TW202007375A - Elbow joint device, prosthetic limb with elbow joint device and method for using the same suitable for application to various situations and capable of increasing the convenience in use - Google Patents

Abstract

An elbow joint device includes a connecting frame, a pivotal frame, a rotating frame, and a driving mechanism. The pivotal frame is rotatably pivoted to the connecting frame and is pivotally rotated with respect to the connecting frame about a first axle line. The rotating frame is in contact with the connecting frame in a sliding manner. The driving mechanism is disposed between the pivotal frame and the rotating frame to drive the rotating frame to rotate with respect to the pivotal frame about a second axle line perpendicular to the first axle line. When rotating about the second axle line, the rotating frame is guided by the connecting frame to drive the pivotal frame to pivotally rotate about the first axle line through the driving mechanism, so that the rotating frame may rotate between a downward position in a downward direction and a uplifting position protruding and extending from one side of the connecting frame in a swinging manner.

Description

Elbow joint device, prosthesis with elbow joint device and method of use

The invention relates to an elbow joint device, in particular to an elbow joint device that can be rotated through control, a prosthesis with an elbow joint device and a method of using the same.

People with arm disabilities will replace the original arm function by installing a full-arm prosthesis to reduce inconvenience in daily life and work.

Existing full-arm prostheses usually include an elbow joint, and an upper arm and a lower arm connected to the elbow joint. The elbow joint uses a motor as a power source, and drives the lower arm to rotate up or down through a transmission mechanism to extract or place items. For example, when taking food through the lower arm or watching it with a mobile phone, the items taken by the lower arm must usually be able to be inwardly close to the user's face in order to facilitate the user to eat the food or Watch the phone. Therefore, the existing elbow joint which can only drive the lower arm to rotate upward or downward is inconvenient in use.

Therefore, an object of the present invention is to provide an elbow joint device capable of overcoming at least one disadvantage of the prior art.

Therefore, the elbow joint device of the present invention includes a connecting frame, a pivoting frame, a rotating frame, and a driving mechanism.

The pivoting frame is pivotally connected to the connecting frame and can pivot relative to the connecting frame about a first axis. The rotating frame is in sliding contact with the connecting frame. The driving mechanism is disposed between the pivoting frame and the rotating frame to drive the rotating frame to rotate relative to the pivoting frame about a second axis perpendicular to the first axis, and the rotating frame rotates about the second axis Will be guided by the connecting frame and drive the pivoting frame to pivot about the first axis through the driving mechanism, so that the rotating frame can protrude out of the connection in a downward position downward Rotate between the raised positions on one side of the rack.

In the elbow joint device of the present invention, the connecting frame includes a convex column, and the rotating frame includes a cam that is in sliding contact with the convex column and can be guided by the convex column.

In the elbow joint device of the present invention, the cam includes a first side, a second side opposite to the first side, and an outer peripheral surface connected between the first side and the second side. The outer peripheral surface is recessed to form a guide groove for embedding the protrusion, the guide groove has an upper end portion adjacent to the first side surface, and a lower end portion adjacent to the second side surface and opposite to the upper end portion When the boss is located at the upper end, the rotating frame is in the downward position, and when the boss is located at the lower end, the rotating frame is in the raised position.

In the elbow joint device of the present invention, the guide groove has a non-biased groove section, and a skewed groove section, the non-skewed groove section has the upper end, and the skewed groove section communicates with the non-skewed groove section Opposite one end of the upper end and extending obliquely towards the second side, the skewed groove section has the lower end portion, when the boss slides in the non-biased groove section, the rotating frame rotates about the second axis When the protruding column slides in the skewed groove section, the rotating frame and the pivoting frame pivot about the first axis.

In the elbow joint device of the present invention, the convex column has a rolling bearing embedded in the guide groove, the cam further includes two spaced cam surfaces defining opposite sides of the skewed groove segment, the two cams The surfaces are used to slidingly contact the opposite sides of the rolling bearing, respectively.

In the elbow joint device of the present invention, the cam further includes an upper end surface, two side vertical surfaces, and a lower end surface, the two side vertical surfaces are connected to opposite ends of the upper end surface and parallel to the first side surface, for sliding respectively Contacting the opposite side of the rolling bearing, the upper end surface and the two side vertical surfaces jointly define the non-deflecting groove segment parallel to the first side surface, the upper end portion is adjacent to the upper end surface, the two cam surfaces are connected to the lower end surface opposite The ends are respectively connected to the two vertical surfaces, the lower end surface and the two cam surfaces jointly define the skewed groove segment, and the lower end portion is adjacent to the lower end surface.

In the elbow joint device of the present invention, the driving mechanism includes a driving assembly and a locking assembly. The driving assembly includes a driving module fixed to the rotating frame, and a rotatable connection with the driving module Is pivotally connected to the output shaft of the pivot frame, and the locking assembly is disposed between the pivot frame and the output shaft and can lock the output shaft to limit its rotation relative to the pivot frame, And a release state that enables the output shaft to rotate relative to the pivot frame.

In the elbow joint device of the present invention, the locking assembly includes at least one set of sleeves fixed to the output shaft, and a lever pivotally pivotably connected to the pivoting frame. The lever includes at least one locking block for locking in the locking slot, the lever can rotate between a locking position and a release position, and in the locking position, the locking block is locked to the card In the slot, the locking assembly is brought into the locked state, and in the release position, the locking block is moved away from the locking slot, so that the locking assembly is in the unlocked state.

In the elbow joint device of the present invention, the pivoting frame is formed with a first positioning groove and a second positioning groove spaced above the first positioning groove. The lever also includes a positioning unit, and the positioning unit has a positioning A bead, and a pair of compression springs biasing the positioning bead toward the pivoting frame, when the positioning bead is latched in the first positioning groove, the lever is positioned at the latching position, and when the positioning bead latches During the second positioning groove, the lever is positioned at the release position.

In the elbow joint device of the present invention, the pivoting frame includes two spaced apart side walls, the output shaft has two outer shaft sections respectively protruding from the two side walls, and the locking assembly includes two sleeves respectively fixed on the For the sleeve blocks of the two outer shaft sections, the lever includes two clamping blocks, and each of the clamping blocks is used for being caught in the clamping groove of the corresponding sleeve block.

In the elbow joint device of the present invention, the pivoting frame includes a blocking post for blocking the sleeve to position it at a position to be latched, when the sleeve is at the position to be latched When the lever is in the locking position, the locking block is locked in the locking slot.

In the elbow joint device of the present invention, the driving mechanism further includes a torsion spring disposed between the output shaft and the pivot frame and applying an elastic force to the output shaft. When the locking assembly is in the locked state, the torsion force The spring is in a deformed state that is torsionally deformed and accumulates elastic force. When the lock assembly is in the unlocked state, the elastic force applied by the spring to the output shaft will cause the drive module to drive the rotating frame around the second axis Rotating downward to the downward position, the rotating frame includes a pin lever, and the pivoting frame includes a limiting surface for blocking the pin lever to position the rotating frame in the downward position.

The elbow joint device of the present invention further includes a bracket connected to the connection frame and including a circuit module electrically connected to the driving module, and a battery electrically connected to the circuit module.

Another object of the present invention is to provide a prosthesis with an elbow joint device that can overcome at least one disadvantage of the prior art.

Thus, the present invention has a prosthesis with an elbow joint device, including an elbow joint device and a shoulder joint device.

The elbow joint device includes a connecting frame, a pivoting frame, a rotating frame, a driving mechanism, and a bracket. The pivoting frame is pivotally connected to the connecting frame and can pivot relative to the connecting frame about a first axis. The rotating frame is in sliding contact with the connecting frame. The driving mechanism is disposed between the pivoting frame and the rotating frame to drive the rotating frame to rotate relative to the pivoting frame about a second axis perpendicular to the first axis, and the rotating frame rotates about the second axis Will be guided by the connecting frame and drive the pivoting frame to pivot about the first axis through the driving mechanism, so that the rotating frame can protrude out of the connection in a downward position downward Rotate between the raised positions on one side of the rack. The bracket is connected to the top of the connection frame and includes a circuit module electrically connected to the driving mechanism. The shoulder joint device includes a shoulder cover mechanism and a hanging mechanism. The shoulder shield mechanism is connected to the top of the bracket. The hanging mechanism includes a board, a switch unit provided on the board, a first sling connected between one side of the board and the shoulder shield mechanism, and a second connected to the other side of the board Sling, and a control belt connected between the shoulder cover mechanism and the switch unit, the switch unit is electrically connected to the circuit module and can control the driving mechanism to operate through the circuit module, the switch unit can be Switching between the first closed state and a second closed state, the switch unit is a normally closed switch in the first closed state, when the shoulder shield mechanism is in an initial position, the switch unit is in the first closed state And the rotating frame is in the downward position, when the shoulder cover mechanism is moved forward from the initial position to a forward position in a forward direction, the shoulder cover mechanism pulls the control belt to switch the switch unit To the second closed state, the driving mechanism drives the rotating frame to rotate from the downward position to the raised position. When the shoulder shield mechanism moves backward from the forward tilt position to the initial position in a backward direction, the The shoulder cover mechanism releases the control belt to switch the switch unit to the first closed state, so that the driving mechanism drives the rotating frame to rotate toward the downward position.

The prosthesis with the elbow joint device of the present invention, when the shoulder shield mechanism moves from the forward tilt position in the backward direction to a slightly tilted position between the initial position and the forward tilt position, or by the When the initial position moves to the slightly tilted position along the forward movement direction, the switch unit is switched to an open circuit state, so that the driving mechanism stops operating.

The prosthesis of the invention has an elbow joint device. The switch unit includes a toggle switch and a tension spring. The toggle switch has a toggle lever. Skew position, and an intermediate position between the inner skew position and the outer skew position, when the toggle lever is in the inner skew position, the toggle switch is in the first closed state , When the toggle lever is in the outer deflected position, the toggle switch is in the second closed state, when the toggle lever is in the intermediate position, the toggle switch is in the open state, the control belt The toggle lever is arranged on the toggle lever to pull the toggle lever to swing, and the tension spring is connected between the plate and the toggle lever and biases the toggle lever to position it in the inner deflected position .

In the prosthesis with elbow joint device of the present invention, the toggle lever has an upper stop flange, and a lower stop flange spaced below the upper stop flange, the upper stop flange and the lower The blocking flanges are used to block the upper and lower ends of the control belt.

Another object of the present invention is to provide a method of using a prosthesis with an elbow joint device that can overcome at least one disadvantage of the prior art.

Therefore, the method for using the prosthesis with the elbow joint device of the present invention is suitable for being installed on a torso of a human body, and the torso has a shoulder. The method of using includes the following steps:

The prosthesis is provided. The prosthesis includes an elbow joint device and a shoulder joint device. The elbow joint device includes a rotating frame that can rotate between a downward position and a lifting position. The shoulder joint device includes a connection A shoulder cover mechanism at the top of the elbow joint device, and a hanging mechanism, the hanging mechanism includes a switch unit, and a control belt connected between the shoulder cover mechanism and the switch unit, the switch unit is electrically Connected to the elbow joint device and capable of controlling the operation of the rotating frame, the switch unit can be switched between a first closed state and a second closed state, the switch unit is a normally closed in the first closed state switch;

The shoulder shield mechanism is covered on the shoulder and the hanging mechanism is suspended on the torso so that the shoulder shield mechanism is in an initial position, the switch unit is in the first closed state, and the rotating frame is in the downward direction Location; and

The shoulder cover mechanism is driven through the shoulder to move from the initial position in a forward direction to a forward tilt position, the shoulder cover mechanism pulls the control belt to switch the switch unit to the second closed state, causing the rotation The rack rotates from the downward position to the raised position.

The method of using the prosthesis with the elbow joint device of the present invention also includes a step after driving the shoulder cover mechanism to the forward tilt position through the shoulder, and driving the shoulder cover mechanism through the shoulder to tilt forward The position moves to the initial position in a backward movement direction, the shoulder shield mechanism releases the control belt to switch the switch unit to the first closed state, and rotates the rotating frame toward the downward position.

The method of using the prosthesis with the elbow joint device of the present invention, in the step of driving the shoulder cover mechanism to the forward tilt position through the shoulder, when the shoulder cover mechanism is in the forward tilt position, it is driven through the shoulder The shoulder shield mechanism moves along the backward movement direction to a slightly tilted position between the initial position and the forward tilted position, so that the switch unit is switched to an open state and controls the rotating frame to stop rotating.

The method of using the prosthesis with the elbow joint device of the present invention, in the step of driving the shoulder cover mechanism to the initial position through the shoulder, when the shoulder cover mechanism is in the initial position, the shoulder is driven through the shoulder The cover mechanism moves from the initial position along the forward movement direction to a slightly tilted position between the initial position and the forward tilted position, so that the switch unit is switched to the open state and controls the rotating frame to stop rotating.

The effect of the present invention is that by driving the shoulder cover mechanism forward or backward, the toggle switch can be switched to different states to control the lifting or lowering of the rotating frame of the elbow joint device. Increase the ease of use. In addition, when the rotating frame is protrudingly protruding from the side of the connecting frame when it is in the raised position, the prosthetic hand can bring the item taken inwards closer to the user's face. Therefore, it is convenient for the user to eat the food or watch the mobile phone. Furthermore, when the toggle lever is moved to the release position, the elastic force applied to the output shaft by the torsion spring and the self-weight relationship of the rotating frame enable the rotating frame to automatically rotate downward to the downward position. In this way, the inconvenience caused to the user when the rotating frame is suspended can be overcome.

Before the present invention is described in detail, it should be noted that in the following description, similar elements are denoted by the same numbers.

1 and 2, it is an embodiment of a prosthesis 200 with an elbow joint device according to the present invention. The prosthesis 200 is an example of a full arm and shoulder prosthesis, which is suitable for being installed in an amputation area of a human body 1 to reach the scapula Part of the torso 11. In this embodiment, the human body 1 takes the left arm and the left shoulder as an example, and the trunk 11 has a shoulder 111 on the left side. The prosthesis 200 is an example of a left arm and left shoulder prosthesis installed on the shoulder 111, and includes an elbow joint device 201 and a shoulder joint device 202.

Referring to FIGS. 3, 4 and 5, the elbow joint device 201 includes a connecting frame 2, a bracket 3, a pivoting frame 4, a rotating frame 5, and a driving mechanism 6. The connecting frame 2 includes a tube 21 and a plate 22. The tube 21 has a plate 211 and a tube 212 protruding from the top of the plate 211. The disc body 211 is formed with a groove 213. The tube body 212 is formed with a through hole 214 communicating with the groove 213. The disk member 22 has a disk portion 221, a surrounding wall 222 disposed on the top surface of the disk portion 221, and a convex post 223 disposed on the bottom surface of the disk portion 221. The disk portion 221 is formed with a through hole 224. The surrounding wall 222 is received in the groove 213, and the outer wall surface of the surrounding wall 222 is recessed radially inward to form an annular groove 225. The plurality of stop screws 23 are respectively screwed into the plurality of screw holes 215 of the disc body 211 and are caught in the annular groove 225 to lock the disc member 22 to the tube member 21. In this embodiment, the stud 223 has a stud portion 226 integrally protruding from the bottom surface of the disc portion 221, a rolling bearing 227, and a screw 228. The rolling bearing 227 of this embodiment is a ball bearing. The screw 228 passes through the rolling bearing 227 and is screwed into the stud portion 226.

Referring to FIGS. 3 and 6, the bracket 3 includes a housing 31, a battery 32, and a circuit module 33. The casing 31 includes a casing 311 and a cover 312. The bottom end of the housing 311 penetrates through the through hole 214 of the connecting frame 2 and forms an accommodating space 313, a lower through hole 314 communicating with the bottom end of the accommodating space 313, and an upper through hole communicating with the top end of the accommodating space 313 315. The circuit module 33 and the battery 32 are electrically connected, and both are disposed in the accommodating space 313. The battery 32 is an example of a rechargeable battery. The cover 312 is locked to the housing 311 by, for example, a screw lock and closes the receiving space 313.

Referring to FIGS. 4, 5 and 7, the pivoting frame 4 includes a pivoting unit 41 and a frame body 42. The pivoting unit 41 has a screw 411 and a nut 412 for screwing the screw 411. The frame body 42 has a top wall 421 and two side walls 422 respectively disposed on opposite sides of the top wall 421. The top wall 421 is formed with a shaft hole 423, an arc hole 424 in front of the shaft hole 423, and a plurality of arc grooves 425 surrounding the outer periphery of the shaft hole 423. The screw 411 passes through the shaft hole 423 and the through hole 224 of the disc 22 and is screwed to a nut 412. A screw head and nut 412 of the screw 411 are located below the top wall 421 and above the disc portion 221, thereby The top wall 421 of the frame body 42 and the disk 22 are connected together to avoid separation of the two. In this embodiment, the screw 411 does not lock the nut 412 very tightly so that the nut 412 urges the disc portion 221 of the disc 22 toward the top wall 421, but allows the top wall 421 to wrap around the screw 411 A defined first axis A1 pivots relative to the disk portion 221 so that the pivoting unit 41 can pivotally connect the frame body 42 and the disk 22.

The stud portion 226 of the disk member 22 is inserted into the arc-shaped hole 424, and a first end 435 of the arc-shaped hole 424 abuts against the stud portion 226. When the top wall 421 pivots relative to the disk portion 221, the arc-shaped hole 424 rotates relative to the stud portion 226. The screw 228 penetrates the rolling bearing 227 and is screwed into the stud portion 226 and blocks the bottom end of the rolling bearing 227, so that the rolling bearing 227 can be positioned on the bottom surface of the top wall 421.

A plurality of steel balls 426 are contained in each arc-shaped groove 425, and the top of each steel ball 426 protrudes from the top surface of the top wall 421 and contacts the bottom surface of the disk portion 221 of the disk member 22. Thereby, the friction force between the frame body 42 and the disk portion 221 can be reduced, so that the frame body 42 can smoothly pivot relative to the disk portion 221.

Each side wall 422 has a wall body 427 that is locked to the top wall 421 by, for example, screwing, a stopper 428 protrudingly provided on the outer wall surface of the wall body 427, and a pivot 429 protrudingly provided on the outer wall surface of the wall body 427 . The pivot 429 is adjacent to the front end of the wall 427 and above the stop post 428. The wall body 427 of each side wall 422 is formed with a shaft hole 430 located between the blocking post 428 and the pivot 429, a first positioning groove 431 located on the outer wall surface near the rear end, and a located on the outer wall surface near the rear end The second positioning groove 432 at a distance, and the second positioning groove 432 is spaced above the first positioning groove 431. The wall body 427 of each side wall 422 has a limiting surface 433 adjacent to the rear end and facing downward.

Referring to FIGS. 3, 8 and 9, the rotating frame 5 is disposed between the two side walls 422 of the frame body 42 and includes a first shell 51 and a second shell 52. The first shell 51 has a first half-wheel body 511 and a first half-tube body 512 protruding downward from the bottom end of the first half-wheel body 511. The shape of the second shell 52 is similar to the shape of the first shell 51 and covers one side of the first shell 51. The second shell 52 has a second half-wheel body 521 and a bottom half of the second half-wheel body 521 The second half-tube body 522 protruding end-down. The first shell 51 and the second shell 52 together define an accommodating space 53.

The bottom end of the first half tube 512 of the first shell 51 and the bottom end of the second half tube 522 of the second shell 52 are connected to the top of a rod (not shown), and the bottom end of the rod is connected to a prosthetic hand (Not shown) connection. The first half-wheel body 511 and the second half-wheel body 521 together define a cylindrical cam 54. The cam 54 is in sliding contact with the convex post 223 of the connecting frame 2 and can be guided by the convex post 223. The cam 54 includes a first side 541, a second side 542 opposite to the first side 541, and an outer peripheral surface 543 connected between the first side 541 and the second side 542. The first side 541 and the second side 542 of the cam 54 are each formed with a through hole 544. The outer circumferential surface 543 of the cam 54 is recessed to form a guide groove 545 for the rolling bearing 227 of the boss 223 to be embedded in. The guide groove 545 is bent downward from the top end of the outer circumferential surface 543 to the outer circumferential surface 543 adjacent to the first The half pipe body 512 and the second half pipe body 522. The guiding groove 545 has a non-skewed groove section 546 and a skewed groove section 547.

In this embodiment, the cam 54 further includes an upper end surface 548 that is semi-circular and adjacent to the first side surface 541, and two side vertical surfaces 549 that are connected to the left and right ends of the upper end surface 548 and are parallel to each other. Each side vertical surface 549 is parallel to the first side surface 541 or the second side surface 542, and the two side vertical surfaces 549 are used to contact the opposite side of the rolling bearing 227 of the stud 223. The upper end surface 548 and the two side vertical surfaces 549 together define a non-biased groove section 546 parallel to the first side surface 541. The angle of the non-biased groove section 546 on the outer circumferential surface 543 is about 90 degrees. The skewed groove section 547 communicates with an end of the non-skewed groove section 546 opposite to the upper end surface 548 and extends obliquely toward the second side surface 542. The cam 54 further includes a semi-circular lower end surface 550 adjacent to the second side surface 542, and two cam surfaces 551 connected to the left and right ends of the lower end surface 550, respectively. The two cam surfaces 551 are respectively connected to the two side vertical surfaces 549 to contact the opposite side of the rolling bearing 227 of the boss 223. The lower end surface 550 and the two cam surfaces 551 together define an inclined groove section 547. The non-deflecting groove section 546 has an upper end portion 552 adjacent to the first side surface 541 and the upper end surface 548, and the deflecting groove section 547 has a lower end portion 553 adjacent to the second side surface 542 and the lower end surface 550.

The rotating frame 5 further includes a pin 56 having a rod body 561 and two elastic washer sets 562. The rod body 561 passes through the cam 54 and the left and right ends protrude from the first side surface 541 and the second side surface 542 respectively. The axial direction of the rod body 561 is perpendicular to the first axis A1. Two elastic washer sets 562 are fixed on the rod body 561 and are located outside the first side 541 and the second side 542 respectively. Each elastic washer set 562 can be used by the corresponding limiting surface 433 of the frame body 42 (as shown in FIG. 5) ) Blocked.

9, 10 and 11, the driving mechanism 6 is disposed between the pivoting frame 4 and the rotating frame 5 to drive the rotating frame 5 around a second axis perpendicular to the first axis A1 (as shown in FIG. 4) The axis A2 rotates relative to the pivot frame 4. When the rotating frame 5 rotates around the second axis A2, it will be guided by the convex post 223 of the connecting frame 2 and drive the pivoting frame 4 to pivot around the first axis A1 through the driving mechanism 6, so that the rotating frame 5 can be turned downward It rotates between the downward position (as shown in FIG. 3) and a raised position (as shown in FIG. 22) that deflects protrudingly protruding from the side of the connecting frame 2. The driving mechanism 6 includes a driving assembly 61 and a locking assembly 62. The driving assembly 61 includes a driving module 611 and an output shaft 612 connected to the driving module 611. The driving module 611 is disposed in the accommodating space 53 and has a motor 613 and a gearbox 614 disposed at the top of the motor 613. A plurality of screws 615 are respectively threaded on the first shell 51 and the second shell 52 and locked on the gearbox 614, so that the driving module 611 can be firmly fixed in the accommodating space 53. The output shaft 612 is connected to the gearbox 614 and defines a second axis A2. The motor 613 is electrically connected to the circuit module 33 and can be driven to operate. The power generated by the motor 613 is decelerated via the gearbox 614 and transmitted to the output shaft 612 to drive it to rotate. The output shaft 612 protrudes from the left and right sides of the gearbox 614 and penetrates the two through holes 544 and pivotally connects to the two shaft holes 430. The output shaft 612 has two outer shaft sections 616 protruding from the two side walls 422 respectively. Each outer shaft section 616 has a non-circular cross-sectional shape and has all planes 617.

Referring to FIGS. 4, 10 and 11, the locking assembly 62 includes two sleeves 63 and a lever 64. Each block 63 has a fan shape and forms a non-circular hole 631. The shape of the non-circular hole 631 is the same as the shape of the longitudinal section of the outer shaft section 616, which is used for the outer shaft section 616 to be threaded and engaged. In this way, each sleeve 63 can be sleeved on the corresponding outer shaft section 616 and can be driven to rotate. Each set of blocks 63 is further formed with a screw hole 632 communicating with the non-circular hole 631, and a clamping slot 633 spaced from the screw hole 632 at an angle. A stop screw 634 is screwed into the screw hole 632 and is forced to contact the tangent plane 617 of the outer shaft section 616, thereby preventing the sleeve 63 from moving axially along the outer shaft section 616 and disengaging from the outer shaft section 616. Each blocking post 428 is used to block the corresponding sleeve 63 to position it in a position to be locked as shown in FIG. 10.

4, 5 and 10, the lever 64 includes a U-shaped lever 641, the lever 641 has two side levers 642, and a lever 643 connected to the rear ends of the levers 642 on both sides . Each side rod body 642 is located outside the corresponding side wall 422 and the front end is rotatably pivoted to the corresponding pivot 429. Each side rod body 642 has a locking block 644 for locking in the locking slot 633 of the corresponding sleeve 63 . The lever 64 can rotate relative to the frame body 42 between a catch position (shown in FIG. 10) and a release position (shown in FIG. 25). When each sleeve 63 is in the to-be-locked position and the lever 64 is in the locked position, the locking block 644 of each side rod body 642 is locked in the locking groove 633 of the corresponding locking block 63, so that the locking block 63 and the output shaft 612 None of them can rotate relative to the frame body 42. At this time, the locking assembly 62 is in a locked state. When the lever 64 is in the release position, the locking blocks 644 of each side lever body 642 move away from the corresponding locking grooves 633 of the sleeve 63, so that both the sleeve 63 and the output shaft 612 can rotate relative to the frame body 42, at this time, The lock assembly 62 is in a released state.

Referring to FIG. 4, FIG. 5 and FIG. 12, the inner side of each side rod body 642 is recessed to form a receiving groove 645. The lever 64 further includes two positioning units 646, and each positioning unit 646 is disposed in the receiving groove 645 of the corresponding side rod body 642 and has a positioning bead 647, and a pair of positioning beads 647 biased toward the corresponding side wall 422 Spring 648. When the positioning beads 647 of each positioning unit 646 are caught in the first positioning groove 431 corresponding to the side wall 422, the lever 64 can be firmly positioned at the catching position. When the positioning bead 647 of each positioning unit 646 is caught in the second positioning groove 432 corresponding to the side wall 422, the lever 64 can be firmly positioned at the release position.

Referring to FIGS. 5, 11 and 13, one of the side walls 422 of the frame body 42 further has a latch 434 protruding from the inner wall of the wall 427, and the latch 434 is adjacent to the rear end of the wall 427. The output shaft 612 further has a shaft section 618 between the second side 542 and the side wall 422, and a longitudinal section shape of the shaft section 618 is square. The driving mechanism 6 further includes a torsion spring 65. The torsion spring 65 has an inner buckling end 651 that is buckled on the shaft section 618, and an outer buckling end 652 that is buckled on the latch 434. The torsion spring 65 is used to apply elastic force to the output shaft 612. When the lock assembly 62 is in the locked state, the torsion spring 65 is in a deformed state in which it is torsionally deformed and the elastic force is accumulated (as shown in FIG. 13). When the locking assembly 62 is in the unlocked state, the elastic force of the torsion spring 65 applied to the output shaft 612 will cause the driving module 611 (as shown in FIG. 9) to drive the rotating frame 5 to rotate downward around the second axis A2 to the downward position .

1, 2, 14 and 15, the shoulder joint device 202 includes a shoulder shield mechanism 7 and a hanging mechanism 8. The shoulder shield mechanism 7 includes a shield body 71 and a connecting rod 72. The cover 71 covers the shoulder 111 of the human body 1. The top end of the connecting rod 72 is rotatably pivotally connected to the cover body 71, and the bottom end of the connecting rod 72 is penetrated into the upper through hole 315 of the bracket 3. together.

The hanging mechanism 8 includes a plate 81, a switch unit 82, a first strap 83, a second strap 84, and a control strap 85. The plate 81 is used to abut on a back 112 of the torso 11 and includes a square upright portion 811, a first protrusion 812 protrudingly provided on the back of the upright portion 811, and a protrudingly provided on the upright portion 811 The second bump 813 on the back. The vertical plate portion 811 is formed with four through holes 814 respectively adjacent to the corners. The first bump 812 is adjacent to the upper through hole 814 on one side of the vertical plate portion 811. The second bump 813 is adjacent to the lower through hole 814 on the other side of the standing board portion 811.

The switch unit 82 is disposed on the board 81 and electrically connected to the circuit module 33 of the bracket 3 (as shown in FIG. 6) and can control the motor 613 of the driving mechanism 6 to operate through the circuit module 33. The switch unit 82 can be switched between a first closed state, a second closed state, and an open circuit state. The switch unit 82 is a normally closed switch in the first closed state. When the switch unit 82 is in the first closed state, the rotating frame 5 is in the downward position. When the switch unit 82 is switched from the first closed state to the second closed state, the motor 613 of the drive mechanism 6 drives the rotating frame 5 to rotate upward from the downward position. When the switch unit 82 is switched from the second closed state to the first closed state, the motor 613 of the drive mechanism 6 drives the rotating frame 5 to rotate downward. When the switch unit 82 is switched from the first closed state or the second closed state to the open circuit state, the motor 613 of the drive mechanism 6 stops driving the rotating frame 5 to rotate.

The switch unit 82 includes a toggle switch 820 and a tension spring 821. The toggle switch 820 has a switch body 822 and a toggle lever 823. The switch body 822 is fixed to the first bump 812 and electrically connected to the circuit module 33 through a wire (not shown). The switch body 822 has a lever portion 824 located below the first protrusion 812. The lever portion 824 can be toggled to swing. The toggle lever 823 is formed with a blind hole 825 for the rod portion 824 to penetrate, and a screw hole 826 communicating with the blind hole 825. A stop screw 827 is screwed into the screw hole 826 and contacts the rod portion 824 tightly, thereby preventing the toggle lever 823 from moving axially along the rod portion 824 and disengaging from the rod portion 824, so that the toggle lever 823 is applied The lever portion 824 can be smoothly swung when the force is turned. In addition, the toggle lever 823 has an upper stop flange 828, and a lower stop flange 829 spaced below the upper stop flange 828. The lower stop flange 829 is formed with a button hole 830. The toggle lever 823 can swing between an inner skew position, an outer skew position, and an intermediate position between the inner skew position and the outer skew position. When the toggle lever 823 is in the inner deflected position, the switch body 822 of the toggle switch 820 is in the first closed state. When the toggle lever 823 is in the outwardly deflected position, the switch body 822 of the toggle switch 820 is in the second closed state. When the toggle lever 823 is in the intermediate position, the switch body 822 of the toggle switch 820 is in an open state.

Both ends of the tension spring 821 are respectively snapped into the buckle holes 830 of the lower stop flange 829 and a buckle hole 815 of the second protrusion 813, and the tension spring 821 exerts on the lower stop flange 829 of the toggle lever 823 A pulling force toward the inside positions the toggle lever 823 in the inner deflected position. As a result, the switch body 822 of the toggle switch 820 is constantly maintained in the first closed state.

The first sling 83 surrounds in a ring shape and is fixed on the cover 71. The opposite ends of the first sling 83 pass through the upper and lower through holes 814 adjacent to the side of the cover 71 and bind the vertical plate portion 811. The second sling 84 surrounds the upper and lower through holes 814 on the side away from the cover body 71 in an annular shape and opposite ends, and binds the vertical plate portion 811. One end of the control belt 85 is sleeved on the toggle lever 823 and is located between the upper stop flange 828 and the lower stop flange 829. The upper stop flange 828 and the lower stop flange 829 are respectively used to stop the upper and lower ends of the control belt 85 to prevent the control belt 85 from disengaging from the toggle lever 823. The other end of the control belt 85 is fixed to the cover 71 and adjacent to the lower end thereof. The control belt 85 is used to pull the toggle lever 823 so that it can swing from the inner deflection position to the outer deflection position.

The following is a detailed description of how to use the prosthesis 200:

Referring to FIG. 16, FIG. 16 is a flowchart of a method of using the prosthesis 200 of this embodiment. The method includes the following steps: providing a prosthesis S1, assembling the prosthesis to the human body S2, driving the rotating frame to raise S3 through the shoulder shield mechanism, and Drive the rotating frame down S4 through the shoulder shield mechanism.

Referring to FIGS. 1 and 16, in the step of providing the prosthesis S1, the prosthesis 200 includes the aforementioned elbow joint device 201 and shoulder joint device 202.

1, 2, 15 and 17, in the step of assembling the prosthesis to the human body S2, the cover 71 of the shoulder shield mechanism 7 is covered on the shoulder 111 of the torso 11, so that the shoulder shield mechanism 7 is as The initial position P0 shown in FIG. 17. Next, the plate 81 of the suspension mechanism 8 is placed against the back 112 of the torso 11, and a right arm 12 of the human body 1 is passed through the second sling 84 so that the second sling 84 is hung on the torso 11 adjacent to the right arm 12 At this point, the shoulder shield mechanism 7 and the hanging mechanism 8 are assembled. Since the shoulder shield mechanism 7 is not pulled by the pulling force at the initial position P0, the pulling force applied to the lever 823 by the tension spring 821 positions the lever 823 within the position shown in FIG. 15 Skewed position. Thereby, the switch body 822 of the toggle switch 820 is constantly maintained in the first closed state, and the rotating frame 5 is in the downward position shown in FIG. 17.

Referring to FIGS. 8, 18, 19 and 20, when the rotating frame 5 is to be lifted upward, the step of driving the rotating frame through the shoulder shield mechanism to lift S3 is performed. The shoulder 111 moves forward in a forward direction F to move the shoulder shield mechanism 7 forward from the initial position P0 shown in FIG. 17. During the forward movement of the shoulder shield mechanism 7, the cover body 71 exerts a pulling force I on the control belt 85 to move the control belt 85 forward and outward. During the movement of the control belt 85, the toggle lever 823 is simultaneously pulled to swing outward in an outward swing direction D1 from the inner deflected position. When the shoulder shield mechanism 7 moves forward to a forward tilt position P1 shown in FIG. 18, the control belt 85 pulls the toggle lever 823 to swing to an outer skew position shown in FIG. 19, causing the toggle switch 820 to The switch body 822 is switched to the second closed state. When the toggle lever 823 swings to the outer deflected position, it will pull the extension spring 821 to deform and accumulate the return spring force. At this time, the toggle switch 820 controls the motor 613 of the driving mechanism 6 to operate through the circuit module 33 of the bracket 3. In this embodiment, when the toggle switch 820 is switched to the second closed state, the motor 613 is controlled to rotate forward.

When the lever 64 is in the locking position, neither the sleeve 63 nor the output shaft 612 can rotate relative to the frame body 42, and the drive module 611 connected to the output shaft 612 is fixed in the accommodating space 53 of the rotating frame 5 (as shown in FIG. 9), therefore, the power source generated when the motor 613 rotates forward will cause the drive module 611 to rotate relative to the output shaft 612. When the driving module 611 rotates, the rotating frame 5 is driven to rotate upward from a downward position shown in FIG. 17 in a first rotation direction R1. Since the rotating frame 5 is in the downward position, the protrusion 223 of the pivot frame 4 is located in an upper end 552 of the non-deflecting groove section 546, and the angle of the non-deflecting groove section 546 bending on the outer peripheral surface 543 is about It is 90 degrees. Therefore, during the rotation of the rotating frame 5 upward by about 90 degrees to the position shown in FIG. 18, the rolling bearing 227 of the boss 223 is held in the non-deflecting groove section 546 of the guide groove 545, and The cam 54 is in sliding contact with the rolling bearing 227 through the two side vertical surfaces 549.

Referring to FIG. 20, FIG. 21 and FIG. 22, when the rotating frame 5 continues to rotate upward from the position shown in FIG. 18, the non-deflecting groove section 546 of the guide groove 545 will move away from the rolling bearing 227 of the convex post 223, so that The rolling bearing 227 enters the skewed groove section 547. When the rolling bearing 227 enters the skewed groove section 547, the cam 54 comes into sliding contact with the rolling bearing 227 through the two cam surfaces 551. Since the rolling bearing 227 of the boss 223 is maintained at the position shown in FIG. 20, when the rotating frame 5 rotates upward, the two cam surfaces 551 will push the rolling bearing 227 and the two cam surfaces 551 will be subjected to the rolling bearing 227 The stop and the guide force the deflection groove segment 547 to continuously align with the rolling bearing 227, thereby causing the rotating frame 5 to pivot and swing around the first axis A1 in a first swing direction SW1 at the same time. When the rotating frame 5 swings, the frame body 42 of the pivot frame 4 is driven to swing around the first axis A1 through the driving mechanism 6. When the frame body 42 swings, the first end 435 of the arc-shaped hole 424 will be away from the stud of the convex post 223 The second end 436 of the arc-shaped hole 424 opposite to the first end 435 will gradually approach the stud portion 226.

When the rolling bearing 227 is located in the lower end portion 553 of the skewed groove section 547 and the lower end surface 550 of the cam 54 is blocked, the rotating frame 5 cannot continue to rotate and is positioned at the raised position shown in FIG. 22, and the arc-shaped hole 424 The second end 436 abuts on the stud portion 226. At this time, the rotating frame 5 protrudes protrudingly from the side of the connecting frame 2. Since the rotating frame 5 protrudes protrudingly from the side of the connecting frame 2 in the lifted position, the prosthetic hand connected to the rotating frame 5 through the support rod can bring the picked object inward to the user's face. Therefore, it is convenient for the user to eat the food or watch the mobile phone.

Referring to FIGS. 15 and 21, when the rotating frame 5 is to be lowered from the raised position shown in FIG. 21, the step of driving the rotating frame through the shoulder shield mechanism to lower S4 is performed. The shoulder 111 moves backward in a backward direction B, so that it drives the shoulder cover mechanism 7 to move backward from the forward tilt position P1 shown in FIG. 21. During the backward movement of the shoulder shield mechanism 7, the pulling force I applied to the control belt 85 is gradually released. At this time, the extension spring 821 pulls the toggle lever 823 by the accumulated return elastic force from an outer deflected position along an inner swing The direction D2 swings inward. When the shoulder shield mechanism 7 moves backward and returns to the initial position P0 shown in FIG. 17, the extension spring 821 pulls the toggle lever 823 to swing to the inner deflected position shown in FIG. 15, so that the switch body of the toggle switch 820 822 switches to the first closed state. At this time, the toggle switch 820 controls the motor 613 of the driving mechanism 6 to operate through the circuit module 33 of the bracket 3. In this embodiment, when the toggle switch 820 is switched to the first closed state, the motor 613 is controlled to reverse.

The power source generated when the motor 613 is reversed will cause the driving module 611 to rotate relative to the output shaft 612. When the driving module 611 rotates, the rotating frame 5 is driven to rotate downward from a raised position shown in FIG. 21 in a second rotation direction R2 opposite to the first rotation direction R1. During the downward rotation of the rotating frame 5, the two cam surfaces 551 will push the rolling bearing 227, and the two cam surfaces 551 will be blocked and guided by the rolling bearing 227, forcing the skewed groove segment 547 to continuously align with The rolling bearing 227 causes the rotating frame 5 to simultaneously pivot and swing about the first axis A1 in a second swing direction SW2 opposite to the first swing direction SW1. When the rotating frame 5 swings, the frame body 42 of the pivot frame 4 is driven to swing around the first axis A1 through the driving mechanism 6. When the frame body 42 swings, the second end 436 of the arc-shaped hole 424 will be away from the stud of the convex post 223 Portion 226, and the first end 435 will gradually approach the stud portion 226.

Referring to FIGS. 17, 18 and 20, when the rotating frame 5 rotates down to the position shown in FIG. 18, the deflecting groove section 547 of the guide groove 545 moves away from the rolling bearing 227 of the boss 223, so that the rolling bearing 227 Into the non-deflecting groove section 546, and the cam 54 is in sliding contact with the rolling bearing 227 through the two side elevations 549. After the rotating frame 5 is rotated downward about 90 degrees from the position shown in FIG. 18, the two limiting surfaces 433 of the frame body 42 respectively block the two elastic washer groups 562 of the pin lever 56, so that the rotating frame 5 cannot continue to rotate and locate In the downward position shown in Figure 17. The way in which the pin 56 contacts the limiting surface 433 of the frame body 42 through the elastic washer group 562, the elastic washer group 562 can absorb the impact force generated when hitting the limiting surface 433, and reduce the noise generated when the two impact .

Referring to FIGS. 16, 23 and 24, in the step of driving the rotating frame to raise S3 through the shoulder cover mechanism, the shoulder cover mechanism 7 is driven through the shoulder 111 (as shown in FIG. 17) from the forward tilt position P1 in the backward direction B When moving backward to a slightly tilted position P2 between the initial position P0 and the forward tilted position P1, the extension spring 821 pulls the toggle lever 823 to swing inwardly to a position as shown in FIG. 24 The intermediate position between the skew position and the outer skew position. At this time, the switch body 822 of the toggle switch 820 is switched to an open circuit state and the motor 613 of the driving mechanism 6 is controlled to stop operation through the circuit module 33, thereby enabling the rotating frame 5 to stop at a desired angle during the lifting process position. In addition, in the step of driving the rotating frame downward S4 through the shoulder cover mechanism, when the shoulder cover mechanism 7 is driven through the shoulder 111 to move forward from the initial position P0 in the forward direction F to the slightly tilted position P2, the control belt 85 pulls the dial Move the lever 823 to swing it outward to an intermediate position. At this time, the switch body 822 of the toggle switch 820 is switched to an open circuit state and the motor 613 of the driving mechanism 6 is controlled by the circuit module 33 to stop actuation, thereby enabling the rotating frame 5 to stop at a desired angle during the lowering process position.

Referring to FIG. 25, FIG. 26 and FIG. 27, when the rotating frame 5 rotates to any position between the downward position and the raised position or the raised position, if the battery 32 of the bracket 3 (as shown in FIG. 6) suddenly disappears The electricity will cause the rotating frame 5 to stop and become suspended. At this time, the lever body 643 of the lever 64 is urged upward in the second rotation direction R2, and the positioning beads 647 of each positioning unit 646 are moved outward by the blocking of the side wall 422 and move away from the first positioning The groove 431 (shown in FIG. 12), and the positioning bead 647 compresses the compression spring 648. When the lever 64 rotates to the position where each positioning bead 647 is aligned with the corresponding second positioning groove 432, the elastic force exerted on the positioning bead 647 by the compression spring 648 can cause the positioning bead 647 to automatically latch on the second positioning The groove 432 positions the lever 64 in the release position. At this time, each locking block 644 of the lever 64 moves away from the locking slot 633 of the corresponding sleeve 63. Since each set of blocks 63 is not restricted by the lever 64, the elastic force applied to the output shaft 612 by the torsion spring 65 causes the output shaft 612 to rotate relative to the frame body 42, and the self-weight relationship of the rotating frame 5 makes The rotating frame 5 can automatically rotate downward in the second rotation direction R2 to the downward position as shown in FIG. 28. Thereby, the inconvenience caused to the user when the rotating frame 5 is suspended can be overcome.

After the battery 32 is recharged, the rotating frame 5 is rotated upwards in the first rotation direction R1 (as shown in FIG. 18 ). During the rotation of the rotating frame 5, the sleeve 63 is driven to rotate through the output shaft 612. When the two sleeves 63 rotate to the position to be blocked by the two blocking posts 428, the rotating frame 5 cannot continue to rotate. Next, apply a force in the first rotation direction R1 to move the lever body 643 downward to rotate the lever 64 to the latching position. At this time, the latching block 644 can be accurately latched in the latching slot 633 to lock the Cheng 62 was locked. By means of each blocking column 428 blocking the corresponding sleeve 63 to position it at the position to be locked, the user can quickly rotate the sleeve 63 to the position where the locking block 644 of the lever 64 can be locked To quickly return the locking assembly 62 to the locked state.

It should be noted that, in this embodiment, by contacting the two side vertical surfaces 549 of the cam 54 or the two cam surfaces 551 with the rolling bearing 227 of the convex post 223, the cam 54 and the convex post 223 can be reduced during rotation The frictional force of the rotating frame 5 can smoothly rotate relative to the protrusion 223. In addition, the frame body 42 allows the stud portion 226 of the convex post 223 to penetrate through the arc-shaped hole 424, so that the top wall 421 can support the stud portion 226 to increase the overall structural strength of the convex post 223. Thereby, it can be avoided that the force of the two cam surfaces 551 of the cam 54 pushing the rolling bearing 227 causes the post 223 to be skewed after a long period of use. In this embodiment, through the connection relationship between the output shaft 612, the two sleeve blocks 63, and the two clamping blocks 644 of the lever 64, the driving mechanism 6 can relatively smoothly and smoothly drive the rotating frame 5 relative to the second axis A2 The pivoting frame 4 rotates. In other embodiments, the number of the aforementioned sleeve blocks 63 and the number of the clamping blocks 644 may also be one each, not limited to the number disclosed in this embodiment. In addition, in other embodiments of the elbow joint device 201, the housing 31 of the bracket 31 can also be inserted into the first half-tube body 512 and the second half-tube body 522 of the rotating frame 5 and fixed thereon to be connected The frame 2 can be connected to the bottom end of a residual limb sleeve (not shown). The residual limb sleeve is sleeved on the residual limb of a left arm, so that the elbow joint device 201 can be applied to different occasions.

In summary, the prosthesis 200 of this embodiment can move the toggle mechanism 7 forward or backward by the shoulder 111, and the toggle switch 820 can be switched to different states to control the rotation of the elbow joint device 201 The lifting or lowering of the rack 5 can increase the convenience of use. In addition, when the rotating frame 5 is protrudingly protruding from the side of the connecting frame 2 when it is in the raised position, the prosthetic hand can bring the picked item inwardly closer to the user's face. Therefore, it is convenient for the user to eat the food or watch the mobile phone. Furthermore, when the lever 64 is moved to the release position, the elastic force applied to the output shaft 612 by the torsion spring 65 and the self-weight relationship of the rotating frame 5 enable the rotating frame 5 to automatically rotate downward to the downward position. Thereby, the inconvenience caused to the user when the rotating frame 5 is suspended can be overcome. Therefore, the purpose of cost invention can indeed be achieved.

However, the above are only examples of the present invention, and should not be used to limit the scope of the present invention. Any simple equivalent changes and modifications made according to the scope of the patent application of the present invention and the content of the patent specification are still classified as This invention covers the patent.

1‧‧‧ Human body 11‧‧‧ Torso 111‧‧‧Shoulder 112‧‧‧Back 12‧‧‧Right arm 200‧‧‧‧Prosthesis 201‧‧‧Elbow joint device 202‧‧‧Shoulder joint device 2‧‧ ‧Connecting frame 21‧‧‧Pipe 211‧‧‧Pan body 212‧‧‧Pipe body 213‧‧‧Groove 214‧‧‧Perforation 215‧‧‧Screw hole 22‧‧‧Pan part 221‧‧‧Pan part 222 ‧‧‧ Surrounding wall 223‧‧‧Post 224‧‧‧Perforation 225‧‧‧Annular groove 226‧‧‧Stud 227‧‧‧Rolling bearing 228‧‧‧Screw 3‧‧‧Bracket 31‧‧‧ 311‧‧‧Case 312‧‧‧Cover 313‧‧‧Accommodation space 314‧‧‧Lower through hole 315‧‧‧Upper through hole 32‧‧‧Battery 33‧‧‧Circuit module 4‧‧‧ pivot Rotating frame 41‧‧‧Pivot unit 411‧‧‧Screw 412‧‧‧Nut nut 42‧‧‧Frame body 421‧‧‧Top wall 422‧‧‧Side wall 423‧‧‧Shaft hole 424‧‧‧Arc hole 425‧‧‧Arc groove 426‧‧‧Steel ball 427‧‧‧Wall body 428‧‧‧stop column 429‧‧‧Pivot 430‧‧‧Axle hole 431‧‧‧First positioning groove 432‧‧‧ Two positioning grooves 433‧‧‧ Limit surface 434‧‧‧Plug 435‧‧‧First end 436‧‧‧Second end 5‧‧‧Rotating frame 51‧‧‧First shell 511‧‧‧First half Wheel 512‧‧‧First half tube 52‧‧‧Second shell 521‧‧‧Second half wheel 522‧‧‧Second half tube 53‧‧‧Accommodation space 54‧‧‧Cam 541 ‧‧‧First side 542‧‧‧Second side 543‧‧‧Outer peripheral surface 544‧‧‧Through hole 545‧‧‧Guide groove 546‧‧‧Non-deflected groove section 547‧‧‧Offset groove section 548‧‧‧Upper end surface 549‧‧‧Side vertical surface 550‧‧‧Lower end surface 551‧‧‧Cam surface 552‧‧‧ Upper end portion 553‧‧‧Lower end portion 56‧‧‧Pin rod 561‧‧‧Bar body 562 ‧‧‧ Elastic washer set 6‧‧‧ Drive mechanism 61‧‧‧ Drive assembly 611‧‧‧Drive module 612‧‧‧ Output shaft 613‧‧‧Motor 614‧‧‧ Transmission 615‧‧‧‧Screw 616‧ ‧‧Outer shaft section 617‧‧‧Cut plane 62‧‧‧Lock assembly 63‧‧‧Sleeve block 631‧‧‧Non-circular hole 632‧‧‧Screw hole 633‧‧‧Card slot 634‧‧‧stop payment Screw 64‧‧‧Lever 641‧‧‧Lever 642‧‧‧Side rod body 643‧‧‧Lever body 644‧‧‧Clamp block 645‧‧‧Accommodating groove 646‧‧‧Locating unit 647‧‧‧ Positioning bead 648‧‧‧Compression spring 65‧‧‧Torsion spring 651‧‧‧Inner buckle end 652‧‧‧Outer buckle end 7‧‧‧Shoulder cover mechanism 71‧‧‧Cover body 72‧‧‧Connecting rod 8 ‧‧‧Hanging mechanism 81‧‧‧Plate 811‧‧‧Standing plate part 812‧‧‧First bump 813‧‧‧Second bump 814‧‧‧Perforation 82‧‧ ‧Switch unit 820‧‧‧Toggle switch 821‧‧‧ Tension spring 822‧‧‧Switch body 823‧‧‧Toggle lever 824‧‧‧Bar part 825‧‧‧Blind hole 826‧‧‧Thread hole 827‧ ‧‧Screw 828‧‧‧Upper stop flange 829‧‧‧Lower stop flange 830‧‧‧Button hole 83‧‧‧First sling 84 ‧‧‧Second sling 85 ‧‧‧Control belt A1 ‧‧‧ First axis A2‧‧‧Second axis D1‧‧‧Outward swing direction D2‧‧‧Inward swing direction F‧‧‧ Forward movement direction B‧‧‧Backward movement direction I‧‧‧ Tension P0‧‧‧ Initial position P1‧‧‧forward tilt position P2‧‧‧slight tilt position R1‧‧‧first rotation direction R2‧‧‧second rotation direction SW1‧‧‧first swing direction SW2‧‧‧second swing direction S1‧ ‧‧Prosthetic limb S2‧‧‧‧Prosthetic limb assembled to human body S3‧‧‧Drive the rotating frame to raise through the shoulder shield mechanism S4‧‧‧Drive the rotating frame to descend through the shoulder shield mechanism

Other features and functions of the present invention will be clearly presented in the embodiment with reference to the drawings, in which: FIG. 1 is an embodiment of the prosthesis with an elbow joint device of the present invention assembled in front of a trunk of a human body A view illustrating that the prosthesis includes an elbow joint device and a shoulder joint device; FIG. 2 is a rear view of the embodiment assembled to the torso; FIG. 3 is a perspective view of the elbow joint device of the embodiment; FIG. 4 Is a partial perspective exploded view of the elbow joint device of this embodiment, illustrating the assembly relationship between a connecting frame, a pivoting frame, a locking assembly, and a torsion spring; FIG. 5 is another A partial perspective exploded view viewed from a perspective; FIG. 6 is a perspective exploded view of a bracket of the elbow joint device of the embodiment; FIG. 7 is an incomplete cross-sectional view of the elbow joint device of the embodiment, illustrating The connecting frame and a frame body are connected together by a pivot unit; FIG. 8 is a front view of the elbow joint device of the embodiment; FIG. 9 is a partial perspective exploded view of the elbow joint device of the embodiment Figure 10 illustrates an assembly relationship between a rotating frame and a drive assembly; Figure 10 is an incomplete right side view of the elbow joint device of the embodiment, illustrating a lever in a detent position to enable the locking The assembly is in a locked state; FIG. 11 is a cross-sectional view taken along line 11-11 in FIG. 10, illustrating that an output shaft is pivotally connected to two side walls, and two stop screws are forced to contact two outer shafts, respectively All planes of the segment; FIG. 12 is an incomplete cross-sectional view of the elbow joint device of the embodiment, illustrating that the two positioning beads are respectively caught in a first positioning groove of the side walls; FIG. 13 is the embodiment of the embodiment A schematic diagram of the elbow joint device, illustrating that an inner buckling end and an outer buckling end of a torsion spring are respectively buckled on a shaft segment and a latch; FIG. 14 is an incomplete perspective view of a suspension mechanism of the embodiment FIG. 15 is an incomplete perspective view of the suspension mechanism of the embodiment, illustrating that a toggle lever of a toggle switch is in a deflected position, and a switch body is in a first closed state; FIG. 16 Is a flow chart of a method of use of this embodiment; FIG. 17 is a right side view of the embodiment assembled to the torso, illustrating a shoulder shield mechanism in an initial position, and the rotating frame in a downward position; FIG. 18 is This embodiment is assembled on a right side view of the torso, illustrating that a shoulder portion drives the shoulder shield mechanism to move forward to a forward tilt position, so that the rotating frame rotates upward from the downward position; FIG. 19 is the embodiment of the embodiment An incomplete rear view of the suspension mechanism, illustrating that a control belt pulls the toggle lever to swing to an externally deflected position to switch the switch body to a second closed state; FIG. 20 is the elbow joint of the embodiment A front view of the device, illustrating that the rotating frame rotates upward from the downward position; FIG. 21 is a right side view of the embodiment assembled to the torso, illustrating that the rotating frame rotates upward to an elevated position; FIG. 22 is the A front view of the elbow joint device of the embodiment illustrates the rotation The turret rotates upward to the raised position; FIG. 23 is a schematic diagram of movement of the shoulder shield mechanism of the embodiment, illustrating that the shoulder portion drives the shoulder shield mechanism to move backward from the forward tilt position to a slightly tilted position, or Is moved forward from the initial position to the slightly tilted position; FIG. 24 is an incomplete rear view of the suspension mechanism of the embodiment, illustrating that when the shoulder shield mechanism is in the slightly tilted position, the toggle lever swings to An intermediate position to switch the switch body to an open circuit state; FIG. 25 is a right side view of the elbow joint device of the embodiment, illustrating that the lever is moved up to a release position; FIG. 26 is the An incomplete cross-sectional view of the elbow joint device of the embodiment, illustrating that the positioning beads are respectively caught in a second positioning groove of the side walls; and FIG. 27 is a right side view of the elbow joint device of the embodiment , Indicating that the rotating frame automatically rotates downward to the downward position.

1‧‧‧Human

11‧‧‧ Torso

111‧‧‧Shoulder

12‧‧‧right arm

200‧‧‧Prosthetics

201‧‧‧Elbow joint device

202‧‧‧Shoulder joint device

2‧‧‧Connecting frame

227‧‧‧ Rolling bearings

3‧‧‧Bracket

4‧‧‧ pivoting frame

5‧‧‧rotating frame

54‧‧‧Cam

7‧‧‧Shoulder cover mechanism

71‧‧‧ Cover

72‧‧‧Connecting rod

83‧‧‧First Sling

84‧‧‧Second sling

85‧‧‧Control belt

Claims (32)

An elbow joint device, comprising: a connecting frame; a pivoting frame pivotably connected to the connecting frame and pivoting relative to the connecting frame about a first axis; a rotating frame sliding with the connecting frame Contact, and a driving mechanism, disposed between the pivoting frame and the rotating frame, for driving the rotating frame to rotate relative to the pivoting frame about a second axis perpendicular to the first axis, the rotating frame around When the second axis rotates, it will be guided by the connecting frame and drive the pivoting frame to pivot about the first axis through the driving mechanism, so that the rotating frame can be in a downward position facing downward, and a yaw Rotate between the raised positions protruding from the side of the connecting frame. The elbow joint device according to claim 1, wherein the connecting frame includes a convex column, and the rotating frame includes a cam that is in sliding contact with and can be guided by the convex column. The elbow joint device according to claim 2, wherein the cam includes a first side, a second side opposite to the first side, and a link between the first side and the second side An outer peripheral surface, the outer peripheral surface of the cam is recessed to form a guide groove for the boss to embed, the guide groove has an upper end portion adjacent to the first side surface, and an adjacent to the second side surface and opposite At the lower end of the upper end, when the boss is located at the upper end, the rotating frame is at the downward position, and when the boss is located at the lower end, the rotating frame is at the raised position. The elbow joint device according to claim 3, wherein the guide groove has a non-biased groove section, and a skewed groove section, the non-skewed groove section has the upper end portion, and the skewed groove section communicates At an end of the non-biased groove section opposite to the upper end portion and extending obliquely toward the second side, the skewed groove section has the lower end portion, when the boss slides in the non-biased groove section, the rotating frame When rotating around the second axis, when the protruding column slides in the deviated groove section, the rotating frame and the pivoting frame pivot about the first axis. The elbow joint device according to claim 4, wherein the convex post has a rolling bearing embedded in the guide groove, and the cam further includes two spaced apart and defining opposite sides of the deviated groove segment Cam surface, the two cam surfaces are used for sliding contact with the opposite side of the rolling bearing respectively. The elbow joint device according to claim 5, wherein the cam further includes an upper end surface, two side vertical surfaces, and a lower end surface, the two side vertical surfaces are connected to opposite ends of the upper end surface and parallel to the first Side surfaces for sliding contact with opposite sides of the rolling bearing respectively, the upper end surface and the two side vertical surfaces jointly define the non-biased groove segment parallel to the first side surface, the upper end portion is adjacent to the upper end surface, the two cam surfaces It is connected to the opposite end of the lower end surface and respectively connected to the two vertical surfaces. The lower end surface and the two cam surfaces jointly define the skewed groove segment, and the lower end portion is adjacent to the lower end surface. The elbow joint device according to any one of claims 1 to 6, wherein the driving mechanism includes a driving assembly, and a locking assembly, the driving assembly includes a driving module fixed to the rotating frame , And an output shaft connected to the driving module and rotatably pivoted to the pivoting frame, the locking assembly is disposed between the pivoting frame and the output shaft and can lock the output shaft to limit It changes between a locked state in which it rotates relative to the pivot frame, and a unlocked state in which the output shaft can rotate relative to the pivot frame. The elbow joint device according to claim 7, wherein the locking assembly includes at least one set of sleeves fixed to the output shaft, and a lever pivotally pivotably connected to the pivot frame, the sleeve A latching slot is formed, the lever includes at least one latching block for latching in the latching slot, the lever can rotate between a latching position and a release position, and when the latching position, the card The block is caught in the card slot, so that the locking assembly is in the locked state, and in the release position, the block is moved away from the card slot, so that the locking assembly is in the released state. The elbow joint device according to claim 8, wherein the pivoting frame is formed with a first positioning groove and a second positioning groove spaced above the first positioning groove, and the lever further includes a positioning unit, The positioning unit has a positioning bead and a pair of compression springs biased toward the pivoting frame. When the positioning bead is caught in the first positioning slot, the lever is positioned at the catching position, When the positioning bead is caught in the second positioning groove, the lever is positioned at the release position. The elbow joint device according to claim 8, wherein the pivoting frame includes two spaced apart side walls, the output shaft has two outer shaft segments respectively protruding from the two side walls, and the locking assembly includes two A sleeve block respectively sleeved on the two outer shaft sections, the lever includes two clamping blocks, and each clamping block is used to be locked in the corresponding clamping groove of the sleeve block. The elbow joint device according to claim 8, wherein the pivoting frame includes a blocking post for blocking the sleeve to position it in a position to be locked, when the sleeve When the position to be latched and the lever is at the latching position, the latching block is latched in the latching slot. The elbow joint device according to claim 7, wherein the driving mechanism further includes a torsion spring disposed between the output shaft and the pivot frame and applying an elastic force to the output shaft, when the locking assembly is at the In the locked state, the torsion spring is in a torsional deformation state and accumulates elastic force. When the lock assembly is in the unlocked state, the elastic force of the spring applied to the output shaft will cause the drive module to drive the rotating frame Rotating down to the downward position about the second axis, the rotating frame includes a pin lever, the pivoting frame includes a limiting surface, the limiting surface is used to block the pin lever to position the rotating frame at The down position. The elbow joint device according to claim 7, further comprising a bracket connected to the connection frame and including a circuit module electrically connected to the driving module, and a circuit module electrically connected to the circuit module Battery. A prosthesis with an elbow joint device, comprising: an elbow joint device, comprising: a connecting frame; a pivoting frame, pivotally connected to the connecting frame and pivoting relative to the connecting frame about a first axis A rotating frame, in sliding contact with the connecting frame; a drive mechanism, disposed between the pivoting frame and the rotating frame, for driving the rotating frame around a second axis perpendicular to the first axis relative to the The pivoting frame rotates, and when the rotating frame rotates around the second axis, it will be guided by the connecting frame to drive the pivoting frame to pivot about the first axis through the driving mechanism, so that the rotating frame can Rotating between a downward position and a lifting position protruding sideways from the connection frame; a bracket connected to the top of the connection frame and including a circuit module electrically connected to the driving mechanism; a shoulder The joint device includes: a shoulder cover mechanism connected to the top of the bracket; a hanging mechanism including a plate, a switch unit provided on the plate, and a connection between the side of the plate and the shoulder cover Between the first strap, a second strap connected to the other side of the board, and a control strap connected between the shoulder shield mechanism and the switch unit, the switch unit is electrically connected to the circuit module and The driving mechanism can be controlled to operate through the circuit module. The switch unit can be switched between a first closed state and a second closed state. The switch unit is a normally closed switch in the first closed state. When the shoulder shield mechanism is in an initial position, the switch unit is in the first closed state, and the rotating frame is in the downward position, when the shoulder shield mechanism is moved forward from the initial position in a forward direction to a forward tilt When in position, the shoulder shield mechanism pulls the control belt to switch the switch unit to the second closed state, so that the driving mechanism drives the rotating frame to rotate from the downward position to the raised position, when the shoulder shield mechanism is turned from When the forward tilt position moves back to the initial position in a backward direction, the shoulder cover mechanism releases the control belt to switch the switch unit to the first closed state, so that the driving mechanism drives the rotating frame toward the downward position Turn. The prosthesis with an elbow joint device according to claim 14, wherein when the shoulder shield mechanism moves from the forward tilt position in the backward direction to a slightly tilted position between the initial position and the forward tilt position At this time, or when the initial position is moved to the slightly tilted position in the forward movement direction, the switch unit is switched to an open circuit state to stop the driving mechanism. The prosthesis with an elbow joint device according to claim 15, wherein the switch unit includes a toggle switch and a tension spring, the toggle switch has a toggle lever, and the toggle lever can be in one Skew position, an outer skew position, and an intermediate position between the inner skew position and the outer skew position, when the toggle lever is in the inner skew position, the toggle switch In the first closed state, when the toggle lever is in the outer deflected position, the toggle switch is in the second closed state, and when the toggle lever is in the intermediate position, the toggle switch is in the open state , One end of the control belt is sleeved on the toggle lever to pull the toggle lever to swing, the extension spring is connected between the plate and the toggle lever and biases the toggle lever to position it In this inner deflected position. The prosthesis with an elbow joint device according to claim 16, wherein the toggle lever has an upper stop flange, and a lower stop flange spaced below the upper stop flange, the upper stop The stop flange and the lower stop flange are used to stop the upper and lower ends of the control belt, respectively. The prosthesis with an elbow joint device according to claim 14, wherein the connecting frame includes a convex column, and the rotating frame includes a cam that is in sliding contact with and can be guided by the convex column. The prosthesis with an elbow joint device according to claim 18, wherein the cam includes a first side, a second side opposite to the first side, and a connection between the first side and the second side The outer peripheral surface of the cam is recessed to form a guide groove for embedding the boss, the guide groove has an upper end portion adjacent to the first side surface, and an adjacent end surface to the second side surface And contrary to the lower end of the upper end, when the boss is located at the upper end, the rotating frame is in the downward position, and when the boss is located at the lower end, the rotating frame is in the raised position. The prosthesis with an elbow joint device according to claim 19, wherein the guide groove has a non-biased groove section, and a skewed groove section, the non-skewed groove section has the upper end, the deflection The groove segment communicates with an end of the non-biased groove segment opposite to the upper end portion and extends obliquely toward the second side surface, the skewed groove segment has the lower end portion, when the convex column slides in the non-biased groove segment, The rotating frame rotates around the second axis. When the convex column slides in the skewed groove section, the rotating frame and the pivoting frame pivot about the first axis. The prosthesis with an elbow joint device according to claim 20, wherein the convex column has a rolling bearing embedded in the guide groove, and the cam further includes two spaced apart and defines the skew groove segment On the opposite cam surfaces, the two cam surfaces are used to slidingly contact the opposite sides of the rolling bearing, respectively. The prosthesis with an elbow joint device according to claim 21, wherein the cam further includes an upper end face, two side elevation faces, and a lower end face, the two side elevation faces are connected to opposite ends of the upper end face and are parallel to The first side surface is for sliding contact with the opposite side of the rolling bearing, respectively, the upper end surface and the two side vertical surfaces jointly define the non-deflecting groove segment parallel to the first side surface, the upper end portion is adjacent to the upper end surface, the The two cam surfaces are connected to opposite ends of the lower end surface and respectively connected to the two vertical surfaces. The lower end surface and the two cam surfaces jointly define the skewed groove segment, and the lower end portion is adjacent to the lower end surface. The prosthesis with an elbow joint device according to any one of claims 14 to 22, wherein the driving mechanism includes a driving assembly, and a locking assembly, the driving assembly includes a fixed to the rotating frame A driving module, and an output shaft connected to the driving module and pivotably connected to the pivoting frame, the locking assembly is disposed between the pivoting frame and the output shaft and can lock the output in one The shaft changes between a locked state that restricts its rotation relative to the pivot frame, and an unlocked state that enables the output shaft to rotate relative to the pivot frame. The prosthesis with an elbow joint device according to claim 23, wherein the locking assembly includes at least one set of sleeves fixed to the output shaft, and a lever rotatably pivoted to the pivot frame, The sleeve is formed with a clamping slot, and the lever includes at least one clamping block for latching in the slot, the lever can rotate between a latching position and a release position, and when the latching position , The card block is locked in the card slot, so that the locking assembly is in the locked state, and in the release position, the card block is moved away from the card slot, so that the locking assembly is in the released state. The prosthesis with an elbow joint device according to claim 24, wherein the pivoting frame is formed with a first positioning groove and a second positioning groove spaced above the first positioning groove, and the lever further includes a The positioning unit has a positioning bead and a pair of compression springs biased toward the pivoting frame. When the positioning bead is caught in the first positioning groove, the lever is positioned on the card In the catching position, when the positioning bead is caught in the second positioning groove, the lever is positioned at the release position. The prosthesis with an elbow joint device according to claim 24, wherein the pivoting frame includes two spaced apart side walls, the output shaft has two outer shaft segments respectively protruding from the two side walls, and the locking total The sleeve includes two sleeves respectively sleeved on the two outer shaft sections, the lever includes two clamping blocks, and each of the clamping blocks is used for locking into the corresponding clamping groove of the sleeve. The prosthesis with an elbow joint device according to claim 24, wherein the pivoting frame includes a blocking post, the blocking post is used to block the sleeve to position it in a position to be locked, when When the sleeve is in the position to be locked and the lever is in the locking position, the locking block is locked in the locking slot. The prosthesis with an elbow joint device according to claim 23, wherein the driving mechanism further includes a torsion spring disposed between the output shaft and the pivot frame and applying an elastic force to the output shaft. When in the locked state, the torsion spring is in a torsionally deformed state and accumulates elastic force. When the locking assembly is in the unlocked state, the elastic force of the spring applied to the output shaft will cause the drive module to drive The rotating frame rotates downward to the downward position about the second axis, the rotating frame includes a pin lever, and the pivoting frame includes a limiting surface for blocking the pin lever to rotate The rack is positioned in this downward position. A method for using a prosthesis with an elbow joint device, the prosthesis is suitable for being mounted on a torso of a human body, the torso has a shoulder, the method of use includes the following steps: providing the prosthesis, the prosthesis includes an elbow joint device And a shoulder joint device. The elbow joint device includes a rotating frame that can rotate between a downward position and a raised position. The shoulder joint device includes a shoulder cover mechanism connected to the top of the elbow joint device , And a hanging mechanism, the hanging mechanism includes a switch unit, and a control belt connected between the shoulder shield mechanism and the switch unit, the switch unit is electrically connected to the elbow joint device and can control the When the rotating frame is activated, the switch unit can be switched between a first closed state and a second closed state. The switch unit is a normally closed switch in the first closed state; the shoulder cover mechanism is covered on the The shoulder and the hanging mechanism are hung on the torso so that the shoulder shield mechanism is in an initial position, the switch unit is in the first closed state and the rotating frame is in the downward position; and the shoulder is driven through the shoulder The shoulder cover mechanism moves from the initial position in a forward direction to a forward tilt position, the shoulder cover mechanism pulls the control belt to switch the switch unit to the second closed state, so that the rotating frame moves from the downward position Turn towards this raised position. The method for using a prosthesis with an elbow joint device according to claim 29, further comprising a step of driving the shoulder shield through the shoulder after driving the shoulder shield mechanism to the forward tilt position through the shoulder The mechanism moves from the forward tilt position to the initial position in a backward direction. The shoulder shield mechanism releases the control belt to switch the switch unit to the first closed state, causing the rotating frame to rotate toward the downward position. The method for using a prosthesis with an elbow joint device according to claim 30, wherein in the step of driving the shoulder shield mechanism to the forward tilt position through the shoulder, when the shoulder shield mechanism is at the forward tilt position At this time, the shoulder cover mechanism is driven to move in the backward direction to a slightly tilted position between the initial position and the forward tilted position through the shoulder portion, so that the switch unit is switched to an open circuit state and the rotating frame is controlled to stop Turn. The method for using a prosthesis with an elbow joint device according to claim 30, wherein in the step of driving the shoulder shield mechanism to the initial position through the shoulder, when the shoulder shield mechanism is at the initial position, Driving the shoulder shield mechanism from the initial position along the forward movement direction to a slightly tilted position between the initial position and the forward tilted position through the shoulder portion causes the switch unit to switch to the open circuit state and controls the rotation The rack stops rotating.

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