KR20220000718A - Electronic prosthetic hand - Google Patents

Abstract

The present invention relates to an electronic prosthetic hand comprising a joint, which includes: a first body portion to which one or more driving units arranged on a predetermined first concentric circle with respect to a first central axis are fixed; and a second body portion provided with a driving gear of the driving portion and a gear internally or externally arranged, in which the first body portion is jointly moved with respect to the first central axis by the rotational movement of the driving portion. According to the present invention, it is possible to easily perform joint motions at various angles without using a high-output driving unit, maximize the number of driving units in the same space, remarkably improve durability compared to conventional electronic prosthetics, and increase a user's aesthetics and satisfaction. The user can prevent the prosthetic hand from continuously being caught or touched by an external object and causing discomfort just by acting as if there is an actual arm, thereby maximizing convenience.

Description

Electronic Prosthetic Hand

The present invention relates to a prosthetic number. More specifically, it relates to an electronic prosthetic that can prevent overload in the process of gripping and transporting objects, can lift objects more easily, and can be applied to various body parts to maximize versatility. . Additionally, the present invention relates to a prosthetic prosthetic which does not occupy excessively large noise and volume, thereby enhancing aesthetics and reducing user's rejection.

A user who has had one or both arms amputated in an amputation accident uses a prosthetic hand for daily life. In detail, the prosthetic arm is provided in various types according to the location of the affected part, and has a cosmetic purpose that has only the appearance of a hand without a driving function. A carrying prosthesis has been developed. In particular, in the case of an electronic prosthetic, performance close to that of a real human hand can be derived.

However, as described above, in order to lift a heavy object as in using the actual hand in daily life, a high-power driving means is installed in the elbow part that is located between the upper and lower arms of the arm to provide joint motion, and the elbow While stationary, the forearm should be able to rotate outwardly of the body. Also, it should be possible to lift the upper and lower arms. However, since the high-output driving means that can realize this is large in size, it is difficult to accommodate and use the high-output driving means in the elbow part, and even if the high-output driving means is inserted into the elbow part, the elbow part becomes enlarged. This may cause user objection.

In addition, noise generated in the process of the high-output driving means generating power is a factor causing stress in the user's daily life. In addition, when a mechanical elbow using a hinge connection method is used to exclude a high-output driving means, there is a problem in that it is difficult to lift a heavy object and is easily damaged. In addition, since the high-output driving means is expensive to manufacture, it is emerging as a cause of hindering mass production and purchase of users, so it is possible to easily perform joint movements around various joint axes without mounting a high-output driving means. In addition, there is a need for the development of an electronic prosthetic that can minimize the inconvenience that users may feel due to volume and noise in the process of using the electronic prosthesis.

Prior Document 1: Republic of Korea Patent Registration No. 10-1247705 (Registered on March 20, 2013) Prior Document 2: Republic of Korea Patent Registration No. 10-0649892 (Registered on November 20, 2006)

It is an object of the present invention to provide an electronic prosthetic that can easily perform joint motion even with a shape and volume similar to that of an actual arm.

In addition, the present invention is to provide an electronic prosthetic that can continuously and uniformly perform joint motion without using a high-output driving means.

In addition, an object to be solved by the present invention is to provide an electronic prosthetic that can easily perform this by compensating for the force required in the process of bending the upper and lower arms or externally rotating the upper and lower arms around the body.

In addition, the present invention is to provide a simplified, miniaturized and low-noise electronic prosthetic compared to the conventional electronic prosthesis.

To this end, the present invention is an electronic prosthetic arm including a joint part, inscribed or circumscribed with a driving gear of a first body part to which one or more driving parts arranged on a predetermined first concentric circle with respect to a first central axis are fixed, and a driving part of the arranged driving part. It provides an electronic prosthetic arm including a second body part provided with a gear, and in which the first body part articulates with respect to the first central axis by the rotational movement of the driving part.

According to the present invention, it is possible to easily perform joint motions at various angles without necessarily using a high-output driving means, thereby maximizing the cost-saving effect.

According to the present invention, by arranging a plurality of driving units in a circular arrangement and grouping them to reverse the direction of the driving gear between each group, the number of driving units can be maximized in the same space, resulting in a space saving effect. have.

In addition, according to the present invention, even if an abnormality occurs in the driving of any one of the plurality of driving units, smooth joint motion is possible by the remaining driving units, thereby remarkably improving durability compared to the conventional electronic prosthetic hand.

In addition, in the case of the present invention, the user's aesthetic sense and satisfaction are improved in the process of use, and the user can prevent in advance from causing discomfort due to the prosthetic hand being continuously caught or touched by an external object just by acting as if the user has an actual arm. This can be done to maximize convenience.

1 is a view showing the entire electronic prosthesis according to an embodiment of the present invention.
2 is a view showing a joint for connecting the upper arm and the lower arm according to an embodiment of the present invention.
3 is a view showing a joint for connecting the upper arm and the body according to an embodiment of the present invention.
4 is a view showing a first elbow according to an embodiment of the present invention.
5 is a view showing the inside of the first elbow according to an embodiment of the present invention.
6 is a view showing a spring spring according to an embodiment of the present invention.
7 is an exploded view of a first elbow part according to an embodiment of the present invention.
8 is a view showing a second elbow according to an embodiment of the present invention.
9 is a view showing a second joint motion of a second elbow part according to an embodiment of the present invention.
10 is a view showing the connection of the second elbow part and the upper arm part according to an embodiment of the present invention.
11 is a view showing a first shoulder and a second shoulder according to an embodiment of the present invention.
12 is a view showing a third joint motion of the first shoulder according to an embodiment of the present invention.
13 is a view showing a fourth joint movement forward and rearward of the second shoulder according to an embodiment of the present invention.
14 is a view showing a guide recognition unit in the second body portion according to an embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings, the embodiments of the present invention will be described in detail so that those of ordinary skill in the art can easily implement them. However, the present invention may be implemented in various different forms, and is not limited to the embodiments described below or illustrated in the drawings. In addition, in order to clearly explain the present invention in the drawings, parts irrelevant to the present invention are omitted, and the same or similar symbols in the drawings indicate the same or similar components.

Objects and effects of the present invention can be naturally understood or more clearly understood by the following description, and the objects and effects of the present invention are not limited only by the following description.

Before describing the present invention in detail, “anterior” refers to the front of the body and “rear” refers to the opposite direction of “anterior”. In addition, "outer direction" means an outward direction based on a configuration having a first central axis to be described later, and "inward direction" means a direction opposite to the "outer direction". In addition, "external rotation" refers to a rotation in which the upper and lower arms move away from the body while performing the second joint motion (s2) and the third joint motion (s3), which will be described later. That is, the external rotation in the second joint motion (s2) is a rotation in which the lower arm moves away from the body with respect to the elbow part, and the external rotation in the third joint motion (s3) is a rotation in which the upper arm and lower arm move upward with respect to the shoulder part. It means a lifted rotation.

In addition, the first central axis is a central axis of a first body part to be described later, and a first joint axis (z1) and a second joint axis corresponding to the first elbow part, the second elbow part, the first shoulder part, and the second shoulder part, respectively. (z2), the third joint axis (z3) and the fourth joint axis (z4) may be provided. In addition, the first joint axis (z1), the second joint axis (z2), the third joint axis (z3), and the fourth joint axis (z4) as the center of the first elbow part, the second elbow part, the second joint axis (z4) as described above. The first shoulder and the second shoulder perform a first joint motion (s1), a second joint motion (s2), a third joint motion (s3), and a fourth joint motion (s4), respectively.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings. 1 is a view showing the entire electronic prosthetic hand according to an embodiment of the present invention, FIG. 2 is a view showing a joint part connecting the upper arm and lower arm according to an embodiment of the present invention, and FIG. 3 is one of the present invention It is a view showing a joint part connecting the upper arm part and the body part according to the embodiment.

The electronic prosthetic hand according to the present invention includes a joint part 100 connecting the upper arm and the lower arm. In detail, the upper arm part corresponds to the upper arm of the body and extends from the shoulder part to the upper part of the elbow, and the lower arm part corresponds to the lower arm part of the body and extends from the tip of the finger to the lower part of the elbow. In addition, the body part corresponds to the shoulder part of the body and is the user's torso part. In addition, the joint portion is positioned to correspond to the elbow portion connecting the upper arm and the lower arm as described above. Additionally, the joint part may be located at a portion connecting the upper arm part and the body part.

The joint unit 100 rotates the upper arm, lower arm, and body by connecting the upper arm, lower arm, and body, respectively, and performing a predetermined joint motion. To this end, the joint part 100 includes a first body part, a second body part, and a driving part.

The first body portion accommodates a driving unit to be described later and is configured to jointly move with the driving unit. That is, the first body portion provides a space in which the driving unit can rotate about the first central axis, and thus performs a joint movement of rotating about the first central axis in response to the rotation of the driving unit. Through this, the lower arm is subjected to the first joint motion (s1) and the second joint motion (s2), or the upper arm and the lower arm are subjected to the third joint motion (s3) and the fourth joint motion (s4).

The driving unit provides power for joint movement of the first body portion and the second body portion with each other. To this end, the driving unit is provided as a power means such as a motor, and is arranged on a predetermined first concentric circle with respect to the first central axis. In addition, one or more driving units may be provided to be fixed to the first body unit. Here, the driving part has a driving gear rotating about the driving shaft, and the driving gear moves the first body part jointly about the first central axis by inscribed or externally contacting the gear provided in the second body part.

The second body portion is a configuration that provides a path for the driving gear to revolve around the first central axis, and includes a gear internally or externally connected to the driving gear. Here, the gear external to the driving gear is an external gear, and the gear internal to the driving gear is an internal gear. The external gear is located in the inner direction of the second body portion, is arranged around the first central axis, and is engaged with the driving gear so as to be externally connected. Through this, the driving gear moves about the first central axis along the circumference of the external gear. In addition, the internal gear is located in the inner direction of the second body portion is arranged to be in contact with the driving gear. This allows the drive gear to move about the first central axis along the circumference of the internal gear. In the case of the first elbow part 100a, the second elbow part 100b, the first shoulder part 100c, and the second shoulder part 100d, which will be described later, only an external gear or an internal gear, or an external gear and an internal gear It may include gears.

The present invention further includes a guide recognition unit, a contact unit and a control unit.

The guide recognition part is located inside the second body part, has an annular shape about the first central axis, and is provided as a conductive variable resistor. Here, the guide recognition unit may be formed on a predetermined second concentric circle around the first central axis.

The contact part is configured to be in contact with the guide recognition part, it is fixedly connected to the first body part, and one end is in contact with the guide recognition part.

The control unit is a configuration for ultimately determining the degree of joint movement of the joint part, and is in contact with one end of the guide recognition part and the contact part. In detail, the control unit is electrically connected to each other in contact with one end and the contact portion of the guide recognition unit, and measures the resistance value and resistance change of the guide recognition unit. In addition, the controller detects the degree of joint movement and the positions of the upper and lower arms based on the resistance value of the guide recognition unit as described above. In detail, the control unit measures the resistance value and the resistance change that change as the position of the contact part is changed on the guide recognition unit. Through this, it is possible to calculate the articulated angle in the process in which the first body part and the second body part articulate with each other. On the other hand, the positions of the guide recognition unit and the contact unit as described above may be provided interchangeably. In detail, the guide recognition part is located in the first body part, but has an annular shape about the first central axis, and the contact part is located inside the second body part so that one end may be provided so as to be in contact with the guide recognition part.

The control unit is connected to a separate sensor connected to a first driving unit, a second driving unit, a third driving unit, and a fourth driving unit, which will be described later. In addition, by collecting information on the result of the separate sensor measuring the number of rotations of the driving unit, it is possible to more accurately determine the joint motion status and the positions of the upper and lower arms. In detail, the separate sensor may be connected to a rotation shaft connecting the driving unit and the driving gear to measure the number of rotations of the driving unit. In more detail, the separate sensor includes the number of rotations of the first driving unit, the second driving unit, the third driving unit, and the fourth driving unit respectively positioned inside the first elbow part, the second elbow part, the first shoulder part, and the second shoulder part. is measured and transmitted to the control unit, and the control unit receives information on the number of rotations of each driving unit. Here, the control unit includes a first reference rotation speed, a second reference rotation speed, a third reference rotation speed, and a fourth reference rotation speed stored in advance to correspond to the first driving unit, the second driving unit, the third driving unit, and the fourth driving unit, respectively. do. In addition, the control unit calculates the measured rotation speed of the first driving unit, the second driving unit, the third driving unit, and the fourth driving unit with the first reference rotation speed, the second reference rotation speed, the third reference rotation speed, and the fourth reference rotation speed, respectively. Compare. The first reference rotation speed, the second reference rotation speed, the third reference rotation speed, and the fourth reference number of rotations of at least one of the measured rotation speeds of the first driving unit, the second driving unit, the third driving unit, and the fourth driving part correspond to one-to-one correspondence If it is greater than the number of rotations, the control unit considers that the rotation of the driving unit has been excessively performed and stops the operation of the corresponding driving unit. Through this, it is possible to prevent in advance that the upper arm and lower arm are abnormally twisted due to excessive joint movement, and thus visual rejection can also be reduced.

Referring to FIG. 2 , the joint part 100 is provided with a first elbow part 100a and a second elbow part 100b connecting the upper arm part and the lower arm part to each other. In detail, the first elbow part 100a performs a first joint motion s1 of moving the lower arm forward and backward while the upper arm is fixed. In addition, the second elbow part 100b performs a second joint motion (s2) of externally rotating and internally rotating the lower arm in a state in which the upper arm is fixed. For the first joint motion (s1) and the second joint motion (s2) as described above, the joint portion includes a first body portion and a second body portion.

Referring to FIG. 3 , the joint portions are a first shoulder portion 100c and a second shoulder portion 100d. In detail, the first shoulder portion 100c is provided for the purpose of performing a third joint movement (s3) of the upper and lower arms. In addition, the second shoulder portion (100d) is provided for the fourth joint movement (s4) of the upper arm and lower arm. To this end, the first shoulder portion 100c and the second shoulder portion 100d are located near the body portion. In detail, the second shoulder part 100d is connected to the body part, and the first shoulder part 100c is connected to the second shoulder part 100d and is provided toward the outside of the body part.

4 is a view showing the first elbow part 100a according to an embodiment of the present invention, FIG. 5 is a view showing the inside of the first elbow according to an embodiment of the present invention, and FIG. It is a view showing the first compensation unit 130a according to an embodiment. 7 is an exploded view of the first elbow part 100a according to an embodiment of the present invention.

As described above, the first elbow part 100a is configured to perform the first joint motion s1 of the lower arm part. In detail, the first elbow part 100a stretches or bends the upper arm and the lower arm in a straight line by performing a first joint motion s1 based on the first joint axis z1. To this end, the first elbow portion 100a includes a first body 101a and a second body 102a.

” 단면 형상을 갖고, 원형으로 형성된 부분의 중앙에 제1 관절축(z1)이 구비되며, 이를 기준으로 복수의 제1 구동부(110a)가 배열된다. 여기서, 제1 구동부(110a)는 모터 등으로 구비되어 일단에 기어가 구비된 형태로서, 제1 관절축(z1)과 평행한 중심축을 갖도록 배치될 수 있다. 상기와 같은 제1 구동부(110a)가 제1 바디(101a)에 삽입 배치됨으로써, 보다 견고한 배치 상태에서 제1 구동부(110a)를 구동시킬 수 있어, 안전성을 극대화할 수 있다. 보다 바람직한 실시예로서, 제1 팔꿈치부(100a)는 서로 대칭되는 한 쌍으로 구비되고, 대칭되는 복수의 구동부인 제1 구동부(110a)는 일 방향을 향하는 제1 그룹(g1) 및 타 방향을 향하는 제2 그룹(g2)으로 구분될 수 있으며, 상기 제1 그룹(g1) 및 제2 그룹(g2)은 제1 관절축(z1)을 중심으로 서로 교대로 배열되어 포개어지도록 배치될 수 있다. 상세하게, 제1 그룹(g1)을 이루는 제1 구동부(110a)의 제1 구동 기어(111a)는 제1 관절축(z1)의 일 방향(도 4의 우측 방향을 의미함)을 향하고, 제2 그룹(g2)을 이루는 제1 구동부(110a)의 제2 구동 기어(112a)는 제1 관절축(z1)의 타 방향(도 4의 좌측 방향을 의미함)을 향하도록 배치된다. 또한, 제1 바디(101a)는 한 쌍으로 구비되어 각각 제1 그룹(g1) 및 제2 그룹(g2)을 수용 및 고정시킬 수 있다. 상세하게, 제1 바디(101a)가 한 쌍으로 구비되고 제1 그룹(g1) 및 제2 그룹(g2)은 각각 한 쌍의 제1 바디(101a)에 삽입되어 배치된다. 또한, 제1 내접 기어(170a) 및 제1 외접 기어(160a)는 제1 그룹(g1) 및 제2 그룹(g2)에 각각 대응되어 맞물려 배치되도록 한 쌍으로 구비된다. 이를 통해, 보다 많은 저출력의 제1 구동부(110a)를 배치시키면서도 이를 합산하여 최종적으로 높은 출력을 낼 수 있기 때문에, 성능을 극대화함과 동시에 팔꿈치 부분에 과도하게 큰 부품이 들어가 심미감 및 불편함을 일으키는 것을 미연에 방지할 수 있다. 즉, 실제 신체의 팔꿈치 구조와 같이 부피를 최소화하면서도 균일한 출력을 지속적으로 낼 수 있어, 전자 의수에 필요한 지속성 및 심미감 관련 효과를 극대화할 수 있다. 또한, 제1 그룹(g1) 및 제2 그룹(g2)이 제1 팔꿈치부(100a)에 적용됨으로써 보다 작은 출력의 제1 구동부(110a)로도 용이하게 제1 관절운동(s1)을 가능케 하여 심미감을 극대화하고, 팔꿈치 부분을 소형화, 경량화하는 효과를 갖는다.One or more first driving units 110a arranged on a predetermined first concentric circle with respect to the first central axis are fixedly accommodated in the first body 101a. Here, in the case of the first body 101a in the first elbow part 100a, the first central axis is the first joint axis z1. In addition, the first body 101a is “

“It has a cross-sectional shape, and a first joint axis z1 is provided in the center of a circularly formed part, and a plurality of first driving units 110a are arranged based on this. Here, the first driving unit 110a is provided with a motor or the like and has a gear at one end, and may be disposed to have a central axis parallel to the first joint axis z1. Since the first driving unit 110a as described above is inserted into the first body 101a, it is possible to drive the first driving unit 110a in a more rigid arrangement, thereby maximizing safety. As a more preferred embodiment, the first elbow part 100a is provided as a pair symmetrical to each other, and the first driving part 110a, which is a plurality of symmetrical driving parts, includes a first group g1 in one direction and a first group g1 in the other direction. The facing second group g2 may be divided, and the first group g1 and the second group g2 may be alternately arranged around the first joint axis z1 to overlap each other. In detail, the first driving gear 111a of the first driving unit 110a constituting the first group g1 faces one direction (meaning the right direction in FIG. 4) of the first joint shaft z1, The second driving gear 112a of the first driving unit 110a constituting the second group g2 is disposed to face the other direction (meaning the left direction in FIG. 4 ) of the first joint shaft z1. Also, the first body 101a may be provided as a pair to accommodate and fix the first group g1 and the second group g2, respectively. In detail, the first body 101a is provided as a pair, and the first group g1 and the second group g2 are respectively inserted and disposed in the pair of first bodies 101a. In addition, the first internal gear 170a and the first external gear 160a are provided as a pair so as to correspond to the first group g1 and the second group g2, respectively, and to be disposed to be meshed with each other. Through this, since more low-output first driving units 110a can be arranged and added up to finally produce high output, while maximizing performance, excessively large parts are placed in the elbow to reduce aesthetics and discomfort. It can be prevented in advance. In other words, it is possible to continuously output a uniform output while minimizing the volume like the elbow structure of an actual body, thereby maximizing the effects related to durability and esthetics required for the electronic prosthesis. In addition, the first group (g1) and the second group (g2) are applied to the first elbow part 100a, so that the first joint motion s1 is easily possible even with the first driving part 110a having a smaller output, which is aesthetically pleasing. It has the effect of maximizing the feeling and reducing the size and weight of the elbow part.

The first support part 120a is configured to arrange the first compensation part 130a for compensating the force for the first elbow part 100a to lift the lower arm part when the lower arm part is lifted in the upward direction and bent. . That is, the first support part 120a provides an arrangement space for the first compensation part 130a. To this end, the first support portion 120a is connected to a first internal gear 170a to be described later and is located inside the first body 101a. As a more preferred embodiment, the first support portion 120a may be provided as a pair, and may be respectively located inside the pair of first bodies 101a, but may be arranged to be connected to each other. Through this, the first compensator 130a has one end connected to the first body 101a and the other end connected to the second body 102a of the first internal gear 170a according to the first driving unit 110a. It can be easily wound and unwound by rotating with the first support part 120a in response to the rotation. In detail, when the upper arm and the lower arm are raised in an upward direction to face the ground in a state in which the upper arm and the lower arm are arranged in a straight line, the force required to bend the arm can be compensated because the first compensating part 130a is released. Accordingly, the bending operation of the upper arm and the lower arm, which require more force due to gravity, can be more easily performed only with the plurality of first driving units 110a and first compensating units 130a.

The first contact portion 140a is configured to detect the degree of rotation of the first body 101a while integrally rotating with the first body 101a. In detail, the first contact portion 140a is connected to the first body 101a to correspond one-to-one, and one end is provided to face the second body 102a. In addition, one end of the first contact portion 140a rotates about the first joint axis z1 in a state in contact with the conductive first guide recognition portion 150a provided in the second body 102a. In this process, the first contact part 140a moves along the first guide recognition part 150a provided in an annular shape, and is electrically connected to one end of the first guide recognition part 150a and the first contact part 140a. The contacting control unit measures the resistance value of the first guide recognition unit 150a. Through this, the first joint motion angle of the first elbow part 100a can be calculated. The first contact portion 140a as described above is the second contact portion 140b in the second elbow portion 100b, the third contact portion 140c in the first shoulder portion 100c, and the fourth in the second shoulder portion 100d. A contact portion 140d may also be provided.

On the other hand, the above-described control unit is the resistance value of the first guide recognition unit 150a when the lower arm faces downward and the resistance value of the first guide recognition unit 150a when the lower arm forms a minimum angle with respect to the upper arm part. Each of the first reference resistance and the second reference resistance are stored in advance and connected to a separate sensor measuring the number of rotations of the first driving unit 110a to collect information on the number of rotations of the first driving unit 110a. Through this, the degree of the first joint movement (s1) can be grasped, and the angle and position between the lower arm and the upper arm can be easily and more accurately grasped.

The second body 102a is configured to make the first joint motion s1 of the first body 101a. In detail, the second body 102a provides a rotation path to the driving gear rotated by the driving of the first driving unit 110a in a state located between the upper arm part and the lower arm part so that the first body 101a is moved to the first The first joint motion (s1) is made around the joint axis (z1). To this end, the second body 102a has a circular cross-sectional shape centered on the first central axis, and the first body 101a and the edge portion are connected. That is, the second body 102a is positioned outside the first body 101a to prevent the first driving unit 110a and the driving gear located inside the first body 101a from being exposed to the outside. In addition, in the second body 102a, the driving gear of the first driving unit 110a and the gear inscribed or externally located, the internal gear is the first internal gear 170a, and the external gear is the first external gear ( 160a).

The first internal gear 170a provides a path so that the first body 101a can move uniformly in the process of the first joint motion s1. In detail, the first internal gear 170a is configured such that the first driving gear 111a and the second driving gear 112a connected to the first driving unit 110a revolve around the first joint shaft z1. guide To this end, the first internal gear 170a is connected to the above-described first support portion 120a, is formed around the first joint shaft z1, and is inscribed with the driving gear. That is, since the first internal gear 170a is positioned in the inner direction of the first driving gear 111a and the second driving gear 112a with respect to the first central axis, the first driving gear 111a and the second driving gear 111a and the second driving gear 112a The gear 112a moves along the circumference of the driving gear.

The first external gear 160a provides a path through which the first driving gear 111a and the second driving gear 112a can easily move in the same way as the first internal gear 170a. To this end, the first external gear 160a is formed on the inner circumferential surface of the second body 102a and has a circular arrangement about the first joint axis z1. In addition, the first external gear 160a is provided to externally contact the first driving gear 111a and the second driving gear 112a, and the first external gear 160a is the first external gear 160a based on the first joint shaft z1. The first driving gear 111a and the second driving gear 112a are positioned in the outer direction.

Referring to FIG. 5 , when the lower arm moves in the downward direction to perform the first joint motion s1 to be positioned on a straight line with the upper arm, the first driving gear 111a and the second driving gear 112a are 2 is provided in the body 102a and rotates along the fixed first external gear 160a, and in this process, by moving along the circumference of the first internal gear 170a, the first body 101a has a lower arm and an upper arm. The first joint movement (s1) of the lower arm is widened so that the angle of the liver is increased. Referring to FIG. 6 , the first support part 120a rotates integrally with the first body 101a in response to the first joint motion s1 as described above, and in this process, the first body 101a and the second The first compensating part 130a in the form of a mainspring having one end and the other end connected to the body 102a, respectively, is wound. That is, the first compensation unit 130a is wound during the first joint movement s1 of the lower arm toward the ground.

On the other hand, when the lower arm is lifted toward the upper arm toward the upper arm and wants to perform the first joint motion s1 to be bent, the first driving gear 111a and the second driving gear by the first driving unit 110a (112a) is rotated about the first joint axis (z1) moves along the first external gear (160a) and the first internal gear (170a). Here, since the second body 102a and the first external gear 160a are provided in a fixed state, the first body 101a and the first support part 120a are integrally formed with the first joint shaft toward the upper direction ( z1) as the center. In this process, as the first compensating part 130a is released, the force for lifting the lower arm part is compensated. That is, the force for the load is compensated through the first compensation unit 130a.

By providing a plurality of first driving units 110a having a small volume as described above, it is possible to prevent an excessive increase in the volume of the elbow portion, thereby increasing the user's aesthetic sense and reducing the feeling of rejection. In addition, since the first compensating unit 130a is provided, it is possible to compensate for the force required for the first joint motion (s1) for lifting the lower arm in the opposite direction to gravity, even if the low-output first driving unit 110a is employed. The first joint motion (s1) may be performed.

8 is a view showing a second elbow part 100b according to an embodiment of the present invention, and FIG. 9 is a second joint motion s2 of the second elbow part 100b according to an embodiment of the present invention. 10 is a view showing the connection of the second elbow part 100b and the upper arm part according to an embodiment of the present invention. In the case of FIG. 8 , a portion of the third body 101b is cut and omitted to show the second driving unit 110b more clearly.

The second elbow part 100b is configured to externally rotate and internally rotate the lower arm part. In detail, the second elbow part 100b is provided for the purpose of turning the elbow part in the outward and inward directions of the body in a state in which the upper arm part is fixed. To this end, the second elbow part 100b is connected to the above-described first elbow part 100a. In detail, the second elbow part 100b is located in the upper direction of the first elbow part 100a. In addition, the second elbow part 100b includes the third body 101b, the second driving part 110b, and the fourth body 102b described above for the second joint motion s2 about the second joint axis z2. ) and a second internal gear 170b. In detail, the second elbow part 100b includes a third body 101b in the lower arm direction and a fourth body 102b in the body direction, and the third body 101b includes a second driving part 110b. is provided, and the second internal gear 170b is provided on the fourth body 102b.

A plurality of second driving units 110b are positioned inside the third body 101b. Here, the plurality of second driving units 110b have a circular arc arrangement about the second joint axis z2, and are located at the rear of the first elbow unit 100a. In addition, in the case of the second driving unit 110b, the first rotation gear 111b is provided to face upward. Through this, it is possible to prevent in advance that the second driving unit 110b, which provides the driving force necessary for the second joint motion s2, protrudes from the elbow or occupies a separate space, so that the electronic prosthesis can be miniaturized and Weight reduction can be realized.

The fourth body 102b is a configuration for moving the second driving unit 110b about the second joint axis z2, and serves to fix the second internal gear 170b. To this end, the fourth body (102b) is connected to the second joint shaft (z2) is provided integrally with the second internal gear (170b). Here, the second internal gear 170b is internally contacted with the plurality of first rotation gears 111b. Through this, the plurality of first rotational gears 111b revolve around the second joint axis z2 along the second internal gear 170b in a fixed state, and in response thereto, the third body 101b and the third The lower arm part connected to the body 101b may perform a second joint motion s2.

Referring to FIG. 10 , the fourth body 102b is connected to the upper arm so as to be close to the body, and the third body 101b is connected to the fourth body 102b and is provided to be close to the lower arm at the same time. Accordingly, during the second joint motion (s2), the fourth body 102b in the second elbow part 100b is fixed, and the third body 101b in the lower arm part and the second elbow part 100b performs the second joint motion. (s2) is performed.

Through a series of configurations as described above, the second joint motion (s2) including external and internal rotation of the forearm can be easily performed, and in this process, only the second driving unit 110b having a small volume is used for a uniform second It is possible to realize the joint motion (s2). This has the effect of maximizing aesthetics for the user and enhancing convenience in daily life as it is possible to reduce the size, weight and weight of the elbow part.

Meanwhile, as another embodiment of the present invention, in the case of the second elbow part 100b as described above, the second external gear 160b provided to externally contact the first rotation gear 111b is provided to the fourth body 102b. may be provided, and the position of the second external gear 160b may be in the downward direction of the fourth body 102b, but is not limited thereto.

In addition, the same second contact portion 140b as the above-described first contact portion 140a may be provided on the third body 101b. In detail, the second contact portion 140b may be provided in the form of a terminal fixed to the third body 101b, and one end may be formed to face the fourth body 102b located in the upward direction. As a more preferred embodiment, in the lower direction of the fourth body 102b, the second guide recognition part 150b is further in contact with one end of the second contact part 140b and has an annular shape about the second joint axis z2. can be provided.

On the other hand, the aforementioned control unit determines the resistance value of the second guide recognition unit 150b when the lower arm is maximally externally rotated in the outer direction of the body, and the second guide recognition unit 150b when the lower arm is maximally rotated internally in the inner direction of the body. ) is stored in advance as a third reference resistance and a fourth reference resistance, respectively, and is connected to a separate sensor that measures the number of rotations of the second driving unit 110b. Gather information. Through this, the degree of the second joint movement (s2) can be grasped and, at the same time, the angles of the external and internal rotations of the lower arm and upper arm at the elbow can be easily and more accurately grasped.

11 is a view showing a first shoulder portion 100c and a second shoulder portion 100d according to an embodiment of the present invention.

The first shoulder 100c and the second shoulder 100d perform a third joint motion s3 and a fourth joint motion s4 respectively in a state positioned between the upper arm and the body. In detail, the first shoulder 100c performs a third joint motion s3 about the third joint axis z3 to externally and internally rotate the upper and lower arms, and the second shoulder 100d 4 Perform the fourth joint motion (s4) around the joint axis (z4) to move the upper and lower arms forward and backward. Here, the third joint motion (s3) means external rotation of the upper and lower arms away from the body, and internal rotation closer to the body. In detail, the third joint motion (s3) includes an external rotation in which the upper arm and the lower arm are lifted in an upward direction and an internal rotation in which the upper arm and the lower arm are moved toward the downward direction. That is, the third joint motion (s3) refers to a motion in which the entire arm is raised or lowered in the lateral direction of the body based on the body part.

The first shoulder 100c is configured to externally and internally rotate the upper and lower arms by performing the third joint motion s3, and includes a fifth body 101c, a sixth body 102c, and a third driving unit 110c. ), a support and a third external gear 160c.

The fifth body 101c is configured to receive the third driving unit 110c for performing the third joint motion s3 for the upper and lower arms by rotating about the first central axis, and the first shoulder portion ( In the case of 100c), the first central axis is provided as the third joint axis (z3). In addition, a plurality of third driving units 110c are accommodated inside the fifth body 101c, and are divided into a third group g3 and a fourth group g4 and have a circle around the third joint axis z3. It forms an arrangement, and each drive gear is provided to face in opposite directions to each other. That is, the third driving gear 111c belonging to the third group g3 among the plurality of third driving units 110c faces the front of the third joint shaft z3 which is the first central axis, and the plurality of third driving units ( The fourth driving gear 112c of the third driving unit 110c belonging to the fourth group g4 among 110c) may be disposed to face the rear of the third joint shaft z3. In detail, the third elbow part 100c is provided as a pair symmetrical to each other, and the third driving part 110c, which is a plurality of symmetrical driving parts, is a third group ( It is divided into g3) and a fourth group (g4) facing the rear, and the third group (g3) and the fourth group (g4) are alternately arranged around the third joint axis (z3) to form an overlapping arrangement. . In addition, the fifth body 101c is provided as a pair so that the third group g3 and the fourth group g4 can be respectively inserted and disposed. In addition, inside the fifth body 101c, a second compensating unit 130c and a second supporting unit 120c that perform the same roles as the first compensating unit 130a and the first supporting unit 120a described above in FIG. 6 are provided. is located In detail, the second support part 120c is provided in the form of a plate positioned inside the fifth body 101c to move integrally with the fifth body 101c, and the second compensation part 130c is provided in the form of a mainspring. It is wound and unwound with one end connected to the inside of the fifth body 101c and the other end connected to the sixth body 102c. In more detail, the second compensating part 130c has a third joint axis (z3) integrally with the fifth body 101c during the third joint motion (s3) in which the lower arm faces the ground as the upper arm and the lower arm go down in the downward direction. ) is rotated around the Thereafter, during the third joint movement (s3) in which the upper arm and the lower arm are lifted upward to face the ground, the second compensating part 130c is unwound while rotating integrally with the fifth body 101c. In this process, the restoring force of the second compensating part 130c is compensated for by the force for lifting the upper arm and the lower arm in the upward direction. Therefore, even if a plurality of low-output third driving units 110c are used in the third joint motion (s3) process, the upper and lower arms are more easily lifted upward by using the compensation of the force of the second compensating unit 130c. Raised external rotation can be performed.

The sixth body 102c is a configuration that provides a path for rotating the fifth body 101c, and is a pair of third circumscribed surfaces circumscribed with a plurality of third driving gears 111c and fourth driving gears 112c. a gear 160c. In detail, in the inner direction of the sixth body 102c provided as a pair, a pair of third external gears 160c arranged around the third joint axis z3 are provided to correspond one-to-one, and the third The external gear 160c is positioned in the outer direction of the third driving gear 111c and the fourth driving gear 112c with respect to the third joint axis z3. Accordingly, the third driving gear 111c and the fourth driving gear 112c move about the third joint axis z3 along the third external gear 160c in the fixed state, and in response to this, the fifth body (101c) and the upper arm connected to the fifth body 101c, and the lower arm connected to the upper arm, all integrally perform the third joint motion (s3). In addition, the sixth body 102c is connected to the body. As a more preferred embodiment, the sixth body 102c of the first shoulder 100c further includes a third internal gear 170c internally inscribed with a plurality of driving gears, so that the third driving gear 111c and the fourth driving gear 111c are further included. A more uniform and stable rotational movement about the third joint axis z3 of the driving gear 112c is possible.

As a more preferred embodiment, the fifth body 101c may further include a third contact portion 140c and the sixth body 102c may further include a third guide recognition unit 150c. In detail, the third contact portion 140c is in contact with the third guide recognition portion 150c in a state connected to the fifth body 101c, and the third contact portion 140c is a third contact portion with the third joint axis z3 as the center. It moves along the guide recognition unit 150c. Here, a separately provided control unit is in contact with one end of the third guide recognition unit 150c and the third contact unit 140c to measure the resistance of the third guide recognition unit 150c, and based on this, the fifth body 101c) Calculate the distance of the third joint motion (s3). The configuration of the third contact part 140c and the third guide recognition part 150c as described above may be applied in the same way as the fourth contact part 140d and the fourth guide recognition part 150d provided in the second shoulder part 100d. And, through this, it is possible to easily grasp the distance of the fourth joint movement (s4) of the seventh body 101d.

On the other hand, the aforementioned control unit is the resistance value of the third guide recognition unit 150c when the lower arm is directed downward, and the third guide recognition unit 150c when the lower arm and the upper arm are maximally lifted with respect to the shoulder portion. information on the number of rotations of the third driving unit 110c by pre-stored as a fifth reference resistance and a sixth reference resistance, respectively, and connected to a separate sensor measuring the number of rotations of the third driving unit 110c to collect Through this, the degree of the third joint movement (s3) can be grasped, and the angle and position between the lower arm and upper arm and the shoulder can be easily and more accurately grasped.

The second shoulder portion 100d is a configuration for performing the fourth joint motion (s4), and is implemented around the fourth joint axis (z4). In detail, the second shoulder portion 100d is configured to move forward and backward of the upper arm and lower arm. To this end, the second shoulder portion 100d includes a seventh body 101d, a fourth driving unit 110d, an eighth body 102d, and a fourth external gear 160d.

The seventh body 101d accommodates the fourth driving unit 110d for the fourth joint motion (s4). In detail, the seventh body 101d of the second shoulder 100d moves the upper arm and the lower arm that are integrally connected by rotating about the fourth joint axis z4 forward and backward. To this end, the seventh body 101d has an opening inside to accommodate the fifth body 101c in the lower direction, and a plurality of fourth driving units 110d are inserted in the other direction so that the second rotation gear 111d is installed. It is provided to face the other direction, and the eighth body 102d is positioned in the other direction of the plurality of fourth driving units 110d. Here, the fifth body 101c is provided to be inserted and disposed in the lower direction of the seventh body 101d, so that it can all be positioned on an imaginary extension line formed in the vertical direction from the ground, which is the first shoulder portion ( 100c) and the space occupied by the second shoulder 100d can be minimized, thereby deriving a remarkable effect in terms of weight reduction and miniaturization of the electronic prosthesis.

The fourth driving unit 110d may be provided in plurality and arranged around the fourth joint axis z4, so that the forward and rearward numbers are the same with respect to the fourth joint axis z4. That is, in the process of performing the fourth joint motion s4 based on the fourth joint axis z4 of the plurality of fourth driving units 110d, the upper and lower arms may move forward and backward with the same force. In addition, the second rotation gear 111d of the fourth driving part 110d of the second shoulder part 100d is provided to face the other direction.

The eighth body 102d is a configuration that provides a path for the fourth joint motion (s4) of the seventh body 101d, the upper arm and the lower arm, as described above, in the other direction (in FIG. 11 ) of the seventh body 101d. (meaning the upper left direction), and a fourth external gear 160d that is in external contact with the plurality of second rotation gears 111d is located therein. As a more preferred embodiment, a fourth internal gear 170d may be further provided inside the eighth body 102d so that the second rotation gear 111d can more firmly move along the fourth external gear 160d. In addition, the fourth internal gear 170d is provided to be internally meshed with the second rotation gear 111d. Through this, it is possible to induce a more uniform fourth joint motion s4 based on the fourth joint axis z4 of the seventh body 101d according to the driving of the fourth driving unit 110d.

In addition, as described above, the second shoulder portion 100d is provided with a fourth contact portion 140d and a fourth guide recognition portion 150d. The fourth contact portion 140d is connected to the seventh body 101d and is in contact with the fourth guide recognition portion 150d of the conductor formed in an annular shape. The fourth guide recognition unit 150d is provided in a ring shape and is located inside the eighth body 102d. The control unit is electrically connected to one end of the fourth guide recognition unit 150d and the fourth contact unit 140d, and measures a resistance value of the fourth guide recognition unit 150d.

In addition, the above-described control unit is the resistance value of the fourth guide recognition unit 150d when the lower arm faces forward but is disposed so as to be parallel to the ground, and the fourth of ‹š to be positioned so that the lower arm faces rearward but parallel to the ground. The resistance value of the guide recognition unit 150d is stored in advance as the seventh reference resistance and the eighth reference resistance, respectively, and is connected to a separate sensor that measures the number of rotations of the fourth driving unit 110d to be connected to the fourth driving unit 110d Collects information about the number of revolutions of Through this, the degree of the fourth joint movement (s4) can be grasped, and the angle and position of the lower arm toward the front and rear can be easily and more accurately grasped.

12 is a view showing the third joint motion s3 of the first shoulder 100c according to an embodiment of the present invention, and in order to clearly express only the first shoulder 100c, the second shoulder 100d is omitted.

As the plurality of third driving units 110c in the first shoulder 100c are driven, the third driving gear 111c and the fourth driving gear 112c rotate about the third joint axis z3, It revolves around the third joint axis (z3) along the third external gear (160c) of the fixed sixth body (102c). In this process, the second support part 120c located inside the fifth body 101c in the first shoulder part 100c rotates integrally to unwind the second compensation part 130c, and the second support part 130c is unfolded by the restoring force. The force required to lift the upper arm and the lower arm in the upward direction through the compensating part 130c may be compensated.

13 is a view showing the fourth joint motion s4 forward and backward of the second shoulder 100d according to an embodiment of the present invention, and in order to clearly express only the second shoulder 100d, the first The shoulder portion 100c is omitted.

A plurality of fourth driving units 110d in the second shoulder 100d are driven, and accordingly, the fourth driving gear 112c rotates in engagement with the fourth external gear 160d about the fourth joint axis z4. do. In this process, the seventh body 101d moving integrally with the fourth driving unit 110d performs a fourth joint motion s4 that rotates about the fourth joint axis z4, and the seventh body 101d) The fourth joint movement (s4) is carried out along with the upper arm connected integrally with the upper arm and the lower arm connected with the upper arm.

Through a series of processes as described above, when an exercise that requires more output, such as the fourth joint motion (s4) in which the upper and lower arms reciprocate forward and backward, the first elbow part 100a, the second By uniformly disposing a greater number of driving units than in the case of the elbow 100b and the first shoulder 100c to apply driving force, the upper arm and the lower arm can easily reciprocate.

In addition, the present invention is formed to resemble the shape of an actual arm by performing joint motion using several driving units having a small weight and volume, thereby maximizing the aesthetic feeling of an actual arm while reducing the user's objection. In addition, since it is possible to arrange the first driving unit 110a, the second driving unit 110b, the third driving unit 110c, and the fourth driving unit 110d by varying the number in response to the user's requirements, the user Customized prosthetics can be provided. Additionally, compared with the conventional electronic prosthesis using a single high-output driving means, the present invention can maximize the weight reduction effect of the prosthetic arm itself by applying a parallel arrangement of a plurality of driving units. In addition, since it is possible to provide a prosthetic arm having the same output without changing the shape of the actual arm, it can be used in daily life without any objection, and thus has great versatility. In addition, it is possible to provide an electric electric prosthetic arm without amputation to secure a space for installing an additional driving unit.

14 is a view showing a guide recognition unit in the second body portion according to an embodiment of the present invention. The guide recognition unit according to FIG. 14 is the first guide recognition part 150a in the first elbow part 100a, the second guide recognition part 150b in the second elbow part 100b, and the first guide recognition part 150b in the first shoulder part 100c. The third guide recognition part 150c and the second shoulder part 100d may be provided as a fourth guide recognition part 150d. In addition, the contact portions in contact with the guide recognition portion corresponding to the first contact portion 140a in the first elbow portion 100a, the second contact portion 140b in the second elbow portion 100b, and the first contact portion 140b in the first shoulder portion 100c. The third contact portion 140c and the second shoulder portion 100d may be the fourth contact portion 140d.

The guide recognition unit is provided to calculate the distance that the first body part jointly moved by coming into contact with the aforementioned contact part. To this end, the guide recognition part is located inside the second body part and has a circular shape about the first central axis, and is provided with an annular variable resistor whose one end and the other end are not connected to each other. When the contact part and the guide recognition part revolve around the first central axis of the first body part in a state in contact with each other, the contact part moves along the annular guide recognition part about the first central axis. Here, a separately provided control unit calculates a change in the resistance value and the resistance value. Therefore, based on the calculated resistance value, it is possible to calculate the joint movement distance of the first body part.

By providing the contact part and the guide recognition part as described above, the first joint motion s1 of the first elbow part 100a, the second joint motion s2 of the second elbow part 100b, and the first shoulder part 100c) The third joint movement (s3) of the and the fourth joint movement (s4) of the second shoulder portion (100d) are excessively made to prevent damage in advance. In addition, unnecessary driving of each driving unit can be blocked, thereby maximizing driving efficiency.

Although the present invention has been described with reference to a preferred embodiment, this is only an embodiment, and those of ordinary skill in the art may be able to make various modifications and equivalent other embodiments therefrom. Accordingly, the scope of the present invention is not limited by the above embodiments and the accompanying drawings.

100: joint
100a: first elbow
101a: first body 102a: second body
100b: second elbow
101b: third body 102b: fourth body
100c: first shoulder
101c: fifth body 102c: sixth body
100d: second shoulder
101d: seventh body 102d: eighth body

Claims (13)

The joint 100 is
a first body portion provided with a driving gear, and to which one or more driving units arranged on a predetermined first concentric circle with respect to a first central axis are fixed; and
Including; a second body portion provided with a gear that is internal or external to the driving gear;
The electronic prosthesis, characterized in that the first body portion and the second body portion articulate with each other based on the first central axis by the rotational movement of the driving unit.
The method of claim 1,
The driving unit is provided in plurality,
The second body portion electronic prosthetic, characterized in that it includes an internal gear in internal contact with a plurality of the driving gear.
The method of claim 1,
The driving unit is provided in plurality,
The second body portion of the electronic prosthetic, characterized in that it includes an external gear circumscribed with a plurality of the driving gear.
The method of claim 1,
The driving unit is provided in plurality,
The second body portion is an electronic prosthetic, characterized in that it includes an internal gear internally inscribed with the plurality of driving gears and an external gear externally circumscribed.
5. The method according to any one of claims 2 to 4,
The joint part 100 is a first elbow part 100a positioned between the upper arm part and the lower arm part and performing a first joint motion s1 based on the first joint axis z1,
The first body portion is a first body (101a) connected to the lower arm portion,
The second body portion is an electronic prosthetic, characterized in that the second body (102a) connected to the upper arm.
5. The method according to any one of claims 2 to 4,
The joint part 100 is a second elbow part 100b positioned between the upper arm part and the lower arm part and performing a second joint motion s2 based on the second joint axis z2,
The first body portion is a third body 101b in the lower arm portion direction,
The second body part is an electronic prosthetic, characterized in that the fourth body (102b) in the direction of the upper arm.
5. The method according to any one of claims 2 to 4,
The joint part 100 is a first shoulder part 100c that is positioned between the upper arm part and the body part and performs a third joint motion s3 based on the third joint axis z3,
The first body portion is a fifth body (101c) connected to the upper arm portion,
The second body portion is an electronic prosthetic, characterized in that the sixth body (102c) in the body portion direction.
5. The method according to any one of claims 2 to 4,
The joint part 100 is a second shoulder part 100d that is positioned between the upper arm and the body part and performs a fourth joint movement s4 based on the fourth joint axis z4,
The first body portion is a seventh body (101d) in the direction of the upper arm portion,
The second body portion is an electronic prosthetic, characterized in that the eighth body (102d) in the direction of the body portion.
6. The method of claim 5,
The first elbow part 100a is provided as a pair symmetrical to each other, and the plurality of symmetrical driving parts are divided into a first group g1 facing one direction and a second group g2 facing the other direction, The electronic prosthesis, characterized in that the driving units of the first group (g1) and the second group (g2) are overlapped to be alternately arranged with each other.
8. The method of claim 7,
The first shoulder portion 100c is provided as a pair symmetrical to each other, and the plurality of symmetrical driving units are divided into a forward-facing third group g3 and a rear-facing fourth group g4, and the The electronic prosthesis, characterized in that the third group (g3) and the driving part of the fourth group (g4) are overlapped so as to be alternately arranged with each other.
6. The method of claim 5,
A first compensation part 130a provided in the shape of a mainspring and positioned inside the first elbow part 100a, one end connected to the first body 101a and the other end connected to the second body 102a more available,
The first compensating part 130a is wound when the lower arm performs a first joint motion (s1) so that the lower arm faces the ground, and a restoring force is generated when the first joint motion (s1) is made so that the lower arm faces upward. Electronic prosthetic, characterized in that for compensation.
8. The method of claim 7,
A second compensating part 130c provided in the shape of a mainspring and positioned inside the first shoulder part 100c, one end connected to the fifth body 101c and the other end connected to the sixth body 102c; more available,
The second compensator 130c is wound when the lower arm faces the ground during the third joint motion (s3), and when the lower arm moves toward the upper arm during the third joint motion (s3), a restoring force is generated to increase the load. Electronic prosthetic, characterized in that for compensation.
The method of claim 1,
annular conductive guide recognition unit located inside the second body part and formed on a predetermined second concentric circle with respect to the first central axis;
a contact part fixed to the first body part and electrically connected to one end in contact with the guide recognition part; and
Further comprising; a control unit electrically connected to one end of the guide recognition unit and the contact unit, and measuring the resistance of the guide recognition unit;
The control unit is
The electronic prosthetic prosthetic, characterized in that by measuring the resistance value that changes as the position of the contact part on the guide recognition part changes, the joint motion angle between the first body part and the second body part is calculated.

Images