DE102017005762A1 - finger member - Google Patents

Abstract

Finger member having a base member and a pivotable relative to the base member finger member, wherein the finger member comprises a gear which is mounted on a shaft and is supported in the axial direction on the drive side by means of a ball bearing.

Description

The present invention relates to a finger element according to the preamble of claim 1 and a hand prosthesis according to the preamble of claim 10.

Finger elements serve as an element for use as an artificial single-finger prosthesis or as a component of an artificial hand, arm prosthesis, partial hand or partial arm prostheses.

There are artificial finger elements that are used as integral parts of hand or arm prostheses. They are oriented in their shape and their mobility on a finger. From the DE 309 367 is already known from the time of the First World War, hand prostheses with multi-member counteracting thumb and index finger elements. The individual finger joints are positioned via a gear with a dental arch and threaded screws, whereby the drive via cables and lever mechanisms takes place from the palm out. A motor drive is not provided, as well as an individual mobility of individual fingers. Also the DE 323 970 of 1919 discloses such a pivoting mechanism for a phalanx. Hand prostheses with a motorized rotary actuator for two fingers against each other reveal, for example DE 26 07 499 C3 and US 4,094,016 , A gear motor as an actuator is located in these concepts in the palm area of the prosthesis.

However, the systems mentioned do not include autonomously driven finger elements, with all the actuating elements required for the operation being contained in the finger element. The drives are arranged outside the finger elements in these systems. They are therefore conceptually not suitable for use as a single finger prosthesis. A use as a component in a prosthetic modular system is thereby significantly limited.

On the other hand, the DE 698 16 848 T2 such as DE 198 54 762 C2 one finger element each with a motorized rotary drive with threaded screw and gear per joint. The motors are housed directly in the phalanges.

In these finger elements, however, the worm wheel is firmly connected to the motor shaft, so that when a load of the finger element high forces can act on the engine. Premature gear or engine damage and blocking of the worm drive under load is promoted.

Constructions such. In DE 319 092 A and US 2005 00 21 154 A1 described in which the movement of the distal phalanges over rigid practically non-compliant push and pull rods to be achieved, usually unrealistically robotic and are particularly suitable for sensitive gripping tasks. Also, premature symptoms of congestion are expected.

In the WO 2007/063266 A1 In contrast, a prosthetic hand is described with movable finger elements, in which a decoupling of the motor shaft and screw via an interposed bevel gear transmission with a deflection of the rotational movement is realized by approximately a right angle.

Although with the latter concept one obtains a mechanical partial decoupling of worm wheel and motor shaft and thus a mechanical relief of the latter, but in conjunction with additional components and / or a larger volume. The latter essentially restricts the use as a single-finger prosthesis, in particular for the replacement of smaller fingers for aesthetic reasons.

The object of the present invention is to develop a finger element, in particular to increase the efficiency of a finger element.

The object is achieved in particular by a finger element according to claim 1. Further embodiments can be found in the subclaims.

The problem is solved in particular by a finger element with a base member and a pivotable relative to the base member finger member, wherein the finger member has a gear which can be axially movably mounted positively on the drive shaft and axially guided by separate guides. The gear can be supported in the axial direction on the motor side by means of a ball bearing against the drive. By using the ball bearing, the friction can be reduced in particular during the gripping operation of the finger prosthesis between the gear and the abutment, so that a higher efficiency can be achieved.

In particular, the ball bearing can be supported on an element which is fixedly arranged relative to the finger member. Such an element may be, for example, the housing of the phalanx, the housing of a transmission and / or the housing of a motor which is operatively connected to the shaft.

In particular, the ball bearing may be an axial ball bearing. In particular, the ball bearing allows the transmission of force in the direction of the axis of rotation: In this way, the ball bearing between the gear and an axially fixed to the shaft member, such as the transmission housing can be arranged and so the force that is transmitted from the gear to the ball bearing in the axial direction be transferred to the solid element.

It has thus been found that, in particular in an embodiment in which a threaded screw is disposed axially displaceably on a drive shaft proximal to the motor and gear and the threaded screw engages a worm wheel above the pivot axis, straight curving movements of the finger element drive the screw thread in the direction of the motor of the gearbox.

Since these movements often have to be performed with significantly more force than stretching movements, just the arrangement of the ball bearing between the engine and the gear and the screw to a significant reduction in friction between the screw and, for example, the gear housing or other abutment to lead. Also, the motor or drive-side arrangement of a ball bearing with respect to the motor or drive away arrangement has the advantage that friction is reduced especially in forceful movements and not in movements that require little power and in which the screw is pushed away from the engine. This is the case, for example, with stretching movements.

An arrangement of a plain bearing on the motor side facing away from the gear, in particular the axially displaceable on the shaft screw, can lead to a reduced axial play of the screw and so to a more controlled movement of the finger element.

The shaft may be operatively connected to an output shaft of a motor, in particular an electric motor. The motor can be arranged so that a pivoting movement of the finger member relative to the base member of the finger prosthesis can be effected by the motor.

The gear may be a threaded screw.

The gear can be rotationally fixed to the shaft. Further, the gear can be arranged axially displaceable on the shaft, wherein the axial movement of the gear can not be inhibited by the shaft but for example by the axially displaceable element and / or the ball bearing.

The object is also achieved by a hand prosthesis comprising such a finger element.

list of figures

• 1a ein Grundglied von der Seite,
• 1b das Grundglied von einer weiteren Perspektive
• 1c das Grundglied aus einer dritten Perspektive,
• 1d das Grundglied aus einer vierten Perspektive
• 2 ein Fingerelement von unten,
• 3 das Fingerelement von der Seite,
• 4 das Fingerelement in einer teilweisen Schnittansicht,
• 5 das Fingerelement von oben,
• 6 das Grundglied mit einem Teil des Fingerelement in einer Schnittansicht,
• 7 das Fingerelement von vorne,
• 8 das Fingerelement von hinten,
• 9 das Fingerelement von vorne mit abgeknickten Fingerglied,
• 10 das Fingerelement von unten mit abgeknickten Fingerglied,
• 11 das Fingerelement von der Seite mit abgeknickten Fingerglied,
• 12 das Fingerelement mit dem Grundglied in einer teilweisen Schnittansicht,
• 13 das Fingerelement von hinten,
• 14 das Fingerelement von oben,
• 15 das Grundglied mit einem Teil des Fingerglieds in der Schnittansicht,
• 16 zeigt eine Motor-, Antriebswelle-, Gewindeschneckenanordnung des Fingerelements in einer Explosionsdarstellung,
• 17 zeigt ein Gelenk zwischen Grundglied und dem ersten Fingerglied in einer Explosionsdarstellung,
• 18 zeigt ein Fingerelement mit einem Stecker,
• 19 zeigt das Fingerelement aus 18 aus einer anderen Perspektive,
• 19 zeigt das Fingerelement aus 18 aus einer weiteren Perspektive.

Furthermore, the invention will be described in detail with reference to an embodiment with the aid of the drawings. It shows

• 1a a basic link from the side,
• 1b the basic element from another perspective
• 1c the basic element from a third perspective,
• 1d the basic element from a fourth perspective
• 2 a finger element from below,
• 3 the finger element from the side,
• 4 the finger element in a partial sectional view,
• 5 the finger element from above,
• 6 the base member with a part of the finger element in a sectional view,
• 7 the finger element from the front,
• 8th the finger element from behind,
• 9 the finger element from the front with kinked phalanx,
• 10 the finger element from below with kinked phalanx,
• 11 the finger element from the side with kinked phalanx,
• 12 the finger element with the base member in a partial sectional view,
• 13 the finger element from behind,
• 14 the finger element from above,
• 15 the basic member with a part of the phalanx in the sectional view,
• 16 shows an engine, drive shaft, threaded screw arrangement of the finger element in an exploded view,
• 17 shows a joint between the base member and the first phalanx in an exploded view,
• 18 shows a finger element with a plug,
• 19 shows the finger element 18 from a different perspective,
• 19 shows the finger element 18 from another perspective.

Detailed description of the drawings

1a shows a basic element 1 for fixing a finger element 2 on a finger element holder, such as a handpiece prosthesis. The basic link 1 includes a right wall 3 , an upper wall 4 , a left wall 5 and a back wall 6 , The right wall 3 and the left wall 5 are approximately parallel, while the upper wall 4 the right wall 3 and the left wall 5 combines. The back wall 6 is approximately parallel on the left wall 5 , the right wall 3 and the upper wall 4 , The right wall 3 , the upper wall 4 , the left wall 5 and the back wall 6 define a volume 7 , The right wall 3 has a first axis recording 8th to pick up an axle 21 around the phalanx 9 relative to the base member 1 is pivotable. The left wall 5 has a second axis recording 10 for receiving the axis around the phalanx 9 relative to the base member 1 is pivotable. The back wall 6 has a fastener 11 on for attachment of the base member 1 to a finger element holder.

The fastening means may be formed as a base which defines an internal volume and has, for example, an opening in the proximal direction and in the lateral direction. The back wall 6 may also be broken, for example, one or more electrical leads from the proximal side of the base member 1 on the distal side of the base member 1 respectively.

The basic link 1 is preferably metal, such as steel, aluminum, titanium, copper, iron. The right wall 3 , the upper wall 4 , the left wall 5 and the back wall 6 can be made as one piece. So can the right wall 3 , the upper wall 4 , the left wall 5 and the back wall 6 be inextricably linked. Preferably, the entire base member 1 be made as one piece. The upper wall 4 may be formed as a continuous surface or have one or more recesses.

1b . 1c and 1d show the basic element from different perspectives.

2 shows the finger element 2 from above. The finger element 2 includes the basic member 1 , the phalanx 9 and a fingertip link 12 , The phalanx 9 is pivotable relative to the base member 1 arranged and at a proximal end 13 with the basic link 1 pivotally connected. At a distal end 14 of the phalanx 9 is the phalanx 9 with the proximal end 15 of the fingertip link 12 pivotally connected. Here is the fingertip member 12 over two springs 16 . 16 ' with the basic link 1 connected, so that with a pivoting movement of the phalanx 9 opposite the base member 1 a pivoting movement of the fingertip member 12 relative to the phalanx 9 accompanied. The feathers 16 . 16 ' are each on one side of the finger element 2 guided.

The proximal end 13 of the phalanx 9 is at least partially in the basic member 1 added. So extend the left wall 5 and the right wall 3 along the outside of the proximal end 13 of the phalanx 9 ,

Further shows 2 on the fastening means an electrical connector 77 for transmitting the electrical energy and / or control signals to, for example, a motor extending in the phalanx 9 located and / or sensors, etc. Here is a mating connector in a plug 17 , The mating connector comprises two output lines 78 . 78 ' , which is approximately in the direction of or parallel to the main axis 19 of the base member. The two output lines 78 . 78 ' go at the end of the mating plug 79 in the mating connector 79 and are then continued in the proximal direction to the power supply, the control unit and / or the control unit continued.

3 shows the finger element 2 of the page.

4 shows the finger element 2 , where here is the basic element 1 and the proximal end 13 of the phalanx 9 are shown in a sectional view. The section shown in the sectional view is larger in 6 shown.

5 shows the finger element 2 from above.

6 shows the basic element 1 with the upper wall 4 , the left wall 5 and the back wall 6 , On the left wall 5 is a toothed wheel 20 , in particular a worm wheel 20 by means of the axis 21 and a screw 22 fixed relative to the left wall 5 attached. Thus, the worm wheel 20 from the right wall 3 and the left wall 5 be worn. In the worm wheel 20 combs a threaded screw 23 which are rotationally fixed on a drive shaft 24 is attached. The drive shaft 24 is rotatably connected to a transmission output, which in turn is connected to an engine output shaft. The thread screw 23 is about an axial ball bearing, for example, against a housing 30 supported by the transmission, so that the axial movement of the screw 23 in the direction of the axial ball bearing 25 is limited.

The axial ball bearing 25 has a first bearing shell 26 , a second bearing shell 27 , a plurality of balls 28 and a ball mount 29 on. The first bearing shell 26 is between the balls 28 and the screw 23 around the drive shaft 24 arranged, the second bearing shell 27 between the balls 28 and the abutment, such as the transmission housing 30 , The ball holder 29 holding the balls 28 radially and along the circumference to position.

In the other direction is the screw 23 about a support 31 hindered in the axial movement, the support 31 with one side on the threaded screw housing 32 abuts and with the other side against the screw 23 suppressed.

The phalanx 9 is together with the screw 23 , the threaded screw housing 32 etc. around the axis 21 pivotable relative to the base member 1 stored.

7 shows the finger element from the front.

8th shows the finger element 2 from behind. Here are the output lines 18 . 18 ' of the mating connector 17 in front of a recess 33 arranged. The recess 33 is in the back wall 6 of the basic element 1 , In the recess 33 can, for example, the mating connector 77 be locked.

9 shows the finger element 2 from the front, with the phalanx 9 opposite the base member 1 is bent.

10 shows the finger element 2 from below, with the fingertip member 12 opposite the phalanx 9 is bent.

11 shows the finger element 2 of the page.

12 shows the finger element 2 from 11 , where the connection between the basic element 1 and the phalanx 9 is shown in a sectional view.

13 shows the finger element 2 from 11 from behind.

14 shows the finger element 2 from above, comprising the base member 1 with the upper wall 4 and the finger syringe member 12 ,

15 shows the section 12 increased. Here is the phalanx 9 opposite the base member 1 pivoted. The distance between the exterior of the worm wheel 20 and the upper wall 4 is larger than the circumference of the screw 23 and / or the circumference of the threaded screw housing 32 such that in a stretched position the threaded screw housing 32 or the threaded screw 23 between the worm wheel 20 and the upper wall 4 in the basic element 1 at least partially can be included.

Although the upper wall 4 is preferably rigid, it may also be elastic.

16 shows the arrangement of a drive motor 34 , a transmission in a transmission housing 30 and a threaded screw 23 , This arrangement serves for the motor drive of the pivoting movement of the phalanx 9 opposite the base member 1 ,

The drive motor 34 in this case has a drive motor output shaft, which may be functionally connected to a transmission input of the transmission. The transmission input is with a drive shaft 24 operatively connected so that the rotational movement of the transmission input into the rotational movement of the drive shaft 24 is transferred.

On the drive shaft 24 can the screw 23 be rotationally fixed but axially displaceable. So can the drive shaft 24 have an at least partially non-rotationally symmetrical cross section and the screw 23 a likewise not rotationally symmetrical recording, for receiving the drive shaft 24 , In this case, the shape of the cross section of the receptacle in approximately the shape of the cross section of the drive shaft 24 correspond.

The drive shaft 24 can be a first section 35 have, which is rotationally symmetrical in cross section. This first section 35 may be adjacent to an end face 36 of the gearbox 30 be. After the first section 35 is a second section 37 the drive shaft 24 which may have a non-rotationally symmetrical cross section, such as a quadrangular, pentagonal, etc., cross section.

To the first section 35 becomes a washer 38 arranged at the front 36 of the gearbox 30 can be present. Also around the first section 35 can the thrust ball bearing 25 be arranged, which at the washer 38 can be present.

The axial ball bearing 25 can be the first bearing shell 26 and the second bearing shell 27 exhibit. The two bearing shells 26 . 27 each have a tread 39 . 40 on which the bullets 28 can be moved. The treads 39 . 40 can do so inward and outward by increasing 41 . 42 . 43 . 44 be limited so that the balls 28 on the treads 39 . 40 be guided. The treads 39 . 40 are facing each other. Also, the treads can 39 . 40 have a round cross section, the Ball diameter is adjusted so that balls 28 even easier to run in the treads

Between the two bearing shells 26 . 27 can the ball mount 29 be arranged, which recesses 45 in which the balls 28 can be guided radially and along the circumference.

The balls 28 can between the bearing shells 26 . 27 held by the ball holder 29 held around the drive shaft 24 be guided around.

The thread screw 23 may be on the second non-rotationally symmetric section 37 the drive shaft 24 be arranged and so while rotationally fixed but axially displaceable with the drive shaft 24 be connected.

The thread screw 23 has a thread on the outside, the main axis 47 in about the main axis of the screw 23 and in the assembled state of the main axis 46 the drive shaft 24 equivalent.

The thread screw 23 can on her front page 49 that the axial ball bearing 25 turned away, by a support 48 be supported in the axial direction. The support 48 can be on the front side 49 abutment and in particular in the axial direction fixed relative to the phalanx 9 be arranged. In particular, the support can 48 on the phalanx body 51 support.

A worm wheel 20 can firmly with respect to the basic element 1 be arranged and in the screw 23 comb. The axis of rotation of the worm wheel 20 corresponds to the pivot axis 50 of the joint.

Also, a plane which is on the pivot axis 50 is perpendicular, to be arranged perpendicular to a second plane, which is perpendicular to the main axis 47 the screw 23 is.

Will now be the drive axle 24 through the engine 34 turned, so turns the screw 23 around the main axis 47 , causing the worm wheel 20 and thus the basic element 1 around the pivot axis 50 relative to the screw 23 and the phalanx 9 is pivoted.

17 shows the phalanx 9 with the in the phalanx 9 arranged screw 23 , The phalanx 9 can be a putter housing 51 have, which may be rigid in itself.

The phalanx body 51 has an opening down 52 on, through which the threaded screw 23 is accessible. At the opening 52 can finger peg mounts 53 . 54 be arranged. The brackets 53 . 54 serve for the pivotal connection of the phalanx 9 with the basic link 1 , This connection can be through two openings 55 . 56 attached to the brackets 53 . 54 are arranged, each a spacer 57 . 58 be inserted. Through the spacers 57 . 58 can a pen 59 are guided around which the phalanx 9 relative to the base member 1 can be swiveled. The pencil 59 is doing through the left wall 5 and the right wall 3 led and held by these.

On the pen 59 becomes the worm wheel 20 held by the spacers 57 . 58 is inhibited in its axial movement and by a screw 60 in its rotational movement relative to the base member 1 can be fixed.

18 shows a finger element 2 comprising a basic member 1 , a phalanx 9 and a fingertip link 12 ,

Arranged on the basic member 1 there is a plug 17 comprising a connector attachment 62 formed as a flange and on the base member 1 by means of two fasteners 63 . 64 how screws can be fastened. The plug attachment 62 can have two openings 65 . 66 through which the fastening means 63 . 64 can be performed.

The plug 17 can in particular on a pedestal 67 attached, which on the base member 1 , in particular on the proximal side of the base member 1 is arranged. The base 67 can sidewalls 68 have, at least partially, an internal volume 69 enclose. The plug attachment 62 Can do so in a mounted state on the side walls 68 rest. In particular, the side walls 68 a step 70 have, so that the the plug attachment 62 in the inner part of the stage 70 rests while the outer part of the plug attachment through the outer part of the step 70 is at least partially covered and can be prevented from lateral movement.

In the volume 69 can from the plug attachment 62 starting a socket 71 protrude. The socket 71 can at least one upper wall 72 , a right wall 73 and a left wall 74 having a plug volume open at least in one direction 75 define. Through the plug volume 75 or through the top wall 72 , right wall 73 and left wall 74 can be a mechanical coupling with a corresponding electrical mating connector 77 produced become. In the volume 75 can have at least two plug contacts 18 . 18 ' be arranged. The plug contacts 18 . 18 ' are in particular made of electrically conductive material and extend perpendicular to the opening 76 the plug volume 75 , The plug contacts 18 . 18 ' can be contacted perpendicular to their main axis.

The volume 69 has an opening at the side 79 which is in an assembled state with the opening 76 the plug volume 75 corresponds, so that a mating connector 77 through the opening 79 and the opening 76 in the plug volume 75 can be brought.

The plug contacts 18 . 18 ' are at least functionally electrically connected to a consumer in the finger element by electrical components such as wires, cables, traces, etc. 2 connected.

The plug attachment 62 and the socket 71 can consist of an electrically insulating material such as plastic.

LIST OF REFERENCE NUMBERS

1

phalanx

2

finger member

3

right wall

4

upper wall

5

left wall

6

rear wall

7

volume

8th

first axis shot

9

phalanx

10

second axis recording

11

fastener

12

Finger tip member

13

proximal end of the phalanx

14

distal end of the phalange

15

proximal end of the fingertip link

16

feather

16 '

feather

17

plug

18

plug contact

18 '

plug contact

19

main axis

20

worm

21

axis

22

screw

23

threaded screw

24

wave

25

Axialkugellager

26

bearing shell

27

second bearing shell

28

Ball of the ball bearing

29

ball mount

30

gearbox

31

screw

32

Threaded screw housing

33

recess

34

drive motor

35

first section of the drive shaft

36

Front side of the gearbox housing

37

second section of the drive shaft

38

washer

39

first tread

40

second tread

41

inner increase

42

outer elevation

43

outer elevation

44

inner increase

45

recess

46

Main axis of the drive shaft

47

Main axis of thread

48

support

49

Front side of the screw

50

swivel axis

51

Phalanx housing

52

opening

53

bracket

54

bracket

55

opening

56

opening

57

spacer

58

spacer

59

pen

60

screw

62

plug fitting

63

fastener

64

fastener

65

opening

66

opening

67

base

68

side walls

69

volume

70

step

71

socket

72

upper wall

73

right wall

74

left wall

75

plug volume

76

opening

77

electrical plug connection

78

output line

78 '

output line

79

opening

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 309367 [0003]
• DE 323970 [0003]
• DE 2607499 C3 [0003]
• US 4094016 [0003]
• DE 69816848 T2
• DE 19854762 C2 [0005]
• DE 319092 A [0007]
• US 20050021154 Al [0007]
• WO 2007/063266 A1 [0008]

Claims (10)

Finger element having a base member and a pivotable relative to the base member finger member, the finger member having a gear which is mounted on a shaft, characterized in that the gear is supported in the axial direction on the drive side by means of a ball bearing. Finger element after Claim 1 , characterized in that the ball bearing is supported on an element which is fixedly arranged relative to the base member. Finger element according to one of the preceding claims, characterized in that the ball bearing is an axial ball bearing. Finger element according to one of the preceding claims, characterized in that the ball bearing is supported on a transmission housing. Finger element according to one of the preceding claims, characterized in that the gear on the other side is delimited by an axially displaceable element in its axial movement. Finger element according to the preceding claim, characterized in that the displaceable element is supported by a pincer housing. Finger element according to one of the preceding claims, characterized in that the shaft is operatively connected to an output shaft of a motor, in particular of an electric motor with gear. Finger element according to one of the preceding claims, characterized in that the gear is a threaded screw and / or a worm wheel. Finger element according to one of the preceding claims, characterized in that the gear is rotationally fixedly connected to the shaft. Hand prosthesis comprising a finger element according to one of the preceding claims.

Images