CN107913065B

CN107913065B - Three-dimensional joint angle measuring device

Info

Publication number: CN107913065B
Application number: CN201711295371.7A
Authority: CN
Inventors: 郝智秀; 肖丽英; 任晓雨; 朱鑫
Original assignee: Tsinghua University
Current assignee: Tsinghua University
Priority date: 2017-12-08
Filing date: 2017-12-08
Publication date: 2021-01-15
Anticipated expiration: 2037-12-08
Also published as: CN107913065A

Abstract

The invention discloses a three-dimensional joint angle measurement device, comprising: an upper fixed arm, a lower fixed arm, a three-dimensional measurement frame, and the three-dimensional measurement frame consists of an X-direction angle sensor, a Y-direction angle sensor, a Z-direction angle sensor, and an arc-shaped slide rail. An arc-shaped slider, a roller, and a bracket are composed. The arc-shaped slider is connected with the arc-shaped sliding rail. The X-direction angle sensor is fixed on the bracket; the Y-direction angle sensor, the The Y-direction angle sensor is fixed on the bracket and connected with the arc-shaped sliding rail; the Z-direction angle sensor is fixed on the arc-shaped sliding block and connected with the roller. The three-dimensional joint angle measurement device according to the embodiment of the present invention can realize joint angle measurement in three directions, so that the measurement result is more accurate than the real joint motion state.

Description

Three-dimensional joint angle measuring device

Technical Field

The invention relates to human motion characteristic detection, in particular to a three-dimensional joint angle measuring device.

Background

The existing mechanical joint angle measuring device cannot realize simultaneous measurement of angles in three directions. Chinese patent ZL 201220705625.4 discloses a dynamic joint angle measuring device, including two measuring arms, rotation connection module, angle measuring module, its characterized in that: one of the measuring arms is composed of a first fixed measuring arm and a first free measuring arm, the other measuring arm is composed of a second fixed measuring arm and a second free measuring arm, each free measuring arm is connected with the corresponding fixed measuring arm through a sliding connection structure, the free measuring arms have freedom degrees sliding along the length direction of the measuring arms, the first free measuring arm and the second free measuring arm are connected in a rotating mode through a rotating connection module, and the angle measuring module is provided with an angle sensor for measuring the included angle between the first free measuring arm and the second free measuring arm. The Chinese patent ZL 201220705625.4 can realize dynamic posture measurement, effectively solves the problem that the deviation of the joint center in the joint movement affects the angle measurement, realizes parallel measurement, and reduces the restriction of the measuring instrument on the joint movement of a measured person.

Obviously, the device can not realize simultaneous measurement of angles in three directions, and can not achieve the aim of preparing to measure the joint change due to the lack of measurement freedom.

Disclosure of Invention

The present invention is directed to solving the above problems. To this end, the invention proposes a three-dimensional joint angle measuring device that makes it possible to carry out angle measurements in three directions in the course of joint movements.

The invention relates to a three-dimensional joint angle measuring device, comprising: the three-dimensional measuring frame is composed of an X-direction angle sensor, a Y-direction angle sensor, a Z-direction angle sensor, an arc-shaped sliding rail, an arc-shaped sliding block, a roller and a support, wherein the arc-shaped sliding block is connected with the arc-shaped sliding rail.

The X-direction angle sensor is fixed on the bracket;

and the Y-direction angle sensor is fixed on the support and connected with the arc-shaped sliding rail.

And the Z-direction angle sensor is fixed on the arc-shaped sliding block and is connected with the roller.

The upper fixed arm consists of a sliding block and a sliding rod which are connected in a sliding way; the lower fixing arm is composed of a sliding block and a sliding rod which are connected in a sliding mode.

The X-direction angle sensor is connected with the sliding rod of the upper fixed arm; and the sliding rod of the lower fixing arm is connected with the arc-shaped sliding block of the three-dimensional measuring frame through a hexagonal pin.

The support is L-shaped and is fixedly connected with the X-direction angle sensor and the Y-direction angle sensor, the X-direction angle sensor measures the relative rotation angle of the slide bar and the support, the Y-direction angle sensor measures the relative rotation angle of the support and the arc-shaped slide rail, and the Z-direction angle sensor measures the rotation angle of the roller; the roller rolls on the arc-shaped outer surface of the arc-shaped slide rail; the arc-shaped sliding block is connected with the arc-shaped sliding rail and slides on the arc-shaped outer surface of the arc-shaped sliding rail.

Has the advantages that: the three-dimensional joint angle measuring device provided by the embodiment of the invention can realize joint angle measurement in three directions, so that the measurement result is more accurate relative to the real joint motion state.

Drawings

FIGS. 1a, 1b, 1c are three-dimensional views of a three-dimensional joint angle measuring device according to an embodiment of the present invention;

fig. 2 is a schematic structural view of the three-dimensional joint angle measuring device of the present invention.

Fig. 3 is a schematic view of the measuring structure of the Z-direction sensor of the invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

A three-dimensional joint angle measuring apparatus according to an embodiment of the present invention will be described with reference to fig. 1a to 1c and fig. 2. The three-dimensional joint angle measuring device comprises

sliders

002 and 010,

slide bars

001 and 011, a support 004, an arc-shaped slide rail 006, an arc-shaped slider 007, a connecting nail 012, a pulley 008, an X-direction angle sensor 003, a Y-direction angle sensor 005 and a Z-direction angle sensor 009.

X is fixed on support 004 and is connected with slide bar 001 to angle sensor 003, Y is fixed on support 004 and is connected with arc slide rail 006 to angle sensor 005, Z is fixed on arc slider 007 and is connected with gyro wheel 008 to angle sensor 009,

slide bar

001, 011 can be at corresponding slider 002, slide in 010's the spout, support 004 has been X to angle sensor and Y to angle sensor for L shape fixed connection, gyro wheel 008 can roll at the arc surface of arc slide rail 006, arc slider 007 links to each other with arc slide rail 006 and can slide at the arc surface of arc slide rail 006, slide bar 011 is connected through hex pin 012 with arc slider 007.

The operation of the three-dimensional joint angle measuring device according to the embodiment of the present invention will be described with reference to fig. 1a to 1c and fig. 2. Slider 002 and slider 010 are fixed with joint upper and lower two sections respectively, when the angular displacement of three orientation takes place for the joint, X can directly measure the angular displacement of X orientation and Y orientation to angular transducer 003 and Y to angular transducer 005, Z slides on arc slide rail 006 to angular transducer along with arc slider 007, gyro wheel 008 rolls on the arc slide rail, Z obtains gyro wheel 008's roll angle to sensor measurement, the calculation obtains gyro wheel 008 roll displacement, the radius that combines arc slide rail 006 calculates and obtains joint Z to angular displacement.

Referring to fig. 3, the radius of the arc-shaped sliding rail 006 is R, the diameter of the pulley 008 is D, and the direct measurement result of the Z-direction sensor is θ_zThe conversion relation of the Z-direction rotation angle is

Therefore, the three-dimensional joint angle measuring device according to the embodiment of the present invention can realize joint angle measurement in three directions.

Finally, it should be pointed out that: the above examples are only for illustrating the technical solutions of the present invention, and are not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A three-dimensional joint angle measuring device, comprising: an upper fixed arm, a lower fixed arm, a three-dimensional measuring frame, characterized in that:

The three-dimensional measuring frame consists of an X-direction angle sensor (003), a Y-direction angle sensor (005), a Z-direction angle sensor (009), an arc-shaped slide rail (006), an arc-shaped slider (007), and a roller (008) , the bracket (004) is composed;

The arc-shaped sliding block (007) is connected with the arc-shaped sliding rail (006), and the X-direction angle sensor (003) is fixed on the bracket (004);

The Y-direction angle sensor (005) is fixed on the bracket (004) and connected with the arc-shaped slide rail (006);

The Z-direction angle sensor (009) is fixed on the arc-shaped slider (007) and is connected with the roller (008);

The upper fixed arm is composed of a sliding block (002) and a sliding rod (001), and the two are slidably connected;

The lower fixed arm is composed of a sliding block (010) and a sliding rod (011), and the two are slidably connected;

The X-direction angle sensor (003) is connected with the sliding rod (001) of the upper fixed arm;

The bracket (004) is L-shaped, and the X-direction angle sensor (003) and the Y-direction angle sensor (005) are fixedly connected;

The roller (008) rolls on the arcuate outer surface of the arcuate slide rail (006);

The arc-shaped sliding block (007) is connected with the arc-shaped sliding rail (006) and slides on the arc-shaped outer surface of the arc-shaped sliding rail (006);

The sliding rod (011) of the lower fixed arm is connected with the arc-shaped sliding block (007) of the three-dimensional measuring frame through a hexagonal pin (012).

2. The three-dimensional joint angle measuring device according to claim 1, characterized in that: what the X-direction angle sensor (003) measures is the relative rotation angle between the sliding rod (001) and the bracket (004), The Y-direction angle sensor measures the relative rotation angle of the bracket (004) and the arc-shaped slide rail (006), and the Z-direction angle sensor measures the rotation angle of the roller.