CN203915151U - A kind of multi-functional mechanical hand of helping the disabled - Google Patents
A kind of multi-functional mechanical hand of helping the disabled Download PDFInfo
- Publication number
- CN203915151U CN203915151U CN201420165122.1U CN201420165122U CN203915151U CN 203915151 U CN203915151 U CN 203915151U CN 201420165122 U CN201420165122 U CN 201420165122U CN 203915151 U CN203915151 U CN 203915151U
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- CN
- China
- Prior art keywords
- slide block
- clamping finger
- slideway
- clamping
- paw
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- Withdrawn - After Issue
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Abstract
The multi-functional mechanical hand of helping the disabled, belongs to mechanical hand technical field.Paw of the present utility model comprises substrate, steering wheel and clamping finger, on substrate, be provided with slideway, clamping finger bottom is connected with slide block, and clamping finger is slidably matched by slide block and slideway and substrate, steering wheel is arranged on substrate, between steering wheel and slide block, by toggle, is connected; Toggle comprises crank and connecting rod, and the body of rod center of crank is connected with the power output shaft of steering wheel, and crank one end and connecting rod one end are hinged, and the connecting rod other end is hinged on slide block; On slide block, be also provided with slideway, clamping finger bottom is provided with chute, and clamping finger is connected with slide block by chute and slideway; Between slide block and clamping finger, be provided with spring; On clamping finger clamping face, be provided with resilient rubbber cushion; Paw is fitted with instrument connection handle, and instrument connection handle matches with paw, and instrument connection handle end is connected with instrument; On the clamping face of clamping finger, be provided with groove, groove is corresponding with instrument connection handle.
Description
Technical field
This utility model belongs to mechanical hand technical field, particularly relates to a kind of multi-functional mechanical hand of helping the disabled.
Background technology
At present, in the face of many handicapped old peoples and upper limb disabled, can help them to realize the mechanical hand that captures object and daily dining, it is the important tool that regains their " self-supporting " confidence, but present stage is still far from perfect as the handicapped-resisting mechanical arm development of aid, existing handicapped-resisting mechanical arm is not only expensive, and function singleness, though can complete certain gripping action, but the scope of application of gripping object is little, paw section as mechanical hand important component part, very large to the Physical confinement of gripping, paw that can gripping rectangle type objects, want the cylindrical type objects of good gripping just very difficult, vice versa.And existing paw mostly do not arrange overload protection function, the chucking power of paw is all controlled by sensor, causes the cost of paw section high, and clamping reliability is very low again.
Utility model content
The problem existing for prior art, this utility model provides a kind of multi-functional mechanical hand of helping the disabled, its paw section is large for the shape scope of application of institute's gripping object, is subject to hardly the restriction of institute's gripping body form, can meet the gripping work to rectangle object and cylindrical object simultaneously; What paw section of the present utility model adopted is the parallel gripping structure of slide way type, and can realize mechanical type overload protection, has not only reduced the manufacturing cost of paw section, has also improved greatly clamping reliability.
To achieve these goals, this utility model adopts following technical scheme: a kind of multi-functional mechanical hand of helping the disabled, comprise supporting disk, large arm, forearm, wrist and paw, described large arm one end is connected with supporting disk, the large arm other end is connected with forearm one end; the forearm other end is connected with wrist, and wrist is connected with paw; Described paw comprises substrate, steering wheel, the first clamping finger and the second clamping finger, a side at described substrate is provided with the first slideway, in described the first clamping finger bottom, be connected with the first slide block, in the second clamping finger bottom, be connected with the second slide block, the first clamping finger is slidably matched by the first slide block and the first slideway and substrate, and the second clamping finger is slidably matched by the second slide block and the first slideway and substrate; Described steering wheel is arranged on substrate, between steering wheel and the first slide block and the second slide block, by toggle, is connected.
On described the first slide block, be provided with the second slideway, in the first clamping finger bottom, be provided with the first chute, the first clamping finger is connected with the first slide block by the first chute and the second slideway; On described the second slide block, be provided with the 3rd slideway, in the second clamping finger bottom, be provided with the second chute, the second clamping finger is connected with the second slide block by the 3rd slideway and the second chute; Between described the first slide block and the first clamping finger, be provided with spring between the second slide block and the second clamping finger.
On the clamping face of described the first clamping finger and the second clamping finger, be provided with resilient rubbber cushion.
Described toggle comprises crank, first connecting rod and second connecting rod, and the body of rod center of described crank is connected with the power output shaft of steering wheel, and crank one end and first connecting rod one end are hinged, and the first connecting rod other end is hinged on the first slide block; The described crank other end and second connecting rod one end are hinged, and the second connecting rod other end is hinged on the second slide block.
Described paw is fitted with instrument connection handle, and instrument connection handle matches with paw, and instrument connection handle end is connected with instrument.
On the clamping face of described the first clamping finger and the second clamping finger, be provided with groove, groove is corresponding with instrument connection handle.
The beneficial effects of the utility model:
Compared with prior art, the shape scope of application of institute's gripping object is large, is subject to hardly the restriction of institute's gripping body form for this utility model, can meet the gripping work to rectangle object and cylindrical object simultaneously; What paw section of the present utility model adopted is the parallel gripping structure of slide way type, and can realize mechanical type overload protection, has not only reduced the manufacturing cost of paw section, has also improved greatly clamping reliability.
Accompanying drawing explanation
Fig. 1 is a kind of multi-functional robot manipulator structure schematic diagram of helping the disabled of the present utility model;
Fig. 2 is paw structural representation in Fig. 1;
Fig. 3 is the side view of Fig. 2;
Fig. 4 is that this utility model is combined with wheelchair design sketch is installed;
In figure, 1-supporting disk, 2-large arm, 3-forearm, 4-wrist, 5-paw, 6-substrate, 7-steering wheel, the 8-the first clamping finger, the 9-the second clamping finger, 10-crank, 11-first connecting rod, 12-second connecting rod, the 13-the first slide block, the 14-the second slide block, 15-spring, 16-resilient rubbber cushion.
The specific embodiment
Below in conjunction with the drawings and specific embodiments, this utility model is described in further detail.
As shown in Figure 1, 2, 3, a kind of multi-functional mechanical hand of helping the disabled, comprises supporting disk 1, large arm 2, forearm 3, wrist 4 and paw 5, described large arm 2 one end are connected with supporting disk 1, large arm 2 other ends are connected with forearm 3 one end, and forearm 3 other ends are connected with wrist 4, and wrist 4 is connected with paw 5; Described paw 5 comprises substrate 6, steering wheel 7, the first clamping finger 8 and the second clamping finger 9, a side at described substrate 6 is provided with the first slideway, in described the first clamping finger 8 bottoms, be connected with the first slide block 13, in the second clamping finger 9 bottoms, be connected with the second slide block 14, the first clamping finger 8 is slidably matched by the first slide block 13 and the first slideway and substrate 6, and the second clamping finger 9 is slidably matched by the second slide block 14 and the first slideway and substrate 6; Described steering wheel 7 is arranged on substrate 6, between steering wheel 7 and the first slide block 13 and the second slide block 14, by toggle, is connected.
On described the first slide block 13, be provided with the second slideway, in the first clamping finger 8 bottoms, be provided with the first chute, the first clamping finger 8 is connected with the first slide block 13 by the first chute and the second slideway; On described the second slide block 14, be provided with the 3rd slideway, in the second clamping finger 9 bottoms, be provided with the second chute, the second clamping finger 9 is connected with the second slide block 14 by the 3rd slideway and the second chute; Between described the first slide block 13 and the first clamping finger 8, be provided with spring 15 between the second slide block 14 and the second clamping finger 9.When the chucking power between first, second clamping finger is greater than spring 15 elastic deformation force, spring 15 can be compressed, and realize overload protection by spring-compressed, prevented the excessive damage gripped object of chucking power.
On the clamping face of described the first clamping finger 8 and the second clamping finger 9, be provided with resilient rubbber cushion 16, when gripping object is cylindrical object, resilient rubbber cushion 16 can better be fitted on the face of cylinder of gripping object its surface by strain, makes the clamping stability of gripping object higher.
Described toggle comprises crank 10, first connecting rod 11 and second connecting rod 12, the body of rod center of described crank 10 is connected with the power output shaft of steering wheel 7, crank 10 one end and first connecting rod 11 one end are hinged, and first connecting rod 11 other ends are hinged on the first slide block 13; Described crank 10 other ends and second connecting rod 12 one end are hinged, and second connecting rod 12 other ends are hinged on the second slide block 14.
Described paw 5 is fitted with instrument connection handle, and instrument connection handle matches with paw 5, and instrument connection handle end is connected with instrument, and instrument comprises soupspoon, table fork, turns over rubber rods etc. for book.
On the clamping face of described the first clamping finger 8 and the second clamping finger 9, be provided with groove, groove is corresponding with instrument connection handle, when paw 5 clamping device connection handle, the instrument connection handle of order is positioned at groove, can guarantee that 7 of steering wheels need the less twisting resistance of output, just can realize the clamping to instrument connection handle, and then realize corresponding function by changing different instruments.
Below in conjunction with accompanying drawing, a use procedure of the present utility model is described:
As shown in Figure 4, in the present embodiment, a kind of multi-functional mechanical hand of helping the disabled of the present utility model is installed on wheelchair, combines with wheelchair, to help user to realize the object of having a dinner and reading a book.In order to reduce as much as possible the complete machine weight of mechanical hand, the skeleton of mechanical hand partly adopts plastic material, and manufactures by 3D printing technique.
Steering wheel 7 rotates backward, until paw 5 is in maximum deployed position, selected one captures target, in the present embodiment, take water tumbler as example, mobile manipulator is near water tumbler, make water tumbler between the first clamping finger 8 and the second clamping finger 9, steering wheel 7 forward rotation now, and then make the first clamping finger 8 and the second clamping finger 9 mutually close, until water tumbler is jammed, steering wheel 7 continues forward rotation, chucking power constantly increases, now resilient rubbber cushion 16 is understood Slow Deformations, until the cylindrical outer surface of abundant and water tumbler fits, now water tumbler is clamped completely, at this moment mechanical hand moves up, water tumbler lifts under paw 5 clamping actions, and slowly near user mouth, realize the object of drinking-water.
Even if chucking power is not controlled well; cause chucking power excessive; water tumbler can be not cracked because of overload yet; because when chucking power surpasses spring 15 elastic deformation force; spring 15 can be compressed rapidly, now the first clamping finger 8, the second clamping finger 9 can be respectively along the second slideway on the first slide block 13, the 3rd slideway reverse slide on the second slide block 14, make chucking power cannot continue to increase; thereby guaranteed the relatively stable of chucking power, realized the object of overload protection.
Claims (6)
1. the multi-functional mechanical hand of helping the disabled, comprises supporting disk, large arm, forearm, wrist and paw, and described large arm one end is connected with supporting disk, and the large arm other end is connected with forearm one end, and the forearm other end is connected with wrist, and wrist is connected with paw; It is characterized in that: described paw comprises substrate, steering wheel, the first clamping finger and the second clamping finger, a side at described substrate is provided with the first slideway, in described the first clamping finger bottom, be connected with the first slide block, in the second clamping finger bottom, be connected with the second slide block, the first clamping finger is slidably matched by the first slide block and the first slideway and substrate, and the second clamping finger is slidably matched by the second slide block and the first slideway and substrate; Described steering wheel is arranged on substrate, between steering wheel and the first slide block and the second slide block, by toggle, is connected.
2. a kind of multi-functional mechanical hand of helping the disabled according to claim 1, it is characterized in that: on described the first slide block, be provided with the second slideway, in the first clamping finger bottom, be provided with the first chute, the first clamping finger is connected with the first slide block by the first chute and the second slideway; On described the second slide block, be provided with the 3rd slideway, in the second clamping finger bottom, be provided with the second chute, the second clamping finger is connected with the second slide block by the 3rd slideway and the second chute; Between described the first slide block and the first clamping finger, be provided with spring between the second slide block and the second clamping finger.
3. a kind of multi-functional mechanical hand of helping the disabled according to claim 1, is characterized in that: on the clamping face of described the first clamping finger and the second clamping finger, be provided with resilient rubbber cushion.
4. a kind of multi-functional mechanical hand of helping the disabled according to claim 1, it is characterized in that: described toggle comprises crank, first connecting rod and second connecting rod, the body of rod center of described crank is connected with the power output shaft of steering wheel, crank one end and first connecting rod one end are hinged, and the first connecting rod other end is hinged on the first slide block; The described crank other end and second connecting rod one end are hinged, and the second connecting rod other end is hinged on the second slide block.
5. a kind of multi-functional mechanical hand of helping the disabled according to claim 1, is characterized in that: described paw is fitted with instrument connection handle, and instrument connection handle matches with paw, and instrument connection handle end is connected with instrument.
6. a kind of multi-functional mechanical hand of helping the disabled according to claim 5, is characterized in that: on the clamping face of described the first clamping finger and the second clamping finger, be provided with groove, groove is corresponding with instrument connection handle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420165122.1U CN203915151U (en) | 2014-04-04 | 2014-04-04 | A kind of multi-functional mechanical hand of helping the disabled |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420165122.1U CN203915151U (en) | 2014-04-04 | 2014-04-04 | A kind of multi-functional mechanical hand of helping the disabled |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203915151U true CN203915151U (en) | 2014-11-05 |
Family
ID=51811044
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420165122.1U Withdrawn - After Issue CN203915151U (en) | 2014-04-04 | 2014-04-04 | A kind of multi-functional mechanical hand of helping the disabled |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203915151U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103932828A (en) * | 2014-04-04 | 2014-07-23 | 东北大学 | Multifunctional mechanical arm for helping physically-challenged people |
| CN110695957A (en) * | 2019-10-25 | 2020-01-17 | 郑州大学 | Household old-age-assisting robot and using method thereof |
-
2014
- 2014-04-04 CN CN201420165122.1U patent/CN203915151U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103932828A (en) * | 2014-04-04 | 2014-07-23 | 东北大学 | Multifunctional mechanical arm for helping physically-challenged people |
| CN103932828B (en) * | 2014-04-04 | 2015-12-09 | 东北大学 | A kind of multi-functional handicapped-resisting mechanical arm |
| CN110695957A (en) * | 2019-10-25 | 2020-01-17 | 郑州大学 | Household old-age-assisting robot and using method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20141105 Effective date of abandoning: 20151209 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |