CN212679347U - Myoelectric signal controlled single-degree-of-freedom artificial limb elbow joint - Google Patents

Abstract

The utility model discloses a single degree of freedom artificial limb elbow joint of flesh electrical signal control relates to the artificial limb field, including driving motor, transmission system, sliding gear, linear servo motor, shift fork coupling mechanism. When the large arm cavity and the small arm cavity form an angle of 180 degrees and the elbow joint still receives the electromyographic signals continuously extending in the large arm cavity, the linear servo motor drives the shifting fork connecting mechanism to drive the sliding gear to be disengaged from the transmission system and enter a free swing state; in a free swing state, when the elbow joint receives a myoelectric signal which is continuously bent in the large arm cavity, the linear servo motor drives the shifting fork connecting mechanism to drive the sliding gear to be meshed with the transmission system, and the electric bending and stretching state is achieved. The utility model discloses automatically, realize that flesh electricity artificial limb elbow joint switches between electronic bending and stretching and free swing, have in time response, reliable and stable, convenient easy advantage of using.

Description

Myoelectric signal controlled single-degree-of-freedom artificial limb elbow joint

Technical Field

The utility model relates to an artificial limb field especially relates to a single degree of freedom artificial limb elbow joint of flesh electrical signal control.

Background

Patients with limb disabilities are a vulnerable group with special difficulties in society. Due to various factors such as industrial accidents, traffic accidents, natural disasters, disease lesions and congenital defects, a large number of upper limb deletants are inevitably generated, and some of the upper limb deletants are patients with elbow disconnection or upper arm amputation. It is a social responsibility to improve the quality of life and work of these disabled patients, especially those amputees. The development of rehabilitation career and the service handicapped are the embodiment of social progress and an important component of national science and technology.

The prosthetic technology has been developed for a long time, and myoelectrically controlled upper arm prostheses having an electric elbow joint have been widely used. At present, the design of the elbow joint of the upper limb prosthesis at home and abroad is mostly realized by multi-stage gear reduction to realize joint driving, so that a patient can electrically lift or put down the forearm when needed. However, if the patient is walking normally, the elbow joint needs to be flexed and extended freely to achieve free swing of the forearm. The elbow joint can not swing freely like normal arms because of no clutch device, so that the patient looks rigid and unnatural in image. For this reason, an electric elbow joint with a passive switching clutch is available on the market, and the operation state of the electric elbow joint is switched by operating the clutch, so that the operation is inconvenient for a patient in use due to passive switching.

Therefore, those skilled in the art are dedicated to develop a myoelectric signal controlled single-degree-of-freedom artificial elbow joint to realize free switching of the elbow joint state.

SUMMERY OF THE UTILITY MODEL

In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is to realize the extension and flexion functions of the elbow joint, and to enable the forearm to swing freely as a normal person without passive switching when extension and flexion are not required.

In order to achieve the above object, the utility model provides a single degree of freedom artificial limb elbow joint of flesh electrical signal control, including top cap, driving motor, transmission system, linear servo motor, shift fork coupling mechanism, sliding gear, output shaft, elbow joint shell, driving motor drives sliding gear through transmission system, drives output shaft and forearm chamber and rotates, and linear servo motor drives sliding gear axial motion through shift fork coupling mechanism according to flesh electrical signal and elbow joint's state, meshes or breaks away from with transmission system, and the elbow joint is corresponding gets into electronic bending and stretches or free swing state.

Furthermore, the transmission system is in dual gear transmission, a turbine of the driving motor is meshed with the first dual gear teeth to form first-stage gear transmission, and the second dual gear teeth are meshed with the sliding gear to form second-stage gear transmission.

Further, the sliding gear is fixed on the output shaft through a key slot.

Further, the output shaft is assembled with the small arm cavity through the rudder plate.

Further, the output shaft is axially and radially positioned by angular contact ball bearings at two ends.

Further, when the elbow joint is in an electric flexion and extension state, when the small arm cavity reaches the limit position of downward extension and the elbow joint still receives the myoelectric signal continuously extending in the large arm cavity, the linear servo motor drives the shifting fork connecting mechanism to drive the sliding gear to be separated from the transmission system, and the elbow joint enters a free swing state.

Further, the extreme positions of downward extension are 180 degrees for the small arm cavity and the large arm cavity.

Furthermore, a cam is installed on the output shaft, a microswitch is installed on the elbow joint, and when the small arm cavity and the large arm cavity form an angle of 180 degrees, the cam triggers the microswitch.

Furthermore, when the elbow joint is in a free swing state and receives a myoelectric signal which is continuously bent in the upper arm cavity, the linear servo motor drives the shifting fork connecting mechanism to drive the sliding gear to be meshed with the transmission system, and the elbow joint enters an electric bending and stretching state.

Further, the linear servo motor, the U-shaped connecting piece, the shifting fork, the sliding block and the sliding gear are sequentially connected, and when the linear servo motor moves linearly, the shifting fork is driven to rotate, and the sliding block is driven to move along the axial direction of the sliding gear.

Further, the fork may rotate about the U-shaped link.

Furthermore, the upper end of the shifting fork is connected with the U-shaped connecting piece through a bolt.

Further, the shifting fork can rotate around the sliding block.

Furthermore, the slider comprises a connector, and the connector is inserted into a connecting hole at the lower end of the shifting fork, so that the shifting fork can rotate around the connector.

The utility model discloses a single degree of freedom artificial limb elbow joint of flesh electrical signal control compares with prior art, adopts a motor drive, and a motor carries out state control, can realize that the forearm is electronic to be bent and stretched and freely swing state's initiative is switched over, and the gesture is more natural when making the patient walk, and balanced sense is stronger with the comfort, and simple structure is reliable, and easily control is particularly suitable for being used for the imitative people's artificial limb arm of flesh electricity.

The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings, so as to fully understand the objects, the features and the effects of the present invention.

Drawings

FIG. 1 is a schematic diagram of the internal structure of the preferred embodiment of the present invention;

FIG. 2 is a schematic view of the top cover of the preferred embodiment of the present invention;

FIG. 3 is a schematic view of a driving motor according to a preferred embodiment of the present invention;

FIG. 4 is a schematic view of a dual gear according to a preferred embodiment of the present invention;

FIG. 5 is a schematic view of an output shaft of the preferred embodiment of the present invention;

FIG. 6 is a schematic view of a preferred embodiment of the present invention;

FIG. 7 is a schematic view of the two stage gear system of the preferred embodiment of the present invention;

FIG. 8 is a schematic view of a fork connection mechanism according to a preferred embodiment of the present invention;

FIG. 9 is a schematic view of a through bearing cover according to a preferred embodiment of the present invention;

fig. 10 is a schematic view of a linear servo motor according to the present invention;

FIG. 11 is a schematic view of the preferred embodiment of the present invention showing the disengagement of the sliding gear;

FIG. 12 is a schematic view of a micro-gap switch according to a preferred embodiment of the present invention;

FIG. 13 is a schematic view of the elbow joint housing of the preferred embodiment of the present invention;

fig. 14 is a schematic view of the position of the microswitch of the invention;

FIG. 15 is a schematic view of a rudder wheel according to a preferred embodiment of the present invention;

FIG. 16 is a schematic view of the large arm cavity of the preferred embodiment of the present invention;

FIG. 17 is a schematic view of the forearm cavity of the preferred embodiment of the invention;

fig. 18 is a schematic view of the final assembly (90 degrees) of the preferred embodiment of the present invention;

figure 19 is a schematic view of the present invention in the extreme rotational position 1(45 degrees);

fig. 20 is a schematic view of the rotation limit position 2(180 degrees) of the present invention.

Wherein the content of the first and second substances,

1-top cover, 1-motor positioning hole, 1-2-top cover arc-shaped groove, 1-3-gear positioning hole, 1-4-top cover square groove, 1-51-top cover outlet hole I, 1-52-top cover outlet hole II, and 1-6-top cover mounting hole;

2-driving motor, 2-1-driving motor circumferential surface, 2-motor worm, 2-3-driving motor positioning hole;

3-duplicate gear, 3-1-duplicate gear tooth one, 3-2-duplicate gear tooth two;

4, a check ring;

5-output shaft, 5-1-guide key, 5-2-D-shaped shaft end, 5-3-cam;

6-a sliding gear, 6-1-an outer circular surface, 6-2-a guide groove;

7-a slide block, 7-1-a connector, 7-2-an arc surface;

8-angular contact ball bearings;

9-bearing through cover, 9-1-bearing cover mounting hole;

10-shifting fork, 10-1-connecting hole I, 10-2-connecting hole II;

11-U-shaped connecting piece, 11-1-linear motor connecting hole, 11-2-shifting fork connecting hole;

12-linear servo motor;

13-1-bolt one, 13-2-bolt two;

14-microswitch, 14-1-toggle piece, 14-2-switch mounting hole;

15-elbow joint shell, 15-1-bearing mounting hole, 15-2-switch fixing hole, 15-3-bearing cover fixing hole, 15-4-wire outlet hole, 15-5-top cover fixing hole and 15-6-big arm connecting hole;

16-a rudder disc, 16-1-D holes and 16-2-small arm connecting holes;

17-big arm cavity, 17-1-big arm mounting hole;

18-forearm cavity, 18-1-forearm mounting hole.

Detailed Description

The technical contents of the preferred embodiments of the present invention will be more clearly understood and appreciated by referring to the drawings attached to the specification. The present invention may be embodied in many different forms of embodiments, and the scope of the invention is not limited to the embodiments described herein.

In the drawings, structurally identical elements are represented by like reference numerals, and structurally or functionally similar elements are represented by like reference numerals throughout the several views. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the present invention is not limited to the size and thickness of each component. The thickness of the components may be exaggerated where appropriate in the figures to improve clarity.

As shown in the schematic diagram of the internal structure of FIG. 1, the single-degree-of-freedom artificial limb elbow joint controlled by the electromyographic signal comprises a top cover 1, a driving motor 2, a duplicate gear 3, a retainer ring 4, an output shaft 5, a sliding gear 6, a sliding block 7, an angular contact ball bearing 8, a bearing transparent cover 9, a shifting fork 10, a U-shaped connecting piece 11 and a linear servo motor 12.

As shown in figures 2 and 3, a circumferential surface 2-1 of the driving motor is placed in a top cover arc-shaped groove 1-2 on the top cover 1, and a driving motor positioning hole 2-3 is matched with a motor positioning hole 1-1 on the top cover 1 and is arranged on the top cover 1 through two screws.

As shown in fig. 3-7, the elbow joint uses a two-stage gear transmission system, including a one-stage gear transmission and a two-stage gear transmission. The duplicate gear 3 is fixed with a gear positioning hole 1-3 of the top cover 1 through a first bolt 13-1; the motor worm 2-2 is meshed with a first duplicate gear tooth 3-1 in the duplicate gear 3 to form primary gear transmission; meanwhile, the second duplex gear teeth 3-2 are meshed with the sliding gear 6 to form secondary gear transmission.

The sliding gear 6 is fixed on the output shaft 5 through a key slot. A guide key 5-1 of the output shaft 5 is connected with the sliding gear 6 through a guide groove 6-2, so that synchronous rotation with the sliding gear 6 is realized.

As shown in fig. 5, 15 and 17, a D-shaped shaft end 5-2 of the output shaft 5 is matched with a D-shaped hole 16-1 of the rudder plate 16, and a small arm connecting hole 16-2 on the rudder plate 16 is connected with a small arm 18 through a screw, so that the small arm 18 and the output shaft 5 rotate synchronously.

As shown in fig. 1, 9, and 13, the output shaft 5 is axially and radially positioned by angular contact ball bearings 8 at both ends. The angular contact ball bearing 8 is arranged in a bearing mounting hole 15-1 of the elbow joint shell 15, the inner ring is positioned by the retainer ring 4, and the outer ring is positioned by the bearing transparent cover 9. The bearing cover mounting hole 9-1 is fixed with a bearing cover fixing hole 15-3 of the elbow joint shell 15 through a screw; the screw connects the big arm mounting hole 17-1 with the big arm connecting hole 15-6 of the elbow joint shell 15, so that the big arm cavity 17 is fixed on the elbow joint shell 15.

When the elbow joint receives a continuous electromyographic signal, a worm 2-2 of a driving motor 2 rotates to drive a first duplex gear tooth 3-1 meshed with the worm to rotate; therefore, the sliding gear 6 is driven to rotate by the duplex gear teeth II 3-2, the output shaft 5 is driven to rotate due to the matching of the guide groove 6-2 and the guide key 5-1, and the small arm 18 is driven to rotate through the matching of the D-shaped shaft end 5-2 of the output shaft 5 and the D-shaped hole 16-1 of the rudder plate 16.

When the elbow joint receives the myoelectric signal which is continuously bent in the large arm cavity 17, the driving motor 2 rotates forwards to drive the small arm cavity 18 to bend upwards; the extreme position of upward flexion is reached when the small arm chamber 18 bends upwards to an angle of 30 degrees to the large arm chamber 17, as shown in figure 19. When the elbow joint receives the myoelectric signal continuously extending in the large arm cavity 17, the driving motor 2 rotates reversely to drive the small arm cavity 18 to extend downwards; the downward extension of the small arm chamber 18, at an angle of 180 degrees to the large arm chamber 17, reaches the extreme downward extension position, as shown in figure 20.

As shown in fig. 1 and 10, a linear servo motor 12 is arranged in a top cover square groove 1-4 on a top cover 1, and an output shaft of the linear servo motor 12 is connected with a linear motor connecting hole 11-1 of a U-shaped connecting piece 11; as shown in figure 8, the U-shaped connecting piece 11 is connected with the shifting fork 10 through a second bolt 13-2, a shifting fork connecting hole 11-2 and a second connecting hole 10-2, so that the shifting fork 10 can rotate around the second bolt 13-2.

The connector 7-1 of the sliding block 7 is inserted into the first connecting hole of the shifting fork 11, so that the shifting fork 10 can rotate around the connector 7-1.

The arc surface 7-2 of the sliding block 7 is attached to the outer circular surface 6-1 of the sliding gear 6.

As shown in fig. 11, when the driving shaft of the linear servo motor 12 moves downward, the shifting fork 10 is driven to rotate by the U-shaped connecting member 11, so as to drive the sliding gear 6 to move axially, and the sliding gear 6 is disengaged from the dual gear teeth 3-2.

As shown in figures 5, 12, 13 and 14, the driving shaft 5 of the elbow joint further comprises a cam 5-3, when the elbow joint drives the small arm cavity 18 to rotate to 180 degrees with the large arm cavity 17, the cam 5-3 on the output shaft 5 touches the toggle piece 14-1 of the micro switch 14, and the micro switch 14 is fixed in the elbow joint shell 15 through the switch mounting hole 14-2 and the switch fixing hole 15-2.

If the elbow joint receives the electromyographic signals continuously extending from the large arm cavity 17 at the moment, the linear servo motor 12 drives the U-shaped connecting piece 11 to do vertical linear motion downwards, the vertical linear motion is converted into the axial linear motion of the sliding gear 6 along the output shaft 5 under the shifting fork connecting mechanism, the sliding gear 6 is disengaged from the duplicate gear teeth 3-2, the output shaft 5 is not controlled by the driving motor 2 any more, and therefore free swing of the small arm is achieved.

As shown in the general assembly of fig. 1-20, the top cover 1 is fixedly connected with the elbow joint shell 15 through the top cover mounting holes 1-6 and the top cover fixing holes 15-5 on the elbow joint shell 15 by screws; the top cover wire outlet holes 1-51 and the top cover wire outlet holes two 1-52 are used for wiring myoelectric signals and control signals.

After the elbow joint is assembled, the output shaft 5 is assembled with the small arm through the steering wheel 16, and is assembled with the large arm receiving cavity through the large arm connecting hole 15-6 on the side surface of the top of the elbow joint shell 15 for use.

The elbow joint has two working states, namely an electric flexion and extension state and a free swing state. The two states are controlled by the angle between the small arm cavity 18 and the large arm cavity 17 and the myoelectric signal, and can be freely converted.

When the elbow joint works in an electric bending and stretching state, if the small arm cavity 18 and the large arm cavity 17 form an angle of 180 degrees and the elbow joint still receives the myoelectric signal continuously stretching in the large arm cavity 17, the linear servo motor 12 drives the shifting fork connecting mechanism to drive the sliding gear 6 to be disengaged from the two duplicate gear teeth 3-2, and the elbow joint enters a free swinging state.

In the free swing state, when the elbow joint receives a myoelectric signal which is continuously bent in the upper arm cavity 17, the linear servo motor 12 drives the U-shaped connecting piece 11 to move upwards in a vertical linear mode, the movement is converted into axial linear movement of the sliding gear 6 along the output shaft 5 under the condition of the shifting fork connecting mechanism, the sliding gear 6 is meshed with the duplicate gear teeth II 3-2, and the elbow joint enters an electric bending and stretching state.

The foregoing has described in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the teachings of this invention without undue experimentation. Therefore, the technical solutions that can be obtained by a person skilled in the art through logic analysis, reasoning or limited experiments based on the prior art according to the concepts of the present invention should be within the scope of protection defined by the claims.

Claims (10)

1. The utility model provides a single degree of freedom artificial limb elbow joint of flesh electrical signal control, its characterized in that includes top cap, driving motor, transmission system, linear servo motor, shift fork coupling mechanism, sliding gear, output shaft, elbow joint shell, driving motor warp the transmission system drive sliding gear drives output shaft and forearm chamber rotate, linear servo motor according to flesh electrical signal with the state of elbow joint, warp shift fork coupling mechanism drive sliding gear axial motion, with transmission system meshing or break away from, the corresponding electronic bending of getting into of elbow joint is stretched or the free swing state.

2. The myoelectric signal controlled single degree of freedom prosthetic elbow joint of claim 1, wherein the transmission system is a duplicate gear transmission, the duplicate gear comprises a duplicate gear tooth one and a duplicate gear tooth two, the turbine of the driving motor is engaged with the duplicate gear tooth one to form a primary gear transmission, and the duplicate gear tooth two is engaged with the sliding gear to form a secondary gear transmission.

3. An electromyographic signal controlled single degree of freedom prosthetic elbow joint as claimed in claim 2 wherein said glide gear is keyed to said output shaft.

4. An electromyographic signal controlled single degree of freedom prosthetic elbow joint as claimed in claim 2 wherein said output shaft is fitted to said forearm cavity via a rudder plate.

5. An electromyographic signal controlled single degree of freedom prosthetic elbow joint as claimed in claim 4 wherein said output shaft is axially and radially positioned by angular contact ball bearings at both ends.

6. The myoelectric signal controlled single degree of freedom artificial elbow joint of claim 1, wherein when the elbow joint is in an electric flexion and extension state, when the forearm cavity reaches the limit position of downward extension and the elbow joint still receives the myoelectric signal of continuous extension in the forearm cavity, the linear servo motor drives the shifting fork connecting mechanism to drive the sliding gear to be separated from the transmission system, and the elbow joint enters a free swing state.

7. An electromyographic signal controlled single degree of freedom prosthetic elbow joint as claimed in claim 1 wherein when the elbow joint is in a free swing state and the elbow joint receives an electromyographic signal that is continuously flexed in the upper arm cavity, the linear servo motor drives the shift fork linkage to drive the sliding gear to mesh with the transmission system, the elbow joint enters an electric flexion-extension state.

8. An electromyographic signal controlled single degree of freedom prosthetic elbow joint as claimed in claim 1 wherein said shifter linkage comprises a U-shaped link, shifter and slider.

9. An electromyographic signal controlled single degree of freedom prosthetic elbow joint as claimed in claim 8 wherein the upper end of said fork is connected to said U-shaped connector by a pin.

10. An electromyographic signal controlled single degree of freedom prosthetic elbow joint according to claim 8 wherein said slider comprises a connector which is inserted into a connecting hole at the lower end of said fork so that said fork can rotate about said connector.

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