JP2012085992A

JP2012085992A - Prosthetic finger

Info

Publication number: JP2012085992A
Application number: JP2010251257A
Authority: JP
Inventors: Shozo Nishimura; 省三西村
Original assignee: Individual
Current assignee: Individual
Priority date: 2010-10-21
Filing date: 2010-10-21
Publication date: 2012-05-10

Abstract

PROBLEM TO BE SOLVED: To rotate a first member and a second member by a strong force.SOLUTION: A first member 2 corresponding to the distal phalanx, a second member 3 corresponding to the middle phalanx, a third member 4 corresponding to the proximal phalanx, and a fourth member 5 corresponding to the metacarpal bone are pivoted so that each member is rotated freely. First connecting points 2a and 3a between the first member 2 and the second member 3 are arranged on the palm side, and second connecting points 3b and 4a between the second member 3 and the third member 4 are arranged on the back side of the hand. A first connecting member 7 connects the first member 2 and the third member 4, and a second connecting member 8 connects the second member 3 and the fourth member 5. First connecting parts 2b and 7a between the first member 2 and the first connecting member 7 are arranged on the back side of the hand, and second connecting parts 3c and 8a between the second member 3 and the second connecting member 8 are arranged on the palm side.

Description

本発明は、基節骨に該当する部材を回動することで末節骨に該当する部材と中節骨に該当する部材とを同方向に回動するようにした義指に関する。 The present invention relates to a prosthetic finger in which a member corresponding to the distal phalanx and a member corresponding to the middle phalanx are rotated in the same direction by rotating the member corresponding to the proximal phalanx.

中節骨を失った指を機械的に補う義指が知られている。また、人間の手先の機能を有するロボットの義指も発明されている。これらの義指は、末節骨に該当する第一部材と中節骨に該当する第二部材と基節骨に該当する第三部材と中手骨に該当する第四部材とをそれぞれ回動自在に軸支している。そして、第三部材を回動させることでリンク機構を介して第一部材と第二部材とを同方向に回動するようにしている。 Prosthetic fingers that mechanically compensate for a finger that has lost the middle phalanx are known. Also, a prosthetic finger of a robot having the function of a human hand has been invented. These prosthetic fingers can freely rotate a first member corresponding to the distal phalanx, a second member corresponding to the middle phalanx, a third member corresponding to the proximal phalanx, and a fourth member corresponding to the metacarpal bone. It is pivotally supported. Then, by rotating the third member, the first member and the second member are rotated in the same direction via the link mechanism.

日本国特開２００７−５０２６５０号公報Japanese Unexamined Patent Publication No. 2007-502650 日本国特開２００３−１８１７８７号公報Japanese Unexamined Patent Publication No. 2003-181787

特許文献１の義指では第三部材に平行リンクを構成し、第二部材に鉤状のレバーを設け、このレバーの一端を平行リンクに連結し、他端を第一部材に連結するという複雑な構成となっている。また、特許文献２では、第一部材９と第二部材８と第三部材７と第四部材６とをそれぞれ回動自在に軸支し、第一部材９と第三部材７とを接続する第一連結部材１５と、第二部材８と第四部材６とを接続する第二連結部材１４とを設けている。そして、第二部材８と第二連結部材１４との連結部１４ｂと第三部材７と第一連結部材１５との連結部１５ａとの中間に、第二部材８と第三部材７との連結部１１ａを配置している。このように各連結部１４ｂ・１５ａ・１１ａを配置しているので、連結部１４ａと連結部１１ａとのスパンが短くなり、第二連結部材１４による第二部材８の回動トルクは小さいものとなっている。
本発明は、簡単な構成で第三部材を回動することで第一部材と第二部材とを同方向に回動でき、大きな回動力が得られる構成の義指を提供する。In the prosthesis of Patent Document 1, a parallel link is formed on the third member, a hook-shaped lever is provided on the second member, one end of this lever is connected to the parallel link, and the other end is connected to the first member. It has become a structure. Moreover, in patent document 2, the 1st member 9, the 2nd member 8, the 3rd member 7, and the 4th member 6 are each pivotally supported, and the 1st member 9 and the 3rd member 7 are connected. A first connecting member 15 and a second connecting member 14 for connecting the second member 8 and the fourth member 6 are provided. And the connection of the second member 8 and the third member 7 is intermediate between the connection portion 14b of the second member 8 and the second connection member 14 and the connection portion 15a of the third member 7 and the first connection member 15. The part 11a is arranged. Since the connecting portions 14b, 15a, and 11a are arranged in this manner, the span between the connecting portion 14a and the connecting portion 11a is shortened, and the rotational torque of the second member 8 by the second connecting member 14 is small. It has become.
The present invention provides a prosthetic finger having a configuration in which the first member and the second member can be rotated in the same direction by rotating the third member with a simple configuration, and a large turning force can be obtained.

第一の発明は、末節骨に該当する第一部材と中節骨に該当する第二部材と基節骨に該当する第三部材と中手骨に該当する第四部材とをそれぞれ回動自在に軸支している。そして、第一部材と第二部材との第一連結点を掌側に配置し、第二部材と第三部材との第二連結点を手の甲側に配置する。そして、第一部材と第三部材とを接続する第一連結部材と、第二部材と第四部材とを接続する第二連結部材とを設け、第一部材と第一連結部材との第一連結部を手の甲側に配置し、第二部材と第二連結部材との第二連結部を掌側に配置した。 In the first invention, the first member corresponding to the distal phalanx, the second member corresponding to the middle phalanx, the third member corresponding to the proximal phalanx, and the fourth member corresponding to the metacarpal bone can be rotated respectively. It is pivotally supported. Then, the first connection point between the first member and the second member is arranged on the palm side, and the second connection point between the second member and the third member is arranged on the back side of the hand. And the 1st connection member which connects the 1st member and the 3rd member, the 2nd connection member which connects the 2nd member and the 4th member are provided, and the 1st of the 1st member and the 1st connection member The connecting part was arranged on the back side of the hand, and the second connecting part of the second member and the second connecting member was arranged on the palm side.

第二の発明は、第四部材に、モータの回転を減速して伝達される螺線体を設け、この螺線体を第三部材に係合させ、螺線体の回転で第三部材を回動させた。 According to a second aspect of the present invention, the fourth member is provided with a spiral body that transmits the motor while reducing the rotation of the motor, the spiral body is engaged with the third member, and the third member is moved by the rotation of the spiral body. Rotated.

第三の発明は、第四部材に、流体圧により進退移動するピストンを設け、このピストンの移動で第三部材を回動させた。 In the third invention, the fourth member is provided with a piston that moves forward and backward by fluid pressure, and the third member is rotated by the movement of the piston.

第一の発明においては、第一部材と第三部材とを接続する第一連結部材と、第二部材と第四部材とを接続する第二連結部材とを設けただけの簡単な構成で、第三部材を回動することで第一部材と第二部材とを同方向に回動できる。
そして、第一部材と第二部材との第一連結点を掌側に配置し、第二部材と第三部材との第二連結点を手の甲側に配置した。そして、第一部材と第一連結部材との第一連結部を手の甲側に配置し、第二部材と第二連結部材との第二連結部を掌側に配置した。これにより、第一連結点と第一連結部とのスパンを広げたことで第一連結部材による第一部材の回動力を最大にすることができる。また、第二連結点と第二連結部とのスパンを広げたことで第二連結部材による第二部材の回動力を最大にすることができる。In the first aspect of the invention, the first connecting member that connects the first member and the third member, and the second connecting member that connects the second member and the fourth member are simply configured, The first member and the second member can be rotated in the same direction by rotating the third member.
And the 1st connection point of the 1st member and the 2nd member was arranged on the palm side, and the 2nd connection point of the 2nd member and the 3rd member was arranged on the back side of the hand. And the 1st connection part of a 1st member and a 1st connection member was arrange | positioned on the back side of a hand, and the 2nd connection part of a 2nd member and a 2nd connection member was arrange | positioned on the palm side. Thereby, the rotational force of the 1st member by a 1st connection member can be maximized by expanding the span of a 1st connection point and a 1st connection part. Moreover, the rotational force of the 2nd member by a 2nd connection member can be maximized by expanding the span of a 2nd connection point and a 2nd connection part.

第二の発明においては、第三部材の回動を螺線体で行うことで義指が物を掴んだ状態を強力に維持することができる。 In 2nd invention, the state in which the artificial finger grasped the thing can be maintained strongly by performing rotation of the 3rd member with a spiral.

第三の発明においては、第三部材の回動を流体圧により進退移動するピストンで行うことで義指の開閉移動の速度を早くすることができる。 In the third invention, the speed of the open / close movement of the prosthetic finger can be increased by rotating the third member with the piston that moves forward and backward by the fluid pressure.

第一実施例を示す義指の側面図。The side view of the artificial finger which shows a 1st Example. 同分解斜視図Exploded perspective view 第一実施例を示す義指を手に装着した状態を示す図。The figure which shows the state which mounted | wore with the artificial finger which shows a 1st Example. 義指の基節板を４５度折り曲げた状態を示す図。The figure which shows the state which bent the base joint board of the artificial finger 45 degree | times. 義指の基節板を９０度折り曲げた状態を示す図。The figure which shows the state which bent the proximal joint board of the artificial finger 90 degree | times. 第二実施例を示す義指の側面図。The side view of the artificial finger which shows a 2nd Example. 同分解図Exploded view 歯車による回転伝達経路を示す正面図。The front view which shows the rotation transmission path | route by a gearwheel. 義指をロボットの手に取付けた状態を示す平面図。The top view which shows the state which attached the artificial finger to the hand of the robot. 義指の基節体を４５度折り曲げた状態を示す図。The figure which shows the state which bent the base joint body of the artificial finger 45 degree | times. 義指の基節体を９０度折り曲げた状態を示す図。The figure which shows the state which bent the base joint body of the artificial finger 90 degree | times. 第三実施例を示す義指の側面図。The side view of the artificial finger which shows a 3rd Example.

中節骨を失った指を機械的に補える義指を図１から図５に亘って示す。図１は義指１の側面図を示し、末節骨に該当する末節板２（第一部材）と中節骨に該当する中節板３（第二部材）と基節骨に該当する円筒体４（第三部材）と中手骨に該当する中手板５（第四部材）とをそれぞれ回動自在に段付きネジ６（図２参照）で接続している。そして、末節板２と円筒体４とを接続する第一リンク７（第一連結部材）が設けられる。この第一リンク７は細長い板状をしており、一端に第一取付孔７ａ、他端に第二取付孔７ｂが開けられている。一方、中節板３と中手板５とを接続する第二リンク８（第二連結部材）が設けられ、この第二リンク８も細長い板状をしており、一端に第三取付孔８ａ、他端に第四取付孔８ｂが開けられている。 A prosthetic finger that mechanically supplements a finger that has lost the middle phalanx is shown in FIGS. FIG. 1 shows a side view of a prosthetic finger 1, a distal node plate 2 (first member) corresponding to the distal phalanx, a middle node plate 3 (second member) corresponding to the middle phalanx, and a cylindrical body corresponding to the proximal phalanx. 4 (third member) and a metacarpal plate 5 (fourth member) corresponding to the metacarpal bone are connected to each other by a stepped screw 6 (see FIG. 2) so as to be rotatable. And the 1st link 7 (1st connection member) which connects the end node plate 2 and the cylindrical body 4 is provided. The first link 7 has an elongated plate shape, and has a first attachment hole 7a at one end and a second attachment hole 7b at the other end. On the other hand, a second link 8 (second connecting member) for connecting the middle joint plate 3 and the middle hand plate 5 is provided. The second link 8 is also formed in an elongated plate shape, and has a third attachment hole 8a at one end, A fourth mounting hole 8b is opened at the other end.

図２に示すように、末節板２は板状で、一端側の掌側Ａに中節板３に接続する第一孔２ａ（第一連結点）が設けられ、手の甲側Ｂに第一リンク７の第一取付孔７ａに接続する第二孔２ｂ（第一連結部）が設けられている。中節板３も板状で、一端側の掌側Ａに末節板２に接続する第三孔３ａ（第一連結点）が設けられ、他端側の手の甲側Ｂには円筒体４に接続する第四孔３ｂ（第二連結点）と、掌側Ａに第二リンク８の第三取付孔８ａに接続する第五孔３ｃ（第二連結部）とが設けられている。円筒体４は、内径が基節骨部分の指を装着できる大きさの円筒形状をしており、一端側の手の甲側Ｂに中節板３の第四孔３ｂに接続する第六孔４ａ（第二連結点）が設けられている。また、円筒体４の一端側には第一リンク７の第二取付孔７ｂに接続する第七孔４ｂが設けられている。この第七孔４ｂは円筒の中心線に近い位置となっている。円筒体４の他端側には、両側面の掌側Ａに中手板５に接続する第八孔４ｃ（第三連結点）が設けられている。 As shown in FIG. 2, the end node plate 2 is plate-shaped, and a first hole 2 a (first connection point) connected to the middle node plate 3 is provided on the palm side A on one end side, and the first link on the back side B of the hand. The 2nd hole 2b (1st connection part) connected to the 7th 1st attachment hole 7a is provided. The middle node plate 3 is also plate-shaped, and is provided with a third hole 3a (first connection point) connected to the terminal node plate 2 on the palm side A on one end side, and connected to the cylindrical body 4 on the back side B of the hand on the other end side. The 4th hole 3b (2nd connection point) to perform and the 5th hole 3c (2nd connection part) connected to the 3rd attachment hole 8a of the 2nd link 8 at the palm side A are provided. The cylindrical body 4 has a cylindrical shape whose inner diameter is large enough to fit a finger of the proximal phalanx portion, and a sixth hole 4a (connected to the fourth hole 3b of the middle joint plate 3 on the back side B of the hand on one end side. A second connection point) is provided. Further, a seventh hole 4 b connected to the second mounting hole 7 b of the first link 7 is provided on one end side of the cylindrical body 4. The seventh hole 4b is close to the center line of the cylinder. On the other end side of the cylindrical body 4, an eighth hole 4 c (third connection point) connected to the middle hand plate 5 is provided on the palm side A on both sides.

中手板５は薄板を箱状に折り曲げ形成したもので一端側の掌側Ａに、円筒体４の第八孔４ｃに接続する第九孔５ａ（第三連結点）と第二リンク８の第二取付孔７ｂに接続する第十孔５ｂとが設けられている。そして、他端側には、掌側Ａに第一舌片５ｃと、手の甲側Ｂに第二舌片５ｄとが設けられている。そして、末節板２の先端から各舌片先端までは、柔軟性に優れた材料の人工皮膚９で覆われている。
この義指１は図３に示すように、基節骨部分の指を円筒体４に装着して、第一舌片５ｃが掌側Ａより、また第二舌片５ｄが手の甲側Ｂより手を上下方向から挟むようにしている。このように、第一・第二の舌片５ｃ・５ｄが手を挟むことで義指１は手に保持される。The middle plate 5 is formed by bending a thin plate into a box shape. The palm hole A on one end side has a ninth hole 5a (third connection point) connected to the eighth hole 4c of the cylindrical body 4 and the second link 8. A tenth hole 5b connected to the second mounting hole 7b is provided. On the other end side, a first tongue piece 5c is provided on the palm side A, and a second tongue piece 5d is provided on the back side B of the hand. And from the front-end | tip of the end node board 2 to the front-end | tip of each tongue piece is covered with the artificial skin 9 of the material excellent in the softness | flexibility.
As shown in FIG. 3, the prosthetic finger 1 has a proximal phalange finger attached to the cylindrical body 4, with the first tongue piece 5c from the palm side A and the second tongue piece 5d from the back side B of the hand. Is sandwiched from above and below. In this way, the prosthetic finger 1 is held in the hand by the first and second tongue pieces 5c and 5d sandwiching the hand.

ここで、図４に示すように、円筒体４の第七孔４ｂ（第三連結部）は、中節板３が第四孔３ｂを中心に反時計方向に回動すると、第一リンク７により末節板２の第二孔２ｂが、末節板２の第一孔２ａの回動軌跡ａを内周から外周に向けて交差して回動する位置に設定されている。一方、中手体５の第十孔５ｂ（第四連結部）は、円筒体４が第八孔４ｃを中心に反時計方向に回動すると、第二リンク８により中節板３の第五孔３ｃが、中節板３の第四孔３ｂの回動軌跡ｄを外周から内周に向けて交差して回動する位置に設定されている。 Here, as shown in FIG. 4, the seventh hole 4 b (third connection portion) of the cylindrical body 4 is configured such that the first link 7 is rotated when the middle node plate 3 rotates counterclockwise about the fourth hole 3 b. Thus, the second hole 2b of the end node plate 2 is set at a position where the rotation locus a of the first hole 2a of the end node plate 2 intersects and rotates from the inner periphery toward the outer periphery. On the other hand, the tenth hole 5b (fourth connecting portion) of the middle hand body 5 is the fifth link of the middle joint plate 3 by the second link 8 when the cylindrical body 4 rotates counterclockwise around the eighth hole 4c. The hole 3c is set at a position where the rotation locus d of the fourth hole 3b of the middle joint plate 3 intersects and rotates from the outer periphery toward the inner periphery.

（動作の説明）
図３に示すように基節骨部分の指を円筒体４に装着して指を４５度曲げる。すると図４に示すように円筒体４は、第八孔４ｃを中心にして中手板５に対して反時計方向に４５度回動する。この回動に伴い中節板３の第四孔３ｂは、円筒体４とともに回動する。一方、第二リンク８は第十孔５ｂを中心にして回動する。そして、第二リンク８の第三取付孔８ａに連結している第五孔３ｃは、回動軌跡ｃを中節板３の第四孔３ｂの回動軌跡ｄの外周から内周に向けて第二リンク８に引かれて回動する。この結果、中節板３は円筒体４に対し第四孔３ｂを中心にして反時計方向に回動する。一方、末節板２の第一孔２ａは、中節板３とともに回動をする。そして、第一リンク７は第七孔４ｂを中心にして回動する。第一リンク７の第一取付孔７ａに連結している第二孔２ｂは、第一リンク７の回動の途中で第一孔２ａの回動軌跡ａを内周より外周に向けて交差するように第一リンク７に押されて回動する。この結果、末節板２は中節板３に対し第一孔２ａを中心にして反時計方向に回動する。このときの中節板３は、円筒体４に対して約４５度の回動をし、また末節板２は中節板３に対して約４５度、反時計方向に回動をする。(Description of operation)
As shown in FIG. 3, the finger of the proximal phalanx portion is attached to the cylindrical body 4 and the finger is bent 45 degrees. Then, as shown in FIG. 4, the cylindrical body 4 rotates 45 degrees counterclockwise with respect to the middle hand plate 5 around the eighth hole 4c. Along with this rotation, the fourth hole 3 b of the middle joint plate 3 rotates together with the cylindrical body 4. On the other hand, the second link 8 rotates around the tenth hole 5b. And the 5th hole 3c connected with the 3rd attachment hole 8a of the 2nd link 8 turns the rotation locus | trajectory c toward the inner periphery from the outer periphery of the rotation locus | trajectory d of the 4th hole 3b of the middle node board 3. FIG. It is pulled by the second link 8 and rotates. As a result, the middle joint plate 3 rotates counterclockwise around the fourth hole 3b with respect to the cylindrical body 4. On the other hand, the first hole 2 a of the end node plate 2 rotates together with the middle node plate 3. And the 1st link 7 rotates centering on the 7th hole 4b. The second hole 2b connected to the first mounting hole 7a of the first link 7 intersects the rotation locus a of the first hole 2a from the inner periphery toward the outer periphery during the rotation of the first link 7. Thus, the first link 7 is pushed and rotated. As a result, the end node plate 2 rotates counterclockwise with respect to the middle node plate 3 about the first hole 2a. At this time, the middle node plate 3 rotates about 45 degrees with respect to the cylindrical body 4, and the end node plate 2 rotates about 45 degrees with respect to the middle node plate 3 counterclockwise.

図５に示すように指を９０度曲げると円筒体４は、第八孔４ｃを中心にして中手板５に対して反時計方向に９０度回動する。この回動に伴って中節板３の第四孔３ｂは、円筒体４とともに反時計方向に回動する。一方、第二リンク８は第十孔５ｂを中心にして回動する。そして、第二リンク８の第三取付孔８ａに連結している第五孔３ｃは、第二リンク８の回動の途中で第五孔３ｃを第八孔４ｃに接近する方向に第二リンク８で引かれて中節板３を回動する。この結果、中節板３は円筒体４に対し第四孔３ｂを中心にして反時計方向に回動する。一方、末節板２の第一孔２ａは、中節板３とともに回動をする。そして、第一リンク７は第七孔４ｂを中心にして回動する。第一リンク７の第一取付孔７ａに連結している第二孔２ｂは、第一リンク７の回動の途中で第一孔２ａの回動軌跡ａと第二孔２ｂの回動軌跡ｂとの開隔を広げるように第一リンク７で押されて末節板２を回動する。この結果、末節板２は中節板３に対し第一孔２ａを中心にして反時計方向に回動する。このときの中節板３は、円筒体４に対して約９０度の回動をし、また末節板２は中節板３に対して約９０度の回動をする。 As shown in FIG. 5, when the finger is bent 90 degrees, the cylindrical body 4 rotates 90 degrees counterclockwise with respect to the middle hand plate 5 around the eighth hole 4c. Along with this rotation, the fourth hole 3 b of the middle node plate 3 rotates counterclockwise together with the cylindrical body 4. On the other hand, the second link 8 rotates around the tenth hole 5b. And the 5th hole 3c connected with the 3rd attachment hole 8a of the 2nd link 8 is the 2nd link in the direction which approaches the 5th hole 3c to the 8th hole 4c in the middle of rotation of the 2nd link 8. The middle joint plate 3 is rotated by being pulled by 8. As a result, the middle joint plate 3 rotates counterclockwise around the fourth hole 3b with respect to the cylindrical body 4. On the other hand, the first hole 2 a of the end node plate 2 rotates together with the middle node plate 3. And the 1st link 7 rotates centering on the 7th hole 4b. The second hole 2b connected to the first mounting hole 7a of the first link 7 is a turning locus a of the first hole 2a and a turning locus b of the second hole 2b during the rotation of the first link 7. The end plate 2 is rotated by being pushed by the first link 7 so as to widen the gap. As a result, the end node plate 2 rotates counterclockwise with respect to the middle node plate 3 about the first hole 2a. At this time, the middle node plate 3 rotates about 90 degrees with respect to the cylindrical body 4, and the end node plate 2 rotates about 90 degrees with respect to the middle node plate 3.

第一の実施例おいては末節板２と、中節骨に該当する中節板３と、基節骨に該当する円筒体４と、中手骨に該当する中手板５とを第一・第二のリンク７・８で結ぶだけの簡単な構成で義指１を構成することができる。また、末節板２には、掌側Ａに第一孔２ａ（第一連結点）、手の甲側Ｂに第二孔２ｂ（第一連結部）を設けたので、第一孔２ａと第二孔２ｂとのスパンが大きくなり、第一リンク７による末節板２の回動トルクは最大のものとなる。一方、中節板３には、手の甲側Ｂに第四孔３ｂ（第二連結点）、掌側Ａに第五孔３ｃ（第二連結部）を設けたので、第四孔３ｂと第五孔３ｃとのスパンが大きくなり、第二リンク８による中節板３の回動トルクは最大のものになる。 In the first embodiment, the first node plate 2, the middle node plate 3 corresponding to the middle phalanx, the cylindrical body 4 corresponding to the proximal phalanx, and the middle hand plate 5 corresponding to the metacarpal bone The prosthetic finger 1 can be configured with a simple configuration in which the second links 7 and 8 are simply connected. Further, since the terminal plate 2 is provided with the first hole 2a (first connection point) on the palm side A and the second hole 2b (first connection part) on the back side B of the hand, the first hole 2a and the second hole The span with 2b becomes large, and the rotational torque of the end node plate 2 by the first link 7 becomes the maximum. On the other hand, since the middle joint plate 3 is provided with the fourth hole 3b (second connection point) on the back side B of the hand and the fifth hole 3c (second connection part) on the palm side A, the fourth hole 3b and the fifth hole 3b are provided. The span with the hole 3c is increased, and the rotation torque of the middle joint plate 3 by the second link 8 is maximized.

人間型ロボットの手先に使用できる義指１０を図６から図１１に亘って説明する。なお、第一実施例と同じ部材は、同じ名称と同じ符号を使って説明する。図６はロボットの義指１０の側面図を示し、末節骨に該当する末節体１２（第一部材）と中節骨に該当する中節体１３（第二部材）と基節骨に該当する基節体１４（第三部材）と中手骨に該当する中手体１５（第四部材）とをそれぞれ図７の鎖線で示す線で接続している。そして、末節体１２と基節体１４とを第一リンク７（第一連結部材）で接続している。この第一リンク７は細長い体状をしており、一端に第一取付孔７ａ、他端に第二取付孔７ｂが開けられている。一方、中節体１３と中手体１５とは第二リンク８（第二連結部材）で接続している。この第二リンク８も細長い体状をしており、一端に第三取付孔８ａ、他端に第四取付孔８ｂが開けられている。 A prosthetic finger 10 that can be used on the hand of a humanoid robot will be described with reference to FIGS. In addition, the same member as a 1st Example is demonstrated using the same name and the same code | symbol. FIG. 6 shows a side view of the prosthetic finger 10 of the robot, corresponding to the distal segment 12 (first member) corresponding to the distal phalanx, the middle segment 13 (second member) corresponding to the middle phalanx, and the proximal phalanx. The proximal body 14 (third member) and the metacarpal body 15 (fourth member) corresponding to the metacarpal bone are connected by lines shown by chain lines in FIG. And the end node body 12 and the base node body 14 are connected by the 1st link 7 (1st connection member). The first link 7 has an elongated body shape, and has a first mounting hole 7a at one end and a second mounting hole 7b at the other end. On the other hand, the middle joint body 13 and the middle hand body 15 are connected by a second link 8 (second connecting member). The second link 8 also has an elongated body shape, and has a third mounting hole 8a at one end and a fourth mounting hole 8b at the other end.

図７に示すように、末節体１２は二枚の板を並べて組合わせたもので、一端側の掌側Ａに中節体１３に接続する第一孔２ａ（第一連結点）が設けられ、手の甲側Ｂに第一リンク７の第一取付孔７ａに接続する第二孔２ｂ（第一連結部）が設けられている。中節体１３も二枚の板を並べて組合わせたもので、一端側の掌側Ａに末節体１２に接続する第三孔３ａが設けられ、他端側の手の甲側Ｂには基節体１４に接続する第四孔３ｂ（第二連結点）と、掌側Ａに第二リンク８の第三取付孔８ａに接続する第五孔３ｃ（第二連結部）とが設けられている。基節体１４も二枚の板を並べて組合わせたもので、一端側の手の甲側Ｂに中節体１３に接続する第六孔４ａが設けられている。また、基節体１４の一端側には第一リンク７の第二取付孔７ｂに接続する第七孔４ｂが設けられている。基節体１４の他端側には、両側面の掌側Ａ側に中手体１５に接続する第八孔４ｃ（第三連結点）が設けられている。 As shown in FIG. 7, the end node body 12 is a combination of two plates arranged side by side, and a first hole 2a (first connection point) connected to the middle node body 13 is provided on the palm side A on one end side. On the back side B of the hand, a second hole 2b (first connecting portion) connected to the first mounting hole 7a of the first link 7 is provided. The middle joint 13 is also a combination of two plates arranged side by side, provided with a third hole 3a connected to the distal joint 12 on the palm side A on one end, and a base joint on the back B of the hand on the other end. A fourth hole 3b (second connection point) connected to 14 and a fifth hole 3c (second connection portion) connected to the third attachment hole 8a of the second link 8 are provided on the palm side A. The base joint body 14 is also a combination of two plates arranged side by side, and a sixth hole 4a connected to the middle joint body 13 is provided on the back side B of the hand on one end side. A seventh hole 4 b connected to the second mounting hole 7 b of the first link 7 is provided on one end side of the base body 14. On the other end side of the base body 14, an eighth hole 4 c (third connection point) connected to the middle hand body 15 is provided on the palm side A side on both sides.

ここで図１０に示すように、基節体１４の第七孔４ｂ（第三連結部）は、中節体１３が第四孔３ｂを中心に反時計方向に回動すると、第一リンク７により末節体１２の第二孔２ｂの回動軌跡ｂが第一孔２ａの回動軌跡ａを内周から外周に向けて交差して回動する位置に設定されている。一方、中手体１５の第十孔５ｂ（第四連結部）は、基節体１４が第八孔４ｃを中心に反時計方向に回動すると、中節体１３の第五穴３ｃの回動軌跡ｃが第四孔３ｂの回動軌跡ｄを外周から内周に向けて交差して回動する位置に設定されている。 Here, as shown in FIG. 10, the seventh hole 4 b (third connection portion) of the base joint body 14 is connected to the first link 7 when the middle joint body 13 rotates counterclockwise about the fourth hole 3 b. Thus, the turning locus b of the second hole 2b of the end node 12 is set at a position where the turning locus a of the first hole 2a intersects from the inner periphery toward the outer periphery. On the other hand, the tenth hole 5b (fourth connecting portion) of the middle body 15 rotates around the fifth hole 3c of the middle joint 13 when the base joint 14 rotates counterclockwise around the eighth hole 4c. The movement trajectory c is set to a position where the rotation trajectory d of the fourth hole 3b intersects and rotates from the outer periphery toward the inner periphery.

中手体１５は薄板を箱状に形成したもので一端側の掌側Ａに、基節体１４の第八孔４ｃに接続する第九孔５ａが設けられ、中央に第二リンク８の第四取付孔８ｂに接続する第十孔５ｂが設けられている。そして、箱内には、モータ１６と長尺の送りねじ１７（螺線体）とこの送りねじ１７に螺合するナット１８、そしてこのナット１８と基節体１４の端部孔１４ｄとを連結する第三リンク１９とが配置されている。第三リンク１９には一端に端部孔１４ｄに連結する第一接続孔１９ａと、他端にナット１８の突起１８ａに連結する第二接続孔１９ｂとが設けられている。中手体１５の他端側には、送りねじ１７の一端に取付けられる円ボス２０と、この円ボス２０に回転自在に取付けられ凸ピン２１ａを有する大ギヤ２１と、円ボス２０と一体的に取付けられ外周方向に角２２ａを突出する回転板２２と、大ギヤ２１に噛合う二段ギヤ２３と、モータ１６の回転軸に取り付けられる小ギヤ２４とが配置されている。そして、モータ１６の回転は小ギヤ２４、二段ギヤ２３、大ギヤ２１、回転板２２、円ボス２０を介して送りねじ１７に減速回転伝達される。 The middle hand body 15 is a thin plate formed in a box shape, and a palm hole A on one end side is provided with a ninth hole 5a connected to the eighth hole 4c of the base joint body 14, and the second link 8 in the center. A tenth hole 5b connected to the four mounting holes 8b is provided. In the box, a motor 16, a long feed screw 17 (spiral body), a nut 18 screwed into the feed screw 17, and the nut 18 and an end hole 14 d of the base joint body 14 are connected. The third link 19 is arranged. The third link 19 is provided with a first connection hole 19a connected to the end hole 14d at one end and a second connection hole 19b connected to the protrusion 18a of the nut 18 at the other end. On the other end side of the middle hand body 15, a circular boss 20 attached to one end of the feed screw 17, a large gear 21 rotatably attached to the circular boss 20 and having a convex pin 21 a, and the circular boss 20 are integrated. A rotating plate 22 that protrudes from the corner 22a in the outer peripheral direction, a two-stage gear 23 that meshes with the large gear 21, and a small gear 24 that is attached to the rotating shaft of the motor 16 are disposed. The rotation of the motor 16 is reduced and transmitted to the feed screw 17 through the small gear 24, the two-stage gear 23, the large gear 21, the rotating plate 22 and the circular boss 20.

図８に示すように、モータ１６から送りネジ１７への回転伝達は、モータ１６の回転が小ギヤ２４、二段ギヤ２３、大ギヤ２１に伝達された後、大ギヤ２１の凸ピン２１ａが回転板２２の角２２ａに当接し、回転板２２より円ボス２０を介して行われる。ここでの角１９ａの幅は小さく設定されている。したがいモータ１６の回転方向が変わると、凸ピン２１ａは約一周、空回転して再び角２２ａに当接する。したがい、モータ１６は逆転時には空転をする時間が与えられている。このような空転時間を設けたことで、送りねじ１７により移動するナット１８が、移動の終端で壁に当たって移動を禁止されたとき、ナット１８が送りねじ１７に食付いて送りねじ１７の回転を阻止したとしても、モータ１６は逆転をすることができる。そして、この逆転で凸ピン２１ａが角２２ａに激しく当接して、ナット１８による送りねじ１７の食付きを解除することができる。 As shown in FIG. 8, the rotation transmission from the motor 16 to the feed screw 17 is such that the rotation of the motor 16 is transmitted to the small gear 24, the two-stage gear 23, and the large gear 21, and then the convex pin 21a of the large gear 21 is moved. The contact is made with the corner 22 a of the rotating plate 22, and is performed from the rotating plate 22 through the circular boss 20. The width of the corner 19a here is set small. Accordingly, when the rotation direction of the motor 16 is changed, the convex pin 21a rotates idly about once and contacts the corner 22a again. Accordingly, the motor 16 is given time to idle during reverse rotation. By providing such idling time, when the nut 18 moved by the feed screw 17 hits the wall at the end of the movement and is prohibited from moving, the nut 18 bites the feed screw 17 and rotates the feed screw 17. Even if blocked, the motor 16 can reverse. Then, by this reverse rotation, the convex pin 21 a abuts against the corner 22 a violently, and the biting of the feed screw 17 by the nut 18 can be released.

図９は第二の実施例の義指１０を人間型ロボットの手先に使用した例を示す。人差し指、中指、薬指、小指には前記の義指１０が使用される。義指１０は回動軸１０ａを主甲板３０に回動自在に軸支している。親指は上記義指１０の中節体１３を取り除き、末節体１２と基節体１４とを第四リンク２５で連結している。そして親指の中手体１５は大菱形骨に該当する副甲板３１に回動軸３１ａを回動自在に軸支している。主甲板３０と副甲板３１とは蝶板で連結されている。主甲板３０には中手体１５とほぼ同じ構成の第一アクチュエータ３２と第二アクチュエータ３３が取付けられている。第一アクチュエータ３２のナット１８と副甲板３１とは第五リンク２６で連結されている。第二アクチュエータ３３のナット１８にはスライド板２７が連結されている。このスライド板２７には、図中下方に移動することで人差し指、薬指、小指に該当する義指１０を所定の方向に回動させる傾斜溝２７ａを形成している。一方、副甲板３１には第三アクチュエータ３４が設けられている。この第三アクチュエータ３４のナット１８は回動板２８に連結されており、ナット１８が図中左方に移動をすると回動板２８は親指を反時計方向に回動させるものとなっている。 FIG. 9 shows an example in which the artificial finger 10 of the second embodiment is used at the hand of a humanoid robot. The above-mentioned prosthetic finger 10 is used for the index finger, middle finger, ring finger, and little finger. The artificial finger 10 pivotally supports the pivot shaft 10a on the main deck 30 so as to be pivotable. The thumb removes the middle segment 13 of the artificial finger 10 and connects the end segment 12 and the base segment 14 with a fourth link 25. Then, the metatarsal body 15 of the thumb pivotally supports a rotation shaft 31a on a sub deck 31 corresponding to a large rhomboid bone. The main deck 30 and the sub deck 31 are connected by a butterfly board. The main deck 30 is provided with a first actuator 32 and a second actuator 33 having the same configuration as that of the middle arm 15. The nut 18 of the first actuator 32 and the sub deck 31 are connected by a fifth link 26. A slide plate 27 is connected to the nut 18 of the second actuator 33. The slide plate 27 is formed with an inclined groove 27a for moving the artificial finger 10 corresponding to the index finger, ring finger, and little finger in a predetermined direction by moving downward in the figure. On the other hand, a third actuator 34 is provided on the sub deck 31. The nut 18 of the third actuator 34 is connected to a rotating plate 28. When the nut 18 moves to the left in the figure, the rotating plate 28 rotates the thumb counterclockwise.

（動作の説明）
図１０に示すように、義指１０は、モータ１６が起動して送りねじ１７がナット１８を図中左方向に移動させると、ナット１８の動きは第三リンク１９を介して基節体１４に伝達される。すると基節体１４は、第八孔４ｃを中心にして中手体１５に対して反時計方向に回動する。この回動に伴い中節体１３の第四孔３ｂは、基節体１４とともに回動する。一方、第二リンク８は第十孔５ｂを中心にして回動する。そして、第二リンク８の第三取付孔８ａに連結している第五孔３ｃは、第二リンク８の回動の途中で第四孔３ｂの回動軌跡ｄを外周から内周に向けて交差するように第二リンク８に引かれて回動する。この結果、中節体１３は基節体１４に対し第四孔３ｂを中心にして反時計方向に回動する。一方、末節体１２の第一孔２ａは、中節体１３とともに回動をする。そして、第一リンク７は第七孔４ｂを中心にして回動する。第一リンク７の第一取付孔７ａに連結している第二孔２ｂは、第一リンク７の回動の途中で第一孔２ａの回動軌跡ａの内周より外周に向けて交差するように第一リンク７に押されて回動する。この結果、末節体１２は中節体１３に対し第一孔２ａを中心にして反時計方向に回動する。(Description of operation)
As shown in FIG. 10, when the motor 16 is activated and the feed screw 17 moves the nut 18 in the left direction in the figure, the artificial finger 10 moves the nut 18 via the third link 19. Is transmitted to. Then, the base body 14 rotates counterclockwise with respect to the middle hand body 15 about the eighth hole 4c. With this rotation, the fourth hole 3 b of the middle joint body 13 rotates together with the base joint body 14. On the other hand, the second link 8 rotates around the tenth hole 5b. And the 5th hole 3c connected with the 3rd attachment hole 8a of the 2nd link 8 turns the rotation locus | trajectory d of the 4th hole 3b toward the inner periphery from the outer periphery in the middle of rotation of the 2nd link 8. It is pulled by the second link 8 so as to intersect and turns. As a result, the middle joint member 13 rotates counterclockwise around the fourth hole 3b with respect to the base joint member 14. On the other hand, the first hole 2 a of the terminal joint 12 rotates together with the middle joint 13. And the 1st link 7 rotates centering on the 7th hole 4b. The second hole 2b connected to the first mounting hole 7a of the first link 7 intersects from the inner periphery to the outer periphery of the rotation locus a of the first hole 2a during the rotation of the first link 7. Thus, the first link 7 is pushed and rotated. As a result, the terminal joint 12 rotates counterclockwise with respect to the middle joint 13 about the first hole 2a.

図１１に示すようにナット１８が図中左端に達すると基節体１４は、第八孔４ｃを中心にして中手体１５に対して反時計方向に９０度回動する。この回動に伴って中節体１３の第四孔３ｂは、基節体１４とともに反時計方向に回動する。一方、第二リンク８は第十孔５ｂを中心にして回動する。そして、第二リンク８の第三取付孔８ａに連結している第五孔３ｃは、この回動の途中で第八孔４ｃに接近する方向に第二リンク８に引かれて回動する。この結果、中節体１３は基節体１４に対し第四孔３ｂを中心にして反時計方向に回動する。一方、末節体１２の第一孔２ａは、中節体１３とともに回動をする。そして、第一リンク７は第七孔４ｂを中心にして回動する。第一リンク７の第一取付孔７ａに連結している第二孔２ｂは、この回動の途中で第一孔２ａの回動軌跡ａより離れるように、第一リンク７に押されて回動する。この結果、末節体１２は中節体１３に対し第一孔２ａを中心にして反時計方向に回動する。このときの中節体１３は基節体１４に対して約９０度の回動をし、また末節体１２は中節体１３に対して約９０度の回動をする。したがい、基節体１４を９０度までに曲げる過程で、掌側Ａにある物体を基節体１４、中節体１３、末節体１２とで把持することができる。 As shown in FIG. 11, when the nut 18 reaches the left end in the figure, the base joint body 14 rotates 90 degrees counterclockwise with respect to the middle hand body 15 about the eighth hole 4c. With this rotation, the fourth hole 3 b of the middle joint body 13 rotates together with the base joint body 14 in the counterclockwise direction. On the other hand, the second link 8 rotates around the tenth hole 5b. And the 5th hole 3c connected with the 3rd attachment hole 8a of the 2nd link 8 is pulled by the 2nd link 8 in the direction which approaches the 8th hole 4c in the middle of this rotation, and rotates. As a result, the middle joint member 13 rotates counterclockwise around the fourth hole 3b with respect to the base joint member 14. On the other hand, the first hole 2 a of the terminal joint 12 rotates together with the middle joint 13. And the 1st link 7 rotates centering on the 7th hole 4b. The second hole 2b connected to the first mounting hole 7a of the first link 7 is pushed by the first link 7 so as to be separated from the rotation locus a of the first hole 2a during the rotation. Move. As a result, the terminal joint 12 rotates counterclockwise with respect to the middle joint 13 about the first hole 2a. At this time, the middle joint 13 rotates about 90 degrees with respect to the base joint 14 and the end joint 12 turns about 90 degrees with respect to the middle joint 13. Accordingly, in the process of bending the base segment 14 to 90 degrees, the object on the palm side A can be gripped by the base segment 14, the middle segment 13, and the terminal segment 12.

図１１において基節体１４を外力で時計方向に回動させようとすると、第三リンク１９はナット１８を右方に移動させようとする。この移動力は送りねじ１７を回転させようとする。しかし、送りねじ１７のピッチを０．４ミリ以下とすると、ナット１８の移動で送りねじ１７を回転させることは困難であるから、基節体１４を外力で時計方向に回動させることはできず、掌側Ａにある物体を基節体１４、中節体１３、末節体１２とで把持した状態を強力に維持できる。 In FIG. 11, when the base member 14 is rotated clockwise by an external force, the third link 19 tries to move the nut 18 to the right. This moving force tries to rotate the feed screw 17. However, if the pitch of the feed screw 17 is 0.4 mm or less, it is difficult to rotate the feed screw 17 by the movement of the nut 18, so the base joint body 14 can be rotated clockwise by an external force. Therefore, the state in which the object on the palm side A is gripped by the base joint body 14, the middle joint body 13, and the terminal joint body 12 can be strongly maintained.

第二実施例において基節体１４と螺線体である送りねじ１７とを、ナット１８と第三リンク１９とで連結したものとして説明したが、基節体１４に円弧ギヤを設け、これに直接噛合うウォーム（螺線体）を中手体１５に設けてもよい。このようにすると一定の力で基節体１４を回動することができる。 In the second embodiment, the base body 14 and the feed screw 17 which is a spiral body are described as being connected by the nut 18 and the third link 19, but the base body 14 is provided with an arc gear, A worm (spiral body) that directly meshes may be provided in the middle hand body 15. In this way, the base member 14 can be rotated with a constant force.

図１２は第二実施例の中手体１５の構成を換えたものであり、第二実施例と同じ部材は、同じ名称と同じ符号を使って説明する。末節骨に該当する末節体１２（第一部材）と中節骨に該当する中節体１３（第二部材）と基節骨に該当する基節体１４（第三部材）と中手骨に該当する中手体３８（第四部材）とが設けられる。そして、末節体１２と基節体１４とを第一リンク７（第一連結部材）で接続している。一方、中節体１３と中手体３８とは第二リンク８（第二連結部材）で接続している。この中手体３８の一端側の掌側Ａに、基節体１４の第八孔４ｃに接続する第九孔５ａが設けられ、中央に第二リンク８の他端側の第四取付孔８ｂに接続する第十孔５ｂが設けられている。そして、中手体３８内には、基節体１４に直接、連結するピストン４０とピストンを収納するシリンダー４１が配置されている。シリンダー４１の両端には空気口４１ａが設けられ一方の空気口４１ａから空気を送り込むことでピストン４０を所定の方向に移動させる。このピストン４０の移動で基節体１４は所定の方向に回動する。空気口４１ａから空気を送り込む圧力を調整することで基節体１４、中節体１３、末節体１２の回動力と回動速度とを任意のものとすることができる。 FIG. 12 shows the structure of the middle body 15 of the second embodiment, and the same members as those of the second embodiment will be described using the same names and the same reference numerals. The distal segment 12 (first member) corresponding to the distal phalanx, the middle segment 13 (second member) corresponding to the middle phalanx, the proximal segment 14 (third member) corresponding to the proximal phalanx, and the metacarpal bone A corresponding metacarpal body 38 (fourth member) is provided. And the end node body 12 and the base node body 14 are connected by the 1st link 7 (1st connection member). On the other hand, the middle joint body 13 and the middle hand body 38 are connected by a second link 8 (second connecting member). A ninth hole 5a connected to the eighth hole 4c of the base joint body 14 is provided on the palm side A on one end side of the middle body 38, and a fourth mounting hole 8b on the other end side of the second link 8 is provided in the center. The 10th hole 5b connected to is provided. A piston 40 that is directly connected to the base joint body 14 and a cylinder 41 that houses the piston are disposed in the middle body 38. Air ports 41a are provided at both ends of the cylinder 41, and the piston 40 is moved in a predetermined direction by sending air from one air port 41a. The movement of the piston 40 causes the base body 14 to rotate in a predetermined direction. By adjusting the pressure at which air is fed from the air port 41a, the turning power and the rotational speed of the base joint body 14, the middle joint body 13, and the end joint body 12 can be made arbitrary.

２第一部材（末節板）
３第二部材（中節板）
４第三部材（基節板）
５第四部材（中手板）
７第一連結部材（第一リンク）
８第二連結部材（第二リンク）
２ａ３ａ第一連結点（第一孔）（第三孔）
３ｂ４ａ第二連結点（第四孔）（第六孔）
４ｃ５ａ第三連結点（第八孔）（第九孔）
２ｂ７ａ第一連結部（第二孔）（第一取付孔）
３ｃ８ａ第二連結部（第五孔）（第三取付孔）2 First member (terminal plate)
3 Second member (medium plate)
4 Third member (base plate)
5 Fourth member (middle plate)
7 First connecting member (first link)
8 Second connecting member (second link)
2a 3a First connection point (first hole) (third hole)
3b 4a Second connection point (fourth hole) (sixth hole)
4c 5a Third connection point (8th hole) (9th hole)
2b 7a First connecting part (second hole) (first mounting hole)
3c 8a Second connecting part (fifth hole) (third attachment hole)

Claims

The first member (2) corresponding to the distal phalanx, the second member (3) corresponding to the middle phalanx, the fourth member (4) corresponding to the proximal phalanx, and the fourth member (5) corresponding to the metacarpal bone And a second connecting member (8) for connecting the first member and the third member, and a second connecting member (8) for connecting the second member and the fourth member. In the prosthetic finger in which the first member and the second member are rotated in the same direction by rotating the third member,
The first connection point (2a) (3a) between the first member and the second member is arranged on the palm side,
The second connection point (3b) (4a) between the second member and the third member is arranged on the back side of the hand,
The first connecting portion (2b) (7a) between the first member and the first connecting member is disposed on the back side of the hand,
A prosthetic finger characterized in that the second connecting portion (3c) (8a) between the second member and the second connecting member is arranged on the palm side.

The fourth member is provided with a spiral body (17) that is transmitted by decelerating the rotation of the motor (16), and the spiral body and the third member are engaged with each other. The artificial finger according to claim 1, wherein the third member is rotated.

The fourth member is provided with a piston (40) that is moved forward and backward by fluid pressure, the piston and the third member are engaged, and the third member is rotated by the piston. The prosthetic finger according to claim 1.