CN220070106U - Wrist rehabilitation training device with three degrees of freedom - Google Patents

Abstract

The utility model provides a three-degree-of-freedom wrist rehabilitation training device which comprises a mounting frame, a frame, an elbow joint supporting mechanism, a palm combination mechanism and a wrist combined rehabilitation mechanism. The wrist training rehabilitation device has three rotational degrees of freedom, the three rotational degrees of freedom are respectively responsible for three transmission systems, and the first transmission system adopts a wheel train structure to realize the internal rotation or the external rotation of the wrist; synchronous belts are symmetrically arranged on two sides of the second transmission system to realize palm bending or dorsiflexion movement of the wrist; the third transmission system realizes the ulnar deviation or radial deviation movement of the wrist by using worm gear and gear transmission. The utility model relates to a wrist rehabilitation training device with three degrees of freedom, which can respectively realize internal rotation/external rotation, palmar flexion/dorsal extension and ulnar deviation/radial deviation of the wrist, can simultaneously realize two or three compound movements, provides various wrist rehabilitation training modes and can meet various requirements of wrist rehabilitation training.

Description

A three-degree-of-freedom wrist rehabilitation training device

Technical field

The invention relates to the technical field of rehabilitation medical equipment, and in particular to a three-degree-of-freedom wrist rehabilitation training device.

Background technique

The ability of human beings to use tools is inseparable from the fine control of the wrist. During daily activities of the upper limbs, the wrist is one of the most vulnerable parts to injury, such as fractures, strokes, hemiplegia or high muscle tone. Wrist dysfunction or loss will bring great inconvenience to life, and wrist rehabilitation devices can assist patients with effective wrist training, thereby helping patients restore normal wrist function.

However, there are few products for wrist functional rehabilitation training on the market, and there is still room for improvement in existing wrist rehabilitation training devices. For example, some products achieve less than three degrees of freedom training; secondly, when training existing wrist rehabilitation devices for internal/external rotation of the wrist, most of them drive the rotation of the wrist through the rotation of the forearm, which is not the case for the wrist. It does not play a sufficient training role; in addition, when training palmar flexion/dorsiextension of the wrist and ulnar deviation/radial deviation of the wrist, most of the hands are held by the handle, and the fingers use force to drive the wrist movement, but research shows that When the hand is making a fist, the wrist can swing 135°, and when the fingers are extended, the wrist can swing 150°, which shows that the wrist rehabilitation training effect is better when the fingers are relaxed; finally, the angle at which the wrist can be rotated is limited, and currently The product is not precise enough in limiting the rotation angle range and may cause damage to the wrist.

Contents of the invention

To address the above problems, the present invention provides a three-degree-of-freedom wrist rehabilitation training device. This rehabilitation training device is a training device with three independent degrees of freedom. It can realize independent or compound movements of internal rotation/external rotation, palmar flexion/dorsiflexion and ulnar deviation/radial deviation of the wrist, and can provide a variety of wrist rehabilitation training. method to meet the various needs of wrist rehabilitation training.

The technical solution adopted by the present invention to solve the technical problem is: a three-degree-of-freedom wrist rehabilitation training device, which is characterized by: including a mounting frame, a frame, an elbow joint supporting mechanism, a palm combination mechanism and a joint wrist rehabilitation mechanism.

The wrist joint rehabilitation mechanism has three rotational degrees of freedom, which are realized by three transmission systems: the first transmission system, the second transmission system and the third transmission system; the first transmission system drives the palm combination mechanism through the frame The wrist is driven to perform internal rotation or external rotation movement; the second transmission system is arranged on the frame and is used to drive the palm combination mechanism arranged on the frame to drive the wrist to perform palmar flexion or dorsiflexion movement; the third transmission system is arranged on the frame on the palm combination mechanism, and drives the palm combination mechanism to drive the wrist to make ulnar or radial movements.

Further, the first transmission system includes a first motor frame installed on the mounting frame, a first motor installed on the first motor frame, and a third motor installed on the output shaft of the first motor. A small lifting pulley, a first large lifting pulley connected to the first small lifting pulley through a planetary synchronous belt, a support frame installed on the mounting frame, and the first large lifting pulley through transmission The sun gear is coaxially arranged, three planet gears are externally meshed with the sun gear, and a ring gear is internally meshed with the planet gears.

Further, the second transmission system is a transmission structure symmetrically arranged on both sides of the palm combination mechanism, and includes two second motor frames installed on the frame. Two second motors, a second small lifting pulley installed on the output shaft of the second motor, a second large lifting pulley connected to the second small lifting pulley through a synchronous belt, the third The two large lifting pulleys are drivingly connected to the second synchronous belt through the steering device, and the belt connected to the second synchronous belt is clamped.

Further, the third transmission system includes a bearing seat installed on the frame, bearings installed on both sides of the bearing seat and hinged with the connector through a hand support rotating shaft, and a third motor frame installed on the third motor frame. Motor, a worm installed on the output shaft of the third motor, a worm gear meshed with the worm, a pulley connected with the worm gear shaft, a pinion coaxial with the pulley, and the pinion A large gear connected by internal meshing; a steel ball baffle fixedly installed on the large gear; the steel ball baffle contains steel balls.

Further, the elbow joint support mechanism includes a dovetail slide rail installed on the mounting bracket, a slide block slidably installed on the dovetail slide rail, and an elbow joint support frame installed on the slide block. , an elbow joint support base installed on the elbow joint support frame, a lead screw and an adjustment knob that control the movement of the slider.

Further, the palm combination mechanism includes a palm bracket, a strap, a palm base plate, a palm bracket bearing, and a pull rod; the palm bracket is provided with a strap for fixing the fingers and the palm; the palm base plate is provided with a The groove for rolling steel balls; the palm bracket bearing is arranged between the palm bracket and the palm base plate; the pull rod is installed on the palm base plate and is clamped and fixedly connected to the belt.

Further, the frame includes a reducer connecting plate, a horizontal and vertical plate frame, and an outer ring bearing; one side of the horizontal and vertical plate frame is fixedly installed on the reducer connecting plate, and the other side is fixedly installed on the outer ring bearing.

Further, the steering device includes a Z-axis bearing seat, a pulley shaft, and a small pulley; the Z-axis bearing seat is fixedly installed on the horizontal and vertical plate frames.

Compared with the prior art, the present invention has the following beneficial effects:

(1) The wrist rehabilitation training device of the present invention has three rotational degrees of freedom. The three rotational degrees of freedom are respectively responsible for three transmission systems. The first transmission system uses a gear train structure to realize internal or external rotation of the wrist; the second Synchronous belts are symmetrically arranged on both sides of the transmission system to realize palmar flexion or dorsiflexion movement of the wrist; the third transmission system uses worm gear and gear transmission to realize ulnar deviation or radial deviation movement of the wrist. The invention can realize internal rotation/external rotation, palmar flexion/dorsiflexion and ulnar deviation/radial deviation of the wrist respectively, and can also realize two or three compound movements at the same time, and provides a variety of wrist rehabilitation training methods to meet the needs of wrist rehabilitation. Various training needs.

(2) The first transmission system of the wrist rehabilitation training device of the present invention uses a gear train structure to obtain a larger transmission ratio, meet the requirements of speed change and direction change, and realize internal rotation or external rotation of the wrist joint.

(3) The second transmission system of the wrist rehabilitation training device of the present invention is symmetrically provided with synchronous belts with constant transmission ratios on both sides, which can more smoothly drive the palm combination mechanism to rotate up and down to achieve palmar flexion or dorsiflexion of the wrist joint.

(4) The third transmission system of the wrist rehabilitation training device of the present invention uses gear transmission with high transmission precision to realize the ulnar deviation or radial deviation movement of the wrist joint, and uses a worm gear to make the wrist joint adduct or abduct on the coronal plane. It can be self-locked at any position, allowing the wrist to maintain the maximum angle of rotation during its training phase, maintain the training angle, and stretch the muscles to relieve muscle tension. In addition, there is a chute on the bottom of the palm to fully meet the wrist joint mobility. Range, limit the range to avoid secondary damage.

(5) The palm rest of the wrist rehabilitation training device of the present invention allows the fingers to be in a relaxed state for rehabilitation training, allowing the wrist to reach the maximum swing range, fully meeting training needs.

Description of drawings

Figure 1 is a front view of the three-degree-of-freedom wrist rehabilitation training device of the present invention;

Figures 2 and 3 are perspective views of the three-degree-of-freedom wrist rehabilitation training device of the present invention;

Figure 4 is a side view of the three-degree-of-freedom wrist rehabilitation training device of the present invention;

Figure 5 is an exploded view of the planetary gear reducer of the present invention;

Figure 6 is a configuration diagram of the first synchronous belt and the second synchronous belt of the present invention;

Figure 7 is a schematic diagram of the palm combination mechanism of the present invention;

Figure 8 is a schematic structural diagram of the screw and dovetail slide rail of the present invention;

Explanation of reference signs.

The first transmission system (A), the second transmission system (B), the third transmission system (C), the palm combination mechanism (D), the elbow joint supporting mechanism (E), the first motor (1), the first motor Frame (2), support frame (3), first small lifting pulley (4), planetary synchronous belt (5), first large lifting pulley (6), transmission shaft (7), sun gear (8), Three planetary gears (9), ring gear (10), frame (11), reducer connecting plate (1101), horizontal and vertical plate frames (1102), outer ring bearing (1103), second motor (12), second Motor frame (13), second smallest lifting pulley (14), first synchronous belt (15), second largest lifting pulley (16), steering device (17), Z-axis bearing seat (1701), pulley shaft (1702), small pulley (1703), second synchronous belt (18), belt clamping (19), third motor (20), third motor frame (21), worm (22), worm gear (23) , worm gear shaft (24), pulley (25), small gear (26), large gear (27), steel ball baffle (28), steel ball (29), connecting piece (30), hand support (31), Bearings on both sides (32), bearing seat (33), palm rest (34), strap (35), palm bottom plate (36), palm rest bearing (37), tie rod (38), elbow joint support base ( 39), elbow joint support frame (40), slider (41), lead screw (42), adjustment knob (43), dovetail slide rail (44), and mounting bracket (45).

Detailed ways

The technical solution of the present invention will be further described in detail below through examples and in conjunction with the accompanying drawings. The accompanying drawings are simplified schematic diagrams for schematically illustrating the basic structure of the present invention. The following examples are only used to more clearly illustrate the technical solutions of the present invention, and are therefore only examples and cannot be used to limit the scope of the present invention.

As shown in Figures 1-3, a specific embodiment of a three-degree-of-freedom wrist rehabilitation training device of the present invention includes a mounting frame 45, a frame 11, an elbow joint supporting mechanism E, a palm combination mechanism D and a joint wrist rehabilitation mechanism. ; The wrist joint rehabilitation mechanism has three rotational degrees of freedom, which are realized by three transmission systems: the first transmission system A, the second transmission system B and the third transmission system C; the first transmission system A drives the palm combination mechanism through the frame 11 D drives the wrist to perform internal rotation or external rotation; the second transmission system B is arranged on the frame 11 and is used to drive the palm combination mechanism D arranged on the frame 11 to drive the wrist to perform palmar flexion or dorsiflexion; the third transmission system C It is arranged on the palm combination mechanism D and drives the palm combination mechanism D to drive the wrist to make ulnar or radial deviation movements.

Further, as shown in FIG. 4 , the first transmission system A includes a first motor frame 2 installed on the mounting frame 45 , a first motor 1 installed on the first motor frame 2 , and a first motor 1 installed on the first motor frame 2 . The first small lifting pulley 4 on the output shaft, the first large lifting pulley 6 connected to the first small lifting pulley 4 through the planetary synchronous belt 5, the support frame 3 installed on the mounting frame 45, and the first large lifting pulley 4. The lifting pulley 6 has a sun gear 8 arranged coaxially with the transmission shaft 7 , three planet gears 9 externally meshing with the sun gear 8 , and a ring gear 10 internally meshing with the planet gears 9 . In this embodiment, the first motor 1 and the first motor frame 2, the first motor frame 2 and the mounting frame 45, the support frame 3 and the mounting frame 45 are fixed by bolts, and the output shaft of the first motor 1 and the first small lifting pulley 4-key connection, power is transmitted to the first largest lifting pulley 6 through the planetary synchronous belt 5, decelerating and lifting the rotation axis at the same time. As shown in Figure 5, the first large lifting pulley 6 transmits power to the coaxial sun gear 8 through the transmission shaft 7. The sun gear 8 is externally meshed and connected to three planetary gears 9, and the planetary gears 9 are internally meshed and connected to the ring gear 10. , the ring gear 10 and the reducer connecting plate 1101 are fixed by bolts.

In this way, the first motor 1 transmits the power to the first small lifting pulley 4, transmits the power to the first large lifting pulley 6 through the planetary synchronous belt 5, and then transmits the power to the gear train structure through the transmission shaft 7, driving the The frame 11 rotates, which in turn drives the palm combination mechanism D to rotate. The gear train structure is used to obtain a larger transmission ratio and meet the requirements of speed change and direction change, thereby realizing internal or external rotation of the wrist. The internal rotation or external rotation of the wrist refers to the rotational movement around the vertical axis of the bone itself. The frame 11 is similar to a cylindrical bearing and can rotate on the mounting frame 45. The axis of the frame 11 is placed on the palm combination mechanism D. The vertical axis of the palm of the hand is approximately coincident, which avoids the problem of misalignment between the training axis and the physiological rotation axis, and avoids the over-constraint problem caused by human-machine heterogeneity. It should be noted that there is a bearing in the top of the support frame 3, and the transmission shaft 7 is installed in a deep groove ball bearing arranged in the support frame 3, that is, the top of the support frame 3 plays the role of a bearing seat; the planetary gear 9 and the planet carrier are connected through planetary gear bearings.

Further, as shown in Figure 6, the second transmission system B is a transmission structure symmetrically arranged on both sides of the palm combination mechanism D, and includes two second motor frames 13 installed on the frame 11. Two second motors 12 on a second motor frame 13, a second small lifting pulley 14 installed on the output shaft of the second motor 12, and a second small lifting pulley 14 connected to the first synchronous belt 15. The second large lifting pulley 16 and the second large lifting pulley 16 are drivingly connected to the second synchronous belt 18 through the steering device 17, and the belt connected to the second synchronous belt 18 is clamped 19. In this embodiment, the second motor 12 and the second motor frame 13, the second motor frame 13 and the mounting bracket 45, the steering device 17 and the mounting bracket 45 are fixed by bolts, and the output shaft of the second motor 12 and the second small lifting pulley 14 key connection, the second largest lifting pulley 16 is connected with the pulley shaft 1702 key.

In this way, the second motor 12 transmits the power to the second small lifting pulley 14, transmits the power to the second large lifting pulley 16 through the first synchronous belt 15, and then transmits the power to the coaxially arranged pulley shaft 1702. The small pulley 1703 drives the second synchronous belt 18 for transmission. Both ends of the second synchronous belt 18 are installed on the palm combination mechanism D. When the small pulley 1703 moves, the second synchronous belt 18 generates tension, and the second synchronous belt 18 generates tension. The connection point between the belt 18 and the palm is away from the transmission shaft. Because the small pulley 1703 is close to the palm transmission shaft, the direction of the pulling force is along the second synchronous belt 18 towards the direction of the small pulley 1703, and the focus point of the pulling force is the second synchronous belt 18. Because the connection point with the palm is far away from the transmission shaft, the pulling force will generate a torque at the point of force to drive the palm to rotate. That is, when the small pulley 1703 drives the second synchronous belt 18 to move clockwise, the second synchronous belt 18 The connection with the palm combination mechanism D will generate a pulling force along the movement direction of the second timing belt 18. Because the small pulley 1703 is located close to the rotation axis of the palm movement mechanism D, the pulling force direction is obliquely downward, and the pulling force will pull the palm combination mechanism. D flips downward. Similarly, when the small pulley 1703 drives the second synchronous belt 18 to move counterclockwise, the connection between the second synchronous belt 18 and the palm combination mechanism D will generate a pulling force obliquely upward along the movement direction of the second synchronous belt 18. The tensile force will pull the palm assembly mechanism to flip upward to achieve palmar flexion or dorsiflexion of the wrist. The palm combination mechanism D rotates around the hand rest shaft 31. The axis of the hand rest shaft 31 approximately coincides with the physiological axis outside the triangular bone of the palm, thus avoiding the over-constraint problem caused by human-machine heterogeneity. The second transmission system is symmetrically provided with synchronous belts with constant transmission ratios on both sides to more smoothly drive the palm assembly mechanism to rotate up and down. In this embodiment, the device adopts a large reduction ratio transmission, which can accurately control the rotation angle and completely cover the palm of the human wrist. There is physiological space for flexion and dorsiflexion to avoid secondary injuries caused by excessive training angles.

Further, as shown in FIG. 7 , the third transmission system C includes a bearing seat 33 installed on the frame 11 , bearings 32 on both sides of the bearing seat 33 , and is hinged and installed with the connector 30 through the hand rest shaft 31 . The third motor 20 on the third motor frame 21, the worm 22 installed on the output shaft of the third motor 20, the worm gear 23 meshing with the worm 22, the pulley 25 connected with the worm gear shaft 24, and the pulley 25. 25 coaxial pinion gear 26, a large gear 27 internally meshed with the small gear 26; a steel ball baffle 28 fixedly installed on the large gear 27; the steel ball baffle 28 contains steel balls 29. In this embodiment, the third motor 20 and the third motor frame 21, the third motor frame 21 and the connector 30, the bearing seat 33 and the frame 11, the large gear 27 and the palm bracket 34 are fixed by bolts. The output of the third motor 20 The shaft is connected with the worm with 22 keys.

In this way, the third motor 20 transmits power to the worm gear, the worm gear shaft 24 belt drive transmits the power to the pinion gear 26 coaxial with the pulley 25, and the internal meshing transmits the power to the large gear 27, driving the palm bracket 34. The wrist makes ulnar or radial movements. The third transmission system uses a worm gear so that the wrist joint can self-lock at any position when adducting or abducting on the coronal plane, allowing the wrist to maintain the maximum angle of rotation during its training phase, maintain the training angle, and stretch the muscles. To relieve muscle tension, in addition, there is a chute on the palm base to fully meet the range of wrist joint mobility, limiting the range to avoid secondary injuries.

Further, as shown in Figures 2 and 8, the elbow joint support mechanism E includes a dovetail slide rail 44 installed on the mounting bracket 45, a slide block 41 slidably installed on the dovetail slide rail 44, and a sliding block 41 installed on the dovetail slide rail 44. The elbow joint support frame 40 on the slider 41, the elbow joint support base 39 installed on the elbow joint support frame 40, the screw 42 and the adjustment knob 43 for controlling the movement of the slider. The elbow joint support frame 40 and the slider 41 are connected by plugging. The slider 41 can slide on the dovetail slide rail 44, and the movement of the slider is controlled by the screw 42 and the adjustment knob 43 to adapt to arms of different lengths.

Further, as shown in FIG. 7 , the palm combination mechanism D includes a palm bracket 34 , a strap 35 , a palm bracket bearing 37 , and a pull rod 38 . The palm rest 34 is provided with a strap 35 for fixing the fingers and the palm. The palm base 36 is provided with a groove for rolling steel balls 29. A palm rest bearing 37 and a pull rod 38 are disposed between the palm rest 34 and the palm base 36. It is fixed with the palm base plate 36 by bolts.

In this embodiment, the elbow joint is placed on the elbow joint support base to ensure that the forearm is free and unconstrained, and does not interfere with the internal or external rotation of the wrist; during training, the fingers are in a relaxed state, which suppresses flexion and tension of the fingers and prevents them from being flexed during training. Flexion contracture of the fingers occurs, allowing the wrist to reach its maximum range of swing. The first transmission system, the second transmission system, the third transmission system and the palm combination mechanism are used to arrange the internal rotation/external rotation, palmar flexion/dorsiflexion and ulnar deviation/radial deviation training mechanism of the wrist, fully considering the training axis and The problem of physiological rotation axis alignment is in line with the physiological movement laws of the wrist joint in ergonomics, and avoids the over-constraint problem caused by human-machine heterogeneity.

As shown in Figure 7, the frame 11 includes a reducer connecting plate 1101, a horizontal and vertical plate frame 1102, and an outer ring bearing 1103. One side of the horizontal and vertical plate racks 1102 is fixed with the reducer connecting plate 1101 through bolts, and the other side is fixed with the outer ring bearing 1103 through bolts. The frame 11 is similar to a bearing as a whole and can rotate on the mounting bracket 45 . The steering device 17 includes a Z-axis bearing seat 1701, a pulley shaft 1702, and a small pulley 1703. The Z-axis bearing seat 1701 and the horizontal and vertical plate frames 1102 are fixed by bolts.

The invention can perform rehabilitation training with three degrees of freedom of the wrist: internal rotation/external rotation, palmar flexion/dorsiflexion, and ulnar deviation/radial deviation. It can also realize two or three compound movements at the same time, providing a variety of wrist movements. Rehabilitation training methods can meet the various needs of wrist rehabilitation training.

The above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims (7)

1. The utility model provides a three degree of freedom wrist rehabilitation training device which characterized in that: comprises a mounting rack (45), a frame (11), an elbow joint supporting mechanism (E), a palm combination mechanism (D) and a wrist combined rehabilitation mechanism;

the wrist joint rehabilitation mechanism has three degrees of rotation freedom and is respectively realized by three transmission systems: a first transmission system (A), a second transmission system (B) and a third transmission system (C); the first transmission system (A) drives the palm combination mechanism (D) through the frame (11) to drive the wrist to do internal rotation or external rotation; the second transmission system (B) is arranged on the frame (11) and is used for driving a palm combination mechanism (D) arranged on the frame (11) to drive the wrist to do palmar flexion or dorsiflexion; the third transmission system (C) is arranged on the palm combination mechanism (D) and drives the palm combination mechanism (D) to drive the wrist to do ulnar deviation or radial deviation movement.

2. The three degree of freedom wrist rehabilitation training device according to claim 1, wherein: the first transmission system (A) comprises a first motor frame (2) arranged on a mounting frame (45), a first motor (1) arranged on the first motor frame (2), a first small lifting belt wheel (4) arranged on an output shaft of the first motor (1), a first large lifting belt wheel (6) connected with the first small lifting belt wheel (4) through a planetary synchronous belt (5), a supporting frame (3) arranged on the mounting frame (45), a sun wheel (8) coaxially arranged with the first large lifting belt wheel (6) through a transmission shaft (7), three planetary gears (9) externally meshed with the sun wheel (8) and a gear ring (10) internally meshed with the planetary gears (9).

3. The three degree of freedom wrist rehabilitation training device according to claim 1, wherein: the second transmission system (B) is a transmission structure symmetrically arranged on two sides of the palm combination mechanism (D), and comprises two second motor frames (13) arranged on the frame (11), two second motors (12) arranged on the two second motor frames (13), a second small lifting belt wheel (14) arranged on an output shaft of the second motor (12), a second large lifting belt wheel (16) connected with the second small lifting belt wheel (14) through a first synchronous belt (15), and a second large lifting belt wheel (16) connected with a second synchronous belt (18) through a steering device (17) in a belt transmission manner and a belt clamp (19) connected with the second synchronous belt (18).

4. The three degree of freedom wrist rehabilitation training device according to claim 1, wherein: the third transmission system (C) comprises a bearing seat (33) arranged on the frame (11), bearings (32) arranged on two sides of the bearing seat (33) and hinged with a connecting piece (30) through a hand support rotating shaft (31), a third motor (20) arranged on a third motor frame (21), a worm (22) arranged on an output shaft of the third motor (20), a worm wheel (23) meshed with the worm (22), a belt wheel (25) in belt transmission connection with a worm wheel shaft (24), a pinion (26) coaxial with the belt wheel (25) and a large gear (27) in inner meshing connection with the pinion (26); a steel ball baffle (28) fixedly arranged on the large gear (27); the steel ball baffle (28) contains steel balls (29).

5. The three degree of freedom wrist rehabilitation training device according to claim 1, wherein: the elbow joint bearing mechanism (E) comprises a dovetail groove sliding rail (44) arranged on the mounting frame (45), a sliding block (41) slidably arranged on the dovetail groove sliding rail (44), an elbow joint supporting frame (40) arranged on the sliding block (41), an elbow joint supporting base (39) arranged on the elbow joint supporting frame (40), a screw rod (42) for controlling the sliding block to move and an adjusting knob (43).

6. The three degree of freedom wrist rehabilitation training device according to claim 1, wherein: the palm combination mechanism (D) comprises a palm bracket (34), a binding belt (35), a palm bottom plate (36), a palm bracket bearing (37) and a pull rod (38); the palm bracket (34) is provided with a binding band (35) for fixing fingers and a palm; the palm bottom plate (36) is provided with a groove; the palm bracket bearing (37) is arranged between the palm bracket (34) and the palm bottom plate (36); the pull rod (38) is mounted on the palm bottom plate (36).

7. A three degree of freedom wrist rehabilitation training device according to claim 3, wherein: the frame (11) comprises a speed reducer connecting plate (1101), a transverse and vertical plate frame (1102) and an outer ring bearing (1103); one side of the transverse and vertical plate frame (1102) is fixedly arranged on the speed reducer connecting plate (1101), and the other side of the transverse and vertical plate frame is fixedly arranged on the outer ring bearing (1103); the steering device (17) comprises a Z-axis bearing seat (1701), a pulley shaft (1702) and a small pulley (1703); the Z-axis bearing seat (1701) is fixedly arranged on the transverse and vertical plate frame (1102).