WO2020252856A1

WO2020252856A1 - Connection mechanism and hand exoskeleton apparatus

Info

Publication number: WO2020252856A1
Application number: PCT/CN2019/098850
Authority: WO
Inventors: 谷逍驰; 刘恒清
Original assignee: 深圳岱仕科技有限公司
Priority date: 2019-06-21
Filing date: 2019-08-01
Publication date: 2020-12-24
Also published as: CN210282277U

Abstract

A hand exoskeleton apparatus, comprising finger mechanisms (1), the finger mechanisms (1) being adapted to human fingers and being able to move with the human fingers; finger fixing devices (2), the finger fixing devices (2) being able to fix the human fingers and the finger mechanisms (1) together; connection mechanisms (3), the connection mechanisms (3) being used for connecting the finger mechanisms (1) and the finger fixing devices (2); the connection mechanisms (3) each comprise a first connection portion (31) and a second connection portion (32) which are detachably connected. The first connection portion (31) is provided on the finger mechanism (1), and the second connection portion (32) is provided on the finger fixing device (2). Further provided is a connection mechanism for the hand exoskeleton apparatus.

Description

Connecting mechanism and hand exoskeleton equipment

Technical field

The invention relates to the technical field of robots, in particular to a connecting mechanism and a hand exoskeleton device.

Background technique

In virtual reality scenes, hand exoskeleton devices are often used to capture the movement information of the human hand. The hand exoskeleton device has five finger mechanisms that match the five fingers of the human hand and are respectively set on the five finger mechanisms Finger fixation device. After wearing, the five fingers of the person and the five-finger mechanism of the hand exoskeleton device are strapped together by the finger fixing device. When the human fingers move, the corresponding sensors on the hand exoskeleton device will capture the movements of the human fingers Information to realize the capture of human hand movement information by the hand exoskeleton device.

For different people, the size of their hands may also be different. When the hand does not fit the finger fixing device, it will not only be uncomfortable to wear, but will also affect the accuracy of the entire device’s capture of hand movement information. The skeletal equipment is improved to make it suitable for different people.

Summary of the invention

According to various embodiments of the present application, a connection mechanism and a hand exoskeleton device are provided.

A hand exoskeleton device, comprising: a finger mechanism, the finger mechanism is adapted to a human finger and can move with the human finger; a finger fixing device, the finger fixing device can fix the human finger to the finger mechanism Together; a connecting mechanism, the connecting mechanism is used to connect the finger mechanism and the finger fixing device; wherein, the connecting mechanism includes a first connecting portion and a second connecting portion; the first connecting portion is provided in the On the finger mechanism, the second connecting portion is provided on the finger fixing device; the first connecting portion and the second connecting portion are detachably connected, so that the finger mechanism can replace the fingers Fixtures.

A connecting mechanism is used to connect a finger mechanism and a finger fixing device. The connecting mechanism includes a first connecting portion and a second connecting portion; wherein the first connecting portion is provided on the finger mechanism, and the second The connecting portion is provided on the finger fixing device; the first connecting portion and the second connecting portion are detachably connected, so that the finger mechanism can replace the finger fixing device.

The details of one or more embodiments of the present invention are set forth in the following drawings and description. Other features, objects and advantages of the present invention will become apparent from the description, drawings and claims.

Description of the drawings

In order to better describe and illustrate the embodiments and/or examples of the inventions disclosed herein, one or more drawings may be referred to. The additional details or examples used to describe the drawings should not be considered as limiting the scope of any of the disclosed inventions, the currently described embodiments and/or examples, and the best mode of these inventions currently understood.

FIG. 1 is a schematic diagram of the overall structure of a hand exoskeleton device according to an embodiment of the present invention;

2 is an exploded view of the cooperation of the finger mechanism and the finger fixing device according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of the mating connection of the first connecting portion and the second connecting portion according to an embodiment of the present invention;

4 is a schematic diagram of the lock cylinder and the lock tongue provided by an embodiment of the present invention;

FIG. 5 is a schematic diagram of the overall structure of a first connecting portion according to an embodiment of the present invention;

FIG. 6 is an exploded view of the first connecting part provided by an embodiment of the present invention;

7 is a schematic structural diagram of a connecting mechanism provided by another embodiment of the present invention;

Figure 8 is a schematic partial cross-sectional view of a connection mechanism provided by another embodiment of the present invention;

9 is a schematic partial cross-sectional view of the first connecting portion provided by another embodiment of the present invention;

10 is a schematic structural diagram of a second connecting portion provided by another embodiment of the present invention;

11 is a schematic partial cross-sectional view of a second connecting portion according to another embodiment of the present invention;

FIG. 12 is a schematic structural diagram when the finger fixing device provided by an embodiment of the present invention is a glove.

Detailed ways

In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present invention are shown in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or a central element may also exist. When an element is considered to be "connected" to another element, it can be directly connected to the other element or an intermediate element may be present at the same time.

As shown in FIGS. 1 and 2, in this embodiment, the hand exoskeleton device includes: a finger mechanism 1, a finger fixing device 2 and a connecting mechanism 3. Among them, the finger mechanism 1 is adapted to the human finger and can move with the human finger after being worn; the finger fixing device 2 is used to wear the finger to fix the human finger and the finger mechanism together; the connecting mechanism 3 is used To connect the finger mechanism 1 and the finger fixing device 2 together. The connecting mechanism 3 includes a first connecting portion 31 and a second connecting portion 32 that are detachably connected together, that is, the first connecting portion 31 and the second connecting portion 32 can be detached and separated again after being mated and connected, wherein the first connecting portion 31 is provided with On the finger mechanism 1, the second connecting portion 32 is provided on the finger fixing device 2, and the connection between the finger mechanism 1 and the finger fixing device 2 can be realized by the cooperation of the first connecting portion 31 and the second connecting portion 32. In this embodiment, the first connecting portion 31 and the second connecting portion 32 are detachably connected, so that the connection between the finger mechanism 1 and the finger fixing device 2 is a detachable connection. In this way, when the user uses the hand exoskeleton device, he can remove the finger fixing device 2 that is not suitable for his fingers, and install the finger fixing device 2 suitable for him on the finger mechanism for wearing (in actual use, the hand The exoskeleton device corresponds to each finger. The finger fixing device 2 is equipped with multiple, their sizes are different, and they are all equipped with a second connection part), thereby improving the comfort of the entire hand exoskeleton device. And the accuracy of capturing finger movement information.

In this embodiment, the finger mechanism 1 includes a four-finger mechanism 11 and a thumb mechanism 12, wherein the four-finger mechanism 11 and the thumb mechanism 12 both use linkage mechanisms, and they are installed on a palm fixing device 4 to facilitate wearing by human hands. Specifically, the thumb mechanism 12 corresponds to the thumb of the human hand and is used for wearing the thumb of the human hand, and the four-finger mechanism 11 corresponds to the other four fingers of the human hand and is used for wearing the other four fingers of the human hand. In order to make the finger mechanism 1 have a better following effect (that is, the effect of the finger mechanism 1 moving together with the fingers), the first connecting portion 31 is provided at an end of the finger mechanism 1 away from the palm fixing device 4. Further, in order to make the fingers more flexible after wearing the device, the first connecting portion 31 is hinged to the finger mechanism 1.

In addition, in this embodiment, the finger fixing device 2 adopts finger cots or gloves, which makes it more convenient for the user to wear. Of course, the finger fixing device 2 can also be a strap, such as a Velcro. The finger fixing device 2 is made of silica gel, plastic, cloth, etc., so that the fingers are more comfortable to wear. The finger fixing device 2 and the second connecting portion 32 are permanently fixed and non-detachable connection, and they can be joined together by gluing, stitching, or integral molding.

In this embodiment, the first connecting portion 31 and the second connecting portion 32 are connected by a snap connection, which makes the connection between the two more simple and convenient. It can be understood that, in other embodiments, the first connecting portion 31 and the second connecting portion 32 may also be connected by a screw connection or the like. At this time, one of the first connecting portion 31 and the second connecting portion 32 is provided with a bolt structure, and the other is provided with a screw hole structure adapted to the bolt structure. Of course, in other embodiments, the first connecting portion 31 and the second connecting portion 32 can also be detachably connected together by magnetic attraction. At this time, the first connecting portion 31 and the second connecting portion are used for The connected parts are respectively provided with magnets with opposite magnetic properties.

As shown in FIG. 3, in this embodiment, the snap connection between the first connecting portion 31 and the second connecting portion 32 is specifically: the first connecting portion 31 is provided with a cavity 311, and the second connecting portion 32 is provided with The lock tongue 321, the cavity 311 is provided with a lock core 312, and the cavity 311 is provided with a force applying part 313 connected with the lock core 312 to apply force to the lock core 312. The lock core 312 can be positioned at the force applying part 313 It moves in the cavity 311 under the applied force, that is, the force applied by a person is transferred to the lock cylinder 312 after the force applying portion 313 is transferred, so that the lock cylinder 312 moves in the cavity 311. The cavity 311 is also provided with a first elastic element 314, and the first elastic element 314 is in contact with the lock core 312. When the lock cylinder 312 is forced to move by the force applying portion 313, the first elastic member 314 will be deformed by force. When the force of the lock cylinder 312 disappears (that is, when the force applied by the force applying portion 313 to the lock cylinder 312 disappears), The first elastic member 314 can reset the lock core 312. The lock tongue 321 can be extended into the cavity 311 to cooperate with the lock core 312. After the two cooperate, the lock tongue 321 can be fixed in the cavity 311, thereby realizing the connection between the finger fixing device 2 and the finger mechanism 1; and the lock tongue 321 also The lock core 312 can be disengaged from the lock core 312 when the lock core 312 is moved by force, so as to exit the cavity 311 to realize the separation of the finger fixing device 2 and the finger mechanism 1.

In this embodiment, the first elastic member 314 is a spring. In other embodiments, the first elastic member 314 may also be an elastic device such as a spring leaf. In addition, in other embodiments, the cavity 311 and the locking tongue 321 can also be arranged as follows: the locking tongue 321 is arranged on the first connecting portion 31 and the cavity 311 is arranged on the second connecting portion 32.

In this embodiment, after the lock cylinder 312 is forced by the force applying portion 313, it moves linearly in the cavity 311. The first elastic member 314 is arranged between the lock cylinder 312 and the cavity wall of the cavity 311, when When the lock core 312 moves, the first elastic member 314 is compressed to cause deformation. It can be understood that, in other embodiments, the movement of the lock core 312 may also be an arc-shaped movement, and the first elastic member 314 may also be deformed by a pulling force.

Further, as shown in FIG. 3, in this embodiment, the cavity 311 is further provided with a second elastic member 315, one end of the second elastic member 315 is connected to the cavity wall of the cavity 311, and the other end can be When the lock tongue 321 is extended into the cavity and matched with the lock core 312, it contacts the lock tongue 321 and is squeezed to produce deformation. When the lock tongue 321 is disengaged from the lock core 312, the elastic force of the second elastic member 315 can eject the lock tongue 321 from the cavity 311 to separate the finger fixing device 2 from the finger mechanism 1. The second elastic member 315 may also be an elastic device such as a spring or a spring leaf. In addition, in other embodiments, the deformation of the second elastic member 315 may also be a deformation caused by a tensile force.

As shown in Figure 4, in this embodiment, the lock cylinder 312 is provided with a convex block 3121, the lock tongue 321 is provided with a groove 3211 that is adapted to the convex block 3121, and the lock cylinder 312 and the lock tongue 321 pass the convex block 3121 and the concave Slot 3211 is matched. Specifically, in this embodiment, the lock cylinder 312 includes a plate-shaped base 3122, the protrusion 3121 is a prism vertically arranged on the base, the lock tongue 321 is a column, and the groove 3211 is a rectangular groove. It can be understood that in other embodiments, the protrusion 3121 may be provided on the lock tongue 321 and the groove 3211 may be provided on the lock core 312.

In addition, as shown in FIGS. 3, 5, and 6, in this embodiment, the first connecting portion 31 is provided with a first hole 316 communicating with the cavity 311; one end of the force applying portion 313 can pass through the first hole 316 A hole 316 is used to receive the applied force. The other end of the force applying portion 313 is connected to the lock core 312 and cannot pass through the first hole 316. The first hole position 316 is an avoiding position of the force applying portion 313, and is used to extend the force applying portion 313 out of the cavity to receive the applied force. As shown in Figure 4, the lock core 312 and the force applying portion 313 are in an F-shaped structure as a whole. The F-shaped structure has two parallel branches. One end of the F-shaped structure is the lock core part, which is located in the cavity, and the other end is the force applying portion 313, which can extend.出cavity 311. The branch away from the force application portion 313 is a protrusion 3121, which is used to cooperate with the tongue 321 (the tongue 321 passes through the gap between the two branches to cooperate with the branch), and the other branch can abut against the cavity of the cavity 311 On the body wall (for example, its length is greater than the width of the first hole 316), it acts as a limiter to prevent the lock cylinder 312 from exiting the cavity 311 from the first hole 316, so that the lock cylinder part is always in the cavity 311 . It can be understood that in other embodiments, the vacant position of the force applying portion 313 provided on the first connecting portion 31 may also be a long slot structure, and its length direction is the same as the movement direction of the lock cylinder 312, and the force applying portion 313 may be along The long groove moves, thereby driving the lock cylinder 312 to move.

As shown in FIG. 5, in this embodiment, the first connecting portion 31 is provided with a second hole 317 communicating with the cavity 311, the second hole 317 is adapted to the lock tongue 321, and the lock tongue 321 passes through the second hole. After the hole 317 is matched with the lock core 312, it is clamped by the hole wall of the lock core 312 and the second hole 317. It can be understood that in order to facilitate the lock cylinder 312 and the lock tongue 321 to be separated after being locked together, the depth direction of the second hole 317 is not parallel to the movement direction of the lock cylinder 312, and in this embodiment, the two are perpendicular to each other.

As shown in FIG. 6, in this embodiment, the first connecting portion 31 includes a first side plate 318 and a second side plate 319, and corresponding slots are provided on the first side plate 318 and the second side plate 319. The first side plate 318 and the second side plate 319 are connected together by screws to form a complete first connecting portion 31, wherein the slots on the first side plate 318 and the second side plate 319 together form a accommodating lock core 312 The cavity 311, and the first hole 316 and the second hole 317. It can be understood that the first side plate 318 and the second side plate 319 can also be joined together by means of adhesive, ultrasonic welding, or the like.

Figures 7 to 11 show a connecting mechanism provided by another embodiment, in which the first connecting portion 310 can be integrally provided with the finger mechanism 1 (of course, the two can also be two independent elements, and are connected by corresponding Parts assembled together), the first connecting portion 310 includes a third hole 3101, the side wall of the third hole 3101 is provided with a concave structure 3102; the second connecting portion 320 includes a bottom plate 3201, a connecting plate 3202, a connecting shaft 3203, Spring 3204 and block 3205.

Wherein, as shown in FIGS. 8 to 11, the finger fixing device 2 is disposed on the first surface 32011 of the bottom plate 3201, and the connecting plate 3202 is disposed on the second surface 32012 of the bottom plate 3201; the first surface 32011 and the second surface 32012 of the bottom plate 3201 Opposite settings. The connecting shaft 3203 is installed on the side wall 32021 of the connecting plate 3202 (the side wall 32021 of the connecting plate 3202 is connected to the second surface 32012 of the bottom plate 3201), and the axis of the connecting shaft 3203 may be perpendicular to the side wall 32021 of the connecting plate. The side wall of the connecting shaft 3203 is provided with a fourth hole 32031, the spring 3204 and the block 3205 are both arranged in the fourth hole 32031, and one end of the spring 3204 is connected with the bottom surface of the fourth hole 32031 (the spring 3204 can also be connected On the side wall of the fourth hole 32031), the other end of the spring 3204 is connected to the block 3205. The blocking block 3205 has a columnar structure and protrudes from the fourth hole 32031, and can be retracted into the fourth hole 32031 under force. It is understandable that the spring 3204 can also be replaced by elastic parts such as rubber pads and elastic sheets.

When assembling, the clamping block 3205 is placed in the third hole 3101 along with the connecting shaft 3203, and the clamping block 3205 is first compressed and compressed by the side wall of the third hole 3101 back into the fourth hole 32031. When the clamping block 3205 moves to the concave structure 3102, the clamping block 3205 will pop out of the fourth hole 32031 and be clamped in the concave structure 3102 to realize the connection between the first connecting portion 310 and the second connecting portion 320. In addition, in this embodiment, the end of the block 3205 protruding from the fourth hole 32031 is provided with an inclined surface (wherein, in this embodiment, the inclined surface is a tapered surface, and the tapered surface is close to the fourth hole 32031. The diameter of the connecting shaft 3203 is gradually increased), so that when the connecting shaft 3203 receives a force in the opposite direction to the first direction, the block 3205 can be retracted into the fourth hole 32031. In this embodiment, the first direction is the connecting shaft 3203. Enter the direction of the third hole 3101 and define the direction opposite to the first direction as the second direction.

As shown in FIG. 9, in this embodiment, the third hole 3101 and the concave structure 3102 form a stepped hole, wherein the first connecting portion 310 includes a first surface 3103 and a second surface 3104 disposed opposite to each other, and the third The hole 3101 extends from the first surface 3103 to the second surface 3104, and the concave structure 3102 extends from the second surface 3104 to the first surface 3103. Through the abutment between the step surface of the stepped hole and the side wall of the block 3205, the block 3205 is limited in the concave structure 3102. Since the block 3205 is provided with an inclined surface, when the block 3205 is applied with force in the second direction , The step surface will squeeze the inclined surface to make the block 3205 enter the fourth hole 32031. It can be understood that in other embodiments, the step surface may be an inclined surface, or the step surface may be an inclined surface, and the block 3205 is also provided with an inclined surface.

As shown in Figure 7, in this embodiment, the finger fixing device 2 is a finger cuff. The finger cuff has a first accommodating cavity 21. The first accommodating cavity 21 is used for inserting the fingertips of the fingers, so as to fix the finger and the finger cuff. Together. In this embodiment, the finger sleeve includes a hard part 22 and a soft part 23. The hard part 22 is connected to the second connecting part 320 (the two can be connected by gluing, sewing, etc.), and the soft part 23 is connected to the The hard part 22 is connected (the two can be connected by two-color injection molding, gluing, stitching, etc.) to form the first accommodating cavity 21; wherein, when the fingertip is placed in the first accommodating cavity 21, the hard part 22 and The back of the finger (that is, the side where the nail is) is in contact, and the soft part 23 is in contact with the front of the finger.

In addition, in this embodiment, the inner wall of the first accommodating cavity 21 is provided with a non-slip structure, such as a non-slip layer with a relatively large friction coefficient or a non-slip protrusion. Specifically, the non-slip structure may be provided on the soft part 23 of the finger sleeve.

In addition, in this embodiment, the first end of the finger sleeve is the end where the first accommodating cavity 21 is opened, the second end of the finger sleeve is opposite to the first end, and the second end of the finger sleeve is provided with an opening 24. In communication with the first accommodating cavity 21, the opening 24 can not only be used for ventilation, but also play a role in avoiding the nail, so as to prevent the nail from scratching the finger cuff when the finger is worn.

As shown in FIG. 12, in this other embodiment, the finger fixing structure 2 can also be a glove. The glove has a second accommodating cavity 25. Fixed together. The glove can be connected to the second connecting portion 32 by means of gluing, sewing, or the like. Gloves can be made of breathable cloth, such as mesh cloth. The area inside the glove that is used to contact the fingertips is provided with a non-slip layer. The non-slip layer can be a glue pattern formed by glue, a high-resistance cloth, etc.

The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, All should be considered as the scope of this specification.

The above-mentioned embodiments only express several embodiments of the present invention, and the descriptions are more specific and detailed, but they should not be understood as limiting the scope of the invention patent. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can be made, and these all fall within the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention should be subject to the appended claims.

Claims

A hand exoskeleton device, including:

Finger mechanism, compatible with human fingers, can move with human fingers;

Finger fixing device, which can fix a human finger and the finger mechanism together; and

A connecting mechanism, the connecting mechanism is used to connect the finger mechanism and the finger fixing device;

Wherein, the connecting mechanism includes a first connecting portion and a second connecting portion;

The first connecting portion is provided on the finger mechanism, and the second connecting portion is provided on the finger fixing device;

The first connecting portion and the second connecting portion are detachably connected, so that the finger mechanism can replace the finger fixing device.
The hand exoskeleton device according to claim 1, wherein the detachable connection between the first connecting portion and the second connecting portion includes any one of a snap connection, a threaded connection, and a magnetic attraction connection Kind.
The hand exoskeleton device according to claim 2, wherein one of the first connecting portion and the second connecting portion is provided with a cavity, and the other is provided with a locking tongue;

The cavity is provided with a lock cylinder, and the cavity is provided with a force applying part connected with the lock cylinder to apply force to the lock cylinder, and the lock cylinder can be under the force of the force applying part. Exercise in the cavity;

The lock tongue can extend into the cavity to cooperate with the lock core so as to be fixed in the cavity, and the lock tongue can be disengaged from the lock core when the lock core moves, so as to exit the lock core.述cavity.
The hand exoskeleton device according to claim 3, wherein a first elastic member is further provided in the cavity, and the first elastic member is in contact with the lock core and can move on the lock core. When the force is applied to deform, the lock cylinder can be reset when the force applied by the force application portion to the lock cylinder disappears.
The hand exoskeleton device according to claim 3, wherein a second elastic member is further provided in the cavity, and the second elastic member can be affected by the lock tongue and the lock cylinder The squeezing of the lock tongue produces deformation, so that when the lock tongue is out of fit with the lock core, the lock tongue is ejected from the cavity.
The hand exoskeleton device according to claim 3, wherein one of the lock core and the lock tongue is provided with a protrusion, and the other is provided with a groove adapted to the protrusion, The lock core and the lock tongue are matched with the groove through the protrusion.
The hand exoskeleton device according to claim 3, wherein the first connecting part is provided with a first hole communicating with the cavity; one end of the force applying part can pass through the The first hole is for receiving force, and the other end is connected with the lock core and cannot pass through the first hole.
The hand exoskeleton device according to claim 3, wherein the first connecting portion is provided with a second hole communicating with the cavity, and the second hole is suitable for the locking tongue. The lock tongue can pass through the second hole to fit with the lock cylinder, and then be clamped by the lock cylinder and the hole wall of the second hole.
The hand exoskeleton device according to any one of claims 2-8, wherein the first connecting portion is hinged to the finger mechanism.
The hand exoskeleton device according to claim 1, wherein the first connecting portion includes a third hole, and a side wall of the third hole is provided with a concave structure;

The second connecting portion includes a connecting shaft and a blocking block, the blocking block is arranged on a side wall of the connecting shaft and can be ejected or retracted into the connecting shaft;

The connecting shaft can be inserted into the third hole. During the process of inserting the connecting shaft into the third hole, the clamping block is compressed and compressed by the side wall of the third hole. In the connecting shaft, the connecting shaft is then ejected from the concave structure to be clamped in the concave structure, and the connecting shaft receives a force opposite to the direction in which it is inserted into the third hole At this time, the blocking block can be retracted into the connecting shaft so that the connecting shaft can exit the third hole.
The hand exoskeleton device according to claim 10, wherein the side wall of the connecting shaft is provided with a fourth hole, the second connecting portion further comprises a third elastic member, and the third elastic member One end is fixed in the fourth hole, and the other end of the third elastic member is connected to the clamping block; the clamping block protrudes from the fourth hole and can be retracted into the In the fourth hole.
The hand exoskeleton device according to claim 11, wherein the first connecting portion includes a first surface and a second surface disposed opposite to each other, and the third hole and the concave structure form a step A hole, wherein the third hole position extends from the first surface to the second surface, and the concave structure extends from the second surface to the first surface.
The hand exoskeleton device according to claim 12, wherein the stepped surface of the stepped hole is provided with a slope, so that when the connecting shaft receives a force opposite to the direction in which the third hole is inserted , The clip can be retracted into the fourth hole.
The hand exoskeleton device according to claim 11, wherein the end of the clamping block protruding from the fourth hole is provided with an inclined surface, so that the connecting shaft is received and inserted into the third hole. When force is applied in the opposite direction, the block can be retracted into the fourth hole.
The hand exoskeleton device according to claim 1, wherein the finger fixing device is a finger cuff, the finger cuff has a first accommodating cavity, and the first accommodating cavity is used for inserting the fingertip of the finger, In order to hold the human finger and the finger cuff together.
The hand exoskeleton device according to claim 15, wherein the inner wall of the first containing cavity is provided with a non-slip structure.
The hand exoskeleton device according to claim 15, wherein the finger sleeve includes a hard part and a soft part, the hard part is connected to the second connecting part, and the soft part It is connected with the hard part and surrounds the first accommodating cavity; wherein, when the finger tip is placed in the first accommodating cavity, the hard part contacts the back of the finger, and the soft part contacts the front of the finger To contact.
The hand exoskeleton device according to claim 1, wherein the finger fixing device is a glove, the glove has a second accommodating cavity, and the second accommodating cavity is used to place the palm of a person in The human finger is fixed with the glove.
A connecting mechanism for connecting a finger mechanism and a finger fixing device, the connecting mechanism comprising a first connecting part and a second connecting part;

Wherein, the first connecting portion is provided on the finger mechanism, and the second connecting portion is provided on the finger fixing device;

The first connecting portion and the second connecting portion are detachably connected, so that the finger mechanism can replace the finger fixing device.
The connection mechanism according to claim 19, wherein the detachable connection between the first connection portion and the second connection portion includes any one of a snap connection, a thread connection, and a magnetic attraction connection.
The connecting mechanism according to claim 20, wherein one of the first connecting portion and the second connecting portion is provided with a cavity, and the other is provided with a lock tongue;

The cavity is provided with a lock cylinder, and the cavity is provided with a force applying part connected with the lock cylinder to apply force to the lock cylinder, and the lock cylinder can be under the force of the force applying part. Exercise in the cavity;

The lock tongue can extend into the cavity to cooperate with the lock core so as to be fixed in the cavity, and the lock tongue can be disengaged from the lock core when the lock core moves, so as to exit the lock core.述cavity.
The connecting mechanism according to claim 21, wherein a first elastic member is further provided in the cavity, and the first elastic member is in contact with the lock core and can be forced when the lock core moves. Deformed so as to reset the lock cylinder when the force applied by the force applying portion to the lock cylinder disappears.
The connection mechanism according to claim 21, wherein a second elastic member is further provided in the cavity, and the second elastic member can be affected by the lock when the lock tongue is matched with the lock core. The squeezing of the tongue produces deformation, so that when the lock tongue is disengaged from the lock core, the lock tongue is ejected from the cavity.
The connection mechanism according to claim 21, wherein one of the lock core and the lock tongue is provided with a protrusion, and the other is provided with a groove adapted to the protrusion, and the lock The core and the lock tongue are matched with the groove through the protrusion.
The connecting mechanism according to claim 21, wherein the first connecting portion is provided with a first hole communicating with the cavity; one end of the force applying portion can pass through the first hole The other end is connected with the lock core and cannot pass through the first hole.
The connecting mechanism according to claim 21, wherein the first connecting portion is provided with a second hole communicating with the cavity, and the second hole is adapted to the lock tongue, so The lock tongue can pass through the second hole to fit with the lock cylinder, and then be clamped by the lock cylinder and the hole wall of the second hole.
The connecting mechanism according to any one of claims 20-26, wherein the first connecting portion is hinged to the finger mechanism.
The connecting mechanism according to claim 19, wherein the first connecting portion includes a third hole, and a side wall of the third hole is provided with a concave structure;

The second connecting portion includes a connecting shaft and a blocking block, the blocking block is arranged on a side wall of the connecting shaft and can be ejected or retracted into the connecting shaft;

The connecting shaft can be inserted into the third hole. During the process of inserting the connecting shaft into the third hole, the clamping block is compressed and compressed by the side wall of the third hole. In the connecting shaft, the connecting shaft is then ejected from the concave structure to be clamped in the concave structure, and the connecting shaft receives a force opposite to the direction in which it is inserted into the third hole At this time, the blocking block can be retracted into the connecting shaft so that the connecting shaft can exit the third hole.
The connecting mechanism according to claim 28, wherein the side wall of the connecting shaft is provided with a fourth hole, the second connecting portion further includes a third elastic member, and one end of the third elastic member is fixed to In the fourth hole, the other end of the third elastic member is connected to the clamping block; the clamping block protrudes from the fourth hole and can be retracted into the fourth hole when a force is applied In place.
The connecting mechanism according to claim 29, wherein the first connecting portion comprises a first surface and a second surface disposed opposite to each other, the third hole position and the concave structure form a stepped hole, wherein The third hole position extends from the first surface to the second surface, and the concave structure extends from the second surface to the first surface.
The connecting mechanism according to claim 30, wherein the stepped surface of the stepped hole is provided with an inclined surface, so that when the connecting shaft receives a force opposite to the direction in which the third hole is inserted, the The blocking block can be retracted into the fourth hole position.
The connecting mechanism according to claim 29, wherein the end of the clamping block protruding from the fourth hole is provided with a slope, so that the connecting shaft is subjected to a direction opposite to the direction inserted into the third hole. When the force is applied, the block can be retracted into the fourth hole.
The connection mechanism according to claim 19, wherein the finger fixing device is a finger cuff, the finger cuff has a first accommodating cavity, and the first accommodating cavity is used for inserting the fingertips of the fingers to facilitate The fingers are fixed together with the finger cuff.
The connection mechanism according to claim 33, wherein the inner wall of the first accommodating cavity is provided with a non-slip structure.
The connection mechanism according to claim 33, wherein the finger cuff includes a hard part and a soft part, the hard part is connected to the second connecting part, and the soft part is connected to the second connecting part. The hard parts are connected to form the first accommodating cavity; wherein, when the fingertip of the finger is placed in the first accommodating cavity, the hard part contacts the back of the finger, and the soft part contacts the front of the finger.
The connection mechanism according to claim 19, wherein the finger fixing device is a glove, the glove has a second accommodating cavity, and the second accommodating cavity is used to place a person's palm in order to connect the person's finger with The gloves are fixed together.