TWI674886B - Elbow joint device, prosthesis with elbow joint device and method of use thereof - Google Patents

Abstract

An elbow joint device includes a connecting frame, a pivoting frame, a rotating frame, and a driving mechanism. The pivoting frame is rotatably pivoted to the connecting frame and can be pivoted relative to the connecting frame about a first axis. The rotating frame is in sliding contact with the connecting frame. A 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. It is guided by the connecting frame and drives the pivoting frame to pivot about the first axis through the driving mechanism, so that the rotating frame can be positioned in a downward downward direction, and a connection is protruded from the connection. Turn between the raised positions on one side of the rack.

Description

Elbow joint device, prosthetic limb with elbow joint device and using method thereof

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

People with disabled arms will replace the function of the original arm by installing a full-arm prosthetic limb to reduce the inconvenience of 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 a lower arm to rotate upward or downward through a transmission mechanism to extract or place items. For example, when taking food through the lower arm and watching it with a mobile phone, the items taken by the lower arm usually need to be able to approach the user's face inward, so that the user can conveniently put the food in the mouth or Watch the phone. Therefore, the existing elbow joint that can only drive the lower arm to rotate upward or downward is inconvenient in use.

It is therefore an object of the present invention to provide an elbow joint device capable of overcoming at least one of the disadvantages 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 rotatably pivoted to the connecting frame and can be pivoted relative to the connecting frame about a first axis. The rotating frame is in sliding contact with the connecting frame. A 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. It is guided by the connecting frame and drives the pivoting frame to pivot about the first axis through the driving mechanism, so that the rotating frame can be positioned in a downward downward direction, and a connection is protruded from the connection. Turn 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 post, and the rotating frame includes a cam that is in sliding contact with the convex post and can be guided by the cam.

According to 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 the convex pillar to be embedded. 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 convex post is located at the upper end, the rotating frame is in the downward position, and when the convex post is located at the lower end, the rotating frame is in the raised position.

According to the elbow joint device of the present invention, the guide groove has a non-skewed groove section and a skewed groove section. The non-skewed groove section has the upper end portion, and the skewed groove section communicates with the non-skewed groove section. Opposite one end of the upper end portion and extending obliquely toward the second side, the skewed groove section has the lower end portion, and when the convex column slides in the non-skewed groove section, the rotary frame rotates about the second axis. When the convex column slides in the inclined 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, and the cam further includes two cam surfaces spaced apart and defining the opposite side of the skew groove section. The two cams The surfaces are used for sliding contact with opposite sides of the rolling bearing, respectively.

According to the elbow joint device of the present invention, the cam further includes an upper end surface, two side elevation surfaces, and a lower end surface. The two side elevation surfaces are connected to opposite ends of the upper end surface and are 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 elevations together define the non-deflective groove section parallel to the first side surface, the upper end portion is adjacent to the upper end surface, and the two cam surfaces are connected to the lower end surface opposite The lower end surface and the two cam surfaces jointly define the inclined groove segment, and the lower end portion is adjacent to the lower end surface.

According to 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 driving module connected to the driving module and rotatable. Grounded to the output shaft of the pivoting frame, the lock assembly is disposed between the pivoting frame and the output shaft and can lock the output shaft to limit its locked state relative to the pivoting frame, And an unlocking state that enables the output shaft to rotate relative to the pivoting frame.

According to the elbow joint device of the present invention, the locking assembly includes at least one sleeve block fixed to the output shaft, and a lever rotatably pivotally connected to the pivoting frame. The sleeve block is formed with a locking slot. The shift lever includes at least one latch block for latching in the latch slot. The shift lever is rotatable between a latch position and a release position. In the latch position, the latch block latches on the card. In the slot, the lock assembly is brought into the locked state, and in the released position, the card block is moved away from the card slot, so that the lock assembly is brought into the unlocked state.

In the elbow joint device of the present invention, the pivoting frame is formed with a first positioning slot and a second positioning slot spaced above the first positioning slot. The shift lever further includes a positioning unit, and the positioning unit has a positioning Beads, and a pair of compression springs biased by the positioning beads in the direction of the pivoting frame, when the positioning beads are latched in the first positioning slot, the lever is positioned at the latch position, and when the positioning beads are latched When in the second positioning groove, the shift lever is positioned at the release position.

According to the elbow joint device of the present invention, the pivoting frame includes two spaced-apart side walls, the output shaft has two outer shaft segments that respectively protrude from the two side walls, and the locking assembly includes two respectively fixed on the For the sleeve block of the two outer shaft sections, the shift lever includes two clip blocks, and each of the clip blocks is used for latching in the slot of the corresponding sleeve block.

According to the elbow joint device of the present invention, the pivoting frame includes a stop post for stopping the sleeve to be positioned at a position to be locked, and when the sleeve is at the position to be locked When the lever is in the latching position, the latching block is latched in the latching slot.

According to the elbow joint device of the present invention, the driving mechanism further includes a torsion spring provided between the output shaft and the pivot frame and applying an elastic force to the output shaft. When the lock assembly is in the locked state, the torsion force The spring is in a deformed state with torsional deformation and accumulated elastic force. When the lock assembly is in the unlocked state, the elastic force exerted by the spring on the output shaft will cause the drive module to drive the rotating frame toward the second axis. Rotating down to the downward position, the rotating frame includes a pin, and the pivoting frame includes a limiting surface for stopping the pin to position the rotating frame in the downward position.

The elbow joint device of the present invention further includes a bracket, which is connected to the connection bracket and includes 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 capable of overcoming at least one disadvantage of the prior art.

Therefore, the present invention has a prosthetic arm 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 rotatably pivoted to the connecting frame and can be pivoted relative to the connecting frame about a first axis. The rotating frame is in sliding contact with the connecting frame. A 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. It is guided by the connecting frame and drives the pivoting frame to pivot about the first axis through the driving mechanism, so that the rotating frame can be positioned in a downward downward direction, and a connection is protruded from the connection. Turn between the raised positions on one side of the rack. The bracket is connected to the top of the connecting 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. A shoulder cover mechanism is connected to the top of the bracket. The hanging mechanism includes a plate, a switch unit provided on the plate, a first strap connected between one side of the plate and the shoulder cover mechanism, and a second connected on the other side of the plate A 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 a first closed state and a second closed state, the switch unit is a normally closed switch in the first closed state, and when the shoulder cover mechanism is in an initial position, the switch unit is in the first closed state State, and the rotating frame is in the downward position, when the shoulder cover mechanism is moved forward from a starting position in a forward direction to a forward leaning position, the shoulder cover mechanism pulls the control belt to switch the switch unit To the second closed state, the driving mechanism drives the rotary frame to rotate from the downward position toward the lifting position. When the shoulder cover mechanism is moved backward from the forward tilt position to the initial position in a backward direction, the The shoulder cover mechanism releases the control band so that A first switching unit switching to the closed state, so that the rotary drive mechanism frame downwards towards the rotational position.

When the prosthetic arm with the elbow joint device of the present invention moves from the forwardly inclined position in the backward movement direction to a slightly inclined position between the initial position and the forwardly inclined position, or When the initial position is moved to the slightly inclined position along the forward direction, the switch unit is switched to an open circuit state, so that the driving mechanism is stopped.

In the prosthesis with an elbow joint device of the present invention, 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 an inclination position and an outer position. A deflected position and a middle position between the inner deflected position and the outer deflected position, when the toggle lever is in the inner deflected position, the toggle switch is in the first closed state When the toggle lever is in the externally 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, and one end of the control band is sleeved It is provided on the toggle lever to pull the toggle lever to swing, the tensile spring is connected between the plate and the toggle lever and biases the toggle lever to position it in the inner deflection position .

In the prosthesis with an 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 stop. The blocking flanges are used to block the upper and lower ends of the control belt, respectively.

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

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

Provide the prosthetic limb, the prosthetic limb includes an elbow joint device and a shoulder joint device, the elbow joint device includes a rotating frame, the rotating frame can be rotated between a downward position and an elevated position, and 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 band connected between the shoulder cover mechanism and the switch unit. The switch unit is electrically The switch unit is connected to the elbow joint device and can control the rotation of the rotating frame. The switch unit can be switched between a first closed state and a second closed state. The switch unit is normally closed in the first closed state. switch;

Cover the shoulder cover mechanism on the shoulder and hang the hanging mechanism on the torso, so that the shoulder cover 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 is used to drive the shoulder cover mechanism from the initial position to a forward leaning position from the initial position, and the shoulder cover mechanism pulls the control belt to switch the switch unit to the second closed state to make the rotation The rack is rotated from the downward position toward the raised position.

The method for using a prosthesis with an elbow joint device according to the present invention further includes a step after driving the shoulder cover mechanism to the forward leaning position through the shoulder, and driving the shoulder cover mechanism from the forward leaning through the shoulder. The position moves to the initial position in a backward movement direction, the shoulder cover mechanism releases the control band to switch the switch unit to the first closed state, and causes the rotary frame to rotate toward the downward position.

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

In the method for using a prosthesis with an elbow joint device according to the present invention, in the step of moving 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 is moved from the initial position in the forward direction to a slightly tilted position between the initial position and the forwardly tilted position, so that the switch unit is switched to the open circuit state and controls the rotary frame to stop rotating.

The effect of the present invention is that by moving the shoulder cover mechanism forward or backward with the shoulder, the toggle switch can be switched to different states to control the lifting or lowering of the rotating frame of the elbow joint device. Add convenience in use. In addition, when the rotating frame is in a raised position, it protrudes from one side of the connecting frame, so that the prosthetic hand can bring the taken-in item closer to the user's face inward. Thereby, it is convenient for the user to put food in the mouth or watch the mobile phone. Furthermore, when the lever is turned to the release position, the elastic force applied to the output shaft by the torsion spring and the relationship between the weight of the rotating frame, so that the rotating frame can be automatically rotated downward to the downward position. This can overcome the inconvenience caused to the user when the rotating frame is suspended.

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

1 and 2, an embodiment of a prosthesis 200 having 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 mounted on an amputated region of a human body 1 to reach the scapula. Part of the torso 11. In this embodiment, the human body 1 is taken as an example of a left arm and a left shoulder, and the trunk 11 has a shoulder 111 on the left side. The prosthetic limb 200 is an example of a left arm and a left shoulder prosthetic limb mounted 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 pipe member 21 and a disc member 22. The pipe member 21 has a plate body 211 and a pipe body 212 protruding from the top of the plate body 211. The disc body 211 is formed with a groove 213. The pipe body 212 is formed with a through hole 214 that communicates with the groove 213. The plate member 22 has a plate portion 221, a surrounding wall 222 provided on the top surface of the plate portion 221, and a protruding post 223 provided on the bottom surface of the plate portion 221. The disc portion 221 is formed with a perforation 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 retaining screws 23 are respectively screwed into the plurality of screw holes 215 of the disk body 211 and latched in the annular grooves 225 to lock the disk member 22 on the tube member 21. In this embodiment, the protruding post 223 has a stud portion 226, a rolling bearing 227, and a screw 228 integrally protruding from the bottom surface of the disk portion 221. The rolling bearing 227 of this embodiment is a ball bearing. The screw 228 is threaded through the rolling bearing 227 and is screwed into the stud portion 226.

Referring to FIGS. 3 and 6, the bracket 3 includes a casing 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 casing 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 of the accommodating space 313. 315. The circuit module 33 is electrically connected to the battery 32 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 casing 311 by, for example, a screw lock method, and closes the accommodation 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-shaped hole 424 located in front of the shaft hole 423, and a plurality of arc-shaped 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 disk 22 and is screwed to a nut 412. A screw head and the nut 412 of the screw 411 are located below the top wall 421 and above the disk 221, respectively. The top wall 421 of the frame body 42 and the disc member 22 are connected together to avoid separation of the two. In this embodiment, the screw 411 does not lock the nut 412 so tightly that the nut 412 presses the disk portion 221 of the disk member 22 toward the top wall 421, but allows the top wall 421 to be wound around the screw 411. A defined first axis A1 is pivoted relative to the disk portion 221, so that the pivoting unit 41 can pivotally connect the frame body 42 and the disk member 22 together.

The stud portion 226 of the disc member 22 passes through 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 is pivoted relative to the disk portion 221, the arc-shaped hole 424 is rotated relative to the stud portion 226. The screw 228 is threaded through the rolling bearing 227 and screwed into the stud portion 226 and stops 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 disposed in each arc-shaped groove 425, and the top of each steel ball 426 projects 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 frictional 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 locked to the top wall 421 through, for example, a screw lock, a stop post 428 protruding from the outer wall surface of the wall body 427, and a pivot shaft 429 protruding from the outer wall surface of the wall body 427. . The pivot 429 is adjacent to the front end of the wall 427 and is located above the blocking post 428. The wall body 427 of each side wall 422 is formed with a shaft hole 430 between the stop post 428 and the pivot 429, a first positioning groove 431 on the outer wall surface near the rear end, and a outer positioning wall near the rear end. The second positioning grooves 432 are located above the first positioning grooves 431 at intervals. 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 two side walls 422 of the frame body 42 and includes a first shell member 51 and a second shell member 52. The first shell member 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 second shell member 52 has a shape similar to that of the first shell member 51 and covers one side of the first shell member 51. The second shell member 52 has a second half-wheel body 521 and a bottom formed by the second half-wheel body 521. The second half pipe body 522 protruding downward. The first shell member 51 and the second shell member 52 jointly define an accommodation space 53.

The bottom end of the first half pipe body 512 of the first shell member 51 and the bottom end of the second half pipe body 522 of the second shell member 52 are connected to the top of a rod (not shown), and the bottom end of the rod is connected with a prosthesis (Not shown) Connect. The first half wheel body 511 and the second half wheel body 521 define a cam 54 having a cylindrical shape. 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 surface 541, a second side surface 542 opposite to the first side surface 541, and an outer peripheral surface 543 connected between the first side surface 541 and the second side surface 542. Each of the first side surface 541 and the second side surface 542 of the cam 54 is formed with a through hole 544. The outer peripheral surface 543 of the cam 54 is recessed to form a guide groove 545 for the rolling bearing 227 of the convex post 223 to be fitted in. The guide groove 545 is bent downward from the top of the outer peripheral surface 543 and extends until the outer peripheral surface 543 is adjacent to the first Half pipe body 512 and second half pipe body 522. The guide groove 545 has a non-deflective 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 arc-shaped and is adjacent to the first side surface 541, and two side elevation 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 elevation surface 549 is parallel to the first side surface 541 or the second side surface 542, and the two side elevation surfaces 549 are used to contact the opposite side of the rolling bearing 227 of the convex post 223. The upper end surface 548 and the two side elevations 549 define a non-skewed groove section 546 parallel to the first side surface 541. The angle of the non-skewed groove section 546 on the outer peripheral 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 lower end surface 550 that is semicircular and is adjacent to the second side surface 542, and two cam surfaces 551 that are respectively connected to the left and right ends of the lower end surface 550. The two cam surfaces 551 are respectively connected to the two side vertical surfaces 549 and are used to contact the opposite sides of the rolling bearing 227 of the convex post 223. The lower end surface 550 and the two cam surfaces 551 define a skew groove section 547 together. The non-skewed groove section 546 has an upper end portion 552 adjacent to the first side surface 541 and the upper end surface 548, and the skewed 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 bar 56 having a bar body 561 and two elastic washer groups 562. The lever body 561 is passed through the cam 54 and the left and right ends of the lever body 561 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 groups 562 are sleeved on the rod body 561 and are located outside the first side surface 541 and the second side surface 542, respectively. Each elastic washer group 562 can be corresponding to the limiting surface 433 of the frame body 42 (as shown in FIG. 5) ) Blocked.

Referring to FIGS. 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 is rotated relative to the pivoting 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 about the first axis A1 through the driving mechanism 6, so that the rotating frame 5 can be directed downward. Rotate between a downward position (as shown in FIG. 3) and a lifting position (as shown in FIG. 22) protruding sideways 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 on the top of the motor 613. The plurality of screws 615 are respectively threaded through the first shell member 51 and the second shell member 52 and are locked on the gearbox 614, so that the driving module 611 can be stably 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 transmission 614 and transmitted to the output shaft 612 to drive its rotation. The output shaft 612 protrudes from the left and right sides of the gearbox 614 and passes through the two through holes 544 and is pivotally connected to the two shaft holes 430. The output shaft 612 has two outer shaft segments 616 protruding from the two side walls 422 respectively. A longitudinal section shape of each outer shaft segment 616 is non-circular and has all planes 617.

Referring to FIG. 4, FIG. 10 and FIG. 11, the locking assembly 62 includes two sleeves 63 and a lever 64. Each sleeve 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 that of the longitudinal section of the outer shaft section 616, and is used for passing and engaging the outer shaft section 616. As a result, each sleeve block 63 can be fixed on the corresponding outer shaft segment 616 and can be driven to rotate. Each sleeve block 63 also has a screw hole 632 communicating with the non-circular hole 631, and a locking slot 633 spaced from the screw hole 632 at an angle. A set screw 634 is screwed into the screw hole 632 and tightly contacts the tangent plane 617 of the outer shaft segment 616, thereby preventing the sleeve block 63 from moving axially along the outer shaft segment 616 and leaving the outer shaft segment 616. Each stop post 428 is used to stop the corresponding sleeve block 63 to be positioned at a position to be locked as shown in FIG. 10.

Referring to FIGS. 4, 5 and 10, the lever 64 includes a U-shaped lever member 641, the lever member 641 has two side lever bodies 642, and a lever body 643 connected to the rear ends of the lever bodies 642 on both sides. . Each side rod body 642 is located outside the corresponding side wall 422 and is rotatably pivotally connected to the corresponding pivot axis 429 at the front end. Each side rod body 642 has a clamping block 644 for engaging in the clamping slot 633 of the corresponding sleeve 63. . The lever 64 can be rotated relative to the frame body 42 between a latching position (as shown in FIG. 10) and a release position (as shown in FIG. 25). When each of the sets of blocks 63 is in the position to be latched and the lever 64 is in the set of latches, the block 644 of each side lever body 642 is latched in the slot 633 of the corresponding block 63, so that the block 63 and the output shaft 612 Neither can be rotated relative to the frame body 42. At this time, the lock assembly 62 is in a locked state. When the shift lever 64 is in the release position, the clamping blocks 644 of each side lever body 642 move away from the engaging grooves 633 of the corresponding 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 an unlocked state.

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

Referring to FIG. 5, FIG. 11, and FIG. 13, one of the side walls 422 of the frame body 42 further has a latch 434 protruding from an inner wall surface of the wall 427, and the latch 434 is adjacent to the rear end of the wall 427. The output shaft 612 also has a shaft section 618 located between the second side surface 542 and the side wall 422. A longitudinal section of the shaft section 618 is square. The driving mechanism 6 further includes a torsion spring 65. The torsion spring 65 has an inner holding end 651 fastened to the shaft section 618 and an outer holding end 652 fastened to the latch 434. The torsion spring 65 is used to apply an 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 that is torsionally deformed and accumulates elastic force (as shown in FIG. 13). When the lock assembly 62 is in the unlocked state, the elastic force exerted by the torsion spring 65 on the output shaft 612 will cause the driving module 611 (as shown in FIG. 9) to drive the rotary frame 5 to rotate downward to the downward position about the second axis A2 .

Referring to FIGS. 1, 2, 14 and 15, the shoulder joint device 202 includes a shoulder cover mechanism 7 and a hanging mechanism 8. The shoulder cover mechanism 7 includes a cover body 71 and a connecting rod 72. The cover body 71 is configured to cover 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 in the upper through hole 315 of the bracket 3. together.

The hanging mechanism 8 includes a plate 81, a switch unit 82, a first sling 83, a second sling 84, and a control band 85. The plate 81 is configured to abut a back surface 112 of the torso 11 and includes a square upright portion 811, a first projection 812 protruding from the back of the upright portion 811, and a first protruding portion 811. The second bump 813 on the back. The upright plate portion 811 is formed with four through holes 814 respectively adjacent to the four corners. The first bump 812 is adjacent to the upper through hole 814 on one side of the riser portion 811. The second bump 813 is adjacent to the lower through hole 814 on the other side of the riser portion 811.

The switch unit 82 is disposed on the board 81 and is electrically connected to the circuit module 33 (as shown in FIG. 6) of the bracket 3, 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 a downward position. When the switch unit 82 is switched from the first closed state to the second closed state, the motor 613 of the driving 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 driving 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 state, the motor 613 of the driving 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 is 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, and the lever portion 824 can be turned to swing. The toggle lever 823 is formed with a blind hole 825 for the rod portion 824 to pass through, and a screw hole 826 communicating with the blind hole 825. A stop screw 827 is screwed into the screw hole 826 and tightly contacts the lever portion 824, thereby preventing the shift lever 823 from moving axially along the lever portion 824 and detaching from the lever portion 824, so that the lever 823 is applied When the force is turned, the lever 824 can be smoothly driven to swing. 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 deflection position, an outer deflection position, and an intermediate position between the inner deflection position and the outer deflection position. When the toggle lever 823 is in the inclination position, the switch body 822 of the toggle switch 820 is in a first closed state. When the toggle lever 823 is in the outwardly inclined position, the switch body 822 of the toggle switch 820 is in the second closed state. When the toggle lever 823 is in the middle position, the switch body 822 of the toggle switch 820 is in an open state.

Both ends of the tension spring 821 are respectively locked in the button holes 830 of the lower stop flange 829 and a button hole 815 of the second projection 813. The tension spring 821 applies the lower stop flange 829 of the toggle lever 823. A pulling force toward the inside causes the toggle lever 823 to be positioned in the inclination position. Thereby, the switch body 822 of the toggle switch 820 is constantly maintained in the first closed state.

The first sling 83 is ring-shaped and is fixed on the cover body 71. Two opposite ends of the first sling 83 pass through the upper and lower two through holes 814 adjacent to the side of the cover body 71 and bind the riser portion 811. The second sling 84 is looped, and two opposite ends of the second sling 84 are wound around the upper and lower holes 814 on the side away from the cover body 71 and fasten the riser 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 used to stop the upper and lower ends of the control belt 85 respectively, so as to prevent the control belt 85 from disengaging from the toggle lever 823. The other end of the control band 85 is fixed to the cover body 71 near the lower end thereof. The control band 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 the use of the prosthesis 200:

Referring to FIG. 16, FIG. 16 is a flowchart of a method of using the prosthetic limb 200 in this embodiment. The method includes the following steps: providing a prosthetic limb S1, assembling a prosthetic limb to a human body S2, and driving the rotary frame to lift S3 through a shoulder cover mechanism, Drive the revolver down S4 through the shoulder cover mechanism.

Referring to FIGS. 1 and 16, in the step of providing the prosthetic limb S1, the prosthetic limb 200 includes the elbow joint device 201 and the shoulder joint device 202 mentioned above.

Referring to FIG. 1, FIG. 2, FIG. 15 and FIG. 17, in the step of assembling the prosthesis to the human body S2, the cover body 71 of the shoulder cover mechanism 7 is covered on the shoulder 111 of the torso 11, so that the shoulder cover mechanism 7 is the same as The initial position P0 shown in FIG. 17. Next, the plate 81 of the hanging mechanism 8 is abutted against the back 112 of the torso 11 and a right arm 12 of the human body 1 is passed through the second strap 84 so that the second strap 84 is hung on the torso 11 adjacent to the right arm 12 At this time, the assembly of the shoulder cover mechanism 7 and the hanging mechanism 8 is completed. Since the control band 85 is not pulled by the shoulder cover mechanism 7 in the initial position P0, the pull lever 823 is positioned in the position shown in FIG. 15 by the pulling force exerted by the tension spring 821 on the toggle lever 823. 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 FIG. 8, FIG. 18, FIG. 19, and FIG. 20, when the rotating frame 5 is to be lifted upward, the step of driving the rotating frame to lift S3 through the shoulder cover mechanism is performed. The shoulder portion 111 is moved forward in a forward direction F to drive the shoulder cover mechanism 7 to move forward from the initial position P0 shown in FIG. 17. While the shoulder cover mechanism 7 is moving forward, the cover body 71 applies a pulling force I to 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 it outward from the inner deflected position in an outward swing direction D1. When the shoulder cover mechanism 7 moves forward to a forward leaning position P1 shown in FIG. 18, the control band 85 pulls the toggle lever 823 to swing it to an outwardly inclined position shown in FIG. 19, so that the The switch body 822 is switched to the second closed state. When the toggle lever 823 is swung to the outer deflection position, the tensile spring 821 is pulled to deform it and accumulate a reset elastic 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 aforementioned toggle switch 820 is switched to the second closed state, the motor 613 is controlled to rotate forward.

Because when the shift lever 64 is in the latching position, the sleeve 63 and the output shaft 612 cannot rotate relative to the frame body 42, and the driving module 611 connected to the output shaft 612 is fixed in the accommodation 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 rotated upward from a downward position shown in FIG. 17 along a first rotation direction R1. Since the rotating frame 5 is in the downward position, the protruding post 223 of the pivoting frame 4 is located in an upper end portion 552 of the non-skewed groove section 546, and the angle of the non-skewed 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 convex post 223 is held in the non-deflective 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 standing 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-deflective groove section 546 of the guide groove 545 will move away from the rolling bearing 227 of the convex column 223, so that The rolling bearing 227 enters the inclined groove section 547. When the rolling bearing 227 enters the skew 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 convex column 223 is maintained at the position shown in FIG. 20, when the rotating frame 5 rotates upward, the two cam surfaces 551 will push against the rolling bearing 227 and the two cam surfaces 551 will receive the rolling bearing 227. The stop and guide force the oblique groove section 547 to continuously align with the rolling bearing 227, so that the rotating frame 5 will 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 pivoting frame 4 is driven by the driving mechanism 6 to pivot about the first axis A1. When the frame body 42 swings, the first end 435 of the arc-shaped hole 424 will be far 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 skew groove section 547 and stops the lower end surface 550 of the cam 54, the rotary frame 5 cannot continue to rotate and is positioned in the lifting position shown in FIG. 22, and the arc-shaped hole 424 The second end 436 abuts against the stud portion 226. At this time, the rotating frame 5 protrudes and protrudes from the side of the connecting frame 2. Since the rotating frame 5 protrudes and protrudes from the side of the connecting frame 2 in the raised position, a prosthetic hand connected to the rotating frame 5 through a support rod can bring the taken item inwardly close to the user's face. Thereby, it is convenient for the user to put food in the mouth or watch the mobile phone.

15 and 21, when the rotating frame 5 is to be lowered from the lifting position shown in FIG. 21, the step of driving the rotating frame through the shoulder cover mechanism to lower S4 is performed. The shoulder portion 111 is moved backward in a backward movement direction B, so that the shoulder cover mechanism 7 is driven to move backward from the forwardly inclined position P1 shown in FIG. 21. During the backward movement of the shoulder cover mechanism 7, the pulling force I applied to the control belt 85 is gradually released. At this time, the tension spring 821 pulls the shift lever 823 from the outwardly deflected position along an inner swing by the accumulated resetting elastic force. The direction D2 swings inward. When the shoulder cover mechanism 7 is moved backward and reset to the initial position P0 shown in FIG. 17, the tension 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 aforementioned 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 the lifting position shown in FIG. 21 along 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 against the rolling bearing 227, and the two cam surfaces 551 will be blocked and guided by the rolling bearing 227, forcing the skew groove segment 547 to be continuously aligned with The rolling bearing 227 causes the rotating frame 5 to pivot and swing around the first axis A1 at the same time 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 pivoting frame 4 is driven to pivot about the first axis A1 through the driving mechanism 6. When the frame body 42 is swinging, the second end 436 of the arc-shaped hole 424 is far away from the stud of the convex post 223 Portion 226, and the first end 435 gradually approaches the stud portion 226.

Referring to FIG. 17, FIG. 18 and FIG. 20, when the rotating frame 5 is rotated down to the position shown in FIG. 18, the deflection groove section 547 of the guide groove 545 moves away from the rolling bearing 227 of the convex post 223 and the rolling bearing 227 Into the non-deflective groove section 546, 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 by about 90 degrees from the position shown in FIG. 18, the two limiting surfaces 433 of the frame body 42 stop the two elastic washer groups 562 of the pin 56 respectively, so that the rotating frame 5 cannot continue to rotate and position. In the downward position shown in FIG. 17. The pin 56 is in contact with 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 it hits the limiting surface 433, and reduces the noise generated by the two. .

Referring to FIG. 16, FIG. 23 and FIG. 24, in the step of driving the rotary frame to lift S3 through the shoulder cover mechanism, the shoulder cover mechanism 7 is driven through the shoulder portion 111 (as shown in FIG. 17) from the forward leaning 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 tension spring 821 pulls the toggle lever 823 inward by the accumulated reset elastic force to swing inward as shown in FIG. 24 An intermediate position between the deflected position and the outer deflected position. At this time, the switch body 822 of the toggle switch 820 is switched to the open state and the motor 613 of the drive mechanism 6 is stopped by 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 revolver down S4 through the shoulder cover mechanism, when the shoulder cover mechanism 7 is driven through the shoulder portion 111 from the initial position P0 in the forward direction F to the slightly inclined position P2, the control belt 85 will pull the dial. The moving lever 823 swings it outward to the middle position. At this time, the switch body 822 of the toggle switch 820 is switched to the open state and the motor 613 of the drive mechanism 6 is stopped by the circuit module 33, 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 is rotated to any position between the downward position and the raised position or the raised position, if the battery 32 (as shown in FIG. 6) of the bracket 3 suddenly disappears Electricity will cause the revolving frame 5 to stop and cause a suspended state. At this time, a force is applied in the second rotation direction R2 to move the lever body 643 of the lever 64 upward, and the positioning beads 647 of each positioning unit 646 are blocked and squeezed by the side wall 422 to move outward and move away from the first positioning. The groove 431 (as shown in FIG. 12), and the positioning bead 647 compresses the compression spring 648. When the lever 64 is rotated to a 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 automatically cause the positioning bead 647 to be locked in the second positioning. The groove 432 positions the lever 64 in the release position. At this time, each of the latching blocks 644 of the shift lever 64 moves away from the latching slot 633 of the corresponding sleeve 63. Since each block 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 weight relationship of the rotating frame 5 makes The rotating frame 5 can be automatically rotated downward to the downward position in the second rotation direction R2 as shown in FIG. 28. This can overcome the inconvenience caused to the user when the rotating frame 5 is suspended.

After the battery 32 is recharged, the rotating frame 5 is rotated upward by applying a force in the first rotation direction R1 (as shown in FIG. 18). During the rotation of the rotating frame 5, the sleeve 63 is driven by the output shaft 612 to rotate. When the two sets of blocks 63 are rotated to the position to be locked by the two blocking posts 428, the rotating frame 5 cannot continue to rotate. Then, the lever 643 is pushed down in the first rotation direction R1 to rotate the lever 64 to the latching position. At this time, the latching block 644 can be latched into the latching slot 633 accurately to lock the lock assembly. Cheng 62 was locked. By the way that each stopper post 428 stops the corresponding sleeve 63 to be positioned at the position to be locked, it is convenient for the user to quickly rotate the sleeve 63 to a position where the lock block 644 of the lever 64 can be locked. To quickly restore the lock assembly 62 to the locked state.

It should be noted that, in this embodiment, by contacting the two side surfaces 549 or the two cam surfaces 551 of the cam 54 with the rolling bearing 227 of the convex post 223, the cam 54 and the convex post 223 can be reduced during the rotation process. The frictional force makes the rotating frame 5 rotate smoothly relative to the protrusion 223. In addition, the manner in which the frame body 42 penetrates the stud portion 226 of the protruding post 223 through the arc-shaped hole 424 enables the top wall 421 to support the stud portion 226 to increase the overall structural strength of the protruding post 223. This can prevent the cam surfaces 551 of the cam 54 from forcibly pushing the rolling bearing 227 to cause the convex post 223 to become skewed after long-term 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 shift lever 64, the driving mechanism 6 can relatively 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 sleeves 63 and the number of the clamping blocks 644 may 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 may also be inserted into the first half-pipe body 512 and the second half-pipe body 522 of the rotating frame 5 and fixed thereto, and connected. The stand 2 can be connected to the bottom end of a stump sleeve (not shown), and the stump sleeve is sleeved on the stump of a left arm, so that the elbow joint device 201 can be applied to different occasions.

In summary, the prosthetic limb 200 of this embodiment drives the shoulder cover mechanism 7 forward or backward by the shoulder 111, so that the toggle switch 820 can be switched to different states to control the rotation of the elbow joint device 201 Lifting or lowering of the rack 5 can increase convenience in use. In addition, when the rotating frame 5 protrudes and protrudes from the side of the connecting frame 2 in the lifting position, the prosthetic hand can bring the taken-in item closer to the user's face inward. Thereby, it is convenient for the user to put food in the mouth or watch the mobile phone. Furthermore, when the lever 64 is turned 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. This can overcome the inconvenience caused to the user when the rotating frame 5 is suspended. Therefore, it can indeed achieve the purpose of the invention.

However, the above are only examples of the present invention. When the scope of implementation of the present invention cannot be limited in this way, any simple equivalent changes and modifications made in accordance with the scope of the patent application and the content of the patent specification of the present invention are still Within the scope of the invention patent.

1‧‧‧ human body

11‧‧‧ torso

111‧‧‧Shoulder

112‧‧‧Back

12‧‧‧ right arm

200‧‧‧ prosthetic

201‧‧‧Elbow joint device

202‧‧‧Shoulder joint device

2‧‧‧Connector

21‧‧‧Pipe Fittings

211‧‧‧panel

212‧‧‧tube body

213‧‧‧Groove

214‧‧‧perforation

215‧‧‧Thread hole

22‧‧‧Plate

221‧‧‧ Pan Department

222‧‧‧ around the wall

223‧‧‧ convex post

224‧‧‧perforation

225‧‧‧Circular groove

226‧‧‧Stud Department

227‧‧‧Rolling bearings

228‧‧‧screw

3‧‧‧ bracket

31‧‧‧shell

311‧‧‧shell

312‧‧‧ cover

313‧‧‧accommodation space

314‧‧‧lower through hole

315‧‧‧upper hole

32‧‧‧ battery

33‧‧‧Circuit Module

4‧‧‧ pivot frame

41‧‧‧ Pivot Unit

411‧‧‧screw

412‧‧‧nut

42‧‧‧Frame

421‧‧‧Top wall

422‧‧‧ sidewall

423‧‧‧shaft hole

424‧‧‧arc hole

425‧‧‧arc groove

426‧‧‧steel ball

427‧‧‧wall

428‧‧‧stop post

429‧‧‧ Pivot

430‧‧‧shaft hole

431‧‧‧first positioning groove

432‧‧‧Second positioning groove

433‧‧‧ limit surface

434‧‧‧ bolt

435‧‧‧ the first end

436‧‧‧ second end

5‧‧‧ rotating frame

51‧‧‧First Shell

511‧‧‧first half wheel

512‧‧‧first half body

52‧‧‧Second Shell

521‧‧‧Second Half Wheel

522‧‧‧Second Half Body

53‧‧‧accommodation space

54‧‧‧ cam

541‧‧‧first side

542‧‧‧second side

543‧‧‧outer surface

544‧‧‧through hole

545‧‧‧Guide groove

546‧‧‧non-sloping groove section

547‧‧‧ skewed groove section

548‧‧‧upper face

549‧‧‧ side elevation

550‧‧‧ bottom face

551‧‧‧Cam surface

552‧‧‧ upper end

553‧‧‧ lower end

56‧‧‧ pin

561‧‧‧ shaft

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‧‧‧set

631‧‧‧ non-circular hole

632‧‧‧Thread hole

633‧‧‧card slot

634‧‧‧stop screw

64‧‧‧ lever

641‧‧‧ Rod

642‧‧‧Side lever body

643‧‧‧ lever body

644‧‧‧Card Block

645‧‧‧Receiving slot

646‧‧‧Positioning unit

647‧‧‧Positioning Beads

648‧‧‧Pressure spring

65‧‧‧torsion spring

651‧‧‧withholding end

652‧‧‧Outer holding end

7‧‧‧Shoulder cover mechanism

71‧‧‧ cover

72‧‧‧ connecting rod

8‧‧‧ Hanging mechanism

81‧‧‧plate

811‧‧‧Standing Department

812‧‧‧First bump

813‧‧‧Second bump

814‧‧‧perforation

82‧‧‧ switch unit

820‧‧‧Toggle switch

821‧‧‧Tension spring

822‧‧‧Switch body

823‧‧‧Toggle lever

824‧‧‧pole

825‧‧‧ blind hole

826‧‧‧Screw hole

827‧‧‧stop screw

828‧‧‧ Upper stop flange

829‧‧‧Lower stop flange

830‧‧‧ buttonhole

83‧‧‧First Sling

84‧‧‧Second Sling

85‧‧‧control zone

A1‧‧‧first axis

A2‧‧‧Second axis

D1‧‧‧ outward swing direction

D2‧‧‧Inside swing direction

F‧‧‧ forward direction

B‧‧‧ backward direction

I‧‧‧ Rally

P0‧‧‧initial position

P1‧‧‧ forward leaning position

P2‧‧‧ micro-tilt position

R1‧‧‧first rotation direction

R2‧‧‧Second rotation direction

SW1‧‧‧First swing direction

SW2‧‧‧Second swing direction

S1‧‧‧Prosthetics

S2‧‧‧ Assemble a prosthesis to the human body

S3‧‧‧ Drives the revolving frame to lift through the shoulder cover mechanism

S4‧‧‧ Drives the rotating frame down through the shoulder cover mechanism

Other features and effects of the present invention will be clearly presented in the embodiment with reference to the drawings, in which: FIG. 1 is an embodiment of a prosthesis with an elbow joint device of the present invention assembled on a front of a torso of a human body View showing that the prosthetic limb includes an elbow joint device and a shoulder joint device; FIG. 2 is a rear view of the embodiment assembled on the torso; FIG. 3 is a perspective view of the elbow joint device of the embodiment; FIG. 4 FIG. 5 is a partially exploded perspective view of the elbow joint device in this embodiment, illustrating an assembly relationship between a connecting frame, a pivoting frame, a locking assembly, and a torsion spring; FIG. 5 is another A partially exploded perspective view from a perspective; FIG. 6 is an exploded perspective 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 through a pivoting unit; FIG. 8 is a front view of the elbow joint device of the embodiment; FIG. 9 is a block diagram of the elbow joint device of the embodiment A partially exploded perspective view illustrating the assembly relationship between a rotating frame and a drive assembly; FIG. 10 is an incomplete right side view of the elbow joint device of the embodiment, illustrating a lever in a latching position, The locking assembly is brought into a locked state; FIG. 11 is a cross-sectional view taken from line 11-11 in FIG. 10, illustrating that an output shaft is pivotally connected to two side walls, and two stop screws are in tight contact with each other. FIG. 12 is an incomplete cross-sectional view of the elbow joint device of this embodiment, illustrating that two positioning beads are respectively locked in a first positioning groove of the side walls; FIG. 13 is the implementation A schematic diagram of the elbow joint device of the example, illustrating an inner holding end and an outer holding end of a torsion spring respectively held at a shaft section and a latch; FIG. 14 is a view of a suspension mechanism of the embodiment Incomplete exploded perspective view; FIG. 15 is an incomplete perspective view of the hanging mechanism of the embodiment, illustrating a toggle lever of a toggle switch in an inclination position, and a switch body in a first closed state Figure 16 is a method of use of this embodiment A flowchart; FIG. 17 is a right side view of the embodiment assembled on the torso, illustrating a shoulder cover mechanism in an initial position and the rotating frame in a downward position; FIG. 18 is a view of the embodiment assembled on the torso The right side view illustrates that a shoulder drives the shoulder cover mechanism forward to a forward leaning position, so that the rotary frame rotates upward from the downward position; FIG. 19 is an incomplete rear view of the hanging mechanism of the embodiment Explain that a control belt pulls the toggle lever to swing to an externally inclined position, so that the switch body is switched to a second closed state; FIG. 20 is a front view of the elbow joint device of the embodiment, illustrating the rotation The stand is rotated upward from the downward position; FIG. 21 is a right side view of the embodiment assembled on the torso, illustrating that the rotating stand is rotated upward to an elevated position; FIG. 22 is a view of the elbow joint device of the embodiment A front view illustrating the rotation of the revolving frame to the raised position; FIG. 23 is a schematic diagram of the movement of the shoulder cover mechanism of the embodiment, illustrating that the shoulder portion drives the shoulder cover mechanism to move from the forward leaning position to the rear Slightly tilted position Or it is moved forward from the initial position to the slightly tilted position; FIG. 24 is an incomplete rear view of the hanging mechanism of the embodiment, illustrating that when the shoulder cover 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 An incomplete cross-sectional view of the elbow joint device of this embodiment, illustrating that the positioning beads are respectively locked in a second positioning groove of the side walls; and FIG. 27 is a right side of the elbow joint device of this embodiment A view illustrating that the rotating frame automatically rotates downward to the downward position.

Claims (32)

An elbow joint device includes: a connecting frame; a pivoting frame rotatably pivoted to the connecting frame and capable of pivoting relative to the connecting frame about a first axis; a rotating frame sliding with the connecting frame A contact, and a driving mechanism 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 around When the second axis is rotated, it is guided by the connecting frame and drives the pivot 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 swinging ground 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 post, and the rotating frame includes a cam which is in sliding contact with and can be guided by the convex post. 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 On the outer peripheral surface, the outer peripheral surface of the cam is recessed to form a guide groove for the convex column to be embedded, the guide groove has an upper end portion adjacent to the first side surface, and an adjacent end portion adjacent to the second side surface and opposite to When the convex post is located at the upper end, the rotating frame is at the downward position, and when the convex post 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-skewed groove section and a skewed groove section, the non-skewed groove section has the upper end portion, and the skewed groove section communicates An end of the non-skewed groove section is opposite to the upper end portion and extends obliquely toward the second side. The skewed groove section has the lower end portion. When the convex column slides in the non-skewed groove section, the rotating frame Rotating around the second axis, when the convex column slides in the inclined 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 skew groove section A cam surface for slidingly contacting opposite sides of the rolling bearing, respectively. The elbow joint device according to claim 5, wherein the cam further includes an upper end face, two side elevation faces, and a lower end face, and the two side elevation faces are connected to opposite ends of the upper end face and are parallel to the first A side surface for slidingly contacting the opposite side of the rolling bearing, the upper end surface and the two side elevations jointly defining the non-deflection groove section parallel to the first side surface, the upper end portion being adjacent to the upper end surface, and the two cam surfaces Connected to the opposite end of the lower end surface and connected to the two sides of the vertical surface, the lower end surface and the two cam surfaces jointly define the inclined 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, and the driving assembly includes a driving module fixed to the rotating frame. And an output shaft connected to the drive 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 is switched between a locked state rotating with respect to the pivoting frame and a unlocking state enabling the output shaft to rotate with respect to the pivoting frame. The elbow joint device according to claim 7, wherein the locking assembly comprises at least one sleeve fixed to the output shaft, and a lever rotatably pivoted to the pivoting frame, the sleeve A latching slot is formed, and the lever includes at least one latching block for latching to the latching slot. The lever can be rotated between a latching position and a release position. In the latching position, the card A block is latched in the card slot, so that the lock assembly is in the locked state, and in the released position, the card block is moved away from the card slot, so that the lock assembly is in the unlocked 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 by the positioning bead in the direction of the pivoting frame. When the positioning bead is latched in the first positioning slot, the lever is positioned at the latching position. When the positioning bead is locked in the second positioning groove, the shift 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 protruding from the two side walls, respectively, and the locking assembly includes two A sleeve block is fixed on the two outer shaft sections respectively, and the shift lever includes two clamping blocks, each of which is used to latch into the card slot of the corresponding sleeve block. The elbow joint device according to claim 8, wherein the pivoting frame includes a stop post for stopping the block to be positioned at a position to be locked, and when the block When the lever is in the to-be-locked position and the lever is in the to-be-locked position, the block is locked in the slot. The elbow joint device according to claim 7, wherein the driving mechanism further comprises a torsion spring provided between the output shaft and the pivot frame and applying an elastic force to the output shaft, when the lock assembly is in the In the locked state, the torsion spring is in a deformed state that is torsionally deformed and accumulates elastic force. When the lock assembly is in the unlocked state, the spring force applied by the spring to the output shaft will cause the drive module to drive the rotating frame. Rotating downward to the downward position about the second axis, the rotating frame includes a pin rod, and the pivoting frame includes a limiting surface for stopping the pin rod 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 bracket and including a circuit module electrically connected to the driving module, and an electrical module electrically connected to the circuit module. Battery. A prosthetic arm with an elbow joint device includes: an elbow joint device comprising: a connecting frame; a pivoting frame rotatably pivoted to the connecting frame and capable of pivoting relative to the connecting frame about a first axis; A rotating frame in sliding contact with the connecting frame; a driving mechanism disposed between the pivoting frame and the rotating frame for driving the rotating frame relative to the second axis about a second axis perpendicular to the first axis The pivoting frame rotates. When the pivoting frame rotates around the second axis, the pivoting frame is guided by the connecting frame to drive the pivoting frame to pivot about the first axis through the driving mechanism, so that the pivoting frame can be directed downward. Rotate between a downward position and a raised position protruding sideways from the connecting frame; a bracket connected to the top of the connecting 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 to the plate A first strap between one side of the plate and the shoulder cover mechanism, a second strap connected to the other side of the plate, and a control belt connected between the shoulder cover mechanism and the switch unit, the switch The unit is electrically connected to the circuit module and can control the driving mechanism to actuate through the circuit module. The switch unit can be switched between a first closed state and a second closed state. In the normally closed switch in the first closed state, when the shoulder cover 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 moving in a forward direction to a forward leaning position, the shoulder cover mechanism pulls the control belt to switch the switch unit to the second closed state, so that the driving mechanism drives the rotating frame from the downward position toward the When the lifting position is rotated, when the shoulder cover mechanism is moved backward from the forward leaning position to the initial position in a backward movement direction, the shoulder cover mechanism releases the control band to switch the switch unit to the first closed state, so that the drive Mechanism drives the rotating frame To the downwardly rotated position. The prosthetic arm with an elbow joint device according to claim 14, wherein when the shoulder cover mechanism is moved from the forward leaning position in the backward moving direction to a slightly inclined position between the initial position and the forward leaning position When the initial position is moved from the initial position to the slightly inclined position in the forward direction, the switch unit is switched to an open circuit state, so that the driving mechanism is stopped. The prosthetic arm 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 A deflected position, an outer deflected position, and an intermediate position between the inner deflected position and the outer deflected position, and the toggle switch is swung when the toggle lever is in the inner deflected position 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 An end of the control belt is sleeved on the toggle lever to pull the toggle lever to swing. The tensile spring is connected between the plate and the toggle lever and biases the toggle lever to position it. In this inner skew position. The prosthetic arm 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, and the upper stop The stop flange and the lower stop flange are respectively used to stop the upper and lower ends of the control belt. The prosthetic arm with an elbow joint device according to claim 14, wherein the connecting frame includes a convex post, and the rotating frame includes a cam which is in sliding contact with the convex post and can be guided by the convex post. 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 Between the outer peripheral surfaces of the cam, the outer peripheral surface of the cam is recessed to form a guide groove for the convex column to be embedded, the guide groove has an upper end portion adjacent to the first side surface, and an adjacent second side surface And opposite to the lower end of the upper end, when the convex post is located at the upper end, the rotating frame is in the downward position, and when the convex post is located at the lower end, the rotating frame is in the raised position. The prosthetic arm with an elbow joint device according to claim 19, wherein the guide groove has a non-skewed groove section and a skewed groove section, the non-skewed groove section has the upper end portion, and the skewed The groove section communicates with an end of the non-skewed groove section opposite to the upper end portion and extends obliquely toward the second side. The skewed groove section has the lower end portion. When the convex column slides in the non-skewed groove section, The rotating frame rotates around the second axis, and when the convex column slides in the inclined groove section, the rotating frame and the pivoting frame pivot about the first axis. The prosthetic arm 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 defining the skew groove section Opposite cam surfaces, the two cam surfaces are used for sliding contact with opposite sides of the rolling bearing, respectively. The prosthetic arm with an elbow joint device according to claim 21, wherein the cam further includes an upper end surface, two side elevation surfaces, and a lower end surface, and the two side elevation surfaces are connected to opposite ends of the upper end surface and are parallel to The first side surface is used for sliding contact with the opposite side of the rolling bearing, and the upper end surface and the two side elevations together define the non-deflective groove section parallel to the first side surface, and the upper end portion is adjacent to the upper end surface. Two cam surfaces are connected to the opposite ends of the lower end surface and are respectively connected to the two side elevations. The lower end surface and the two cam surfaces jointly define the inclined groove section, and the lower end portion is adjacent to the lower end surface. The prosthesis having 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 A drive module, and an output shaft connected to the drive module and rotatably pivoted to the pivot frame, the lock assembly is disposed between the pivot frame and the output shaft and can lock the output The shaft is switched between a locked state that restricts its rotation relative to the pivot frame, and a 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 fixed to the output shaft, and a lever rotatably pivoted to the pivot frame, The sleeve is formed with a latching slot, and the shift lever includes at least one latching block for latching to the latching slot. The shift lever can be rotated between a latching position and a release position. The card block is locked in the card slot, so that the lock assembly is in the locked state, and in the release position, the card block is moved away from the card slot, so that the lock assembly is in the unlock state. The prosthetic arm 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 shift lever further includes a A positioning unit having a positioning bead and a pair of compression springs biased by the positioning bead toward the pivoting frame; when the positioning bead is latched in the first positioning slot, the lever is positioned on the card In a detent position, when the positioning bead is detented in the second positioning groove, the shift lever is positioned in the release position. The prosthetic arm 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 that respectively protrude from the two side walls, and the lock is generally It includes two sleeve blocks respectively fixed on the two outer shaft sections, and the shift lever includes two clip blocks, each of which is used for latching in the card slot of the corresponding sleeve block. The prosthesis with an elbow joint device according to claim 24, wherein the pivoting frame includes a stop post for stopping the block to be positioned at a position to be locked, when When the sleeve is in the to-be-locked position and the lever is in the to-be-locked position, the tow-block is locked in the card slot. The prosthetic arm with an elbow joint device according to claim 23, wherein the driving mechanism further includes a torsion spring provided 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 deformed state that is torsionally deformed and accumulates spring force. When the lock assembly is in the unlocked state, the spring force applied by the spring 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, the pivot frame includes a limiting surface, and the limiting surface is used to stop the pin to allow the rotation 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, and the method of use includes the following steps: providing the prosthetic limb, the prosthetic limb comprising an elbow joint device And a shoulder joint device, the elbow joint device includes a rotating frame that can be rotated 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 cover 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 actuated, 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 over the The shoulder and the hanging mechanism are hung on the torso, so that the shoulder cover 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 cover mechanism is used to move the shoulder cover mechanism from the initial position to a forward leaning position from the initial position, the shoulder cover mechanism pulls the control belt to switch the switch unit to the second closed state, so that The rotating frame rotates from the downward position toward the raised position. The method of using a prosthesis with an elbow joint device according to claim 29, further comprising a step of driving the shoulder cover mechanism to the forward leaning position through the shoulder, and driving the shoulder cover through the shoulder The mechanism moves from the forwardly inclined position to the initial position in a backward movement direction, and the shoulder cover mechanism releases the control belt to switch the switch unit to the first closed state, so that the rotating frame rotates 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 cover mechanism to the forward leaning position through the shoulder, when the shoulder cover mechanism is in the forward leaning position At the same time, the shoulder cover mechanism is used to drive the shoulder cover mechanism to move to a slightly tilted position between the initial position and the forward tilted position through the shoulder, so that the switch unit is switched to an open circuit state and the rotary frame is stopped Turn. The method of using a prosthesis with an elbow joint device according to claim 30, wherein 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, Through the shoulder portion, the shoulder cover mechanism is moved from the initial position in the forward direction to a slightly tilted position between the initial position and the forwardly tilted position, so that the switch unit is switched to the open circuit state and controls the rotation The stand stops turning.