CN106297515A - Human simulation model - Google Patents
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- CN106297515A CN106297515A CN201610705750.8A CN201610705750A CN106297515A CN 106297515 A CN106297515 A CN 106297515A CN 201610705750 A CN201610705750 A CN 201610705750A CN 106297515 A CN106297515 A CN 106297515A
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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
- 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 human simulation model, including the emulation trunk being connected to each other and emulation limbs, in emulation limbs, be provided with at least one emulation joint；Emulation joint includes that first, second imitates skeleton connector, and the 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；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.Human simulation model of the present invention has possessed the emulation joint to the emulation of people's limbs joint height, can realize the emulation to six main people's limbs joints 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.
Description
Technical field
The present invention relates to a kind of human simulation model, with the human synovial of height emulation, belong to the bionical knot of anthropometric dummy
Structure 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 human simulation model is permissible
Keep joint action constant enduringly, use the human simulation model in band 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 model be mainly used as showing with dummy or
Substantially robot, its joint only needs the requirement reaching to go slick, is not required to simulate realistically human synovial, because of
This, the most usually can be seen that the joint little for freedom of movement, comes real frequently with a simple revolute pair
Existing；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 to imitate
True limbs show the moulding meeting human action, but have a long way to go with real human synovial structure.
The limbs joint of people mainly includes the shoulder joint of upper limb, elbow joint and carpal joint, and the hip joint of lower limb, knee joint close
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 state having
Mobility is greatly to 180 °, and some joints state activity degree is little to less than 20 °), with prior art be difficult to by a certain specifically
These limbs joints are emulated by structure.Meanwhile, these limbs joints when activity, the axis of the connected skeleton in both sides, joint
Intersection point is fixed, and will not change with joint motion, and this is also the difficult point of joint emulation.To make band height simulated humanbody
The human simulation model in joint, then need to overcome above technical problem.
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 human simulation model,
With the emulation joint that emulator is high, be suitable to the occasion that the joint emulator of requirement human simulation model is high.
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, for emulation joint,
According to the joint of standard machinery structure, the most certainly it is difficult to highly emulate；Joint according to vacuum structure, although having can
Height emulation can be realized, but sealing structure is required too high, be difficult to realize.Applicant have also been attempted the pass of other structures multiple
Joint, but be always difficult to take into account height emulation and immobilize with crossing point of axes.Applicant grinds further across in depth repeatedly practising
Study carefully, finally drawn the technical scheme that can solve aforementioned technical problem.Specific as follows:
A kind of human simulation model, including the emulation trunk being connected to each other and emulation limbs, described emulation limbs include emulation
Upper limb and emulation lower limb；At least one emulation joint it is provided with in described emulation limbs；It is characterized in that, described emulation joint includes
One, second imitating skeleton connector, described first end imitating skeleton connector is fixed with joint ball seat, and described second imitates skeleton even
The end of fitting is fixed with joint ball, and described joint ball seat matches with joint ball, and described joint ball seat has and joint ball table
The ball-and-socket that face fits, described ball-and-socket covers the area half less than joint ball total surface area on joint ball surface；Described pass
Joint ball seat, joint ball are made up of permeability magnetic material respectively, are provided with magnetic assembly in the ball seat of described joint；Magnetic attraction at magnetic assembly
Under effect, described joint ball seat is formed with joint ball and is flexibly connected；The central shaft of described joint ball seat and the centre of sphere weight of joint ball
Close；The central shaft of the described first central shaft and joint ball seat imitating skeleton connector overlaps, and described second imitates skeleton connector
Central shaft overlaps with the centre of sphere of joint ball；
Described emulation joint have turn down magnetic assembly magnetic attraction after imitate skeleton connector and make to imitate by swinging first, second
The first state of preset posture is shown in true joint, and heightens magnetic assembly magnetic attraction and make first, second to imitate skeleton connector to protect
Hold invariant position and then make emulation joint keep constant the second state of attitude.
In the articulation structure that this human simulation model uses: first, ball-and-socket is smaller in size than the half of joint ball, it can be ensured that be suitable for
In the joint that mobility is bigger, thus solve prior art and cannot emulate six main people's limbs joints with a kind of ad hoc structure
Technical barrier；Secondly, connect joint ball seat and joint ball with the magnetic attraction of magnetic assembly, not only can avoid reducing ball-and-socket and lead
Cause the situation that joint ball comes off, moreover it is possible to regulated the frictional damping of joint ball seat and joint ball by the power controlling magnetic attraction,
Make to emulate joint can show action on request, action can be kept constant again；Finally, whole emulation joint is with single pass nodule
Structure comes farthest human simulation model body joint, and by the considered critical to each part position relations in emulation joint, it is ensured that
The crossing point of axes of 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, the emulation joint that described emulation upper limb and emulation trunk junction are provided with is emulation shoulder joint；Described
In emulation shoulder joint, described first imitates skeleton connector for imitative scapula connector, and described second imitates skeleton connector for the imitative upper arm
Bone connector, the ball-and-socket of described joint ball seat is imitative scapula glenoid cavity, and described joint ball is imitative head of humerus；Described imitative scapula
Glenoid edge is provided with imitative shoulder joint locating part, under the position-limiting action of this imitative shoulder joint locating part, and described emulation shoulder joint
Mobility scope be: sagging as neutral position with imitative humerus connector, on joint lift mobility be 160 °～180 °, stretch behind joint
Mobility is 40 °～60 °.This preferred version can make human simulation model possess the shoulder joint of height emulation further.
Preferably, the elbow joint position of described emulation upper limb is provided with emulation elbow joint；In described emulation elbow joint, described
First imitates skeleton connector for imitative humerus connector, and described second imitates skeleton connector for imitative forearm skeleton connector, described pass
The ball-and-socket of joint ball seat is imitative humerus nest, and described joint ball is imitative forearm skeleton joint；The edge of described imitative humerus nest is provided with 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: before imitative
Arm skeleton connector is sagging for neutral position, and flex degree in joint is 135 °～160 °, joint overexertion mobility be 0 °～
20°.This preferred version can make human simulation model possess the elbow joint of height emulation further.
Preferably, the wrist-joint of described emulation upper limb is provided with emulation carpal joint；In described emulation carpal joint, described
First imitates skeleton connector for imitative forearm skeleton connector, and described second imitates skeleton connector for imitative hands bone connector, described pass
The ball-and-socket of 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 is provided with imitative wrist
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 are linearly neutral position, and joint dorsiflexion mobility is 30 °～60 °, and joint palmar flexion is lived
Dynamic degree is 50 °～90 °, and it is 25 °～40 ° that the oblique mobility of inclination is scratched in joint, and joint ulnar drift mobility is 30 °～50 °.This is excellent
Select scheme that human simulation model can be made further to possess the carpal joint of height emulation.
Preferably, the emulation joint that described emulation lower limb and emulation trunk junction are provided with is emulation hip joint；Described
In emulation hip joint, described first imitates skeleton connector for imitative hipbone connector, and described second imitates skeleton connector for imitative femur
Connector, the ball-and-socket of described joint ball seat is imitative acetabular fossa, and described joint ball is imitative femoral head；The edge of described imitative acetabular fossa sets
Having 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:
Stretching as neutral position with emulation hip joint, flex degree in joint is 130 °～150 °, and stretching mobility behind joint is 10 °～25 °,
Joint abduction mobility is 30 °～55 °, and intraarticular folding movable degree is 20 °～40 °.This preferred version can make human simulation further
Model possesses the hip joint of height emulation.
Preferably, the knee joint position of described emulation lower limb is provided with emulation knee joint；In described emulation knee joint, described
First imitates skeleton connector for imitative femur connector, and described second imitates skeleton connector for imitative tibia connector, described joint ball
The ball-and-socket of 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: stretch emulating knee joint
For neutral position, flex degree in joint is 120 °～160 °, and joint hyperextension mobility is 5 °～20 °.This preferred version can enter one
Step makes human simulation model possess the knee joint of height emulation.
Preferably, the ankle joint position of described emulation lower limb is provided with emulation ankle joint；In described emulation ankle joint, described
First imitates skeleton connector for imitative Leg bones connector, and described second imitates skeleton connector for imitative astragalus connector, described pass
The ball-and-socket of joint ball seat is imitative focile articular surface, and described joint ball is imitative trochlea of talus；The edge of described imitative focile articular surface
It is provided with imitative ankle joint locating part, under the position-limiting action of this imitative ankle joint locating part, the mobility scope of described emulation ankle joint
For: with imitative astragalus connector and imitative Leg bones connector be 90 ° as neutral position, dorsiflex mobility in joint is 20 °～40 °, closes
Joint plantar flexion mobility is 40 °～60 °, and joint varus mobility is 20 °～40 °, and joint mobility of turning up is 30 °～45 °.This is excellent
Select scheme that human simulation model can be made further to possess the ankle joint of height emulation.
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.This preferred version can regulate magnetic attraction 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.This is the most square
Case can make joint preferably keep action constant.
Preferably, described first, second imitate skeleton connector and be respectively rod component.
Compared with prior art, human simulation model of the present invention has possessed the emulation joint to the emulation of people's limbs joint height,
The emulation to six main people's limbs joints can be realized by a kind of ad hoc structure, can ensure that the connected skeleton in both sides, joint simultaneously
Crossing point of axes fix.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of human simulation model of the present invention.
Fig. 2 is the structural representation that the present invention emulates joint.
Fig. 3 is the structural representation emulating shoulder joint in the specific embodiment of the invention.
Fig. 4 is the a-quadrant enlarged diagram of Fig. 3.
Fig. 5 is the structural representation emulating elbow joint in the specific embodiment of the invention.
Fig. 6 is to emulate carpal structural representation in the specific embodiment of the invention.
Fig. 7 is the structural representation emulating hip joint in the specific embodiment of the invention.
Fig. 8 is to emulate kneed structural representation in the specific embodiment of the invention.
Fig. 9 is the B region enlarged diagram of Fig. 8.
Figure 10 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.
Embodiment
As it is shown in figure 1, the human simulation model 20 of the present embodiment, including the emulation trunk 21 being connected to each other and emulation limbs,
Emulation limbs include emulating upper limb 22 and emulation lower limb 23；At least one emulation joint it is provided with in emulation limbs；As in figure 2 it is shown,
Emulation joint includes that first, second imitates skeleton connector 14,15, and the first end imitating skeleton connector 14 is fixed with joint ball seat
11, the second end imitating skeleton connector 15 is fixed with joint ball 12, and joint ball seat 11 matches with joint ball 12, joint ball seat
11 have the ball-and-socket fitted with joint ball 12 surface, and ball-and-socket covers the area on joint ball 12 surface less than joint ball 12 total surface
The half of area；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, joint ball seat 11 is formed with joint ball 12 and is flexibly connected；The center of joint ball seat 11
Axle overlaps with the centre of sphere of joint ball 12；First, second imitates skeleton connector 14,15 is respectively rod component；First imitates skeleton even
The central shaft of fitting 14 overlaps with the central shaft of joint ball seat 11, and second imitates central shaft and the joint ball 12 of skeleton connector 15
The centre of sphere overlaps.First, second imitates skeleton connector may select the light material that rigidity is big, such as titanium alloy or aluminum alloy materials etc..
Emulation joint have turn down magnetic assembly 13 magnetic attraction after first, second imitate skeleton connector 14,15 by swinging
Make emulation joint show the first state of preset posture, and heighten magnetic assembly 13 magnetic attraction and make first, second to imitate skeleton even
Fitting 14,15 holding position is constant and then makes emulation joint keep constant the second state of attitude.This process can pass through hands
Dynamic 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.
Specifically:
As shown in Figure 3, Figure 4, the emulation joint that emulation upper limb 22 and emulation trunk 21 junction are provided with is emulation shoulder joint；
In emulation shoulder joint, first imitates skeleton connector 14 for imitative scapula connector, and second imitates skeleton connector 15 for imitative humerus
Connector, the ball-and-socket of joint ball seat 11 is imitative scapula glenoid cavity, and joint ball 12 is imitative head of humerus；The imitative glenoid limit of scapula
Edge is provided with imitative shoulder joint locating part 16, under the position-limiting action of this imitative shoulder joint locating part 16, and the mobility model of 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 °.
As it is shown in figure 5, the elbow joint position of emulation upper limb 22 is provided with emulation elbow joint；In emulation elbow joint, first imitates
Skeleton connector 14 is imitative humerus connector, and second imitates skeleton connector 15 for imitative forearm skeleton connector, joint ball seat 11
Ball-and-socket is imitative humerus nest, and joint ball 12 is imitative forearm skeleton joint；The edge of imitative humerus nest is provided with imitative elbow joint locating part 16,
Under the position-limiting action of this imitative elbow joint locating part 16, the mobility scope of emulation elbow joint is: with under imitative forearm skeleton connector
Hanging down for neutral position, flex degree in joint is 135 °～160 °, and joint overexertion mobility is 0 °～20 °.
As shown in Figure 6, the wrist-joint of emulation upper limb 22 is provided with emulation carpal joint；In emulation carpal joint, first imitates
Skeleton connector 14 is imitative forearm skeleton connector, and second imitates skeleton connector 15 for imitative hands bone connector, joint ball seat 11
Ball-and-socket is imitative carpal joint dish, and joint ball 12 is imitative carpal joint head；The edge of imitative carpal joint dish is provided with imitative carpal joint locating part 16,
Under the position-limiting action of this imitative carpal joint locating part 16, emulating carpal mobility scope is: with imitative hands bone connector and imitative before
Arm skeleton connector is linearly neutral position, and joint dorsiflexion mobility is 30 °～60 °, and joint palmar flexion mobility is 50 °～90 °,
It is 25 °～40 ° that the oblique mobility of inclination is scratched in joint, and joint ulnar drift mobility is 30 °～50 °.
As it is shown in fig. 7, the emulation joint that emulation lower limb 23 and emulation trunk 21 junction are provided with is emulation hip joint；Imitative
In true hip joint, first imitates skeleton connector 14 for imitative hipbone connector, and second imitates skeleton connector 15 for imitative femur connector,
The ball-and-socket of joint ball seat 11 is imitative acetabular fossa, and joint ball 12 is imitative femoral head；It is spacing that the edge of imitative acetabular fossa is provided with imitative hip joint
Part 16, under the position-limiting action of this imitative hip joint locating part 16, the mobility scope of emulation hip joint is: stretch emulating hip joint
Straight is neutral position, and flex degree in joint is 130 °～150 °, and stretching mobility behind joint is 10 °～25 °, joint abduction mobility
Being 30 °～55 °, intraarticular folding movable degree is 20 °～40 °.
As shown in Figure 8, Figure 9, the knee joint position of emulation lower limb 23 is provided with emulation knee joint；In emulation knee joint, the
One imitates skeleton connector 14 for imitative femur connector, and second imitates skeleton connector 15 for imitative tibia connector, joint ball seat 11
Ball-and-socket is imitative condyle of femur, and joint ball 12 is imitative tibial condyle；The edge of imitative condyle of femur is provided with imitative knee joint locating part 16, at this imitative knee joint
Under the position-limiting action of joint locating part 16, emulating kneed mobility scope is: stretch as neutral position emulating knee joint, closes
Joint flex degree is 120 °～160 °, and joint hyperextension mobility is 5 °～20 °.
As shown in Figure 10, the ankle joint position of emulation lower limb 23 is provided with emulation ankle joint；In emulation ankle joint, first imitates
Skeleton connector 14 is imitative Leg bones connector, and second imitates skeleton connector 15 for imitative astragalus connector, joint ball seat 11
Ball-and-socket is imitative focile articular surface, and joint ball 12 is imitative trochlea of talus；The edge of imitative focile articular surface is provided with imitative ankle joint limit
Position part 16, under the position-limiting action of this imitative ankle joint locating part 16, the mobility scope of emulation ankle joint is: connect with imitative astragalus
It is neutral position that part and imitative Leg bones connector are 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 °.
The most each joint in use, first appropriateness can be turned down the magnetic attraction of solenoid, then imitate by swinging first, second
Skeleton connector 14,15 shows default joint attitude the first state of joint (this process i.e. emulate), then heightens electricity
The magnetic attraction of magnetic coil makes joint ball seat 11 together with joint ball 12 secure fit, thus (this i.e. emulates to keep joint posture
Second state in joint), the most i.e. can be used for measuring joint angles.
It should be noted that in the restriction of above each range of motion scope, the tool under neutral position and every kind of mobility
Body joint states is according in " the accident injury loss standard GB/T 15499-1995 on working day " of Issued by China State Bureau of Technical Supervision
Corresponding word and the figure of " qualification of A12 joint motions mobility " are defined.Additionally, the corresponding limit in above each emulation joint
Position part 16, its structure is to make to emulate range of motion scope accordingly to meet the corresponding any structure limited, and limits shown in accompanying drawing
Position part is intended for signal, the not restriction to locating part structure.
Below the present invention is described in further detail:
One, the ultimate principle of the present invention is as follows:
1, emulation joint based on electromagnetism
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 emulation joint, attachment structure uses ball-and-socket form, containing joint ball and joint ball seat, can realize joint ball
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 and pass through
Electromagnetic attraction completes.The rotation mobility in emulation joint, by limiting the design of joint ball seat size and structure, therefore goes up
State emulation joint and there is the degree of freedom similar with human synovial, the three-dimensional simulation of range of activity can be carried out.
Above-mentioned emulation joint uses adjustable Electromagnetic Design, and joint ball and joint ball seat all use permeability magnetic material, electromagnetic wire
Circle can select power different according to different joints, hinders by adjusting DC voltage adjustment electromagnetic field intensity and then actual sliding friction
Buddhist nun's 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 simulation in addition
The spacing emulation realizing human synovial mobility of human synovial.
2, human simulation model
Human simulation model is important bridge and the instrument of research man-mechanic-environment system mutual relation.Human simulation model
Development is the embodiment of bionics techniques development.First proposed human simulation model role and application is mainly wrapped
Including high-speed carriering tool human simulation model, irradiation human simulation model and medical training human simulation model, its application includes geometric form
Body is bionical, material biomimetics, structure function are bionical, matter energy transmission is bionical and bio information senses bionical five aspects.
The present invention uses multi-joint human simulation model, mainly realizes structure function bionical:
1) being internally provided with the inner skeleton of apery frame structure, inner skeleton includes that some pieces are imitated skeleton
, the inner skeleton being provided with moving connecting mechanism at joint part, including neck, upper arm bone, underarm bone, palm bone, breastbone,
Pelvic bone, hipbone, Thigh bone, focile and sole bone etc., described joint part is emulation joint based on electromagnetism.
2) this human simulation model joint can be rotated at random deformation under the effect of external force so that human simulation model can do
Go out the movement and modelling of abundant simulated humanbody.
Two, the present invention has a following characteristic:
1, emulation joint based on electromagnetism: the emulation articulation structure of the present invention is different from joint of robot, is mainly used in vacation
People and human simulation model.Joint of robot mainly designs movable joint from the realizability of freedom of motion and movement locus,
And the design emulating joint includes the simulation of human synovial mobility, the simulation of range of activity and spacing, the simulation of frictional damping,
The present invention emulates the characteristic in joint and is:
1) emulation 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.
2, human simulation model: traditional human simulation model infirmities is to show multiple moulding, maybe can show a limited number of
Individual moulding, product action is single and practicality is low.Being different from traditional simulation human model, the characteristic of human simulation model of the present invention exists
In: use emulation joint based on electromagnetism so that human simulation model can make the movement and modelling of abundant simulated humanbody.
Claims (10)
1. a human simulation model, including the emulation trunk being connected to each other and emulation limbs, described emulation limbs include in emulation
Limb and emulation lower limb；At least one emulation joint it is provided with in described emulation limbs；It is characterized in that, described emulation joint includes
One, second imitating skeleton connector, described first end imitating skeleton connector is fixed with joint ball seat, and described second imitates skeleton even
The end of fitting is fixed with joint ball, and described joint ball seat matches with joint ball, and described joint ball seat has and joint ball table
The ball-and-socket that face fits, described ball-and-socket covers the area half less than joint ball total surface area on joint ball surface；Described pass
Joint ball seat, joint ball are made up of permeability magnetic material respectively, are provided with magnetic assembly in the ball seat of described joint；Magnetic attraction at magnetic assembly
Under effect, described joint ball seat is formed with joint ball and is flexibly connected；The central shaft of described joint ball seat and the centre of sphere weight of joint ball
Close；The central shaft of the described first central shaft and joint ball seat imitating skeleton connector overlaps, and described second imitates skeleton connector
Central shaft overlaps with the centre of sphere of joint ball；
Described emulation joint have turn down magnetic assembly magnetic attraction after imitate skeleton connector and make emulation close by swinging first, second
Joint shows the first state of preset posture, and heightens magnetic assembly magnetic attraction and make first, second to imitate skeleton connector holding position
Put constant and then make emulation joint keep constant the second state of attitude.
Human simulation model the most according to claim 1, is characterized in that, described emulation upper limb is provided with emulation trunk junction
Emulation joint for emulation shoulder joint；In described emulation shoulder joint, described first imitates skeleton connector connects for imitative scapula
Part, described second imitates skeleton connector for imitative humerus connector, and the ball-and-socket of described joint ball seat is imitative scapula glenoid cavity, described
Joint ball is imitative head of humerus；The described glenoid edge of imitative scapula is provided with imitative shoulder joint locating part, spacing in this imitative shoulder joint
Under the position-limiting action of part, the mobility scope of described emulation shoulder joint is: sagging as neutral position, on joint with imitative humerus connector
Lifting mobility is 160 °～180 °, and stretching mobility behind joint is 40 °～60 °.
Human simulation model the most according to claim 1, is characterized in that, the elbow joint position of described emulation upper limb is provided with emulation
Elbow joint；In described emulation elbow joint, described first imitates skeleton connector for imitative humerus connector, and described second imitates skeleton even
Fitting is imitative forearm skeleton connector, and the ball-and-socket of described joint ball seat is imitative humerus nest, and described joint ball connects for imitative forearm skeleton
Head；The edge of described imitative humerus nest is provided with imitative elbow joint locating part, under the position-limiting action of this imitative elbow joint locating part, described imitative
The mobility scope of true elbow joint is: sagging as neutral position with imitative forearm skeleton connector, joint flex degree be 135 °～
160 °, joint overexertion mobility is 0 °～20 °.
Human simulation model the most according to claim 1, is characterized in that, the wrist-joint of described emulation upper limb is provided with emulation
Carpal joint；In described emulation carpal joint, described first imitates skeleton connector for imitative forearm skeleton connector, and described second imitates bone
Bone connector is imitative hands bone connector, and 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 is provided with imitative carpal joint locating part, under the position-limiting action of this imitative carpal joint locating part, described imitative
The most carpal mobility scope is: with imitative hands bone connector and imitative forearm skeleton connector linearly as neutral position, and joint is carried on the back
Stretching mobility is 30 °～60 °, and joint palmar flexion mobility is 50 °～90 °, and it is 25 °～40 ° that the oblique mobility of inclination is scratched in joint, joint
Ulnar drift mobility is 30 °～50 °.
Human simulation model the most according to claim 1, is characterized in that, described emulation lower limb are provided with emulation trunk junction
Emulation joint for emulation hip joint；In described 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, 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: 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°。
Human simulation model the most according to claim 1, is characterized in that, the knee joint position of described emulation lower limb is provided with emulation
Knee joint；In described emulation knee joint, described first imitates skeleton connector for imitative femur connector, and described second imitates skeleton even
Fitting is imitative tibia connector, and the ball-and-socket of described joint ball seat is imitative condyle of femur, and described joint ball is imitative tibial condyle；Described imitative stock
The edge of bone condyle is provided with imitative knee joint locating part, and under the position-limiting action of this imitative knee joint locating part, described emulation is kneed
Mobility scope is: stretching as neutral position emulating knee joint, flex degree in joint is 120 °～160 °, and joint hyperextension is movable
Degree is 5 °～20 °.
Human simulation model the most according to claim 1, is characterized in that, the ankle joint position of described emulation lower limb is provided with emulation
Ankle joint；In described emulation ankle joint, described first imitates skeleton connector for imitative Leg bones connector, and described second imitates bone
Bone connector is imitative astragalus connector, and the ball-and-socket of described joint ball seat is imitative focile articular surface, and described joint ball is imitative astragalus
Coaster；The edge of described imitative focile articular surface is provided with imitative ankle joint locating part, at the position-limiting action of this imitative ankle joint locating part
Under, the mobility scope of described emulation ankle joint is: with imitative astragalus connector and imitative Leg bones connector be 90 ° for neutrality
Position, dorsiflex mobility in joint is 20 °～40 °, and joint plantar flexion mobility is 40 °～60 °, joint varus mobility be 20 °～
40 °, joint mobility of turning up is 30 °～45 °.
8. according to the human simulation model described in any one of claim 1 to 7, it is characterized in that, described magnetic assembly includes electromagnetic wire
Circle or permanent magnet and solenoid, the central shaft of described permanent magnet or solenoid overlaps with the central shaft of joint ball seat；Institute
State permanent magnet or solenoid has the magnetic attraction of default value scope.
9. according to the human simulation model described in any one of claim 1 to 7, it is characterized in that, the ball-and-socket of described joint ball seat is provided with
Having the ball-and-socket wearing layer of default coefficient of friction, described joint ball surface is provided with the sphere wearing layer with default coefficient of friction,
Described ball-and-socket wearing layer connects with sphere wearing layer.
10. according to the human simulation model described in any one of claim 1 to 7, it is characterized in that, described first, second imitates skeleton even
Fitting is respectively rod component.
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| CN108100071A (en) * | 2017-12-05 | 2018-06-01 | 常州大学 | A kind of machine human knee joint of wired-based tactile magnetic absorption |
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