CN113017660B - Experimental platform suitable for biplane X-ray motion capture system - Google Patents
Experimental platform suitable for biplane X-ray motion capture system Download PDFInfo
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- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B42/00—Obtaining records using waves other than optical waves; Visualisation of such records by using optical means
- G03B42/02—Obtaining records using waves other than optical waves; Visualisation of such records by using optical means using X-rays
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Abstract
The invention discloses an experimental platform suitable for a biplane X-ray motion capture system, which comprises a lifting mechanism, a roll and angle retaining mechanism and a multi-road surface and three-dimensional force plate system. The invention can change the horizontal height of the main board of the test pavement, the pitch angle and the roll angle of the main board, and the height and the angle of the main board can be displayed in real time through the scale marks. The main board can be used alone to provide the road surface under the horizontal or inclined state, and the force board gathers the atress information of plantar simultaneously, can also use with preceding subplate and back subplate combination, can provide the plane of controlling and two directions around and simultaneously. The sand groove can provide soft ground, and can simulate soft road surface environments such as deserts or sandy beach. The experimental platform can be flexibly adjusted, and can effectively reduce positioning and calibration times, reduce workload and save manpower and time when the biplane X-ray motion capture system is used for carrying out multiple experiments under different conditions.
Description
Technical Field
The invention relates to the field of biplane X-ray perspective and experimental equipment, in particular to an experimental platform suitable for a biplane X-ray motion capture system.
Background
The human body joint movement analysis is an important research field of biomechanics, and has important significance for qualitative or quantitative analysis of human body joint movement in clinic and engineering. Clinically, human joint movement analysis can be used to evaluate joint movement function, study the kinetic force difference of pathological joint and normal joint, and be used for diagnosis and rehabilitation. At the same time, the movement of the implant or the prosthesis can be tracked and quantitatively described for evaluating the position change degree of the implant or the prosthesis in the human body. In engineering, the method can provide important biomechanical data support for the development of the functional joints of the humanoid robot and the rehabilitation auxiliary tool.
In the early stage of experimental research on human body joint movement, in-vitro experiments are mostly adopted, for example, a robot is used for driving an in-vitro lower limb sample to perform movement analysis on knee joints or ankle joints, the in-vitro research cannot truly restore normal physiological movement, and experimental results have great limitations. With the development of technology, the combined use of both optical motion capture and three-dimensional force stations has become a major approach to the study of human joint motion. The optical motion capturing system is used for tracking and capturing the mark points fixed or stuck on the skin surface of the human body through the camera system to obtain the relevant kinematic parameters of the subject, but a certain relative motion exists between the skin and the skeleton, so that a large experimental error can be caused. With the development of the perspective technology, the perspective technologies such as X-ray and CT are used for observing bone tissues, and have great clinical effects, but the perspective technology can only observe joints or bones under two-dimensional or static conditions, and cannot meet the joint movement under three-dimensional dynamic conditions.
The research of human body joint movement by using a biplane X-ray movement capturing system is a newly developed high-precision bone movement testing and analyzing technology. The biplane X-ray motion capturing system comprises two sets of high-speed X-ray measuring systems, can shoot dynamic images of bone motion in the human body motion process from two different directions at the same time, and can be matched with modeling and image processing software to effectively realize the test analysis of three-dimensional dynamic six-degree-of-freedom data of human joints. The technique has the characteristics of in-vivo, noninvasive, three-dimensional, motion and accuracy and reliability, but when the system is used for carrying out experiments of different test objects and motion modes, the spatial positioning and calibration are required to be carried out for a plurality of times in order to ensure the test precision, and the experiment can be carried out until the calculated error after the calibration meets the specified requirement. For example, before a knee joint movement experiment, two pairs of X-ray emitting bulbs and an image intensifier are spatially positioned, and then calibration and error correction are performed, so that a great amount of time and effort are consumed by scientific researchers, for example, if an ankle joint movement experiment is performed, the spatial positioning is required to be performed again, and then a series of steps such as calibration and error correction are performed, so that the problems of complicated operation process, waste of manpower and time and the like are caused. Meanwhile, the current experiment mostly adopts ground or simple lap joint wood board and section bar device as walking plane, and can not meet the experiment test requirements of various road surface environments such as inclined plane walking, side-tipping walking, soft road surface walking and the like. In addition, the biplane X-ray motion capture system can only analyze and study the kinematic data, the ground-free counter-force data, and further dynamics analysis and calculation can not be carried out by combining the kinematic data measured by the X-ray system, so that the study limitation is brought.
In view of the situation that the motion capturing system of biplane X-ray is used for researching the motion state of human joints, an auxiliary experimental platform which can be suitable for the motion capturing system of biplane X-ray is needed to reduce the positioning and calibration operations carried out before experiments, different test pavements can be provided, experimental tests under the condition of multipath surfaces can be carried out, and ground reaction force data can be obtained simultaneously, so that the requirements of high-efficiency test and analysis of motion and mechanics of a human skeletal muscle system under the condition of multiple pavements are met.
Disclosure of Invention
The invention provides an auxiliary experiment platform suitable for a biplane X-ray motion capture system, which can effectively reduce the positioning and calibration times before joint motion research experiments are carried out by using the biplane X-ray motion capture system, reduce the workload and save the manpower and the time. In addition, different pavements can be arranged, so that experiments under various motion states are met. Meanwhile, ground reaction force data can be obtained through experiments, and dynamics analysis and calculation can be performed.
The biplane X-ray system consists of a first X-ray bulb tube, a second X-ray bulb tube, a first image intensifier and a second image intensifier. The beam center of the first X-ray bulb is opposite to the center of the first image intensifier, and the beam center of the second X-ray bulb is opposite to the center of the second image intensifier. The positions of the two pairs of X-ray bulbs and the image intensifier can be adjusted at will in space according to experimental requirements, and the articulation acquisition area is positioned at the intersection of the two beams of light. The invention provides an experimental platform suitable for a biplane X-ray motion capture system, which is suitable for the biplane X-ray motion capture system to carry out human joint motion mechanics experiment.
The invention comprises a lifting mechanism, a roll and angle holding mechanism, and a multi-road and three-dimensional force plate system.
The lifting mechanism comprises a left vertical frame, a right vertical frame, a front guide rod, a rear guide rod, a sliding block, a jack, a chassis, a hydraulic pump and a land wheel. The inside of left side grudging post and right grudging post all is fixed with preceding guide arm and back guide arm, is equipped with preceding guide arm and back guide arm on the slider, and preceding guide arm passes preceding guide arm, and back guide arm passes back guide arm for the slider can slide along upper and lower direction in the inside of left side grudging post and right grudging post, and preceding guide arm and back guide arm play direction and location effect. The jack is fixedly arranged at the center of the bottom of the stand, the upper surface of the piston column of the jack is combined with the lower surface of the sliding block, and the lifting of the sliding block is controlled by controlling the lifting or the descending of the piston column through the compression bar. The outer surfaces of the left stand and the right stand are respectively provided with a graduated scale, the ground clearance of the sliding block can be accurately displayed through alignment of the lower surface of the sliding block and the graduation line of the graduated scale, and then the height and the longitudinal inclination angle of the pavement main board can be clearly determined. Four land wheels capable of synchronously moving in the vertical direction are arranged below the chassis, and the lifting of the four land wheels is controlled by a hydraulic pump. When the whole experimental platform needs to move or the pitch angle of the force plate needs to be adjusted so as to change the distance between the left stand and the right stand, the hydraulic pump controls the four land wheels to synchronously descend, so that the land wheels are contacted with the ground, and the movement of the experimental platform can be facilitated or the distance between the left stand and the right stand can be shortened. When the experimental platform is adjusted, in order to keep the stability of the whole experimental platform, the hydraulic pump controls the four land wheels to ascend, so that the lower surface of the chassis is contacted with the ground. The upper ends of the left stand and the right stand are respectively provided with a plurality of hanging posts in the front and the back, a hanging rod can be lapped between the left stand and the right stand, two ends of the hanging rod are hung on the hanging posts, and armrests capable of sliding along the axial direction are arranged on the hanging rods.
The roll and angle retaining mechanism comprises a dial, a limiting block, a bidirectional ratchet, a pawl, a tension spring, a pawl handle and a pressure spring. The dial and the bidirectional ratchet wheel are coaxially arranged through the rotating shaft, the bidirectional ratchet wheel can rotate around the center, a pawl is arranged above the bidirectional ratchet wheel, a limiting block is fixedly connected above the dial, a limiting groove is formed in the limiting block, a pressure spring is arranged in the limiting groove, the upper end of the pressure spring is connected with the upper end face of the limiting groove, and the lower end of the pressure spring is connected with the upper end of the pawl handle, so that the pawl handle always bears downward pressure. A tension spring is arranged between the two pawls, so that the two pawls always bear the tension directed between the two pawls. Under the combined action of the tension spring and the compression spring, the pawl is tightly combined with the bidirectional ratchet wheel, and the rotation of the bidirectional ratchet wheel is better limited. Scale marks are carved on the dial and used for accurately displaying the rotation angle of the bidirectional ratchet wheel. The two-way ratchet wheel is characterized in that a U-shaped groove with a downward opening is arranged below the two-way ratchet wheel, two dial wheel positioning holes are formed below the outer surface of the dial wheel, two ratchet wheel positioning holes are formed above the surface of the two-way ratchet wheel, and when the two-way ratchet wheel rotates 180 degrees to enable the U-shaped groove to be opened upwards, a positioning pin can penetrate through the dial wheel positioning holes and the ratchet wheel positioning holes, so that the rotation of the two-way ratchet wheel relative to the dial wheel is limited. The two sides of the U-shaped groove are provided with rotary round holes for connecting multiple road surfaces and a three-dimensional force plate system.
The multi-road surface and three-dimensional force plate system comprises a main plate, a front auxiliary plate, a rear auxiliary plate, supporting legs and a computer controller. The main board is a cuboid board, a first force board, a second force board and a third force board are inlaid on the upper surface, a sand groove is formed in the lower surface, triaxial piezoelectric material sensors are mounted on the first force board, the second force board and the third force board, load information in the up-down direction, the front-back direction, the left-right direction and the right direction can be measured, stress signals are transmitted to a computer controller through an output circuit, and a high-density acrylic board is adopted on the front side edge and the rear side edge of the sand groove. The left end and the right end of the main board are provided with rotating pin shafts which are matched with the rotating round holes on the bidirectional ratchet wheel, so that the main board can rotate up and down around the axis of the rotating pin shafts. The mainboard upper surface both sides distribute and have the mainboard connecting hole, and the both sides face is opened there is the spread groove, and the side of preceding subplate and back subplate is equipped with the connection boss, and it has the subplate connecting hole to open on the connection boss, connects boss and spread groove adaptation, uses the connecting pin to pass mainboard connecting hole and subplate connecting hole, makes preceding subplate and back subplate and mainboard connection. The walking road surface can be provided independently by the main board in the experiment, and the plane in the left-right direction, the front direction and the back direction can be provided by the main board, the front auxiliary board and the back auxiliary board simultaneously. The lower surface of preceding subplate and the lower surface of back subplate all open there is the supporting hole, can continuously height-adjusting's supporting leg upper end stretch into in the supporting hole, and the lower extreme contacts with ground to guarantee preceding subplate and back subplate firm and stable when the bearing.
The lifting mechanism is fixedly connected with the transverse rolling and angle retaining mechanism through a sliding block and a dial, and the transverse rolling and angle retaining mechanism is driven to lift through the lifting of the sliding block. The roll and angle retaining mechanism is in pin connection with the multi-road surface and three-dimensional force plate system through rotating pin shafts at two ends of the main plate and rotating round holes in the bidirectional ratchet wheel, so that the main plate can rotate up and down around the pin shafts by a certain angle. The multi-road surface and three-dimensional force plate system can independently use the main plate to provide a plane and an inclined plane in the left-right direction and an inclined plane with a certain rolling angle, and the first force plate, the second force plate and the third force plate collect ground reaction force information; the main board can be turned over by 180 degrees, the bottom surface faces upwards, sand, soil or sand and other fillers can be filled in the sand groove on the bottom surface, and when a person walks in the sand groove, a walking experiment of a soft road surface can be simulated. The multi-road surface and three-dimensional force plate system is characterized in that the main plate can be combined with the front auxiliary plate and the rear auxiliary plate for use, so that planes in the left-right direction and the front-back direction can be provided at the same time.
The working process and principle of the invention are as follows:
in the concrete implementation process, the jacks at the bottoms of the left stand and the right stand are lifted through the piston columns, so that the lifting of the sliding blocks is controlled, the front guide rod and the rear guide rod play a guiding role when the sliding blocks are lifted, and the graduated scale can display the ground clearance in the lifting or descending process of the sliding blocks. The sliding block is fixedly connected with the dial, the rolling and angle maintaining mechanism is driven to lift through the lifting of the sliding block, the dial is connected with the center of the bidirectional ratchet wheel through a pin, the bidirectional ratchet wheel can rotate relative to the dial, the rotating position of the bidirectional ratchet wheel is controlled by the pawl, and the rotating angle of the bidirectional ratchet wheel can be displayed by scale marks on the dial. The rotating pin shafts at the left end and the right end of the main board are matched with the rotating round holes on the bidirectional ratchet wheel, so that the main board can rotate up and down around the axis of the rotating pin shaft. The main board can be lifted or lowered along with the horizontal lifting of the two-way ratchet wheels, can be lifted to different heights along with the two-way ratchet wheels, so that the main board has a pitch angle, can have a roll angle along with the rotation of the two-way ratchet wheels, and can be rotated 180 degrees along with the two-way ratchet wheels to enable the sand groove on the bottom surface to face upwards. The main board can be used alone or in combination with the front auxiliary board and the rear auxiliary board, so that planes in the left-right direction and the front-back direction can be provided simultaneously. When the pitch angle needs to be adjusted so as to change the distance between the left stand and the right stand, the steel wire rope bypasses the fixed pulley, one end of the steel wire rope is connected with the sliding block in the left stand, the other end of the steel wire rope is connected with the right stand, and meanwhile, the hydraulic pump controls the four land wheels to synchronously descend, so that the steel wire rope has a tensile force to act on the right stand along with the ascending of the sliding block in the left stand, and the distance between the left stand and the right stand is shortened. The land wheel has a labor-saving effect in changing the distance between the left stand and the right stand and in the whole moving process of the experimental platform. When the position of the experimental platform or the distance between the left stand and the right stand is determined, the hydraulic pump controls the four land wheels to rise synchronously, so that the chassis is contacted with the ground, and the stability of the whole experimental platform is ensured. The left stand and the right stand can be connected with the hanging rod in a hanging mode, the hanging rod can be connected with the hanging rod horizontally or in an inclined mode, the hanging rod is provided with the handrail capable of sliding along the axial direction, and when a person walks in an experiment, the handrail can be held by hand to keep body balance and stability.
The invention has the beneficial effects that:
1. the invention can effectively reduce the positioning and calibration times before the joint movement research experiment by using the biplane X-ray movement capturing system, reduce the workload and save the manpower and the time. When experimental conditions are changed, the experimental platform can be adapted to the X-ray system, but not the X-ray system is adapted to the experimental platform.
2. The invention can change the horizontal height of the main board of the test pavement, the pitch angle, the left and right height and the roll angle of the main board, and the height and the angle of the main board can be displayed in real time through the scale marks.
3. The mainboard not only can be used alone, provides the road surface under level or the inclination state, and the counter-force information on the ground is gathered to the power board simultaneously, can also use with preceding subplate and back subplate combination, can provide the plane of controlling and front and back two directions simultaneously.
4. The use of pulley and wire rope can be synchronous when changing the mainboard pitch angle, can change the distance between left grudging post and the right grudging post, is unlikely to the round pin axle atress at mainboard both ends too big and takes place to damage. The use of the land wheel can be used for changing the distance between the left stand and the right stand and saving the labor in the whole moving process of the experimental platform.
5. The sand groove can provide soft ground, can simulate soft road surface environment such as desert or sandy beach, and the front side and the rear side of sand groove adopt high density ya keli board, can reduce the shielding of metal material to X ray when the experiment of soft ground walking of simulation.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is a schematic view of a lifting mechanism according to the present invention.
FIG. 3 is a schematic view of the roll and angle retention mechanism of the present invention.
Fig. 4 is an exploded view of the multi-pavement and three-dimensional force plate system of the present invention.
Fig. 5 is a schematic diagram of the main board of the present invention in pitching motion.
Fig. 6 is a schematic diagram of the main board rolling motion of the present invention.
Wherein: 1-a lifting mechanism; 101-a left stand; 102-right stand; 103-front guide bar; 104-a rear guide rod; 105-slide block; 106-jack; 107-chassis; 108-a hydraulic pump; 109-land wheels; 110-a front guide hole; 111-rear guide holes; 112-piston column; 113-a compression bar; 114-a graduated scale; 115-hanging a column; 2-a roll and angle retention mechanism; 201-dial; 202-limiting blocks; 203-a bi-directional ratchet; 204-pawl; 205-a compression spring; 206-a pawl handle; 207-tension springs; 208-rotating shaft; 209-a limit groove; 210-graduation marks; 211-U-shaped grooves; 212-dial positioning holes; 213-ratchet positioning holes; 214-rotating the round hole; 3-multi-pavement and three-dimensional force plate systems; 301-a main board; 302-front sub-panel; 303-rear sub-panel; 304-support legs; 305-a first force plate; 306-a second force plate; 307-third force plate; 308-sand tank; 309-an output line; 310-a computer controller; 311, rotating a pin shaft; 312-motherboard connecting holes; 313-connecting grooves; 314-connecting the boss; 315-auxiliary plate connecting holes; 316-connecting pins; 317-support holes; 318-front side; 319-rear side; 4-hanging rods; 5-armrests; 6-fixed pulleys; 7-hanging rings; 8-a steel wire rope; 9, hooking; a 10-biplane X-ray system; 1011-a first X-ray bulb; 1012-a second X-ray bulb; 1013-a first image enhancer; 1014-a second image intensifier;
Detailed Description
Referring to fig. 1, 2, 3, 4, 5 and 6, the present embodiment includes a lifting mechanism 1, a roll and angle holding mechanism 2, and a multi-road and three-dimensional force plate system 3;
the lifting mechanism 1 comprises a left vertical frame 101, a right vertical frame 102, a front guide rod 103, a rear guide rod 104, a sliding block 105, a jack 106, a chassis 107, a hydraulic pump 108 and a land wheel 109. The left stand 101 and the right stand 102 are internally fixed with a front guide rod 103 and a rear guide rod 104, a front guide hole 110 and a rear guide hole 111 are arranged on a slide block 105, one side of the slide block 105 is fixedly connected with a dial 201 in the roll and angle holding mechanism 2, the front guide rod 103 passes through the front guide hole 110, and the rear guide rod 104 passes through the rear guide hole 111, so that the slide block 105 can slide in the up-down direction in the left stand 101 and the right stand 102, and the front guide rod 103 and the rear guide rod 104 play a guiding role. The jack 106 is fixedly arranged at the bottom centers of the left stand 101 and the right stand 102, and the upper surface of the piston column 112 of the jack is combined with the lower surface of the slide block 105 under the gravity action of the slide block 105 and the roll and angle holding mechanism 2, and the lifting or lowering of the slide block 105 is controlled by controlling the lifting or lowering of the piston column 112 through the pressure rod 113, so that the roll and angle holding mechanism 2 can move up and down in the vertical direction. The outer surfaces of the left stand 101 and the right stand 102 are respectively provided with a graduated scale 114, the ground clearance of the sliding blocks 105 can be accurately displayed through the alignment of the lower surfaces of the sliding blocks 105 and graduation lines of the graduated scale 114, and the ground clearance of the left sliding block 105 and the right sliding block 105 can be used for calculating the height and the longitudinal inclination angle of the walking pavement main board 301. Under the chassis 107, there are four ground wheels 109 that can move synchronously in the vertical direction, and the lifting of the four ground wheels 109 is controlled by a hydraulic pump 108. When the whole experimental platform needs to move or the pitch angle of the main board 301 needs to be adjusted so as to change the distance between the left stand 101 and the right stand 102, the hydraulic pump 108 controls the four land wheels 109 to synchronously descend, so that the land wheels 109 are contacted with the ground, and the movement of the experimental platform can be facilitated or the distance between the left stand 101 and the right stand 102 can be shortened. When the experimental platform is adjusted, the hydraulic pump 108 controls the four ground wheels 109 to rise synchronously in order to bring the lower surface of the chassis 107 into contact with the ground, so that the ground wheels 109 are brought into contact with the ground when the left and right stands 101 and 102 need to be moved, and the chassis 107 is brought into contact with the ground in a stable state. The upper ends of the left stand 101 and the right stand 102 are provided with a plurality of hanging posts 115 at the front and the rear, a hanging rod 4 can be lapped between the left stand 101 and the right stand 102, two ends of the hanging rod 4 are hung on the hanging posts 115, the hanging rod 4 can be horizontally hung or obliquely hung, the hanging rod 4 is provided with an armrest 5 which can axially slide, and when a person walks in an experiment, the armrest 5 can be held by hand to keep body balance and stability.
The roll and angle retaining mechanism 2 comprises a dial 201, a limiting block 202, a bidirectional ratchet 203, a pawl 204, a pressure spring 205, a pawl handle 206 and a tension spring 207. The dial 201 and the bidirectional ratchet 203 are coaxially installed through the rotating shaft 208, the bidirectional ratchet 203 can rotate around the center, the main board 301 is driven to roll transversely, the pawl 204 is arranged above the bidirectional ratchet 203, the limiting block 202 is fixedly connected to the upper side of the dial 201, the limiting block 202 is provided with the limiting groove 209, the pressure spring 205 is arranged in the limiting groove 209, the upper end of the pressure spring 205 is connected with the upper end face of the limiting groove 209, and the lower end of the pressure spring 205 is connected with the upper end of the pawl handle 206, so that the pawl handle 206 always bears downward pressure. A tension spring 207 is arranged between the two pawls 204, so that the two pawls 204 always bear a tensile force directed between the two pawls. Under the combined action of the compression spring 205 and the tension spring 207, the pawl 204 is tightly combined with the bidirectional ratchet 203, so that the rotation of the bidirectional ratchet 203 is better limited. The scale 201 is marked with graduation marks 210 for precisely displaying the rotation angle of the bidirectional ratchet 203. When the bidirectional ratchet 203 is required to rotate, the pawl handle 206 is lifted upwards, the pawl 204 is separated from the bidirectional ratchet 203, and when the bidirectional ratchet 203 rotates to a specified angle with reference to the graduation marks 210, the pawl handle 206 is released and the pawl 204 is meshed with specified teeth. The lower part of the two-way ratchet 203 is provided with a U-shaped groove 211 with a downward opening, the lower part of the outer surface of the dial 201 is provided with two dial positioning holes 212, the upper part of the surface of the two-way ratchet 203 is provided with two ratchet positioning holes 213, when the two-way ratchet 203 rotates 180 degrees to enable the U-shaped groove 211 to be opened upwards, the reverse surface of the main plate 301 is upward at the moment, and a positioning pin can penetrate through the dial positioning holes 212 and the ratchet positioning holes 213 so as to limit the rotation of the two-way ratchet 203 relative to the dial 201. The U-shaped slot 211 is provided with turning round holes 214 on both sides for connecting the multi-road surface and the force plate system 3.
The multi-road and three-dimensional force board system 3 includes a main board 301, a front sub-board 302, a rear sub-board 303, support legs 304, and a computer controller 310. The main board 301 is a cuboid board, the upper surface is embedded with a first force board 305, a second force board 306 and a third force board 307, the lower surface is provided with a sand groove 308, the first force board 305, the second force board 306 and the third force board 307 are provided with triaxial force piezoelectric material sensors, load information in the vertical, front-back, left-right directions can be measured, stress signals are transmitted to the computer controller 310 through an output circuit 309, the front side 318 and the rear side 319 of the sand groove 308 adopt high-density acrylic boards, and shielding of metal materials on X rays in a soft ground walking simulation experiment can be reduced. The left and right ends of the main board 301 are provided with rotating pin shafts 311, the rotating pin shafts 311 are matched with the rotating round holes 214 on the bidirectional ratchet wheel 203, and the main board 301 can rotate up and down around the axis of the rotating pin shafts 311, so that the pitch angle of the main board 301 can be changed while the left and right roll and angle retaining mechanism 2 is lifted or lowered, and the main board 301 can be left and right low or left and right high. Main board connecting holes 312 are distributed on two sides of the upper surface of the main board 301, connecting grooves 313 are formed on two side surfaces of the main board 301, connecting bosses 314 are arranged on the side surfaces of the front auxiliary board 302 and the rear auxiliary board 303, auxiliary board connecting holes 315 are formed on the connecting bosses 314, the connecting bosses 314 are matched with the connecting grooves 313, and connecting pins 316 penetrate through the main board connecting holes 312 and the auxiliary board connecting holes 315 to enable the front auxiliary board 302 and the rear auxiliary board 303 to be connected with the main board 301. In the experiment, the main board 301 can be used for providing a walking road surface independently, and the main board 301, the front auxiliary board 302 and the rear auxiliary board 303 can be used for providing planes in the left-right direction and the front-back direction simultaneously. The lower surface of the front auxiliary plate 302 and the lower surface of the rear auxiliary plate 303 are both provided with supporting holes 317, the upper ends of the supporting legs 304 which can continuously adjust the height extend into the supporting holes 317, and the lower ends are contacted with the ground so as to ensure the firmness and stability of the front auxiliary plate 302 and the rear auxiliary plate 303 in bearing.
The lifting mechanism 1 and the roll and angle holding mechanism 2 are fixedly connected with the dial 201 through the slide block 105, and the roll and angle holding mechanism 2 is driven to lift by lifting the slide block 105. The roll and angle holding mechanism 2 and the multi-road surface and three-dimensional force plate system 3 are in pin connection with the rotating round holes 214 on the two-way ratchet wheel 203 through rotating pin shafts 311 at two ends of the main plate 301, so that the main plate 301 can rotate up and down around the pin shafts by a certain angle. The multi-road surface and three-dimensional force plate system 3 can use the main plate 301 alone to provide a plane and an inclined plane in the left-right direction and an inclined plane with a certain roll angle, and collect ground reaction force information by the first force plate 305, the second force plate 306 and the third force plate 307; the main board 301 can be turned over by 180 degrees, the bottom surface is upward, sand grooves 308 on the bottom surface can be filled with sand, sand or other fillers, and when a person walks in the sand grooves 308, the walking experiment of a soft road surface can be simulated. The multi-road and force plate system 3, the main plate 301 may also be used in combination with the front sub-plate 302 and the rear sub-plate 303, so that a plane in both the left and right and front and rear directions can be provided.
In the implementation process, the jacks 106 at the bottoms of the left stand 101 and the right stand 102 are lifted by the piston columns 112, so that the lifting of the slide blocks 105 is controlled, the front guide rod 103 and the rear guide rod 104 play a guiding role when the slide blocks 105 are lifted, and the graduated scale 114 can display the ground clearance in the lifting or descending process of the slide blocks 105. The sliding block 105 is fixedly connected with the dial 201, the rolling and angle maintaining mechanism 2 is driven to lift by lifting of the sliding block 105, the dial 201 is connected with the center of the bidirectional ratchet 203 through a pin, the bidirectional ratchet 203 can rotate relative to the dial 201, the rotating position of the bidirectional ratchet 203 is controlled by the pawl 204, and the rotating angle of the bidirectional ratchet 203 can be displayed by scale marks on the dial 201. The rotating pins 311 at the left and right ends of the main board 301 are matched with the rotating round holes 214 on the bidirectional ratchet 203, so that the main board 301 can rotate up and down around the axis of the rotating pins 311. The main board 301 can be lifted up or down along with the bidirectional ratchet 203 horizontally, can be lifted up to different heights along with the two bidirectional ratchet 203 so as to enable the main board 301 to have a pitch angle, can have a roll angle along with the rotation of the bidirectional ratchet 203, and can be rotated 180 degrees along with the bidirectional ratchet 203 so as to enable the bottom sand groove 308 to face upwards. The main plate 301 may be used alone or in combination with the front sub-plate 302 and the rear sub-plate 303, so that a plane in both the left and right and front and rear directions can be provided. When the pitch angle needs to be adjusted to change the distance between the left stand 101 and the right stand 102, the wire rope 8 bypasses the fixed pulley 6, one end is connected with the slide block 105 in the left stand 101, the other end is connected with the right stand 102, and the hydraulic pump 108 controls the four ground wheels 109 to synchronously descend, so that as the slide block 105 in the left stand 101 ascends, the wire rope 8 has a tensile force on the right stand 102, so that the distance between the left stand 101 and the right stand 102 is shortened. Land wheel 109 has a saving in changing the distance between left stand 101 and right stand 102 and in moving the entire experimental platform. When the position of the experimental platform or the distance between the left stand 101 and the right stand 102 is determined, the hydraulic pump 108 controls the four ground wheels 109 to rise synchronously, so that the chassis 107 is contacted with the ground, and the stability of the whole experimental platform is ensured. The hanging rod 4 can be hung between the left vertical frame 101 and the right vertical frame 102, and can be hung horizontally or obliquely, the hanging rod 4 is provided with the handrail 5 which can slide along the axial direction, and when a person walks in an experiment, the handrail 5 can be held by hand to keep the body balanced and stable.
The dual-plane X-ray system 10 is composed of a first X-ray tube 1011, a second X-ray tube 1012, a first image intensifier 1013, and a second image intensifier 1014. The beam center of the first X-ray tube 1011 is opposite to the center of the first image intensifier 1013 and the beam center of the second X-ray tube 1012 is opposite to the center of the second image intensifier 1014. The positions of the two pairs of X-ray bulbs and the image intensifier can be adjusted at will in space according to experimental requirements, and the articulation acquisition area is positioned at the intersection of the two beams of light. Therefore, after the space positions of the X-ray bulb tube and the image intensifier are adjusted, the experiment platform is moved to the acquisition area, and when different experiments are replaced, only the experiment platform is required to be adjusted, so that the biplane X-ray system 10 can be positioned once and used for multiple times.
Therefore, the invention not only can change the horizontal height of the test pavement main board 301, but also can change the pitch angle, not only can be high and low on the left and right, but also can change the roll angle of the main board 301, and the height and the angle can be displayed in real time through the scale marks. The main board 301 may be used alone to provide a road surface in a horizontal or inclined state, and the first force board 305, the second force board 306, and the third force board 307 may collect ground reaction force information, or may be used in combination with the front sub-board 302 and the rear sub-board 303 to provide a plane in both the left and right and front and rear directions. The sand groove 308 can provide a soft ground, which can simulate a soft road surface environment such as a desert or beach. Because the experiment platform can be flexibly adjusted, when the double-plane X-ray system 10 is used for carrying out multiple experiments under different conditions, the positioning and calibration times can be effectively reduced, the workload is reduced, and the manpower and time are saved.
Claims (4)
1. An experimental platform suitable for biplane X ray motion capture system, its characterized in that: comprises a lifting mechanism (1), a roll and angle retaining mechanism (2) and a multi-road surface and three-dimensional force plate system (3);
the lifting mechanism (1) comprises a left vertical frame (101), a right vertical frame (102), a front guide rod (103), a rear guide rod (104), a sliding block (105), a jack (106), a chassis (107), a hydraulic pump (108) and a land wheel (109); the left vertical frame (101) and the right vertical frame (102) are internally fixed with a front guide rod (103) and a rear guide rod (104), a front guide hole (110) and a rear guide hole (111) are formed in the sliding block (105), the front guide rod (103) penetrates through the front guide hole (110), and the rear guide rod (104) penetrates through the rear guide hole (111), so that the sliding block (105) can slide in the left vertical frame (101) and the right vertical frame (102) along the up-down direction; the centers of the bottoms of the left stand (101) and the right stand (102) are fixedly provided with a jack (106), the upper surface of a piston column (112) of the jack is combined with the lower surface of a sliding block (105), and the lifting of the sliding block (105) is controlled by controlling the lifting or the descending of the piston column (112) through a compression bar (113); the outer surfaces of the left stand (101) and the right stand (102) are respectively provided with a graduated scale (114), and the ground clearance of the sliding block (105) can be accurately displayed through the alignment of the lower surface of the sliding block (105) and the graduated scale marks of the graduated scale (114); four land wheels (109) capable of synchronously moving in the vertical direction are arranged below the chassis (107), and the lifting of the four land wheels (109) is controlled by a hydraulic pump (108); the upper ends of the left stand (101) and the right stand (102) are provided with a plurality of hanging posts (115) at the front and the back, a hanging rod (4) can be lapped between the left stand (101) and the right stand (102), two ends of the hanging rod (4) are hung on the hanging posts (115), and an armrest (5) capable of sliding along the axial direction is arranged on the hanging rod (4);
the rolling and angle retaining mechanism (2) comprises a dial (201), a limiting block (202), a bidirectional ratchet wheel (203), a pawl (204), a pressure spring (205), a pawl handle (206) and a tension spring (207); the dial (201) and the bidirectional ratchet wheel (203) are coaxially arranged through a rotating shaft (208), the bidirectional ratchet wheel (203) can rotate around the center, a pawl (204) is arranged above the bidirectional ratchet wheel (203), a limiting block (202) is fixedly connected above the dial (201), a limiting groove (209) is formed in the limiting block (202), a pressure spring (205) is arranged in the limiting groove (209), the upper end of the pressure spring (205) is connected with the upper end face of the limiting groove (209), and the lower end of the pressure spring (205) is connected with the upper end face of a pawl handle (206) so that the pawl handle (206) always bears downward pressure; a tension spring (207) is arranged between the two pawls (204), so that the two pawls (204) always bear the tension directed between the two pawls; under the combined action of the pressure spring (205) and the tension spring (207), the pawl (204) is tightly combined with the bidirectional ratchet wheel (203), so that the rotation of the bidirectional ratchet wheel (203) is better limited; scale marks (210) are carved on the dial (201) and used for accurately displaying the rotation angle of the bidirectional ratchet wheel (203); a U-shaped groove (211) is arranged below the bidirectional ratchet wheel (203), two dial positioning holes (212) are formed below the outer surface of the dial (201), two ratchet wheel positioning holes (213) are formed above the surface of the bidirectional ratchet wheel (203), and when the bidirectional ratchet wheel (203) rotates 180 degrees to enable the U-shaped groove (211) to be upward, a positioning pin can penetrate through the dial positioning holes (212) and the ratchet wheel positioning holes (213) so as to limit the rotation of the bidirectional ratchet wheel (203) relative to the dial (201); two sides of the U-shaped groove (211) are provided with rotary round holes (214) for connecting a multi-road surface and a three-dimensional force plate system (3);
the multi-road surface and three-dimensional force plate system (3) comprises a main plate (301), a front auxiliary plate (302), a rear auxiliary plate (303) and supporting legs (304); the main board (301) is a cuboid board, a first force board (305), a second force board (306) and a third force board (307) are embedded on the upper surface, a sand groove (308) is formed in the lower surface, and ground reaction signals of the first force board (305), the second force board (306) and the third force board (307) are transmitted to the computer controller (310) through an output circuit (309); the left end and the right end of the main board (301) are provided with rotating pin shafts (311), and the rotating pin shafts (311) are matched with rotating round holes (214) on the bidirectional ratchet wheel (203) so that the main board (301) can rotate up and down around the axis of the rotating pin shafts (311); main board connecting holes (312) are distributed on two sides of the upper surface of a main board (301), connecting grooves (313) are formed in two side faces of the main board, connecting bosses (314) are formed in the side faces of a front auxiliary board (302) and a rear auxiliary board (303), auxiliary board connecting holes (315) are formed in the connecting bosses (314), the connecting bosses (314) are matched with the connecting grooves (313), connecting pins (316) penetrate through the main board connecting holes (312) and the auxiliary board connecting holes (315), the front auxiliary board (302) and the rear auxiliary board (303) are connected with the main board (301), supporting holes (317) are formed in the lower surface of the front auxiliary board (302) and the lower surface of the rear auxiliary board (303), and the upper ends of supporting legs (304) capable of continuously adjusting the height extend into the supporting holes (317), and the lower ends are in contact with the ground.
2. An experimental platform for a biplane X-ray motion capture system according to claim 1, wherein: the lower end of the left stand (101) is provided with a fixed pulley (6), the lower end of the right stand (102) is fixedly connected with a hanging ring (7), and the lower end of a sliding block (105) in the left stand (101) is fixedly connected with the hanging ring (7); when the whole experimental platform needs to move or the pitch angle of the main board (301) needs to be adjusted so as to change the distance between the left stand (101) and the right stand (102), the steel wire rope (8) bypasses the fixed pulley (6), the two ends are hung with the hanging ring (7) by the hanging hooks (9), the steel wire rope (8) is tensioned along with the rising of the sliding block (105) in the left stand (101), the ground wheel (109) below the chassis (107) is contacted with the ground, and the distance between the left stand (101) and the right stand (102) is shortened.
3. An experimental platform for a biplane X-ray motion capture system according to claim 1, wherein: the first force plate (305), the second force plate (306) and the third force plate (307) are provided with triaxial piezoelectric material sensors, and can measure load information in three directions of up and down, front and back, left and right.
4. An experimental platform for a biplane X-ray motion capture system according to claim 1, wherein: the front side edge (318) and the rear side edge (319) of the sand groove (308) on the lower surface of the main board (301) adopt high-density acrylic boards.
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