TWI595865B - Equipped with a linear drive system inside the prosthesis - Google Patents

Description

Linear drive system installed in the prosthetic limb

The present invention relates to a linear drive system, and more particularly to a linear drive system that reduces the accommodation space inside the prosthetic.

Generally, a linear drive system in a prosthesis, such as a ball screw, is driven by a power source such as a motor, a reducer, and a drive screw, and the screw drives the nut to reciprocate along the screw, and then the nut is rotated by the screw. Drive the structure mounted on the nut forward or backward. However, adopting the power source to drive the screw and then driving the nut by the screw will limit the power source to only be installed at both ends of the screw, reducing the design flexibility of the linear drive system in the position of the prosthetic limb. Moreover, consider the nut The itinerary, the power source must also allow space for the nut to move unimpeded, so that the space of the linear drive system installed in the prosthetic can not be effectively reduced, which will cause the prosthetic limb to be bulky.

For example, in a typical ball screw, the length of the screw is longer than that of the nut. There are two cases in which the nut is driven by the aforementioned power source to drive the screw. For example, U.S. Patent No. 8,231,687, U.S. Patent No. 8,287,477, the entire disclosure of which is incorporated herein by reference to the entire disclosure of the entire disclosure of the entire disclosure of the disclosure of Sex drive. For example, in U.S. Patent No. 8,500,823, the motor of the linear actuator needs to be disposed outside the screw travel space because it is necessary to avoid blocking the nut movement and to accommodate the linear actuator, which will cause the space inside the prosthesis. The width must be greater than the sum of the widths of the motor plus the nut, as such, the space in which the linear drive system is installed in the prosthetic can not be effectively reduced.

The main object of the present invention is to provide a linear drive system installed in a prosthetic limb, which can increase the design flexibility and reduce the accommodation space inside the prosthetic limb.

In order to achieve the above object, the linear drive system of the present invention comprises a fixed frame, a power source, a nut, a screw limiter, and a screw. The power source is disposed on the fixing frame to provide a power source; the nut is rotatably disposed in the fixing frame and connected to the power source, so that the nut can be driven by the power source to rotate in place The screw limiter has a limiting slide rail and a limiting slider, the limiting sliding rail is disposed on the fixing bracket, and the limiting sliding rail extends in a direction parallel to the axial direction of the nut, the limiting slider is displaceably Provided on the restriction rail; the screw is screwed to the nut, and one end of the screw is connected to the restriction slider of the screw limiter, so that the screw is restricted by the screw limiter when the nut rotates Reciprocating displacement along the axial direction of the nut.

Therefore, the linear drive system of the present invention mainly applies power to the nut, and the nut drives the screw to cause the screw to reciprocally move along the axial direction of the screw. The nut can be selectively installed at any position of the screw without limitation, and the space required to fit the nut can be used to reduce the space occupied by the prosthesis.

More preferably, the linear drive system of the present invention further includes a transmission rail mount, a drive rail, a drive slider and an adapter, wherein the drive rail mount is disposed on the mount, the drive rail Provided on the driving rail mounting seat and located on one side of the limiting rail of the screw limiter, the extending direction of the driving rail is parallel to the extending direction of the limiting rail of the screw limiter, and the driving slider is displaceable The adapter is disposed on the transmission slide, and the adapter is disposed on the transmission slider and connected to the restriction slider of the screw limiter, so that the adapter can be displaced synchronously with the screw through the restriction slider. Thereby, the linear drive system can use the adapter to combine with other accessories under different installation modes, and can provide the buffering force for the adapter when actuating by a buffering elastic member, and can be matched at the same time. A position sensor instantly senses the position of the adapter.

Referring to FIG. 1 , the linear drive system 10 of the first embodiment of the present invention includes a mounting bracket 20 , a power source 30 , a nut 40 , a screw limiter 50 , and a screw 60 .

The holder 20 has a first end seat 21, a second end seat 22 and a connecting seat 23 connecting the first and second end seats 21, 22.

The power source 30 has a motor 31, a first pulley 32, a second pulley 33, and a transmission belt 34. The motor 31 is disposed on the outer peripheral surface of the first end seat 21 of the fixing frame 20 for providing a power source. The first pulley 32 is rotatably disposed on the outer peripheral surface of the first end seat 21 of the fixing frame 20 and connected to the motor. The pulley 33 is rotatably disposed on the outer end surface of the first end seat 21 of the fixing frame 20, and the transmission belt 34 is wound around the first and second pulleys 32, 33. Thereby, when the motor 31 is started, the first pulley 32 is driven to rotate by the motor 31, and then the first pulley 32 drives the second pulley 33 to rotate together through the transmission belt 34.

The nut 40 is disposed in the first end seat 21 of the fixing frame 20 and is sleeved by the second pulley 33 of the power source 30, so that the nut 40 is driven by the second pulley 33 of the power source 30 to rotate in place.

The screw limiter 50 has a restriction rail 51 and a restriction slider 52. The restriction rail 51 is fixed to the connecting seat 23 of the fixing frame 20, and the extending direction of the limiting sliding rail 51 is parallel to the axial direction of the nut 40, and the limiting slider 52 is displaceably disposed on the limiting sliding rail 51.

The screw 60 is screwed to the nut 40, and one end of the screw 60 is used to overlap a driven component (not shown), and the other end of the screw 60 passes through the first end seat 21 of the fixing frame 20 and connects the screw The restrictor 50 limits the slider 52 such that the screw 60 is restrained by the screw limiter 50 and reciprocally displaced along the axial direction of the nut 40 as the nut 40 rotates.

As apparent from the above, the linear drive system 10 of the present invention has the following advantages:

1. In the present invention, the power source 30 mainly applies power to the nut 40, and then the screw 40 drives the screw 60 to cause the screw 60 to drive the driven component that overlaps with it to reciprocate along the axial direction of the nut 40. The displacement, so the nut 40 can be selected in any position on the screw 60 in terms of position without limitation. In addition, the power source 30 does not need to dodge the nut 40. Therefore, the displacement of the power source 30 and the nut 40 allows the space of the prosthetic to be smaller than the width of the power source 30 plus the nut 40, and also increases the flexibility of the prosthetic design.

2. In the prior art, the driven components must be mounted with the nut, making it impossible to effectively reduce the space used. In the present invention, since the driven component is attached to the screw 60 and is not attached to the nut 40, it is not necessary to match the position of the nut 40, so that the overall volume can be reduced to achieve the effect of reducing the use space.

Referring to Figures 2 and 4, in the second embodiment of the present invention, there are two opposite drive rail mounts 70, two opposite drive rails 71, two opposite drive sliders 72 and an adapter 73. ,among them:

The two ends of the transmission rail mount 70 are respectively connected to the first and second end seats 21, 22 of the fixing frame 20.

The transmission rail 71 is disposed on the outer side of the transmission rail mounting seat 70 and on opposite sides of the restriction rail 51 of the screw limiter 50. The screw between the transmission rail 71 and the restriction rail 51 of the screw limiter 50 is a screw. The center is arranged at 90 degrees, and the direction in which the drive rail 71 extends is parallel to the direction in which the limit rail 51 of the screw limiter 50 extends.

The drive slider 72 is displaceably disposed on the drive rail 71 and located between the first and second end seats 21, 22 of the mount 20.

The adapter seat 73 is disposed on the drive slider 72 and is coupled to the restriction slider 52 of the screw limiter 50 such that the adapter seat 73 can be displaced in synchronization with the screw 60 through the restriction slider 52.

As can be seen from the above, the linear drive system 12 of the present embodiment mainly uses the adapter 73 to overlap the driven components. In addition to making the overall structure more stable than the previous embodiment, it can also be changed according to actual needs. How to use it.

On the other hand, as shown in the third and fourth figures, the fixing frame 20 further has four spring fixing posts 24, and the four spring fixing posts 24 are disposed at four corners of the adapter seat 73 and are respectively connected to the fixing frame 20 The first and second end seats 21 and 22 are respectively provided with a buffer elastic member 74. The two buffer elastic members 74 abut against the first end seat 21 and the adapter seat 73 of the fixing frame 20. Between the other two buffer elastic members 74 abuts between the second end seat 22 of the fixing frame 20 and the adapter seat 73. Thereby, the cushioning elastic member 74 can be used to obtain the cushioning effect during the displacement of the adapter seat 73, so that the adapter seat 73 can increase the actuation stability. In addition, the adapter 73 can be used with a position sensor 75. During the displacement of the adapter 73, the position of the adapter 73 can be sensed through the position sensor 75 and can be performed according to the sensing result. Appropriate adjustments.

In summary, the present invention mainly uses the nut 40 to drive the displacement of the screw 60, which not only can increase the design flexibility and reduce the use space, but also can enhance the ability to resist external forces, and in addition to the use of the adapter 73, the invention can be The operation is carried out in different ways to achieve the object of the present invention.

10‧‧‧Linear drive system
20‧‧‧ fixed frame
21‧‧‧First end seat
22‧‧‧second end seat
23‧‧‧Connecting seat
24‧‧‧Spring fixed column
30‧‧‧Power source
31‧‧‧Motor
32‧‧‧First pulley
33‧‧‧Second pulley
34‧‧‧Drive belt
40‧‧‧ Nuts
50‧‧‧screw limiter
51‧‧‧Restricted rails
52‧‧‧Limit slider
60‧‧‧ screw
70‧‧‧Drive rail mount
71‧‧‧Drive rails
72‧‧‧Drive slider
73‧‧‧Adapter
74‧‧‧ cushioning elastic parts
75‧‧‧s position sensor

Fig. 1 is a perspective view showing the appearance of a first embodiment of the present invention. Fig. 2 is a perspective view showing the appearance of a second embodiment of the present invention. Fig. 3 is a perspective view showing the appearance of a third embodiment of the present invention. Fig. 4 is a perspective view showing the appearance of the third embodiment of the present invention from another perspective.

10‧‧‧Linear drive system

20‧‧‧ fixed frame

21‧‧‧First end seat

22‧‧‧second end seat

23‧‧‧Connecting seat

30‧‧‧Power source

31‧‧‧Motor

32‧‧‧First pulley

33‧‧‧Second pulley

34‧‧‧Drive belt

40‧‧‧ Nuts

50‧‧‧screw limiter

51‧‧‧Restricted rails

52‧‧‧Limit slider

60‧‧‧ screw

Claims (8)

A linear drive system comprising: a fixing frame; a power source disposed on the fixing frame; a nut rotatably disposed on the fixing frame and connected to the power source, so that the nut can be subjected to the power The driving of the source rotates in place; a screw limiter has a limiting slide rail and a limiting slider, the limiting sliding rail is disposed on the fixing bracket, and the extending direction of the limiting sliding rail is parallel to the axial direction of the nut The restriction slider is displaceably disposed on the restriction rail; and a screw is screwed to the nut, and one end of the screw is connected to the restriction slider of the screw limiter, so that the screw can be used by the nut Rotating and reciprocating along the axial direction of the nut. The linear drive system of claim 1, wherein the fixing frame has a first end seat, a second end seat and a connecting base connecting the first and second end seats, wherein the power source is disposed at the first The outer surface of the end seat is disposed in the first end seat, and the limiting slide rail is disposed on the connecting seat. The linear drive system of claim 1, wherein the power source has a motor, a first pulley, a second pulley and a transmission belt, and the motor is disposed on an outer circumferential surface of the first end seat of the fixing frame, The first pulley is rotatably disposed on the outer peripheral surface of the first end seat of the fixing frame and is connected to the motor, and the second pulley is rotatably disposed on the outer end surface of the first end seat of the fixing frame and sleeved on the screw a cap, the drive belt is wound around the first and second pulleys. The linear drive system of claim 1, further comprising a transmission rail mount, a drive rail, a drive slider and an adapter, wherein the drive rail mount is disposed on the mount, the drive slide The rail is disposed on the driving rail mounting seat and located on one side of the limiting rail of the screw limiter, and the driving rail extends in a direction parallel to the extending direction of the limiting rail of the screw limiter, and the driving slider can be Displaceably disposed on the drive rail, the adapter is disposed on the drive slider and coupled to the limit slider of the screw limiter, such that the adapter can be displaced synchronously with the screw through the limit slider. The linear drive system of claim 4, wherein the restriction rail and the transmission rail are arranged at 90 degrees centered on the screw. The linear drive system of claim 4, further comprising at least one cushioning elastic member disposed between the mounting bracket and the adapter. The linear drive system of claim 6, wherein the fixing frame has a first end seat, a second end seat and a connecting base connecting the first and second end seats, wherein the power source is disposed at the first The outer peripheral surface of the end seat is disposed in the first end seat, the limiting slide rail is disposed on the connecting seat; the two ends of the driving rail mounting seat are respectively connected to the first and second end seats, and the rotating The socket is located between the first and second end seats, and the number of the buffering elastic members is at least two, wherein one of the buffering elastic members is disposed between the first end seat of the fixing frame and the adapter seat, and the other is The buffering elastic member is disposed between the second end seat of the fixing frame and the adapter. The linear drive system of claim 4 further includes a position sensor, the position sensor being disposed on the adapter for sensing the position of the adapter.