CN202426689U - Steering engine driven shoulder disarticulation artificial upper limb - Google Patents

Abstract

The utility model discloses a steering engine driven shoulder disarticulation artificial upper limb which comprises a shoulder joint, an upper arm, an elbow joint, a forearm, a wrist joint, and a mechanical hand, which are connected with each other. The shoulder joint, the elbow joint, spinning movement of the forearm and the wrist joint are all composed of steering engine mechanisms, and the steering engine mechanisms have functions of position feedback, speed feedback and temperature feedback. Since the steering engine mechanisms are adopted, the steering engine driven shoulder disarticulation artificial upper limb is portable, flexible and convenient to operate, degrees of freedom of motion of the shoulder disarticulation artificial upper limb can be increased, robot technology is conveniently transplanted in upper artificial limb technology, and particularly a shoulder part of the artificial upper limb has two freedom structures with a humanoid function. Furthermore, the steering engine driven shoulder disarticulation artificial upper limb is small in size so as to easily enable the upper artificial limb to be natural in appearance, and use needs of a wearer can be better met.

Description

Steering wheel drive-type shoulder is artificial limb on disconnected type

Technical field

This utility model relates to the human body artificial limb, comprises that particularly shoulder has shoulder artificial limb on disconnected type of two degree of freedom movable joints.

Background technology

Present human body shoulder prosthetic product majority on disconnected type belongs to ornamental beauty treatment artificial limb, has the part operation function on a small quantity.Artificial limb with operating function generally has cable-operated prosthesis and myoelectric-controlled prosthesis etc.Cable-operated prosthesis is the action of leaning on each joint of mechanical traction operation artificial limb of rope; Myoelectric-controlled prosthesis is to operate the action by each joint of motor-driven artificial limb by the control instruction that electromyographic signal is sent, and this type artificial limb on disconnected type generally is to be connected to form by upper arm, elbow joint, forearm, carpal joint and mechanical hand etc.Still there is following practical problem in existing product with operating function: the one, and the degree of freedom of motion of last artificial limb is 4 of less thaies (comprising the hand opening and closing movement) all generally; Have only shoulder prosthetic product on disconnected type of only a few to have the active shoulder joint of ability; And the activity shoulder joint arranged also have only 1 shoulder joint degree of freedom, so just badly influence the motility and the practicality of artificial limb; The 2nd, the activity in each joint of cable-operated prosthesis drives by machinery fully, and its operability is closed the active harmony of internode with each and is difficult to guarantee; The artificial limb of the myoelectricity control mode that often adopts direct current generator to cooperate with decelerator drives the motion in each joint of artificial limb besides; And the function that the position and the speed of joint motions is not often possessed real-time detection, this just is unfavorable for the robotics transplanting on the prosthesis technique that makes progress; Particularly, if will adopt the shoulder joint form with apery function, the frame mode of direct current generator acceleration and deceleration device can make that the profile of artificial limb shoulder is very not alike with normal person's shoulder profile, very unnaturally at the shoulder joint place with two degree of freedom.

How more neatly does the control shoulder leave the operating characteristics of artificial limb on the disconnected type? How better robotics to be transplanted to prosthesis technique? How make go up artificial limb shoulder has the more freedom degree makes its compact conformation again? This is a problem demanding prompt solution.

Summary of the invention

The task of this utility model is to solve existing shoulder existing the problems referred to above of artificial limb on disconnected type, and a kind of steering wheel drive-type shoulder artificial limb on disconnected type is provided.

Its technical solution is:

A kind of steering wheel drive-type shoulder artificial limb on disconnected type is to be connected to form by shoulder joint, upper arm, elbow joint, forearm, carpal joint and mechanical hand; It is characterized in that:

The spinning movement of described shoulder joint, elbow joint, forearm and carpal joint all adopt steering wheel mechanism;

Described shoulder joint is made up of two the steering wheel mechanisms with outer pendulum that are used for forward swing; Be fixed with U type frame on the output flange of two steering wheel mechanisms respectively; Two U type framves are fixed on the steering wheel frame connecting plate that is positioned at shoulder at the same time; Forward swing steering wheel mechanism is fixed on the artificial limb bracing frame through its steering wheel seat again, put steering wheel mechanism outward and be connected with top arm's tip through its steering wheel seat, thereby the forward swing of realization upper arm is done with outer swing;

The steering wheel mechanism of described elbow joint connects through its steering wheel seat and upper arm lower ends, and the two ends of its output flange are fixed with U type frame, be connected with the steering wheel mechanism of forearm through this U type frame, thus the wobbling action of realization forearm;

The steering wheel mechanism of described forearm is connected on the U type frame of elbow joint through a L type seat; The bottom of L type seat is provided with forearm supports; Be equipped with self lubrication bearing on the forearm supports; The upper end of forearm is passed on the output shaft of steering wheel mechanism that self lubrication bearing is connected it again, thereby realizes the left-right rotation action of forearm;

Described carpal steering wheel mechanism is fixed on the forearm lower end through its steering wheel seat, and the two ends of the steering wheel output flange of this steering wheel mechanism are fixed with U type frame, and this U type frame is connected with mechanical hand again, thereby realizes the wobbling action in wrist joint;

All above-mentioned steering wheel mechanisms have position feedback, speed feedback, the steering wheel mechanism of Temperature Feedback function.

The utlity model has following useful technique effect:

This utility model has been owing to adopted steering wheel mechanism, and light and flexible is easy to operate; Can the freedom of motion quantity of shoulder artificial limb on disconnected type be increased; Conveniently robotics is transplanted to prosthesis technique, especially makes the shoulder of shoulder artificial limb on disconnected type have two degree of freedom structures of apery function, and volume compact; Be prone to make and satisfy wearer's instructions for use better by the profile nature of going up artificial limb.

Description of drawings

Below in conjunction with the accompanying drawing and the specific embodiment this utility model is described further:

Fig. 1 is the overall structure sketch map of a kind of embodiment of this utility model.

Fig. 2 is the left view of Fig. 1.

Fig. 3 is that the A of Fig. 1 is to structure chart.

Fig. 4 is the B-B cutaway view of Fig. 1.

Fig. 5 is the C-C cutaway view of Fig. 1.

Fig. 6 is the D-D cutaway view of above-mentioned embodiment.

Fig. 7 is that the E of Fig. 1 is to structure chart.

Fig. 8 is the F-F cutaway view of Fig. 1.

Marginal data: 101-shoulder steering wheel frame, 102-shoulder joint are put steering wheel U type frame outward, and 103-locks flange, 104-locking nut, 105-upper arm pipe; 106-upper arm flange, 107-elbow joint steering wheel seat, 108-elbow joint steering wheel, 109-elbow joint steering wheel U type frame, 110-forearm rotation steering wheel; 111-forearm flange, 112-carpal joint steering wheel seat, 113-carpal joint steering wheel, 114-carpal joint steering wheel U type frame, 115-mechanical hand; 116-shoulder joint forward swing steering wheel U type frame, 117-shoulder joint forward swing steering wheel, 118-shoulder joint forward swing steering wheel seat, 119-forearm rotation steering wheel L type seat; The 201-shoulder joint is put steering wheel outward, and the 202-shoulder joint is put the steering wheel seat outward, 203-forearm rotation steering wheel output shaft, 204-yielding coupling; The 205-forearm supports, 206-self lubrication bearing, 207-back-up ring, 208-forearm pipe.

The specific embodiment

Below in conjunction with accompanying drawing 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7 and Fig. 8 the embodiment of this utility model is further specified.

As depicted in figs. 1 and 2, a kind of steering wheel drive-type shoulder artificial limb on disconnected type is to be connected to form by shoulder joint, upper arm, elbow joint, forearm, carpal joint and mechanical hand; Wherein:

The spinning movement of described shoulder joint, elbow joint, forearm and carpal joint all adopt steering wheel mechanism;

Described shoulder joint is made up of two the steering wheel mechanisms with outer pendulum that are used for forward swing, and two steering wheel mechanisms are fixed on the shoulder steering wheel frame 101 (as shown in Figure 3) simultaneously;

In the above-mentioned shoulder joint forward swing steering wheel mechanism; Shoulder joint forward swing steering wheel seat 118 is fixed on the artificial limb bracing frame (not shown); Shoulder joint forward swing steering wheel 117 is fixed on the shoulder joint forward swing steering wheel seat 118 through screw; Shoulder joint forward swing steering wheel U type frame 116 is connected (like Fig. 4) with the output flange at shoulder joint forward swing steering wheel 117 two ends on the one hand through screw, is fixed on the shoulder steering wheel frame 101 on the one hand, and shoulder joint forward swing steering wheel 117 can drive shoulder joint forward swing steering wheel U type frame 116 and rotate when rotating; Realize shoulder joint swing, thereby drive the and then swing together of other part of arm;

Above-mentioned shoulder joint is put outward in the steering wheel mechanism; Shoulder joint is put steering wheel U type frame 102 outward and is fixed on the one hand on the shoulder steering wheel frame 101 through screw; Be connected with the output flange that shoulder joint is put steering wheel 201 two ends outward on the one hand, shoulder joint is put steering wheel seat 202 outward and is fixed to shoulder joint through screw and puts outward on the steering wheel 201.When putting steering wheel 201 actions outside the shoulder joint; Because it is fixed that shoulder joint is put steering wheel U type frame 102 relative shoulder steering wheel framves 101 outward; So shoulder joint is put the fuselage of steering wheel 201 outward and can relative shoulder joint be put steering wheel U type frame 102 outward and outwards swing; Thereby the drive shoulder joint is put steering wheel seat 202 outward and following prosthetic components is outwards swung, and realizes the outer pendular motion in shoulder joint;

In the above-mentioned upper arm part; Locking flange 103 is fixed to shoulder joint through screw and puts outward on the steering wheel seat 202; Upper arm pipe 105 is installed in the installing hole of locking flange 103, and locking nut 104 is connected through taper thread with locking flange 103, and fastening locking nut 104 can be fixed on upper arm pipe 105 in the installing hole of locking flange 103; When unclamping locking nut 104; Upper-lower position or the angle position of scalable upper arm pipe 105 in locking flange 103 realized the local modulation to upper arm pipe 105, and upper arm flange 106 is fixed to (like Fig. 5) on the upper arm pipe 105 through holding screw;

In the above-mentioned elbow joint steering wheel mechanism; Elbow joint steering wheel seat 107 is fixed on the upper arm flange 106 through screw; Elbow joint steering wheel 108 is fixed on the elbow joint steering wheel seat 107 through screw, and elbow joint steering wheel U type frame 109 is connected (like Fig. 6) with the output flange at elbow joint steering wheel 108 two ends on the one hand through screw, is connected with forearm rotation steering wheel seat 119 on the one hand; When 108 actions of elbow joint steering wheel; Can drive elbow joint steering wheel U type frame 109 and rotate, thereby drive forearm rotation steering wheel L type seat 119 and coupled artificial limbs such as forearm are partly swung the oscillating motion in realization ancon joint.

In the above-mentioned forearm rotating loof machine mechanism; Forearm rotation steering wheel L type seat 119 is fixed on the elbow joint steering wheel U type frame 109 through screw; Forearm rotation steering wheel 110 is fixed on the forearm rotation steering wheel L type seat 119 (like Fig. 7) through screw, and forearm supports 205 is fixed on the forearm rotation steering wheel L type seat 119 through screw, and self lubrication bearing 206 is assembled together with forearm supports 205 interference; Forearm rotation steering wheel output shaft 203 one sides are connected with forearm rotation steering wheel 110 output flanges through screw; One side is fixedly connected (like Fig. 8) through yielding coupling 204 with forearm pipe 208, and forearm pipe 208 is connected with self lubrication bearing 206 matched in clearance, and carries out axial location through back-up ring 207; Forearm flange 111 and forearm pipe 208 are connected through interference fit; Drive forearm rotation steering wheel output shaft 203 during 110 actions of forearm rotation steering wheel and rotate, and then rotate, realize the left-right rotation motion of forearm through the forearm flange 111 of yielding coupling 204 drive forearm pipes 208 and front end thereof;

In the above-mentioned carpal joint steering wheel mechanism; Carpal joint steering wheel seat 112 is fixed on the forearm flange 111 through screw; Carpal joint steering wheel 113 is fixed on the carpal joint steering wheel seat 112 through screw; Carpal joint steering wheel U type frame 114 is connected with carpal joint steering wheel 113 two ends flange for transmitting through screw, and mechanical hand 115 is fixed on the carpal joint steering wheel U type frame 114 through screw, drives 114 swings of carpal joint steering wheel U type frame during 113 actions of carpal joint steering wheel; And then drive mechanical hand 115 swings, realize the oscillating motion in wrist joint.

Mechanical hand 115 can be realized open and close movement under its motor-driven that carries.

All steering wheel mechanisms all have position feedback, speed feedback, the function of Temperature Feedback.

Claims (1)

1. steering wheel drive-type shoulder artificial limb on disconnected type is characterized in that, is to be connected to form by shoulder joint, upper arm, elbow joint, forearm, carpal joint and mechanical hand; It is characterized in that:

The spinning movement of described shoulder joint, elbow joint, forearm and carpal joint all adopt steering wheel mechanism;

Described shoulder joint is made up of two the steering wheel mechanisms with outer pendulum that are used for forward swing; Be fixed with U type frame on the output flange of two steering wheel mechanisms respectively; Two U type framves are fixed on the steering wheel frame connecting plate that is positioned at shoulder at the same time; Forward swing steering wheel mechanism is fixed on the artificial limb bracing frame through its steering wheel seat again, put steering wheel mechanism outward and be connected with top arm's tip through its steering wheel seat, thereby the forward swing of realization upper arm is done with outer swing;

The steering wheel mechanism of described elbow joint connects through its steering wheel seat and upper arm lower ends, and the two ends of its output flange are fixed with U type frame, be connected with the steering wheel mechanism of forearm through this U type frame, thus the wobbling action of realization forearm;

The steering wheel mechanism of described forearm is connected on the U type frame of elbow joint through a L type seat; The bottom of L type seat is provided with forearm supports; Be equipped with self lubrication bearing on the forearm supports; The upper end of forearm is passed on the output shaft of steering wheel mechanism that self lubrication bearing is connected it again, thereby realizes the left-right rotation action of forearm;

Described carpal steering wheel mechanism is fixed on the forearm lower end through its steering wheel seat, and the two ends of the steering wheel output flange of this steering wheel mechanism are fixed with U type frame, and this U type frame is connected with mechanical hand again, thereby realizes the wobbling action in wrist joint;

All above-mentioned steering wheel mechanisms are the steering wheel mechanisms with position feedback, speed feedback and Temperature Feedback function.

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