherein the connecting rod (2) comprises an upper part (201) and a lower part (202), the upper part (201) and the lower part (202) are long arc plates with equal length, the upper part (201) is transversely arranged at the palmar digital joint position, the upper part (201) and the lower part (202) are arranged in parallel, the upper part (201) is fixedly connected with the supporting part (401), and the lower part (202) is hinged with one end of the third supporting rod (3) far away from the second supporting part (501).

4. The palmar digital rehabilitation training instrument as claimed in claim 3, wherein the supporting mechanism (1) comprises a first tray (101), a second tray (102) and a fixing rod (103), the first tray (101) comprises a first telescopic rod and circular fixing blocks symmetrically arranged at two ends of the first telescopic rod, the two circular fixing blocks are respectively and fixedly connected with the upper part (201) and the lower part (202), and the first telescopic rod completes the bending of the palmar digital four-digit linkage mechanism by changing the distance between the upper part (201) and the lower part (202);

the second tray (102) comprises a second telescopic rod and circular fixing blocks symmetrically arranged at two ends of the second telescopic rod, the circular fixing block at the upper part of the second tray (102) is fixed with the first supporting rod (4) at the position of the thumb, the circular fixing block at the lower part of the second tray (102) is hinged with the third supporting rod (3) at the position of the thumb, the second telescopic rod completes the bending of the thumb position linkage mechanism by changing the distance between the first supporting rod (4) at the position of the upper thumb and the third supporting rod (3) at the position of the thumb, and the second tray (102) is arranged at the position of the palm tiger's mouth;

set up dead lever (103) along first tray (101) and second tray (102) central line respectively, dead lever (103) all with the circular fixed block in upper portion of first tray (101) and second tray (102) is articulated, and dead lever (103) are rectangular structure, are provided with the spring between the circular fixed block bottom in upper portion of dead lever (103) middle part and first tray (101) and second tray (102), and dead lever (103) are used for the shock attenuation.

5. The finger and palm rehabilitation training instrument according to claim 1, wherein holes communicated with the back of the hand are formed in the four fingers of the sleeve layer (6), an air bag (7) is arranged in each hole, an inflation port is formed in each air bag (7), and the air bags (7) are exposed from the holes formed in the sleeve layer (6) after being inflated, so that the sleeve layer (6) is attached to the palm.

6. The finger and palm rehabilitation training instrument according to claim 5, characterized in that the heating and massaging mechanism (8) comprises a heating layer (801) and hemispherical protrusions (802), the heating layer (801) is a flexible film layer formed by wrapping carbon fiber yarns with two layers of TPU films, the heating layer (801) is attached to the inner wall of the sleeve layer (6), the heating layer (801) is fixed to the sleeve layer (6), the hemispherical protrusions (802) are densely arranged on the other side of the heating layer (801), and the plane of the hemispherical protrusions (802) is fixed to the heating layer (801).

7. The finger and palm rehabilitation training instrument according to any one of claims 4 and 6, characterized in that the control system comprises a main control unit (9), a driving unit (10) and a communication unit (11), a temperature sensor (12) is arranged at the bottom of the jacket layer (6), the main control unit (9) comprises an MCU chip, the MCU chip is in serial communication with the temperature sensor (12) through an ADC, the main control unit (9) controls the driving unit (10) to work according to the detection parameters of the temperature sensor (12), the driving unit (10) is connected with an inflator pump, the input end of the driving unit (10) is connected with an IO port of the MCU chip, and the output end of the driving unit (10) is connected with a first tray (101) and a second tray (102) telescopic rod, the inflator pump and a heating layer (801) respectively.

8. The finger and palm rehabilitation training instrument according to claim 7, wherein the communication unit (11) comprises a Bluetooth chip, the Bluetooth chip and the MCU chip are in communication through a UART serial port, the main control unit (9) is connected with an external Bluetooth device (13) through the communication unit (11), the external Bluetooth device (13) is used for sending a control command to the main control unit (9), and the main control unit (9) simulates PWM signals according to the control command of the external Bluetooth device (13) to control the extension speeds of the telescopic rods of the first tray (101) and the second tray (102).