Hand rehabilitation robot with anti-loosening protection function and operation method thereof

Abstract

The invention discloses a hand rehabilitation robot with an anti-loosening protection function and an operation method thereof, and relates to the technical field of hand rehabilitation robots, the hand rehabilitation robot comprises a collection frame and a driving rod, the collection frame is internally provided with a driving assembly for providing power, and the driving assembly comprises a servo motor, a connecting shaft, a driving gear and a driven gear; and a servo motor is installed at the output end of the servo motor, a driving gear is arranged at the end of the servo motor, a driven gear is installed on the outer surface of the driving gear in a meshed mode, and a lead screw is arranged in the middle of one end of the driven gear. According to the hand rehabilitation robot with the anti-loosening protection function and the operation method of the hand rehabilitation robot, the second connecting column can be rotated clockwise or anticlockwise through the adjusting assembly to control the overlapping length between the first connecting column and the second connecting column, and the extending position of a finger containing disc at the end of the second connecting column can be controlled easily; through the structural adjustment, one-by-one targeted adjustment can be conveniently carried out according to the rehabilitation condition of the fingers of the user.

Description

Technical Field

[0001] The present invention relates to the technical field of hand rehabilitation robots, and in particular to a hand rehabilitation robot with anti-loosening protection and an operating method thereof. Background Art

[0002] Robot is the common name for automatic control machines (Robot), which include all machines that simulate human behavior or thoughts and simulate other organisms (such as robot dogs, robot cats, etc.). With the continuous development of the times and the continuous advancement of science and technology, robots are involved in many fields, such as hand rehabilitation. Modern rehabilitation theory and medicine have proved that patients with hand motor function damage caused by accidental injuries, surgical sequelae, hemiplegia caused by stroke, etc. can be treated with a certain intensity of scientific rehabilitation training and treatment to restore the hand motor function to the maximum extent.

[0003] Currently, it is difficult for hand rehabilitation robots to adaptively adjust the rehabilitation intensity according to the recovery status of each finger when in use. There are limitations in the intensity of hand rehabilitation training, which affects hand training rehabilitation.

[0004] Therefore, in view of this, the existing structure and defects are studied and improved, and a hand rehabilitation robot with anti-loosening protection 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 with anti-loosening protection and an operating 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 with anti-loosening protection and an operating method thereof, comprising an assembly frame and an active rod, a driving component for providing power is arranged inside the assembly frame, and the driving component comprises a servo motor, a connecting shaft, a driving gear and a driven gear, a servo motor is installed at the output end of the servo motor, and a driving gear is arranged at the end of the servo motor, a driven gear is meshingly installed on the outer surface of the driving gear, and a lead screw is arranged in the middle of one end of the driven gear, the active rod is arranged in the middle of the outer surface of one side of the driving gear, and an adjustment component for controllable hand strength exercise is threadedly installed on the outer surfaces of the driving gear and the active rod, and the adjustment component comprises a connecting plate, a first connecting column and a second connecting column, a connecting plate is threadedly installed on one side of the connecting plate, and a second connecting column is threadedly arranged on the inner surface of the connecting plate, a finger placement plate is installed on the end of the second connecting column, an auxiliary cylinder is arranged on one side of the assembly frame, and a guide column is arranged on the side of the outer surface of the driven gear away from the lead screw.

[0007] Furthermore, a connecting belt is provided on one side of the outer surface of the finger placement plate, and a Velcro is installed on one side of the outer surface of the connecting belt.

[0008] Furthermore, the finger placement plates are distributed in a one-to-one correspondence with the second connecting pillars, and a Velcro tape is provided on one side of the outer surface of the finger placement plate close to the second connecting pillar.

[0009] Furthermore, the interior of the auxiliary tube is a hollow structure, and a built-in groove is annularly provided at one end of the interior of the auxiliary tube.

[0010] Furthermore, an ultraviolet disinfection lamp is arranged inside the built-in groove, and the length of the auxiliary tube is greater than the length of the active rod and the screw rod.

[0011] Furthermore, a guide assembly for guiding the movement of the connecting plate is provided on one inner side of the connecting plate, and the guide assembly includes a vertical plate, a limiting slide rod and an end cover. A limiting slide rod is provided on one top side of the vertical plate, and an end cover is threadedly installed on the end of the limiting slide rod.

[0012] Furthermore, the auxiliary cylinders are provided in four groups, and assembly frames are installed outside the four groups of auxiliary cylinders.

[0013] Furthermore, a top cover is mounted on the top of the assembly frame, and a binding belt is provided on the outer surface of the top cover and the outer surface of the bottom of the assembly frame.

[0014] Furthermore, the vertical plate is fixedly arranged on the inner surface of the bottom of the vertical plate, and the vertical plate and the limiting sliding rod form an "L"-shaped structure.

[0015] Furthermore, the operation method of the hand rehabilitation robot with anti-loosening protection comprises the following steps:

[0016] Step 1: First, the user can rotate the second connecting column inside the first connecting column in advance according to the rehabilitation status of each finger of the user, and the first connecting column and the second connecting column are threadedly connected, so that the second connecting column can be rotated clockwise or counterclockwise to control the overlap length between the first connecting column and the second connecting column, which is conducive to controlling the extension position of the finger placement plate at the end of the second connecting column. Through the above structural adjustment, it is convenient to make targeted adjustments one by one according to the rehabilitation status of the user's finger parts;

[0017] Step 2: After the targeted rehabilitation intensity adjustment is completed, the user uses a rubber restraint belt designed to be put on the base of the thumb and the little finger to limit the entire hand rehabilitation robot with respect to the hand, so as to prevent the hand rehabilitation robot from loosening and detaching from the hand when the user uses it, which has a protective effect. Then, the user's four sets of auxiliary cylinders are placed in the palm area, and the user's four fingers except the thumb are placed in the concave area of ​​the finger placement plate. Then, the Velcro on the surface of the connecting belt on one side of the finger placement plate is bonded to the Velcro on the other side of the finger placement plate, so that the end of the finger placed in the concave area of ​​the finger placement plate can be limited with respect to the finger placement plate;

[0018] Step three, then start the servo motor, the servo motor can drive the connecting shaft and the active gear to rotate, the rotation of the active gear can drive the driven gear meshing with it to rotate, and the rotation of the active gear and the driven gear can drive the active rod and the lead screw to rotate. The active rod and the lead screw are both threaded with a connecting plate. Through the design of the thread direction between the connecting plate and the active rod and the lead screw, the connecting plate can be limited by the limiting slide rod when the active rod and the lead screw rotate, so that the connecting plate can be moved horizontally in the auxiliary cylinder. The finger limited in the concave area of ​​the finger placement plate can be driven to move up and down, which is beneficial to the user's finger activities, assisting the user's hand rehabilitation, and avoiding stiffness caused by long-term finger inactivity.

[0019] Step 4. Then, the end cover of the limit sliding rod is designed to avoid the problem of excessive exercise of the user's hands. Finally, the servo motor is designed to rotate the connecting shaft and the driving gear in the opposite direction, so that the connecting plate on the outer surface of the active rod and the screw rod and the finger placement plate connected to the connecting plate are stored in the auxiliary tube. At the same time, the connecting belt and Velcro are used to assist in covering the opening area at one end of the auxiliary tube, so that it is convenient to store the hand rehabilitation robot when it is not needed and sterilize it with the design of the ultraviolet disinfection lamp.

[0020] The present invention provides a hand rehabilitation robot with anti-loosening protection and an operation method thereof, which has the following beneficial effects:

[0021] 1. The hand rehabilitation robot with anti-loosening protection and the operation method thereof can control the overlapping length between the first connecting column and the second connecting column by rotating the second connecting column clockwise or counterclockwise through the adjustment component, which is beneficial to controlling the extension position of the finger placement plate at the end of the second connecting column. Through the above-mentioned structural adjustment, it is convenient to make targeted adjustments one by one according to the rehabilitation status of the user's finger parts.

[0022] 2. The hand rehabilitation robot with anti-loosening protection and the operation method thereof, through the design of the thread direction between the connecting plate and the active rod and the lead screw, can use the limiting design of the limiting slide rod to make the connecting plate move horizontally inside the auxiliary tube when the active rod and the lead screw rotate, thereby driving the fingers limited in the recessed area of ​​the finger placement plate to move up and down, which is beneficial to the movement of the user's fingers, assisting the user's hand rehabilitation, and avoiding stiffness of the fingers caused by long-term inactivity.

[0023] 3. The hand rehabilitation robot with anti-loosening protection and the operation method thereof, through the design of the servo motor, rotates the connecting shaft and the driving gear in the opposite direction, so that the connecting plates on the outer surfaces of the active rod and the lead screw and the finger placement plate connected to the connecting plates are stored in the interior of the auxiliary tube, and at the same time, the design of the connecting belt and the Velcro is used to assist in covering the opening area at one end of the auxiliary tube, so that the hand rehabilitation robot can be stored when it is not needed. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the southwest isometric structure of a hand rehabilitation robot with anti-loosening protection and an operation method thereof of the present invention;

[0025] Figure 2 It is a southeast isometric structural schematic diagram of a hand rehabilitation robot with anti-loosening protection and an operation method thereof of the present invention;

[0026] Figure 3 It is a schematic diagram of the structure of an adjustment component of a hand rehabilitation robot with anti-loosening protection and an operation method thereof according to the present invention;

[0027] Figure 4 It is a schematic diagram of the structure of a driving component of a hand rehabilitation robot with anti-loosening protection and an operation method thereof according to the present invention;

[0028] Figure 5 It is a schematic structural diagram of a guide assembly of a hand rehabilitation robot with anti-loosening protection and an operation method thereof according to the present invention;

[0029] Figure 6 The present invention is a schematic diagram of the auxiliary cylinder structure of a hand rehabilitation robot with anti-loosening protection and an operating method thereof.

[0030] In the figure: 1. assembly frame; 2. restraint belt; 3. top cover; 4. auxiliary tube; 5. finger placement plate; 6. connecting belt; 7. Velcro; 8. Velcro; 9. adjustment component; 901. connecting plate; 902. first connecting column; 903. second connecting column; 10. active rod; 11. screw rod; 12. drive component; 1201. servo motor; 1202. connecting shaft; 1203. active gear; 1204. driven gear; 13. guide component; 1301. vertical plate; 1302. limit slide rod; 1303. end cover; 14. built-in slot; 15. ultraviolet disinfection lamp; 16. guide column. 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 6As shown, the present invention provides a technical solution: a hand rehabilitation robot with anti-loosening protection and an operation method thereof, comprising a collection frame 1, a restraining belt 2, a top cover 3, an auxiliary cylinder 4, a finger placement plate 5, a connecting belt 6, a Velcro 7, a Velcro mother 8, an adjustment component 9, a connecting plate 901, a first connecting column 902, a second connecting column 903, an active rod 10, a screw rod 11, a driving component 12, a servo motor 1201, a connecting shaft 1202, a driving gear 1203, a driven gear 1204, a guide component 13, a vertical plate 1301, a limit slide The assembly frame 1 is provided with a driving assembly 12 for providing power, and the driving assembly 12 includes a servo motor 1201, a connecting shaft 1202, a driving gear 1203 and a driven gear 1204. The output end of the servo motor 1201 is provided with a servo motor 1201, and the end of the servo motor 1201 is provided with a driving gear 1203, and the outer surface of the driving gear 1203 is meshed with the driven gear 1204, and the driven gear 1204 is provided with a driving gear 1203. 04 is provided with a screw rod 11 in the middle of one end, a guide column 16 is provided on the side of the outer surface of the driven gear 1204 away from the screw rod 11, and the active rod 10 is provided in the middle of the outer surface of one side of the active gear 1203. The servo motor 1201 is started, and the servo motor 1201 can drive the connecting shaft 1202 and the active gear 1203 to rotate, and the driven gear 1204 meshing therewith can be driven to rotate through the rotation of the active gear 1203, and the active rod 10 and the screw rod 11 can be driven to rotate through the rotation of the active gear 1203 and the driven gear 1204. The active rod 10 and the screw rod 11 are both threadedly provided with a connecting plate 901. By designing the thread direction between the connecting plate 901 and the active rod 10 and the screw rod 11, when the active rod 10 and the screw rod 11 rotate, the connecting plate 901 can use the limiting design of the limiting slide bar 1302 to make the connecting plate 901 move horizontally inside the auxiliary tube 4, thereby driving the fingers limited in the recessed area of ​​the finger placement plate 5 to move up and down, which is beneficial to the user's finger activities, assisting the user's hand rehabilitation, and avoiding stiffness of the fingers due to long-term inactivity.

[0033] like Figure 1 , Figure 2 and Figure 3As shown, the outer surfaces of the active gear 1203 and the active rod 10 are both threadedly mounted with an adjustment component 9 for hand-controllable strength training, and the adjustment component 9 includes a connecting plate 901, a first connecting column 902 and a second connecting column 903, a connecting plate 901 is threadedly mounted on one side of the connecting plate 901, and the second connecting column 903 is arranged on the inner thread of the connecting plate 901, and a finger placement plate 5 is arranged on the end of the second connecting column 903, and an auxiliary cylinder 4 is arranged on one side of the assembly frame 1, and the auxiliary cylinder 4 is arranged in four groups, and the four groups of auxiliary cylinders 4 are arranged on the outside There is a collection frame 1, a finger placement plate 5 is distributed one-to-one with respect to the second connecting column 903, and a Velcro mother patch 8 is arranged on the side of the outer surface of the finger placement plate 5 close to the second connecting column 903, a connecting belt 6 is arranged on one side of the outer surface of the finger placement plate 5, and a Velcro sub-patch 7 is installed on the outer surface of one side of the connecting belt 6, a top cover 3 is installed on the top of the collection frame 1, and a restraint belt 2 is arranged on the outer surface of the top cover 3 and the bottom outer surface of the collection frame 1. After the targeted rehabilitation intensity adjustment is completed, the user uses the design of the restraint belt 2 made of rubber to put it on The base of the thumb and the little finger is used to limit the position of the entire hand rehabilitation robot with respect to the hand, so as to prevent the hand rehabilitation robot from loosening and detaching from the hand when the user uses it, which has a protective effect. Then, the four groups of auxiliary cylinders 4 of the user are placed in the palm area, and the four fingers of the user except the thumb are placed in the recessed area of ​​the finger placement plate 5. Then, the Velcro 7 on the surface of the connecting belt 6 on one side of the finger placement plate 5 is bonded to the Velcro mother patch 8 on the other side of the surface of the finger placement plate 5, so that the end of the finger placed in the recessed area of ​​the finger placement plate 5 can be limited with respect to the finger placement plate 5. According to the rehabilitation condition of each finger of the user, the second connecting column 903 inside the first connecting column 902 can be rotated in advance, and the first connecting column 902 and the second connecting column 903 are threadedly connected, so that the clockwise or counterclockwise rotation of the second connecting column 903 can control the overlapping length between the first connecting column 902 and the second connecting column 903, which is beneficial to control the extended position of the finger placement plate 5 at the end of the second connecting column 903. Through the above-mentioned structural adjustment, it is convenient to make targeted adjustments one by one according to the rehabilitation condition of the user's finger parts.

[0034] like Figure 1 , Figure 3 and Figure 5As shown, the interior of the auxiliary cylinder 4 is a hollow structure, and a built-in groove 14 is provided in an annular manner at one end of the interior of the auxiliary cylinder 4, and an ultraviolet disinfection lamp 15 is arranged inside the built-in groove 14. The length of the auxiliary cylinder 4 is greater than the length of the active rod 10 and the screw rod 11. A guide component 13 for guiding the position movement of the connecting plate 901 is provided on one side of the interior of the connecting plate 901, and the guide component 13 includes a vertical plate 1301, a limiting slide rod 1302 and an end cover 1303. A limiting slide rod 1302 is provided on one side of the top of the vertical plate 1301, and the end cover 1303 is threadedly installed on the end of the limiting slide rod 1302. The vertical plate 1301 is fixedly arranged on the inner surface of the bottom of the vertical plate 1301, and the vertical plate 1301 and the limiting slide rod 1302 are connected to each other. The limiting slide bar 1302 forms an "L"-shaped structure, and the end cover 1303 of the limiting slide bar 1302 is designed to avoid the problem of excessive exercise of the user's hands during exercise. Finally, the connecting shaft 1202 and the driving gear 1203 are rotated in the opposite direction through the design of the servo motor 1201, so that the connecting plate 901 on the outer surface of the active rod 10 and the screw rod 11 and the finger placement plate 5 connected to the connecting plate 901 are stored in the auxiliary tube 4. At the same time, the connecting belt 6 and the Velcro 7 are used to assist in shielding the opening area at one end of the auxiliary tube 4, so that the hand rehabilitation robot can be stored when it is not needed and sterilized by the design of the ultraviolet disinfection lamp 15.

[0035] The operation method of the hand rehabilitation robot with anti-loosening protection comprises the following steps:

[0036] Step 1: First, the user can rotate the second connecting column 903 inside the first connecting column 902 in advance according to the rehabilitation status of each finger of the user. The first connecting column 902 and the second connecting column 903 are threadedly connected, so that the clockwise or counterclockwise rotation of the second connecting column 903 can control the overlap length between the first connecting column 902 and the second connecting column 903, which is conducive to controlling the extension position of the finger placement plate 5 at the end of the second connecting column 903. Through the above structural adjustment, it is convenient to make targeted adjustments one by one according to the rehabilitation status of the user's finger parts;

[0037] Step 2, after the targeted rehabilitation intensity adjustment is completed, the user uses the rubber restraint belt 2 to cover the base of the thumb and the little finger to limit the position of the entire hand rehabilitation robot with respect to the hand, and prevents the hand rehabilitation robot from loosening and detaching from the hand when the user uses it, which has a protective effect. Then, the user's four sets of auxiliary cylinders 4 are placed in the palm area, and the user's four fingers except the thumb are placed in the concave area of ​​the finger placement plate 5. Then, the Velcro 7 on the surface of the connecting belt 6 on one side of the finger placement plate 5 is bonded to the Velcro mother tape 8 on the other side of the finger placement plate 5, so that the end of the finger placed in the concave area of ​​the finger placement plate 5 can be limited with respect to the finger placement plate 5;

[0038] Step three, then start the servo motor 1201, the servo motor 1201 can drive the connecting shaft 1202 and the driving gear 1203 to rotate, and the rotation of the driving gear 1203 can drive the driven gear 1204 meshing therewith to rotate, and the rotation of the driving gear 1203 and the driven gear 1204 can drive the active rod 10 and the screw rod 11 to rotate, and the active rod 10 and the screw rod 11 are both threadedly provided with a connecting plate 901, and the thread direction design between the connecting plate 901 and the active rod 10 and the screw rod 11 can make the connecting plate 901 move horizontally in the internal position of the auxiliary tube 4 by using the limiting design of the limiting slide bar 1302 when the active rod 10 and the screw rod 11 rotate, so that the finger limited in the concave area of ​​the finger placement plate 5 can be driven to move up and down, which is beneficial to the user's finger parts to move, assist the user's hand rehabilitation, and avoid stiffness caused by long-term finger inactivity;

[0039] Step 4. Then, the end cover 1303 of the limit slide bar 1302 is designed to avoid the problem of over-exercise of the user's hands during exercise. Finally, the servo motor 1201 is designed to rotate the connecting shaft 1202 and the driving gear 1203 in the opposite direction, so that the connecting plate 901 on the outer surface of the active rod 10 and the screw rod 11 and the finger placement plate 5 connected to the connecting plate 901 are stored in the auxiliary tube 4. At the same time, the connection belt 6 and the Velcro 7 are designed to assist in shielding the opening area at one end of the auxiliary tube 4, so that it is convenient to store the hand rehabilitation robot when it is not needed and sterilize it by using the design of the ultraviolet disinfection lamp 15.

[0040] In summary, if Figure 1-Figure 6As shown, the hand rehabilitation robot with anti-loosening protection and the operation method thereof, firstly, the user can rotate the second connecting column 903 inside the first connecting column 902 in advance according to the rehabilitation status of each finger of the user, and the first connecting column 902 and the second connecting column 903 are threadedly connected, so that the clockwise or counterclockwise rotation of the second connecting column 903 can control the overlap length between the first connecting column 902 and the second connecting column 903, which is beneficial to control the extension position of the finger placement plate 5 at the end of the second connecting column 903. Through the above-mentioned structural adjustment, it is convenient to make targeted adjustments one by one according to the rehabilitation status of the user's finger parts; after the targeted rehabilitation intensity adjustment is completed, the user uses the rubber restraint belt 2 The design is put on the base of the thumb and the little finger to limit the position of the entire hand rehabilitation robot with respect to the hand, so as to prevent the hand rehabilitation robot from loosening and detaching from the hand when the user uses it, and has a protective effect. Then the four sets of auxiliary cylinders 4 of the user are placed in the palm area, and the four fingers of the user except the thumb are placed in the recessed area of ​​the finger placement plate 5. Then, the Velcro 7 on the surface of the connecting belt 6 on one side of the finger placement plate 5 is bonded to the Velcro mother patch 8 on the other side of the finger placement plate 5, so that the end of the finger placed in the recessed area of ​​the finger placement plate 5 can be limited with respect to the finger placement plate 5; then the servo motor 1201 is started, and the servo motor 1201 can drive the connecting shaft 1202 and the driving gear 1203 to rotate. The rotation of the active gear 1203 can drive the driven gear 1204 meshing therewith to rotate, and the rotation of the active gear 1203 and the driven gear 1204 can drive the active rod 10 and the screw rod 11 to rotate. The active rod 10 and the screw rod 11 are both threadedly provided with a connecting plate 901. Through the design of the thread direction between the connecting plate 901 and the active rod 10 and the screw rod 11, when the active rod 10 and the screw rod 11 rotate, the connecting plate 901 can use the limiting design of the limiting slide bar 1302 to make the connecting plate 901 move horizontally in the internal position of the auxiliary tube 4, thereby driving the finger limited in the concave area of ​​the finger placement plate 5 to move up and down, which is beneficial to the movement of the user's finger parts and assists The user's hand is rehabilitated to avoid stiffness of the fingers due to long-term inactivity; then the end cover 1303 of the limit slide bar 1302 is designed to avoid excessive exercise of the user's hand, and finally the connecting shaft 1202 and the driving gear 1203 are rotated in the opposite direction through the design of the servo motor 1201, so that the connecting plate 901 on the outer surface of the active rod 10 and the screw rod 11 and the finger placement plate 5 connected to the connecting plate 901 are stored in the auxiliary tube 4, and the connection belt 6 and the Velcro 7 are used to assist in shielding the opening area at one end of the auxiliary tube 4, so that it is convenient to store the hand rehabilitation robot when it is not needed and sterilize it by using the design of the ultraviolet disinfection lamp 15.

[0041] 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 with anti-loosening protection, comprising a collection frame (1) and an active rod (10), characterized in that: A driving assembly (12) for providing power is arranged inside the assembly frame (1), and the driving assembly (12) comprises a servo motor (1201), a connecting shaft (1202), a driving gear (1203) and a driven gear (1204); the servo motor (1201) is mounted on the output end of the servo motor (1201), and the driving gear (1203) is arranged at the end of the servo motor (1201); the driven gear (1204) is meshedly mounted on the outer surface of the driving gear (1203), and a screw rod (11) is arranged in the middle of one end of the driven gear (1204); the driving rod (10) is arranged in the middle of the outer surface of one side of the driving gear (1203); The outer surfaces of the active gear (1203) and the active rod (10) are both threadedly mounted with an adjustment component (9) for hand-controllable strength training, and the adjustment component (9) comprises a connecting plate (901), a first connecting column (902) and a second connecting column (903), one side of the connecting plate (901) is threadedly mounted with the connecting plate (901), and the inner thread of the connecting plate (901) is provided with a second connecting column (903), the end of the second connecting column (903) is provided with a finger placement plate (5), one side of the assembly frame (1) is provided with an auxiliary cylinder (4), and the outer surface of the driven gear (1204) is provided with a guide column (16) on the side away from the screw rod (11).

2. The hand rehabilitation robot with anti-loosening protection according to claim 1, characterized in that: A connection belt (6) is provided on one side of the outer surface of the finger placement plate (5), and a Velcro tape (7) is installed on one side of the outer surface of the connection belt (6).

3. The hand rehabilitation robot with anti-loosening protection according to claim 1, characterized in that: The finger placement plates (5) are distributed in a one-to-one correspondence with the second connecting pillars (903), and a Velcro tape (8) is provided on one side of the outer surface of the finger placement plate (5) close to the second connecting pillar (903).

4. The hand rehabilitation robot with anti-loosening protection according to claim 1, characterized in that: The interior of the auxiliary tube (4) is a hollow structure, and a built-in groove (14) is provided in an annular shape at one end of the interior of the auxiliary tube (4).

5. The hand rehabilitation robot with anti-loosening protection according to claim 4, characterized in that: An ultraviolet disinfection lamp (15) is arranged inside the built-in groove (14), and the length of the auxiliary cylinder (4) is greater than the lengths of the active rod (10) and the screw rod (11).

6. The hand rehabilitation robot with anti-loosening protection according to claim 1, characterized in that: A guide assembly (13) for guiding the position movement of the connecting plate (901) is arranged on one side of the interior of the connecting plate (901), and the guide assembly (13) comprises a vertical plate (1301), a limiting slide bar (1302) and an end cover (1303), a limiting slide bar (1302) is arranged on one side of the top of the vertical plate (1301), and the end of the limiting slide bar (1302) is threadedly mounted with the end cover (1303).

7. The hand rehabilitation robot with anti-loosening protection according to claim 1, characterized in that: The auxiliary cylinders (4) are provided in four groups, and assembly frames (1) are installed outside the four groups of auxiliary cylinders (4).

8. The hand rehabilitation robot with anti-loosening protection according to claim 5, characterized in that: A top cover (3) is snap-fitted and installed on the top of the assembly frame (1), and a binding belt (2) is provided on the outer surface of the top cover (3) and the outer surface of the bottom of the assembly frame (1).

9. The hand rehabilitation robot with anti-loosening protection according to claim 6, characterized in that: The vertical plate (1301) is fixedly arranged on the inner surface of the bottom of the vertical plate (1301), and the vertical plate (1301) and the limiting sliding rod (1302) form an "L"-shaped structure.

10. An operating method of a hand rehabilitation robot with anti-loosening protection, applied to the hand rehabilitation robot with anti-loosening protection according to any one of claims 1 to 9, characterized in that: The operation method of the hand rehabilitation robot with anti-loosening protection comprises the following steps: Step 1: First, the user can rotate the second connecting column (903) inside the first connecting column (902) in advance according to the rehabilitation status of each finger of the user. The first connecting column (902) and the second connecting column (903) are threadedly connected, so that the clockwise or counterclockwise rotation of the second connecting column (903) can control the overlap length between the first connecting column (902) and the second connecting column (903), which is conducive to controlling the extension position of the finger placement plate (5) at the end of the second connecting column (903). Through the above structural adjustment, it is convenient to make targeted adjustments one by one according to the rehabilitation status of the user's finger parts; Step 2, after the targeted rehabilitation intensity adjustment is completed, the user uses the rubber binding belt (2) to cover the base of the thumb and the little finger to limit the position of the entire hand rehabilitation robot with respect to the hand, thereby preventing the hand rehabilitation robot from loosening and detaching from the hand when the user uses it, which has a protective effect. Then, the user's four sets of auxiliary cylinders (4) are placed in the palm area, and the user's four fingers except the thumb are placed in the recessed area of ​​the finger placement plate (5). Then, the Velcro (7) on the surface of the connecting belt (6) on one side of the finger placement plate (5) is bonded to the Velcro (8) on the other side of the finger placement plate (5), so that the end of the finger placed in the recessed area of ​​the finger placement plate (5) can be limited with respect to the finger placement plate (5); Step 3, then start the servo motor (1201), the servo motor (1201) can drive the connecting shaft (1202) and the driving gear (1203) to rotate, and the driving gear (1203) can drive the driven gear (1204) meshing with it to rotate, and the driving gear (1203) and the driven gear (1204) can drive the active rod (10) and the screw rod (11) to rotate, and the active rod (10) and the screw rod (11) are both threadedly provided with a connecting plate (901), and the connecting plate (901) is connected to the driving rod (10) and the screw rod (11). The design of the thread direction between the disk (901) and the active rod (10) and the screw rod (11) enables the connection disk (901) to move horizontally inside the auxiliary cylinder (4) by using the limiting design of the limiting slide rod (1302) when the active rod (10) and the screw rod (11) rotate, thereby driving the finger limited in the concave area of ​​the finger placement disk (5) to move up and down, which is beneficial to the user's finger movement, assisting the user's hand rehabilitation, and avoiding stiffness caused by long-term finger inactivity; Step 4, then, the end cover (1303) of the limit slide bar (1302) is designed to avoid the problem of over-exercise of the user's hand during exercise, and finally, the connecting shaft (1202) and the driving gear (1203) are rotated in the opposite direction through the design of the servo motor (1201), so that the connecting plate (901) on the outer surface of the active rod (10) and the screw rod (11) and the finger placement plate (5) connected to the connecting plate (901) are stored in the interior of the auxiliary tube (4), and at the same time, the design of the connecting belt (6) and the Velcro (7) is used to assist in shielding the opening area at one end of the auxiliary tube (4), so that it is convenient to store it when the hand rehabilitation robot is not needed, and sterilize it by using the design of the ultraviolet disinfection lamp (15).

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