A hand assist device

Abstract

The utility model relates to technical field of simulation hand, especially hand auxiliary device, including palm block, first hinge block, transmission sheet, first drive arrangement, first joint spare that is movably arranged in the palm block front end and is located below each first hinge block, first arcuate rod that is arranged between first joint spare and transmission sheet, second joint spare that is hingedly arranged in the first joint spare side away from the palm block, V type rod that is arranged in the first arcuate rod close to first joint spare position, second arcuate rod that is arranged between transmission sheet bottom and V type rod, and third arcuate rod that is arranged between V type rod and second joint spare, wherein V type rod drives second joint spare to rotate downward through third arcuate rod, each first joint spare and second joint spare on the palm block rotate simultaneously and will show the effect of gathering, can simulate human palm part gathering gripping effect, compared with prior art mechanical claw, the flexibility is higher, solves the problem that the prior art mechanical claw two or three clamping blocks carry out the gripping, and the gripping flexibility is low.

Description

Technical Field

[0001] This utility model relates to the field of simulated hand technology, and in particular to a hand assistive device. Background Technology

[0002] Currently, Chinese patent publication number CN110407082A discloses a mechanical gripper, including a cylinder and a push shaft connected to the cylinder. The other end of the push shaft is fixedly connected to a push plate. A spring is provided above the push plate, and the other end of the spring rests on the mechanical housing. In particular, a mechanical gripper is welded to the center of the spring. This discloses a mechanical gripper with a conventional structure. Currently, some disabled people use mechanical grippers to assist in grasping objects in order to replace the gripping function of human hands. However, the gripping is done with two or three gripping blocks, resulting in low gripping flexibility. Utility Model Content

[0003] Therefore, in view of the above problems, this utility model proposes a hand assist device, which solves the technical problem of low gripping flexibility when existing mechanical claws use two or three gripping blocks to grasp.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: a hand assist device, comprising a palm block, a first hinge block disposed on the top surface of the palm block, a transmission plate rotatably disposed on the palm block, a first driving device for driving the transmission plate to rotate, a first joint member movably disposed at the front end of the palm block and located below each of the first hinge blocks, a first arc-shaped rod disposed between the first joint member and the transmission plate, a second joint member hinged to the side of the first joint member away from the palm block, a V-shaped rod disposed near the first joint member on the first arc-shaped rod, a second arc-shaped rod disposed between the bottom of the transmission plate and the V-shaped rod, and a third arc-shaped rod disposed between the V-shaped rod and the second joint member.

[0005] Furthermore, the first driving device includes a motor disposed on the side of the palm block away from the first hinge block, a rotating rod disposed on the motor output rod, a first joint bearing disposed on the rotating rod, a second joint bearing disposed on the top of the transmission plate, and a connecting rod disposed between the first joint bearing and the second joint bearing.

[0006] Furthermore, a second hinge block is provided at the bottom of the palm block, and a rack is slidably connected to the bottom surface of the palm block near the second hinge block. A clamping block is hinged to the second hinge block, and a semi-circular gear that meshes with the rack is provided on the side of the clamping block near the rack. A second driving device for driving the rack to move is provided on the bottom surface of the palm block.

[0007] Furthermore, a rubber block is provided on the side of the clamping block away from the palm block, and the rubber block is provided with anti-slip stripes.

[0008] Furthermore, the second joint member is provided with a suction cup on the side away from the first joint member.

[0009] By adopting the aforementioned technical solution, the beneficial effects of this utility model are:

[0010] In this hand assist device, when the first and second joint components need to be brought together, the first drive device drives the transmission plate to rotate. The transmission plate is rotatably connected to the first hinge block in the middle. The first hinge block will rotate forward, driving the first and second arc rods to push forward. Since the first joint component is movably connected to the palm block, it will rotate downward under the influence of the thrust of the first arc rod. At the same time, since the second arc rod is rotatably connected to the bottom of the V-shaped rod, it will simultaneously push the V-shaped rod to rotate forward. The V-shaped rod drives the second joint component to rotate downward through the third arc rod. The simultaneous rotation of the first and second joint components on the palm block will create a gathering effect, which can simulate the gathering and gripping effect of the human hand. Compared with existing mechanical grippers, it has higher flexibility and solves the problem of low gripping flexibility when existing mechanical grippers use two or three grippers. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the structure of this utility model;

[0012] Figure 2 This is a schematic diagram of the left-side structure of this utility model;

[0013] Figure 3 This is a schematic diagram of the unfolded structure of this utility model;

[0014] Figure 4 This is a schematic diagram of the structure in a partially exploded state according to this utility model;

[0015] Figure 5 This is a left-side view of the structure of the palm block, clamping block, and suction cup of this utility model in use;

[0016] Figure 6 This is a schematic diagram of the suction cup structure of this utility model.

[0017] 1. Palm block; 2. First hinge block; 3. Transmission plate; 4. First joint component; 5. First arc-shaped rod; 6. Second joint component; 7. V-shaped rod; 8. Second arc-shaped rod; 9. Third arc-shaped rod; 10. Motor; 11. Rotating rod; 12. First joint bearing; 13. Second joint bearing; 14. Connecting rod; 15. Second hinge block; 16. Rack; 17. Clamping block; 18. Semi-circular gear; 19. Second drive device; 20. Rubber block; 21. Anti-slip stripe; 22. Suction cup; 201. Cavity; 202. Adsorption plate; 203. Connecting tube. Detailed Implementation

[0018] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments.

[0019] refer to Figures 1 to 6This embodiment provides a hand assist device, including a palm block 1, a first hinge block 2 disposed on the top surface of the palm block 1, a transmission plate 3 rotatably disposed on the palm block 1, a first driving device for driving the transmission plate 3 to rotate, a first joint member 4 movably disposed at the front end of the palm block 1 and located below each of the first hinge blocks 2, a first arc-shaped rod 5 disposed between the first joint member 4 and the transmission plate 3, a second joint member 6 hinged to the side of the first joint member 4 away from the palm block 1, a V-shaped rod 7 disposed on the first arc-shaped rod 5 near the first joint member 4, a second arc-shaped rod 8 disposed between the bottom of the transmission plate 3 and the V-shaped rod 7, and a third arc-shaped rod 9 disposed between the V-shaped rod 7 and the second joint member 6.

[0020] The first joint has a ball head 4a on one side, and the first joint is movably connected to the front end of the palm block through the ball head. The included angle of the V-shaped rod is 120 to 140 degrees. The first joint of the human finger has a high degree of freedom. The first joint is connected by a ball head, which simulates the human finger and improves flexibility, allowing it to grasp more objects. The second arc-shaped rod is connected at the bottom of the V-shaped rod, and the third arc-shaped rod is located at the top of the V-shaped rod. The first arc-shaped rod, the second arc-shaped rod, the third arc-shaped rod and the V-shaped rod cooperate to make the connection more stable and reduce interference between joints, which is beneficial for use in the finger position.

[0021] The first driving device includes a motor 10 located on the side of the palm block 1 away from the first hinge block 2, a rotating rod 11 located on the output rod of the motor 10, a first joint bearing 12 located on the rotating rod 11, a second joint bearing 13 located on the top of the transmission plate 3, and a connecting rod 14 located between the first joint bearing 12 and the second joint bearing 13.

[0022] The motor drives the rotating rod to rotate, and the rotating rod drives the transmission plate to rotate through the first joint bearing, the connecting rod, and the second joint bearing. The motor output shaft faces upward, and the short rotating rod can drive the connecting rod. The joint bearing facilitates the connection between the rotating plate and the motor. This structure has a high degree of freedom, and each joint can use the same components for transmission. At the same time, it occupies little lateral space and has little interference between multiple first drive devices.

[0023] The bottom of the palm block 1 is provided with a second hinge block 15. A rack 16 is slidably connected to the bottom surface of the palm block 1 near the second hinge block 15. A clamping block 17 is hinged to the second hinge block 15. A semi-circular gear 18 that meshes with the rack 16 is provided on the side of the clamping block 17 near the rack 16. A second driving device 19 for driving the rack 16 to move is provided on the bottom surface of the palm block 1.

[0024] When it is necessary to cooperate with the first joint 4 and the second joint 6 to clamp an item, the first joint 4 and the second joint 6 unfold, the second drive device 19 drives the rack 16 to move, the rack 16 moves and drives the semi-circular gear 18 to rotate, the semi-circular gear 18 rotates and drives the clamping block 17 to rotate outward. After completion, the first joint 4 and the second joint 6 rotate inward and lock inward, the second drive device 19 drives the rack 16 to move in the opposite direction, the rack 16 drives the clamping block 17 to rotate inward through the semi-circular gear 18, and cooperates with the first joint 4 and the second joint 6 to clamp an item.

[0025] The clamping block 17 has a rubber block 20 on the side away from the palm block 1. The rubber block 20 has anti-slip stripes 21. The rubber block 20 helps to protect the clamped item, and the anti-slip stripes 21 improve the anti-slip performance of the clamping block 17.

[0026] The second joint 6 is provided with a suction cup 22 on the side away from the first joint 4. The suction cup 22 includes a cavity 201 that is screwed to the second joint 6, an adsorption plate 202 located at the bottom of the cavity 201, and a connecting tube 203 located on the lateral side of the cavity 201. The connecting tube 203 can be inserted into the internal cavity of the second joint 6, which is aesthetically pleasing and does not affect the movement of the second joint 6. Then it can be inserted from the connection between the first joint 4 and the second joint 6. When it is necessary to clamp plate-shaped or other smooth objects, the suction cup 22 can be used for clamping.

[0027] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0028] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0029] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0030] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0031] Although the present invention has been specifically shown and described in conjunction with preferred embodiments, those skilled in the art should understand that various changes in form and detail may be made to the present invention without departing from the spirit and scope of the present invention as defined in the appended claims, and all such changes shall be within the scope of protection of the present invention.

Claims

1. A hand assistive device, characterized in that, It includes a palm block (1), a first hinge block (2) on the top surface of the palm block (1), a transmission plate (3) rotatably disposed on the palm block (1), a first driving device for driving the transmission plate (3) to rotate, a first joint member (4) movably disposed at the front end of the palm block (1) and located below each of the first hinge blocks (2), a first arc-shaped rod (5) disposed between the first joint member (4) and the transmission plate (3), a second joint member (6) hinged to the side of the first joint member (4) away from the palm block (1), a V-shaped rod (7) disposed near the first joint member (4) on the first arc-shaped rod (5), a second arc-shaped rod (8) disposed between the bottom of the transmission plate (3) and the V-shaped rod (7), and a third arc-shaped rod (9) disposed between the V-shaped rod (7) and the second joint member (6).

2. The hand assistive device according to claim 1, characterized in that: The first drive device includes a motor (10) located on the side of the palm block (1) away from the first hinge block (2), a rotating rod (11) located on the output rod of the motor (10), a first joint bearing (12) located on the rotating rod (11), a second joint bearing (13) located on the top of the transmission plate (3), and a connecting rod (14) located between the first joint bearing (12) and the second joint bearing (13).

3. A hand assistive device according to claim 1, characterized in that: The bottom of the palm block (1) is provided with a second hinge block (15). A rack (16) is slidably connected to the bottom surface of the palm block (1) near the second hinge block (15). A clamping block (17) is hinged on the second hinge block (15). A semi-circular gear (18) that meshes with the rack (16) is provided on the side of the clamping block (17) near the rack (16). A second driving device (19) for driving the rack (16) to move is provided on the bottom surface of the palm block (1).

4. A hand assistive device according to claim 3, characterized in that: The clamping block (17) has a rubber block (20) on the side away from the palm block (1), and the rubber block (20) has anti-slip stripes (21).

5. A hand assistive device according to claim 3, characterized in that: The second joint (6) has a suction cup (22) on the side away from the first joint (4).

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