CN110123575B

CN110123575B - Intelligent finger rehabilitation training robot

Info

Publication number: CN110123575B
Application number: CN201910369116.5A
Authority: CN
Inventors: 刘小瑞; 孔云飞
Original assignee: Chongqing College of Electronic Engineering
Current assignee: Chongqing College of Electronic Engineering
Priority date: 2019-05-05
Filing date: 2019-05-05
Publication date: 2021-03-30
Anticipated expiration: 2039-05-05
Also published as: CN110123575A

Abstract

The invention discloses an intelligent finger rehabilitation training robot, which comprises a first connecting rod: the inside pivot that is provided with that runs through of one end of a connecting rod, the outside of pivot is provided with the connecting rod No. two, the inside of connecting rod runs through and is provided with the pivot No. two, the outside of pivot No. two is provided with the connecting rod No. three, the one end of connecting rod No. three is provided with the dactylotheca, the inside of dactylotheca is hollowed and is provided with and indicates the groove. The intelligent finger rehabilitation training robot can adapt to people with fingers of different thicknesses, can perfectly fit the fingers with the finger sleeves, enables the fingers not to feel uncomfortable due to too tight or too loose fixation of the fingers by the finger sleeves, enables rigid joints to move, achieves the aim of exercising the finger joints, and brings better use prospect.

Description

Intelligent finger rehabilitation training robot

Technical Field

The invention relates to the field of rehabilitation training, in particular to an intelligent finger rehabilitation training robot.

Background

In the last two decades, with the continuous and deep research on joint rehabilitation at home and abroad, the robot-assisted rehabilitation technology plays an increasingly important role in joint rehabilitation, and most clinical data prove that under the condition of the same training intensity, the robot-assisted therapy has at least the same rehabilitation effect as the conventional therapy; the traditional finger rehabilitation training robot has the defects that firstly, the fixed position of a fingertip is not complete, the fingertip cannot be perfectly attached to equipment, friction is easily caused on the fingertip during training, skin trauma is caused, secondly, the joint of the traditional equipment finger is inflexible in connection, the traditional equipment finger cannot bend along with the bending of the finger, the training effect on the finger is not good, and the training index cannot be reached.

Disclosure of Invention

The invention mainly aims to provide an intelligent finger rehabilitation training robot which can effectively solve the problems in the background technology.

In order to achieve the purpose, the invention adopts the technical scheme that:

the utility model provides an intelligence finger rehabilitation training robot, includes a connecting rod: a first rotating shaft penetrates through one end of the first connecting rod, a second connecting rod is arranged on the outer side of the first rotating shaft, a second rotating shaft penetrates through the inside of the second connecting rod, a third connecting rod is arranged on the outer side of the second rotating shaft, one end of the third connecting rod is provided with a finger sleeve, a finger groove is formed in the finger sleeve in a hollowed mode, a breaking groove is formed in the front end of the finger sleeve, a fixing groove is formed in the outer side of the finger sleeve, and a rubber band is arranged in the fixing groove; the first rotating shaft is movably connected with the inner part of one end of the first connecting rod, the second connecting rod is movably connected with the first rotating shaft, the number of the second connecting rods is two, the second rotating shaft is movably connected with the second connecting rod, and one end of the third connecting rod is movably connected with the second rotating shaft; the other end of the first connecting rod is provided with a conducting rod, one end of the conducting rod is connected with an output shaft of a micro motor arranged in a control box, a controller is arranged at the control end of the micro motor, a hook surface magic tape is arranged at the upper end of the control box, a rough surface magic tape is arranged at the lower end of the control box, and a lead is arranged at one end of the control box; the micro motor comprises a bottom plate, a motor shell, a top plate and a transmission ring, wherein a fixed plate is arranged on the outer side of the bottom plate, the fixed plate and the bottom plate are integrally formed, a mounting groove is formed in the fixed plate, a sliding plate is welded at the upper end of the fixed plate, the motor shell is arranged on the inner side of the sliding plate, a first sliding groove is formed in the side wall of the motor shell, a second sliding groove is formed in the upper end of the first sliding groove, a magnetic pole is mounted on the inner wall of the motor shell and is connected with the motor shell through a screw, a mounting ring is arranged in the middle of the motor shell, a connecting column is arranged on the outer side of the mounting ring, the connecting column and the mounting ring are integrally formed, a coil is wound on the outer side of the connecting column, a limiting, the roof with through the screwed connection between the motor casing, be provided with the mounting panel in the roof, the mounting panel with through the screwed connection between the roof, the welding of mounting panel outside has the fixed block, the welding of roof upper end has the fender ring, be provided with the go-between in the installation ring, be provided with in the go-between the transmission ring, be provided with the drive shaft in the transmission ring, be provided with the erection key in the drive shaft.

Preferably, the outer surface of one end of the fingerstall is fixedly connected with the outer surface of the other end of the third connecting rod, the fingerstall is made of rubber materials, the finger groove is fixedly connected with the inside of the fingerstall, and the partition groove is fixedly connected with the front end of the fingerstall.

Preferably, the fixing groove is fixedly connected with the outer surface of the finger stall, the rubber band is fixedly connected with the inside of the fixing groove, and the partition groove and the fixing groove are perpendicular to each other.

Preferably, the other end surface of a connecting rod is fixedly connected with the one end surface of the conduction rod, the other end surface of the conduction rod is fixedly connected with the output shaft of the micro motor, the lower end surface of the hook face magic tape is fixedly connected with the upper end surface of the control box, the upper end surface of the hair face magic tape is fixedly connected with the lower end surface of the control box, the hook face magic tape and the hair face magic tape are respectively in two groups, one end of the wire is connected with the controller, and the input port of the rotating shaft is electrically connected with the output port of the controller.

Preferably: the number of the fixed plates is four, and the fixed plates are uniformly distributed on the periphery of the bottom plate. So set up, utilize four the fixed plate, with the bolt with the mounting groove cooperation can strengthen the stability of fixed plate.

Preferably: the sliding plate is connected with the first sliding groove in a sliding mode, the fixed block is connected with the second sliding groove in a sliding mode, and the fixed block is connected with the sliding plate in an inserting mode. By the arrangement, the sliding plate can be inserted into the fixed block, and the sliding plate is tightly attached to the outer side of the motor shell, so that the motor shell can more stably fix the top plate and the bottom plate.

Preferably: the number of the magnetic poles is ten, the magnetic poles are uniformly distributed on the inner surface of the motor shell, the number of the limiting plates is ten, and the distance between each limiting plate and each magnetic pole is 1 mm. So set up, utilize the electromagnetic induction principle, give magnetic pole circular telegram cooperation the coil makes the collar begins to rotate.

Preferably: the connecting ring is in interference connection with the mounting ring. So set up, can make the mounting ring move the connecting ring and rotate together.

Preferably: the transmission ring is in interference connection with the connecting ring, and the driving shaft is in interference connection with the inner side of the transmission ring. So set up, utilize the transmission ring can be with the more effective transmission of kinetic energy for the drive shaft, improves energy conversion.

Preferably: the mounting key with integrated into one piece between the drive shaft, keep off the ring with the distance is 1mm between the drive shaft. So set up, utilize the installation key is convenient to be installed the device that needs the drive in the drive shaft outside, utilizes the fixed block can prevent that the dust from getting into in the device, influencing the life of device.

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

1. the intelligent finger rehabilitation training robot of the invention can lead the equipment to adapt to people with fingers with different thicknesses by putting the fingertips into the fingerstall and then winding the fingertips in the fixing groove by using the rubber band, the more the number of turns of the rubber band wound on the fixing groove is changed according to the fingertips with different thicknesses, the more the number of turns of the finger wound is, the more the separation groove can be tightly closed by the rubber band until the fingerstall is completely jointed with the fingertips, simultaneously, the finger can be perfectly jointed with the fingerstall, the finger can not feel uncomfortable because the finger is fixed too tight or too loose by the fingerstall, the purpose that the first connecting rod, the second connecting rod and the third connecting rod are connected by adopting the rotating shaft is to lead the equipment to drive the bending and straightening of joints by the movement of the first connecting rod, the second connecting rod and the third connecting rod, the stiff joints can move, and, is practical and has better use effect compared with the traditional mode.

2. The micro motor is connected between the sliding plate and the first sliding chute in a sliding manner, the fixed block is connected with the second sliding chute in a sliding manner, the fixed block is inserted into the sliding plate, the sliding plate can be inserted into the fixed block, the sliding plate is tightly attached to the outer side of the motor shell, the motor shell can enable the top plate and the bottom plate to be more stable, and the stability of the energy conversion process of the device is ensured;

3. the micro motor in the invention can conveniently install the device to be driven outside the driving shaft by using the installation key, and can prevent dust from entering the device by using the fixed block to influence the service life of the device.

Drawings

FIG. 1 is a schematic diagram of the overall structure of an intelligent finger rehabilitation training robot according to the present invention;

FIG. 2 is a schematic view of a partial structure of an intelligent finger rehabilitation training robot according to the present invention;

FIG. 3 is a schematic connection diagram of a first connecting rod, a first rotating shaft and a second connecting rod of the intelligent finger rehabilitation training robot;

FIG. 4 is a schematic connection diagram of a finger stall, a finger groove, a separating groove, a fixing groove and a rubber band of the intelligent finger rehabilitation training robot;

FIG. 5 is a schematic perspective view of the micro-motor according to the present invention;

FIG. 6 is a top view of the micro-motor of the present invention;

FIG. 7 is a bottom view of the micro-motor of the present invention;

FIG. 8 is a schematic view showing an internal structure of a micro-motor according to the present invention;

FIG. 9 is a cross-sectional view of a coupling ring of the micro-motor in the present invention;

fig. 10 is a schematic circuit diagram of a controller according to the present invention.

In the figure: 1. a first connecting rod; 2. a first rotating shaft; 3. a second connecting rod; 4. a second rotating shaft; 5. a third connecting rod; 6. finger stall; 7. a finger groove; 8. a blocking groove; 9. fixing grooves; 10. a rubber band; 11. a conductive rod; 12. a control box; 13. hook face magic tape; 14. a rough surface magic tape; 15. a wire; 16. a base plate; 17. a fixing plate; 18. mounting grooves; 19. a slide plate; 20. a motor housing; 21. a first chute; 22. a second chute; 23. a magnetic pole; 24. a mounting ring; 25. connecting columns; 26. a coil; 27. a limiting plate; 28. a top plate; 29. mounting a plate; 30. a fixed block; 31. a baffle ring; 32. a connecting ring; 33. a drive ring; 34. a drive shaft; 35. a micro motor; 36. and a controller.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.

As shown in fig. 1-10, the intelligent finger rehabilitation training robot of the present invention comprises a first connecting rod 1: a first rotating shaft 2 penetrates through the inside of one end of a first connecting rod 1, a second connecting rod 3 is arranged on the outer side of the first rotating shaft 2, a second rotating shaft 4 penetrates through the inside of the second connecting rod 3, a third connecting rod 5 is arranged on the outer side of the second rotating shaft 4, one end of the third connecting rod 5 is provided with a finger stall 6, a finger groove 7 is hollowed in the finger stall 6, a blocking groove 8 is formed in the front end of the finger stall 6, a fixing groove 9 is formed in the outer side of the finger stall 6, and a rubber band 10 is arranged in the fixing groove 9; the first rotating shaft 2 is movably connected with the inside of one end of the first connecting rod 1, the second connecting rod 3 can be driven to move through the first rotating shaft 2, the second connecting rod 3 is movably connected with the first rotating shaft 2, fingers can be driven to move through the second connecting rod 3, the number of the second connecting rods 3 is two, the second rotating shaft 4 is movably connected with the second connecting rod 3, the third connecting rod 5 can be driven to move through the second rotating shaft 4, and one end of the third connecting rod 5 is movably connected with the second rotating shaft 4; the outer surface of one end of the finger stall 6 is fixedly connected with the outer surface of the other end of the third connecting rod 5, a fingertip can be fixed through the finger stall 6, the finger stall 6 is made of rubber materials, the finger groove 7 is fixedly connected with the inside of the finger stall 6, the fingertip can be placed through the finger groove 7, and the partition groove 8 is fixedly connected with the front end of the finger stall 6; the fixing groove 9 is fixedly connected with the outer surface of the finger stall 6, a rubber band 10 can be wound through the fixing groove 9, the rubber band 10 is fixedly connected with the inside of the fixing groove 9, the finger stall 6 can be tightened through the rubber band 10, and the partition groove 8 and the fixing groove 9 are perpendicular to each other; the other end of the first connecting rod 1 is provided with a conducting rod 11, one end of the conducting rod 11 is connected with an output shaft of a micro motor 35 arranged in a control box 12, and a controller 36 is arranged at the control end of the micro motor 35. A hook surface magic tape 13 is arranged at the upper end of the control box 12, a hair surface magic tape 14 is arranged at the lower end of the control box 12, and a lead 15 is arranged at one end of the control box 12; the other end surface of connecting rod 1 and the one end surface fixed connection of conduction pole 11, the other end surface of conduction pole 11 and the output shaft fixed connection of micro motor 35, can control micro motor 35 and then drive conduction pole 11 through controller 36, the lower extreme surface of hook face magic subsides 13 and the upper end surface fixed connection of control box 12, the upper end surface of hair face magic subsides 14 and the lower extreme surface fixed connection of control box 12, through hook face magic subsides 13, wrist can be fixed to hair face magic subsides 14, hook face magic subsides 13, the quantity of hair face magic subsides 14 is two sets ofly, the one end and the controller 36 of wire 15 are connected, can be with transmission signal through wire 15, the input port of a pivot 2 and the output port electric connection of controller 36.

The working principle is as follows: the invention is an intelligent finger rehabilitation training robot, when using, the user fixes the hand by hook face magic tape 13 and hair face magic tape 14 to prevent the hand from sliding, then puts the finger tip into the finger stall 6, then winds the rubber band 10 in the fixed slot 9, adjusts the number of turns of the rubber band 10 wound on the fixed slot 9 according to the finger tips with different thicknesses, the more the number of turns of the winding of the finger is, the breaking slot 8 can be closed by the rubber band 10, until the finger stall 6 is completely jointed with the finger tip, the design can make the device adapt to the people with fingers with different thicknesses, at the same time, the finger can be perfectly jointed with the finger stall 6, the finger of the people can not feel uncomfortable because of being fixed too tightly or too loosely by the finger stall 6, when opening the device, the control signal is transmitted into the controller 36 through the lead 15 (the control signal here can be input online, also can be through the present control mode of the procedure automatic control of presetting, this is the present control mode in this field), controller 36 changes the signal into motion command, makes equipment can drive the bending of joint and straighten through the motion of a connecting rod 1, No. two connecting rods 3, No. three connecting rods 5, lets stiff joint can move about, reaches the purpose of taking exercise finger joint, surpasss traditional finger rehabilitation training robot on the use prospect, and is comparatively practical.

In the invention, the micro motor 35 comprises a bottom plate 16, a motor shell 20, a top plate 28 and a transmission ring 33, a fixing plate 17 is arranged on the outer side of the bottom plate 16, the fixing plate 17 and the bottom plate 16 are integrally formed, a mounting groove 18 is arranged in the fixing plate 17, a sliding plate 19 is welded at the upper end of the fixing plate 17, a motor shell 20 is arranged on the inner side of the sliding plate 19, a first sliding groove 21 is arranged in the side wall of the motor shell 20, the first sliding groove 21 is used for enabling the sliding plate 19 to slide, a second sliding groove 22 is arranged at the upper end of the first sliding groove 21, the second sliding groove 22 is used for enabling a fixing block 30 to slide, a magnetic pole 23 is arranged on the inner wall of the motor shell 20, the magnetic pole 23 is connected with the motor shell 20 through a screw, a mounting ring 24 is arranged in the middle of the motor shell 20, the limiting plate 27 and the connecting column 25 are integrally formed, the top plate 28 is arranged at the upper end of the motor casing 20, the top plate 28 is connected with the motor casing 20 through screws, the mounting plate 29 is arranged in the top plate 28, the mounting plate 29 is used for mounting the fixing block 30, the mounting plate 29 is connected with the top plate 28 through screws, the fixing block 30 is welded on the outer side of the mounting plate 29, the baffle ring 31 is welded at the upper end of the top plate 28, the connecting ring 32 is arranged in the mounting ring 24, the connecting ring 32 is used for mounting the transmission ring 33, the transmission ring 33 is arranged in the connecting ring 32, the driving shaft 34.

When the micro motor 35 works, the finger rehabilitation training device is firstly installed on the outer side of the driving shaft 34 through the installation key, then the device is electrified, the magnetic poles 23 and the coils 26 are mutually matched by utilizing the electromagnetic induction principle, so that the installation ring 24 starts to rotate, the driving ring 33 installed on the inner side of the connection ring 32 is driven to rotate together, and then the driving shaft 34 is driven to rotate by utilizing the driving ring 33, so that the conversion from electric power to kinetic energy is realized.

The number of the fixed plates 17 is four, the fixed plates 17 are uniformly distributed around the bottom plate 16, the four fixed plates 17 are utilized, bolts are matched with the mounting grooves 18, the stability of the fixed plates 17 can be enhanced, the sliding plate 19 is in sliding connection with the first sliding groove 21, the fixed block 30 is in sliding connection with the second sliding groove 22, the fixed block 30 is in insertion connection with the sliding plate 19, the sliding plate 19 can be inserted into the fixed block 30, the sliding plate 19 is tightly attached to the outer side of the motor casing 20, the motor casing 20 can enable the top plate 28 and the bottom plate 16 to be more stable, the number of the magnetic poles 23 is ten, the magnetic poles 23 are uniformly distributed on the inner surface of the motor casing 20, the number of the limiting plates 27 is ten, the distance between the limiting plates 27 and the magnetic poles 23 is 1mm, interference connection between go-between 32 and the collar 24, can make collar 24 drive go-between 32 and rotate together, interference connection between transmission ring 33 and the go-between 32, interference connection between drive shaft 34 and the transmission ring 33 inboard, utilize transmission ring 33 can be with the more effective transmission for drive shaft 34 of kinetic energy, improve energy conversion, utilize transmission ring 33 can make drive shaft 34 pivoted in the time, reduce the rotational speed of drive shaft 34, integrated into one piece between mounting key and the drive shaft 34, keep off the distance between ring 31 and the drive shaft 34 and be 1mm, utilize the mounting key conveniently to install the device that needs the drive in the drive shaft 34 outside, utilize fixed block 30 can prevent in the dust admission device, influence the life of device.

Referring to fig. 10, in the present invention, the controller 36 includes a chip IC of 1209B, and a first pin of the chip IC is connected to one end of the capacitor C2, the cathode of the diode D3, the cathode of the diode D4, and one end of the resistor R2, respectively; the other end of the resistor R2 is respectively connected with a second pin of the chip IC, one end of the resistor R3 and one end of the resistor R5; the other end of the resistor R3 is respectively connected with a third pin of the chip IC and a collector of the triode D6, and a base of the triode D6 is respectively connected with one end of the capacitor C3 and the other end of the resistor R5; the other end of the capacitor C3 is respectively connected with one end of the resistor R4, a fourth pin of the chip IC and one end of the resistor R1; the other end of the resistor R4 is respectively connected with one end of the fuse FU, the anode of the diode D5, the fifth pin of the chip IC and the emitting electrode of the triode D6; the other end of the resistor R1 is respectively connected with the other end of the fuse FU, the cathode of the diode D2 and the cathode of the diode D1, and the anode of the diode D1 is connected with the signal input end V1; a sixth pin of the chip IC is respectively connected with one end of the capacitor C1, the signal output end V2, the anode of the diode D3 and the anode of the diode D4; the anode of the diode D2 is connected to the other end of the capacitor C1, and the cathode of the diode D5 is connected to the other end of the capacitor C2.

It should be noted that the above-mentioned embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the technical solutions, and although the applicant has described the invention in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions made on the technical solutions of the present invention can not be made within the spirit and scope of the technical solutions of the present invention and shall be covered by the claims of the present invention.

Claims

1. The utility model provides an intelligence finger rehabilitation training robot, includes connecting rod (1), its characterized in that: a first rotating shaft (2) penetrates through one end of the first connecting rod (1), a second connecting rod (3) is arranged on the outer side of the first rotating shaft (2), a second rotating shaft (4) penetrates through the inside of the second connecting rod (3), a third connecting rod (5) is arranged on the outer side of the second rotating shaft (4), one end of the third connecting rod (5) is provided with a finger sleeve (6), a finger groove (7) is hollowed in the finger sleeve (6), a breaking groove (8) is arranged at the front end of the finger sleeve (6), a fixing groove (9) is arranged on the outer side of the finger sleeve (6), and a rubber band (10) is arranged in the fixing groove (9); the first rotating shaft (2) is movably connected with the inner part of one end of the first connecting rod (1), the second connecting rods (3) are movably connected with the first rotating shaft (2), the number of the second connecting rods (3) is two, the second rotating shaft (4) is movably connected with the second connecting rods (3), and the other end of the third connecting rod (5) is movably connected with the second rotating shaft (4); the other end of the first connecting rod (1) is provided with a conducting rod (11), one end of the conducting rod (11) is connected with a driving shaft of a micro motor (35) arranged in a control box (12), a controller (36) is arranged at the control end of the micro motor (35), the upper end of the control box (12) is provided with a hook surface magic tape (13), the lower end of the control box (12) is provided with a rough surface magic tape (14), and one end of the control box (12) is provided with a lead (15); the miniature motor (35) comprises a bottom plate (16), a motor shell (20), a top plate (28) and a transmission ring (33), wherein a fixing plate (17) is arranged on the outer side of the bottom plate (16), the fixing plate (17) and the bottom plate (16) are integrally formed, a mounting groove (18) is formed in the fixing plate (17), a sliding plate (19) is welded at the upper end of the fixing plate (17), the motor shell (20) is arranged on the inner side of the sliding plate (19), a first sliding groove (21) is formed in the side wall of the motor shell (20), a second sliding groove (22) is formed in the upper end of the first sliding groove (21), a magnetic pole (23) is installed on the inner wall of the motor shell (20), the magnetic pole (23) is connected with the motor shell (20) through a screw, a mounting ring (24) is arranged in the middle of the motor shell (20), and, the utility model discloses a motor casing, including spliced pole (25), spliced pole (25) and integrated into one piece between collar (24), spliced pole (25) outside winding has coil (26), spliced pole (25) one end is provided with limiting plate (27), limiting plate (27) with integrated into one piece between spliced pole (25), motor casing (20) upper end is provided with roof (28), roof (28) with pass through the screw connection between motor casing (20), be provided with mounting panel (29) in roof (28), mounting panel (29) with pass through the screw connection between roof (28), the welding of mounting panel (29) outside has fixed block (30), the welding of roof (28) upper end has fender ring (31), be provided with go-between (32) in collar (24), be provided with in go-between (32) drive ring (33), be provided with drive shaft (34) in drive ring (33), a mounting key (35) is arranged in the driving shaft (34); the outer surface of one end of the finger stall (6) is fixedly connected with the outer surface of one end of the third connecting rod (5), the finger stall (6) is made of rubber materials, the finger groove (7) is fixedly connected with the inside of the finger stall (6), and the partition groove (8) is fixedly connected with the front end of the finger stall (6); the fixing groove (9) is fixedly connected with the outer surface of the finger stall (6), the rubber band (10) is fixedly connected with the inside of the fixing groove (9), and the partition groove (8) and the fixing groove (9) are perpendicular to each other; the number of the fixed plates (17) is four, and the fixed plates are uniformly distributed around the bottom plate (16); the outer surface of the other end of the first connecting rod (1) is fixedly connected with the outer surface of one end of the conducting rod (11), the outer surface of the other end of the conducting rod (11) is fixedly connected with a driving shaft of the micro motor (35), the outer surface of the lower end of the hook surface magic tape (13) is fixedly connected with the outer surface of the upper end of the control box (12), the outer surface of the upper end of the hair surface magic tape (14) is fixedly connected with the outer surface of the lower end of the control box (12), the hook surface magic tape (13) and the hair surface magic tape (14) are respectively in two groups, one end of the lead (15) is connected with the controller (36), and the input port of the first rotating shaft (2) is electrically connected with the output port of the controller (36); the sliding plate (19) is in sliding connection with the first sliding groove (21), the fixing block (30) is in sliding connection with the second sliding groove (22), and the fixing block (30) is connected with the sliding plate (19) in an inserted mode.

2. The intelligent finger rehabilitation training robot of claim 1, wherein: the number of the magnetic poles (23) is ten, the magnetic poles are uniformly distributed on the inner surface of the motor casing (20), the number of the limiting plates (27) is ten, and the distance between the limiting plates (27) and the magnetic poles (23) is 1 mm.

3. The intelligent finger rehabilitation training robot of claim 2, wherein: the connecting ring (32) is in interference connection with the mounting ring (24).

4. The intelligent finger rehabilitation training robot according to claim 3, wherein: the transmission ring (33) is in interference connection with the connecting ring (32), and the driving shaft (34) is in interference connection with the inner side of the transmission ring (33).

5. The intelligent finger rehabilitation training robot of claim 4, wherein: the installation key (35) and the driving shaft (34) are integrally formed, and the distance between the baffle ring (31) and the driving shaft (34) is 1 mm.