Hand rehabilitation robot capable of stimulating hand acupuncture points and operation method thereof

Abstract

The invention discloses a hand rehabilitation robot capable of stimulating hand acupuncture points and an operation method thereof, and relates to the technical field of hand rehabilitation robotics.The hand rehabilitation robot comprises a palm sleeve and a driving assembly, a transition cover is arranged on one side of the palm sleeve, a lower cover is installed at the end of the transition cover, and a built-in sleeve is arranged on the outer surface of one side of the lower cover; a massage assembly used for stimulating hand acupuncture points is installed outside the built-in sleeve. According to the hand rehabilitation robot capable of stimulating the hand acupuncture points and the operation method of the hand rehabilitation robot, through the design that a connecting disc and an end cover are clamped and fixed, a user can conveniently pull the connecting disc from one side of the outside so that the connecting disc and an adjusting assembly, a driving assembly and a massage assembly connected with the connecting disc can be taken out from the interior of a fingerstall; a user can conveniently adjust the position of a connecting disc through the design that the connecting disc is slidably connected with a collection auxiliary rod through an adjusting groove, the position of a massage assembly can be conveniently adjusted by adjusting the position of the connecting disc, and massage acupoints can be conveniently adjusted according to fingers of different lengths.

Description

Technical Field

[0001] The present invention relates to the technical field of hand rehabilitation robots, and in particular to a hand rehabilitation robot capable of stimulating acupuncture points of a hand and an operation method thereof. Background Art

[0002] Hands are the most used part of the body in our daily life, and are prone to various hand dysfunctions. For example, the number of stroke patients is increasing, and the number of patients with hand dysfunction caused by injuries after traffic accidents, nerve compression, etc. is increasing. Postoperative rehabilitation training is the ultimate way to hand rehabilitation, and continuous hand training is required to assist hand rehabilitation.

[0003] Currently, there are many acupoints on the hands. During traditional Chinese medicine rehabilitation treatment, some acupoints need to be stimulated and massaged to assist the recovery of hand nerves. However, it is difficult for patients to perform targeted acupoint stimulation massage on themselves at home. The strength of the acupoints during massage is difficult to control according to the hand rehabilitation situation, and there are limitations in use.

[0004] Therefore, in view of this, the existing structure and defects are studied and improved, and a hand rehabilitation robot capable of stimulating hand acupoints and an operation method thereof are proposed. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a hand rehabilitation robot capable of stimulating acupuncture points on the hand and an operation method thereof, which solves the problems raised in the above-mentioned background technology.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a hand rehabilitation robot capable of stimulating hand acupuncture points and an operation method thereof, comprising a palm sleeve and a driving component, a transition cover is provided on one side of the palm sleeve, and a lower cover is installed at the end of the transition cover, a built-in sleeve is provided on the outer surface of one side of the lower cover, and a massage component for stimulating hand acupuncture points is installed on the outside of the built-in sleeve, the massage component comprises a built-in groove, a built-in plate, massage ball 1, a threaded rod and massage ball 2, a built-in plate is provided inside the built-in groove, and a threaded rod is installed on the internal thread of the built-in plate, massage ball 1 is installed on one end of the threaded rod, and massage ball 2 is provided on the other end of the threaded rod, an adjustment component for assisting acupuncture point massage is provided on the outside of the built-in groove, and the adjustment component comprises a collection plate, a connecting rod and a connecting plate, a connecting rod is provided on the outer surface of one side of the collection plate in an annular manner, and a connecting rod is installed on the end of the connecting rod, the driving component for massage drive is arranged in the middle of one side of the collection plate, the driving component comprises a servo motor and a connecting column, and the output end of the servo motor is installed with a connecting column through a connecting shaft.

[0007] Furthermore, the connecting column is vertically arranged in the middle of the outer surface of one side of the collecting plate, and the diameter of the collecting plate is larger than the diameter of the collecting plate.

[0008] Furthermore, the adjustment component also includes a collection auxiliary rod and an adjustment groove. The adjustment groove is opened on one side of the collection plate close to the built-in groove, and the collection auxiliary rod is slidably installed on the collection plate through the adjustment groove, and the collection auxiliary rod is distributed in a ring shape about the center of the collection plate.

[0009] Furthermore, the collection plates are provided in four groups, the structures of the four groups of collection plates are completely the same, the collection plates are in an annular structure, and the collection plates are arranged outside the built-in sleeve.

[0010] Furthermore, the driving assembly also includes a connection plate and a mounting frame, and the mounting frame is annularly arranged on the outer surface of one side of the connection plate, and a servo motor is installed at the other end of the mounting frame.

[0011] Furthermore, a ventilation hole is opened in the middle of the connecting plate, and the ventilation holes are distributed in a one-to-one correspondence with the driving components.

[0012] Furthermore, a finger sleeve is provided on the outer surface of the massage ball, and an end cap is installed at one end of the finger sleeve away from the transition cover.

[0013] Furthermore, an upper cover is installed at the other end of the built-in sleeve, and the upper cover is arranged inside the finger sleeve.

[0014] Furthermore, a restraining belt is provided in the middle of the outer surface of one side of the palm glove, and a heating wire is provided inside the palm glove.

[0015] Furthermore, the operation method of the hand rehabilitation robot capable of stimulating hand acupuncture points comprises the following steps:

[0016] Step 1: The restraint belt is made of rubber material and has good elasticity, which is convenient for the user to wear the palm cover through the restraint belt to prevent it from falling off when performing other actions after wearing it. It is protective, and the user's finger part enters the inner part of the built-in cover when wearing it;

[0017] Step 2, after wearing, debugging is performed according to the acupuncture points of the hand. By starting the servo motor, the connecting column and the assembly disk can be driven to rotate. The rotation of the assembly disk can drive the connecting rod and the connected connecting disk to follow. When the connecting disk rotates, it rotates around the connecting column, so that the connecting disk is surrounded by the outside of the built-in sleeve and rotates. When rotating, the massage ball 2 at one end of the threaded rod continuously contacts the user's finger. When the contact force is insufficient, the user can use the finger sleeve design of a flexible material to directly rotate the massage ball 1 from the outside, drive the threaded rod connected to the massage ball 1 to rotate about the built-in plate, so that the massage ball 2 will continue to get close to the user's hand, and the contact strength of the hand acupuncture points can be controlled by continuously adjusting the distance of the massage ball 2 to the finger, so that the finger acupuncture points can be stimulated and massaged with better strength when the connecting disk rotates. In addition, the intensity of the acupuncture point stimulation massage can be adjusted according to the user's hand rehabilitation condition to assist the user's hand rehabilitation;

[0018] Step three, in addition, for different finger lengths, the design of the connection plate and the end cover being fixed by snapping is convenient for the user to pull from the outside to remove the connection plate and the adjustment component, the drive component and the massage component connected to the connection plate from the inside of the finger sleeve, so that the user can adjust the position of the connection plate by using the design of the connection plate and the sliding connection between the adjustment groove and the collective auxiliary rod. By adjusting the position of the connection plate, the massage component can be adjusted. After the position adjustment of the connection plate is completed, it is fixed by screws. Through the above operation, it is convenient to adjust the massage points for fingers of different lengths, and it is flexible to use, reducing the limitations of acupoint stimulation massage;

[0019] Step 4: During acupoint massage, the heating wire inside the palm cover can be used to provide auxiliary heat to the hands, promote blood flow in the hands, and facilitate acupoint massage to assist the user's hand recovery.

[0020] The present invention provides a hand rehabilitation robot capable of stimulating hand acupuncture points and an operation method thereof, which has the following beneficial effects:

[0021] 1. The hand rehabilitation robot capable of stimulating hand acupuncture points and the operation method thereof can utilize the finger sleeve design of flexible material to directly rotate the massage ball one from the outside, drive the threaded rod connected to the massage ball one to rotate about the built-in plate, so that the massage ball two will continuously approach the user's hand, and can control the contact strength of the hand acupuncture points by continuously adjusting the distance of the massage ball two about the finger, and then can stimulate and massage the finger acupuncture points with better strength when the connecting disk rotates, and can also adjust the intensity of the acupuncture point stimulation massage according to the user's hand rehabilitation condition, so as to assist the user's hand rehabilitation.

[0022] 2. The hand rehabilitation robot capable of stimulating hand acupuncture points and the operating method thereof are designed to be fixed by snapping the connecting plate and the end cover, so that the user can pull the connecting plate and the adjustment component, the drive component and the massage component connected to the connecting plate from the outside to remove them from the inside of the finger sleeve, and the user can adjust the position of the connecting plate by using the design of the connecting plate and the sliding connection between the adjusting groove and the collective auxiliary rod. By adjusting the position of the connecting plate, the massage component can be adjusted in position, so as to facilitate the adjustment of massage acupuncture points for fingers of different lengths.

[0023] 3. The hand rehabilitation robot capable of stimulating hand acupuncture points and the operation method thereof, when performing acupuncture point massage on the fingers, the massage ball 1 will be fitted on the inner surface of the finger sleeve and rotate. The design of the finger sleeve is convenient for directly controlling the position of the massage ball 1 from the outside, and the operation of the massage ball 1 and the massage components connected to the massage ball 1 can be intuitively observed from the outside, so as to avoid the difficulty of users with serious hand injuries to judge the interruption of the acupuncture point massage by themselves during hidden massage. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a southeast isometric structural schematic diagram of a hand rehabilitation robot capable of stimulating hand acupuncture points and an operation method thereof of the present invention;

[0025] Figure 2 A schematic diagram of the connection structure of the adjustment components of a hand rehabilitation robot capable of stimulating hand acupuncture points and an operation method thereof according to the present invention;

[0026] Figure 3 It is a schematic diagram of the unfolded structure of the built-in sleeve of a hand rehabilitation robot capable of stimulating hand acupuncture points and an operation method thereof according to the present invention;

[0027] Figure 4 A schematic diagram of the connection structure of a driving group of a hand rehabilitation robot capable of stimulating hand acupuncture points and an operation method thereof according to the present invention;

[0028] Figure 5 It is a partial cross-sectional structural schematic diagram of a palm glove of a hand rehabilitation robot capable of stimulating hand acupuncture points and an operation method thereof according to the present invention;

[0029] Figure 6 A hand rehabilitation robot capable of stimulating hand acupuncture points and an operation method thereof are provided in accordance with the present invention. Figure 5 Enlarged structural diagram at A in the middle.

[0030] In the figure: 1. Palm cover; 2. Restraint belt; 3. Transition cover; 4. Finger cover; 5. End cover; 6. Adjustment assembly; 601. Assembly plate; 602. Connecting rod; 603. Connecting plate; 604. Assembly auxiliary rod; 605. Adjustment slot; 7. Built-in sleeve; 8. Upper cover; 9. Lower cover; 10. Drive assembly; 1001. Connecting plate; 1002. Mounting frame; 1003. Servo motor; 1004. Connecting column; 11. Heating wire; 12. Massage assembly; 1201. Built-in slot; 1202. Built-in plate; 1203. Massage ball one; 1204. Threaded rod; 1205. Massage ball two; 13. Ventilation hole. DETAILED DESCRIPTION

[0031] The following embodiments of the present invention are described in further detail in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0032] like Figure 1-Figure 5As shown, the present invention provides a technical solution: a hand rehabilitation robot capable of stimulating hand acupuncture points and an operation method thereof, comprising a palm cover 1, a restraining belt 2, a transition cover 3, a finger cover 4, an end cover 5, an adjustment component 6, a collection plate 601, a connecting rod 602, a connecting plate 603, a collection auxiliary rod 604, an adjustment slot 605, a built-in cover 7, an upper cover 8, a lower cover 9, a driving component 10, a connecting plate 1001, a mounting frame 1002, a servo motor 1003, a connecting column 1004, a heating wire 11, a massage component 12, a built-in slot 1201, a built-in plate 1202, a massage ball 1 1203, a threaded rod 1204, a massage ball 2 1205 and a vent 13, a transition cover 3 is provided on one side of the palm cover 1, and a lower cover 9 is installed on the end of the transition cover 3, and the palm cover A binding belt 2 is arranged in the middle of the outer surface of one side of the palm sleeve 1, and a heating wire 11 is arranged inside the palm sleeve 1. The binding belt 2 is designed with rubber material and has good elasticity, which is convenient for the user to wear the palm sleeve 1 through the binding belt 2 to avoid falling off when performing other actions after wearing, and has protectiveness. When wearing, the user's finger parts enter the interior of the built-in sleeve 7. During acupoint massage, the design of the heating wire 11 inside the palm sleeve 1 can be used to assist the hand in heating, promote blood flow in the hand, and facilitate the cooperation with acupoint massage to assist the user's hand recovery. A built-in sleeve 7 is arranged on the outer surface of one side of the lower cover 9, and a massage component 12 for stimulating the acupoints of the hand is installed on the outside of the built-in sleeve 7. An upper cover 8 is installed on the other end of the built-in sleeve 7. The upper cover 8 is arranged inside the finger sleeve 4. The massage component 12 is provided on the outer surface of one side of the lower cover 9. Component 12 includes a built-in groove 1201, a built-in plate 1202, a massage ball 1203, a threaded rod 1204 and a massage ball 1205. The built-in groove 1201 is provided with a built-in plate 1202, and the internal thread of the built-in plate 1202 is installed with a threaded rod 1204, one end of the threaded rod 1204 is installed with a massage ball 1203, the outer surface of the massage ball 1203 is provided with a finger sleeve 4, and the end of the finger sleeve 4 away from the transition cover 3 is installed with an end cap 5, the other end of the threaded rod 1204 is provided with a massage ball 1205, the outside of the built-in groove 1201 is provided with an adjustment component 6 for assisting acupoint massage, and the adjustment component 6 includes a collection plate 601, a connecting rod 602 and a connecting plate 603, and the outer surface of one side of the collection plate 601 is annularly provided with a A connecting rod 602 is provided, and a connecting disk 603 is installed at the end of the connecting rod 602. The adjustment component 6 also includes a collection auxiliary rod 604 and an adjustment slot 605. An adjustment slot 605 is provided on one side of the collection disk 601 close to the built-in slot 1201, and the collection disk 601 is slidably installed with a collection auxiliary rod 604 through the adjustment slot 605, and the collection auxiliary rod 604 is distributed in a ring shape with respect to the center of the collection disk 601. The collection disk 601 is provided with four groups, and the four groups of collection disks 601 have exactly the same structure, and the collection disk 601 is annular in structure, and the collection disk 601 is arranged on the outside of the built-in sleeve 7. After wearing, it is adjusted according to the acupuncture points of the hand. By starting the servo motor 1003, the connecting column 1004 and the collection disk 601 can be driven to rotate.The rotation of the assembly disk 601 can drive the connecting rod 602 and the connected connection disk 603 to follow the rotation. When the connection disk 603 rotates, it rotates around the connecting column 1004, so that the connection disk 603 is surrounded by the outside of the built-in sleeve 7 and rotates. When rotating, the massage ball 1205 at one end of the threaded rod 1204 continuously contacts the user's finger. When the contact force is insufficient, the user can use the finger sleeve 4 designed with a flexible material to directly rotate the massage ball 1203 from the outside, driving the threaded rod 1204 connected to the massage ball 1203 to rotate about the built-in plate 1202, so that the massage ball 1205 will continuously get close to the user's hand, and the distance between the massage ball 1205 and the finger can be continuously adjusted. The contact strength of the acupuncture points on the hands can be adjusted and controlled, so that the acupuncture points on the fingers can be stimulated and massaged with better strength when the connecting disk 603 rotates. In addition, the intensity of the acupuncture point stimulation massage can be adjusted according to the hand rehabilitation of the user to assist the hand rehabilitation of the user. When the acupuncture points on the fingers are massaged, the massage ball 1203 will fit on the inner surface of the finger sleeve 4 and rotate. The design of the finger sleeve 4 is convenient for directly controlling the position of the massage ball 1203 from the outside, and the operation of the massage ball 1203 and the massage component 12 connected to the massage ball 1203 can be intuitively observed from the outside, so as to avoid the difficulty of users with serious hand injuries to judge the interruption of the acupuncture point massage operation by themselves during the hidden massage.

[0033] like Figure 6As shown, a driving assembly 10 for massage driving is arranged in the middle of one side of the collection plate 601, and the driving assembly 10 includes a servo motor 1003 and a connecting column 1004, and the output end of the servo motor 1003 is installed with the connecting column 1004 through a connecting shaft, and the connecting column 1004 is vertically arranged in the middle of the outer surface of one side of the collection plate 601, and the diameter of the collection plate 601 is larger than the diameter of the collection plate 601, and the driving assembly 10 also includes a connecting plate 1001 and a mounting frame 1002, and the mounting frame 1002 is annularly arranged on the outer surface of one side of the connecting plate 1001, and the servo motor 1003 is installed on the other end of the mounting frame 1002, and a vent 13 is opened in the middle of the connecting plate 1001, and the vents 13 are distributed one by one with respect to the driving assembly 10, so as to facilitate the use of the design of the vent 13 The heat of the servo motor 1003 when working is ventilated. For different finger lengths, the connection plate 1001 can be fixedly engaged with the end cover 5, so that the user can pull the connection plate 1001 and the adjustment component 6, the drive component 10 and the massage component 12 connected to the connection plate 1001 from the inside of the finger sleeve 4 from the outside, and the user can adjust the position of the connection plate 603 by using the connection plate 603 and the sliding connection design of the adjustment groove 605 and the collection auxiliary rod 604. By adjusting the position of the connection plate 603, the massage component 12 can be adjusted. After the position adjustment of the connection plate 603 is completed, it is fixed by screws. Through the above operation, it is convenient to adjust the massage points for fingers of different lengths, and it is flexible to use, reducing the limitations of acupoint stimulation massage.

[0034] The operation method of the hand rehabilitation robot capable of stimulating hand acupuncture points comprises the following steps:

[0035] Step 1: The restraint belt 2 is made of rubber material and has good elasticity, which is convenient for the user to wear the palm cover 1 through the restraint belt 2 to prevent it from falling off when performing other actions after wearing it. It is protective, and the user's finger part enters the interior of the built-in cover 7 when wearing it;

[0036] Step 2, after wearing, adjust the hand acupuncture points. By starting the servo motor 1003, the connecting column 1004 and the collection plate 601 can be driven to rotate. The rotation of the collection plate 601 can drive the connecting rod 602 and the connected connecting plate 603 to follow. When the connecting plate 603 rotates, it rotates around the connecting column 1004, so that the connecting plate 603 rotates outside the built-in sleeve 7. When rotating, the massage ball 1205 at one end of the threaded rod 1204 continuously contacts the user's finger. When the contact force is insufficient, the user can use the flexible material The finger sleeve 4 is designed to directly rotate the massage ball 1203 from the outside, driving the threaded rod 1204 connected to the massage ball 1203 to rotate about the built-in plate 1202, so that the massage ball 1205 will continue to get closer to the user's hand, and the contact strength of the acupuncture points on the hand can be controlled by continuously adjusting the distance between the massage ball 1205 and the finger, so that the acupuncture points on the finger can be stimulated and massaged with better strength when the connecting plate 603 rotates. In addition, the acupuncture point stimulation massage intensity can be adjusted according to the user's hand rehabilitation condition to assist the user's hand rehabilitation;

[0037] Step three, in addition, for different finger lengths, the design that the connecting plate 1001 and the end cover 5 are engaged and fixed can facilitate the user to pull from the outside to remove the connecting plate 1001 and the adjustment component 6, the drive component 10 and the massage component 12 connected to the connecting plate 1001 from the inside of the finger sleeve 4, and facilitate the user to adjust the position of the connecting plate 603 by using the design of the sliding connection between the connecting plate 603 and the auxiliary rod 604 by using the adjustment groove 605. By adjusting the position of the connecting plate 603, it is convenient to adjust the position of the massage component 12. After the position adjustment of the connecting plate 603 is completed, it is fixed by screws. Through the above operation, it is convenient to adjust the massage points for fingers of different lengths, and it is flexible to use, reducing the limitations of acupoint stimulation massage;

[0038] Step 4: During acupoint massage, the heating wire 11 inside the palm cover 1 can be used to provide auxiliary heating for the hands, thereby promoting blood flow in the hands and facilitating acupoint massage to assist the user's hand recovery.

[0039] In summary, if Figure 1-Figure 6As shown, the hand rehabilitation robot capable of stimulating hand acupuncture points and the operation method thereof, the restraint belt 2 is designed with rubber material and has good elasticity, so that the user can wear the palm sleeve 1 through the restraint belt 2 to avoid it falling off when performing other actions after wearing, and it has protectiveness. When wearing, the user's finger parts enter the interior of the built-in sleeve 7; after wearing, it is debugged according to the hand acupuncture points, and the connecting column 1004 and the collection disk 601 can be driven to rotate by starting the servo motor 1003, and the rotation of the collection disk 601 can drive the connecting rod 602 and the connected connecting disk 603 to follow, and when the connecting disk 603 rotates, it rotates around the connecting column 1004, so that the connecting disk 603 is surrounded by The sleeve 7 rotates externally, and the massage ball 2 1205 at one end of the threaded rod 1204 is constantly in contact with the user's fingers during the rotation. When the contact strength is insufficient, the user can use the finger sleeve 4 designed with a flexible material to directly rotate the massage ball 1 1203 from the outside to drive the threaded rod 1204 connected to the massage ball 1 1203 to rotate about the built-in plate 1202, so that the massage ball 2 1205 will constantly get close to the user's hand, and the contact strength of the acupuncture points on the hand can be controlled by continuously adjusting the distance between the massage ball 2 1205 and the finger, so that the acupuncture points on the finger can be stimulated and massaged with better strength when the connecting disk 603 rotates. Secondly, when performing acupuncture point massage on the finger, the massage ball 1 1203 The finger sleeve 4 is designed to fit on the inner surface of the finger sleeve 4 and rotate. The design of the finger sleeve 4 is convenient for directly controlling the position of the massage ball 1203 from the outside, and the operation of the massage ball 1203 and the massage component 12 connected to the massage ball 1203 can be intuitively observed from the outside, so as to avoid the user with serious hand injuries having difficulty in judging the interruption of the acupoint massage by himself during the hidden massage. In addition, the intensity of the acupoint stimulation massage can be adjusted according to the user's hand rehabilitation condition to assist the user's hand rehabilitation. In addition, for different finger lengths, the design of the connecting plate 1001 and the end cover 5 can be used to facilitate the user to pull the connecting plate 1001 and the end cover 5 connected to the connecting plate 1001 from the outside. The adjustment component 6, the drive component 10 and the massage component 12 are taken out from the inside of the finger sleeve 4, so that the user can use the connection plate 603 to adjust the position of the connection plate 603 by using the design of the sliding connection between the adjustment groove 605 and the collective auxiliary rod 604. By adjusting the position of the connection plate 603, it is convenient to adjust the position of the massage component 12. After the position adjustment of the connection plate 603 is completed, it is fixed by screws. Through the above operation, it is convenient to adjust the massage points for fingers of different lengths, and it is flexible to use and reduce the limitations of acupoint stimulation massage. During acupoint massage, the design of the heating wire 11 inside the palm sleeve 1 can be used to assist the hand in heating, promote blood flow in the hand, and facilitate the cooperation with acupoint massage to assist the user's hand recovery.

[0040] The embodiments of the present invention are given for the purpose of illustration and description, and are not intended to be exhaustive or to limit the invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present invention and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.

Claims

1. A hand rehabilitation robot capable of stimulating acupuncture points on the hand, comprising a palm glove (1) and a drive assembly (10), characterized in that: A transition cover (3) is provided on one side of the palm sleeve (1), and a lower cover (9) is installed at the end of the transition cover (3); an inner sleeve (7) is provided on the outer surface of one side of the lower cover (9), and a massage component (12) for stimulating acupoints of the hand is installed on the outside of the inner sleeve (7); the massage component (12) comprises an inner groove (1201), an inner plate (1202), a massage ball 1 (1203), a threaded rod (1204) and a massage ball 2 (1205); an inner plate (1202) is provided inside the inner groove (1201), and a threaded rod (1204) is installed on the inner thread of the inner plate (1202); a massage ball 1 (1203) is installed on one end of the threaded rod (1204); and the threaded rod (1204) is installed on the inner thread of the threaded rod (1205). 4) is provided with a massage ball 2 (1205), the outside of the built-in groove (1201) is provided with an adjustment component (6) for assisting acupoint massage, and the adjustment component (6) includes a collection plate (601), a connecting rod (602) and a connecting plate (603), a connecting rod (602) is provided in an annular shape on the outer surface of one side of the collection plate (601), and a connecting plate (603) is installed at the end of the connecting rod (602), and the driving component (10) for massage driving is arranged in the middle of one side of the collection plate (601), and the driving component (10) includes a servo motor (1003) and a connecting column (1004), and the output end of the servo motor (1003) is installed with the connecting column (1004) through a connecting shaft.

2. The hand rehabilitation robot capable of stimulating hand acupuncture points according to claim 1, characterized in that: The connecting column (1004) is vertically arranged in the middle of the outer surface of one side of the collecting plate (601), and the diameter of the collecting plate (601) is larger than the diameter of the collecting plate (601).

3. The hand rehabilitation robot capable of stimulating hand acupuncture points according to claim 1, characterized in that: The adjustment component (6) also includes a collection auxiliary rod (604) and an adjustment groove (605), and the adjustment groove (605) is opened on one side of the collection plate (601) close to the built-in groove (1201), and the collection plate (601) is slidably mounted with the collection auxiliary rod (604) through the adjustment groove (605), and the collection auxiliary rod (604) is distributed in a ring shape with respect to the center of the collection plate (601).

4. The hand rehabilitation robot capable of stimulating hand acupuncture points according to claim 1, characterized in that: The collection plates (601) are provided in four groups, and the four groups of collection plates (601) have completely the same structure. The collection plates (601) are in an annular structure, and the collection plates (601) are arranged outside the built-in sleeve (7).

5. The hand rehabilitation robot capable of stimulating hand acupuncture points according to claim 1, characterized in that: The driving assembly (10) further comprises a connection plate (1001) and a mounting frame (1002), wherein the mounting frame (1002) is provided in a ring shape on the outer surface of one side of the connection plate (1001), and a servo motor (1003) is installed at the other end of the mounting frame (1002).

6. The hand rehabilitation robot capable of stimulating hand acupuncture points according to claim 5, characterized in that: A ventilation opening (13) is provided in the middle of the connecting plate (1001), and the ventilation openings (13) are distributed in a one-to-one correspondence with respect to the driving components (10).

7. The hand rehabilitation robot capable of stimulating hand acupuncture points according to claim 1, characterized in that: The outer surface of the massage ball (1203) is provided with a finger sleeve (4), and an end cap (5) is installed at one end of the finger sleeve (4) away from the transition cover (3).

8. The hand rehabilitation robot capable of stimulating hand acupuncture points according to claim 7, characterized in that: An upper cover (8) is installed at the other end of the built-in sleeve (7), and the upper cover (8) is arranged inside the finger sleeve (4).

9. The hand rehabilitation robot capable of stimulating hand acupuncture points according to claim 8, characterized in that: A restraining belt (2) is provided in the middle of the outer surface of one side of the palm glove (1), and a heating wire (11) is provided inside the palm glove (1).

10. An operating method of a hand rehabilitation robot capable of stimulating hand acupoints, applied to the hand rehabilitation robot capable of stimulating hand acupoints according to any one of claims 1 to 9, characterized in that: The operation method of the hand rehabilitation robot capable of stimulating hand acupuncture points comprises the following steps: Step 1: The restraint belt (2) is made of rubber material and has good elasticity, so that the user can put on the palm cover (1) through the restraint belt (2) to prevent it from falling off when performing other actions after putting it on. It has protective properties, and the user's finger parts enter the interior of the built-in cover (7) when putting it on; Step 2, after wearing, the massage is adjusted according to the acupuncture points on the hand. By starting the servo motor (1003), the connecting column (1004) and the assembly disk (601) can be driven to rotate. The rotation of the assembly disk (601) can drive the connecting rod (602) and the connected connecting disk (603) to follow. When the connecting disk (603) rotates, it rotates around the connecting column (1004), so that the connecting disk (603) rotates outside the built-in sleeve (7). When rotating, the massage ball 2 (1205) at one end of the threaded rod (1204) continuously contacts the user's finger. When the contact force is insufficient, the user can use The finger sleeve (4) made of flexible material is designed to directly rotate the massage ball 1 (1203) from the outside, driving the threaded rod (1204) connected to the massage ball 1 (1203) to rotate about the built-in plate (1202), so that the massage ball 2 (1205) will continue to get closer to the user's hand, and the contact strength with the acupuncture points on the hand can be controlled by continuously adjusting the distance between the massage ball 2 (1205) and the finger, so that the acupuncture points on the finger can be stimulated and massaged with better strength when the connecting plate (603) rotates. In addition, the acupuncture point stimulation massage intensity can be adjusted according to the user's hand rehabilitation condition, thereby assisting the user's hand rehabilitation; Step three, in addition, for different finger lengths, the design of the connection plate (1001) and the end cover (5) being snap-fitted and fixed can facilitate the user to pull from the outside to remove the connection plate (1001) and the adjustment component (6), the drive component (10) and the massage component (12) connected to the connection plate (1001) from the inside of the finger sleeve (4), and facilitate the user to adjust the position of the connection plate (603) by using the connection plate (603) and the design of the sliding connection between the adjustment groove (605) and the collective auxiliary rod (604). By adjusting the position of the connection plate (603), it is convenient to adjust the position of the massage component (12). After the position adjustment of the connection plate (603) is completed, it is fixed by a screw. Through the above operation, it is convenient to adjust the massage points for fingers of different lengths, and it is flexible to use, reducing the limitations of acupoint stimulation massage; Step 4: During acupoint massage, the heating wire (11) inside the palm sleeve (1) can be used to provide auxiliary heat to the hands, thereby promoting blood flow in the hands and facilitating the acupoint massage to assist the user's hand recovery.

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