WO2014073782A1 - Artificial joint - Google Patents

Artificial joint Download PDF

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Publication number
WO2014073782A1
WO2014073782A1 PCT/KR2013/007975 KR2013007975W WO2014073782A1 WO 2014073782 A1 WO2014073782 A1 WO 2014073782A1 KR 2013007975 W KR2013007975 W KR 2013007975W WO 2014073782 A1 WO2014073782 A1 WO 2014073782A1
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WO
WIPO (PCT)
Prior art keywords
joint
elbow
auxiliary
auxiliary joint
artificial
Prior art date
Application number
PCT/KR2013/007975
Other languages
French (fr)
Korean (ko)
Inventor
유제우
Original Assignee
Yu Je Woo
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yu Je Woo filed Critical Yu Je Woo
Publication of WO2014073782A1 publication Critical patent/WO2014073782A1/en

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47F—SPECIAL FURNITURE, FITTINGS, OR ACCESSORIES FOR SHOPS, STOREHOUSES, BARS, RESTAURANTS OR THE LIKE; PAYING COUNTERS
    • A47F8/00—Dummies, busts or the like, e.g. for displaying garments
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H3/00—Dolls
    • A63H3/36—Details; Accessories
    • A63H3/46—Connections for limbs

Definitions

  • the present invention relates to an artificial joint, and more particularly, to an artificial joint that can be applied to a mannequin, a robot, a doll, and the like.
  • Mannequins, robots, and dolls contain a variety of artificial joints in the working area.
  • the human body is modeled, and artificial joints are included in the area corresponding to the human joint.
  • the mannequin should be able to implement a variety of postures for display, and must be able to maintain the desired posture continuously.
  • the artificial joints used in the conventional mannequins have a configuration that is simply fixed to the hinge portion with a pin, and there is a disadvantage that they do not sufficiently meet these requirements.
  • Embodiments of the present invention have been made to solve the above problems, to provide a artificial joint that can be rotated in various directions, as well as maintain the posture in a stopped position.
  • elbow joint A first connection part having one end coupled to the elbow joint; And a second connecting part having one end coupled to the elbow joint at a portion different from the site where the first connecting part is coupled, wherein the elbow joint comprises: a first elbow member coupled to the first connecting part; And a second elbow member rotatably coupled around the first elbow member and the elbow joint pivot, and coupled to the second connecting portion, wherein the first connector has a direction different from that of the elbow joint pivot.
  • the first auxiliary joint part of the first auxiliary joint formed to rotate about the axis of rotation; provides an artificial joint further comprising.
  • first auxiliary joint part the first auxiliary joint member connected to the first elbow member; And a second auxiliary joint member rotatably coupled around the first auxiliary joint member and the auxiliary joint part rotation shaft.
  • the elbow joint has elbow joint irregularities formed so as to be engaged with each other on the sliding surfaces of the first elbow member and the second elbow member, and the second elbow member is between a position where the elbow joint is not engaged. It is installed so as to be linearly movable with respect to the first elbow member, and the main joint portion pressing member for close contact with the second elbow member to the position where the elbow joint unevenness; further comprises, the elbow joint unevenness is the first elbow joint
  • the second main joint member is formed to reciprocate between the engaged position and the non-engaged position when the member and the second elbow member slide.
  • the second connection part further includes a second auxiliary joint part formed to rotate about the second auxiliary joint part rotation axis in a direction different from the elbow joint rotation axis.
  • the point where the first auxiliary joint rotational axis and the second auxiliary joint rotational axis meet the elbow joint rotational axis is substantially the same.
  • the first auxiliary joint part is formed with a first auxiliary joint unevenness to be engaged with each other on the sliding surface of the first auxiliary joint member and the second auxiliary joint member
  • the second auxiliary joint member is the first auxiliary joint member
  • a first auxiliary is installed so as to be linearly movable relative to the first auxiliary joint member between the position where the joint unevenness is engaged and the non-engaged position, and the first auxiliary joint member is in close contact with the position where the first auxiliary joint unevenness is engaged.
  • a joint pressing member wherein the first auxiliary joint is unevenly disposed between the engaged position and the non-engaged position of the second auxiliary joint member during sliding of the first auxiliary joint member and the second auxiliary joint member. It is preferably formed to reciprocate.
  • the elbow joint portion is formed in a spherical shape, the elbow joint shaft is positioned so as to cross the center of the spherical portion, a connecting portion pivot slot is formed in a direction perpendicular to the elbow joint pivot shaft, the second connecting portion is the connecting portion pivot slot It is effective to be coupled to the elbow joint so as to be rotatable.
  • the second connecting portion is formed in a bar shape.
  • the second connecting portion may be formed in a disk shape.
  • first elbow member and the second elbow member are formed in a hemispherical shape to be engaged with each other.
  • the present invention proposes a mannequin comprising the artificial joint described above.
  • Artificial joint of the above-described embodiment may be implemented in the joint of the robot or doll.
  • the artificial joints of the embodiments of the present invention not only have a very wide operating range, but also have a strong supporting force at a desired position, and thus have an excellent effect when applied to a mannequin, a robot, and the like.
  • the embodiment of the present invention has the advantage that it can be rotated in all directions by having the elbow joint part, the first auxiliary joint part and the second auxiliary joint part.
  • first auxiliary joint pivot shaft and the second auxiliary joint pivot shaft substantially coincide with the elbow joint pivot shaft, the rotational motion of the joint can be more smoothly and naturally implemented.
  • the elbow joint portion may be formed in a spherical shape, and may be formed in a shape similar to the joint portion without spoiling the appearance.
  • the second connecting portion is formed in a disk shape, it is possible to prevent the slot is exposed to the outside in the spherical elbow joint portion.
  • first elbow member and the second elbow member are formed in a hemispherical shape to be engaged with each other, the number of parts can be simplified and the reliability of operation can be further increased.
  • FIG. 1 is a conceptual diagram illustrating a mannequin to which an artificial joint is applied according to an embodiment of the present invention
  • Figure 2 is a perspective view of the elbow artificial joint of Figure 1
  • FIG. 3 is a cross-sectional view taken along the cutting line III-III of FIG.
  • FIG. 4 is a cross-sectional view taken along the line IV-IV of FIG. 3.
  • FIG. 5 is an exploded perspective view of the first elbow member of FIG. 2;
  • FIG. 6 is a perspective view of the second elbow member of FIG.
  • FIG. 7 is a perspective view of the first auxiliary joint member of FIG.
  • FIG. 8 is an exploded perspective view of the second auxiliary joint member of FIG. 2;
  • FIG. 9 is a perspective view of the second connecting portion of FIG. 2;
  • FIG. 10 is a conceptual diagram illustrating a mannequin to which an artificial joint is applied as a modification of FIG. 1.
  • FIG. 11 is a cross-sectional view of an artificial joint showing a modified example of the elbow joint portion.
  • FIG. 12 is a perspective view of the second connection part of FIG.
  • 15 and 16 are cross-sectional views showing modifications of irregularities
  • 17 is a conceptual view of the monitor holder applied to the artificial joint of the embodiment of the present invention.
  • 18 is a conceptual diagram of a robot to which the artificial joint of the embodiment of the present invention is applied;
  • FIG. 1 is a conceptual diagram illustrating a mannequin to which an artificial joint of one embodiment of the present invention is applied.
  • the mannequin 10 of the embodiment of the present invention is provided with artificial joints in the portions corresponding to each joint of the human body. That is, the shapes of the knee or elbow artificial joint 1000, the artificial joint 2000 installed on the shoulder portion, and the artificial joint 3000 installed on the waist portion are different. However, this is to form each joint differently to ensure the most appropriate joint movement to each joint, but is not limited to this, artificial joints may be installed in various combinations.
  • the mannequin is taken as an example, but the field to which the artificial joint of the present invention is applied is not limited to the mannequin, and it can be applied to various industrial fields such as robots and dolls.
  • an artificial joint 1000 for rotating a cradle such as a monitor and an artificial joint 1000 for operating the robot of FIG. 18 may be implemented.
  • FIG. 2 is a perspective view of the artificial joint 1000 of FIG. 1
  • FIG. 3 is a cross-sectional view taken along the cutting line III-III of FIG. 2
  • FIG. 4 is a cross-sectional view taken along the cutting line IV-IV of FIG. 3.
  • the artificial joint 1000 of one embodiment of the present invention is the elbow joint portion 1100, the first connection portion 1200, one end of which is coupled to the elbow joint portion 1100, and the first connection portion
  • the second connection portion 1300 having one end coupled to the elbow joint portion is different from the portion where the 1200 is coupled.
  • the elbow joint part 1100 is rotatably coupled around a first elbow member 1110 coupled with the first connector 1200, and the first elbow member 1110 and the elbow joint pivot 1101.
  • the second elbow member 1120 coupled with the second connecting portion 1300 and the elbow joint irregularities formed to engage each other on the sliding surfaces of the first elbow member 1110 and the second elbow member 1120.
  • 1130 and the main joint part compressing member 1140 for closely contacting the second elbow member 1120 to the position where the elbow joint unevenness is engaged.
  • the second elbow member 1120 is installed to be linearly movable with respect to the first elbow member between positions where the elbow joint unevenness 1130 is not engaged.
  • the elbow joint portion 1100 is similar to the outer shape of the joint and is preferably formed in a spherical shape to facilitate molding.
  • the elbow joint pivot shaft 1101 is positioned to cross the center of the sphere, and a connector pivot slot 1113 is formed in a direction perpendicular to the elbow joint pivot shaft 1101, and the second connector 1300 is It is coupled to the elbow joint portion 1100 so as to be rotatable in a connecting part rotation slot.
  • FIG 5 is an exploded perspective view of the first elbow member 1110.
  • the first elbow member 1110 includes an upper hemisphere 1111 and a lower hemisphere 1112, in which spheres are separated.
  • a pivot shaft hole 1114 through which the second elbow member 1120 is mounted is formed in the upper hemisphere 1111, and the position fixing member seating part 1115 is recessed in a quadrangular shape in the lower hemisphere 1112.
  • the first connection part fixing groove 1116 formed in the upper hemisphere 1111 and the lower hemisphere 1112 respectively, to fix the first connection part 1200, and inserted and fixed in the position fixing member seating part 1115.
  • a concave-convex forming unit case 1118 that wraps and fixes the first concave-convex forming unit 1117 and the first concave-convex forming unit 1117.
  • the first uneven portion 117 is formed in a rectangular columnar shape, the first elbow joint unevenness 1131 is formed on the upper surface.
  • the first elbow joint unevenness 1131 is formed on a ring-shaped surface, and is formed in a wave shape (crown shape).
  • the concave-convex forming part case 1118 is formed in a hexahedral shape in which a lower surface is opened to surround the first concave-convex forming part 1117, and an insertion hole 1118b into which the second elbow member 1120 is inserted into the upper surface 1118a is formed. It is formed through.
  • FIG. 6 is a perspective view of the second elbow member 1120.
  • the second elbow member 1120 includes a main shaft 1121 having a rectangular pillar shape, a second concave-convex forming portion 1123 formed at an end facing the first concave-convex forming portion 1117 of the main shaft, and a second elbow joint member 1120. ) Includes a coupling bolt 1124 for rotatably coupling the first elbow member 1110.
  • the main shaft 1121 is formed in an angular column shape, and is coupled to the second connecting portion 1300 so that the rotational movement of the second connecting portion 1300 is transmitted to the rotational movement of the main shaft 1121.
  • a coupling bolt insertion hole 1122 into which the coupling bolt 1124 is inserted is formed through the center of the main shaft 1121.
  • the second uneven portion 1123 is formed in a disc shape having a wider cross-sectional area than the main shaft 1121, and the second elbow joint unevenness 1132 is formed to engage the first elbow joint unevenness 1131.
  • the second elbow joint member 1120 is inserted into the pivot shaft hole 1114 and is coupled to be slidable along the longitudinal direction of the pivot shaft hole 1114.
  • the elbow joint unevenness 1130 includes the first elbow joint unevenness 1131 and the second elbow joint unevenness 1132 described above.
  • the elbow joint unevenness 1130 reciprocates between a position where the second main joint member is engaged with the non-engaged position when the first elbow member 1110 and the second elbow member 1120 slide. It is formed to. That is, the elbow joint concave-convex portion 1130 is formed in the shape of a smooth curved crown, and the axial movement of the second elbow member 1120 occurs during sliding.
  • the elbow joint pressing member 1140 uses a spring. That is, one end is supported by the second uneven portion 1123, and the other end is supported by the inner surface of the upper surface 1118a of the uneven portion forming part 1118, so that the first elbow unevenness 1131 and the second elbow joint portion are supported.
  • the concave-convex 1132 is engaged with each other.
  • the elbow joint part 1100 is coupled to the first elbow member 1110 and the second elbow member 1120 so as to be rotatable with each other, and in a desired position by the elbow joint unevenness 1130, the first elbow member 1110 and the second elbow member 1120 may be positioned.
  • the elbow joint pressing member 1140 it is possible to maintain the relative position of the first elbow member 1110 and the second elbow member 1120 with an appropriate strength.
  • the first connection part 1200 further includes a first auxiliary joint part configured to rotate about the first auxiliary joint part rotation shaft 1201 in a direction different from the elbow joint pivot shaft 1101.
  • the first auxiliary joint part includes a first auxiliary joint member 1210 connected to the first elbow member 1110, the first auxiliary joint member 1210, and the auxiliary joint part rotation shaft 1201.
  • the second auxiliary joint member 1220 is installed to be linearly movable with respect to the first auxiliary joint member 1210 between the position where the first auxiliary joint unevenness 1230 is not engaged.
  • the first auxiliary joint unevenness 1230 is a position where the second auxiliary joint member 1220 is not engaged with the engaged position when the first auxiliary joint member 1210 and the second auxiliary joint member 1220 slide. It is formed to reciprocate between.
  • FIG. 7 is a perspective view of the first auxiliary joint member.
  • the first auxiliary joint member 1210 includes a fixing jaw 1221, a first uneven portion forming part 1222, a fixing jaw 1221, and a first unevenness, which may be fitted into and fixed to the second coupling part fixing groove 1116. And a connection part 1223 connecting the formation part 1222.
  • the fixing jaw 12121 is formed in a rectangular plate shape so as to be fitted into the second coupling part fixing groove 1116, and the first jaw 1221 is formed on the surface facing the second auxiliary joint member 1220 of the first uneven portion 1222.
  • Auxiliary joint first unevenness 1231 is formed.
  • FIG. 8 is an exploded perspective view of the second auxiliary joint member.
  • the second auxiliary joint member 1220 surrounds the first uneven portion 1221 and the first uneven portion 1221, which are coupled to face the first uneven portion 1222, and the first uneven portion 1222. And a concave-convex forming part case 1222 for fixing the).
  • the second uneven portion 1221 is formed in the shape of a square column, and the first auxiliary joint second unevenness 1232 is formed on an upper surface thereof.
  • the first auxiliary joint second unevenness 1232 is formed on a ring-shaped surface, and is formed in a wave shape (crown shape).
  • a bolt fastening hole 1221a is formed at a side surface of the second uneven portion 1221.
  • the concave-convex forming part case 1222 is formed in a hexahedral shape with a lower surface open to surround the second concave-convex forming part 1221, and an insertion hole 1222b into which the first auxiliary joint member 1210 is inserted into the upper surface 1222a. It is formed through.
  • the bolt fastening hole 1222c penetrates the side surface and is fixed by the bolt 1223 together with the bolt fastening ball 1221a of the second unevenness forming portion 1221 described above.
  • the first auxiliary joint uneven portion 1230 includes a first auxiliary joint first unevenness 1231 and a first auxiliary joint second unevenness 1232.
  • first auxiliary joint pressing member 1240 is supported by the top surface 1222a of the uneven portion forming part 1222, and the other end thereof is supported by the back surface of the first uneven portion 1222 of the first auxiliary joint member. 1 Auxiliary joint uneven portion 1230 to be in close contact with each other.
  • the operation principle of the first auxiliary joint is similar to that of the elbow joint, and thus detailed description thereof will be omitted. That is, by using the concave-convex and the crimping member to engage with each other, to implement the rotational movement, the operation to maintain the rotated position is the same.
  • FIG. 9 is a perspective view of the second connection part of FIG. 2.
  • the second connection part 1300 is formed in a bar shape having a coupling hole 1301 coupled to the second elbow member 1120 at one end thereof.
  • the coupling hole 1301 is penetrated into a polygonal shape (a quadrangular in the embodiment of the present invention) in accordance with the shape of the cross section of the second connection portion 1300.
  • the first auxiliary joint rotation axis 1201 is formed in a direction different from the elbow joint rotation axis 1101, preferably in a vertical direction, so as to implement all the motions of the elbow joint of the human. That is, the elbow folding movement (R1 rotational movement in FIG. 1) may be implemented in the elbow joint 1100, and the torsional movement of the forearm (R2 rotational movement in FIG. 1) may be implemented in the first auxiliary joint.
  • the artificial joint 2000 installed on the shoulder in FIG. 1 further includes a third connecting portion 2100 coupled to the first connecting portion 1200 of the artificial joint 1000 of the elbow portion, and the third connecting portion
  • the second auxiliary joint part 2200 is configured to rotate about the third auxiliary joint part pivot shaft 2201 in a different direction from the first auxiliary joint part pivot shaft 1201.
  • the shoulder opening through the elbow joint 1100 can implement the rotation operation (R3), due to the first auxiliary joint implemented in the first connecting portion 1200, the shoulder torsion operation (R4) can be implemented, Due to the third auxiliary joint 2200, the shoulder rotational motion R5 may be implemented.
  • the lumbar joint may be implemented by arranging a plurality of joints as shown in FIG. 1.
  • FIG. 10 is a variation of FIG. 1, and there is a difference in the artificial joint 4000 implemented at the shoulder portion. That is, the second auxiliary joint part 1400 formed to rotate about the second auxiliary joint part pivot 1401 in a direction different from the elbow joint pivot axis 1101 at the second connection part 1300 of the first embodiment. It is characterized by including more.
  • first auxiliary joint rotational shaft 1201 and the second auxiliary joint rotational shaft 1401 and the elbow joint pivotal axis 1101 are formed to be substantially the same can be more flexibly three-dimensional.
  • the advantage is that it can be driven.
  • the method of forming the elbow joint may be variously modified.
  • FIG. 11 is a sectional view showing a modified example of the elbow joint
  • FIG. 12 is a perspective view of the second connecting portion of FIG.
  • the second connection part 5300 connected to the elbow part 1100 is formed in a disk shape, thereby filling the rotation slot 1113, thereby preventing the groove of the rotation slot 1113 from being exposed to the outside.
  • the elbow joint unevenness has been described as being formed as a separate member separated from the upper hemisphere 1111 and the lower hemisphere 1112.
  • the upper hemispheres 6111 and 7111 or the lower hemispheres 6112 and 7112 may be formed in contact with each other, as shown in FIGS. 14 and 15.
  • the first elbow member and the second elbow member is formed in a hemispherical shape to mesh with each other.
  • the elbow joint unevenness 6130 is formed on the surface in contact with each other of the upper hemisphere 6111 and the lower hemisphere 6112
  • the elbow joint pressing member 6140 is the upper hemisphere 6111 and the lower hemisphere 6112 contact each other. It is configured to.
  • the elbow joint unevenness 7130 is formed on a surface of the upper hemisphere 7111 and the first unevenness forming portion 7117 provided to be slidably movable in the lower hemisphere 7112, and the elbow joint pressing member 7140. ) Is provided between the lower hemisphere 7112 and the first uneven portion 7171.
  • the elbow joint unevenness 6130 when the elbow joint unevenness 6130 is formed in the upper hemispheres 6111 and 7111 and the lower hemispheres 6112 and 7112, the number of parts can be simplified, and the manufacturing cost can be reduced and the operation can be performed. Can also increase the reliability.
  • the upper hemisphere (6111, 7111) and the lower hemisphere (6112, 7112) to serve as the first elbow member and the second elbow member the first connection portion 1200
  • the upper hemispheres 6111 and 7111 are fixed to each other, and the second connection part 1300 is fixed to the lower hemispheres 6112 and 7112.
  • the second connecting portion 1300 of the lower hemispheres 6112 and 7112 so that the first auxiliary joint pivot shaft 1201 and the second auxiliary joint pivot shaft 1401 meet at one point of the elbow joint pivot shaft 1101.
  • the protrusions 6131 and 7113 coupled to the upper end are protruded toward the upper hemisphere 6111 and 7111.
  • the elbow joint unevenness and the first and second subsidiary joint unevenness are formed as an example of a wave shape (crown shape), but are not limited thereto.
  • a ball 8130 shape is illustrated.
  • it may be embodied in the form of a gear tooth (9130, bevel gear, but helical gear, bevel gear, etc. can be modified).
  • the artificial joints of the embodiments of the present invention not only have a very wide operating range, but also have a strong supporting force at a desired position, and thus have an excellent effect when applied to a mannequin, a robot, or the like.

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Abstract

Disclosed is an artificial joint which can be applied to mannequins, robots, dolls, and the like. The artificial joint includes: a main joint part; a first connection part, one end of which is coupled to the main joint part; and a second connection part, one end of which is coupled to the main joint part at another part other than the part in which the first connection part is coupled. The main joint part has a first main joint member, which is coupled to the first connection part, and a second main joint member, which is coupled to the first main joint member so as to be pivotable about a main joint part pivot axis and which is coupled to the second connection part. The first connection part further has a first auxiliary joint part formed so as to be pivotable about a first auxiliary joint part pivot axis which is different in terms of the direction from the main joint part pivot axis. Accordingly, the present invention has a wide range of operations and shows excellent effects when applied to mannequins, robots, and the like because the present invention has a strong supporting force at a desired position.

Description

인공관절Artificial joint
본 발명은 인공관절에 관한 것으로서, 보다 상세하게는 마네킹, 로봇, 인형 등에 적용될 수 있는 인공관절에 관한 것이다.The present invention relates to an artificial joint, and more particularly, to an artificial joint that can be applied to a mannequin, a robot, a doll, and the like.
마네킹, 로봇 및 인형은 작동되는 부위에 다양한 인공관절을 포함하고 있다. 특히 마네킹이나 인형의 경우, 인체를 모형으로 하고 있어, 사람의 관절에 해당하는 부위에 인공관절을 포함하고 있다. 또한, 마네킹의 경우 디스플레이를 위해서 다양한 자세를 구현할 수 있어야 하며, 원하는 자세를 지속적으로 유지시킬 수 있어야 한다.Mannequins, robots, and dolls contain a variety of artificial joints in the working area. In the case of mannequins and dolls in particular, the human body is modeled, and artificial joints are included in the area corresponding to the human joint. In addition, the mannequin should be able to implement a variety of postures for display, and must be able to maintain the desired posture continuously.
또한, 옷 뿐만 아니라, 가방과 같은 무게감이 있는 소품이 손과 팔 등에 거치되는 경우에는 상당한 모멘트가 인공관절에 부가되기 때문에 이를 견딜 수 있어야 한다.In addition, in addition to clothes, if a weight-like accessory such as a bag is mounted on the hands and arms, etc., since a significant moment is added to the artificial joint should be able to withstand this.
그러나, 종래의 마네킹 등에 사용되는 인공관절은 단순히 힌지부에 핀으로 고정한 정도의 구성을 구비하고 있어, 이러한 요구에 충분히 대응하지 못한다는 단점이 있다.However, the artificial joints used in the conventional mannequins have a configuration that is simply fixed to the hinge portion with a pin, and there is a disadvantage that they do not sufficiently meet these requirements.
본 발명의 실시예는 상기와 같은 문제점을 해결하기 위해 안출된 것으로서, 다양한 방향으로 회동이 가능할 뿐만 아니라, 멈춰진 위치에서 자세를 유지할 수 있는 인공관절을 제공하고자 한다. Embodiments of the present invention have been made to solve the above problems, to provide a artificial joint that can be rotated in various directions, as well as maintain the posture in a stopped position.
본 발명의 실시예는 상기와 같은 과제를 해결하고자, 주관절부; 상기 주관절부에 일단이 결합된 제 1 연결부; 및 상기 제 1 연결부가 결합된 부위와 다른 부위에서, 상기 주관절부에 일단이 결합된 제 2 연결부;를 포함하고, 상기 주관절부는, 상기 제 1 연결부와 결합된 제 1 주관절부재; 및 상기 제 1 주관절부재와 주관절부 회동축을 중심으로 회동가능하게 결합되며, 상기 제 2 연결부와 결합된 제 2 주관절부재;를 포함하고, 상기 제 1 연결부에는, 상기 주관절부 회동축과 상이한 방향의 제 1 보조관절부 회동축을 중심으로 회동할 수 있도록 형성된 제 1 보조 관절부;를 더 포함하는 것을 특징으로 하는 인공관절을 제공한다.Embodiment of the present invention to solve the above problems, elbow joint; A first connection part having one end coupled to the elbow joint; And a second connecting part having one end coupled to the elbow joint at a portion different from the site where the first connecting part is coupled, wherein the elbow joint comprises: a first elbow member coupled to the first connecting part; And a second elbow member rotatably coupled around the first elbow member and the elbow joint pivot, and coupled to the second connecting portion, wherein the first connector has a direction different from that of the elbow joint pivot. The first auxiliary joint part of the first auxiliary joint formed to rotate about the axis of rotation; provides an artificial joint further comprising.
여기서, 상기 제 1 보조 관절부는, 상기 제 1 주관절부재와 연결된 제 1 보조관절부재; 및 상기 제 1 보조관절부재와 상기 보조 관절부 회동축을 중심으로 회동 가능하게 결합되는 제 2 보조관절부재;를 포함하는 것이 바람직하다.Here, the first auxiliary joint part, the first auxiliary joint member connected to the first elbow member; And a second auxiliary joint member rotatably coupled around the first auxiliary joint member and the auxiliary joint part rotation shaft.
상기 주관절부는, 상기 제 1 주관절부재와 상기 제 2 주관절부재의 습동하는 면에는 서로 맞물리도록 주관절부 요철이 형성되며, 상기 제 2 주관절부재는 상기 주관절부 요철이 맞물리는 위치와 맞물리지 않는 위치 사이에 상기 제 1 주관절부재에 대해서 직선 이동 가능하도록 설치되며, 상기 제 2 주관절부재를 상기 주관절부 요철이 맞물리는 위치로 밀착하는 주 관절부 압착부재;를 더 포함하며, 상기 주관절부 요철은 상기 제 1 주관절부재와 상기 제 2 주관절부재의 습동 시 상기 제 2 주 관절부재가 상기 맞물리는 위치와 상기 맞물리지 않는 위치 사이에 왕복 이동하도록 형성된다.The elbow joint has elbow joint irregularities formed so as to be engaged with each other on the sliding surfaces of the first elbow member and the second elbow member, and the second elbow member is between a position where the elbow joint is not engaged. It is installed so as to be linearly movable with respect to the first elbow member, and the main joint portion pressing member for close contact with the second elbow member to the position where the elbow joint unevenness; further comprises, the elbow joint unevenness is the first elbow joint The second main joint member is formed to reciprocate between the engaged position and the non-engaged position when the member and the second elbow member slide.
상기 제 2 연결부에는, 상기 주관절부 회동축과 상이한 방향의 제 2 보조관절부 회동축을 중심으로 회동할 수 있도록 형성된 제 2 보조 관절부;를 더 포함한다.The second connection part further includes a second auxiliary joint part formed to rotate about the second auxiliary joint part rotation axis in a direction different from the elbow joint rotation axis.
상기 제 1 보조 관절부 회동축과 상기 제 2 보조 관절부 회동축이 상기 주관절부 회동축과 만나는 점은 실질적으로 동일한 것이 바람직하다.It is preferable that the point where the first auxiliary joint rotational axis and the second auxiliary joint rotational axis meet the elbow joint rotational axis is substantially the same.
상기 제 1 보조 관절부는, 상기 제 1 보조관절부재와 상기 제 2 보조관절부재의 습동하는 면에는 서로 맞물릴 수 있도록 제 1 보조관절 요철이 형성되며, 상기 제 2 보조 관절부재는 상기 제1 보조관절 요철이 맞물리는 위치와 맞물리지 않는 위치 사이에 상기 제 1 보조 관절부재에 대해서 직선 이동 가능하도록 설치되며, 상기 제 2 보조 관절부재를 상기 제 1 보조관절 요철이 맞물리는 위치로 밀착하는 제 1 보조 관절부 압착부재;를 더 포함하며, 상기 제 1 보조관절 요철은 상기 제 1 보조 관절부재와 상기 제 2 보조 관절부재의 습동 시 상기 제 2 보조 관절부재가 상기 맞물리는 위치와 상기 맞물리지 않는 위치 사이에 왕복 이동하도록 형성된 것이 바람직하다.The first auxiliary joint part is formed with a first auxiliary joint unevenness to be engaged with each other on the sliding surface of the first auxiliary joint member and the second auxiliary joint member, the second auxiliary joint member is the first auxiliary joint member A first auxiliary is installed so as to be linearly movable relative to the first auxiliary joint member between the position where the joint unevenness is engaged and the non-engaged position, and the first auxiliary joint member is in close contact with the position where the first auxiliary joint unevenness is engaged. And a joint pressing member, wherein the first auxiliary joint is unevenly disposed between the engaged position and the non-engaged position of the second auxiliary joint member during sliding of the first auxiliary joint member and the second auxiliary joint member. It is preferably formed to reciprocate.
상기 주관절부는 구형으로 형성되며, 상기 주관절부 회동축은 상기 구형으로 중심을 가로지르도록 위치하며, 상기 주관절부 회동축에 수직방향으로 연결부 회동 슬롯이 형성되며, 상기 제 2 연결부는 상기 연결부 회동 슬롯에 회동가능하도록 상기 주관절부에 결합된 것이 효과적이다.The elbow joint portion is formed in a spherical shape, the elbow joint shaft is positioned so as to cross the center of the spherical portion, a connecting portion pivot slot is formed in a direction perpendicular to the elbow joint pivot shaft, the second connecting portion is the connecting portion pivot slot It is effective to be coupled to the elbow joint so as to be rotatable.
상기 제 2 연결부는 바형상으로 형성된다.The second connecting portion is formed in a bar shape.
상기 제 2 연결부는 디스크 형상으로 형성될 수도 있다.The second connecting portion may be formed in a disk shape.
제 1 주관절부재 및 상기 제 2 주관절부재는 서로 맞물리는 반구형상으로 형성된 것이 바람직하다.It is preferable that the first elbow member and the second elbow member are formed in a hemispherical shape to be engaged with each other.
상기 제 1 연결부에 결합된 제 3 연결부; 를 더 포함하고, 상기 제 3 연결부에는 상기 제 1 보조관절부 회동축과 상이한 방향의 제 3 보조관절부 회동축을 중심으로 회동할 수 있도록 형성된 제 3 보조관절부;를 더 포함하는 것이 바람직하다.A third connector coupled to the first connector; It further comprises, The third connecting portion further comprises a third auxiliary joint portion formed to be rotated about the third auxiliary joint portion rotation axis in a direction different from the first auxiliary joint portion rotation axis;
한편, 본 발명은 전술한 인공관절을 포함하는 것을 특징으로 하는 마네킹을 제시한다.On the other hand, the present invention proposes a mannequin comprising the artificial joint described above.
전술한 실시예의 인공관절은 로봇 또는 인형의 관절에도 구현될 수 있다.Artificial joint of the above-described embodiment may be implemented in the joint of the robot or doll.
이상에서 살펴본 바와 같은 본 발명의 과제해결 수단에 의하면 다음과 같은 사항을 포함하는 다양한 효과를 기대할 수 있다. 다만, 본 발명이 하기와 같은 효과를 모두 발휘해야 성립되는 것은 아니다.According to the problem solving means of the present invention as described above it can be expected a variety of effects including the following matters. However, the present invention is not achieved by exerting all of the following effects.
먼저, 본 발명의 실시예들의 인공관절은 작동범위가 매우 넓을 뿐만 아니라, 원하는 위치에서 지지하는 힘이 강하여, 마네킹, 로봇 등에 적용시 매우 우수한 효과를 발휘한다.First, the artificial joints of the embodiments of the present invention not only have a very wide operating range, but also have a strong supporting force at a desired position, and thus have an excellent effect when applied to a mannequin, a robot, and the like.
또한, 본 발명의 실시예는 주관절부, 제 1 보조관절부 및 제 2 보조관절부를 구비함으로써, 모든 방향으로 회동가능하다는 장점이 있다.In addition, the embodiment of the present invention has the advantage that it can be rotated in all directions by having the elbow joint part, the first auxiliary joint part and the second auxiliary joint part.
그리고, 제 1 보조관절부 회동축과 제 2 보조 관절부 회동축이 주관절부 회동축과 만나는 점이 실질적으로 일치하도록 함으로써, 관절의 회동 동작이 보다 원활하고, 자연스럽게 구현할 수 있다.In addition, by making the first auxiliary joint pivot shaft and the second auxiliary joint pivot shaft substantially coincide with the elbow joint pivot shaft, the rotational motion of the joint can be more smoothly and naturally implemented.
또한, 주관절부가 구형으로 형성되어, 외관을 해치지 않으면서, 관절부와 유사한 형상으로 형성할 수 있다.In addition, the elbow joint portion may be formed in a spherical shape, and may be formed in a shape similar to the joint portion without spoiling the appearance.
그리고, 제 2 연결부가 디스크 형상으로 형성되어, 구형의 주관절부에 슬롯이 외부로 드러나는 것을 방지할 수 있다.And, the second connecting portion is formed in a disk shape, it is possible to prevent the slot is exposed to the outside in the spherical elbow joint portion.
또한, 제 1 주관절부재 및 제 2 주관절부재가 서로 맞물리는 반구형상으로 형성됨으로써, 부품의 수를 간소화할 수 있으며, 작동의 신뢰성을 더욱 증대시킬 수 있다.In addition, since the first elbow member and the second elbow member are formed in a hemispherical shape to be engaged with each other, the number of parts can be simplified and the reliability of operation can be further increased.
도 1은 본 발명의 일실시예의 인공관절이 적용된 마네킹을 도시한 개념도1 is a conceptual diagram illustrating a mannequin to which an artificial joint is applied according to an embodiment of the present invention;
도 2는 도 1의 팔꿈치 인공관절의 사시도Figure 2 is a perspective view of the elbow artificial joint of Figure 1
도 3은 도 2의 절단선 Ⅲ-Ⅲ에 따른 단면도3 is a cross-sectional view taken along the cutting line III-III of FIG.
도 4는 도 3의 절단선 Ⅳ-Ⅳ에 따른 단면도4 is a cross-sectional view taken along the line IV-IV of FIG. 3.
도 5는 도 2의 제 1 주관절부재의 분리사시도5 is an exploded perspective view of the first elbow member of FIG. 2;
도 6은 도 2의 제 2 주관절부재의 사시도6 is a perspective view of the second elbow member of FIG.
도 7은 도 2의 제 1 보조관절부재의 사시도7 is a perspective view of the first auxiliary joint member of FIG.
도 8은 도 2의 제 2 보조관절부재의 분리 사시도8 is an exploded perspective view of the second auxiliary joint member of FIG. 2;
도 9는 도 2의 제 2 연결부의 사시도9 is a perspective view of the second connecting portion of FIG. 2;
도 10은 도 1의 변형예로서, 인공관절이 적용된 마네킹을 도시한 개념도FIG. 10 is a conceptual diagram illustrating a mannequin to which an artificial joint is applied as a modification of FIG. 1.
도 11은 주관절부의 변형된 예를 도시한 인공관절의 단면도11 is a cross-sectional view of an artificial joint showing a modified example of the elbow joint portion.
도 12 도 11의 제 2 연결부의 사시도12 is a perspective view of the second connection part of FIG.
도 13 및 14는 다른 변형예의 인공관절의 단면도13 and 14 are cross-sectional views of artificial joints of another modification
도 15 및 16은 요철의 변형예를 도시한 단면도15 and 16 are cross-sectional views showing modifications of irregularities;
도 17은 본 발명의 실시예의 인공관절이 적용된 모니터 거치대의 개념도17 is a conceptual view of the monitor holder applied to the artificial joint of the embodiment of the present invention
도 18은 본 발명의 실시예의 인공관절이 적용된 로봇의 개념도18 is a conceptual diagram of a robot to which the artificial joint of the embodiment of the present invention is applied;
이하, 첨부도면을 참조하여 본 발명의 실시예에 관하여 상세히 설명한다.Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
도 1은 본 발명의 일실시예의 인공관절이 적용된 마네킹을 도시한 개념도이다.1 is a conceptual diagram illustrating a mannequin to which an artificial joint of one embodiment of the present invention is applied.
도 1에 도시된 바와 같이, 본 발명의 일실시예의 마네킹(10)은 인체의 각 관절에 대응되는 부위에 인공관절이 설치된다. 즉, 무릎 혹은 팔굼치 인공관절(1000)과, 어깨부위에 설치되는 인공관절(2000)과, 허리 부위에 설치되는 인공관절(3000)의 형상이 상이하다. 다만, 이는 각 관절에 최대한 적절한 관절운동을 보장하기 위해 각각의 관절을 다르게 형성하였으나, 이에 한정되는 것은 아니며, 다양한 조합으로 인공관절이 설치될 수 있다.As shown in Figure 1, the mannequin 10 of the embodiment of the present invention is provided with artificial joints in the portions corresponding to each joint of the human body. That is, the shapes of the knee or elbow artificial joint 1000, the artificial joint 2000 installed on the shoulder portion, and the artificial joint 3000 installed on the waist portion are different. However, this is to form each joint differently to ensure the most appropriate joint movement to each joint, but is not limited to this, artificial joints may be installed in various combinations.
또한, 본 발명의 실시예에서는 마네킹을 예를 들고 있으나, 본 발명의 인공관절이 적용되는 분야가 마네킹에 한정되는 것은 아니며, 로봇, 인형등 다양한 산업분야에 적용될 수 있음은 너무나 당연하다. 일예로 도 17과 같이 모니터 등의 거치대의 회동을 위한 인공관절(1000) 및 도 18의 로봇의 작동을 위한 인공관절(1000) 등으로 구현이 가능하다.In addition, in the embodiment of the present invention, the mannequin is taken as an example, but the field to which the artificial joint of the present invention is applied is not limited to the mannequin, and it can be applied to various industrial fields such as robots and dolls. As an example, as shown in FIG. 17, an artificial joint 1000 for rotating a cradle such as a monitor and an artificial joint 1000 for operating the robot of FIG. 18 may be implemented.
먼저, 가장 기본이 되는 팔굼치에 적용되는 인공관절(1000)에 대해서 기술한다.First, the artificial joint 1000 to be applied to the most basic arm bulge is described.
도 2는 도 1의 인공관절(1000)의 사시도, 도 3은 도 2의 절단선 Ⅲ-Ⅲ에 따른 단면도, 도 4는 도 3의 절단선 Ⅳ-Ⅳ에 따른 단면도이다.2 is a perspective view of the artificial joint 1000 of FIG. 1, FIG. 3 is a cross-sectional view taken along the cutting line III-III of FIG. 2, and FIG. 4 is a cross-sectional view taken along the cutting line IV-IV of FIG. 3.
이들 도면에 도시된 바와 같이, 본 발명의 일실시예의 인공관절(1000)은 주관절부(1100)와, 상기 주관절부(1100)에 일단이 결합된 제 1 연결부(1200)와, 상기 제 1 연결부(1200)가 결합된 부위와 다른 부위에서, 상기 주관절부에 일단이 결합된 제 2 연결부(1300)를 포함한다.As shown in these drawings, the artificial joint 1000 of one embodiment of the present invention is the elbow joint portion 1100, the first connection portion 1200, one end of which is coupled to the elbow joint portion 1100, and the first connection portion The second connection portion 1300 having one end coupled to the elbow joint portion is different from the portion where the 1200 is coupled.
상기 주관절부(1100)는, 상기 제 1 연결부(1200)와 결합된 제 1 주관절부재(1110)와, 상기 제 1 주관절부재(1110)와 주관절부 회동축(1101)을 중심으로 회동가능하게 결합되며, 상기 제 2 연결부(1300)와 결합된 제 2 주관절부재(1120)와, 상기 제 1 주관절부재(1110)와 상기 제 2 주관절부재(1120)의 습동하는 면에는 서로 맞물리도록 형성된 주관절부 요철(1130)과, 상기 제 2 주관절부재(1120)를 상기 주관절부 요철이 맞물리는 위치로 밀착하는 주 관절부 압착부재(1140)를 포함한다.The elbow joint part 1100 is rotatably coupled around a first elbow member 1110 coupled with the first connector 1200, and the first elbow member 1110 and the elbow joint pivot 1101. The second elbow member 1120 coupled with the second connecting portion 1300 and the elbow joint irregularities formed to engage each other on the sliding surfaces of the first elbow member 1110 and the second elbow member 1120. 1130 and the main joint part compressing member 1140 for closely contacting the second elbow member 1120 to the position where the elbow joint unevenness is engaged.
상기 제 2 주관절부재(1120)는 상기 주관절부 요철(1130)이 맞물리는 위치와 맞물리지 않는 위치 사이에 상기 제 1 주관절부재에 대해서 직선 이동 가능하도록 설치된다. The second elbow member 1120 is installed to be linearly movable with respect to the first elbow member between positions where the elbow joint unevenness 1130 is not engaged.
상기 주관절부(1100)는 관절의 외부 형상과 유사하며, 성형이 용이하도록 구형으로 형성되는 것이 바람직하다. 상기 주관절부 회동축(1101)은 구형의 중심을 가로지르도록 위치하며, 상기 주관절부 회동축(1101)에 수직방향으로 연결부 회동 슬롯(1113)이 형성되며, 상기 제 2 연결부(1300)는 상기 연결부 회동 슬롯에 회동가능하도록 상기 주관절부(1100)에 결합된다.The elbow joint portion 1100 is similar to the outer shape of the joint and is preferably formed in a spherical shape to facilitate molding. The elbow joint pivot shaft 1101 is positioned to cross the center of the sphere, and a connector pivot slot 1113 is formed in a direction perpendicular to the elbow joint pivot shaft 1101, and the second connector 1300 is It is coupled to the elbow joint portion 1100 so as to be rotatable in a connecting part rotation slot.
도 5는 제 1 주관절부재(1110)의 분리사시도이다.5 is an exploded perspective view of the first elbow member 1110.
제 1 주관절부재(1110)는 구체가 분리된, 상반구(1111) 및 하반구(1112)를 포함한다. 상반구(1111)에는 제 2 주관절부재(1120)가 거치되는 회동축공(1114)이 형성되며, 하반구(1112)에는 위치고정부재 안착부(1115)가 사각형상으로 요입되어 형성된다. 또한, 상반구(1111) 및 하반구(1112)에 각각 형성되어, 제 1 연결부(1200)를 고정할 수 있는 제 1 연결부 고정홈(1116)과, 위치고정부재 안착부(1115)에 삽입 고정된 제 1 요철형성부(1117) 및 제 1 요철형성부(1117)를 감싸서 고정하는 요철형성부 케이스(1118)을 포함한다.The first elbow member 1110 includes an upper hemisphere 1111 and a lower hemisphere 1112, in which spheres are separated. A pivot shaft hole 1114 through which the second elbow member 1120 is mounted is formed in the upper hemisphere 1111, and the position fixing member seating part 1115 is recessed in a quadrangular shape in the lower hemisphere 1112. In addition, the first connection part fixing groove 1116 formed in the upper hemisphere 1111 and the lower hemisphere 1112, respectively, to fix the first connection part 1200, and inserted and fixed in the position fixing member seating part 1115. And a concave-convex forming unit case 1118 that wraps and fixes the first concave-convex forming unit 1117 and the first concave-convex forming unit 1117.
제 1 요철형성부(117)는 사각 기둥형상으로 형성되며, 상면에 제 1 주관절부 요철(1131)이 형성된다. 제 1 주관절부 요철(1131)은 링형상의 면상에 형성되며, 파도형상(크라운 형상)으로 형성된다.The first uneven portion 117 is formed in a rectangular columnar shape, the first elbow joint unevenness 1131 is formed on the upper surface. The first elbow joint unevenness 1131 is formed on a ring-shaped surface, and is formed in a wave shape (crown shape).
요철형성부 케이스(1118)는 제 1 요철형성부(1117)를 감싸도록 하면이 개방된 육면체 형상으로 형성되며, 상면(1118a)에 제 2 주관절부재(1120)가 삽입되는 삽입공(1118b)이 관통되어 형성된다.The concave-convex forming part case 1118 is formed in a hexahedral shape in which a lower surface is opened to surround the first concave-convex forming part 1117, and an insertion hole 1118b into which the second elbow member 1120 is inserted into the upper surface 1118a is formed. It is formed through.
도 6은 제 2 주관절부재(1120)의 사시도이다.6 is a perspective view of the second elbow member 1120.
제 2 주관절부재(1120)는 사각기둥형상의 주축(1121)과, 주축의 제 1 요철형성부(1117)를 바라보는 끝단에 형성된 제 2 요철형성부(1123)과, 제 2 주관절부재(1120)를 제 1 주관절부재(1110)에 회동가능하도록 결합하는 결합볼트(1124)를 포함한다.The second elbow member 1120 includes a main shaft 1121 having a rectangular pillar shape, a second concave-convex forming portion 1123 formed at an end facing the first concave-convex forming portion 1117 of the main shaft, and a second elbow joint member 1120. ) Includes a coupling bolt 1124 for rotatably coupling the first elbow member 1110.
주축(1121)은 각이진 기둥형상으로 형성됨으로서, 제 2 연결부(1300)와 결합되어, 제 2 연결부(1300)의 회동운동이 주축(1121)의 회동운동으로 전달되도록 한다. 주축(1121)의 중심에는 결합볼트(1124)가 삽입되는 결합볼트 삽입공(1122)이 관통되어 형성된다. The main shaft 1121 is formed in an angular column shape, and is coupled to the second connecting portion 1300 so that the rotational movement of the second connecting portion 1300 is transmitted to the rotational movement of the main shaft 1121. A coupling bolt insertion hole 1122 into which the coupling bolt 1124 is inserted is formed through the center of the main shaft 1121.
제 2 요철형성부(1123)는 주축(1121) 보다 단면적이 넓은 원판 형상으로 형성되며, 제 1 주관절부 요철(1131)과 맞물리도록 제 2 주관절부 요철(1132)이 형성된다. 제 2 주관절부재(1120)는 회동축공(1114)에 삽입되며, 회동축공(1114)의 길이방향을 따라서, 슬라이딩 가능하도록 결합된다.The second uneven portion 1123 is formed in a disc shape having a wider cross-sectional area than the main shaft 1121, and the second elbow joint unevenness 1132 is formed to engage the first elbow joint unevenness 1131. The second elbow joint member 1120 is inserted into the pivot shaft hole 1114 and is coupled to be slidable along the longitudinal direction of the pivot shaft hole 1114.
주관절부 요철(1130)은 전술한 제 1 주관절부 요철(1131)과 제 2 주관절부 요철(1132)을 포함한다. 또한, 상기 주관절부 요철(1130)은 상기 제 1 주관절부재(1110)와 상기 제 2 주관절부재(1120)의 습동 시 상기 제 2 주 관절부재가 상기 맞물리는 위치와 상기 맞물리지 않는 위치 사이에 왕복 이동하도록 형성된다. 즉, 주관절부요철(1130)이 부드러운 곡면의 크라운 형상으로 형성되어, 습동시, 제 2 주관절부재(1120)의 축방향 운동이 발생하게 된다.The elbow joint unevenness 1130 includes the first elbow joint unevenness 1131 and the second elbow joint unevenness 1132 described above. In addition, the elbow joint unevenness 1130 reciprocates between a position where the second main joint member is engaged with the non-engaged position when the first elbow member 1110 and the second elbow member 1120 slide. It is formed to. That is, the elbow joint concave-convex portion 1130 is formed in the shape of a smooth curved crown, and the axial movement of the second elbow member 1120 occurs during sliding.
주관절부 압착부재(1140)은 스프링이 사용된다. 즉, 일단은 제 2 요철형성부(1123)에 지지되며, 타단은 요철 형성부 케이스(1118)의 상면(1118a)의 내측면에 지지되어, 제 1 주관절부 요철(1131)과 제 2 주관절부 요철(1132)이 서로 맞물리도록 한다.The elbow joint pressing member 1140 uses a spring. That is, one end is supported by the second uneven portion 1123, and the other end is supported by the inner surface of the upper surface 1118a of the uneven portion forming part 1118, so that the first elbow unevenness 1131 and the second elbow joint portion are supported. The concave-convex 1132 is engaged with each other.
상기와 같이, 주관절부(1100)는 제 1 주관절부재(1110)와, 제 2 주관절부재(1120)가 상호 회전 가능하도록 결합되며, 주관절부 요철(1130)에 의해 원하는 위치에서, 제 1 주관절부재(1110)와, 제 2 주관절부재(1120)를 위치시킬 수 있다. 이때, 주관절부 압착부재(1140)로 인해서, 적절한 강도로 제 1 주관절부재(1110)와 제 2 주관절부재(1120)의 상대 위치를 유지시킬 수 있다.As described above, the elbow joint part 1100 is coupled to the first elbow member 1110 and the second elbow member 1120 so as to be rotatable with each other, and in a desired position by the elbow joint unevenness 1130, the first elbow member 1110 and the second elbow member 1120 may be positioned. At this time, due to the elbow joint pressing member 1140, it is possible to maintain the relative position of the first elbow member 1110 and the second elbow member 1120 with an appropriate strength.
상기 제 1 연결부(1200)에는, 상기 주관절부 회동축(1101)과 상이한 방향의 제 1 보조관절부 회동축(1201)을 중심으로 회동할 수 있도록 형성된 제 1 보조 관절부를 더 포함한다.The first connection part 1200 further includes a first auxiliary joint part configured to rotate about the first auxiliary joint part rotation shaft 1201 in a direction different from the elbow joint pivot shaft 1101.
즉, 상기 제 1 보조 관절부는, 상기 제 1 주관절부재(1110)와 연결된 제 1 보조관절부재(1210)와, 상기 제 1 보조관절부재(1210)와 상기 보조 관절부 회동축(1201)을 중심으로 회동 가능하게 결합되는 제 2 보조관절부재(1220)와, 상기 제 1 보조관절부재(1210)와 상기 제 2 보조관절부재(1220)의 습동하는 면에는 서로 맞물릴 수 있도록 형성된 제 1 보조관절 요철(1230)과, 상기 제 2 보조 관절부재(1220)를 상기 제 1 보조관절 요철(1210)이 맞물리는 위치로 밀착하는 제 1 보조 관절부 압착부재(1240)를 포함한다. That is, the first auxiliary joint part includes a first auxiliary joint member 1210 connected to the first elbow member 1110, the first auxiliary joint member 1210, and the auxiliary joint part rotation shaft 1201. The first auxiliary joint unevenness formed to be engaged with each other on the sliding surfaces of the second auxiliary joint member 1220 and the first auxiliary joint member 1210 and the second auxiliary joint member 1220 which are rotatably coupled to each other. 1230, and a first auxiliary joint part crimping member 1240 which closely contacts the second auxiliary joint member 1220 to a position where the first auxiliary joint unevenness 1210 is engaged.
여기서, 상기 제 2 보조 관절부재(1220)는 상기 제1 보조관절 요철(1230)이 맞물리는 위치와 맞물리지 않는 위치 사이에 상기 제 1 보조 관절부재(1210)에 대해서 직선 이동 가능하도록 설치되며, 상기 제 1 보조관절 요철(1230)은 상기 제 1 보조 관절부재(1210)와 상기 제 2 보조 관절부재(1220)의 습동 시 상기 제 2 보조 관절부재(1220)가 상기 맞물리는 위치와 상기 맞물리지 않는 위치 사이에 왕복 이동하도록 형성된다.Here, the second auxiliary joint member 1220 is installed to be linearly movable with respect to the first auxiliary joint member 1210 between the position where the first auxiliary joint unevenness 1230 is not engaged. The first auxiliary joint unevenness 1230 is a position where the second auxiliary joint member 1220 is not engaged with the engaged position when the first auxiliary joint member 1210 and the second auxiliary joint member 1220 slide. It is formed to reciprocate between.
도 7은 제 1 보조관절부재의 사시도이다.7 is a perspective view of the first auxiliary joint member.
제 1 보조관절부재(1210)은 제 2 결합부 고정홈(1116)에 끼워져 고정될 수 있는 고정턱(1221)과, 제 1 요철형성부(1222)와, 고정턱(1221)과 제 1 요철형성부(1222)를 연결하는 연결부(1223)를 포함한다. 고정턱(12221)은 제 2 결합부 고정홈(1116)에 끼워질 수 있도록 사각 판상으로 형성되며, 제 1 요철형성부(1222)의 제 2 보조관절부재(1220)를 바라보는 면에 제 1 보조관절 제1 요철(1231)이 형성된다.The first auxiliary joint member 1210 includes a fixing jaw 1221, a first uneven portion forming part 1222, a fixing jaw 1221, and a first unevenness, which may be fitted into and fixed to the second coupling part fixing groove 1116. And a connection part 1223 connecting the formation part 1222. The fixing jaw 12121 is formed in a rectangular plate shape so as to be fitted into the second coupling part fixing groove 1116, and the first jaw 1221 is formed on the surface facing the second auxiliary joint member 1220 of the first uneven portion 1222. Auxiliary joint first unevenness 1231 is formed.
도 8은 제 2 보조관절부재의 분리 사시도이다.8 is an exploded perspective view of the second auxiliary joint member.
제 2 보조관절부재(1220)는, 제 1 요철형성부(1222)와 마주보고 결합되는 제 2 요철형성부(1221)와, 제 1 요철형성부(1221)를 감싸며 제 1 요철형성부(1222)를 고정하는 요철형성부 케이스(1222)를 포함한다.The second auxiliary joint member 1220 surrounds the first uneven portion 1221 and the first uneven portion 1221, which are coupled to face the first uneven portion 1222, and the first uneven portion 1222. And a concave-convex forming part case 1222 for fixing the).
제 2 요철형성부(1221)는 사각 기둥형상으로 형성되며, 상면에 제 1 보조관절 제 2 요철(1232)이 형성된다. 제 1 보조관절 제 2 요철(1232)은 링형상의 면상에 형성되며, 파도형상(크라운 형상)으로 형성된다. 또한, 제 2 요철형성부(1221)의 측면에는 볼트체결용 공(1221a)이 형성된다. The second uneven portion 1221 is formed in the shape of a square column, and the first auxiliary joint second unevenness 1232 is formed on an upper surface thereof. The first auxiliary joint second unevenness 1232 is formed on a ring-shaped surface, and is formed in a wave shape (crown shape). In addition, a bolt fastening hole 1221a is formed at a side surface of the second uneven portion 1221.
요철형성부 케이스(1222)는 제 2 요철형성부(1221)를 감싸도록 하면이 개방된 육면체 형상으로 형성되며, 상면(1222a)에 제 1 보조관절부재(1210)가 삽입되는 삽입공(1222b)이 관통되어 형성된다. 또한, 측면에는 볼트체결용 공(1222c)가 관통되어, 전술한 제 2 요철형성부(1221)의 볼트체결용 공(1221a)과 함께 볼트(1223)에의해 고정된다. The concave-convex forming part case 1222 is formed in a hexahedral shape with a lower surface open to surround the second concave-convex forming part 1221, and an insertion hole 1222b into which the first auxiliary joint member 1210 is inserted into the upper surface 1222a. It is formed through. In addition, the bolt fastening hole 1222c penetrates the side surface and is fixed by the bolt 1223 together with the bolt fastening ball 1221a of the second unevenness forming portion 1221 described above.
제 1 보조관절 요철부(1230)는 제 1 보조관절 제 1 요철(1231)과, 제 1 보조관절 제 2 요철(1232)을 포함한다.The first auxiliary joint uneven portion 1230 includes a first auxiliary joint first unevenness 1231 and a first auxiliary joint second unevenness 1232.
제 1 보조관절부 압착부재(1240)은 일단이 요철형성부 케이스(1222)의 상면(1222a)에 지지되며, 타단이 제 1 보조관절부재의 제 1요철형성부(1222) 배면에 지지되어, 제 1 보조관절 요철부(1230)가 서로 밀착하도록 한다.One end of the first auxiliary joint pressing member 1240 is supported by the top surface 1222a of the uneven portion forming part 1222, and the other end thereof is supported by the back surface of the first uneven portion 1222 of the first auxiliary joint member. 1 Auxiliary joint uneven portion 1230 to be in close contact with each other.
제 1 보조관절의 작동원리는 주관절부와 작동원리가 유사하여 자세한 설명은 생략한다. 즉, 서로 맞물리는 요철과 압착부재를 사용하여, 회동운동을 구현하며, 회동된 위치를 유지하는 동작이 동일하다.The operation principle of the first auxiliary joint is similar to that of the elbow joint, and thus detailed description thereof will be omitted. That is, by using the concave-convex and the crimping member to engage with each other, to implement the rotational movement, the operation to maintain the rotated position is the same.
도 9는 도 2의 제 2 연결부의 사시도이다.9 is a perspective view of the second connection part of FIG. 2.
제 2 연결부(1300)는 일단에 제 2 주관절부재(1120)와 결합되는 결합공(1301)이 형성된 바형상으로 형성된다. 결합공(1301)은 제 2 연결부(1300)의 단면의 형상에 맞춰 다각형(본 발명의 실시예에서는 4각형) 형상으로 관통된다.The second connection part 1300 is formed in a bar shape having a coupling hole 1301 coupled to the second elbow member 1120 at one end thereof. The coupling hole 1301 is penetrated into a polygonal shape (a quadrangular in the embodiment of the present invention) in accordance with the shape of the cross section of the second connection portion 1300.
전술한바와 같이, 제 1 보조관절 회동축(1201)이 주관절부 회동축(1101)과 상이한 방향, 바람직하게는 수직인 방향,으로 형성되어, 사람의 팔꿈치 관절의 동작을 모두 구현할 수 있다. 즉, 팔꿈치의 접히는 운동(도 1에서 R1 회전운동)은 주관절부(1100)에서 구현가능하며, 팔뚝의 비틀림 운동(도 1에서 R2 회전운동)은 제 1 보조관절부에서 구현가능하다.As described above, the first auxiliary joint rotation axis 1201 is formed in a direction different from the elbow joint rotation axis 1101, preferably in a vertical direction, so as to implement all the motions of the elbow joint of the human. That is, the elbow folding movement (R1 rotational movement in FIG. 1) may be implemented in the elbow joint 1100, and the torsional movement of the forearm (R2 rotational movement in FIG. 1) may be implemented in the first auxiliary joint.
또한, 위와 같은 주관절부 및 제 1 보조관절부의 다양한 조합을 통해서 다양한 관절 운동을 구현할 수 있다. 즉, 도 1에서 어깨부위에 설치되는 인공관절(2000)은 팔꿈치 부위의 인공관절(1000)의 상기 제 1 연결부(1200)에 결합된 제 3 연결부(2100)를 더 포함하고, 상기 제 3 연결부(2100)에는 상기 제 1 보조관절부 회동축(1201)과 상이한 방향의 제 3 보조관절부 회동축(2201)을 중심으로 회동할 수 있도록 형성된 제 3 보조관절부(2200)를 더 포함하여 구현된다.In addition, various joint motions may be implemented through various combinations of the elbow joint and the first auxiliary joint. That is, the artificial joint 2000 installed on the shoulder in FIG. 1 further includes a third connecting portion 2100 coupled to the first connecting portion 1200 of the artificial joint 1000 of the elbow portion, and the third connecting portion The second auxiliary joint part 2200 is configured to rotate about the third auxiliary joint part pivot shaft 2201 in a different direction from the first auxiliary joint part pivot shaft 1201.
제 3 보조관절부(2200)의 구성은 제 1 보조관절부와 동일하므로, 자세한 설명은 생략한다. 이와 같이, 형성됨으로서, 어깨부위에 3차원적인 다양한 회동운동을 구현할 수 있다. 즉, 주관절부(1100)를 통해서 어깨의 벌리는 회동동작(R3)을 구현가능하며, 제 1 연결부(1200)에 구현된 제 1 보조관절로 인해서, 어깨의 비틀림 동작(R4)가 구현가능하며, 제 3 보조관절부(2200)로 인해서 어깨의 회전동작(R5)을 구현가능하다.Since the configuration of the third auxiliary joint part 2200 is the same as that of the first auxiliary joint part, detailed description thereof will be omitted. As such, by being formed, it is possible to implement various three-dimensional rotational movement on the shoulder. That is, the shoulder opening through the elbow joint 1100 can implement the rotation operation (R3), due to the first auxiliary joint implemented in the first connecting portion 1200, the shoulder torsion operation (R4) can be implemented, Due to the third auxiliary joint 2200, the shoulder rotational motion R5 may be implemented.
유사한 방식으로 허리 관절도, 도 1과 같이, 복수의 관절부를 배치하여, 구현할 수 있다.In a similar manner, the lumbar joint may be implemented by arranging a plurality of joints as shown in FIG. 1.
도 10은 도 1의 변형예로서, 어깨부위에 구현된 인공관절(4000)에 차이점이 있다. 즉, 제 1 실시예의 상기 제 2 연결부(1300)에 상기 주관절부 회동축(1101)과 상이한 방향의 제 2 보조관절부 회동축(1401)을 중심으로 회동할 수 있도록 형성된 제 2 보조 관절부(1400)를 더 포함하는 것에 특징이 있다.FIG. 10 is a variation of FIG. 1, and there is a difference in the artificial joint 4000 implemented at the shoulder portion. That is, the second auxiliary joint part 1400 formed to rotate about the second auxiliary joint part pivot 1401 in a direction different from the elbow joint pivot axis 1101 at the second connection part 1300 of the first embodiment. It is characterized by including more.
따라서, 전술한 어깨의 3차원 회동을 보다 간단한 구성으로 구현할 수 있다.Therefore, the above-described three-dimensional rotation of the shoulder can be implemented with a simpler configuration.
특히, 또한, 상기 제 1 보조 관절부 회동축(1201)과 상기 제 2 보조 관절부 회동축(1401)이 상기 주관절부 회동축(1101)과 만나는 점은 실질적으로 동일하도록 형성함으로써, 보다 유연하게 3차원 구동이 가능하다는 장점이 있다.In particular, the point where the first auxiliary joint rotational shaft 1201 and the second auxiliary joint rotational shaft 1401 and the elbow joint pivotal axis 1101 are formed to be substantially the same can be more flexibly three-dimensional. The advantage is that it can be driven.
한편, 주관절부를 형성하는 방법은 다양하게 변형가능하다.On the other hand, the method of forming the elbow joint may be variously modified.
도 11은 주관절부의 변형된 예를 도시한 단면도, 도 12 도 11의 제 2 연결부의 사시도이다.FIG. 11 is a sectional view showing a modified example of the elbow joint, and FIG. 12 is a perspective view of the second connecting portion of FIG.
도시된 주관절부(1100)와 연결된 제 2 연결부(5300)의 구성이 상이한 점에 차이점이 있습니다. 즉, 제 2 연결부(5300)는 디스크 형상으로 형성됨으로써, 회동슬롯(1113)을 가득 채우게 되어, 회동슬롯(1113)의 홈이 외부로 드러나는 것을 방지할 수 있습니다.There is a difference in the configuration of the second connection part 5300 connected to the elbow part 1100 shown. That is, the second connection part 5300 is formed in a disk shape, thereby filling the rotation slot 1113, thereby preventing the groove of the rotation slot 1113 from being exposed to the outside.
나머지 구성은 전술한 실시예와 동일하므로 자세한 설명을 생략합니다.The rest of the configuration is the same as the above-described embodiment, so detailed description thereof will be omitted.
한편, 전술한 실시예에서는, 주관절부 요철이 상반구(1111) 및 하반구(1112)와 분리된 별도의 부재로 형성된 것을 기술하였다. 그러나, 부품의 단순화를 위해, 도 14 및 도 15와 같이, 상반구(6111, 7111) 또는 하반구(6112, 7112)의 서로 접하는 면에 형성될 수도 있다.Meanwhile, in the above-described embodiment, the elbow joint unevenness has been described as being formed as a separate member separated from the upper hemisphere 1111 and the lower hemisphere 1112. However, for the sake of simplicity, the upper hemispheres 6111 and 7111 or the lower hemispheres 6112 and 7112 may be formed in contact with each other, as shown in FIGS. 14 and 15.
즉, 도 13에 도시된 바와 같이, 제 1 주관절부재 및 제 2 주관절부재가 서로 맞물리는 반구형상으로 형성된다. 또한, 주관절부 요철(6130)이 상반구(6111) 및 하반구(6112)의 서로 접하는 면에 형성되며, 주관절부 압착부재(6140)은 상반구(6111) 및 하반구(6112)가 서로 접압하도록 구성된다. 도 14에서는 상반구(7111)와, 하반구(7112)에 슬라이딩 이동 가능하게 설치된 제 1 요철형성부(7117)의 서로 접하는 면에 주관절부 요철(7130)이 형성되며, 주관절부 압착부재(7140)는 하반구(7112)와 제 1 요철형성부(7117) 사이에 설치된다.That is, as shown in Figure 13, the first elbow member and the second elbow member is formed in a hemispherical shape to mesh with each other. In addition, the elbow joint unevenness 6130 is formed on the surface in contact with each other of the upper hemisphere 6111 and the lower hemisphere 6112, the elbow joint pressing member 6140 is the upper hemisphere 6111 and the lower hemisphere 6112 contact each other. It is configured to. In FIG. 14, the elbow joint unevenness 7130 is formed on a surface of the upper hemisphere 7111 and the first unevenness forming portion 7117 provided to be slidably movable in the lower hemisphere 7112, and the elbow joint pressing member 7140. ) Is provided between the lower hemisphere 7112 and the first uneven portion 7171.
이와 같이, 주관절부 요철(6130)을 상반구(6111, 7111) 및 하반구(6112, 7112)에 형성하게 되면, 부품의 수를 간소화할 수 있어, 제조비용을 절감할 수 있을 뿐만 아니라, 작동의 신뢰성도 증대시킬 수 있다.As such, when the elbow joint unevenness 6130 is formed in the upper hemispheres 6111 and 7111 and the lower hemispheres 6112 and 7112, the number of parts can be simplified, and the manufacturing cost can be reduced and the operation can be performed. Can also increase the reliability.
이때, 도 3에 도시된 실시예와 달리, 상반구(6111, 7111) 및 하반구(6112, 7112)가 제 1 주관절부재 및 제 2 주관절 부재 역할을 수행하게 되어, 제 1연결부(1200)는 상반구(6111, 7111)에 고정되며, 제 2 연결부(1300)는 하반구(6112, 7112)에 고정된다. 또한, 제 1 보조관절부 회동축(1201)과, 제 2 보조관절 회동축(1401)이 주관절부 회동축(1101)의 한점에서 만나게 하기 위해, 하반구(6112, 7112)의 제 2 연결부(1300)와 결합되는 돌출부(6113, 7113)가 상반구(6111, 7111)측으로 단이져 돌출되어 형성된다.At this time, unlike the embodiment shown in Figure 3, the upper hemisphere (6111, 7111) and the lower hemisphere (6112, 7112) to serve as the first elbow member and the second elbow member, the first connection portion 1200 The upper hemispheres 6111 and 7111 are fixed to each other, and the second connection part 1300 is fixed to the lower hemispheres 6112 and 7112. In addition, the second connecting portion 1300 of the lower hemispheres 6112 and 7112 so that the first auxiliary joint pivot shaft 1201 and the second auxiliary joint pivot shaft 1401 meet at one point of the elbow joint pivot shaft 1101. The protrusions 6131 and 7113 coupled to the upper end are protruded toward the upper hemisphere 6111 and 7111.
한편, 전술한 실시예에서 주관절부 요철 및 제1 및 제 2 보조관절부 요철이 물결모양(크라운 모양)으로 형성된 것을 예시로 들었으나, 이에 한정되는 것은 아니며, 도 15와 같이, 볼(8130) 형태로 형성되거나, 도 16과 같이, 기어치(9130, 베벨기어로 예시하였으나, 헬리컬 기어, 베벨 기어 등 변형 가능) 형태로 구현될 수도 있음은 너무나 당연하다.Meanwhile, in the above-described embodiment, the elbow joint unevenness and the first and second subsidiary joint unevenness are formed as an example of a wave shape (crown shape), but are not limited thereto. As shown in FIG. 15, a ball 8130 shape is illustrated. Of course, as shown in Figure 16, it may be embodied in the form of a gear tooth (9130, bevel gear, but helical gear, bevel gear, etc. can be modified).
전술한 바와 같이, 본 발명의 실시예들의 인공관절은 작동범위가 매우 넓을 뿐만 아니라, 원하는 위치에서 지지하는 힘이 강하여, 마네킹, 로봇 등에 적용시 매우 우수한 효과를 발휘한다.As described above, the artificial joints of the embodiments of the present invention not only have a very wide operating range, but also have a strong supporting force at a desired position, and thus have an excellent effect when applied to a mannequin, a robot, or the like.

Claims (14)

  1. 주관절부;Elbow joint;
    상기 주관절부에 일단이 결합된 제 1 연결부; 및A first connection part having one end coupled to the elbow joint; And
    상기 제 1 연결부가 결합된 부위와 다른 부위에서, 상기 주관절부에 일단이 결합된 제 2 연결부;A second connection part having one end coupled to the elbow joint at a site different from the site where the first connection part is coupled;
    를 포함하고, Including,
    상기 주관절부는, The elbow joint part,
    상기 제 1 연결부와 결합된 제 1 주관절부재; 및A first elbow member coupled to the first connection portion; And
    상기 제 1 주관절부재와 주관절부 회동축을 중심으로 회동가능하게 결합되며, 상기 제 2 연결부와 결합된 제 2 주관절부재;A second elbow member rotatably coupled around the first elbow member and the elbow joint pivot, and coupled to the second connecting portion;
    를 포함하고,Including,
    상기 제 1 연결부에는,In the first connection portion,
    상기 주관절부 회동축과 상이한 방향의 제 1 보조관절부 회동축을 중심으로 회동할 수 있도록 형성된 제 1 보조 관절부;A first auxiliary joint part formed to rotate about a first auxiliary joint part pivot in a direction different from the elbow joint pivot;
    를 더 포함하는 것을 특징으로 하는 인공관절.Artificial joints further comprising a.
  2. 제 1 항에 있어서,The method of claim 1,
    상기 제 1 보조 관절부는,The first auxiliary joint part,
    상기 제 1 주관절부재와 연결된 제 1 보조관절부재; 및A first auxiliary joint member connected to the first main joint member; And
    상기 제 1 보조관절부재와 상기 보조 관절부 회동축을 중심으로 회동 가능하게 결합되는 제 2 보조관절부재;A second auxiliary joint member rotatably coupled to the first auxiliary joint member and the auxiliary joint part pivot;
    를 포함하는 것을 특징으로 하는 인공관절.Artificial joints comprising a.
  3. 제 1 항에 있어서,The method of claim 1,
    상기 주관절부는,The elbow joint part,
    상기 제 1 주관절부재와 상기 제 2 주관절부재의 습동하는 면에는 서로 맞물리도록 주관절부 요철이 형성되며,Elbow joint irregularities are formed on the sliding surfaces of the first elbow member and the second elbow member so as to be engaged with each other.
    상기 제 2 주관절부재는 상기 주관절부 요철이 맞물리는 위치와 맞물리지 않는 위치 사이에 상기 제 1 주관절부재에 대해서 직선 이동 가능하도록 설치되며, The second elbow member is installed to be linearly movable with respect to the first elbow member between a position where the elbow joint is uneven and an unengaged position.
    상기 제 2 주관절부재를 상기 주관절부 요철이 맞물리는 위치로 밀착하는 주 관절부 압착부재;A main joint part crimping member to closely contact the second elbow member to a position where the elbow joint is uneven;
    를 더 포함하며,More,
    상기 주관절부 요철은 상기 제 1 주관절부재와 상기 제 2 주관절부재의 습동 시 상기 제 2 주 관절부재가 상기 맞물리는 위치와 상기 맞물리지 않는 위치 사이에 왕복 이동하도록 형성된 것을 특징으로 하는 인공관절.The elbow joint irregularities are formed to reciprocate between the second main joint member and the non-engaged position when the first elbow member and the second elbow member sliding.
  4. 제 1 항에 있어서,The method of claim 1,
    상기 제 2 연결부에는,In the second connecting portion,
    상기 주관절부 회동축과 상이한 방향의 제 2 보조관절부 회동축을 중심으로 회동할 수 있도록 형성된 제 2 보조 관절부;A second auxiliary joint part formed to rotate about a second auxiliary joint part rotation axis in a direction different from the elbow joint rotation axis;
    를 더 포함하는 것을 특징으로 하는 인공관절Artificial joint, characterized in that it further comprises
  5. 제 4 항에 있어서,The method of claim 4, wherein
    상기 제 1 보조 관절부 회동축과 상기 제 2 보조 관절부 회동축이 상기 주관절부 회동축과 만나는 점은 실질적으로 동일한 것을 특징으로 하는 인공관절.And the point where the first auxiliary joint rotational axis and the second auxiliary joint rotational axis meet the elbow joint rotational axis is substantially the same.
  6. 제 1 항에 있어서,The method of claim 1,
    상기 제 1 보조 관절부는,The first auxiliary joint part,
    상기 제 1 보조관절부재와 상기 제 2 보조관절부재의 습동하는 면에는 서로 맞물릴 수 있도록 제 1 보조관절 요철이 형성되며,A first auxiliary joint unevenness is formed on the sliding surface of the first auxiliary joint member and the second auxiliary joint member to be engaged with each other.
    상기 제 2 보조 관절부재는 상기 제1 보조관절 요철이 맞물리는 위치와 맞물리지 않는 위치 사이에 상기 제 1 보조 관절부재에 대해서 직선 이동 가능하도록 설치되며, The second auxiliary joint member is installed to be linearly movable with respect to the first auxiliary joint member between a position where the first auxiliary joint unevenness is engaged and not engaged.
    상기 제 2 보조 관절부재를 상기 제 1 보조관절 요철이 맞물리는 위치로 밀착하는 제 1 보조 관절부 압착부재;A first auxiliary joint part crimping member for closely contacting the second auxiliary joint member to a position where the first auxiliary joint unevenness is engaged;
    를 더 포함하며,More,
    상기 제 1 보조관절 요철은 상기 제 1 보조 관절부재와 상기 제 2 보조 관절부재의 습동 시 상기 제 2 보조 관절부재가 상기 맞물리는 위치와 상기 맞물리지 않는 위치 사이에 왕복 이동하도록 형성된 것을 특징으로 하는 인공관절.The first auxiliary joint unevenness is characterized in that the second auxiliary joint member is formed so as to reciprocate between the engaging position and the non-engaging position when the first auxiliary joint member and the second auxiliary joint member sliding. joint.
  7. 제 1 항 내지 제 6 항 중 어느 한 항에 있어서,The method according to any one of claims 1 to 6,
    상기 주관절부는 구형으로 형성되며,The elbow joint is formed in a spherical shape,
    상기 주관절부 회동축은 상기 구형으로 중심을 가로지르도록 위치하며,The elbow joint shaft is positioned to cross the center of the sphere.
    상기 주관절부 회동축에 수직방향으로 연결부 회동 슬롯이 형성되며,A connecting part rotation slot is formed in a direction perpendicular to the elbow joint pivot,
    상기 제 2 연결부는 상기 연결부 회동 슬롯에 회동가능하도록 상기 주관절부에 결합된 것을 특징으로 하는 인공관절.And the second connection part is coupled to the elbow joint so as to be rotatable in the connection part rotation slot.
  8. 제 7 항에 있어서,The method of claim 7, wherein
    상기 제 2 연결부는 바형상으로 형성된 것을 특징으로 하는 인공관절.The second joint is artificial joint, characterized in that formed in the shape of a bar.
  9. 제 7 항에 있어서,The method of claim 7, wherein
    상기 제 2 연결부는 디스크 형상으로 형성된 것을 특징으로 하는 인공관절.The second joint is artificial joint, characterized in that formed in the shape of a disk.
  10. 제 1 항 내지 제 6 항 중 어느 한 항에 있어서,The method according to any one of claims 1 to 6,
    제 1 주관절부재 및 상기 제 2 주관절부재는 서로 맞물리는 반구형상으로 형성된 것을 특징으로 하는 인공관절.The first elbow member and the second elbow member are artificial joints, characterized in that formed in a hemispherical shape to mesh with each other.
  11. 제 1 항 내지 제 6 항 중 어느 한 항에 있어서,The method according to any one of claims 1 to 6,
    상기 제 1 연결부에 결합된 제 3 연결부;A third connector coupled to the first connector;
    를 더 포함하고,More,
    상기 제 3 연결부에는 The third connection portion
    상기 제 1 보조관절부 회동축과 상이한 방향의 제 3 보조관절부 회동축을 중심으로 회동할 수 있도록 형성된 제 3 보조관절부;A third auxiliary joint part formed to rotate about the third auxiliary joint part rotation axis in a direction different from the first auxiliary joint part rotation axis;
    를 더 포함하는 것을 특징으로 하는 인공관절.Artificial joints further comprising a.
  12. 제 1 항 내지 제 6 항 중 어느 한 항의 인공관절을 포함하는 것을 특징으로 하는 마네킹.A mannequin comprising the artificial joint of any one of claims 1 to 6.
  13. 제 1 항 내지 제 6 항 중 어느 한 항의 인공관절을 포함하는 것을 특징으로 하는 로봇.A robot comprising the artificial joint of any one of claims 1 to 6.
  14. 제 1 항 내지 제 6 항 중 어느 한 항의 인공관절을 포함하는 것을 특징으로 하는 인형.A doll comprising the artificial joint of any one of claims 1 to 6.
PCT/KR2013/007975 2012-11-12 2013-09-04 Artificial joint WO2014073782A1 (en)

Applications Claiming Priority (12)

Application Number Priority Date Filing Date Title
KR10-2012-0127242 2012-11-12
KR20120127242 2012-11-12
KR10-2012-0134377 2012-11-26
KR20120134377 2012-11-26
KR20130030772 2013-03-22
KR10-2013-0030772 2013-03-22
KR20130032506 2013-03-27
KR10-2013-0032506 2013-03-27
KR10-2013-0035055 2013-04-01
KR20130035055 2013-04-01
KR20130036168 2013-04-03
KR10-2013-0036168 2013-04-03

Publications (1)

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WO2014073782A1 true WO2014073782A1 (en) 2014-05-15

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ID=50684839

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Application Number Title Priority Date Filing Date
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WO (1) WO2014073782A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111297127A (en) * 2020-03-19 2020-06-19 泉州市河兴陈列用品有限公司 Mannequin with adjustable body size

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR19990012565U (en) * 1997-09-10 1999-04-06 권대학 Mannequin Masks and Joints
KR20020015662A (en) * 2000-08-22 2002-02-28 권성진 Joint link for mannequin body
JP2005021234A (en) * 2003-06-30 2005-01-27 Shirai:Kk Mannequin's arm structure
KR20050076154A (en) * 2004-01-19 2005-07-26 이현수 Joint structure of mannequin
WO2012015290A2 (en) * 2010-07-30 2012-02-02 Innovative Moving Displays S. De R.L. De C.V. Articulated mannequin with various assembly mechanisms

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR19990012565U (en) * 1997-09-10 1999-04-06 권대학 Mannequin Masks and Joints
KR20020015662A (en) * 2000-08-22 2002-02-28 권성진 Joint link for mannequin body
JP2005021234A (en) * 2003-06-30 2005-01-27 Shirai:Kk Mannequin's arm structure
KR20050076154A (en) * 2004-01-19 2005-07-26 이현수 Joint structure of mannequin
WO2012015290A2 (en) * 2010-07-30 2012-02-02 Innovative Moving Displays S. De R.L. De C.V. Articulated mannequin with various assembly mechanisms

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111297127A (en) * 2020-03-19 2020-06-19 泉州市河兴陈列用品有限公司 Mannequin with adjustable body size

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