An upper-limb prosthesis shoulder joint assembly and an upper-limb prosthesis

Abstract

The application provides an upper limb prosthesis shoulder joint assembly and an upper limb prosthesis, which comprise a U-shaped shoulder joint connecting piece, a first steering wheel, a plurality of long studs, an upper bearing stop ring, a lower bearing stop ring and a bearing; the U-shaped shoulder joint connecting piece has a first section, a second section and a third section, and a second steering wheel accommodating area is formed in the middle; the first steering wheel is fixedly installed between the first section and the third section, the bearing is installed between the upper bearing stop ring and the lower bearing stop ring, and the bearing is fixedly connected with an output shaft of the first steering wheel; the long stud has a threaded section in the lower section, penetrates the first section and the third section, and fixes the upper bearing stop ring and the lower bearing stop ring with the third section; the position, where the long stud contacts the third section, has a stage, which abuts against the third section; an upper arm bearing installation shaft is installed with an inner ring of the bearing and is coaxially fixedly connected with an output shaft of the second steering wheel. The application takes into account the load bearing and the lightness of the prosthesis body.

Description

TECHNICAL FIELD

[0001] The application provides an upper limb prosthesis shoulder joint assembly and an upper limb prosthesis, and belongs to the field of prostheses. BACKGROUND

[0002] The overall degree of freedom configuration of the existing upper limb prosthesis structure can basically meet the needs of daily movement, but the current design habitually mixes the internal skeleton and the shell of the upper limb prosthesis as a whole, which brings the problem that if the load bearing effect is good, the metal skeleton structure needs to be more, which will cause the overall structure of the prosthesis to be relatively heavy and not light enough. If the overall structure is relatively light and the weight is more borne by the shell, the weight of the shell will increase, although the overall structure is relatively light, but it will affect the load bearing. Thus the main defect is that the characteristics of light weight and high load bearing cannot be considered at the same time. SUMMARY

[0003] The application aims to provide an upper limb prosthesis shoulder joint assembly and an upper limb prosthesis to achieve a certain balance between the lightness and load bearing of the prosthesis.

[0004] The application provides an upper limb prosthesis shoulder joint assembly, characterized in that it comprises a U-shaped shoulder joint connecting piece, a first steering engine, a plurality of long studs, an upper bearing stop ring, a lower bearing stop ring and a bearing; the U-shaped shoulder joint connecting piece has a first segment, a second segment and a third segment, the second segment is longitudinally connected between the first segment and the third segment, the first segment and the third segment are arranged in parallel, and a containing area of the second steering engine is formed in the middle; the first steering engine is fixedly installed in the containing area, the bearing is installed between the upper bearing stop ring and the lower bearing stop ring, and the bearing is fixedly connected with the output shaft of the first steering engine; the long stud has a threaded segment in the lower segment, penetrates the first segment and the third segment, and fixes the upper bearing stop ring and the lower bearing stop ring with the third segment; the position where the long stud contacts the third segment has a stage, the stage is abutted on the third segment, and the large arm bearing installation shaft is installed with the inner ring of the bearing and coaxially fixedly connected with the output shaft of the second steering engine.

[0005] Further, the upper limb prosthesis shoulder joint assembly of the application further has the characteristics that the diameter of the threaded segment is thinner than the diameters of other segments of the long stud, and the stage is formed.

[0006] Further, the upper limb prosthesis shoulder joint assembly of the application further has the characteristics that the first segment and the third segment are provided with openings corresponding to the positions of the output shaft of the first steering engine.

[0007] The application further provides an upper limb prosthesis comprising the upper limb prosthesis shoulder joint assembly of any one of the above, characterized in that: further comprising a shoulder joint rotary joint, a first steering engine, and a shoulder joint bearing mounting seat; the first steering engine is fixedly installed on the frame, the output shaft of the first steering engine extends out of the opening of the shoulder joint bearing mounting seat, one end of the first joint rotary shaft is fixedly connected with the output shaft of the first steering engine, and the other end is fixedly connected with the U-shaped shoulder joint connector.

[0008] Further, the upper limb prosthesis of the application further has the following characteristics: further comprising a forearm joint, an elbow joint, and a small arm rotary joint; the forearm joint is fixedly connected with the forearm bearing mounting shaft, the elbow joint is rotationally connected with the forearm joint through a third steering engine, and the small arm rotary joint is rotationally connected with the elbow joint.

[0009] Further, the upper limb prosthesis of the application further has the following characteristics: a limiting piece is arranged at the position where the forearm joint is rotationally connected with the elbow joint.

[0010] Further, the upper limb prosthesis of the application further has the following characteristics: the forearm joint comprises a forearm connecting seat and two forearm connecting plates; the forearm connecting seat is fixedly connected with the forearm bearing mounting shaft; the two forearm connecting plates are connected on the two sides of the forearm connecting seat, and a battery accommodating area is formed between the two forearm connecting plates.

[0011] Further, the upper limb prosthesis of the application further has the following characteristics: the elbow joint comprises two parallelly arranged elbow joint connecting plates, a fourth steering engine, a small arm bearing mounting seat, a first gear connecting shaft, a first gear, and a second gear; the fourth steering engine is installed at the front end of the two elbow joint connecting plates; the first gear is installed at the front end of the fourth steering engine; the first gear and the second gear are in mesh with each other, and the rotation shaft of the second gear is coaxial with the rotation axis of the elbow joint and the hand.

[0012] Further, the upper limb prosthesis of the application further has the following characteristics: an elbow joint reinforcing plate is arranged between the two elbow joint connecting plates.

[0013] Further, the upper limb prosthesis of the application further has the following characteristics: the small arm rotary joint comprises a bearing and a small arm rotary disc; the small arm rotary disc is connected with the output shaft of the fourth steering engine, and the small arm rotary disc is further fixedly connected with the outer ring of the bearing.

[0014] The upper limb prosthesis shoulder joint assembly of the present application has the advantages that the overall metal framework is connected, and the shell is covered outside the metal framework, so that the load bearing and the lightness of the prosthesis body are considered. Four steering engines realize four degrees of freedom of the upper limb. Except for the necessary connecting pieces, there is no additional mechanical structure, so that the overall structure is light and small, and has a certain load bearing. The upper limb shell only serves as an external part and does not participate in load bearing, so as to reduce the weight of the whole machine. Further, the present application provides an upper limb prosthesis shoulder joint assembly, which distributes the weight of the upper arm and the lower arm on the U-shaped shoulder joint connecting piece, so that the steering engine in the shoulder joint assembly does not bear the weight of the whole arm, thereby prolonging the service life of the steering engine and improving the flexibility of the steering engine driving the arm to rotate. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is a schematic view of the internal structure of the present application.

[0016] Figure 2 is a schematic view of the overall shell structure of the present application.

[0017] Figure 3 is a schematic view of the first rotary joint structure of the shoulder joint of the present application.

[0018] Figure 4 is a schematic view of the upper limb prosthesis shoulder joint assembly structure of the present application.

[0019] Figure 5 is a schematic view of the shoulder joint connecting piece structure of the present application.

[0020] Figure 6 is a schematic view of the other joint structure of the present application.

[0021] Figure 7 is a schematic view of the position of the limiting piece of the present application.

[0022] Figure 8 is a schematic view of the structure at the rotary joint of the lower arm. DETAILED DESCRIPTION

[0023] The present application will be further described below in conjunction with the drawings:

[0024] In the present embodiment, first, an upper limb prosthesis shoulder joint assembly 2 is provided, as shown in Figure 4 and Figure 5 , the upper limb prosthesis shoulder joint assembly 2 comprises a U-shaped shoulder joint connecting piece 203, a first steering engine 204, a plurality of long studs 205, an upper bearing stop ring 202, a lower bearing stop ring 201, and a first bearing 206.

[0025] The shoulder joint connector 203 is in U shape, having a first segment 2031, a second segment 2032 and a third segment 2033, the second segment 2032 being longitudinally connected between the first segment 2031 and the third segment 2033,

[0026] The first segment 2031 and the third segment 2033 are arranged in parallel, forming a containing area of the first steering engine 204 in between;

[0027] The first steering engine 204 is fixedly installed between the first segment 2031 and the third segment 2033,

[0028] The first bearing 206 is installed between the upper bearing stop ring 202 and the lower bearing stop ring 201, and is fixedly connected with the output shaft of the first steering engine;

[0029] The long stud 205 has a threaded lower segment, penetrates the first segment 2031 and the third segment 2033, and fixes the upper bearing stop ring 202 and the lower bearing stop ring 201 with the third segment 2033. The position where the long stud 205 contacts the third segment 2033 has a step 2051, which abuts against the third segment 2033. The front end of the step 2051 is threaded, and in use, the step 2051 just abuts against the third segment 2033, supporting and protecting the first steering engine 204. The threads at the front end of the step 2051 fix the lower bearing stop ring 201, the upper bearing stop ring 202 and the shoulder joint connector 203. The lower bearing stop ring 201 is installed on the large arm bearing installation shaft 207, and the output disc of the steering engine is fixedly connected with the large arm bearing installation shaft 207. Meanwhile, the lower end of the large arm bearing installation shaft 207 is fixedly connected with the large arm connecting seat 302, so that the weight of the front end of the large arm is transferred to the metal framework through the first bearing 206, avoiding the output disc of the first steering engine 204 from bearing the gravity, which affects the service life of the steering engine.

[0030] The large arm bearing installation shaft 207 is installed with the inner ring of the bearing, and is coaxially fixedly connected with the output shaft of the first steering engine 204.

[0031] In the embodiment, the diameter of the threaded segment is smaller than that of other segments of the long stud 205, forming the step. In some embodiments, the step 2051 can also be formed in other ways, for example, a separate protruding structure is arranged at the position where the long stud 205 meets the third segment 2033.

[0032] The first segment 2031 and the third segment 2033 have openings corresponding to the position of the output shaft of the first steering engine.

[0033] The embodiment also provides an upper limb prosthesis, which comprises a shoulder joint connector 203, Figures 1 to 6As shown, it includes a shoulder joint rotation joint 1, an upper limb prosthetic shoulder joint component 2, an upper arm joint 3, an elbow joint 4, and a forearm rotation joint 5.

[0034] like Figure 3 As shown, the shoulder joint rotation joint 1 includes a frame 101, a second servo 102, a shoulder joint bearing mounting seat 103, a second bearing 104, a shoulder joint bearing pressure cover 105, and a first joint rotation axis 106. The second servo 102 is fixedly connected to the first joint rotation axis 106, which is in turn fixedly connected to the shoulder joint connector 203. The second servo 102 is fixedly mounted on the frame 101, with the output shaft of the second servo 102 extending from an opening in the shoulder joint bearing mounting seat 103. The second bearing 104 is mounted in the shoulder joint bearing mounting seat 103, and the shoulder joint bearing pressure cover 105 covers the second bearing 104. One end of the first joint rotation axis 106 is fixedly connected to the output shaft of the second servo 102, and the other end is fixedly connected to the U-shaped shoulder joint connector 203, thereby driving the upper limb prosthetic shoulder joint assembly 2, the upper arm joint 3, and the elbow joint 4 to swing as a whole.

[0035] like Figure 6 The upper arm joint 3 includes a hexagonal stud 301, an upper arm connecting seat 302, a reinforcing rib 303, a control circuit board 304, an upper arm connecting plate 305, a battery pack 306, a battery fixing part 307, a third servo 308, and an elbow joint limit block 309; the output steering wheel of the first servo 204 is fixedly connected to the upper arm bearing mounting shaft 207, and at the same time, the upper arm bearing 207 is fixedly connected to the upper arm connecting seat 302; the third servo 308 connects the upper arm connecting plate 305 and the elbow joint connecting plate 401. The control circuit board 304 is installed in the space between the two upper arm connecting plates 305, and the two upper arm connecting plates 305 are connected by the hexagonal stud 301. The battery pack 306 is installed in the space between the two upper arm connecting plates 305 and is fixed by the battery fixing part 307. As shown Figure 7 The elbow joint limit block 309 is set on the upper arm connecting plate 305, located behind the rotation axis of the elbow joint connecting plate 401, thereby preventing the elbow joint from rotating further backward after straightening, exceeding the natural range of motion of the elbow joint. The reinforcing rib 303 is set along the length direction of the upper arm connecting plate 305.

[0036] like Figure 6 and Figure 8, the elbow joint 4 comprises an elbow joint connecting plate 401, an elbow joint reinforcing plate 402, a fourth steering wheel 403, an arm bearing mounting seat 404, a steering wheel first gear connecting shaft 405, a first gear 406 and a second gear 407. The elbow joint connecting plate 401 is rotationally connected with the upper arm connecting plate 305. The elbow joint reinforcing plate 402 is connected between the two elbow joint connecting plates 401. The elbow joint limiting blocks 309 are symmetrically arranged upwards and downwards, and are used for limiting the swing angle of the upper limb of the artificial limb, and are more close to the real movement effect. The fourth steering wheel 403 is connected with the elbow joint and the forearm rotary joint through a pair of gear structures, i.e. the first gear 406 and the second gear 407. The forearm palm connecting piece 503 is used for connecting the palm structure of the artificial limb.

[0037] As shown in Figures 6 to 8 , the forearm rotary joint 5 comprises a deep groove ball bearing 501, a forearm rotating disc 502 and a forearm palm connecting piece 503. The steering wheel first gear connecting shaft 405 is fixedly connected with the output steering disc of the fourth steering wheel 403, and the first gear 406 is fixedly connected on the steering wheel first gear connecting shaft 405. The arm bearing mounting seat 404 is fixedly connected with the fourth steering wheel 403, and the bearing and the forearm rotary transmission shaft for mounting the second gear are mounted on the arm bearing mounting seat 404. The addition of the gear set increases the output torque of the fourth steering wheel 403, and matches the central shaft of the forearm rotary joint, so that the forearm rotary joint can rotate around the central shaft of the upper arm.

[0038] As shown in Figure 2 , the joints of the whole artificial limb are connected by metal skeletons, and the shell is a thin-wall shell made of silica gel or other plastic materials, which is connected with the skeleton structure of the upper limb artificial limb through screws. Figure 2 As shown in the whole shell structure schematic view,

[0039] The upper limb of the artificial limb has four degrees of freedom, which are two rotation degrees of freedom of the shoulder joint first rotary joint and the shoulder joint assembly of the upper limb artificial limb, one bending degree of freedom of the elbow joint and the rotation degree of freedom of the forearm.

[0040] The working process of the present application is as follows:

[0041] The four joints of the whole artificial upper limb are connected in series, the second steering wheel drives the shoulder joint first rotary joint to rotate around the steering wheel output shaft, so that the swing of the whole arm in the sagittal plane can be realized. The first steering wheel drives the shoulder joint assembly of the upper limb artificial limb to rotate, so that the whole upper arm can be rotated around the axis of the first steering wheel output shaft. The rotation of the third steering wheel can drive the elbow joint to swing in the direction of the steering wheel output shaft axis, so that the bending degree of freedom of the front end of the whole elbow joint can be realized. The rotation of the fourth steering wheel drives the first gear to rotate, and through the gear meshing, the second gear is driven to rotate. The rotation of the second gear will drive the front end of the whole forearm to rotate, so that the rotation degree of freedom of the forearm can be realized. The four steering wheels are independently controlled and do not affect each other, so that the complex motion of the whole artificial upper limb can be realized.

Claims

1. An upper limb prosthetic shoulder joint assembly, characterized in that: include: A U-shaped shoulder joint connector, a first steering gear, a plurality of long studs, an upper bearing retaining ring, a lower bearing retaining ring, and a bearing; The U-shaped shoulder joint connector comprises a first segment, a second segment and a third segment, wherein the second segment is longitudinally connected between the first segment and the third segment. The first segment and the third segment are arranged in parallel, and a first steering gear accommodation area is formed in the middle; The first steering gear is fixedly installed in the accommodation area. The bearing is installed between the upper retaining ring and the lower retaining ring of the bearing, and the bearing is fixedly connected to the output shaft of the first steering gear; A long stud, the lower section of which has a threaded section, penetrates the first section and the third section, fixedly connecting the upper retaining ring and the lower retaining ring of the bearing to the third section, and has a step where the long stud contacts the third section, the step abutting against the third section, and an external thread is machined on the front end of the step; The boom bearing mounting shaft is mounted on the inner ring of the bearing and is coaxially fixedly connected to the output shaft of the first steering gear; When in use, the step of the platform stage just supports the third section, plays a supporting role, and protects the first servo. The front end thread of the platform stage connects the lower retaining ring of the bearing, the upper retaining ring of the bearing and the shoulder joint connector. The lower retaining ring of the bearing is installed on the boom bearing mounting shaft, and the servo output steering wheel is fixedly connected to the boom bearing mounting shaft. At the same time, the lower end of the boom bearing mounting shaft is fixedly connected to the boom connecting seat, thereby transferring the deadweight of the entire front end of the boom to the metal frame through the first bearing, preventing the output steering wheel of the first servo from bearing gravity.

2. The upper limb prosthetic shoulder joint assembly according to claim 1, wherein: The threaded section has a longer diameter and the other sections of the stud have a thinner diameter, forming the terrace.

3. The upper limb prosthetic shoulder joint assembly according to claim 1, wherein: Openings matching the position of the first steering gear output shaft are formed at corresponding upper and lower positions of the first segment and the third segment.

4. An upper limb prosthesis comprising the upper limb prosthetic shoulder joint assembly according to any one of claims 1 to 3, characterized in that: It also has a shoulder joint rotation joint, which includes a frame, a second servo, and a shoulder joint bearing mounting seat; the second servo is fixedly mounted on the frame, and the output shaft of the second servo extends from the opening of the shoulder joint bearing mounting seat. One end of the first joint rotation shaft is fixedly connected to the output shaft of the second servo, and the other end is fixedly connected to the U-shaped shoulder joint connecting piece.

5. The upper limb prosthesis according to claim 4, characterized in that: It also has a boom joint, an elbow joint and a forearm rotating joint, the boom joint is fixedly connected to the boom bearing mounting shaft, the elbow joint is rotationally connected to the boom joint through a third steering gear, and the forearm rotating joint is rotationally connected to the elbow joint.

6. The upper limb prosthesis according to claim 5, characterized in that: The limiting part is arranged at the position where the upper arm joint and the elbow joint are rotatably connected.

7. The upper limb prosthesis according to claim 5, characterized in that: The upper arm joint comprises an upper arm connecting seat and two upper arm connecting plates; The big arm connecting seat is fixedly connected to the big arm bearing mounting shaft; Two large arm connecting plates are connected to both sides of the large arm connecting seat, and a battery accommodating area is formed between the two large arm connecting plates.

8. The upper limb prosthesis according to claim 5, characterized in that: The elbow joint includes two parallel elbow joint connecting plates, a fourth servo, a forearm bearing mounting seat, a first gear connecting shaft, a first gear and a second gear. The fourth servo is installed at the front end of the two elbow joint connecting plates, and the first gear is installed at the front end of the fourth servo, wherein the first gear and the second gear are meshed with each other, and the rotating shaft of the second gear is coaxial with the rotation axis of the elbow joint and the hand.

9. The upper limb prosthesis according to claim 5, wherein: The elbow joint reinforcement plate is arranged between the two elbow joint connecting plates.

10. The upper limb prosthesis according to claim 5, characterized in that: The forearm rotating joint has a bearing and a forearm turntable. The forearm turntable is connected to the output shaft of the fourth steering gear. The forearm turntable is also fixedly connected to the outer ring of the bearing.

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