CN115645222A - Finger rehabilitation training mechanism - Google Patents

Abstract

The invention relates to the technical field of finger rehabilitation training, and particularly provides a finger rehabilitation training mechanism which comprises a palm plate, a driving plate and a finger driving assembly, wherein the palm plate is provided with a finger driving mechanism; the finger driving assembly comprises a force sensor, a finger driving piece and a finger connecting rod piece which are respectively arranged on the palm plate, and the driving plate is respectively connected with the finger driving piece and the force sensor through wires; the finger connecting rod piece comprises a sliding connecting rod, a driving connecting rod and a finger fixing part, one end of the finger fixing part is used for being hinged with the palm plate, and the finger driving piece is used for being connected with one end of the sliding connecting rod; wherein, crooked or extend hard when the finger, on the finger can transmit for the finger fixed part hard this moment, can transmit the force transducer on the finger drive spare through slip connecting rod and drive connecting rod simultaneously, with signal transmission for the drive plate, the drive plate can give out the instruction makes the finger drive spare motion, has carried out the rigid-flexible coupling design with the mechanism, has improved the practicality of mechanism.

Description

Finger rehabilitation training mechanism

Technical Field

The invention relates to the technical field of finger rehabilitation training, in particular to a finger rehabilitation training mechanism.

Background

Cerebral apoplexy is a serious disease threatening human health, has high disability rate, and can cause the physical and physical disorders of human bodies. Among them, the fingers of a person are generally responsible for engaging in a large number of fine movements, and the recovery difficulty is high after the function of the fingers is damaged, so that the fingers are easy to be disabled for life and lose the self-care ability of life, and the daily life of the user is seriously influenced. According to research, 20% -30% of the hand functions of the users can be restored to the state of practical life and 30% -40% of the hand functions of the users can be restored to the state of auxiliary life through the finger rehabilitation treatment.

At present, the best rehabilitation treatment method for users with finger disabilities or finger wounds at home and abroad is repair and remodeling of damaged nerves and continuous passive exercise rehabilitation training, the traditional finger user rehabilitation treatment is one-to-one rehabilitation treatment performed on the users by rehabilitation technicians, the labor amount is large, the cost is high, and rehabilitation doctors can well solve the problems of labor amount, cost and the like by performing functional progressive rehabilitation treatment on the users through the assistance of a finger rehabilitation robot, so that the finger rehabilitation robot can be put into operation.

The existing finger rehabilitation training device can only perform passive training generally, the training mode is single, the training symptoms are single, the selectivity for customers is low, and the wide use is limited to a certain extent; when carrying out finger rehabilitation training, current finger rehabilitation training device is comparatively stiff usually, and the training operation is carried out to mechanization only, can't make timely feedback to the atress condition and the application of force condition of user's finger in the motion process.

Disclosure of Invention

The invention aims to solve the problems that the existing finger rehabilitation training device is single in training mode due to improper structural design, cannot obtain the stress condition and the force application condition of the fingers of a user in the movement process, and is inconvenient to control.

In order to solve the above problems, the present invention proposes the following technical solutions:

a finger rehabilitation training mechanism comprises a palm plate, a driving plate and a finger driving assembly;

the finger driving assembly comprises a force sensor, a finger driving piece and a finger connecting rod piece which are respectively arranged on the palm plate, and the driving plate is respectively connected with the finger driving piece and the force sensor through wires; the finger connecting rod piece comprises a sliding connecting rod, a driving connecting rod and a finger fixing part, one end of the finger fixing part is hinged with the palm plate, and the finger driving piece is connected with one end of the sliding connecting rod to drive the sliding connecting rod to reciprocate;

the driving connecting rod comprises a driving end, a connecting end and an installation part, and the driving end is used for being connected with one end, far away from the finger driving piece, of the sliding connecting rod;

the mounting part is arranged on the driving connecting rod and close to the driving end, and the mounting part is used for being hinged with the palm plate;

the connecting end of the driving connecting rod is hinged to the other end of the finger fixing part.

Compared with the prior art, the finger rehabilitation training mechanism provided by the invention has the following beneficial effects:

when a user performs finger passive training, fingers are fixed on the finger fixing part, the finger driving part works and pushes the sliding connecting rod to drive the driving connecting rod to move, then the driving connecting rod drives the finger fixing part to drive the fingers to move, and the force sensor can detect the condition of the output force of the finger driving part in real time in the moving process so as to adjust the output parameters of the finger driving part and ensure the safety of the user; when the fingers are actively trained, when the fingers are forcibly bent or extended, the finger force is transmitted to the finger fixing part and is transmitted to the force sensor on the finger driving part through the sliding connecting rod and the driving connecting rod, the force sensor transmits a signal to the driving plate after receiving a force signal and a force direction, the driving plate sends an instruction to enable the finger driving part to generate the force and the force direction suitable for a user, and the driving mechanism moves; the device adopts a connecting rod driving principle, carries out rigid-flexible coupling design on the mechanism, improves the practicability of the mechanism, combines the force sensors, is favorable for realizing active training and passive training of five fingers, can also realize active training and passive training of single-finger joints, and combines force feedback, thereby being convenient for mastering the force exertion size of each finger in real time and being favorable for control.

Preferably, there are three finger-driven assemblies, namely a first finger-driven assembly, a second finger-driven assembly and a third finger-driven assembly, the first finger-driven assembly is used for driving the thumb, and the second finger-driven assembly is used for driving the index finger;

the third finger driving assembly is provided with three finger connecting rod pieces, and the finger driving piece is used for being connected with the three finger connecting rod pieces respectively so as to drive a middle finger, a ring finger and a little finger.

Preferably, the finger connecting rod piece further comprises a joint fixing seat and a connecting part, the joint fixing seat is fixed on the palm plate, and the driving connecting rod is movably hinged to the joint fixing seat through the mounting part;

connecting portion include separation and reunion piece, first bearing and second bearing, first bearing with the second bearing set up respectively in the both ends of separation and reunion piece, the separation and reunion piece passes through first bearing with the joint fixing base rotates to be connected, the separation and reunion piece passes through the second bearing with the installation department rotates to be connected.

Preferably, the finger fixing part comprises a proximal finger fixing part and a distal finger fixing part, one end of the proximal finger fixing part is used for being rotatably connected with the joint fixing seat, the other end of the proximal finger fixing part is used for being rotatably connected with the distal finger fixing part, and the connecting end of the driving connecting rod is used for being rotatably connected with the distal finger fixing part.

Preferably, the joint fixing seat comprises a seat body, a first shaft pin and two mounting arms arranged on the seat body, and the two mounting arms are arranged oppositely;

the near finger fixing part comprises a near finger plate body and two oppositely arranged inserting arms positioned at one end of the near finger plate body, the two inserting arms are used for being inserted between the two mounting arms, a first near finger limiting groove is formed in the inner wall of each inserting arm, and the first near finger limiting groove is of a fan-shaped structure; the clutch block is provided with one end of the first bearing and used for being inserted between the two insertion arms, the connecting part further comprises a clutch limiting block which is arranged on the clutch block and positioned on the periphery of the first bearing, the clutch limiting block is of a fan-shaped structure and used for being movably connected with the first near-finger limiting groove, and the central angle of the clutch limiting block is smaller than that of the first near-finger limiting groove;

the first shaft pin is used for penetrating through the inserting arm, the mounting arm and the first bearing, and the clutch block rotates to enable the clutch limiting block to abut against the inner wall of the first near-finger limiting groove and drive the near-finger plate body to rotate.

Preferably, the inner wall of the mounting arm is provided with a joint limiting groove, and the joint limiting groove is of a fan-shaped structure;

the near finger fixing part further comprises a near finger limiting block arranged on the outer wall of the insertion arm, the near finger limiting block is also of a fan-shaped structure, the near finger limiting block is movably arranged in the joint limiting groove, and the central angle of the near finger limiting block is smaller than that of the joint limiting groove;

the first shaft pin is used for penetrating through the insertion arm, the mounting arm and the first bearing, so that the near finger fixing part is connected with the joint fixing seat in an angle rotation mode.

Preferably, the near-finger fixing part further comprises a second shaft pin and two connecting arms far away from one end of the insertion arm, the two connecting arms are arranged oppositely, a second near-finger limiting groove is formed in the inner wall of each connecting arm, and the second near-finger limiting groove is of a fan-shaped structure;

the far finger fixing part comprises a far finger plate body and a third bearing arranged at one end of the far finger plate body, which is provided with the third bearing, is used for being inserted between the two connecting arms, a far finger limiting block is arranged on the far finger plate body and positioned at the periphery of the third bearing, the far finger limiting block is of a fan-shaped structure and is used for being movably connected with the second near finger limiting groove, and the central angle of the far finger limiting block is smaller than that of the second near finger limiting groove;

the second shaft pin is used for penetrating through the connecting arm and the second bearing so as to enable the far finger fixing part to be connected with the near finger fixing part in an angle rotation mode.

Preferably, the finger connecting rod piece further comprises a movable sliding block and a guide rail, the guide rail is fixed on the palm plate, and the joint fixing seat is arranged at one end of the guide rail;

one end of the movable sliding block is fixedly connected with the finger driving piece, the other end of the movable sliding block is used for being rotatably connected with the sliding connecting rod, and the movable sliding block is connected with the guide rail in a sliding mode.

Preferably, the finger driving piece includes driving motor and motor telescopic link, driving motor pass through force sensor is fixed set up in on the palm board, driving motor be used for with the motor telescopic link drive is connected, so that reciprocating motion is to the motor telescopic link, the motor telescopic link is kept away from driving motor one end be used for with it is connected to remove the slider.

Preferably, the finger link member further includes a strap provided on a lower end surface of the finger fixing portion.

Drawings

Fig. 1 is a schematic overall structure diagram of a finger rehabilitation training mechanism according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of the overall structure of the finger driving assembly according to the embodiment of the present invention;

FIG. 3 is a schematic view of a driving link structure according to an embodiment of the present invention;

FIG. 4 is a schematic view of a connecting portion according to an embodiment of the present invention;

FIG. 5 is a schematic view of a joint fixing base according to an embodiment of the present invention;

FIG. 6 is an exploded view of the joint fixing base, the sliding connecting rod, the driving connecting rod and the connecting portion according to the embodiment of the present invention;

FIG. 7 is a schematic view of a proximal fixation portion according to an embodiment of the present invention;

FIG. 8 is a schematic view of a distal finger fixation section according to an embodiment of the present invention;

FIG. 9 is a schematic diagram of the operation of the finger driving assembly according to the embodiment of the invention.

Description of the reference numerals:

1 palm plate, 2 driving plates, 3 finger driving components, 31 force sensors, 32 finger driving components, 321 driving motors, 322 motor telescopic rods, 33 finger connecting rod components, 330 binding bands, 34 sliding connecting rods, 35 driving connecting rods, 351 driving ends, 352 connecting ends, 353 installing parts, 354 protruding parts, 36 joint fixing seats, 361 seat bodies, 362 installing arms, 363 joint limiting grooves, 364 first shaft pins, 37 finger fixing parts, 371 proximal finger fixing parts, 3711 proximal finger plate bodies, 3712 inserting arms, 3713 first proximal finger limiting grooves, 3714 proximal finger limiting blocks, 3715 connecting arms, 3716 second proximal finger limiting grooves, 3717 second shaft pins, 372 distal finger fixing parts, 3721 distal finger plate bodies, 3722 third bearings, 3723 distal finger limiting blocks, 38 connecting parts, 381 clutch blocks, 382 first bearings, 383 second bearings, 384 clutch limiting blocks, 39 moving sliders, 390 guide rails, 4 third finger driving components and 5 first finger driving components.

Detailed Description

Embodiments of the present application will be described in further detail with reference to the drawings and examples. The following examples are intended to illustrate the present application but are not intended to limit the scope of the present application.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

In the coordinate system XYZ provided herein, the X-axis forward direction represents the right direction, the X-axis reverse direction represents the left direction, the Y-axis forward direction represents the front direction, the Y-axis reverse direction represents the rear direction, the Z-axis forward direction represents the upper direction, and the Z-axis reverse direction represents the lower direction; the Z-axis, X-axis, and Y-axis are meant only to facilitate the description of the invention and to simplify the description, and are not meant to indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be taken as limiting the invention.

Referring to fig. 1 to 9, the finger rehabilitation training mechanism provided by the invention comprises a palm plate 1, a driving plate 2 and a finger driving assembly 3;

referring to fig. 2, the finger driving assembly 3 includes a force sensor 31, a finger driving member 32 and a finger link member 33 respectively mounted on the palm plate 1, and the driving plate 2 is respectively connected to the finger driving member 32 and the force sensor 31 through wires; the finger link member 33 comprises a sliding link 34, a driving link 35 and a finger fixing portion 37, one end of the finger fixing portion 37 is used for being hinged to the palm plate 1, and the finger driving member 32 is used for being connected with one end of the sliding link 34 so as to drive the sliding link 34 to reciprocate;

referring to fig. 3, the driving link 35 includes a driving end 351, a connecting end 352 and a mounting portion 353, the driving end 351 is used for connecting with one end of the sliding link 34 far away from the finger driver 32;

the mounting portion 353 is arranged on the driving connecting rod 35 and close to the driving end 351, and the mounting portion 353 is used for being hinged to the palm plate 1;

the connecting end 352 of the driving link 35 is adapted to be hinged with the other end of the finger fixing portion 37.

Specifically, on drive connecting rod 35 installation portion 353 with be provided with bellying 354 between the link 352, bellying 354 is from being close to one side orientation of palm board 1 the top direction protrusion of palm board 1 sets up, bellying 354 with the activity space has between the palm board 1, finger fixed part 37 with drive connecting rod 35 the end swing joint of link 352, the setting of activity space is into finger fixed part 37 follows drive connecting rod 35 moves and provides the space, and then is favorable to increasing the holistic flexibility of device.

In this embodiment, when performing passive finger training, a finger is fixed on the finger fixing portion 37, the finger driving member 32 works and pushes the sliding link 34 to drive the driving link 35 to move, then the driving link 35 drives the finger fixing portion 37 to drive the finger to move, and the force sensor 31 detects the output force of the finger driving member 32 in real time during the movement process and feeds the output force back to the system, so as to adjust the output parameter of the finger driving member 32, thereby ensuring the safety of a user; when the fingers are actively trained, when the fingers are forcibly bent or extended, the finger force is transmitted to the finger fixing part 37 and is transmitted to the force sensor 31 on the finger driving part 32 through the sliding connecting rod 34 and the driving connecting rod 35, the force sensor 31 receives force signals and directions and transmits the signals to the driving plate 2, and the driving plate 2 sends out instructions to enable the finger driving part 32 to generate self-adaptive force and direction for the user so as to drive the mechanism to move; the device adopts a connecting rod driving principle, carries out rigid-flexible coupling design on the mechanism, improves the practicability of the mechanism, combines the force sensors, is favorable for realizing active training and passive training of five fingers, can also realize active training and passive training of single-finger joints, and combines force feedback, thereby being convenient for mastering the force application of each finger in real time and being favorable for control.

Preferably, three finger-driven assemblies 3 are provided, namely a first finger-driven assembly 5, a second finger-driven assembly and a third finger-driven assembly 4 for the three finger-driven assemblies 3, wherein the first finger-driven assembly 5 is used for driving the thumb, and the second finger-driven assembly is used for driving the index finger;

the number of the finger link members 33 in the third finger driving assembly 4 is three, and in the third finger driving assembly 4, the finger driving member 32 is used for connecting the three finger link members 33 respectively to drive the middle finger, the ring finger and the small finger.

Specifically, the three finger link members 33 share one moving slide block 39, and the moving slide block 39 is long, so that the three finger link members 33 are arranged in a "one" shape to drive the middle finger, ring finger and little finger; wherein, the moving slide block 39 of the third finger driving assembly 4 is provided with three rotating rings respectively corresponding to the three sliding links 34 of the three finger link members 33, and the three finger link members 33 share one finger driving member 32; that is, the third finger driving assembly 4 includes 1 force sensor 31, 1 motor fixing base, 1 driving motor 321, 1 motor telescopic rod 322, 1 long-strip-shaped moving slider 39, 1 guide rail 390, 3 sliding links 34, 3 joint fixing bases 36, 3 connecting portions 38, 3 driving links 35, 3 proximal fixing plates, 3 distal fixing plates and 6 binding bands 330. One side of 1 long-strip-shaped movable sliding block 39 is hinged with one end of 3 sliding connecting rods 34, and the other end of the movable sliding block is fixedly connected with the telescopic rod of the driving motor 321.

The first finger driving component 5 has the same structure as the second finger driving component, is arranged on the inclined plane of the palm plate 1 and is used for corresponding to the thumb so as to drive the thumb.

Referring to fig. 4, preferably, the finger link member 33 further includes a joint fixing seat 36 and a connecting portion 38, the joint fixing seat 36 is fixed on the palm plate 1, and the driving link 35 is movably hinged on the joint fixing seat 36 through the mounting portion 353;

connecting portion 38 includes clutch piece 381, first bearing 382 and second bearing 383, first bearing 382 with second bearing 383 sets up respectively in clutch piece 381's both ends, clutch piece 381 passes through first bearing 382 with joint fixing base 36 is rotated and is connected, clutch piece 381 passes through second bearing 383 with installation department 353 is rotated and is connected.

Specifically, the upper surface of joint fixing base 36 is provided with the mounting groove, clutch block 381 through first bearing 382 with joint fixing base 36 swing joint, and then make clutch block 381 can retract in the mounting groove, also the part of installation department 353 can be located in the mounting groove, can make when the device is idle clutch block 381 with installation department 353 retracts in the mounting groove, so that will reduce the holistic volume of device so that accomodate.

In this embodiment, the setting of connecting portion 38 makes drive connecting rod 35 with joint fixing base 36 is indirect to be connected, just the both ends of separation and reunion piece 381 respectively with installation department 353 joint fixing base 36 is connected, this structure has increased to a certain extent drive connecting rod 35's home range and flexibility avoid drive connecting rod 35 directly with joint fixing base 36 is connected and leads to drive connecting rod 35 extends and does not open and influence user's rehabilitation training.

Preferably, the finger fixing portion 37 includes a proximal finger fixing portion 371 and a distal finger fixing portion 372, one end of the proximal finger fixing portion 371 is used for rotationally connecting with the joint fixing base 36, the other end of the proximal finger fixing portion 371 is used for rotationally connecting with the distal finger fixing portion 372, and the connecting end 352 of the driving link 35 is used for rotationally connecting with the distal finger fixing portion 372.

Wherein, the finger is divided into 3 sections, the section with long fingernail is the finger end section, the section connecting with the palm is the finger proximal section, and the section between the finger end section and the finger proximal section is the finger middle section.

Specifically, the joint fixing seat 36 is arranged at the joint between the proximal segment of the finger and the palm plate 1, and one end of the proximal fixing part 371 is rotatably connected with the joint fixing seat 36, so that the structure is convenient for the bending training between the proximal segment of the finger and the palm; nearly indicate fixed part 371 is used for the nearly festival of fixed finger, far indicate fixed part 372 to be used for fixed finger well festival, nearly indicate fixed part 371 the other end be used for with far indicate fixed part 372 to rotate to be connected, just drive connecting rod 35 the link 352 be used for with far indicate fixed part 372 to rotate to be connected, this structure is favorable to carrying on the crooked training of the nearly festival of finger and finger well festival.

In this embodiment, the finger driving member 32 drives the sliding link 34 to drive the driving link 35 to move, the driving link 35 drives the proximal finger fixing portion 371 to move and the distal finger fixing portion 372 to move, so as to facilitate the bending training of the proximal segment of the finger and the palm and the bending training of the proximal segment of the finger and the middle segment of the finger.

Referring to fig. 5, preferably, the joint fixing base 36 includes a base 361, a first shaft pin 364, and two mounting arms 362 disposed on the base 361, and the two mounting arms 362 are disposed oppositely;

referring to fig. 5-6, the proximal finger fixing portion 371 includes a proximal finger plate 3711 and two opposite insertion arms 3712 located at one end of the proximal finger plate 3711, the two insertion arms 3712 are used for being inserted between the two mounting arms 362, a first proximal finger limiting groove 3713 is formed in an inner wall of the insertion arm 3712, and the first proximal finger limiting groove 3713 is a fan-shaped structure; the inserting arm 3712 is provided with one end of the first bearing 382 for being inserted between the two inserting arms 3712, the connecting portion 38 further includes a clutch limiting block 384 arranged on the inserting arm 3712 and located at the periphery of the first bearing 382, the clutch limiting block 384 is a sector structure, the clutch limiting block 384 is used for being movably connected with the first proximal finger limiting groove 3713, and the central angle of the clutch limiting block 384 is smaller than the central angle of the first proximal finger limiting groove 3713;

the first shaft pin 364 is used to penetrate the inserting arm 3712, the mounting arm 362 and the first bearing 382, and the inserting arm 3712 rotates to make the clutch limiting block 384 abut against the inner wall of the first proximal finger limiting groove 3713 and drive the proximal finger plate 3711 to rotate.

Specifically, when the first shaft pin 364 penetrates through the inserting arm 3712, the mounting arm 362 and the first bearing 382, the clutch limiting block 384 is located in the first proximal finger limiting groove 3713, and the proximal clutch limiting block 384 is coaxially disposed with the first proximal finger limiting groove 3713; at this time, when the clutch block 381 rotates around the first shaft pin 364, the clutch limit block 384 rotates in the first proximal finger limit groove 3713. When the sliding connecting rod 34 drives the driving connecting rod 35 to move, because the clutch block 381 is rotationally connected with the mounting portion 353, the clutch block 381 is rotationally connected with the shutdown fixing seat again, so that the clutch block 381 follows the driving connecting rod 35 to work, and when the clutch limiting block 384 rotates to the limit position of the first near-finger limiting groove 3713, the clutch limiting block 384 continues to push the side wall of the first near-finger limiting groove 3713 to push the near-finger plate body 3711 to move.

In this embodiment, the finger driving member 32 operates to drive the sliding link 34 to drive the driving link 35 to move, and the clutch limiting block 384 of the clutch block 381 is engaged with the first proximal finger limiting groove 3713, so as to drive the proximal finger plate 3711 to rotate around the first shaft pin 364.

Referring to fig. 5-6, preferably, the inner wall of the mounting arm 362 is provided with a joint limiting groove 363, and the joint limiting groove 363 has a fan-shaped structure;

the proximal finger fixing part 371 further comprises a proximal finger limiting block 3714 arranged on the outer wall of the insertion arm 3712, the proximal finger limiting block 3714 is also of a fan-shaped structure, the proximal finger limiting block 3714 is movably arranged in the joint limiting groove 363, and the central angle of the proximal finger limiting block 3714 is smaller than that of the joint limiting groove 363;

the first shaft pin 364 is used to penetrate the inserting arm 3712, the mounting arm 362 and the first bearing 382, so that the proximal finger fixing part 371 and the joint fixing seat 36 are connected in an angular rotation manner.

Specifically, the central angle range of the joint limiting groove 363 is 90 ° to 120 °, the central angle range of the proximal finger limiting block 3714 is 10 ° to 50 °, when the first shaft pin 364 penetrates through the inserting arm 3712 and the mounting arm 362, the proximal finger limiting block 3714 is located in the joint limiting groove 363, and the proximal finger limiting block 3714 and the joint limiting groove 363 are coaxially arranged; at this time, when the inserting arm 3712 rotates around the first shaft pin 364, the proximal finger limiting block 3714 rotates in the joint limiting groove 363, and when the proximal finger limiting block 3714 rotates to contact the side wall of the joint limiting groove 363 where the bus bar is located, the inserting arm 3712 and the proximal finger fixing part 371 are blocked to stop rotating.

The range of the center of the joint limiting groove 363 is not limited to 90-120 degrees, the range of the angle of the center of the proximal finger limiting block 3714 is not limited to 10-50 degrees, various angle ranges can be designed to limit different rotation angles of the inserting arm 3712 and the proximal finger fixing part 371, and various types of training devices can be produced to meet specific requirements of customers with different finger damage degrees.

In this embodiment, the arrangement of the proximal finger limiting block 3714 and the joint limiting groove 363 enables the rotation angle of the proximal finger fixing portion 371 to be limited, so as to avoid injury of a user due to no restriction during training caused by an excessively large range of motion of the proximal finger fixing portion 371, thereby ensuring safety of the user in the training process to a certain extent.

Referring to fig. 7-8, preferably, the proximal finger fixing portion 371 further includes a second axle pin 3717 and two connecting arms 3715 disposed at an end far away from the inserting arm 3712, the two connecting arms 3715 are disposed oppositely, a second proximal finger limiting groove 3716 is disposed on an inner wall of the connecting arm 3715, and the second proximal finger limiting groove 3716 is a fan-shaped structure;

the distal finger fixing portion 372 comprises a distal finger plate 3721 and a third bearing 3722 arranged at one end of the distal finger plate 3721, where the third bearing 3722 is arranged, is used for being inserted between the two connecting arms 3715, a distal finger limiting block 3723 is arranged on the distal finger plate 3721 and located at the periphery of the third bearing 3722, the distal finger limiting block 3723 is of a fan-shaped structure, the distal finger limiting block 3723 is used for being movably connected with the second proximal finger limiting groove 3716, and the central angle of the distal finger limiting block 3723 is smaller than that of the second proximal finger limiting groove 3716;

the second shaft pin 3717 is used to penetrate the connecting arm 3715 and the second bearing 383, so that the distal finger fixing portion 372 and the proximal finger fixing portion 371 are connected in an angular rotation manner.

Still be provided with the connecting plate on the finger plate body 3721 far away, the connecting plate be used for set up in third bearing 3722 keeps away from one side of the finger plate body 3721 far away, the connecting plate with be the obtuse angle setting between the up end of the finger plate body 3721 far away, drive connecting rod 35 the link 352 with the connecting plate rotates to be connected, then when the connecting plate rotates, with second axis pin 3717 is the centre of a circle, the finger plate body 3721 far away correspondingly rotates.

Specifically, the central angle range of the second proximal finger limiting groove 3716 is 100 ° to 160 °, the central angle range of the distal finger limiting block 3723 is 10 ° to 50 °, when the second shaft pin 3717 penetrates through the connecting arm 3715 and the second bearing 383, the distal finger limiting block 3723 is located in the second proximal finger limiting groove 3716, and the proximal finger limiting block 3723 and the second proximal finger limiting groove 3716 are coaxially arranged; at this time, when the distal finger fixing portion 372 rotates around the second shaft pin 3717, the distal finger limiting block 3723 rotates in the second proximal finger limiting groove 3716, and when the distal finger limiting block 3723 rotates to contact the side wall where the bus of the second proximal finger limiting groove 3716 is located, the distal finger fixing portion 372 is blocked to stop rotating.

The range of the center of the second proximal finger limiting groove 3716 is not limited to 100-160 °, the range of the central angle of the distal finger limiting block 3723 is not limited to 10-50 °, various angular ranges can be designed to limit different rotation angles of the distal finger fixing part 372, and various types of training devices can be produced, so that the device can meet specific requirements of customers with different finger injury degrees.

In this embodiment, when the sliding link 34 drives the driving link 35 to move, since the connecting end 352 of the driving link 35 is rotatably connected to the distal finger plate 3721 through the connecting plate, the driving link 35 uses the second axle pin 3717 as a center of circle to further push the connecting plate to rotate when moving, so as to push the distal finger plate 3721 to rotate, which is beneficial to the bending training of the proximal segment and the middle segment of the finger; moreover, the arrangement of the distal finger limiting block 3723 and the second proximal finger limiting groove 3716 limits the rotation range of the distal finger plate 3721, avoids injury of a user due to no restriction during training caused by an excessively large rotation range of the distal finger plate 3721, and ensures the safety of the user in the training process to a certain extent.

Referring to fig. 1, preferably, the finger link 33 further includes a moving slider 39 and a guide rail 390, the guide rail 390 is fixed on the palm plate 1, and the joint fixing seat 36 is disposed at one end of the guide rail 390;

one end of the moving slider 39 is fixedly connected to the finger driving member 32, the other end of the moving slider 39 is rotatably connected to the sliding link 34, and the moving slider 39 is slidably connected to the guide rail 390.

Specifically, the lower end of the movable slider 39 is provided with a sliding groove, the sliding groove is matched with the guide rail 390, and the movable slider 39 is slidably connected with the guide rail 390 through the sliding groove.

In this embodiment, the moving slider 39 is used to connect the finger-actuated element 32 and the sliding link 34, and on the other hand, the moving slider 39 and the guide rail 390 cooperate to have a guiding function, so that the moving slider 39 keeps stable movement when driven by the finger-actuated element 32, thereby avoiding the position deviation occurring when the moving slider 39 and the sliding link 34 move to affect the working accuracy of the whole device, and also being beneficial to improving the comfort and stability of the device for use, so as to improve the user experience.

Referring to fig. 1, preferably, the finger driving member 32 includes a driving motor 321 and a motor telescopic rod 322, the driving motor 321 is fixedly disposed on the palm plate 1 through a force sensor 31, the driving motor 321 is used for being drivingly connected with the motor telescopic rod 322 to make the motor telescopic rod 322 reciprocate, and one end of the motor telescopic rod 322, which is far away from the driving motor 321, is used for being connected with the moving slider 39.

Specifically, the force sensor 31 is connected with the tail end of the driving motor 321 and is fixedly mounted on the palm plate 1 through the force sensor 31, and in order to enable the force sensor 31 to be beneficial to detecting the stress condition in real time, the driving motor 321 selects a cantilever mounting mode; the motor telescopic rod 322 is installed in the driving motor 321 and can do telescopic motion, and the tail end of the motor telescopic rod 322 is fixedly connected with the movable sliding block 39.

In this embodiment, the driving motor 321 provides a drive for the apparatus, the driving motor 321 works to drive the motor telescopic rod 322 to move, and the motor telescopic rod 322 pushes the moving slider 39 to move on the guide rail 390, so as to push the sliding link 34 to move.

Preferably, the finger link member 33 further includes a strap 330, and the strap 330 is disposed on a lower end surface of the finger fixing portion 37.

Specifically, at least two bands 330 are provided, at least one band 330 is provided on the lower end surface of the proximal fingerplate body 3711 for fixing the proximal finger knuckle to the proximal fingerplate body 3711, and at least one band 330 is provided on the lower end surface of the distal fingerplate body 3721 for fixing the middle finger knuckle to the distal fingerplate body 3721.

In this embodiment, the straps 330 are provided to facilitate securing the fingers in relative positions on the device for ease of removal and securement.

During specific work, the palm is placed under the palm plate 1 of the finger rehabilitation training mechanism, and five fingers are fixed by the binding bands 330 respectively.

When the passive finger bending training is performed, the driving motor 321 works to make the motor telescopic rod 322 do an extension motion and push the moving slider 39 to move forward on the guide rail 390, and since the sliding link 34 is hinged to the moving slider 39 and the driving link 35, the moving slider 39 moves forward to drive the sliding link 34 to drive the driving link 35 to move, at this time, the clutch block 381 follows the driving link 35 to work, and the driving link 35 drives the distal finger plate 3721 to move downward. When the clutch limiting block 384 of the clutch block 381 reaches the limit position of the first proximal finger limiting groove 3713 of the proximal finger plate 3711, the proximal finger plate 3711 will be driven to rotate downwards. The bending angle of the finger can be controlled by controlling the telescopic distance of the motor telescopic rod 322. To ensure the safety of the user, when the proximal finger stopper 3714 reaches the limit position of the joint stopper 363, the mechanism will stop moving by itself. During the movement, the force sensor 31 will detect the output force of the driving motor 321 in real time and feed back the detected output force to the system, so as to adjust the output parameters of the motor and ensure the safety of the user.

Referring to fig. 1 and 9, during the passive finger extension training, the driving motor 321 works, the motor telescopic rod 322 makes a retraction movement and pulls the moving slider 39 to move backwards on the guide rail 390, since the sliding link 34 is hinged to the moving slider 39 and the driving link 35, the moving slider 39 moves backwards to make the sliding link 34 drive the driving link 35 to move, at this time, the clutch block 381 works along with the driving link 35, and the driving link 35 drives the distal finger plate 3721 to move upwards. When the clutch limiting block 384 of the clutch block 381 reaches the limit position of the first proximal finger limiting groove 3713 of the proximal finger plate 3711, the proximal finger plate 3711 will be driven to rotate upward.

When the fingers are actively trained, when the fingers are forcibly bent or extended, the finger force is transmitted to the near finger plate 3711 and the far finger plate 3721, and is transmitted to the force sensor 31 at the tail end of the driving motor 321 through the sliding connecting rod 34 and the driving connecting rod 35, after receiving a force signal and a force direction, the force sensor 31 transmits the signal to the driving plate 2, and the driving plate 2 sends an instruction to enable the driving motor 321 to generate self-adaptive force and direction for a user, so that the driving mechanism moves.

Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.

Claims (10)

1. A finger rehabilitation training mechanism is characterized by comprising a palm plate (1), a driving plate (2) and a finger driving component (3);

the finger driving assembly (3) comprises a force sensor (31), a finger driving piece (32) and a finger connecting rod piece (33) which are respectively installed on the palm plate (1), and the driving plate (2) is respectively connected with the finger driving piece (32) and the force sensor (31) through wires; the finger connecting rod piece (33) comprises a sliding connecting rod (34), a driving connecting rod (35) and a finger fixing part (37), one end of the finger fixing part (37) is hinged with the palm plate (1), and the finger driving piece (32) is connected with one end of the sliding connecting rod (34) to drive the sliding connecting rod (34) to reciprocate;

the driving connecting rod (35) comprises a driving end (351), a connecting end (352) and a mounting portion (353), and the driving end (351) is used for being connected with one end, far away from the finger driving piece (32), of the sliding connecting rod (34);

the mounting part (353) is arranged on the driving connecting rod (35) and close to the driving end (351), and the mounting part (353) is used for being hinged with the palm plate (1);

the connecting end (352) of the driving link (35) is used for being hinged with the other end of the finger fixing part (37).

2. The finger rehabilitation training mechanism according to claim 1, characterized in that the finger drive assemblies (3) are provided in three, the three finger drive assemblies (3) being a first finger drive assembly (5), a second finger drive assembly and a third finger drive assembly (4), respectively, the first finger drive assembly (5) being used for driving the thumb and the second finger drive assembly being used for driving the index finger;

the number of the finger connecting rod pieces (33) in the third finger driving assembly (4) is three, and in the third finger driving assembly (4), the finger driving piece (32) is used for being connected with the three finger connecting rod pieces (33) respectively so as to drive a middle finger, a ring finger and a little finger.

3. The finger rehabilitation training mechanism according to claim 1, wherein the finger link member (33) further comprises a joint fixing seat (36) and a connecting part (38), the joint fixing seat (36) is fixed on the palm plate (1), and the driving link (35) is movably hinged on the joint fixing seat (36) through the mounting part (353);

connecting portion (38) include clutch block (381), first bearing (382) and second bearing (383), first bearing (382) with second bearing (383) set up respectively in the both ends of clutch block (381), clutch block (381) pass through first bearing (382) with joint fixing base (36) rotate and are connected, clutch block (381) pass through second bearing (383) with installation department (353) rotate and are connected.

4. The finger rehabilitation training mechanism according to claim 3, wherein the finger fixing portion (37) comprises a proximal finger fixing portion (371) and a distal finger fixing portion (372), one end of the proximal finger fixing portion (371) is used for being rotatably connected with the joint fixing base (36), the other end of the proximal finger fixing portion (371) is used for being rotatably connected with the distal finger fixing portion (372), and the connecting end (352) of the driving link (35) is used for being rotatably connected with the distal finger fixing portion (372).

5. The finger rehabilitation training mechanism of claim 4, wherein the joint fixing seat (36) comprises a seat body (361), a first axis pin (364) and two mounting arms (362) arranged on the seat body (361), the two mounting arms (362) being oppositely arranged;

the near finger fixing part (371) comprises a near finger plate body (3711) and two oppositely arranged inserting arms (3712) positioned at one end of the near finger plate body (3711), the two inserting arms (3712) are used for being inserted between the two mounting arms (362), a first near finger limiting groove (3713) is formed in the inner wall of each inserting arm (3712), and each first near finger limiting groove (3713) is of a fan-shaped structure; the one end, provided with the first bearing (382), of the plug-in arm (3712) is used for being plugged in between two plug-in arms (3712), the connecting part (38) further comprises a clutch limiting block (384) which is arranged on the plug-in arm (3712) and is positioned on the periphery of the first bearing (382), the clutch limiting block (384) is of a fan-shaped structure, the clutch limiting block (384) is used for being movably connected with the first near-finger limiting groove (3713), and the central angle of the clutch limiting block (384) is smaller than that of the first near-finger limiting groove (3713);

the first shaft pin (364) is used for penetrating through the insertion arm (3712), the mounting arm (362) and the first bearing (382), and the insertion arm (3712) rotates to enable the clutch limiting block (384) to abut against the inner wall of the first near-finger limiting groove (3713) and drive the near-finger plate body (3711) to rotate.

6. The finger rehabilitation training mechanism according to claim 5, characterized in that the inner wall of the mounting arm (362) is provided with a joint limiting groove (363), and the joint limiting groove (363) is of a fan-shaped structure;

the near finger fixing part (371) further comprises a near finger limiting block (3714) arranged on the outer wall of the insertion arm (3712), the near finger limiting block (3714) is also of a fan-shaped structure, the near finger limiting block (3714) is movably arranged in the joint limiting groove (363), and the central angle of the near finger limiting block (3714) is smaller than that of the joint limiting groove (363);

the first shaft pin (364) is used for penetrating through the insertion arm (3712), the mounting arm (362) and the first bearing (382) so as to enable the near-finger fixing part (371) and the joint fixing seat (36) to be in angle rotation connection.

7. The finger rehabilitation training mechanism of claim 5, wherein the proximal fixing portion (371) further comprises a second axle pin (3717) and two connecting arms (3715) arranged at one end far away from the inserting arm (3712), the two connecting arms (3715) are arranged oppositely, a second proximal limiting groove (3716) is arranged on the inner wall of each connecting arm (3715), and the second proximal limiting groove (3716) is of a fan-shaped structure;

the far finger fixing part (372) comprises a far finger plate body (3721) and a third bearing (3722) arranged at one end of the far finger plate body (3721), one end, provided with the third bearing (3722), of the far finger plate body (3721) is used for being inserted between the two connecting arms (3715), a far finger limiting block (3723) is arranged on the far finger plate body (3721) and located on the periphery of the third bearing (3722), the far finger limiting block (3723) is of a fan-shaped structure, the far finger limiting block (3723) is used for being movably connected with the second near finger limiting groove (3716), and the central angle of the far finger limiting block (3723) is smaller than that of the second near finger limiting groove (3716);

the second shaft pin (3717) is used for penetrating through the connecting arm (3715) and the second bearing (383) so as to enable the far finger fixing part (372) and the near finger fixing part (371) to be in angle rotation connection.

8. The finger rehabilitation training mechanism according to claim 3, wherein the finger link (33) further comprises a moving slider (39) and a guide rail (390), the guide rail (390) is fixed on the palm plate (1), and the joint fixing seat (36) is arranged at one end of the guide rail (390);

one end of the movable sliding block (39) is fixedly connected with the finger driving piece (32), the other end of the movable sliding block (39) is used for being rotatably connected with the sliding connecting rod (34), and the movable sliding block (39) is in sliding connection with the guide rail (390).

9. The finger rehabilitation training mechanism according to claim 8, wherein the finger driving member (32) comprises a driving motor (321) and a motor telescopic rod (322), the driving motor (321) is fixedly arranged on the palm plate (1) through the force sensor (31), the driving motor (321) is used for being in driving connection with the motor telescopic rod (322) so as to enable the motor telescopic rod (322) to reciprocate, and one end of the motor telescopic rod (322) far away from the driving motor (321) is used for being connected with the movable sliding block (39).

10. The finger rehabilitation training mechanism according to claim 1, wherein the finger link member (33) further comprises a strap (330), the strap (330) being provided to a lower end surface of the finger fixing portion (37).

Images