CN107157487B - Device and method for measuring arm torsion angle - Google Patents
Device and method for measuring arm torsion angle Download PDFInfo
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- CN107157487B CN107157487B CN201710546000.5A CN201710546000A CN107157487B CN 107157487 B CN107157487 B CN 107157487B CN 201710546000 A CN201710546000 A CN 201710546000A CN 107157487 B CN107157487 B CN 107157487B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
- A61B5/1071—Measuring physical dimensions, e.g. size of the entire body or parts thereof measuring angles, e.g. using goniometers
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
- A61B5/1075—Measuring physical dimensions, e.g. size of the entire body or parts thereof for measuring dimensions by non-invasive methods, e.g. for determining thickness of tissue layer
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Abstract
The invention discloses a device and a method for measuring arm torsion angle, wherein an arm supporting module is fixed on a pulley module, the pulley module is clamped on a guide rail with radian and slides along the guide rail with radian, a transmission module comprises a transmission gear and a synchronous belt, the synchronous belt is arranged along the arc surface of the guide rail with radian, the transmission gear is meshed with the synchronous belt, the output end of the transmission gear is connected with an angle measuring module, and the angle measuring module is connected with the pulley module. The invention adopts an indirect measurement mode, does not need external driving force, can be realized through the rotation of the hands of a user, and the angle measured by the angle sensor in the angle measurement module is in a proportional relation with the actual arm torsion angle, and the ratio is the transmission ratio of the transmission module. Because the transmission ratio of the transmission module is large, the error of the final measurement result is lower than that of the multi-turn angular displacement sensor, and the measurement accuracy is improved.
Description
Technical Field
The invention relates to medical rehabilitation equipment, in particular to a device and a method for measuring arm torsion angle.
Background
Along with the acceleration of the aging process in China, more and more old people become a great problem of society. Cerebral apoplexy is a disease commonly occurring in the elderly, and has the characteristics of high morbidity, high mortality and high disability rate, and is a serious threat to the health of the elderly. Cerebral apoplexy is an important factor causing hemiplegia of patients, and hemiplegia of upper limbs can directly cause gradual loss of exercise function and self-care ability of daily life of patients, and serious influence is brought to life quality of patients. The upper limb active rehabilitation device aims at a patient with partial mobility of the upper limb, and interacts with the patient in a game mode through collecting the actions of the upper limb of the patient so as to reduce the tiredness and the boring feeling of the patient in repeated rehabilitation exercise and accelerate the recovery process of the patient.
The upper limb of the human body has more degrees of freedom in the movement process, and besides the conventional flexion/extension movements of the shoulder joint, the elbow joint and the wrist joint, the wrist can also perform the rotation in/out movement relative to the central axis of the forearm, namely the torsion movement of the forearm. The axis of the torsion movement of the forearm is the central axis of the forearm, and the measurement of the movement angle is difficult in the movement collection process. The existing upper limb active rehabilitation equipment mostly adopts a custom sensor for measuring the torsion angle of the forearm, and the sensor has the disadvantages of complex structure, high cost and difficult maintenance.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a device and a method for measuring the torsion angle of an arm, which are used for measuring the torsion angle by converting the torsion of the arm into arc sliding.
The invention is realized by the following technical scheme that the invention comprises a guide rail with radian, a transmission module, a pulley module, an arm support module and an angle measurement module; the arm support module is fixed on the pulley module, the pulley module is clamped on the guide rail with radian and slides along the guide rail with radian, the transmission module comprises a transmission gear and a synchronous belt, the synchronous belt is arranged along the arc surface of the guide rail with radian, the transmission gear is meshed with the synchronous belt, the output end of the transmission gear is connected with the angle measurement module, and the angle measurement module is connected to the pulley module.
The two arc-shaped side edges of the guide rail with the radian are respectively provided with a first groove which is concave inwards, and the arc-shaped bottom of the guide rail with the radian is provided with a second groove which is concave inwards.
The pulley module comprises a pulley support, a first transverse pulley block, a second transverse pulley block and a longitudinal pulley block, wherein the first transverse pulley block and the second transverse pulley block are respectively and transversely arranged on two sides of the pulley support, the longitudinal pulley block is longitudinally arranged at the bottom of the pulley support, the first transverse pulley block and the second transverse pulley block are respectively positioned in first grooves of two arc-shaped side edges of the arc-shaped guide roller, and the longitudinal pulley block is positioned in second grooves of the guide rail with radian.
The pulley module is clamped into the groove corresponding to the guide rail with the radian, so that the pulley module can effectively slide on the guide rail with the radian.
The first transverse pulley block and the second transverse pulley block are identical in structure and respectively provided with at least one group of transverse pulley pieces, each transverse pulley piece comprises a transverse connecting shaft and at least one transverse bearing, the head end of each transverse connecting shaft is transversely connected to the side edge of each pulley support, the tail ends of the transverse connecting shafts are suspended, the transverse bearings are sleeved on suspended parts of the transverse connecting shafts, the lengths of the suspended parts of the transverse connecting shafts are matched with the depths of the first grooves, each longitudinal pulley block comprises at least one group of longitudinal pulley pieces, each longitudinal pulley piece comprises a longitudinal connecting shaft and at least one longitudinal bearing, the head ends of the longitudinal connecting shafts are longitudinally connected to the bottoms of the pulley supports, the tail ends of the longitudinal pulley pieces are suspended, and the longitudinal bearing sleeves are sleeved on suspended parts of the longitudinal connecting shafts, and the lengths of the suspended parts of the longitudinal connecting shafts are matched with the depths of the second grooves.
The head end of the longitudinal connecting shaft is a threaded end, the threaded end of the longitudinal connecting shaft penetrates through the bottom of the pulley support and is fixed through threads, a bearing gasket is arranged between the bottom of the pulley support and the longitudinal bearing, the head end of the transverse connecting shaft is a threaded end, the threaded end of the transverse connecting shaft penetrates through the side edge of the pulley support and is fixed through a nut, and a bearing gasket is arranged between the side edge of the pulley support and the transverse bearing.
The arm support module comprises a support connecting plate, a support plate and a tightening belt; one end of the supporting connecting plate is connected with the pulley module, the other end of the supporting connecting plate is connected with the supporting plate, the supporting plate is provided with an arc matched with an arm, and the tightening belt is bound on an arc-shaped opening of the supporting plate.
The two ends of the supporting plate are provided with connecting ports, two tightening belts are arranged, one ends of the two tightening belts are connected to the connecting ports at the two ends of the supporting plate, and the other ends of the two tightening belts are connected through buckles. Tightness can be adjusted according to the needs, so that users with different body types can be satisfied.
The end parts of the two ends of the guide rail with the radian are symmetrically provided with edge sealing limiting blocks, the edge sealing limiting blocks are provided with mounting holes for connecting equipment, and the edge sealing limiting blocks are connected with the end parts of the synchronous belt. The edge sealing limiting block can ensure that the end part of the whole guide rail with the radian is limited, and the condition that the guide rail with the radian slides does not occur.
Two ends of the synchronous belt are fixed on the corresponding edge sealing limiting blocks through synchronous fixing plates. Can meet the requirement that the whole guide rail with radian can be driven.
The angle measurement module comprises a multi-turn angular displacement sensor, a sensor support and a housing support, wherein the multi-turn angular displacement sensor is fixed on the sensor support, the sensor support and the housing support are respectively fixed on the pulley module, a housing for coating the multi-turn angular displacement sensor is arranged between the sensor support and the housing support, and the transmission gear is connected with the input end of the multi-turn angular displacement sensor.
An opening for observing the transmission gear is formed in the housing; the sensor support is provided with a U-shaped hole for adjusting the position of the transmission gear. Tightness of the transmission gear and the synchronous belt can be adjusted according to the requirement, so that an ideal meshing state is achieved.
The measuring method of the torsion angle of the arm uses the measuring device to measure, and the specific method comprises the following steps: the arm drives the arm support module, the pulley module and the angle measurement module to twist along the guide rail with radian, and the ratio of the angle measured by the angle measurement module to the transmission ratio of the transmission module is the actual torsion angle.
Compared with the prior art, the invention has the following advantages: the invention adopts an indirect measurement mode, does not need external driving force, can be realized through the rotation of the hands of a user, and the angle measured by the angle sensor in the angle measurement module is in a proportional relation with the actual arm torsion angle, and the ratio is the transmission ratio of the transmission module. Because the transmission ratio of the transmission module is large, the error of the final measurement result is lower than that of the multi-turn angular displacement sensor, the measurement precision is improved, and the device can be applied to the field of medical rehabilitation, simplifies equipment and meets the requirement of limb rehabilitation.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a partial cross-sectional view of the present invention;
FIG. 3 is a schematic cross-sectional view of a rail having an arc;
fig. 4 is a schematic structural view of the pulley module;
fig. 5 is an assembled schematic view of the pulley module and the angle measurement module.
Detailed Description
The following describes in detail the examples of the present invention, which are implemented on the premise of the technical solution of the present invention, and detailed embodiments and specific operation procedures are given, but the scope of protection of the present invention is not limited to the following examples.
As shown in fig. 1 to 5, the present embodiment includes a guide rail 1 having an arc, a transmission module 6, a pulley module 5, an arm support module 3, and an angle measurement module 4; the arm support module 3 is fixed on the pulley module 5, the pulley module 5 is clamped on the guide rail 1 with radian and slides along the guide rail 1 with radian, the transmission module 6 comprises a transmission gear 61 and a synchronous belt 62, the synchronous belt 62 is arranged along the arc surface of the guide rail 1 with radian, the transmission gear 61 is meshed with the synchronous belt 62, the output end of the transmission gear 61 is connected with the angle measurement module 4, and the angle measurement module 4 is connected to the pulley module 5.
The guide rail 1 with radian is an assembly standard of the whole device. The two arc-shaped side edges of the guide rail 1 with radian are respectively provided with a first groove 11 which is concave inwards, and the arc-shaped bottom of the guide rail 1 with radian is provided with a second groove 12 which is concave inwards. The guide rail 1 with radian in this embodiment is an arc with an opening, and in other embodiments, a closed arc with a circular shape, an elliptical shape, etc. may be selected.
The pulley module 5 comprises a pulley bracket 51, a first transverse pulley block, a second transverse pulley block and a longitudinal pulley block, wherein the first transverse pulley block and the second transverse pulley block are respectively and transversely arranged on two sides of the pulley bracket 51, the longitudinal pulley block is longitudinally arranged at the bottom of the pulley bracket 51, the first transverse pulley block and the second transverse pulley block are respectively positioned in first grooves 11 of two arc-shaped sides of the arc-shaped guide roller, and the longitudinal pulley block is positioned in second grooves 12 of the guide rail 1 with radian.
The first transverse pulley block and the second transverse pulley block are identical in structure and respectively provided with two groups of transverse pulley pieces, each transverse pulley piece comprises a transverse connecting shaft 52 and two transverse bearings 53, the head end of each transverse connecting shaft 52 is transversely connected to the side edge of each pulley support 51, the tail ends of the transverse connecting shafts are suspended, the two transverse bearings 53 are sequentially sleeved on suspended parts of the transverse connecting shafts 52, the length of the suspended parts of the transverse connecting shafts 52 is matched with the depth of the first grooves 11, each longitudinal pulley block comprises two groups of longitudinal pulley pieces, each longitudinal pulley piece comprises a longitudinal connecting shaft 54 and one longitudinal bearing 55, the head end of each longitudinal connecting shaft 54 is longitudinally connected to the bottom of each pulley support 51, the tail ends of the longitudinal connecting shafts are suspended, the longitudinal bearings 55 are sleeved on suspended parts of the longitudinal connecting shafts 54, and the length of the suspended parts of the longitudinal connecting shafts 54 is matched with the depth of the second grooves 12.
The pulley module 5 is clamped into the groove corresponding to the guide rail 1 with the radian, so that effective sliding on the guide rail 1 with the radian can be realized.
The head end of the longitudinal connecting shaft 54 is a threaded end, the threaded end of the longitudinal connecting shaft 54 passes through the bottom of the pulley bracket 51 and is fixed through threads, a bearing washer is arranged between the bottom of the pulley bracket 51 and the longitudinal bearing 55, the head end of the transverse connecting shaft 52 is a threaded end, the threaded end of the transverse connecting shaft 52 passes through the side edge of the pulley bracket 51 and is fixed through a nut, and a bearing washer 56 is arranged between the side edge of the pulley bracket 51 and the transverse bearing 53.
The inner rings of the transverse bearing 53 and the longitudinal bearing 55 are sleeved with the cylindrical surfaces of the optical axes of the corresponding transverse connecting shafts 52 or the corresponding longitudinal connecting shafts 54, and the transverse connecting shafts 52 or the corresponding longitudinal connecting shafts 54 are clamped and limited in the axial direction through the shoulder surfaces of the transverse connecting shafts 52 or the corresponding longitudinal connecting shafts 54 and the bearing washers 56.
The transverse bearing 53 and the longitudinal bearing 55 of the present embodiment are both small-sized deep groove ball bearings. The pulley module 5 is matched with the groove on the guide rail 1 with radian, and the first groove 11 and the second groove 12 play a limiting role on the pulley module 5, so that the whole pulley module 5 is limited to slide in an arc shape along the first groove 11 and the second groove 12.
The arm support module 3 comprises a support connecting plate 31, a support plate 32 and a tightening belt 33; one end of the supporting connecting plate 31 is connected with the pulley module 5, the other end is connected with the supporting plate 32, the supporting plate 32 has an arc matched with the arm, and the tightening belt 33 is bound on the arc opening of the supporting plate 32.
The two ends of the supporting plate 32 are provided with rectangular connectors, two tightening belts 33 are provided, one ends of the two tightening belts 33 are connected to the connectors at the two ends of the supporting plate 32, and the other ends are connected through buckles 34. Tightness can be adjusted according to the needs, so that users with different body types can be satisfied. The user's arm is put on the support plate 32 through the tightening belt 33, and the tightening arm is adjusted by the buckle 34.
The end symmetry at the both ends of guide rail 1 with radian passes through the screw and sets up the banding stopper, have the mounting hole that is used for junction device on the banding stopper, can fix whole device on rehabilitation equipment, connect the tip of hold-in range 62 on the banding stopper. The edge sealing limiting block can ensure that the end part of the whole guide rail 1 with the radian is limited, and the condition that the guide rail 1 with the radian slides does not occur.
Two ends of the synchronous belt 62 are arranged on the corresponding edge sealing limiting blocks through the synchronous fixing plates 63 and corresponding screws. Can meet the requirement that the whole guide rail 1 with radian can be driven.
The angle measurement module 4 comprises a multi-turn angular displacement sensor 41, a sensor support 42 and a housing support 43, wherein the multi-turn angular displacement sensor 41 is arranged on the sensor support 42 through countersunk screws, the sensor support and the housing support 43 are respectively fixed on the outer end face of the pulley support 51 through screws, a housing for coating the multi-turn angular displacement sensor 41 is arranged between the sensor support 42 and the housing support 43, and the transmission gear 61 is connected to the input end of the multi-turn angular displacement sensor 41 through set screws.
The housing is a U-shaped bending plate, and is provided with an opening for observing the transmission gear 61, so that whether the transmission gear 61 and the synchronous belt 62 are well meshed or not can be checked; the sensor support 42 is provided with a U-shaped hole for adjusting the position of the transmission gear 61. Tightness of the transmission gear 61 and the timing belt 62 can be adjusted as required, thereby achieving a desired engagement state.
In the measuring process, the arm drives the arm support module 3, the pulley module 5 and the angle measuring module 4 to move together, and the angle is transmitted to the multi-turn angular displacement sensor 41 through the engagement of the synchronous belt 62 and the transmission gear, and the ratio of the measured angle to the transmission ratio is the actual rotation angle.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (10)
1. The measuring device for the arm torsion angle is characterized by comprising a guide rail with radian, a transmission module, a pulley module, an arm supporting module and an angle measuring module; the arm support module is fixed on the pulley module, the pulley module is clamped on a guide rail with radian and slides along the guide rail with radian, the transmission module comprises a transmission gear and a synchronous belt, the synchronous belt is arranged along the arc surface of the guide rail with radian, the transmission gear is meshed with the synchronous belt, the output end of the transmission gear is connected with the angle measurement module, and the angle measurement module is connected with the pulley module; the two arc-shaped side edges of the guide rail with the radian are respectively provided with a first groove which is concave inwards, and the arc-shaped bottom of the guide rail with the radian is provided with a second groove which is concave inwards; the pulley module comprises a pulley bracket, a first transverse pulley block, a second transverse pulley block and a longitudinal pulley block, wherein the first transverse pulley block and the second transverse pulley block are respectively and transversely arranged at two sides of the pulley bracket, the longitudinal pulley block is longitudinally arranged at the bottom of the pulley bracket, the first transverse pulley block and the second transverse pulley block are respectively positioned in first grooves of two arc-shaped side edges of the arc-shaped guide roller, and the longitudinal pulley block is positioned in a second groove of the guide rail with radian;
in the measuring process, the arm drives the arm support module, the pulley module and the angle measuring module to twist along the guide rail with radian, and the ratio of the angle measured by the angle measuring module to the transmission ratio of the transmission module is the actual torsion angle.
2. The device for measuring the torsion angle of the arm according to claim 1, wherein the first transverse pulley block and the second transverse pulley block have the same structure and are respectively provided with at least one group of transverse pulley pieces, the transverse pulley pieces comprise a transverse connecting shaft and at least one transverse bearing, the head end of the transverse connecting shaft is transversely connected to the side edge of the pulley support, the tail end of the transverse connecting shaft is suspended, the transverse bearing is sleeved on the suspended part of the transverse connecting shaft, the length of the suspended part of the transverse connecting shaft is matched with the depth of the first groove, the longitudinal pulley block comprises at least one group of longitudinal pulley pieces, the longitudinal pulley pieces comprise a longitudinal connecting shaft and at least one longitudinal bearing, the head end of the longitudinal connecting shaft is longitudinally connected to the bottom of the pulley support, the tail end of the longitudinal pulley pieces are suspended, the longitudinal bearing is sleeved on the suspended part of the longitudinal connecting shaft, and the length of the suspended part of the longitudinal connecting shaft is matched with the depth of the second groove.
3. The device for measuring the torsion angle of the arm according to claim 2, wherein the head end of the longitudinal connecting shaft is a threaded end, the threaded end of the longitudinal connecting shaft passes through the bottom of the pulley bracket and is fixed by threads, a bearing washer is arranged between the bottom of the pulley bracket and the longitudinal bearing, the head end of the transverse connecting shaft is a threaded end, the threaded end of the transverse connecting shaft passes through the side edge of the pulley bracket and is fixed by nuts, and the bearing washer is arranged between the side edge of the pulley bracket and the transverse bearing.
4. The device for measuring the torsion angle of the arm according to claim 1, wherein the arm supporting module comprises a supporting connecting plate, a supporting plate and a tightening belt; one end of the supporting connecting plate is connected with the pulley module, the other end of the supporting connecting plate is connected with the supporting plate, the supporting plate is provided with an arc matched with an arm, and the tightening belt is bound on an arc-shaped opening of the supporting plate.
5. The device for measuring the torsion angle of the arm according to claim 4, wherein two ends of the supporting plate are provided with connecting ports, two tightening belts are provided, one ends of the two tightening belts are connected to the connecting ports at the two ends of the supporting plate, and the other ends of the two tightening belts are connected through a hasp.
6. The device for measuring the torsion angle of the arm according to claim 1, wherein the edge sealing limiting blocks are symmetrically arranged at the end parts of the two ends of the guide rail with the radian, the edge sealing limiting blocks are provided with mounting holes for connecting equipment, and the edge sealing limiting blocks are connected with the end parts of the synchronous belt.
7. The device for measuring the torsion angle of the arm according to claim 6, wherein two ends of the synchronous belt are fixed on the corresponding edge sealing limiting blocks through synchronous fixing plates.
8. The device for measuring the torsion angle of the arm according to claim 1, wherein the angle measuring module comprises a multi-turn angular displacement sensor, a sensor support and a housing support, the multi-turn angular displacement sensor is fixed on the sensor support, the sensor support and the housing support are respectively fixed on the pulley module, a housing for covering the multi-turn angular displacement sensor is arranged between the sensor support and the housing support, and the transmission gear is connected to the input end of the multi-turn angular displacement sensor.
9. The device for measuring the torsion angle of the arm according to claim 8, wherein the housing is provided with an opening for observing the transmission gear; the sensor support is provided with a U-shaped hole for adjusting the position of the transmission gear.
10. A method for measuring the torsion angle of an arm, characterized in that the measuring device according to any one of claims 1 to 9 is used for measuring, and the method comprises the following steps: the arm drives the arm support module, the pulley module and the angle measurement module to twist along the guide rail with radian, and the ratio of the angle measured by the angle measurement module to the transmission ratio of the transmission module is the actual torsion angle.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710546000.5A CN107157487B (en) | 2017-07-06 | 2017-07-06 | Device and method for measuring arm torsion angle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710546000.5A CN107157487B (en) | 2017-07-06 | 2017-07-06 | Device and method for measuring arm torsion angle |
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| CN107157487A CN107157487A (en) | 2017-09-15 |
| CN107157487B true CN107157487B (en) | 2023-08-08 |
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| CN201710546000.5A Active CN107157487B (en) | 2017-07-06 | 2017-07-06 | Device and method for measuring arm torsion angle |
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| KR101992149B1 (en) * | 2015-08-25 | 2019-06-25 | 한국전자통신연구원 | Wearable Apparatus for measuring position and action of Arm |
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