CN114052712B - Angle measuring device and lower limb support - Google Patents
Angle measuring device and lower limb support Download PDFInfo
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- CN114052712B CN114052712B CN202010778019.4A CN202010778019A CN114052712B CN 114052712 B CN114052712 B CN 114052712B CN 202010778019 A CN202010778019 A CN 202010778019A CN 114052712 B CN114052712 B CN 114052712B
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- 210000003141 lower extremity Anatomy 0.000 title claims description 20
- 238000005259 measurement Methods 0.000 claims abstract description 14
- 230000006698 induction Effects 0.000 claims description 13
- 238000004891 communication Methods 0.000 claims description 6
- 238000012549 training Methods 0.000 abstract description 3
- 238000013461 design Methods 0.000 abstract description 2
- 238000001514 detection method Methods 0.000 description 5
- 210000003127 knee Anatomy 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 230000005684 electric field Effects 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 210000002414 leg Anatomy 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 244000309466 calf Species 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 210000000689 upper leg Anatomy 0.000 description 1
Classifications
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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
-
- 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
-
- 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
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
-
- 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
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1116—Determining posture transitions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Physics & Mathematics (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Surgery (AREA)
- Dentistry (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Engineering & Computer Science (AREA)
- Pathology (AREA)
- Biophysics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Biomedical Technology (AREA)
- Physiology (AREA)
- General Physics & Mathematics (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
- Rehabilitation Tools (AREA)
Abstract
The application discloses angle measurement device and low limbs brace, wherein angle measurement device includes: a housing; a first bracket: is arranged on the shell; and a second bracket: the first bracket is arranged on the shell, connected with the first bracket and moves relatively; angle sensor: the device comprises a fixing piece and a sensing piece, wherein the fixing piece is fixed on a first bracket or a second bracket, and the sensing piece moves relative to the fixing piece when the first bracket and the second bracket move relatively; and the control module is used for: and the sensor is electrically connected with the sensing piece to calculate and obtain the linkage angle information of the first bracket and the second bracket according to the motion parameters of the sensing piece relative to the fixing piece. The angle between two supports of mutual linkage is calculated with the parameter that produces when response piece and mounting relative motion to this application, structural design is ingenious, sets up it on the low limbs brace, can gather human relevant motion parameter in real time when human wearing the low limbs brace and carrying out rehabilitation training, and doctor's accessible obtains this motion parameter and diagnose better.
Description
Technical Field
The invention relates to the technical field of electronics, in particular to an angle measuring device and a lower limb support.
Background
The angle measuring device is a special device for measuring an included angle, and the lower limb support is a leg joint protection device, is generally worn on the thigh and the calf, and plays a role in supporting and protecting the lower limb joints.
The prior art has single function, only plays a supporting and protecting role on legs, cannot collect and transmit lower limb joint movement data, such as knee joint flexion and extension angle and other data, and cannot provide limited data support for joint movement conditions.
Disclosure of Invention
The application discloses angle measuring device of angle of two support of being linked each other of measurable quantity and applied this kind of angle measuring device's low limbs brace to acquire angle data in real time when human motion.
In one aspect, the present application discloses an angle measurement device comprising:
a housing;
a first bracket: is arranged on the shell;
and a second bracket: the device is arranged on the shell, connected with the first bracket and respectively moves relative to the first bracket and the shell;
angle sensor: the induction device comprises a fixing piece and an induction piece, wherein the fixing piece is fixed on a first bracket or a second bracket, and the induction piece also moves relative to the fixing piece when the first bracket and the second bracket move relatively;
and the control module is used for: and the sensor is electrically connected with the sensing piece, so that the linkage angle information of the first bracket and the second bracket is calculated according to the motion parameters of the sensing piece relative to the fixing piece.
Optionally, the angle sensing device is a magnetic angle sensing device, a magnetic part is arranged on the fixing part, the sensing part is a magnetic sensing part, when the magnetic part and the magnetic sensing part move relatively, the magnetic field between the magnetic part and the magnetic sensing part is sent to change, and the control module recognizes and reads the magnetic field change to calculate and obtain the linkage angle of the first bracket and the second bracket.
Optionally, the first support with the second support passes through the connecting rod to be connected, the one end of connecting rod passes through first connecting rod axle and first support to be connected, the other end of connecting rod passes through second connecting rod axle and second support to be connected, when first support moves, first connecting rod axle drives the connecting rod moves, thereby drives through the second connecting rod axle the second support links, or when second support moves, the second connecting rod axle drives the connecting rod moves, thereby drives through first connecting rod axle the first support links.
Optionally, the tip of first support is provided with first tooth, the tip of second support is provided with the second tooth, first tooth and second tooth intermesh in order to drive another support linkage when one of them support motion.
Optionally, the first support with the second support stacks up and down, be provided with first through-hole on the first support, be provided with the second through-hole on the second support, the mounting is fixed on the first support, the induction piece passes in proper order first through-hole with the second through-hole, works as the first support with the induction piece is the axial relative motion, the mounting also with the induction piece relative motion.
Optionally, the sensing piece includes movable part and fixing base, be provided with the holding chamber on the fixing base, the movable part sets up in the holding intracavity, the movable part with control module electricity is connected in order to convey the parameter that obtains when sensing piece with the mounting relative motion.
Optionally, the parameter of the relative motion between the fixed part and the sensing part of the angle sensing device is a parameter based on resistance change, a parameter based on capacitance change, a parameter based on magnetic field change, a parameter based on magnetic resistance change, a parameter based on giant magnetic resistance change, a parameter based on grating change, or a parameter based on hall electric field change.
Optionally, the control module includes a wireless communication element or a wired communication element, so as to transmit the calculated angle information to an external device in a wireless or wired manner.
In another aspect, the present application discloses a lower limb brace comprising an angle measurement device as described in any one of the above.
Optionally, the lower limb brace further comprises a battery and a locking mechanism for locking the battery, wherein the locking mechanism is arranged on the shell and comprises a battery cover, a locking piece and a swinging piece, the battery cover is arranged on the shell and accommodates the battery, the locking piece is arranged on the shell, one end of the locking piece is used for locking the battery cover, the swinging piece is arranged on the shell, two ends of the swinging piece are respectively suspended, and swings under the action of external force so as to assist in locking or unlocking the battery cover.
Optionally, the battery cover is provided with a groove structure, a first through hole is formed in the bracket of the shell, one end of the locking piece is fixed on the shell, and the other end of the locking piece is inserted into the groove structure through the first through hole so as to limit the battery cover to move towards the outside of the shell.
Optionally, the locking piece is elastic structure, be provided with the second through-hole on the locking piece, one side of second through-hole is slope structure, when exerting external force to slope structure, the locking piece inserts recess structure one end takes place the displacement, so that the locking piece breaks away from recess structure, release the battery cover.
The angle measuring device and the lower limb brace of the utility model are provided with a fixing piece and an induction piece, the fixing piece is arranged on one of the brackets, the angle between the two brackets which are mutually linked is calculated by the parameter generated when the induction piece and the fixing piece relatively move, the structural design is ingenious, the angle measuring device and the lower limb brace are arranged on the lower limb brace, the relevant motion parameters can be acquired in real time when the lower limb brace is worn by a human body for rehabilitation training, and a doctor can diagnose better by acquiring the motion parameters.
Drawings
FIG. 1 is a schematic front view of an angle measuring device according to a first embodiment;
FIG. 2 is a rear view of the angle measurement device of FIG. 1;
FIG. 3 is a schematic front view of an angle measuring device according to a second embodiment;
FIG. 4 is a schematic side view of the second embodiment angle measurement device of FIG. 3;
FIG. 5 is a schematic side view of an angle measurement device of a third embodiment;
FIG. 6 is a schematic diagram of an integrated sensor structure;
FIG. 7 is a schematic diagram of a lower limb brace;
FIG. 8 is a schematic view of a battery cover locking mechanism;
FIG. 9 is an exploded view of the battery cover locking mechanism;
FIG. 10 is a schematic view of a locking member structure;
fig. 11 is a schematic view showing an opened state of the battery cover locking mechanism.
Detailed Description
In order to facilitate an understanding of the present invention, the knee brace apparatus and its detection mechanism will be described more fully below with reference to the accompanying drawings. Preferred embodiments of the knee brace and its detection mechanism are shown in the drawings. However, the knee brace apparatus and its detection mechanism may be implemented in many different forms and are not limited to the embodiments described herein. Rather, the purpose of these embodiments is to provide a more thorough and complete disclosure of the knee brace apparatus and its detection mechanism.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the knee brace and its detection mechanism is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
As shown in fig. 1, in one aspect, the present application discloses an angle measurement device, including: the first bracket 10, the second bracket 20, the angle sensing device 30, the control module 40 and the housing 60, wherein the housing 60 is a support of the whole device, and the first bracket 10, the second bracket 20, the angle sensor 30 and the control module 40 are all arranged on the housing 60. Wherein the first bracket 10 and the second bracket 20 are connected and move with each other, i.e. when one of the brackets moves, the other bracket is driven to move together. The angle sensor 30 includes a fixing member 31 and a sensing member (not shown), wherein the fixing member 31 is fixed on the first bracket 10 or the second bracket 20, and the sensing member moves relative to the fixing member 31 when the first bracket 10 moves in linkage with the second bracket 20; the control module 40 is electrically connected to the sensing element, so as to calculate the linkage angle of the first bracket 10 and the second bracket 20 according to the motion parameter of the sensing element relative to the fixing element 31.
In one embodiment, the angle sensor 30 is a magnetic angle sensor, i.e. the magnetic attraction strength and direction are used to identify the angle. In this embodiment, the fixing member 31 disclosed above is provided with a magnetic member, the housing 60 is provided with a magnetic sensing member, the magnetic member is made of a magnet material, when the magnetic member and the magnetic sensing member move relatively, a magnetic field is generated between them, and the control module 40 is electrically connected with the sensing member, so that the amount and direction of the magnetic field collected by the sensing member can be identified and read, so as to calculate and obtain the linkage angle of the first bracket 10 and the second bracket 20. Further, in this embodiment, the control module 40 identifies the magnetic field variation and direction of the magnetic induction member, and calculates and outputs the identified magnetic attraction parameter through the internal processing chip.
In an embodiment, the first support 10 is connected to the second support 20 through a connecting rod 50, one end of the connecting rod 50 is connected to the first support 10 through a first connecting rod shaft 51, the other end of the connecting rod 50 is connected to the second support 20 through a second connecting rod shaft 52, and when the first support 10 moves, the first connecting rod shaft 51 drives the connecting rod 50 to move, so that the second support 20 is driven to move through the second connecting rod shaft 52. Alternatively, when the second bracket 20 moves, the second link shaft 52 moves the link 50, so that the first bracket 10 is driven to move by the first link shaft 51 connected to the link 50.
In an embodiment, referring to fig. 2, the device further includes an upper cover (not shown), the fixing member 31 is fixed on the first bracket 10, the sensing member is fixed on the upper cover, and the upper cover and the housing 60 enclose a cavity to accommodate the connecting rod 50 and the connection mechanism between the first bracket 10 and the second bracket 20, so that the angle measuring device is more attractive. In an embodiment, the housing is further provided with a rotation shaft 32, which is used as one rotation shaft of the first support 10 to support the first support 10 for moving relative to the housing 60, and the second support 20 is also provided with a rotation shaft 23, which is provided on the housing 60, and the rotation shaft 23 and the second link shaft 52 together support the second support 20 for moving relative to the housing 60. In this embodiment, the first link shaft 51, the rotating shaft 32, the second link shaft 52, the rotating shaft 23, the first support 10, the second support 20 and the connecting rod 50 together form an inverse four-bar linkage to drive the first support 10, the second support 20 and the housing 60 to move relatively, and when the connecting rod 50 is driven to move by the first support 10 or the second support 20, the rotating shaft 32 is driven to rotate simultaneously, and the rotating shaft 32 moves relatively with the housing 60 and the fixing member 31 on the first support 10, so as to generate relative movement parameters.
In one embodiment, the shaft 32 is fixed to the housing 60, and the link 50 is provided with an inward concave arc structure to avoid dimension interference affecting the movement amplitude of the first bracket 10 when the link 50 moves with the first bracket 10.
The structures of the first bracket 10 and the second bracket 20 are not limited to those shown in the drawings, and the names and positions of the first bracket 10 and the second bracket 20 are not limited to those shown in the drawings. The fixing member 31 may be provided on the first bracket 10 or the second bracket 20, and the principle is the same.
In an embodiment, referring to fig. 3, the end of the first bracket 10 is provided with a first engaging tooth 11, the end of the second bracket 20 is provided with a second engaging tooth 21, and the first engaging tooth 11 and the second engaging tooth 22 are engaged with each other to drive one bracket to move and the other bracket to link. This structure is simpler than the structure of fig. 2, and the first bracket 10 and the second bracket can be interlocked with each other directly through the gear structure of the mutual engagement without a connecting rod.
In an embodiment, referring to fig. 4, the fixing member 31 is disposed on the first bracket 10, the rotating shaft 32 is respectively connected to the first bracket 10 and the housing 60, the second bracket 20 is also connected to the housing 60 through the rotating shaft 22, the rotating shaft 32 and the rotating shaft 22 are both fixed on the housing 60, and the first bracket 10 rotates along the rotating shaft 32, so that the first bracket 10 simultaneously moves relatively to the housing 60, the sensing member on the upper cover, and the rotating shaft 32, thereby generating the relative movement parameters.
In another embodiment, referring to fig. 5, the first bracket 10 and the second bracket 20 are stacked up and down, a first through hole (not shown) is provided on the first bracket 10, a second through hole (not shown) is provided on the second bracket 20, the fixing member 31 is fixed on the first bracket 31, and in other embodiments, the fixing member 31 may be fixed on the second bracket 20, which is the same principle. The rotating shaft 32 sequentially passes through the first through hole and the second through hole and is fixed with the second bracket 20, the first bracket 10 and the second bracket 20 form a coaxial structure, the sensing piece can be fixed above the rotating shaft 32 and corresponds to the fixing piece 31 up and down, the first bracket 10 rotates by taking the rotating shaft 32 as an axis, and the fixing piece 31 is fixed on the first bracket 10, so that when the first bracket 10 moves relative to the rotating shaft 32 and the second bracket 20, the fixing piece 31 on the first bracket 10, the rotating shaft 32 and the sensing piece perform relative movement, thereby generating relative movement parameters. In another embodiment, the sensing member is disposed above the housing 60, one surface of the housing 60 is disposed between the fixing member 31 and the rotating shaft 32, so that the sensing member is located just below the fixing member 31, the rotating shaft 32 is fixed in the cavity of the housing 60, the housing 60 moves, and the rotating shaft 32 also moves along, so that when the first bracket 10 moves relative to the housing 60, the fixing member 31 moves relative to the sensing member, and a relative movement parameter is generated.
In an embodiment, the parameter of the relative motion between the fixing member and the sensing member of the angle sensing device is a parameter based on resistance change, a parameter based on capacitance change, a parameter based on magnetic field change, a parameter based on magnetic resistance change, a parameter based on giant magnetic resistance change, a parameter based on grating change, or a parameter based on hall electric field change, which are all related art, and are not described herein.
In an embodiment, referring to fig. 6, the sensing element is a potentiometer, and the structure of the sensing element includes a movable element 321 and a fixed seat 322, a receiving cavity 323 is provided on the fixed seat 322, the movable element 321 is disposed in the receiving cavity 323, and the movable element 321 is electrically connected with the control module 40 to transmit motion parameters obtained when the movable element 321 and the fixed element 31 move relatively.
In an embodiment, the control module 40 includes a wireless communication element (not shown) or a wired communication element (not shown) to transmit the calculated angle information to an external device in a wireless or wired manner, where the external device may be an electronic device such as a mobile phone, a tablet, a smart bracelet, a smart watch, or a computer, which may receive data in a wireless or wired manner.
The structures of the first bracket 10 and the second bracket 20 are not limited to those shown in the drawings, and the names and positions of the first bracket 10 and the second bracket 20 are not limited to those shown in the drawings. The fixing member 31 may be provided on the first bracket 10 or the second bracket 20, and the principle is the same.
On the other hand, referring to fig. 7, the present application further discloses a lower limb brace, including the angle measurement device described in any one of the above, where the housing 60 supports the first bracket 10, the second bracket 20, the angle sensor 30 and the control module 40, and the control module 40 is further provided with a button 41 for controlling the entire control module 40 to be powered on or off and a battery 42 for powering the control module 40.
According to the angle measuring device, the angle measuring device is arranged on the lower limb support, relevant motion parameters can be collected in real time when the lower limb support is worn by a human body for rehabilitation training, and a doctor can diagnose better by obtaining the motion parameters.
In an embodiment, referring to fig. 8-11, the lower limb brace further includes a battery 42 and a locking mechanism 70 for locking the battery, wherein the locking mechanism 70 is disposed on the housing 60, the locking mechanism 70 includes a battery cover 71, a locking member 72 and a swinging member 73, the battery cover 71 is disposed on the housing 60, the battery 42 can be accommodated, the locking member 72 is disposed on the housing 60, one end of the locking member is used for locking the battery cover 71, further, a support post 62 is disposed on the support 61, a through hole 731 is disposed in a middle position of the swinging member 73, the support post 62 penetrates through the through hole 731 to support the swinging member 73, by which the swinging member 73 is disposed on the housing 60, and both ends of the swinging member are respectively suspended, and swing under the action of an external force to assist in locking or unlocking the battery cover 71.
Specifically, in one embodiment, a groove structure 711 is disposed at one end of the battery cover 71 near the locking member 72, a first through hole 611 is disposed on the bracket 61 of the housing 60, one end of the locking member 72 is fixed on the housing 60, and the other end of the locking member 72 is inserted into the groove structure 711 through the first through hole 611, so as to limit the battery cover 71 from moving outside the housing 60.
Further, the locking member 72 is an elastic structure, an outward protruding buckle 722 is provided at a fixed end of the locking member 72 and the housing 60, a slot 63 for accommodating the buckle 722 is provided on the housing 60, and the locking member 72 is fixed when the buckle 722 is accommodated in the slot 63.
In an embodiment, referring to fig. 10, the locking member 72 is provided with a second through hole 721, one side of the second through hole 721 is provided with a slope structure 7211, and when an external force is applied to the slope structure 7211, one end of the locking member 72 inserted into the groove structure 722 is displaced, so that the locking member 72 is separated from the groove structure 711, and the battery cover 71 is released.
In an embodiment, referring to fig. 11, the external force may be an "L" shaped wrench 74, a receiving groove 64 is provided on the housing 60 for inserting and extracting the wrench 74, one end of the wrench 74 is inserted into the receiving groove 64 and moves toward the swinging member 73, when the wrench 74 contacts the slope structure 7211 of the locking member 72, the locking member 72 is inserted into the groove structure 711 to be deformed gradually away from the groove structure 711, when the wrench 74 completely passes through the second through hole 721, the deformation of the locking member 72 is maximum, at this time, the locking member 72 is completely separated from the groove structure 711, when the wrench 74 contacts the swinging member 73 and moves forward, the contacted end of the swinging member 73 is lifted, the other end approaches the end of the battery cover 71 and presses the battery cover 71 gradually, so that the battery cover 71 is separated from the housing 60, thereby facilitating the removal of the battery 42. In this way, the battery 42 can be flexibly taken out and locked, with a simple result.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (11)
1. An angle measurement device, comprising:
a housing;
a first bracket: is arranged on the shell;
and a second bracket: the device is arranged on the shell, connected with the first bracket and respectively moves relative to the first bracket and the shell;
angle sensor: the induction device comprises a fixing piece and an induction piece, wherein the fixing piece is fixed on a first bracket, the induction piece is arranged on an upper cover, the upper cover and a shell enclose a cavity, and when the first bracket and a second bracket move relatively, the induction piece also moves relatively to the fixing piece; the shell is also provided with a rotating shaft which is used as one rotating shaft of the first bracket to support the first bracket to move relative to the shell, and when the first bracket and the second bracket move, the rotating shaft is driven to rotate, and the rotating shaft moves relatively along with a fixing piece on the shell and the first bracket, so that relative movement parameters are generated;
and the control module is used for: the sensor is electrically connected with the sensing piece to calculate and obtain the linkage angle information of the first bracket and the second bracket according to the motion parameters of the sensing piece relative to the fixing piece;
the angle sensing device is a magnetic angle sensing device, the magnetic piece is arranged on the fixing piece, the sensing piece is a magnetic sensing piece, the magnetic field between the magnetic piece and the magnetic sensing piece changes when the magnetic piece and the magnetic sensing piece relatively move, and the control module recognizes and reads the magnetic field change so as to calculate and obtain the linkage angle of the first bracket and the second bracket.
2. The angle measuring device according to claim 1, wherein the first bracket is connected to the second bracket through a link, one end of the link is connected to the first bracket through a first link shaft, the other end of the link is connected to the second bracket through a second link shaft, and when the first bracket moves, the first link shaft drives the link to move, thereby driving the second bracket to move through the second link shaft, or when the second bracket moves, the second link shaft drives the link to move, thereby driving the first bracket to move through the first link shaft.
3. The angle measuring device of claim 1, wherein the end of the first bracket is provided with a first engaging tooth, the end of the second bracket is provided with a second engaging tooth, and the first engaging tooth and the second engaging tooth are engaged with each other so as to drive one bracket to move and the other bracket to link.
4. The angle measuring device according to claim 1, wherein the first bracket and the second bracket are vertically stacked, a first through hole is provided in the first bracket, a second through hole is provided in the second bracket, the fixing member is fixed to the first bracket, the sensing member sequentially passes through the first through hole and the second through hole, and when the first bracket moves relatively with the sensing member as an axis, the fixing member also moves relatively with the sensing member.
5. The angle measurement device of claim 1, wherein the sensing member comprises a movable member and a fixed seat, the fixed seat is provided with a containing cavity, the movable member is arranged in the containing cavity, and the movable member is electrically connected with the control module to transmit parameters acquired when the sensing member and the fixed member move relatively.
6. The angle measurement device of claim 1, wherein the parameter of the relative movement of the fixed member and the sensing member of the angle sensing device is a parameter based on a change in magnetic field, or a parameter based on a change in magnetic resistance, or a parameter based on a change in giant magnetic resistance.
7. The angle measurement device of claim 1, wherein the control module includes a wireless communication element or a wired communication element to transmit the calculated angle information to an external apparatus in a wireless or wired manner.
8. A lower limb brace comprising an angle measurement device according to any of claims 1 to 7.
9. The lower limb brace of claim 8, further comprising a battery and a locking mechanism for locking the battery, wherein the locking mechanism is disposed on the housing, the locking mechanism comprises a battery cover disposed on the housing and receiving the battery, a locking member disposed on the housing, and wherein one end is configured to lock the battery cover, and a swinging member disposed on the housing and suspended at each end to swing under an external force to assist in locking or unlocking the battery cover.
10. The lower limb brace of claim 9, wherein the battery cover is provided with a groove structure, the bracket of the housing is provided with a first through hole, one end of the locking member is fixed on the housing, and the other end of the locking member is inserted into the groove structure through the first through hole so as to limit the battery cover from moving outside the housing.
11. The brace of claim 10, wherein the locking member is an elastic structure, a second through hole is formed in the locking member, a slope structure is formed on one side of the second through hole, and when an external force is applied to the slope structure, one end of the locking member inserted into the groove structure is displaced, so that the locking member is separated from the groove structure, and the battery cover is released.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010778019.4A CN114052712B (en) | 2020-08-05 | 2020-08-05 | Angle measuring device and lower limb support |
| PCT/CN2020/126476 WO2022027845A1 (en) | 2020-08-05 | 2020-11-04 | Angle measuring device and lower limb orthosis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010778019.4A CN114052712B (en) | 2020-08-05 | 2020-08-05 | Angle measuring device and lower limb support |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114052712A CN114052712A (en) | 2022-02-18 |
| CN114052712B true CN114052712B (en) | 2024-04-12 |
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| CN114754692B (en) * | 2022-03-21 | 2023-06-27 | 蚌埠学院 | Fiber bragg grating sensor and fiber bragg grating type sensing system |
| CN114788694A (en) * | 2022-03-25 | 2022-07-26 | 东莞永胜医疗制品有限公司 | Inductor and knee joint brace |
| CN114872014B (en) * | 2022-04-07 | 2023-06-20 | 中国科学院深圳先进技术研究院 | Speech control's joint robot and speech control's joint robot system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101584618A (en) * | 2008-05-21 | 2009-11-25 | 彪仕医技股份有限公司 | Knee joint rehabilitation bracket |
| CN204594473U (en) * | 2015-04-29 | 2015-08-26 | 江苏亿嘉和信息科技有限公司 | Crusing robot steering angle measures scrambler |
| CN108202318A (en) * | 2018-03-02 | 2018-06-26 | 哈工大机器人（合肥）国际创新研究院 | A kind of joint angle displacement control device |
| CN109737865A (en) * | 2019-01-25 | 2019-05-10 | 百年旭康医疗器械有限公司 | A kind of universal single dof mobility brace angle measurement unit and its application method |
| CN109925164A (en) * | 2019-02-28 | 2019-06-25 | 浙江工业大学 | The Nei Zu mechanism based on rope driving for lower limb rehabilitation robot |
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| JP7203509B2 (en) * | 2018-04-11 | 2023-01-13 | ナブテスコ株式会社 | multi-joint link knee joint |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101584618A (en) * | 2008-05-21 | 2009-11-25 | 彪仕医技股份有限公司 | Knee joint rehabilitation bracket |
| CN204594473U (en) * | 2015-04-29 | 2015-08-26 | 江苏亿嘉和信息科技有限公司 | Crusing robot steering angle measures scrambler |
| CN108202318A (en) * | 2018-03-02 | 2018-06-26 | 哈工大机器人（合肥）国际创新研究院 | A kind of joint angle displacement control device |
| CN109737865A (en) * | 2019-01-25 | 2019-05-10 | 百年旭康医疗器械有限公司 | A kind of universal single dof mobility brace angle measurement unit and its application method |
| CN109925164A (en) * | 2019-02-28 | 2019-06-25 | 浙江工业大学 | The Nei Zu mechanism based on rope driving for lower limb rehabilitation robot |
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| CN114052712A (en) | 2022-02-18 |
| WO2022027845A1 (en) | 2022-02-10 |
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