CN112494186A - Mechanical auxiliary grabbing device for thumb missing crowd - Google Patents
Mechanical auxiliary grabbing device for thumb missing crowd Download PDFInfo
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- CN112494186A CN112494186A CN202011131016.8A CN202011131016A CN112494186A CN 112494186 A CN112494186 A CN 112494186A CN 202011131016 A CN202011131016 A CN 202011131016A CN 112494186 A CN112494186 A CN 112494186A
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- 210000003813 thumb Anatomy 0.000 title claims abstract description 92
- 230000007246 mechanism Effects 0.000 claims abstract description 98
- 210000004932 little finger Anatomy 0.000 claims abstract description 52
- 210000003811 finger Anatomy 0.000 claims description 45
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 12
- 239000000741 silica gel Substances 0.000 claims description 12
- 229910002027 silica gel Inorganic materials 0.000 claims description 12
- 229920001296 polysiloxane Polymers 0.000 claims description 8
- 239000000463 material Substances 0.000 claims description 3
- 230000008034 disappearance Effects 0.000 claims 1
- 210000001255 hallux Anatomy 0.000 claims 1
- 210000003371 toe Anatomy 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 239000004677 Nylon Substances 0.000 abstract description 3
- 229920001778 nylon Polymers 0.000 abstract description 3
- 239000004033 plastic Substances 0.000 abstract description 3
- 229920003023 plastic Polymers 0.000 abstract description 3
- 241000282414 Homo sapiens Species 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 244000060701 Kaempferia pandurata Species 0.000 description 2
- 235000016390 Uvaria chamae Nutrition 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 210000004247 hand Anatomy 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
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- 230000002093 peripheral effect Effects 0.000 description 1
- 230000004083 survival effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
- A61F2/586—Fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
- A61F2/586—Fingers
- A61F2002/587—Thumbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2002/6872—Operating or control means attached and mechanically operated by remaining muscle
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- Health & Medical Sciences (AREA)
- Transplantation (AREA)
- Heart & Thoracic Surgery (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Cardiology (AREA)
- Vascular Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a mechanical auxiliary grabbing device for thumb-missing people, which comprises a mechanical thumb distal joint mechanism, a mechanical thumb proximal joint mechanism, a mechanical thumb root mechanism, a lever mechanism and a driving mechanism, wherein the mechanical thumb distal joint mechanism is connected with the mechanical thumb proximal joint mechanism; the mechanical thumb distal joint mechanism, the mechanical thumb proximal joint mechanism and the mechanical thumb root mechanism are sequentially hinged, the lever mechanism and the adjacent mechanism of the driving mechanism are sequentially hinged, and the driving mechanism is controlled by the little finger of a user but is not limited to the little finger. The mechanical auxiliary grabbing device for thumb-missing people is made of nylon plastics, and has the advantages of simple structure, easiness in manufacturing, low cost, easiness in operation, easiness in control, strong universality, portability and the like; the mechanical thumb can be in flexible contact with a grasped object, grasping force can be freely controlled by means of the driving mechanism, and accordingly lossless and reliable grasping is achieved.
Description
Technical Field
The invention relates to the field of mechanical fingers, in particular to a mechanical auxiliary grabbing device for people with missing thumbs.
Background
With the progress of science and technology and the development of times, all countries attach importance to the robot technology as an important branch of high-tech fields, and the robot technology is greatly developed and more widely applied in various fields such as space and planet exploration, national defense construction, industrial production and the like. The degree of sophistication and refinement of tasks performed by robots is also becoming higher and higher,
due to the flexible and agile characteristics of human fingers, mechanical fingers become hot spots in the field of robots. The manual mechanical thumb has wide application prospect, and is embodied in the following aspects: firstly, the mechanical thumb can be used for reconstructing the function of a human motion system, and has great significance for improving the life of the disabled; secondly, the mechanical fingers are controlled by a single finger easily, and the mechanical thumb is used conveniently and generates the maximum effect of the thumb in five fingers; finally, the mechanical auxiliary grabbing device for the thumb-missing people does not need peripheral electronic devices, all the structures are made of nylon plastics, the mechanical structure is simple, the manufacturing cost is low, and the mechanical auxiliary grabbing device has great advantages in factory manufacturing production.
The hands are important limbs which depend on the survival and development of human beings, and the daily life of the human beings can not be free from the movement of the hands. When a worker operates the machine and a student performs an experiment, the thumb is cut off due to improper operation. Due to the absence of the thumb, the daily life is greatly affected, and many things cannot be completed. The mechanical fingers on the market are not designed for the thumb, and most of the mechanical fingers are used for simultaneously controlling more than three mechanical fingers, so that the design is more complex, various chips and sensors are integrated inside the mechanical fingers, the manufacturing is more difficult, and the cost is higher.
Disclosure of Invention
The invention aims to provide a mechanical auxiliary grabbing device for people with missing thumbs, which solves the problem of inconvenience in life of people with missing thumbs and solves the problems of too many integrated elements, complex structure, complex control, high cost, heaviness, difficulty in manufacturing and the like of mechanical fingers in the prior art.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a mechanical auxiliary grabbing device facing to people with missing thumbs comprises a mechanical thumb distal joint mechanism, a mechanical thumb proximal joint mechanism, a mechanical thumb root mechanism, a lever mechanism and a driving mechanism; the adjacent parts of the mechanical thumb distal joint mechanism, the mechanical thumb proximal joint mechanism, the mechanical thumb root mechanism, the lever mechanism and the driving mechanism are hinged in sequence; the mechanical thumb remote joint mechanism, the mechanical thumb proximal joint mechanism and the mechanical thumb root mechanism jointly form a mechanical thumb part of the auxiliary grabbing device.
The mechanical thumb remote joint mechanism comprises a silica gel block and a hook-shaped connecting rod, wherein the silica gel block is fixed below a long hook of the hook-shaped connecting rod; the two ends of the hook-shaped connecting rod short hook are provided with a first hinge point and a second hinge point.
The mechanical thumb proximal joint mechanism comprises three connecting rods, namely a first connecting rod, a second connecting rod and a triangular plate connecting rod; the top ends of three corners of the triangular plate connecting rod are respectively provided with a third hinge joint, a fourth hinge joint and a fifth hinge joint, one end of the first connecting rod is hinged with the hook-shaped connecting rod through the second hinge joint, and the other end of the first connecting rod is hinged with the triangular plate connecting rod through the fourth hinge joint; one end of the second connecting rod is hinged with the hook-shaped connecting rod through a first hinge point, and the other end of the second connecting rod is hinged with the triangular plate connecting rod through a fifth hinge point.
The mechanical thumb finger root mechanism comprises a baffle connecting rod, a finger end connecting rod and a fixed base, and the baffle connecting rod is hinged with the triangular plate connecting rod through a fifth hinge point; one end of the fixed base is hinged with the hook-shaped connecting rod through a first hinge point, and the middle end of the fixed base is hinged with the triangular plate connecting rod through a fifth hinge point; and a third hinge joint point and a sixth hinge joint point are respectively arranged at two ends of the finger end connecting rod.
The lever mechanism comprises a lever and a fulcrum, a sixth hinge point and an eighth hinge point are respectively arranged at two ends of the lever, and a seventh hinge point is arranged at the middle end of the lever; one end of the finger end connecting rod is hinged with the triangular plate connecting rod through a third hinge point, and the other end of the finger end connecting rod is hinged with the lever through a sixth hinge point; the middle end of the lever is hinged with a fulcrum through a seventh hinged point.
The driving mechanism comprises a first little finger joint connecting rod, a second little finger joint connecting rod and a third little finger joint connecting rod, all the joint connecting rods are sequentially hinged, one end of the first little finger joint connecting rod is hinged with the lever through an eighth hinge point, and the other end of the first little finger joint connecting rod is hinged with the second little finger joint connecting rod through a ninth hinge point; one end of the second little finger joint connecting rod is hinged with the first little finger joint connecting rod, and the other end of the second little finger joint connecting rod is hinged with the third little finger joint connecting rod through a tenth hinge point.
The material of silica gel piece is flexible silica gel, and its shape is the hemisphere.
The middle end of the lever mechanism is hinged with a fulcrum, and the fixed position of the fulcrum on the lever can be adjusted by arranging a plurality of hinged points on the lever.
The driving mechanism is bound on the back of the little finger, and each connecting rod is as long as the phalanx of the little finger corresponding to the user; the driving mechanism can be changed from being bound with the little finger into being bound with the ring finger or the middle finger by adjusting the length of the lever, and the length of each connecting rod is correspondingly adjusted to be the length of the phalanx of the corresponding finger after adjustment.
The invention has the beneficial effects that:
1) compared with the existing mechanical fingers, most of the mechanical auxiliary grabbing device is made of nylon plastics, and the mechanical auxiliary grabbing device has the advantages of simple structure, easiness in manufacturing, low cost, easiness in operation, easiness in control, high universality, light weight and the like;
2) the silica gel block fixed below the hook-shaped connecting rod can simulate the surface skin of a finger, so that the mechanical thumb part is in flexible contact with a grasped object, and the grasping force can be freely controlled by the driving part, thereby realizing lossless and reliable grasping;
3) the invention can change the control mode of the driving mechanism by adjusting the lever length of the lever mechanism, the driving mechanism can be controlled by a little finger or a ring finger or a middle finger, and can be selected according to personal habits;
4) the length of the mechanical thumb part can be adjusted by adjusting the length of the finger end connecting rod and the position of the fifth hinge point on the fixed base, so that the mechanical thumb part is suitable for thumbs with different missing degrees.
Drawings
Fig. 1 is a schematic overall structure diagram of a mechanical auxiliary grabbing device for people with missing thumbs, which is disclosed by the invention;
FIG. 2 is a top view of the thumb portion of the machine of the present invention;
FIG. 3 is a schematic view of torsional deformation of the finger end link of the present invention.
In the figure: 1. a silica gel block; 2. a hook-shaped connecting rod; 3. a second link; 4. a set square connecting rod; 5. a first link; 6. a baffle connecting rod; 7. a finger end connecting rod; 8. a fixed base; 9. a lever; 10. a fulcrum; 11. a little finger first joint connecting rod; 12. a little finger second joint connecting rod; 13. a little finger third joint connecting rod; 15. a first hinge point; 16. a second hinge point; 17. a third hinge point; 18. a fourth hinge point; 19. a fifth hinge point; 20. a sixth hinge point; 21. a seventh hinge point; 22. an eighth hinge point; 23. a ninth hinge point; 24. the tenth hinge point.
Detailed Description
For better understanding of the present invention, reference will now be made in detail to the present invention, examples of which are illustrated in the accompanying drawings.
A mechanical auxiliary grabbing device facing to people with missing thumbs comprises a mechanical thumb distal joint mechanism, a mechanical thumb proximal joint mechanism, a mechanical thumb root mechanism, a lever mechanism and a driving mechanism; the adjacent parts of the mechanical thumb distal joint mechanism, the mechanical thumb proximal joint mechanism, the mechanical thumb root mechanism, the lever mechanism and the driving mechanism are hinged in sequence; the mechanical thumb remote joint mechanism, the mechanical thumb proximal joint mechanism and the mechanical thumb root mechanism jointly form a mechanical thumb part of the auxiliary grabbing device.
The mechanical thumb remote joint mechanism comprises a silica gel block 1 and a hook-shaped connecting rod 2, wherein the silica gel block 1 is fixed below a long hook of the hook-shaped connecting rod 2; the two ends of the short hook of the hook type connecting rod 2 are provided with a first hinge point 14 and a second hinge point 15.
The mechanical thumb proximal joint mechanism comprises three connecting rods, namely a first connecting rod 5, a second connecting rod 3 and a triangular plate connecting rod 4; the top ends of three corners of the triangle connecting rod 4 are respectively provided with a third hinge point 17, a fourth hinge point 18 and a fifth hinge point 19, one end of the first connecting rod 5 is hinged with the hook-shaped connecting rod 2 through the second hinge point 16, and the other end is hinged with the triangle connecting rod 4 through the fourth hinge point 18; one end of the second connecting rod 3 is hinged with the hook-shaped connecting rod 2 through a first hinge point 15, and the other end of the second connecting rod is hinged with the triangle connecting rod 4 through a fifth hinge point 19.
The mechanical thumb finger root mechanism comprises a baffle connecting rod 6, a finger end connecting rod 7 and a fixed base 8, wherein the baffle connecting rod 6 is hinged with the triangular plate connecting rod 4 through a fifth hinge point 19; one end of the fixed base 8 is hinged with the hook-shaped connecting rod 2 through a first hinge point 15, and the middle end of the fixed base is hinged with the triangle connecting rod 4 through a fifth hinge point 19; and a third hinge point 17 and a sixth hinge point 20 are respectively arranged at two ends of the finger end connecting rod 7.
The lever mechanism comprises a lever 9 and a fulcrum 10, a sixth hinge point 20 and an eighth hinge point 22 are respectively arranged at two ends of the lever 9, and a seventh hinge point 21 is arranged at the middle end of the lever; one end of the finger end connecting rod 7 is hinged with the triangular plate connecting rod 4 through a third hinged point 17, and the other end of the finger end connecting rod is hinged with the lever 9 through a sixth hinged point 20; the middle end of the lever 9 is hinged with a fulcrum 10 through a seventh hinge point 21.
The driving mechanism comprises a first little finger joint connecting rod 11, a second little finger joint connecting rod 12 and a third little finger joint connecting rod 13, all the joint connecting rods are sequentially hinged, one end of the first little finger joint connecting rod 11 is hinged with the lever 9 through an eighth hinge point 22, and the other end of the first little finger joint connecting rod is hinged with the second little finger joint connecting rod 12 through a ninth hinge point 23; one end of the little finger second joint connecting rod 12 is hinged with the little finger first joint connecting rod 11, and the other end is hinged with the little finger third joint connecting rod 13 through a tenth hinge point 24.
The material of silica gel piece 1 is flexible silica gel, and its shape is the hemisphere.
The mechanical thumb root mechanism can adjust the length of the mechanical thumb part by adjusting the length of the toe end connecting rod 7 and the fixing position of the fifth hinge point 19 on the fixing base 8.
The middle end of the lever mechanism is hinged with a fulcrum 10, and the fixing position of the fulcrum 10 on the lever 9 can be adjusted by arranging a plurality of hinged points on the lever 9.
The driving mechanism is bound on the back of the little finger, and each connecting rod is as long as the phalanx of the little finger corresponding to the user; the driving mechanism can change the binding of the driving mechanism with the little finger into the binding of the ring finger or the middle finger by adjusting the length of the lever 9, and the length of each connecting rod is correspondingly adjusted to the length of the phalanx of the corresponding finger after adjustment.
The principle and the operation process of the mechanical auxiliary grabbing device for the thumb-missing crowd are as follows:
as shown in fig. 1 and 2, a mechanical auxiliary grabbing device for people with missing thumbs comprises a mechanical thumb distal joint mechanism, a mechanical thumb proximal joint mechanism, a mechanical thumb root mechanism, a lever mechanism and a driving mechanism in an initial state, wherein fingers are in a straightened state, a silicone block 1 is arranged below a hook-shaped connecting rod 2, the silicone block 1 is made of flexible silicone, the surface of the silicone block is hemispherical, and can prevent a grabbed object from sliding off to a certain extent, and the silicone block 1 is contacted with the object in an actual operation process and is matched with a little finger together to grab the object; the power source of the driving mechanism is provided by the little finger of the user and can also be provided by the middle finger or the ring finger, the driving mechanism is bound on the back of the little finger, and each connecting rod of the driving mechanism is equal to the phalanx of the little finger of the user, so that the driving mechanism can be bent along with the little finger when the little finger is bent; the baffle connecting rod 6 is placed at the tail end of the thumb with the palm missing, the length of the finger end connecting rod 7 and the fixing position of the fifth hinge point 19 on the fixing base 8 can be adjusted according to adjustment, the length of the mechanical thumb part is further adjusted to match the thumb with different missing degrees, and the fixing base 8 is bound on the back face of the palm to fix the whole mechanical thumb part.
As shown in figure 3, the motion directions of the thumb and the little finger are not consistent, so that the first knuckle connecting rod 11 of the little finger of the driving mechanism and the toe end connecting rod 7 of the mechanical thumb root mechanism can be properly twisted and deformed to be adjusted to the actually required angle.
When the little finger is bent towards the palm center, the driving mechanism is driven to move, so that the upper end of the lever 9 is driven to move leftwards, the lower end of the lever 9 moves rightwards due to the action of the fulcrum 10, the triangular plate connecting rod 4 moves anticlockwise through the hinged point at the right end of the triangular plate connecting rod 4, the first connecting rod 5 and the second connecting rod 3 together push the hook-shaped connecting rod 2 to move towards the palm center along the arc-shaped track, and therefore the object is successfully grabbed, and grabbing of the object is jointly completed by the long-joint mechanisms of the little finger and the mechanical thumb. In the actual operation process, the distal mechanisms of the little finger and the mechanical thumb can simultaneously bend towards the palm center, and if the angle directions do not correspond to each other, the corresponding part of the connecting rod can be subjected to torsional deformation; when the thumb returns to the extended position, the mechanical thumb also returns to the extended position, thereby lowering the gripped object.
The above description is only for the preferred embodiment of the present invention and is not intended to limit the scope of the present invention, and all equivalent structures or equivalent transformations made by the present specification and the attached drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. The utility model provides a towards supplementary grabbing device of machinery of big toe disappearance crowd which characterized in that: the mechanical thumb remote joint mechanism, the mechanical thumb proximal joint mechanism, the mechanical thumb root mechanism, the lever mechanism and the driving mechanism are included; the adjacent parts of the mechanical thumb distal joint mechanism, the mechanical thumb proximal joint mechanism, the mechanical thumb root mechanism, the lever mechanism and the driving mechanism are hinged in sequence; the mechanical thumb remote joint mechanism, the mechanical thumb proximal joint mechanism and the mechanical thumb root mechanism jointly form a mechanical thumb part of the auxiliary grabbing device.
2. The mechanical auxiliary grabbing device facing to the crowd with the missing thumb as claimed in claim 1, wherein the mechanical thumb distant mechanism comprises a silica gel block (1) and a hook-shaped connecting rod (2), and the silica gel block (1) is fixed below the long hook of the hook-shaped connecting rod (2); the two ends of the short hook of the hook-shaped connecting rod (2) are provided with a first hinge point (14) and a second hinge point (15).
3. A device for mechanical assisted grabbing to face the missing thumb crowd according to claim 1, characterized in that the mechanical thumb proximal mechanism comprises three links, namely a first link (5), a second link (3) and a triangle link (4); the top ends of three corners of the triangular plate connecting rod (4) are respectively provided with a third hinge joint (17), a fourth hinge joint (18) and a fifth hinge joint (19), one end of the first connecting rod (5) is hinged with the hook-shaped connecting rod (2) through the second hinge joint (16), and the other end of the first connecting rod is hinged with the triangular plate connecting rod (4) through the fourth hinge joint (18); one end of the second connecting rod (3) is hinged with the hook-shaped connecting rod (2) through a first hinge point (15), and the other end of the second connecting rod is hinged with the triangle connecting rod (4) through a fifth hinge point (19).
4. The mechanical auxiliary grabbing device for people with missing thumb as claimed in claim 1, wherein the mechanical thumb root mechanism comprises a baffle link (6), a finger end link (7) and a fixed base (8), the baffle link (6) is hinged with the triangle link (4) through a fifth hinge point (19); one end of the fixed base (8) is hinged with the hook-shaped connecting rod (2) through a first hinge point (15), and the middle end of the fixed base is hinged with the triangle connecting rod (4) through a fifth hinge point (19); and a third hinge joint (17) and a sixth hinge joint (20) are respectively arranged at two ends of the finger end connecting rod (7).
5. The mechanical auxiliary grabbing device for the thumb-missing crowd as claimed in claim 1, wherein the lever mechanism comprises a lever (9) and a fulcrum (10), the lever (9) is provided with a sixth hinge point (20) and an eighth hinge point (22) at two ends, and a seventh hinge point (21) at the middle end; one end of the finger end connecting rod (7) is hinged with the triangular plate connecting rod (4) through a third hinge point (17), and the other end of the finger end connecting rod is hinged with the lever (9) through a sixth hinge point (20); the middle end of the lever (9) is hinged with a fulcrum (10) through a seventh hinge point (21).
6. The mechanical auxiliary grabbing device for people with missing thumb as claimed in claim 1, wherein the driving mechanism comprises a first little finger joint connecting rod (11), a second little finger joint connecting rod (12) and a third little finger joint connecting rod (13), all the joint connecting rods are hinged in sequence, one end of the first little finger joint connecting rod (11) is hinged with the lever (9) through an eighth hinge point (22), and the other end of the first little finger joint connecting rod is hinged with the second little finger joint connecting rod (12) through a ninth hinge point (23); one end of the little finger second joint connecting rod (12) is hinged with the little finger first joint connecting rod (11), and the other end is hinged with the little finger third joint connecting rod (13) through a tenth hinge point (24).
7. The mechanical auxiliary grabbing device for the thumb-missing person as claimed in claim 2, wherein the material of the silicone block (1) is flexible silicone, and the shape of the silicone block is hemispherical.
8. A mechanical assisted grabbing device facing the missing thumb crowd as claimed in claim 4, characterized in that the mechanical thumb root mechanism can adjust the length of the mechanical thumb part by adjusting the length of the toe link (7) and the fixing position of the fifth hinge point (19) on the fixing base (8).
9. The mechanical auxiliary grabbing device for people with missing thumbs as claimed in claim 5, wherein the fulcrum (10) hinged at the middle end of the lever mechanism can adjust the fixing position of the fulcrum (10) on the lever (9) by forming a plurality of hinge points on the lever (9).
10. The mechanical assistance gripping device for the thumb-missing person as claimed in claim 6, wherein the driving mechanism is bound to the back of the small finger, and each connecting rod is as long as the phalanx of the small finger corresponding to the user; the driving mechanism can be changed from being bound with the little finger into being bound with the ring finger or the middle finger by adjusting the length of the lever (9), and the length of each connecting rod is correspondingly adjusted to be the length of the phalanx of the corresponding finger after adjustment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011131016.8A CN112494186B (en) | 2020-10-21 | Mechanical auxiliary grabbing device for thumb missing crowd |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011131016.8A CN112494186B (en) | 2020-10-21 | Mechanical auxiliary grabbing device for thumb missing crowd |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112494186A true CN112494186A (en) | 2021-03-16 |
| CN112494186B CN112494186B (en) | 2024-07-05 |
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