SU339078A1 - ARTIFICIAL BRUSH FOR PROSTHETES- • - “•” - .— Mr. L.-! Sogd - Google Patents

Description

This invention relates to irotesis.

Artificial prosthetic brushes are known that contain a reversible electric actuator controlled, for example, by using muscle biopotentials, and phantoms of fingers of the hand with movable phalanges. However, the known prostheses do not provide the kinematic independence of the first finger, which is necessary for the implementation of end, fist, side and fist-side methods of covering and adapting the fingers to the shape of the grasped object.

The proposed artificial brush differs from those known in that it has: a lever system and a slider of the second third block, the fingers transmitting the movement of the block of these fingers from the electric mechanism of the first finger driven by the electric drive, the flexor spring of the second to third finger block; stepless phi, gripper xator, installed on the transmission line of the chu forces and from the first finger to the second third finger block, made in the form of a rotary sleeve, sariarno associated with the slider block of the second and third fingers and seated on the rod rigidly connected with the body of the hand; the friction bushes of the fourth and c. of the fingers between themselves and with the second-third block of the fingers and rigid stops of the fifth finger relative to the fourth finger, as well as the fourth finger relative to the second-third finger.

FIG. Figure 1 shows the kinematic scheme of the proposed prosthetic brush; FIG. 2 - different positions of the slider of the second finger block in the process of brush work.

The artificial brush contains the first finger D block of the second and third fingers 2 n 3 with movable phalanxes, semi-active fourth finger 4 and the fifth finger 5 also with movable phalanxes. The first finger has an autonomous electric drive 6, the power of which, when the fingers are bent, and also in the first half of the period of unbending, is transferred entirely to the first lalz. In the second half of the extension period, the drive power is used to simultaneously extend all five fingers. In this case, semi-active fingers 4 and 5 follow the block of the second and third fingers by means of friction sleeves 7 and 8, which ensure the relative immobility of the fourth and fifth fingers between themselves and the fourth finger with the block of second and third fingers.

. The connection of the second-third finger unit to the electric drive in the second half of the finger extension period (i.e., in the second half of the movement section of the slide 9 towards the finger extension) is performed by means of a pusher 10 rigidly connected with the lever of the first finger and lever 11, causing In its movement, unbolt the block of the second and third fingers by acting on the slider 12 of the block of the second and third fingers, which is connected to the block through rods 13 and 14.

Simultaneously with the extension of the block of the second third fingers, an oscillating spring 15 is connected, which is connected to the slider 12 of the block 2 of the second and third fingers.

When an object is gripped, only the first finger actively engages it, the block of the second and third Fingers, due to the presence of a stepless lock 16, which prevents the fingers from extending this block, creates a rigid barrier opposed to the force effect of the first finger. The retainer is made in the form of a turning sleeve, hingedly connected with the slider 12 and seated on the rod 17, rigidly connected with the body of the brush. The latch is braked relative to the rod by the action of the spring 18, which tends to twist the latch relative to the rod.

If the lolutive fourth and fifth fingers occupy a flexion position not exceeding the flexion angle of the second to third finger block, they abut against the respective stops of this finger block and the fourth finger and also form a rigid barrier against extension (this allows, for example, sticks to hold it steadily with all long pallets).

The extension of the second-third finger unit to the corresponding phase of the drive of the first finger drive is carried out unhindered by the fact that the pressure on the slider 12 of the second-third finger block is preceded by the last deflection. This is due to the fact that the lever 11, when moved by the action of the pusher 10, overcomes the force of the spring 18 and causes the latch 16 to rotate relative to the axis of rotation 19 until the latch plane touches the latch plane of the second to third fingers. After that, the retainer occupies a strictly coaxial position with the slider 12, due to which the latter is released. In the normal position, the latch fixes only in one direction - the direction of extension of the fingers.

In order to carry out a knuckle grip, all the fingers are previously unbend, after that a corresponding signal is given and the drive starts to work in the direction of flexion. After partial bending of the first finger, an elastic spring is triggered, due to which the second third finger block and the fourth fifth and fifth fingers connected to it by frictional coupling are applied to the object (or by means of rigid extensions of the extension of the second third finger). Following this further active flexion of the first

The palad provides the pressing of the object with the necessary grip strength.

To make a pinch-type end grip, the fingers must not be fully extended (approximately three-quarters full). In this case, the pinch stopper 20, spring-loaded by means of the jumper spring 21, is automatically turned on, and the spring bolt 15 will lead the second-third finger block to the position of the pinch in which this block stops and its further bending will be impossible. At the same time, the fourth and fifth fingers, connected with the block of the second and third fingers, can be completely bent (passively) and brought to the middle of the palm for the convenience of writing and other operations. Accordingly, the axes of the fourth and fifth fingers are located at a certain angle to the axis of the block of the second third fingers.

The stopper 20 of the pinch with the automatic switch of the end gripper to the fist one and vice versa works as follows (see Fig. 2 a, b, c, d).

When completing the complete extension of the fingers, the flange 22 of the slider 12 of the second and third fingers block presses the pinch stopper 23 and rotates the latter relative to the axis 24, withdrawing the stop pad 25 from contact with the shoulder of the slider 26. In this case, the reversible spring 27 will occupy the lowest position (see Fig. 2a). In this position, the brush is prepared for the fist grab. When giving the command to the gripper, a spring will ensure that the block of the second and third fingers is fully bent into a fist or until it touches the object.

In the bending phase of the second and third fingers, shortly after moving them to the position of the chip, the shoulder 2S presses on the stopper sleeve 29, forcing the latter to rotate about the axis 24 and bring the stop pad 25 to the surface 30 of the slide (see Fig. 26). The reversible spring 27 will occupy an upper position (relative to the axis 24).

During the subsequent unbending of the second-third fingers, immediately after their transition to posite-ie, shaking, the retaining platform 25 under the action of the transfer spring 27 drops onto the surface 31 of the slider 12 (see Fig. 20). In this way, the brush is prepared to bend into a pinch. When the slide moves backward in the direction of bending the fingers, the shoulders 26 of the slide will abut the stopper stop pad 26, and the movement of the block of the second to third fingers will stop in the position of the pinch (see Fig. 2d).

If (instead of a gripper in a pinch, the implementation of a knuckle gripper is required, then for this purpose, as indicated above, you should first completely unbend your fingers.

The capture of small items of thickness (up to 20 lsh) and i.x. Liberation is carried out by means of rounding and unbending movements of only one first finger. At the end of the grip of larger objects, the first finger is extended by an angle, when the displacement of the distal end of the first finger exceeds 20 mm, which is accompanied by the beginning, the extension of the block of the second and third fingers.

When performing the side grip, the pinch stopper 20 is also used (see Fig. 1). The first finger turns towards the lead by pressing it. For this purpose, a mechanism 32 is used to passively move the first finger to the retraction position. When picking up small objects with a side grip, only the first finger is moved, and long fingers remain nshmo in the position “CHIP. This increases the convenience of side grip. With a fist-pry side grip (for example, to grip tool handles), the nip is automatically turned off.

In the absence of a rigid kinematic connection between the first finger and the second to third finger block, as well as through the free friction link between the fourth and fifth fingers and the second to third block of the toes, fingers can be attached to the shape of the object to be gripped. .

Subject invention

An artificial prosthetic brush containing a revival electric drive, controlled, for example, by using muscle biopotentials, and phantoms of fingers of a hand with fixed phalanges, in order to ensure the kinematic independence of the first finger, necessary for making Koitsy, fist,; side and fist-side ways of gripping and adjusting the fingers to the shape of the object being captured, the system of levers and the slider of the block of the second and third palettes are installed, transmitting the movement to the block of these fingers from the mechanism of movement of the first finger, driven by an electric drive, the flexor spring of the second-third fingers block, the stepless tong locking mechanism installed on the transmission line, is amplified from the first finger to the second-third fingers block and made in the form of a rotary bush a second third fingers block with a slider and seated on a rod rigidly connected to the body of the hand; the friction sleeves of the connection of the fourth and fifth fingers between themselves and with the block of the second and third fingers or the severe restraints of the movement of the fifth finger relative to the fourth finger, also the fourth finger relative to the block of the second and third fingers. J № 13 in „а / о -№ i ° T-4 / fj p

2f - j ft --- vir

% .f