CN106205323A - Simulated humanbody joint - Google Patents
Simulated humanbody joint Download PDFInfo
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- CN106205323A CN106205323A CN201610704647.1A CN201610704647A CN106205323A CN 106205323 A CN106205323 A CN 106205323A CN 201610704647 A CN201610704647 A CN 201610704647A CN 106205323 A CN106205323 A CN 106205323A
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- G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
- G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
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Abstract
The present invention relates to a kind of simulated humanbody joint, imitate skeleton connector including first, second；First end imitating skeleton connector is fixed with joint ball seat, and the second end imitating skeleton connector is fixed with joint ball, and joint ball seat has the ball-and-socket fitted with joint ball surface, and ball-and-socket covers the area half less than joint ball total surface area on joint ball surface；Joint ball seat, joint ball are made up of permeability magnetic material respectively, are provided with magnetic assembly in the ball seat of joint；Under the magnetic attraction effect of magnetic assembly, joint ball seat is formed with joint ball and is flexibly connected；The central shaft of joint ball seat overlaps with the centre of sphere of joint ball；The central shaft of the first central shaft and joint ball seat imitating skeleton connector overlaps, and the centre of sphere of the second central shaft and joint ball imitating skeleton connector overlaps.The present invention can realize the emulation of the people limbs joint main to six by a kind of ad hoc structure, can ensure that the crossing point of axes of the connected skeleton in both sides, joint is fixed simultaneously, it is achieved the height emulation of people's limbs joint.
Description
Technical field
The present invention relates to a kind of simulated humanbody joint, the emulation of the height to human synovial can be realized, belong to anthropometric dummy
Biomimetic features technical field.
Background technology
Bionics is a cross discipline, the main research structure of biosystem, function and operation principle, thus is engineering
Technology provides new design philosophy and operation principle, and it relates to biology, mathematics and engineering technology program etc., is these subject phases
The bridge of cooperation mutually.The development of bionics techniques will promote the development of the ambit such as mathematics and engineering, thus gives society
Huge economic results in society can be brought, promote the development of society.
Under the ideas that people-oriented, life is considered the most valuable wealth, the research of ergonomics
Seem particularly necessary.When studying man-mechanic-environment system mutual relation, if jeopardizing the health and lives of people, people is impossible
The most not allowing to become trial target, at this moment, various types of human simulation models are (such as: high-speed carriering tool human simulation model, irradiation are imitative
True man's model, medical training human simulation model etc.) in research process, play important bridge and work with true man scapegoat's identity
Tool effect.
Human simulation model is also referred to as dummy (Dummy).Up to now, the bionics techniques that human simulation model uses, substantially may be used
Be summarized as that geometrical body is bionical, material biomimetics, structure function are bionical, matter energy transmission is bionical and bio information sensing is bionical etc.
Classification.As first patient of hospital every day carries out the service check of instrument；First experimenter of new therapy that combines both Chinese and Western medical practices, checks its section
The property learned, safety and practicality；Such as first belligerent personnel of military equipment, the killing ability of inspection weapon and protective equipment
Protective capacities；Such as first passenger of high-speed carriering tool, inspection security, comfortableness and life-support system；As tourist district,
First visitor of new building and resident family, to carry out objective evaluation to its radiation level, safety.
The countries such as America and Europe have begun to the research to human simulation model from the forties in 20th century, and representative is the U.S.
First safe practice company (First Technology safety system), Volvo company of Holland and TNO company of Holland.
From the Thor of in the world first human simulation model Sierra Sam newer type up till now, it it is all the body of bionics techniques development
Existing.The research of China's human simulation model is started late, and in the eighties in 20th century, China is constantly deeply to human simulation model
Research, strengthen bionics techniques development.Present morphosis function etc. is developed into from the most single geometric shape simulation
Height bionical, China's human simulation model has been provided with certain level, but the concrete application development of bionics techniques is slow, it is necessary to
Add and significantly the JINYAOSHI of this social development of bionics techniques is studied.
Maximum still bionical based on 26S Proteasome Structure and Function of Vehicles Collected from Market capacity and demand.Structure function is bionical includes that structure is imitated
Life and two aspects of function bionics, function bionics must be based on bionic structure, and both are entities.China's human simulation model
The bionical major embodiment of structure function both ways: one be from external structure consider, 15 links of human simulation model, Mei Gehuan
The external structure function of joint is similar with human body；Two is to consider from amechanical angle, it is possible to realize the various postures of human motion and
The imitation of motility, excrescence bionical to each joint freedom degrees and range of activity now.
The bridge of human simulation model, stablize the effects such as receptor, scapegoat and instrument, determine its market demand widely.For
Safety, comfortableness and the evaluating of various guarantee human-body safety that acquisition is optimal, human simulation model must have height
Bio-imitability.Bionical the most bionical, and be intended in bionical middle innovation.Because when developing human simulation model, a lot
In the case of can not obtain material duplicate with human body and structure, such as: in order to obtain high-speed carriering tool evaluation join
Number, must install sensor in human simulation model, and human body not have sensor, and this just determines must be in bionical middle innovation.
The human simulation model being so finally completed just can be widely used in engineering in medicine, safety engineering, environmental project, military engineering and people
The fields such as machine engineering, promote the well-being of mankind.
Specific to sport health teaching field, the teaching difficulty measuring joint angles is relatively big, and its difficulty essentially consists in following
Several respects: (1) is measured object and is usually true man, and true man are difficult to make a certain joint of oneself keep an action constant so that
Measurement itself does not has authoritative model answer for reference；(2) although the theory of joint measurment is very simple, but human synovial itself
There is feature in irregular shape, be difficult to pass judgment on objective criterion the measurement process whether standard of student；(3) due to cannot be with
The measurement result of standard is weighed, and often can only teach concrete survey by teacher by experience with students to student in teaching process
Metering method, and student's Grasping level to measuring method cannot be passed judgment in conjunction with model answer.Owing to emulation joint can be held
Keep joint action constant for a long time, use emulation joint should be able to solve the problems referred to above.
Find through retrieval, Patent No. CN200510021242.X, Authorization Notice No. CN100492444C, entitled " people
Bionic joint structure of body Model and application thereof " Chinese invention patent, this bionic joint structure contains upper arm, underarm and two
Rotating part, upper arm and underarm are flexibly connected, and upper arm rotates relative to underarm around horizontal axis line, the limited pin in turned position
Limiting with the locating notch of upper arm, the frictional force of rotating part is regulated and controled jointly by Frictional Slipping block and regulation screw；Joint bolt
The upper and bottom section of underarm being connected, the lower part of underarm rotates, below joint bolt relative to the axial line of underarm
Being equiped with friction shim to regulate the frictional force of this rotary part, limit screw is fixedly connected screw to prevent relative to underarm
Rotate.
Patent No. CN200520087642.6, Authorization Notice No. are CN2841103Y, entitled " joint is mobilizable vertical
Body portrait " Chinese utility model patent, its head branch organizes neck-connecting part branch, main omoplate mechanism the most successively, and main omoplate
Among mechanism below portion and down either side respectively Zu Jie vertebra mechanism and two omoplate articulation mechanisms, vertebra mechanism lower end group connects main hip
Bone mechanism, main hipbone mechanism both sides group the most successively connect two hipbone articulation mechanisms, two thigh and calf articulation mechanisms and two ankle arthrosis
Mechanism, two omoplate articulation mechanism lower end sequentially groups meet two upper arm articulation mechanisms and two underarm articulation mechanisms, said mechanism and mechanism
Between use pivotally connected or sphere connected mode to be attached.
Patent No. CN201220013687.9, Authorization Notice No. are CN202436648U, entitled " a kind of moving human body
Model " Chinese utility model patent, including head, neck, trunk, upper limb and lower limb, trunk includes breast, abdomen, hip, and upper limb includes
Shoulder, large arm, elbow, forearm and hands, lower limb include thigh, knee, shank, hind paw and forefoot, and each joint uses and people
The structure design that body joint is similar.
But, in the prior art with above-mentioned patent as representative, human simulation is mainly used as showing by dummy or essence
For robot, its joint only needs the requirement reaching to go slick, and is not required to simulate realistically human synovial, therefore,
The most usually can be seen that the joint little for freedom of movement, realize frequently with a simple revolute pair；
For the joint that freedom of movement is big, it is connected frequently with two revolute pairs and realizes.But, although these structures can make emulation limb
Body shows the moulding meeting human action, but has a long way to go with real human synovial structure.
The limbs joint of human body mainly includes the shoulder joint of upper limb, elbow joint and carpal joint, and the hip joint of lower limb, knee joint
Joint and ankle joint.The concrete structure of these limbs joints is different, and mobility scope is also made a world of difference (the joint shape having
State mobility is greatly to 180 °, and some joints state activity degree is little to less than 20 °), it is difficult to by a certain specific with prior art
Structure these limbs joints are emulated.Meanwhile, these limbs joints when activity, the axle of the connected skeleton in both sides, joint
Line intersection point is fixed, and will not change with joint motion, and this is also the difficult point of joint emulation.
Summary of the invention
The technical problem to be solved is: overcome the problem that prior art exists, it is provided that a kind of simulated humanbody closes
Joint, emulator is high, can be used for the major limb joint of simulated humanbody.
Present invention applicant is found that technical problem (the scape skill of passing away that prior art exists in practical studies for many years
Art), the most i.e. it is devoted to solve these technical problems.Applicant finds in going deep into practical studies, to use standard machinery
The joint of structure, is difficult to highly emulate the most certainly；To use the joint of vacuum structure, although likely realize highly imitating
Very, but sealing structure is required too high, be difficult to realize.Applicant have also been attempted the joint of other structures multiple, but always difficult
Immobilize with crossing point of axes to take into account highly to emulate.Applicant, further across in depth repeatedly practising research, draws finally
The technical scheme of aforementioned technical problem can be solved.Specific as follows:
A kind of simulated humanbody joint, imitates skeleton connector including first, second；It is characterized in that, described first imitates skeleton even
The end of fitting is fixed with joint ball seat, and described second end imitating skeleton connector is fixed with joint ball, described joint ball seat
Matching with joint ball, described joint ball seat has the ball-and-socket fitted with joint ball surface, and described ball-and-socket covers joint ball table
The area in face is less than the half of joint ball total surface area；Described joint ball seat, joint ball are made up of permeability magnetic material respectively, described
Magnetic assembly it is provided with in the ball seat of joint；Under the magnetic attraction effect of magnetic assembly, described joint ball seat and joint ball form activity
Connect；The central shaft of described joint ball seat overlaps with the centre of sphere of joint ball；Described first central shaft and the pass imitating skeleton connector
The central shaft of joint ball seat overlaps, and the centre of sphere of the described second central shaft and joint ball imitating skeleton connector overlaps；
Described simulated humanbody joint have turn down magnetic assembly magnetic attraction after first, second imitate skeleton connector by swinging
Make simulated humanbody joint show the first state of preset posture, and heighten magnetic assembly magnetic attraction and make first, second to imitate skeleton
Connector holding position is constant and then makes simulated humanbody joint keep constant the second state of attitude.
In this structure: on the one hand, ball-and-socket is smaller in size than the half of joint ball, it can be ensured that be applicable to the pass that mobility is bigger
Joint, thus solve prior art and cannot emulate the technical barrier of six main people's limbs joints with a kind of ad hoc structure；Another
Aspect, connects joint ball seat and joint ball with the magnetic attraction of magnetic assembly, not only can avoid reducing ball-and-socket and cause joint ball to take off
Situation about falling, moreover it is possible to regulated the frictional damping of joint ball seat and joint ball by the power controlling magnetic attraction so that human simulation
Body joint can be shown action on request, action can be kept constant again；Another further aspect, whole simulated humanbody joint is with single joint
Structure comes farthest simulated humanbody joint, and by the considered critical of part position relations each to simulated humanbody joint, really
The crossing point of axes protecting the connected skeleton in both sides, joint is fixed, it is achieved height emulation.
The technical scheme that the present invention is the most perfect is as follows:
Preferably, when described simulated humanbody joint is for emulation shoulder joint, described first imitates skeleton connector for imitative omoplate
Bone connector, described second imitates skeleton connector for imitative humerus connector, and the ball-and-socket of described joint ball seat is imitative scapula joint
Broad-mouthed receptacle for holding liquid, described joint ball is imitative head of humerus；The described glenoid edge of imitative scapula is provided with imitative shoulder joint locating part, at this imitative shoulder joint
Under the position-limiting action of joint locating part, the mobility scope of described emulation shoulder joint is: sagging as neutral position with imitative humerus connector,
Lifting mobility on joint is 160 °～180 °, and stretching mobility behind joint is 40 °～60 °.
Use this preferred version, can the most highly emulate shoulder joint.
Preferably, when described simulated humanbody joint is for emulation elbow joint, described first imitates skeleton connector for imitative humerus
Connector, described second imitates skeleton connector for imitative forearm skeleton connector, and the ball-and-socket of described joint ball seat is imitative humerus nest, institute
State joint ball for imitative forearm skeleton joint；The edge of described imitative humerus nest is provided with imitative elbow joint locating part, limits at this imitative elbow joint
Under the position-limiting action of position part, the mobility scope of described emulation elbow joint is: sagging as neutral position with imitative forearm skeleton connector,
Flex degree in joint is 135 °～160 °, and joint overexertion mobility is 0 °～20 °.
Use this preferred version, can the most highly emulate elbow joint.
Preferably, when described simulated humanbody joint is for emulation carpal joint, described first imitates skeleton connector for imitative forearm
Skeleton connector, described second imitates skeleton connector for imitative hands bone connector, and the ball-and-socket of described joint ball seat is imitative carpal joint dish,
Described joint ball is imitative carpal joint head；The edge of described imitative carpal joint dish is provided with imitative carpal joint locating part, limits at this imitative carpal joint
Under the position-limiting action of position part, described emulation carpal mobility scope is: connect with imitative hands bone connector and imitative forearm skeleton
Part is linearly neutral position, and joint dorsiflexion mobility is 30 °～60 °, and joint palmar flexion mobility is 50 °～90 °, and inclination is scratched in joint
Tiltedly mobility is 25 °～40 °, and joint ulnar drift mobility is 30 °～50 °.
Use this preferred version, can the most highly emulate carpal joint.
Preferably, when described simulated humanbody joint is for emulation hip joint, described first imitates skeleton connector for imitative hipbone
Connector, described second imitates skeleton connector for imitative femur connector, and the ball-and-socket of described joint ball seat is imitative acetabular fossa, described pass
Joint ball is imitative femoral head；The edge of described imitative acetabular fossa is provided with imitative hip joint locating part, spacing at this imitative hip joint locating part
Under effect, the mobility scope of described emulation hip joint is: stretching as neutral position emulating hip joint, flex degree in joint is
130 °～150 °, stretching mobility behind joint is 10 °～25 °, and joint abduction mobility is 30 °～55 °, and intraarticular folding movable degree is
20 °～40 °.
Use this preferred version, can the most highly emulate hip joint.
Preferably, when described simulated humanbody joint is for emulation knee joint, described first imitates skeleton connector for imitative femur
Connector, described second imitates skeleton connector for imitative tibia connector, and the ball-and-socket of described joint ball seat is imitative condyle of femur, described pass
Joint ball is imitative tibial condyle；The edge of described imitative condyle of femur is provided with imitative knee joint locating part, spacing at this imitative knee joint locating part
Under effect, described emulation kneed mobility scope is: stretching as neutral position emulating knee joint, flex degree in joint is
120 °～160 °, joint hyperextension mobility is 5 °～20 °.
Use this preferred version, can the most highly emulate knee joint.
Preferably, when described simulated humanbody joint is for emulation ankle joint, described first imitates skeleton connector for imitative shank
Skeleton connector, described second imitates skeleton connector for imitative astragalus connector, and the ball-and-socket of described joint ball seat closes for imitative focile
Nodal section, described joint ball is imitative trochlea of talus；The edge of described imitative focile articular surface is provided with imitative ankle joint locating part, imitates at this
Under the position-limiting action of ankle joint locating part, the mobility scope of described emulation ankle joint is: with imitative astragalus connector and imitative shank
It is neutral position that skeleton connector is 90 °, and dorsiflex mobility in joint is 20 °～40 °, and joint plantar flexion mobility is 40 °～60 °, closes
Joint varus mobility is 20 °～40 °, and joint mobility of turning up is 30 °～45 °.
Use this preferred version, can the most highly emulate ankle joint.
Preferably, described magnetic assembly includes solenoid or permanent magnet and solenoid, described permanent magnet or electromagnetism
The central shaft of coil overlaps with the central shaft of joint ball seat；Described permanent magnet or solenoid have the magnetic of default value scope
Power.
Use this preferred version, magnetic attraction can be regulated by regulating winding size of current, to meet actual requirement.
Preferably, the ball-and-socket of described joint ball seat is provided with the ball-and-socket wearing layer with default coefficient of friction, described joint ball
Surface is provided with the sphere wearing layer with default coefficient of friction, and described ball-and-socket wearing layer connects with sphere wearing layer.
Use this preferred version, joint can be made preferably to keep action constant.
Preferably, described first, second imitate skeleton connector and be respectively rod component.
Compared with prior art, the present invention can realize the people limbs joint main to six by a kind of ad hoc structure
Emulation, can ensure that the crossing point of axes of the connected skeleton in both sides, joint is fixed simultaneously, it is achieved the height emulation of people's limbs joint.
Accompanying drawing explanation
Fig. 1 is the structural representation that the present invention is embodied as.
Fig. 2 is the structural representation emulating shoulder joint in the specific embodiment of the invention.
Fig. 3 is the a-quadrant enlarged diagram of Fig. 2.
Fig. 4 is the structural representation emulating elbow joint in the specific embodiment of the invention.
Fig. 5 is to emulate carpal structural representation in the specific embodiment of the invention.
Fig. 6 is the structural representation emulating hip joint in the specific embodiment of the invention.
Fig. 7 is to emulate kneed structural representation in the specific embodiment of the invention.
Fig. 8 is the B region enlarged diagram of Fig. 7.
Fig. 9 is the structural representation emulating ankle joint in the specific embodiment of the invention.
Detailed description of the invention
It is described in further detail with reference to the accompanying drawings and in conjunction with the embodiments to the present invention.But the invention is not restricted to
The example gone out.
When being embodied as, as it is shown in figure 1, the simulated humanbody joint of the present invention, imitate skeleton connector including first, second
14、15；First end imitating skeleton connector 14 is fixed with joint ball seat 11, and the second end imitating skeleton connector 15 is fixed with
Joint ball 12, joint ball 12 11 matches with joint ball 12, and joint ball 12 11 has and fits with joint ball 12 surface
Ball-and-socket, ball-and-socket covers the area half less than joint ball 12 total surface area on joint ball 12 surface；Joint ball seat 11, joint ball
12 are made up of permeability magnetic material respectively, are provided with magnetic assembly 13 in joint ball seat 11；Under the magnetic attraction effect of magnetic assembly 13, close
Joint ball seat 11 is formed with joint ball 12 and is flexibly connected；The central shaft of joint ball seat 11 overlaps with the centre of sphere of joint ball 12；The first,
Two imitate skeleton connector 14,15 is respectively rod component；In first central shaft imitating skeleton connector 14 and joint ball seat 11
Mandrel overlaps, and the centre of sphere of the second central shaft and joint ball 12 imitating skeleton connector 15 overlaps.First, second imitates skeleton connector
The light material that optional rigidity is big, such as titanium alloy or aluminum alloy materials etc..
Simulated humanbody joint have turn down magnetic assembly 13 magnetic attraction after first, second imitate skeleton connector by swinging
14,15 make simulated humanbody joint show the first state of preset posture, and heighten magnetic assembly 13 magnetic attraction and make first, second
Imitative skeleton connector 14,15 holding position is constant and then makes simulated humanbody joint keep constant the second state of attitude.This mistake
Journey can manually control realization, it is also possible to realized by Automatic control of single chip microcomputer.
Magnetic assembly 13 includes the central shaft of solenoid or permanent magnet and solenoid, permanent magnet or solenoid
Overlap with the central shaft of joint ball seat 11；Permanent magnet or solenoid have the magnetic attraction of default value scope.Solenoid can
Different capacity is selected according to different joints.
The ball-and-socket of joint ball seat 11 is provided with the ball-and-socket wearing layer with default coefficient of friction, and joint ball 12 surface is provided with to be had
Presetting the sphere wearing layer of coefficient of friction, ball-and-socket wearing layer connects with sphere wearing layer.
In use, first appropriateness can turn down the magnetic attraction of solenoid, then imitate skeleton connector by swinging first, second
14,15 show default joint attitude (this process i.e. first state in simulated humanbody joint), then heighten solenoid
Magnetic attraction make joint ball seat 11 together with joint ball 12 secure fit, thus keep joint posture (this be simulated humanbody close
Second state of joint), the most i.e. can be used for measuring joint angles.
Embodiment 1 emulates shoulder joint
As shown in Figure 2 and Figure 3, the simulated humanbody joint of the present embodiment is emulation shoulder joint, and first imitates skeleton connector 14 is
Imitative scapula connector, second imitates skeleton connector 15 for imitative humerus connector, and the ball-and-socket of joint ball seat 11 closes for imitative scapula
Joint broad-mouthed receptacle for holding liquid, joint ball 12 is imitative head of humerus；The imitative glenoid edge of scapula is provided with imitative shoulder joint locating part 16, in this imitative shoulder joint
Under the position-limiting action of locating part 16, the mobility scope of emulation shoulder joint is: sagging as neutral position with imitative humerus connector, joint
Upper act mobility is 160 °～180 °, and stretching mobility behind joint is 40 °～60 °.
Embodiment 2 emulates elbow joint
As shown in Figure 4, when the simulated humanbody joint of the present embodiment is for emulation elbow joint, first to imitate skeleton connector 14 be imitative
Humerus connector, second imitates skeleton connector 15 for imitative forearm skeleton connector, and the ball-and-socket of joint ball seat 11 is imitative humerus nest, closes
Joint ball 12 is imitative forearm skeleton joint；The edge of imitative humerus nest is provided with imitative elbow joint locating part 16, at this imitative elbow joint locating part
Under the position-limiting action of 16, the mobility scope of emulation elbow joint is: sagging as neutral position with imitative forearm skeleton connector, joint is bent
Bent mobility is 135 °～160 °, and joint overexertion mobility is 0 °～20 °.
Embodiment 3 emulates carpal joint
During as it is shown in figure 5, the simulated humanbody joint of the present embodiment is for emulation carpal joint, first to imitate skeleton connector 14 be imitative
Forearm skeleton connector, second imitates skeleton connector 15 for imitative hands bone connector, and the ball-and-socket of joint ball seat 11 is imitative carpal joint dish,
Joint ball 12 is imitative carpal joint head；The edge of imitative carpal joint dish is provided with imitative carpal joint locating part 16, at this imitative carpal joint locating part
Under the position-limiting action of 16, emulating carpal mobility scope is: with imitative hands bone connector and imitative forearm skeleton connector in directly
Line is neutral position, and joint dorsiflexion mobility is 30 °～60 °, and joint palmar flexion mobility is 50 °～90 °, and side tilting action is scratched in joint
Degree is 25 °～40 °, and joint ulnar drift mobility is 30 °～50 °.
Embodiment 4 emulates hip joint
As shown in Figure 6, when the simulated humanbody joint of the present embodiment is for emulation hip joint, first to imitate skeleton connector 14 be imitative
Hipbone connector, second imitates skeleton connector 15 for imitative femur connector, and the ball-and-socket of joint ball seat 11 is imitative acetabular fossa, joint ball
12 is imitative femoral head；The edge of imitative acetabular fossa is provided with imitative hip joint locating part 16, at the spacing work of this imitative hip joint locating part 16
Under with, the mobility scope of emulation hip joint is: stretch as neutral position emulating hip joint, joint flex degree be 130 °～
150 °, stretching mobility behind joint is 10 °～25 °, and joint abduction mobility is 30 °～55 °, intraarticular folding movable degree be 20 °～
40°。
Embodiment 5 emulates knee joint
As shown in Figure 7, Figure 8, when the simulated humanbody joint of the present embodiment is for emulation knee joint, first imitates skeleton connector 14
For imitative femur connector, second imitates skeleton connector 15 for imitative tibia connector, and the ball-and-socket of joint ball seat 11 is imitative condyle of femur, closes
Joint ball 12 is imitative tibial condyle；The edge of imitative condyle of femur is provided with imitative knee joint locating part 16, in the limit of this imitative knee joint locating part 16
Under the effect of position, emulating kneed mobility scope is: stretching as neutral position emulating knee joint, flex degree in joint is
120 °～160 °, joint hyperextension mobility is 5 °～20 °.
Embodiment 6 emulates ankle joint
During as it is shown in figure 9, the simulated humanbody joint of the present embodiment is for emulation ankle joint, first to imitate skeleton connector 14 be imitative
Leg bones connector, second imitates skeleton connector 15 for imitative astragalus connector, and the ball-and-socket of joint ball seat 11 closes for imitative focile
Nodal section, joint ball 12 is imitative trochlea of talus；The edge of imitative focile articular surface is provided with imitative ankle joint locating part 16, closes at this imitative ankle
Under the position-limiting action of joint locating part 16, the mobility scope of emulation ankle joint is: with imitative astragalus connector with imitative Leg bones even
It is neutral position that fitting is 90 °, and dorsiflex mobility in joint is 20 °～40 °, and joint plantar flexion mobility is 40 °～60 °, joint varus
Mobility is 20 °～40 °, and joint mobility of turning up is 30 °～45 °.
It should be noted that various embodiments above is in the restriction of range of motion scope, neutral position and every kind of activity
Concrete joint states under Du is according to " the accident injury loss standard GB/T 15499-on working day of Issued by China State Bureau of Technical Supervision
1995 " in, corresponding word and the figure of " qualification of A12 joint motions mobility " are defined.Additionally, various embodiments above is mentioned
Each corresponding locating part 16, its structure is to make corresponding simulated humanbody range of motion scope meet the corresponding any knot limited
Structure, locating part shown in accompanying drawing is intended for signal, the not restriction to locating part structure.
Below the present invention is described in further detail:
Magnetic effect of electric current, as one basic application of physics, contacts closely with life, such as electromagnetic relay, electromagnetism lifting
Machine, magnetic suspension train, electronic lock, intelligent channel circle, electromagnetic flowmeter etc..Electric magnet has many advantages: the magnetic of electric magnet
With or without controlling with switching electric current；How many sizes of magnetic can control by the number of turn of the power of electric current or coil；Also may be used
Magnetic size etc. is controlled by changing resistance control size of current.That is: the power of magnetic can change, the presence or absence of magnetic can
To control, magnetic can disappear because of the disappearance of electric current.
In above-mentioned simulated humanbody joint, attachment structure uses ball-and-socket form, containing joint ball and joint ball seat, can realize closing
Joint ball is in the rotation of joint ball seat and self is around the rotation of imitative skeleton connector axis；Joint ball and joint ball seat are flexibly connected
Completed by electromagnetic attraction.The rotation mobility in simulated humanbody joint is by limiting the design of joint ball seat size and structure
System, the most above-mentioned simulated humanbody joint has the degree of freedom similar with human synovial, can carry out the three-dimensional simulation of range of activity.
Above-mentioned simulated humanbody joint uses adjustable Electromagnetic Design, and joint ball and joint ball seat all use permeability magnetic material, electricity
Magnetic coil can select power different according to different joints, rubs by adjusting DC voltage adjustment electromagnetic field intensity and then actual slip
Wipe damping stepless changing；Joint ball and the joint ball seat mask that contacts with each other has wear-resisting and certain coefficient of friction, joint ball seat in addition
The spacing emulation realizing human synovial mobility of simulation human synovial.
The simulated humanbody articulation structure of the present invention is different from joint of robot, is mainly used in dummy and human simulation model.Machine
Device person joint mainly designs movable joint from the realizability of freedom of motion and movement locus, and the setting of simulated humanbody joint
Meter includes the simulation of human synovial mobility, the simulation of range of activity and spacing, the simulation of frictional damping, simulated humanbody of the present invention
The characteristic in joint is:
1) simulated humanbody joint has the degree of freedom similar with human synovial, can carry out the three-dimensional simulation of range of activity；
2) ball-and-socket joint and adjustable Electromagnetic Design combine, in addition can with joint ball seat simulation the spacing of human synovial
Realize the movable emulation with mobility of human synovial.
Claims (10)
1. a simulated humanbody joint, imitates skeleton connector including first, second；It is characterized in that, described first imitates skeleton connects
The end of part is fixed with joint ball seat, and described second end imitating skeleton connector is fixed with joint ball, described joint ball seat with
Joint ball matches, and described joint ball seat has the ball-and-socket fitted with joint ball surface, and described ball-and-socket covers joint ball surface
Area less than the half of joint ball total surface area；Described joint ball seat, joint ball are made up of permeability magnetic material respectively, described pass
It is provided with magnetic assembly in joint ball seat；Under the magnetic attraction effect of magnetic assembly, described joint ball seat and joint ball form movable company
Connect；The central shaft of described joint ball seat overlaps with the centre of sphere of joint ball；Described first central shaft and the joint imitating skeleton connector
The central shaft of ball seat overlaps, and the centre of sphere of the described second central shaft and joint ball imitating skeleton connector overlaps；
Described simulated humanbody joint have turn down magnetic assembly magnetic attraction after imitate skeleton connector and make to imitate by swinging first, second
True human synovial shows the first state of preset posture, and heightens magnetic assembly magnetic attraction and make first, second to imitate skeleton to connect
Part holding position is constant and then makes simulated humanbody joint keep constant the second state of attitude.
Simulated humanbody joint the most according to claim 1, is characterized in that, when described simulated humanbody joint is emulation shoulder joint
Time, described first imitates skeleton connector for imitative scapula connector, and described second imitates skeleton connector for imitative humerus connector, institute
The ball-and-socket stating joint ball seat is imitative scapula glenoid cavity, and described joint ball is imitative head of humerus；The described glenoid limit of imitative scapula
Edge is provided with imitative shoulder joint locating part, under the position-limiting action of this imitative shoulder joint locating part, and the mobility model of described emulation shoulder joint
Enclose for: sagging as neutral position with imitative humerus connector, on joint lift mobility be 160 °～180 °, stretching mobility behind joint is
40 °～60 °.
Simulated humanbody joint the most according to claim 1, is characterized in that, when described simulated humanbody joint is emulation elbow joint
Time, described first imitates skeleton connector for imitative humerus connector, and described second imitates skeleton connector for imitative forearm skeleton connector,
The ball-and-socket of described joint ball seat is imitative humerus nest, and described joint ball is imitative forearm skeleton joint；The edge of described imitative humerus nest sets
Having imitative elbow joint locating part, under the position-limiting action of this imitative elbow joint locating part, the mobility scope of described emulation elbow joint is:
Sagging as neutral position with imitative forearm skeleton connector, flex degree in joint is 135 °～160 °, joint overexertion mobility
It it is 0 °～20 °.
Simulated humanbody joint the most according to claim 1, is characterized in that, when described simulated humanbody joint is emulation carpal joint
Time, described first imitates skeleton connector for imitative forearm skeleton connector, and described second imitates skeleton connector for imitative hands bone connector,
The ball-and-socket of described joint ball seat is imitative carpal joint dish, and described joint ball is imitative carpal joint head；The edge of described imitative carpal joint dish sets
Having imitative carpal joint locating part, under the position-limiting action of this imitative carpal joint locating part, described emulation carpal mobility scope is:
With imitative hands bone connector and imitative forearm skeleton connector linearly as neutral position, joint dorsiflexion mobility is 30 °～60 °, joint
Palmar flexion mobility is 50 °～90 °, joint scratch inclination oblique mobility be 25 °～40 °, joint ulnar drift mobility be 30 °～
50°。
Simulated humanbody joint the most according to claim 1, is characterized in that, when described simulated humanbody joint is emulation hip joint
Time, described first imitates skeleton connector for imitative hipbone connector, and described second imitates skeleton connector for imitative femur connector, described
The ball-and-socket of joint ball seat is imitative acetabular fossa, and described joint ball is imitative femoral head；The edge of described imitative acetabular fossa is provided with imitative hip joint
Locating part, under the position-limiting action of this imitative hip joint locating part, the mobility scope of described emulation hip joint is: to emulate hip pass
Joint stretches as neutral position, and flex degree in joint is 130 °～150 °, and stretching mobility behind joint is 10 °～25 °, and joint abduction is lived
Dynamic degree is 30 °～55 °, and intraarticular folding movable degree is 20 °～40 °.
Simulated humanbody joint the most according to claim 1, is characterized in that, when described simulated humanbody joint is emulation knee joint
Time, described first imitates skeleton connector for imitative femur connector, and described second imitates skeleton connector for imitative tibia connector, described
The ball-and-socket of joint ball seat is imitative condyle of femur, and described joint ball is imitative tibial condyle；The edge of described imitative condyle of femur is provided with imitative knee joint
Locating part, under the position-limiting action of this imitative knee joint locating part, described emulation kneed mobility scope is: to emulate knee joint pass
Joint stretches as neutral position, and flex degree in joint is 120 °～160 °, and joint hyperextension mobility is 5 °～20 °.
Simulated humanbody joint the most according to claim 1, is characterized in that, when described simulated humanbody joint is emulation ankle joint
Time, described first imitates skeleton connector for imitative Leg bones connector, and described second imitates skeleton connector for imitative astragalus connector,
The ball-and-socket of described joint ball seat is imitative focile articular surface, and described joint ball is imitative trochlea of talus；Described imitative focile articular surface
Edge be provided with imitative ankle joint locating part, under the position-limiting action of this imitative ankle joint locating part, the activity of described emulation ankle joint
Degree scope is: with imitative astragalus connector and imitative Leg bones connector be 90 ° as neutral position, joint dorsiflex mobility be 20 °～
40 °, joint plantar flexion mobility is 40 °～60 °, and joint varus mobility is 20 °～40 °, joint turn up mobility be 30 °～
45°。
8. according to the simulated humanbody joint described in any one of claim 1 to 7, it is characterized in that, described magnetic assembly includes electromagnetism
Coil or permanent magnet and solenoid, the central shaft of described permanent magnet or solenoid overlaps with the central shaft of joint ball seat；
Described permanent magnet or solenoid have the magnetic attraction of default value scope.
9. according to the simulated humanbody joint described in any one of claim 1 to 7, it is characterized in that, the ball-and-socket of described joint ball seat sets
Having the ball-and-socket wearing layer with default coefficient of friction, described joint ball surface to be provided with, to have the sphere of default coefficient of friction wear-resisting
Layer, described ball-and-socket wearing layer connects with sphere wearing layer.
10. according to the simulated humanbody joint described in any one of claim 1 to 7, it is characterized in that, described first, second imitates skeleton
Connector is respectively rod component.
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| CN201610704647.1A CN106205323A (en) | 2016-08-22 | 2016-08-22 | Simulated humanbody joint |
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| CN201610704647.1A CN106205323A (en) | 2016-08-22 | 2016-08-22 | Simulated humanbody joint |
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