CN102758995B - Dynamic elbow joint prosthesis and dynamic upper limb prosthesis - Google Patents
Dynamic elbow joint prosthesis and dynamic upper limb prosthesis Download PDFInfo
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- CN102758995B CN102758995B CN201210260645.XA CN201210260645A CN102758995B CN 102758995 B CN102758995 B CN 102758995B CN 201210260645 A CN201210260645 A CN 201210260645A CN 102758995 B CN102758995 B CN 102758995B
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Abstract
The invention discloses a dynamic elbow joint prosthesis, and a dynamic upper limb prosthesis containing the dynamic elbow joint prosthesis. The dynamic elbow joint prosthesis comprises a main body structure, an upper arm (3) and a front arm (5), wherein the main body structure is a U-shaped component (9); the upper arm (3) and the front arm (5) are respectively and movably connected with a bottom plate or a side plate of the U-shaped component (9) to form a rotating pair; a hard boss (15) is arranged inside the side plate of the U-shaped component (9) for limiting; and a flexible baffling block (22) is adhered outside the hard boss (15) for buffering the vibration. An angular displacement sensor is arranged through sensor supports (33 and 34), thus achieving the real-time measurement on the angular displacement of joints. The dynamic upper limb prosthesis disclosed by the invention can achieve the movement with six degrees of freedom; and the joint damping can be adjusted; the posture of the limb can be maintained; and the movement angle can be measured in real time.
Description
Technical field
The invention belongs to biomimetic features design field.Can launch or automobile safety collision dummy's Arm structure design for robot, aviation, also can be used as the reference of design upper-limb recovery training device.
Background technique
Aviation launch or automobile safety collision research in need dynamic simulation dummy to test.Dummy's structural system not only needs to realize motion requirement and the geometric shape requirement of limbs, and as dynamic simulation dummy, the inertial parameter of limbs also must meet characteristics of human body.Structural strength can meet the requirement of the mechanical loading under experimental condition simultaneously.With respect to traditional static dummy, geometric shape requires easily to meet.But motion, inertial parameter and structural strength require to have brought challenge to dynamic simulation dummy's design.Therefore, design a kind of aviation for above requirement and launch dynamic simulation elbow joint structure and dynamic simulation dummy's Arm structure.
Summary of the invention
The dynamic dummy of standard replaces pilot to launch experiment, so need to meet the requirement of limb motion mathematic(al) parameter and geometric parameter from simulated flight person's angle.And consider the mechanical environment that launches experiment, require dummy's structure to meet certain load-up condition.So the design of dummy's Arm structure need to realize 3 functions: (1) limb motion degrees of freedom and range of movement; (2) physical dimension; (3) strength check.
Elbow joint is the important joint of upper limbs, need to pay close attention to the sphere of activities, joint damping, the joint-friction power of the each degrees of freedom in joint, installation, the adjustment of joint-friction power etc. of angular displacement sensor when elbow joint in design.The object of the invention is for designing a kind of novel dynamic simulation elbow joint prosthese for above requirement.On this basis, design a kind of dynamic simulation dummy's Arm structure.
In order to realize above-mentioned functions, one aspect of the present invention provides a kind of dynamically elbow joint prosthese, comprise agent structure, upper arm and forearm, described agent structure is a U-shaped member, be connected with end connector on end connector under upper arm and forearm respectively, realize the torsional freedom of upper arm and forearm and swing up and down degrees of freedom with respect to of upper arm;
Under upper arm, end connector forms revolute pair by the hole on axle sleeve and U-shaped member base plate, and on forearm, end connector connects and composes revolute pair by the hole on axle sleeve and U-shaped member side plate;
The inner side of described U-shaped member side plate is provided with hard boss and carries out spacingly, is bonded with soft block with buffering vibration in described hard boss (15) outside.
Especially, described soft block is macromolecular material, and described hard boss comprises groove structure, prevents that soft block from producing warpage in compression process.
For regulating, for example, pass through the size of locking nut regulating friction force as joint damping design, and then regulate the size of described joint damping, by the damping of pad adjusting joint.
For carrying out angular displacement, measures in real time articular prosthesis, preferably, described elbow joint prosthese comprises mounting frame for sensor, angular displacement sensor is arranged on described articular prosthesis by described mounting bracket, realize the real-time measurement of joint motions angle, described mounting bracket will utilize the slotted hole on mounting hole and sensor to adjust the position between sensor and rotating shaft while installation, guarantee centering.
Preferably, the additional protective housing of described sensor.
According to second aspect present invention, a kind of aforementioned dynamic elbow joint prosthese of comprising is provided, wherein, shoulder joint realizes swing and inside and outside swing, upper arm is realized an inside and outside torsional freedom, elbow joint is realized one and is swung up and down degrees of freedom, and forearm is realized an inside and outside torsional freedom, and wrist joint is realized one and swung up and down degrees of freedom.
Especially, bone size is determined according to the GJB GJB4856-2003 of the People's Republic of China (PRC).
According to above two aspects, the present invention can provide a kind of dynamic elbow joint prosthese and dynamic simulation dummy's upper limbs joint, realizes the motion in six-freedom degree certain limit, and can keep certain joint damping, maintain the stability in joint, and can measure in real time by diagonal displacement.
Brief description of the drawings
Accompanying drawing 1: upper limbs general structure;
Accompanying drawing 2(a)-(c): elbow joint structure both direction cross sectional view and range of movement schematic diagram;
Accompanying drawing 3: upper limbs longitudinal design method for determining size;
Accompanying drawing 4(a)-(b): the package assembly of upper arm and forearm;
Accompanying drawing 5(a)-(b): two kinds of mounting type schematic diagram of shoulder joint angular displacement sensor.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in further details.
The dynamic dummy of standard replaces pilot to launch experiment, so need to meet the requirement of limb motion mathematic(al) parameter and geometric parameter from simulated flight person's angle.And consider the mechanical environment that launches experiment, require dummy's structure to meet certain load-up condition.So the design of dummy's Arm structure need to realize 3 functions: (1) limb motion degrees of freedom and range of movement; (2) physical dimension; (3) strength check.
In order to realize above-mentioned functions, the technical solution used in the present invention is:
As shown in Figure 1, the present invention is a kind of dummy's upper limbs, also can be for automobile safety collision dummy and other robot etc.Upper limbs general structure mainly comprises: trunk 1, shoulder joint 2, upper arm 3, elbow joint 4, forearm 5, wrist joint 6 and hand 7.The static structure that accompanying drawing 1 stretches in upper limbs level for the present invention, major embodiment goes out the requirement to upper limbs physical dimension.Realize in each joint that moves through of upper limbs, wherein: shoulder joint 2 realizes two degrees of freedom, and swing and inside and outside swing; Upper arm 3 is realized an inside and outside torsional freedom, and elbow joint 4 is realized one and swung up and down degrees of freedom, and forearm 5 is realized an inside and outside torsional freedom, and wrist joint 6 is realized one and swung up and down degrees of freedom, amounts to 6 freedom of movement.Two degrees of freedom of shoulder joint 2 are decomposed into the single shaft degrees of freedom of two Axis Cross, so 6 degrees of freedom are all single axle rotation.Physical dimension realizes by the structure of design upper arm 3 and forearm 5, be respectively the distance of shoulder joint 2 and elbow joint 4, elbow joint 4 and wrist joint 6 spindle centrals, its basis is the GJB GJB4856-2003 of the People's Republic of China (PRC): Chinese male pilot's human dimension, as shown in Figure 3.Wherein, the size directly providing in standard comprises that B2.89 is arm length, and B2.90 is upperarm length, and B2.91 is forearm length, and B2.92 is that armpit processus styloideus radii is long.Consider the single shaft feature in human synovial anatomical structure and dummy joint, upper arm design length is the half that upperarm length measured value B2.90 deducts arm length B2.89 and the long B2.92 difference of armpit processus styloideus radii, and the long forearm length measured value B2.91 that equals of forearm design.
Describe the Placement in joint below in detail, and the implementation of joint motions.Taking elbow joint as example, referring to accompanying drawing 2, elbow joint 4 connects upper arm 3 and forearm 5, comprises the swing degrees of freedom of torsional freedom and the elbow joint 4 of upper arm 3.The main body of elbow joint 4 is U-shaped members 9, is connected respectively with end connector 12 on end connector under upper arm 13 and forearm, realizes the torsional freedom of upper arm 3 and forearm 5 and swings up and down degrees of freedom with respect to of upper arm 3.Under upper arm, end connector 13 forms revolute pair by wear-resisting Lead Bronze Shaft Sleeves 14 and the hole on member 9 base plates, and utilizes round nut 21 to carry out axial locking.As shown in the B-B view of Fig. 2, the range of movement of this degrees of freedom is undertaken spacing by the hard boss (99) on U-shaped member 9 base plates, for buffering vibration, outside boss side bonds the soft block 22 made of macromolecular material, the damping of simulation human synovial.On hard boss (99), be provided with groove structure, prevent that soft block (22) from producing warpage in compression process.The swing degrees of freedom of elbow joint 4 is to form revolute pair by bearing pin 11 by axle sleeve 17 and the hole on U-shaped member 9 side plates.Bearing pin 11 one end angle of attachment displacement transducer mounting brackets 16, axial locking is carried out by locking nut 20 in one end in addition, the size of regulating friction force.Can pass through pad 18 and 19 adjusting joint dampings.On forearm, end connector 12 and bearing pin 11 are connected by taper pin 10.The range of movement of this degrees of freedom also adopts same limit method.Hard boss 15 is fixed on the side plate of member 9 by screw 8.The inner side that soft block 23 is bonded in hard boss is for shock absorbing.
For the ease of processing, upper arm 3 and forearm 5 all adopt the mode of multiple assembling parts or welding, as shown in Figure 4, (a) are upper arm structure, are (b) upper arm structure.Processing, assembling and the weight distribution etc. of considering upper arm structure, upper arm 3 structures are made up of three parts: end connector 13 under end connector 24, upper arm pipe 26 and upper arm on upper arm.Two members 24 of upper arm pipe 26 and other are connected by two orthogonal straight pins 25 with 13 two ends.Upper arm pipe can adopt section bar, reduces amount of finish.Same mentality of designing, forearm 5 also adopts package assembly.Different, on forearm, need to install pulling force sensor 29.So end connector 12, forearm pipe 27, comprised end connector 32 under sensor upper connection 28, sleeve pipe 30 and forearm on forearm.
In Arm structure design, need to consider the installation of two kinds of sensors.The one, pulling force sensor.In order to measure the pulling force that upper limbs bears in ejection process, a pulling force sensor need to be installed on forearm.Pulling force sensor 29 main bodys are cylindrical body, and two ends are connected with forearm structure 28 and 32 by screw thread, and there is wiring terminal side.In the time of design, the pulling force on principal security forearm transmits by pulling force sensor completely, and will prevent sensor two ends thread looseness, so adopt the mounting structure shown in Fig. 4.After sensor and forearm two-end structure complete by Screw assembly, install outside a sleeve pipe 30 additional.Sleeve outer wall is provided with an opening slot, for passing through wiring terminal.In addition, sleeve pipe two ends are provided with oval slotted hole, connect with forearm structure 28,32 by threaded 31.Oval slotted hole does not affect sleeve pipe and moves axially along forearm, but can prevent forearm top and the bottom, and sensor two ends relatively rotate, thereby reach locking thread object.Another sensor is angular displacement sensor 37, is mainly used in measuring the movement angle in each joint in upper extremity exercise process.Upper arm torsional freedom is identical with the installation of sensors mode of shoulder joint swing degrees of freedom, and elbow joint degrees of freedom is identical with the installation of sensors mode that shoulder joint swings up and down degrees of freedom.Fig. 5, taking shoulder joint as example, has provided two kinds of mounting types.Due to sensor construction size restrictions, require the mounting hole spacing of two M1.6 to be not more than 14mm, be directly installed on the U-shaped member 33 of shoulder joint undesirable.So for pendulum joint before and after shoulder and the upper bottom of shoulder joint, designed mounting frame for sensor 34 and 35, and be fixed on U-shaped member 33 by screw 36.Because this sensor is poor in part angle range service behaviour, need in use to avoid as far as possible.So also consider in the time of installation of sensors, the overall principle is to allow the rear end (terminal) of sensor point to U-shaped member limiting stopper 39 directions.For pendulum joint before and after shoulder, be to realize this target by adjusting the position of sensor on mounting bracket 34, and for the upper bottom of shoulder joint, be to realize with respect to the position of U-shaped member 33 by adjusting whole mounting bracket 35.Before and after shoulder, pendulum joint sensors is arranged on U-shaped member 33 inside, and on shoulder, bottom joint sensors is arranged on U-shaped member 33 side plate outsides, so additional protective housing 38.When installation, mounting bracket 33,34 will utilize the slotted hole on mounting hole and sensor to adjust the position between sensor and rotating shaft, guarantees centering.
The mounting type of the sensor is also applicable to other joints such as elbow joint.
The present invention has adopted by rational total arrangement and structural design, and the motion that has realized dummy's upper limbs requires and how much requirements.Can be for other anthropomorphic robots and automobile safety collision dummy's etc. design.
It should be noted that; the foregoing is only preferred embodiment of the present invention; not thereby limit scope of patent protection of the present invention, the present invention can also carry out to the structure of above-mentioned various component the improvement of material and structure, or adopts technical equivalents thing to replace.Therefore the equivalent structure that all utilizations specification of the present invention and diagramatic content are done changes, or directly or indirectly apply to other correlative technology fields and be all in like manner all contained in the scope that the present invention contains.
Claims (6)
1. a dynamic elbow joint prosthese, comprise agent structure, upper arm (3) and forearm (5), it is characterized in that: described agent structure is a U-shaped member (9), go up end connector (12) with the lower end connector (13) of upper arm (3) and forearm (5) respectively and be connected, realize the torsional freedom of upper arm (3) and forearm (5) and swing up and down degrees of freedom with respect to of upper arm (3);
The lower end connector (13) of upper arm (3) forms revolute pair by axle sleeve (14) and the hole on U-shaped member (9) base plate, and the upper end connector (12) of forearm (5) connects and composes revolute pair by axle sleeve (17) and the hole on U-shaped member (9) side plate;
The inner side of described U-shaped member (9) side plate is provided with hard boss (15) and carries out spacingly, is bonded with soft block (22) with buffering vibration in described hard boss (15) outside;
Described elbow joint prosthese comprises mounting frame for sensor (33,34), angular displacement sensor (37) is arranged on described articular prosthesis by described mounting bracket (33,34), realize the real-time measurement of joint motions angle, described mounting bracket (33,34) will utilize the slotted hole on mounting hole and sensor to adjust the position between sensor and rotating shaft while installation, guarantee centering, the additional protective housing of described sensor (37) (38).
2. dynamic elbow joint prosthese according to claim 1, is characterized in that, described soft block (22) is macromolecular material, and described hard boss (15) comprises groove structure, prevents that soft block (22) from producing warpage in compression process.
3. dynamic elbow joint prosthese according to claim 1, is characterized in that: joint damping can regulate.
4. dynamic elbow joint prosthese according to claim 3, is characterized in that, by the size of locking nut (20) regulating friction force, and then regulates the size of described joint damping, by pad (18,19) adjusting joint damping.
5. a dynamic upper limbs prosthese, it is characterized in that, comprise the dynamic elbow joint prosthese of aforementioned claim any one, wherein, shoulder joint realizes swing and inside and outside swing, and upper arm (3) is realized an inside and outside torsional freedom, and elbow joint (4) is realized one and swung up and down degrees of freedom, forearm (5) is realized an inside and outside torsional freedom, and wrist joint (6) is realized one and swung up and down degrees of freedom.
6. dynamic upper limbs prosthese according to claim 5, bone size is determined according to the GJB GJB4856-2003 of the People's Republic of China (PRC).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210260645.XA CN102758995B (en) | 2012-07-25 | 2012-07-25 | Dynamic elbow joint prosthesis and dynamic upper limb prosthesis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210260645.XA CN102758995B (en) | 2012-07-25 | 2012-07-25 | Dynamic elbow joint prosthesis and dynamic upper limb prosthesis |
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| Publication Number | Publication Date |
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| CN102758995A CN102758995A (en) | 2012-10-31 |
| CN102758995B true CN102758995B (en) | 2014-07-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210260645.XA Expired - Fee Related CN102758995B (en) | 2012-07-25 | 2012-07-25 | Dynamic elbow joint prosthesis and dynamic upper limb prosthesis |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103117018B (en) * | 2013-01-29 | 2015-12-23 | 营口巨成教学科技开发有限公司 | Simulation architecture of bone movement |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1158238A1 (en) * | 2000-05-23 | 2001-11-28 | USM Holding AG | Holding device for apparatus |
| WO2006035757A1 (en) * | 2004-09-30 | 2006-04-06 | Nhk Spring Co., Ltd. | Hinge device and opening/closing mechanism using the hinge device |
| CN200989369Y (en) * | 2006-10-19 | 2007-12-12 | 黄宪农 | Homological rotary shaft structure |
| CN201255175Y (en) * | 2008-09-12 | 2009-06-10 | 庄惟捷 | Socket joint type pivot structure with blocking function |
-
2012
- 2012-07-25 CN CN201210260645.XA patent/CN102758995B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1158238A1 (en) * | 2000-05-23 | 2001-11-28 | USM Holding AG | Holding device for apparatus |
| WO2006035757A1 (en) * | 2004-09-30 | 2006-04-06 | Nhk Spring Co., Ltd. | Hinge device and opening/closing mechanism using the hinge device |
| CN200989369Y (en) * | 2006-10-19 | 2007-12-12 | 黄宪农 | Homological rotary shaft structure |
| CN201255175Y (en) * | 2008-09-12 | 2009-06-10 | 庄惟捷 | Socket joint type pivot structure with blocking function |
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| CN102758995A (en) | 2012-10-31 |
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Granted publication date: 20140730 Termination date: 20160725 |