JP2015037713A - Electromotive artificial hand - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an electromotive artificial hand suitable for size reduction while conventional functions are kept.SOLUTION: The artificial hand comprises a first artificial finger 17 corresponding to the forefinger; a second artificial finger 19 corresponding to the middle finger; a third artificial finger 21 corresponding to the ring finger; a fourth artificial finger 35 corresponding to the little finger; a fifth artificial finger 11 corresponding to the thumb; and a base 10 for supporting the artificial fingers. The base 10 has plural motors 26 attached thereto to move the artificial fingers with the motive power of the motors 26. In order to be suitable for size reduction, a sliding member 70 for interlocking the third artificial finger 21 and the fourth artificial finger 35 is provided and either the third artificial finger 21 or the fourth artificial finger 35 is provided with a motor 26 to interlock the third artificial finger 21 and the fourth artificial finger 35 via a sliding member 55 with the motive power of the motor 26.

Description

  The present invention relates to an electric prosthesis that drives five fingers with a motor.

  In an electric prosthetic hand that drives five fingers with a motor, a motor is attached to each of the thumb, index finger, middle finger, ring finger, and little finger, and the fingers are bent and extended by controlling forward / reverse rotation. When a motor is provided for each finger in this manner, each finger can be appropriately moved to pick an object with the fingertip, hold an object, or hold a writing instrument. If the index finger, ring finger, and little finger are pivotally attached to the base corresponding to the palm, the fingertip is opened so that a large object can be grasped.

  JP, 2004-041279, JP, 2011-019636, JP, 2012-187426, A

The motor that moves each finger can produce stronger torque as the outer diameter increases. When a motor with a large outer diameter is attached to each of the thumb, index finger, middle finger, ring finger, and little finger, the width of the palm is increased to secure a space for arranging the motor. As the number of motors increases, the control circuit that performs forward / reverse rotation control of the motors also increases in number of parts. The motor is an expensive component. The present invention provides an inexpensive electric prosthesis suitable for reduction in size and weight while maintaining a conventional function.

  The first invention corresponds to the first artificial finger corresponding to the index finger, the second artificial finger corresponding to the middle finger, the third artificial finger corresponding to the ring finger, the fourth artificial finger corresponding to the little finger, and the thumb. It consists of a fifth artificial finger and a base that supports each artificial finger. When a plurality of motors are attached to the base and each prosthetic finger is moved by the power of this motor, a slide member that interlocks the third and fourth artificial fingers is provided, and the third or fourth artificial finger is provided. A motor was provided on any one of these, and the third and fourth artificial fingers were interlocked via a slide member by the power of the motor.

  According to a second aspect of the present invention, in the electric prosthesis, the first prosthetic finger, the third prosthetic finger, and the fourth prosthetic finger are rotatably provided on the base. And the rotation member was provided in the slide member, and the 3rd artificial finger and the 4th artificial finger were made to interlock | cooperate through this rotation member.

In the first invention, since either the third or fourth artificial finger is provided with a motor, and the third and fourth artificial fingers are interlocked via the slide member with the power of this motor, The installation space for the motor and the motor can be omitted, and the size can be reduced at low cost.
In the second invention, since the rotation member is provided on the slide member and the third and fourth artificial fingers are interlocked via the rotation member, only the fourth artificial finger is rotated independently. Can do.

The top view which shows the electric prosthesis of this invention Top view and side view showing details of little finger Top and side views showing details of ring finger The top view of Example 1 which shows connection with a ring finger and a little finger The top view of Example 2 which shows connection with a ring finger and a little finger Wiring diagram of electric prosthesis of the present invention The figure which shows the operation | movement aspect of the electric prosthetic hand of this invention

  The electric prosthetic hand of the present invention corresponds to the first artificial finger corresponding to the index finger, the second artificial finger corresponding to the middle finger, the third artificial finger corresponding to the ring finger, the fourth artificial finger corresponding to the little finger, and the thumb. And a base that supports each of the artificial fingers. When a plurality of motors are attached to the base and each artificial finger is moved by the power of the motor, a slide member that interlocks the third and fourth artificial fingers is provided to reduce the size and weight. A motor is provided on either the third or fourth artificial finger, and the third and fourth artificial fingers are interlocked via a slide member by the power of the motor. Further, the first artificial finger, the third artificial finger, and the fourth artificial finger are rotatably attached to the base, and the slide member is provided with a rotary member. Interlocked with the 4th artificial finger.

  FIG. 1 is a plan view showing an electric prosthesis of the present invention. A first bracket 12 that supports a thumb 11 is attached to a base 10 so as to be rotatable by a support shaft. A first drive unit 13 for rotating the first bracket 12 is attached to the center of the base 10. A second drive unit 16 that bends and extends the thumb 11 (fifth artificial finger) via the pantograph mechanism 15 is provided in the first bracket 12. A third drive unit 18 that bends and extends the index finger 17 (first artificial finger) and a fourth drive unit 20 that bends and extends the middle finger 19 (second artificial finger) are provided at the upper end of the base 10. A fifth drive unit 22 for bending and extending the ring finger 21 (third artificial finger) is provided.

  As shown in FIG. 3, the first to fifth drive units include a motor 26, a reduction gear group 27, and a feed screw 28 that rotates from the motor 26 via the reduction gear group 27. And a nut 29 that is screwed into the feed screw 28 to move forward and backward, and a first rod 30 that moves forward and backward together with the nut 29. A potentiometer 31 that engages with the first rod 30 and protective switches 32a and 32b that emit a signal that cuts off the power to the motor 26 at the end of movement of the first rod 30 are provided on the outside of the housing 25. . The protection switches 32 a and 32 b cut off the power supply to the motor 26 at the end of movement of the first rod 30. This suppresses battery consumption. Note that the potentiometer 31 is not attached to the fifth drive unit 22. The size of the housing 25 is determined by a motor 26 accommodated therein. Since each drive unit is required to generate a strong force, the outer diameter of the motor 26 is larger than the thickness of the base of each finger. The third drive unit 18 and the fifth drive unit 22 are rotatably attached to the base 10. And it is restricted by the spring pressure of the leaf | plate spring 33 fixed to the base 10 from rotating freely. On the other hand, the fourth drive unit 20 is fixed to the base 10. In addition, a battery chamber is provided next to the first drive unit 13 and a square battery 34 is accommodated therein.

  The drive unit is not provided in the little finger 35 (fourth artificial finger). As shown in FIG. 2, the little finger 35 includes a first member 40 corresponding to the distal phalanx, a second member 41 corresponding to the middle phalanx, a third member 42 corresponding to the proximal phalanx, and a fourth corresponding to the metacarpal bone. And a member 43. The first member 40 and the second member 41 are connected by a first shaft 44, the second member 41 and the third member 42 are connected by a second shaft 45, and the third member 42 and the fourth member 43 are first. The three shafts 46 are connected. The first shaft 44, the second shaft 45, and the third shaft 46 pivotally support each member at a position on the back side of the hand. The fourth member 43 is supported by a second bracket 47 attached to the base 10 so as to be rotatable by a first screw 48, and is restricted from rotating by the spring pressure of the small plate spring 49. . The fourth member 43 has a box shape with the same thickness as the base of the little finger 35, and has a guide shaft 50, a sliding piece 51 fitted to the guide shaft 50, and a first moving with the sliding piece 51. Two rods 52 are provided. The sliding piece 51 is provided with a first pin 53 that protrudes toward the base 10. The tip of the second rod 52 is connected to the palm-side end of the third member 42. A third bracket 54 is attached to the portion of the third shaft 46. Between the base 10 and the sliding piece 51, a slide plate 55 (slide member) and a connecting plate 56 (rotating member) are arranged. One end of the connecting plate 56 is rotatably supported by the slide plate 55, and the other end is fitted to the first pin 53.

  A first rotating piece 57 is pivotally supported at the center of the third member 42. One end of the first rotating piece 57 and the third bracket 54 are connected by the first arm 58, and when the third member 42 rotates counterclockwise around the third shaft 46, the first rotating piece 57 is also pushed by the first arm 58 and rotates counterclockwise. One end of the first link 59 is attached to the other end of the first rotating piece 57. The other end of the first link 59 is connected to the palm side of the second member 41. One end of the second link 60 is attached to the third member 42 on the back side of the hand. A second rotating piece 61 is pivotally supported at the center of the second member 41. The other end of the second link 60 is connected to one end of the second rotating piece 61. When the third member 42 rotates counterclockwise about the third shaft 46, the first link 59 rotates the second member 41 counterclockwise about the second shaft 45. Along with this rotation, the second link 60 rotates the second rotation piece 61 counterclockwise. One end of a third link 62 is attached to the other end of the second rotating piece 61, and the other end of the third link 62 is connected to the palm side of the first member 40. Accordingly, when the second member 41 rotates counterclockwise about the second shaft 45, the third link 63 rotates the first member 40 counterclockwise about the first shaft 44. In this way, the little finger 35 is bent.

  As shown in FIG. 3, the ring finger 21 corresponds to the first member 40 corresponding to the distal phalanx, the second member 41 corresponding to the middle phalanx, and the proximal phalanx. The third member 42 and the fifth drive unit 22 corresponding to the metacarpal bone. The first member 40 and the second member 41 are connected by a first shaft 44, the second member 41 and the third member 42 are connected by a second shaft 45, and the third member 42 and the fifth drive unit 22 are They are connected by a third shaft 46. The first shaft 44, the second shaft 45, and the third shaft 46 pivotally support each member at a position on the back side of the hand. A third bracket 54 is attached to the portion of the third shaft 46. The nut 29 of the fifth drive unit 22 is provided with a second pin 65 protruding toward the base 10. A slide plate 55 is disposed between the base 10 and the nut 29. The second pin 65 is fitted to the slide plate 55.

  As shown in FIG. 4, the slide plate 55 is attached to one end of the connecting plate 56 so as to be rotatable, and has a long guide hole 55 a that fits into the protrusion 10 a of the base 10 and an arc that fits into the second pin 65. A hole 55b is provided. The fifth drive unit 22 is attached to the base 10 via the second screw 70, and the arc hole 55 b draws an arc centered on the second screw 70. Accordingly, the ring finger 21 can be rotated from the position indicated by the chain line to the position indicated by the solid line. The fourth member 43 is rotatably supported by the second bracket 47 with a first screw 48. Therefore, when the little finger 35 rotates about the first screw 48 from the position indicated by the chain line to the position indicated by the solid line, the connecting plate 56 is pushed by the first pin 53 and rotates together with the little finger 35.

  As shown in FIG. 3, when the motor 26 of the fifth drive unit 22 is activated and the nut 29 moves to the right in the figure, the first member 40, the second member 41, and the third member 42 of the ring finger 21 are solid lines. It bends as shown by a thin line from the position shown, and finally bends to a position shown by a chain line. At this time, since the first member 40, the second member 41, and the third member 42 rotate using the back side of the hand as a rotation fulcrum, even if the ring finger 21 is covered with artificial skin, the artificial skin is not greatly stretched. Damage to the artificial skin can be prevented. When the nut 29 moves to the right, the second pin 65 of the nut 29 moves to the right along the slide plate 55 with the protrusion 10a. Then, the little finger 35 causes the connecting plate 56 to move the sliding piece 51 to the right in FIG. As the sliding piece 51 moves to the right, the first member 40, the second member 41, and the third member 42 of the little finger 35 are bent in the same manner as the ring finger 21 shown in FIG. And the 1st rod 30 interrupts | blocks one of protection switch 32a * 32b at a movement termination | terminus, and stops the motor 26. FIG.

  In the first embodiment, the ring finger 21 and the little finger 35 are interlocked using the slide plate 55 and the connecting plate 56. With this configuration. The little finger 35 can omit the drive unit and set the size of the fourth member 43 to the same size as the root of the little finger 35, and the electric prosthesis can be miniaturized. Further, by using the connecting plate 56, the little finger 35 can be opened and closed independently. Since the motor 26 for driving the little finger 35 is not required, the control circuit can be simplified and the electric prosthesis can be made inexpensive. Alternatively, the fifth drive unit 22 may be provided on the little finger 35 and the fourth member 43 may be provided on the ring finger 21.

  FIG. 5 is a plan view showing a second embodiment showing the connection between the ring finger 21 and the little finger 35. In addition, the same member as Example 1 is demonstrated using the same code | symbol. The slide plate 71 is provided with a long guide hole 71 a that fits the second screw 70, a round hole 71 b that fits the second pin 65, and a round hole 71 c that fits the first pin 51. . The slide plate 71 can be rotated around the second screw 70 together with the fifth drive unit 22. Therefore, in Example 2, when the little finger 35 or the ring finger 22 is opened and closed, both the ring finger 22 and the little finger 35 rotate. By comprising in this way, the connection board 56 can be abbreviate | omitted with respect to Example 1, and simplification of a structure can be achieved.

  FIG. 6 is a wiring diagram showing a drive circuit of the electric prosthetic hand of the present invention. Five control ICs 1, 2, 3, 4, 5 for controlling forward / reverse rotation of the motor 26, an operational amplifier 6 interlocked with the potentiometer 31, First to sixth command switches 7a, 7b, 7c, 7d, 7e, 7f that command the movement of each finger, a diode D that restricts transmission of signals from each command switch to another circuit, and a control circuit It comprises a three-terminal regulator 8 for setting the voltage. The control IC 1 is the motor 26 of the first drive unit 13, the control IC 2 is the motor 26 of the second drive unit 16, the control IC 3 is the motor 26 of the third drive unit 18, and the control IC 4 is the motor 26 of the fourth drive unit 20. The control IC 5 controls the motor 26 of the fifth drive unit 22. When the resistance R1 connected to the operational amplifier 6 coincides with the resistance value of the potentiometer 31 which is changed by the movement of the nut 29, the output terminals 66a and 6b of the operational amplifier 6 are set to values at zero voltage. By setting the resistance R1 to such a value, the rotation of the motor 26 can be stopped when the finger reaches the middle position of the bending operation shown by the thin line in FIG. The first to sixth command switches 7 a, 7 b, 7 c, 7 d, 7 e and 7 f are arranged on the back side of the hand of the base 10. The resistor R3 functions to suppress oscillation of the operational amplifier 6.

  FIG. 7 is a diagram showing an operation mode of the electric prosthetic hand by the drive circuit of FIG. 6, and FIG. 7 (A) shows a state in which the first command switch 7a is operated. When the first command switch 7a is turned on, the pins 1 of all control ICs become high voltage, all the motors 26 are reversed, and the bent fingers are extended. FIG. 7B shows a state where the second command switch 7b is operated. When the second command switch 7b is turned on, the motor 26 rotates forward by the control IC 5 and the ring finger 21 and the little finger 35 are bent. When the sixth command switch 7f is turned on, the control ICs 2, 3 and 4 cause the motor 26 to rotate forward, and the middle finger 19, the index finger 17, and the thumb 11 are bent, and this three-fingered fingertip can grip the object. . FIG. 7C shows a state where the third command switch 7c is operated. When the third command switch 7c is turned on, all the control ICs rotate the motor 26 in the normal direction and each finger is bent. At this time, the control IC 1 stops the motor 26 of the first drive unit 13 at a middle position of the bending operation by a signal from the operational amplifier 6. After that, when a spoon handle is inserted between the thumb 11 and the index finger 17 and the sixth command switch 7f is turned on, the control IC 1 causes the motor 26 to rotate forward so that the thumb 11 and the index finger 17 sandwich the spoon handle. Hold the spoon with. FIG. 7D shows a state where the fourth command switch 7d is operated. When the fourth command switch 7d is turned on, all the control ICs rotate the motor 26 in the normal direction and each finger is bent. At this time, the control IC 2, the control IC 3, and the control IC 4 stop the motor 26 of the second, third, and fourth drive units 16, 18, and 20 at a middle position of the bending operation by a signal from the operational amplifier 6. When a writing tool is inserted between the thumb 11, the index finger 17 and the middle finger 19 and the fifth command switch 7e is turned on, the control IC 3 rotates only the motor 26 of the third drive unit 18 in the normal direction and the index finger becomes the writing tool. Act to hold. FIG. 7E shows a state where the sixth command switch 7f is operated. When the sixth command switch 7f is turned on, the control IC 2 to the control IC 5 rotate the motor 26 in the normal direction, and the thumb 11, the index finger 17, the middle finger 19, the ring finger 21, and the little finger 35 are bent. By this operation, an object can be grasped with five fingers.

  In the drive circuit described above, the operational amplifier 6 interlocked with the potentiometer 31, the diode D for restricting the signal from each command switch from being transmitted to another circuit, and the five control ICs for controlling the forward / reverse rotation of the motor 26, I moved each finger. However, the control IC may be operated using a counter that counts pulses generated by the rotation of the microcomputer or the motor 26. In this case, the folding timing and folding position of each finger can be freely set.

  The electric prosthetic hand of the present invention is intended for a disabled person who has lost his / her tip from the wrist, but may be used for an anthropomorphic robot or the like.

DESCRIPTION OF SYMBOLS 10 Base 11 Fifth artificial finger 17 1st artificial finger 19 2nd artificial finger 21 3rd artificial finger 26 Motor 35 4th artificial finger 55 Slide member 56 Rotating member

Claims (2)

The first artificial finger (17) corresponding to the index finger, the second artificial finger (19) corresponding to the middle finger, the third artificial finger (21) corresponding to the ring finger, and the fourth artificial finger (35) corresponding to the little finger. And a fifth prosthetic finger (11) corresponding to the thumb and a base (10) for supporting each prosthetic finger. A plurality of motors (26) are attached to the base, and each motor is driven by the power of this motor. In an electric prosthesis that moves your fingers,
A slide member (55) for interlocking the third and fourth artificial fingers is provided;
Provide the motor on either the third or fourth artificial finger,
An electric prosthesis characterized in that the third artificial finger and the fourth artificial finger are interlocked via the slide member by the power of the motor.   The first artificial finger, the third artificial finger, and the fourth artificial finger are rotatably provided on the base, and a rotating member (56) is provided on the slide member. The electric prosthetic hand according to claim 1, wherein the third artificial finger and the fourth artificial finger are interlocked.

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