CN206519942U - A kind of limb action electronic switching equipment - Google Patents

Abstract

The utility model discloses a kind of limb action electronic switching equipment, by setting joint component to realize transformation of the joint angles to electric signal, i.e., the rotational angle in joint is gathered by joint component and be converted into electric signal；And realize transformation of the electric signal to joint angles, i.e., export power to guide joint to go to some angle by the power take-off module in joint component.Controller reads the electric signal in joint component, is transmitted to software processing, software can also give electric signal controller and pass to joint component by controller, furthermore joint component control power take-off module work guiding joint goes to the angle specified.

Description

A kind of limb action electronic switching equipment

Technical field

The utility model belongs to wearable smart machine field, specifically, is related to a kind of limb action electronics conversion and sets It is standby.

Background technology

With the development of electronic information technology, the frequency that people obtained and sent data is more and more intensive, and means are increasingly Various, the requirement of real-time also more and more higher, the content that information exchange is covered also increasingly is enriched.The current mankind with computer To be pressed by finger, slide to complete mostly when being interacted etc. the software in equipment, the information for feeding back to the mankind be sound and Image.The Intelligent worn device of main flow is mainly wear-type VR glasses, intelligent watch class, and intelligent VR is to pass to wearer's solid Visual effect, intelligent watch software is mainly walking for metering people and waits activity etc..

When being interacted with the equipment such as computer game, existing a little equipment is converted into game by sensing human action, then Figure picture, but stationary applica-tions are confined to, and interaction content is single, it is impossible to aid in people to realize various functions, for example, people are logical The study dance movement of wearing electronic equipment, exercise limb activity etc. are crossed, accordingly, it would be desirable to which a kind of wearing for guiding limb activity is produced Product.

In view of this it is special to propose the utility model.

Utility model content

The technical problems to be solved in the utility model is to overcome the deficiencies in the prior art that there is provided a kind of limb action electronics Conversion equipment, by setting joint component to realize transformation of the joint angles to electric signal, i.e., gathers joint by joint component Rotational angle is simultaneously converted into electric signal；And realize transformation of the electric signal to joint angles, that is, pass through the power in joint component Output module exports power to guide joint to go to some angle.Controller reads the electric signal in joint component, is transmitted to software Processing, software can also give electric signal controller and pass to joint component, furthermore joint component control power by controller Output module work guiding joint goes to the angle specified.

In order to solve the above technical problems, the utility model is using the basic conception of technical scheme：

A kind of limb action electronic switching equipment, including：

Joint component, is directly or indirectly worn on joint, the angle for gathering articulation, and/or for defeated Go out the device that mechanical action guides articulation；

Controller, to the electronic installation of Electric signal processing；

The joint component can follow articulation and export the angle electric signal in joint；

The controller reads the angle electric signal of the joint component, and handles electric signal, and/or send electric signal to The joint component with cause work export power.

Further, the joint component at least includes a mechanical joint shaft member, in addition to link block, the machinery Joint shaft member include mechanical driving device and electron displacement measurement device, the mechanical driving device include mechanical transmissioning piece first and Relative rotation or movement, the link block can occur for mechanical transmissioning piece second, mechanical transmissioning piece first and mechanical transmissioning piece second Limbs for dressing or being fixed on joint both sides, and being connected with mechanical driving device, and/or connect other joint components, The electron displacement measurement device links with mechanical driving device, the angle between measurement mechanical transmissioning piece first and mechanical transmissioning piece second Or displacement.

Further, the mechanical driving device, including：Mechanical transmissioning piece first and mechanical transmissioning piece second, mechanical transmissioning piece First and mechanical transmissioning piece second are connected by axle, and mechanical transmissioning piece first and mechanical transmissioning piece second are relatively rotated around axle.

Further, the mechanical driving device, including：Mechanical transmissioning piece first, mechanical transmissioning piece second and stopper, it is described Mechanical transmissioning piece first is arc track, and the mechanical transmissioning piece second is sliding block, and the sliding block is tight in the presence of the stopper On the close close arc track, and it can only be slided along the arc track.

Further, the mechanical driving device, including：Mechanical transmissioning piece first, mechanical transmissioning piece second and stopper, it is described Mechanical transmissioning piece first be band, the mechanical transmissioning piece second be sliding block, the sliding block in the presence of the stopper in close proximity to It is described to take, and can only be slided along the band.

Further, the mechanical driving device, including：Mechanical transmissioning piece first, mechanical transmissioning piece second, in addition to it is some straight Line style power device；

The linear pattern power device, linearly output action power, the linear pattern power device includes force-applying piece And stressed member, the force-applying piece of the linear pattern power device is arranged in mechanical transmissioning piece first, the linear pattern power device Stressed member is arranged in mechanical transmissioning piece second.

Further, the link block, including：

Telescopic band, band shape, bar shaped, cylindrical objects；

Track plates, equipped with ring, hole or the limits device in hole；

The limits device that the telescopic band may be inserted on the track plates, can be moved along direction of insertion.

Further, pressing device is installed, the pressing device includes spanner and compressing member, described on the track plates Spanner is arranged on the compressing member, and pulling the spanner can be decreased or increased between the compressing member and the track plates Gap.

Further, manual pulley and threaded post are installed, the manual pulley is wheeled object, the spiral shell on the track plates Line post is columnar member and having above on screw thread, the telescopic band has striped to be engaged with the threaded post, the manual pulley with it is described Threaded post direct or indirect connection, threaded post described in the rolling manual pulley also follows rotation while driving the telescopic band to move It is dynamic.

Further, also include in the link block：Electron displacement measurement device, pressure sensitivity measurement device and power mould Block；

The electron displacement measurement device, directly or indirectly measures the length of the link block；

The pressure sensitivity measurement device is arranged on the telescopic band or on the track plates, for measuring the link block The pressure or pulling force being subject to；

The power plant module, promotes the telescopic band along the direction or negative side for inserting the track plates under electric signal control To movement.

Further, the information that the electron displacement measurement device passes through electric current, voltage, resistance, electric capacity, electromagnetism or light sensation To calculate displacement or angle.

Further, the electron displacement measurement device be contact electronic displacement measurement device, including measuring probe and Band is measured, the measurement band is electric with certain length, the ribbon device of exportable voltage or electric current, and from one end to the other end Pressure or electric current change in regular, and the measuring probe obtains different voltages or electric current in the diverse location of measurement band.

Further, the electron displacement measurement device be section formula electron displacement measurement device, including measuring probe and Band is measured, the measurement band includes some section contacts, and the section contact is linearly or circular arc direction is uniformly distributed, The section contact is conducting strip, illuminating part, sensitive piece or magnetic induction device.

Further, the mechanical joint shaft member also includes power take-off module, and the power take-off module includes force Part and stressed member.

Further, the force-applying piece be gear, stud or nut, the stressed member be gear, rack or stud, it is described Force-applying piece and the stressed member pass through tooth or screw thread engaged transmission.

Further, the force-applying piece and the stressed member are driven by line, rope, band, chain or chain pearl.

Further, the power take-off module is hydraulic stem or atmospheric pressure pole.

Further, the joint component includes：

Electronics angular surveying rope, is the electronics angle measurement device of long similar rope, can curve, to measure its two ends Because curving the relative angle of generation, and export the electric signal about angle value；

Stimulus to the sense organ device, input electrical signal and the device that stimulus to the sense organ is provided.

Further, the electronics angular surveying rope includes：

Elastica, is the thread-shaped body for having certain elasticity；

Orientation measurement part, links together with elastica, measures the electronic device for curving angle of elastica；

One end of the elastica be arranged on orientation measurement part on, the orientation measurement part include pressure transmission part, measurement overcoat, Electronic surveying element, the device that pressure transmission part is connected with one end of the elastica is used for the pressure of transfer elastic line, measures overcoat, The device being placed in outside pressure transmission part, the pressure transmission part is placed in the measurement overcoat, in the pressure transmission part and the measurement overcoat Between place electronic surveying element, the electronic surveying element directly or indirectly measured between the pressure transmission part and the measuring piece Pressure.

Further, the electronics angular surveying rope includes：

Center pillar, even thickness or regular uniform, can be with the columnar object of free bend；

Line stretcher, thread-shaped body；

Electronic surveying element；

Some line stretchers are installed, the parallel center pillar of the line stretcher is installed, and the line stretcher leads on the center pillar Cross pipe or ring is fixed on the center pillar, make the line stretcher can only the parallel center pillar movement, described line stretcher one end and institute State center pillar to be fixed together, the electronic surveying element is installed on the line stretcher.

Further, the electronics angular surveying rope includes：

Center pillar, even thickness or regular uniform, can be with the columnar object of free bend；

Fluid hose, the flexible pipe closed at both ends of built-in gas or liquid；

Pressure sensitivity measurement device；

Some fluid hoses are installed, two ends and center section and the center pillar of the fluid hose are consolidated on the center pillar It is scheduled on together, the pressure sensitivity measurement device, the pressure for measuring the fluid in the fluid hose is installed in the fluid hose.

Further, the electronics angular surveying rope includes some shaft type measurement devices, and the shaft type measurement device includes Axle, the axle sleeve being enclosed on outside axle, electronic surveying element, the axle sleeve is enclosed on axle, pivoting, the electronic surveying element peace On the axle and the axle sleeve, the angle of axle sleeve pivoting is measured, some shaft type measurement devices are connected to two-by-two Together, the axle of the adjacent two shaft type measurement devices is parallel or vertical, the axle or axle sleeve and phase of the shaft type measurement device The axle sleeve or axle of the adjacent shaft type measurement device are mounted directly or indirectly to together.

Further, the electronics angular surveying rope includes some measured thin film devices, and the measured thin film device, is thin Piece shape measuring cell, corresponding electric signal is exported according to the difference of degree of crook.

Further, the electronics angular surveying rope include some elastica measurement devices, the elastica measurement device, It is that linear device exports different electric signals according to the length difference of stretching.

Further, the joint component also includes stimulus to the sense organ module, and the stimulus to the sense organ module is piezo, vibrations Motor or vibrations electronic device.

Further, the joint component at least include some docking reserved elements, the docking reserved elements, be hole, Hole, groove, the device of block or sheet, for installing, fixed extended device；

Further, the joint component also includes relative spatial co-ordinates positioning measuring device, the relative spatial co-ordinates Positioning measuring device, device of the measurement joint component with respect to reference position.

Further, the joint component also includes protective case, and the protective case is the protector of sheet or tubulose, installs In the outside of joint component.

Further, the controller includes

Data transmission unit, memory cell, arithmetic element, the data transmission unit include data reception module, data Line interface, wireless data transmission interface.

Further, the controller also includes manual operating unit, and the manual operating unit includes action key, incited somebody to action Action key is converted into the modular converter of electric signal, exports the performing module of electric signal.

Further, the controller also includes：Battery, power supervisor, charging inlet, the power supervisor are straight Flow power supply, from the battery out-put supply and/or give the battery charging, output voltage be less than 36V, the charging inlet and institute Power supervisor connection is stated, the power supervisor provides the battery charging management.

After adopting the above technical scheme, the utility model has the advantages that compared with prior art.

The utility model utilizes electric signal transmission to joint component, joint portion by the joint component being worn on limbs Part carries out motion guiding to limbs, limbs is produced directed movement, can realize the purpose changed from electric signal to limb action.

Joint component of the present utility model is worn on limbs, and limb action is collected by electron displacement measurement device, And limb action can be changed into electric signal, realize the purpose changed from limb action to electric signal.

The utility model can not only realize utility model purpose by mechanical structure, moreover it is possible to be realized by rope-like structure practical New purpose, as rope-like structure joint component, its practicality is stronger, simple for structure, cost-effective, does not influence limbs normally to move Make, with higher application value.

Embodiment of the present utility model is described in further detail below in conjunction with the accompanying drawings.

Brief description of the drawings

Accompanying drawing is further understood from, the utility model as the part of the application for providing to of the present utility model Schematic description and description be used for explain the utility model, but do not constitute to it is of the present utility model it is improper limit.Obviously, Drawings in the following description are only some embodiments, to those skilled in the art, are not paying creative labor On the premise of dynamic, other accompanying drawings can also be obtained according to these accompanying drawings.In the accompanying drawings：

Fig. 1 a, 1b, 1c, 1d are the structural representation of mechanical joint shaft member of the present utility model；

Fig. 2 a, 2b, 2c, 2d, 2e, 2f are the another structural representation of mechanical joint shaft member of the present utility model；

Fig. 3 a, 3b are the another structural representation of mechanical joint shaft member of the present utility model；

Fig. 4 a, 4b, 4c, 4d, 4e, 4f, 4g are the combining structure schematic diagram of mechanical joint shaft member of the present utility model；

Fig. 5 a, 5b, 5c are the structural representation of link block of the present utility model；

Fig. 6 a, 6b are the structural representation of contact electronic displacement measurement unit of the present utility model；

Fig. 7 a, 7b, 7c, 7d, 7e, 7f are the structural representation of the utility model electronics angular surveying rope；

Fig. 8 is that the embodiment of the utility model one integrally dresses schematic diagram；

Fig. 9 is that the embodiment of the utility model one integrally dresses rearview；

Figure 10 is the embodiment head construction schematic diagram of the utility model one；

Figure 11 is the embodiment Arm structure schematic diagram of the utility model one；

Figure 12 is the embodiment lower limb structure schematic diagram of the utility model one；

Figure 13 is that the another embodiment of the utility model integrally dresses schematic diagram.

It should be noted that these accompanying drawings and word description are not intended as limits design of the present utility model in any way Scope, but be that those skilled in the art illustrate concept of the present utility model by reference to specific embodiment.

Embodiment

It is new below in conjunction with this practicality to make the purpose, technical scheme and advantage of the utility model embodiment clearer Accompanying drawing in type embodiment, the technical scheme in embodiment is clearly and completely described, and following examples are used to illustrate this Utility model, but it is not limited to scope of the present utility model.

, it is necessary to explanation in description of the present utility model, term " on ", " under ", "front", "rear", "left", "right", The orientation or position relationship of the instruction such as " vertical ", " interior ", " outer " be based on shown in accompanying drawing or wearer orientation or position relationship, It is for only for ease of description the utility model and simplifies description, rather than indicates or imply that the device or element of meaning must have Specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.

, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in description of the present utility model Dress ", " connected ", " connection ", " fixation " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, Or be integrally connected；Can be mechanical connection or electrical connection；Can be joined directly together, intermediary can also be passed through It is indirectly connected to.For the ordinary skill in the art, it can understand above-mentioned term in the utility model with concrete condition Concrete meaning.

A kind of limb action electronic switching equipment described in the utility model, including：Joint component, controller.

The purpose of design of joint component be gather joint rotational angle be transformed into electric signal, i.e., joint angle change into Electric signal；Electric signal is also transformed into joint angles in addition, by some angle of the torsional force urges articulation of electric device or Joint is gone to by the vibration prompting wearer of electric device by some angle.

Controller, is data processing centre, is connected with joint component, and is communicated with joint component.

The electric signal of joint component collection is input to controller, gives software processing by controller, or compress and transmit To remote computer, either give games or give application program processing.The angle of rotation for passing through joint such as games Spend to calculate the limb action of human body, be punch according to the angle recognition of articulation, or kicking etc..Such as three-dimensional video display system The application program of work, the joint angles of joint component collection are tied on the cartoon character in three-dimensional video display software, cartoon character With keeping strokes for wearer, the action of cartoon character understands very true smooth, and the making of animation is more quick.

Controller output electric signal passes to joint component, controls joint component cradle head.It is soft in action teaching application In part, the teaching of a set of dance movement, controller output electric signal control joint component rotates to instruct wearer to dance.

Two major class joint components are devised, it is mechanical structure that part is closed in a class joint, and a class is rope-like constructed.

The joint component of mechanical structure is mainly made up of mechanical joint shaft member and link block.There are two companies in joint component Connection module is used to joint component be fixed on limbs, such as applies the joint component in elbow joint, one link block It is worn on forearm, another link block is worn on upper arm, is mechanical joint shaft member between two link blocks.Machinery Joint shaft member is the mechanical devices that simulation or corresponding joint are rotated.The joint component on elbow joint is such as applied, can be used The mechanical devices of one pivoting, the rotary centerline of the axle correspondence elbow joint of this mechanical devices, the two ends of this mechanical devices The link block being fixed on limbs is connected to, elbow joint is rotated, and link block follows upper arm and forearm around mechanical devices Axle rotate, on this mechanical devices install the measurable articulation of electron displacement measurement device angle, in this mechanical devices Upper installation electric device outputting torsion, can reverse two link blocks being worn on upper arm and forearm, and then rotate elbow and close Section.

Another kind of is the joint component of rope-like constructed, is mainly made up of rope form device and stimulus to the sense organ device, rope form device Referred to as electronics angular surveying rope.

Electronics angular surveying rope is special device, similar rope, and electronics angle can be measured by being provided with electronic surveying element Measurement rope two ends camber, i.e., electronics angular surveying rope be in " S " or " W " shape, the angle at electronics angular surveying rope two ends with It is unrelated that any shape is presented in it.Electronics angular surveying rope can be fixed on the two ends in joint, such as elbow joint, electricity by elastic webbing One end of subangle measurement rope can be worn on upper arm by an elastic webbing, and the other end is worn on by another elastic webbing On forearm.Electronics angular surveying rope can be fixed on clothing by the form such as sewing, gluing, the two ends in joint.Compare suitable Apply on close-fitting clothing, clothing here can be jacket, trousers, circular strip, cap, gloves, socks, footwear etc., here Circular strip refer to elastic, can be enclosed on arm, can also be enclosed on head.

Two functions one of joint component are that joint angles are changed into electric signal, and another is that electric signal is changed into joint Angle.Be not suitable for rotating the joint of wearer in the joint component of rope-like constructed using torsion, therefore be used here vibrations Device, first determines whether the angle in joint, if current joint angle is not consistent with the angle indicated by electric signal, control vibrations Device, is allowed to shake, wearer can according to vibrations to opposite direction cradle head, such as near elbow joint, the inner side of forearm and outside Vibrations device is all installed in side, and the vibrations device of inner forearm shakes, and wearer rotates the outside of elbow joint forward arm, if preceding Vibrations device vibrations on the outside of arm, then wearer rotates the inner side of elbow joint forward arm.The vibrations of vibrations device can not draw The rotation in joint is played, it is necessary to which wearer oneself rotates, vibrations here only serve the effect of prompting and guiding.

In three-dimensional system of coordinate, wearer's both hands side raise, the palm of the hand down, biped exist side by side station when, with the joint of wearer The heart is the zero point coordinate of coordinate system, using the front of wearer as X-direction, using the left of wearer as Y-axis positive direction, to wear The wearer crown is Z axis positive direction upwards.X/Y plane refers to the plane being made up of joint coordinates X-axis and Y-axis, and YZ planes refer to by closing The plane that coordinate Y-axis and Z axis are constituted is saved, XZ planes refer to the plane that X-axis and Z axis are constituted in joint coordinate system.X, Y, Z axis The direction at place is also known as dimension, such as X-dimension, Y dimensions, Z-dimension, and a dimension is singly to refer to X-dimension or Y dimensions or Z-dimension, two Individual dimension refers to XY dimensions or YZ dimensions or XZ dimensions, and three dimensions refer to XYZ dimensions.

In human synovial, knee joint can only be rotated around one axle of Y-axis, therefore referred to as one-dimensional joint, and one-dimensional joint includes：Elbow Joint, articulations digitorum manus, knee joint；Shoulder joint can be rotated around two axles of X-axis and Y-axis, be referred to as two-dimentional joint, two-dimentional joint also includes Hip joint；Joint of head can be rotated around tri- axles of XYZ, be referred to as three-dimensional joint, although wrist joint is not proper three Joint is tieed up, it is also regarded as three-dimensional joint herein.

There is the rotation on multiple axial directions in human synovial mostly, mechanical joint shaft member, a general machine are devised herein An axial rotation in the shaft member corresponding joint of tool joint.One joint component includes a mechanical joint shaft member, or multiple The combination of mechanical joint shaft member.The electron displacement measurement device and power take-off module of measurement angle in joint component be usually In mechanical joint shaft member.

Electron displacement measurement device, is the electronic device for measuring length and angle.

The electron displacement measurement device of measurement rotational angle is installed in mechanical joint shaft member, to measure on this axial direction Rotational angle is simultaneously transformed into electric signal；

Power take-off module is also installed in mechanical joint shaft member, power take-off module outputting torsion rotates mechanical joint shaft Part, promotes joint to go to the angle specified indirectly.

Power take-off module has two kinds of different design forms：Wheeled axle power device and linear pattern power device.

Wheeled axle power device is to rotate transmission power, such as gear drive, belt wheel transmission, chain gear transmission by wheel Etc..One of wheel is connected on the rotor of motor, referred to as force-applying piece, is driven by tooth, band, chain and another wheel, separately One wheel is referred to as stressed member, and stressed member can also be non-wheel shape object.

Gear drive, two gears for meshing together a, pinion rotation drives another pinion rotation, tooth here It can be half gear to take turns, or one section of gear；Belt wheel transmission refers to put V-belt, flat rubber belting etc., one between two wheels Wheel is rotated, and another wheel is also and then rotated under the effect such as V-belt, flat rubber belting, rope；Chain gear transmission, is passed by chain It is dynamic.

Linear pattern power device can be atmospheric pressure pole, hydraulic stem, line wheel, gear and rack combination, screwed pipe and screw combinations Etc..Linear pattern power device includes force-applying piece and stressed member.The force-applying piece of atmospheric pressure pole is pneumatic tube, and stressed member is atmospheric pressure pole, Hydraulic stem and atmospheric pressure pole are similarly；The force-applying piece of line wheel is take-up pulley or take-up support, and stressed member is line；Gear and rack combination Force-applying piece be gear, stressed member is rack；Screwed pipe and screw combinations, force-applying piece are screwed pipes, and stressed member is screw rod.

Here force-applying piece and stressed member is that comparatively, one of access power is referred to as force-applying piece, receives force-applying piece and moves The referred to as stressed member of power.

There is electric element on power take-off module, electric element can be common electric machine or stepper motor, angle Spend motor or electromagnet type electric element.The rotor of motor is connected on the force-applying piece of power take-off module.Gear drive Wheeled axle power device two gears, the gear for connecing rotor is force-applying piece, and another gear is referred to as stressed member；Belt wheel Two belt wheels of the wheeled axle power device of transmission, the belt wheel for connecing rotor is force-applying piece, and another belt wheel is referred to as stressed member；

Stepper motor can accurately rotate step number, can be with fine rotational angle；

Angle motor, is directly targeted to some angle, more more direct than stepper motor, and stepper motor needs step number to convert Angled, angle motor, which directly inputs angle degree, can go to specified angle；

Electromagnet type electric element be using electromagnet be powered with attract ferrous material property and can with magnetic pole With with magnet identical charges repel each other the property that there is a natural attraction between the sexes.

Mechanical joint shaft member mainly has three kinds of different structural forms：Elementary cell axle, annular hollow shaft, flexible shoulder joint Device, in addition also several different combining form.

Elementary cell axle is simplest mechanical joint shaft member, including mechanical transmissioning piece first, mechanical transmissioning piece second and axle.Machine Tool driving member first and mechanical transmissioning piece second are enclosed on axle, can be relatively rotated around axle.Because mechanical transmissioning piece first and machine driving Part second has borehole jack to be used on axle, therefore also referred to as axle sleeve.The axis of elementary cell axle is the axis of its axle.

Mechanical transmissioning piece first 112 and mechanical transmissioning piece second 113 are enclosed on axle 111 as shown in Fig. 1 a, 1b, 1c, 1d, and machinery is passed Moving part first 112 and mechanical transmissioning piece second 113 can be relatively rotated around axle 111.

As shown in Figure 1a, axis 110 is the axis of axle 111, also referred to as the axis of this elementary cell axle, and machinery is passed Moving part first 112 be there is also mounted and measuring probe 114 is installed in measurement band 115, mechanical transmissioning piece second 113, and measurement band 115 and measurement are visited First 114 composition electron displacement measurement device, is relatively rotated to measure mechanical transmissioning piece first 112 and mechanical transmissioning piece second 113 Angle.

As shown in Figure 1 b, mechanical transmissioning piece second 113 installs power gear 125 by support 119, in mechanical transmissioning piece first Install by powershift gear 124, power gear 125 and engaged by powershift gear 124 on 112, power gear 125 is rotated, drive stress tooth Wheel 124 is rotated, and promotes the relative mechanical driving member second 113 of mechanical transmissioning piece first 112 to rotate, wherein power gear 125 and stress tooth Wheel 124 constitutes power take-off module, and power gear 125 is force-applying piece, is stressed member by powershift gear 124.

As illustrated in figure 1 c, mechanical transmissioning piece second 113 installs power gear 125 by support 119, in mechanical transmissioning piece first 112 mounting bracket wheels 134, install cingulum 136 on rack wheel 134, and power gear 125 and cingulum 136 are engaged by tooth, power Gear 125 is rotated, and drives cingulum 136 to move, and then driving mechanical driving member first 112 is rotated, wherein power gear 125 and cingulum 136 composition power take-off modules, power gear 125 is force-applying piece, and cingulum 136 is stressed member.

As shown in Figure 1 d, mechanical transmissioning piece second 113 installs hydraulic stem 144, the other end of hydraulic stem 144 peace by support 119 Mounted in support 145, support 145 is arranged in mechanical transmissioning piece first 112, and hydraulic stem 144 is flexible to drive tool driving member first 112 and machine Tool driving member second 113 is relatively rotated, and wherein hydraulic stem 144 is power take-off module, and hydraulic stem 144 can be substituted for nut here With bolt combination, gear and rack combination, bracing wire isoline type power device.

Annular hollow shaft includes mechanical transmissioning piece first, mechanical transmissioning piece second and stopper, and mechanical transmissioning piece first is curved track Road, mechanical transmissioning piece second is sliding block.Arc track can be circle, ellipse, circular arc, ellipse arc, avette, be to have certain The warp rail of radian.Sliding block is slided on arc track, in order to which anti-limited slip block comes off from arc track, while ensure to slide again Block on arc track slidably, between arc track and sliding block on stopper is installed, card shape can be installed on sliding block Arc track is stuck in sliding block and between card shape dress puts by device, outer small interior big groove can also be done on arc track, sliding block is embedding Slided in groove.

Sliding block is slided on arc track, can be regarded as around the movement of circular or ellipse or irregular cycle side, It is circular by this（Or ellipse or irregular cycle）Center and vertical this is circular（Or ellipse or irregular cycle）Line The referred to as axis of this annular hollow shaft.Sliding block and arc track is can be regarded as to rotate around axis.

There is outer small interior big groove on arc track 212 as shown in Figure 2 a, sliding block 211 is stuck in the groove of arc track 212, can To be moved around axis, but not come off.

Arc track 222 is made up of some rollers as shown in Figure 2 b, and roller has good lubrication, reduces sliding block 211 friction produced when being slided in arc track 222.

As shown in Figure 2 c, installed indirectly on sliding block 211 and one section of stress is mounted with power gear 233, arc track 212 Gear 234.Power gear 233 and engaged by powershift gear 234, both constitute power take-off module, the rotational band of power gear 233 It is dynamic to be rotated by powershift gear 234, cause sliding block 211 to be slided in arc track 212.Measuring probe is installed indirectly on sliding block 211 235, it is mounted with arc track 212 to measure band 236.Measuring probe 235 and measurement band 236 constitute electron displacement measuring appliance Part, the angle that the measurement opposing arcuate track 212 of sliding block 211 is moved around axis.

As shown in Figure 2 d, it is mounted with to be mounted with rack 244, spiral shell on bolt 243, arc track 212 indirectly on sliding block 211 Bolt 243 and rack 244 are engaged by tooth, constitute power take-off module, bolt 243 is force-applying piece, and rack 244 is stressed member.Spiral shell The rotational band carry-over bar 244 of bolt 243 is moved, and causes sliding block 211 to be slided in arc track 212.

As shown in Figure 2 e, it is mounted with pipe 253, arc track 212 to be mounted with bar 254, pipe 253 indirectly on sliding block 211 Hydraulic stem is constituted with bar 254, is power take-off module, bar 254 stretches with respect to pipe 253, causes sliding block 211 in arc track Slided in 212, power take-off module can also be substituted for other linear pattern power devices here, such as be substituted for screwed pipe bolt： Pipe 253 replaces screwed pipe, and barre 254 is substituted for screw rod, and screwed pipe 253 is rotated, the relative screwed pipe 253 in the presence of screw of screw rod 254 It is mobile.

Annular hollow shaft can also include sliding block, band and stopper.Sliding block is installed on tape by stopper, can be along band It is mobile, but will not depart from.Sliding block along Tape movement, its track be circle, ellipse, circular arc, ellipse arc, it is avette or other not Regular circle shapes, the axis for calling this annular hollow shaft by this circular center and this vertical circular line.It is considered as It is that sliding block and band are rotated around axis.As shown in figure 2f, sliding block 261 is wheel, and the two ends of band 262 are separately fixed at a little 263 and point On 264, four cylindrical limiters 265,266,267,268 are installed on sliding block 261, cylindrical limiter 265,266,267, 268 sliding blocks 261 are limited on band 262.Can be gear on sliding block 261, band 262 can be rack, and pinion rotation passes through tooth Engagement moved along rack.

Telescopic arm articular device includes mechanical transmissioning piece first and mechanical transmissioning piece second, in mechanical transmissioning piece first and machine driving Some linear pattern power devices are installed, flexible by linear pattern power device changes mechanical transmissioning piece first and machine between part second The relative tilt and relative distance of tool driving member second.Electron displacement measurement device is typically installed on linear pattern power device, led to The length of measurement linear pattern power device is crossed to calculate between the mechanical transmissioning piece first of telescopic arm articular device and mechanical transmissioning piece second Spacing and relative dip angle.

As shown in Figure 3 a, semi-ring 311 and semi-ring 313 constitute the mechanical transmissioning piece first of circle, and semi-ring 311 and semi-ring 313 can To relatively rotate, the circle of closing is opened, becomes the circular arc of opening, facilitates limbs to load, be rotated further by semi-ring 311 and semi-ring 313, group Into the circle of closing, limbs are fixed on interior.Semi-ring 312 and semi-ring 314 constitute the mechanical transmissioning piece second of circle, in mechanical transmissioning piece Four linear pattern power devices 315,316,317,318 are mounted between first and mechanical transmissioning piece second, pass through this four linear patterns The difference of power device, which is stretched, causes the relative rotation of telescopic arm articular device.Such a annular telescopic arm articular device is limb Body is enclosed in interior use.

The big joint of amplitude is curved for joint generally require the multigroup telescopic arm articular device of installation use cooperatively, telescopic arm Articular device is connected two-by-two, the mechanical transmissioning piece first of a telescopic arm articular device and the machinery of another telescopic arm transmission device Driving member second is shared, and is composed so a tube.

As shown in Figure 3 b, mechanical transmissioning piece first 321 and mechanical transmissioning piece second 322 are criss-cross, are installed therebetween Four linear pattern power devices 324,325,326,327.This four linear pattern power devices are the rack with gear, wherein tooth Wheel 323 is arranged in mechanical transmissioning piece second 322, and gear 323 is rotated, and causes linear pattern power device 324 to move.It is such a annular Telescopic arm articular device typically makes what micro- shape was used outside limbs.

As Fig. 3 a and Fig. 3 b contrasts understand that the mechanical transmissioning piece first and mechanical transmissioning piece second of telescopic arm articular device can be set Arbitrary shape is counted into, linear pattern power device between the two can any can export the power device of push-and-pull power.Separately It is outer to be needed that any number of linear pattern power device be installed according to product design.

It can be made up of, can also be made up of multiple mechanical joints a mechanical joint shaft member in one joint component.One Individual mechanical joint shaft member can also be used cooperatively with other devices.

One joint component can be applied in combination by two elementary cell axles, be led to when the two elementary cell axles are applied in combination It is often that both axis are vertical, and one of axle sleeve of an elementary cell axle connects with the axle sleeve of another elementary cell axle Connect.Because both axis are vertical, therefore are combined as cross unit shaft as name.It is as shown in Figs. 4a and 4b, substantially singly First axle 411 and elementary cell axle 412 are combined, in the axis 414 and elementary cell axle 412 of elementary cell axle 411 Axis 413 is vertical or near normal.One elementary cell axle can only correspond to a joint and be rotated around an axle, two elementary cells Axle combination can correspond to a joint and be rotated around two axles, and such as correspondence shoulder joint, hip joint are rotated.As shown in Figure 4 b, basic Linked together between unit shaft 411 and elementary cell axle 412 by middleware 425, can so increase and correspond between the two Joint thickness, if joint is tiny, just allow an axle sleeve of elementary cell axle 411 and an axle of elementary cell axle 412 Set is joined directly together or allowed middleware 425 shorter, if joint is thick, just allow elementary cell axle 411 and elementary cell axle 412 it Between middleware 425 grow.Substantially two axial rotations of two elementary cell axle corresponding joints are ensured.Cross unit shaft Two other axle sleeve being not attached to together is referred to as the axle sleeve of this cross unit shaft, in the application typically the two shaft rooms Ground connection is fixed on limbs.

Joint ball is installed in the middle of telescopic arm articular device, such a telescopic arm articular device is referred to as the flexible shoulder joint of joint ball Device.Joint ball is the device of ball and shell composition.As illustrated in fig. 4 c, mechanical transmissioning piece first 431 and mechanical transmissioning piece second 432 it Between be mounted with linear pattern power device 435,436,437, ball 433 has been arranged in mechanical transmissioning piece second 432, and shell 434 is installed In mechanical transmissioning piece first 431, ball 433 is embedded in shell 434, and ball 433 can be rotated freely in shell 434, but not Depart from.

One joint component can be applied in combination by telescopic arm articular device and linear pattern power device, as shown in Figure 4 b, Linear pattern power device 442 is mounted with telescopic arm articular device 441.Both are used in combination and can applied in hip joint, shoulder joint Place.

Multiple telescopic arm articular devices are installed and used around limbs, and inner casing and shell, inner casing are installed typically on telescopic arm With shell protection device and skin.Such as Fig. 4 e and 4f, mounting bracket 452, wherein inner casing wherein between inner casing 453 and shell 454 453rd, shell 454 and support 452 constitute a shell unit.Lead between several shell units tiling shell unit adjacent in the plane Flexible connector 451 is crossed to connect.Multiple shell units link together, and make armor shape dress and wear.

One joint component can be applied in combination by annular hollow shaft and elementary cell axle.The axis of elementary cell axle and The axis of annular hollow shaft is vertical or near normal is installed, and an axle sleeve of elementary cell axle is arranged on the arc of annular hollow shaft On shape track, it can also be arranged on sliding block.As shown in figure 4g, an axle sleeve of elementary cell axle 473 is arranged on annular hollow On the arc track of axle 471, the axis of elementary cell axle 473 is vertical with the axis of annular hollow shaft 471 or near normal. Fixture 472 is connected on an axle sleeve of elementary cell axle 473, for being fixed on limbs.The joint component of such a combination It is generally used for using at shoulder joint.

Being applied on general limbs between multiple joint components, adjacent segment part can use connector to link together.Also There is joint component to be fixed on limbs and be also required to fixing device.Connector can be the plate or bar of regular length or have Band, rope or the connector that can be stretched of elasticity.Here connector is also referred to as link block, for fixing joint Connector of the part on limbs is also referred to as fixture or stuck-module.

One purpose of connector is that joint is fixed on limbs, and the limbs thickness of different people is different, and length is different, because This devises scalable connector.

Scalable connector generally comprises telescopic band and track plates.The telescopic band of scalable connector may be inserted into track Plate, telescopic band inserts track plates, then connector shortens；Telescopic band extracts a part from track plates, then connector integrally becomes It is long.The pipe and bar of the similar hydraulic stem of operation principle of scalable connector, the bar insertion tube of hydraulic stem, then hydraulic stem integrally become It is short, extract then hydraulic stem elongated.

Telescopic stud connector design has four kinds of structure types：Friction connector, manual adjusting connector, fine adjustment type connect Fitting and power type connector.

Friction connector, the material of filling increase friction makes friction between the two between telescopic band and track plates Increase, telescopic band can be plugged using certain big power, adjust the length of scalable connector, simultaneous retractable band and track plates it Between have certain friction, in the case of nature, or in the case that external force is weaker, the length of scalable connector is to become 's.

There is pressing device above manual adjusting connector, track plates, pressing device is typically made up of spanner and compressing member, press Tight part is generally eccentric wheel, and compressing member is pressed on extensible member, and telescopic band is between compressing member and track plates.Pulling spanner can lift Compressing member is played, the gap between compressing member and track plates becomes big, makes do not have pressure between telescopic band and track plates, telescopic band is in-orbit Moved in guidance tape；Compressing member can be depressed by pulling spanner, and the gap between compressing member and track plates diminishes, and makes telescopic band and track Pressure between plate becomes big, and telescopic band can not be moved easily in track plates.

As shown in Figure 5 a, limits device 512, the insertion limits device 512 of telescopic band 511 are installed on track plates 514.Eccentric wheel 515 are arranged in limits device 512, pull spanner 516 and are rotated with movable eccentric wheel 515, eccentric wheel 515 is rotated, when eccentric wheel 515 When distance between track plates 514 becomes big, telescopic band 511 diminishes in the internal resistance of limits device 512, can adjust telescopic band 511 Insert the length of limits device 512.Pull spanner 516 to rotate with movable eccentric wheel 515, when between eccentric wheel 515 and track plates 514 Distance becomes hour, and eccentric wheel 515 extrudes telescopic band 511 with track plates 514, and telescopic band 511 can very much not be moved by resistance.In limitation Measuring probe 517 is installed on device 512, measurement band 518, measuring probe 517 and 518 groups of band of measurement are installed on telescopic band 511 Into electron displacement measurement device, for measuring the distance between relatively restricted device 512 of telescopic band 511.In telescopic band 511 and even Pressure sensitivity measurement device 519 is installed between joint 513.Pressure sensitivity measurement device 519 is used for the pressure for measuring the two ends of telescopic band 511, uses Suitable length is arrived in prompting regulation.

Power type connector, is equipped with power plant module, power plant module on track plates and installs gear or stud, on telescopic band There is groove, power plant module output power, gear or stud rotate and drive telescopic band movement.

As shown in Figure 5 b, limits device 512, the insertion limits device 512 of telescopic band 511 are installed on track plates 514.In limitation Screw rod 520 is installed on device 512, motor 521 is installed on screw rod 520.Telescopic band 511 is the screw on rack, with screw rod 520 Engagement.Motor 521 is rotated, and drives screw rod 520 to rotate, in the presence of screw and tooth, moving telescopic band 511.In telescopic band 511 Pressure sensitivity measurement device 519 is installed between connector 513, the electric signal regulation motor drawn according to pressure sensitivity measurement device 519 Rotation direction and whether rotate stopping.Measuring probe 517 is installed in limits device 512, measurement is installed on telescopic band 511 Band 518, measuring probe 517 and the measurement composition electron displacement measurement device of band 518, for measuring the relatively restricted dress of telescopic band 511 Put the distance between 512.

Fine adjustment type connector, having on track plates on manual pulley, manual pulley connection gear or stud, telescopic band has groove. Manual pulley is rolled with hand, manual pulley rotation driven gear or stud are rotated, and gear or stud are in the presence of tooth, moving telescopic Band.

As shown in Figure 5 c, the end to end circle for constituting a closing of scalable connector, opens buckle 534, makes closing Circle become the arc of opening, limbs can load, and close buckle 534, and scalable connector becomes the circle closed again.It is such a to stretch Contracting connector is generally used for fixing joint part to limbs.In the insertion limits device 532 of telescopic band 531, in limits device 532 Upper installation manual pulley 533, manual pulley 533 is rolled with hand, and manual pulley 533 rotates with moving gear or stud, engaged and moved by tooth Telescopic band 531 is moved, the size of the circle of the closing to adjust scalable connector composition.

The end to end circle for constituting a closing of scalable connector can be used for joint component to be fixed on limbs.With Have in the mode on fixing joint part to limbs and a variety of be referred to as fixing band.Fixing band includes end to end scalable connection Part, in addition to rubber strip, normal tape etc..Fixing band is also referred to as fixture.

On scalable connector install pressure sensitivity measurement device, to measure scalable connector to the direct of body or The pressure connect, adjusts the comfort level that scalable connector is worn on limbs.Pressure sensitivity is too big, then allows scalable connector elongated one A bit, pressure sensitivity is too small, then adjusts scalable connector and become shorter.

Electron displacement measurement device is installed on scalable connector, electron displacement measurement device mainly measures scalable company The length of fitting.The data message of the limbs length thickness of convenient collection wearer.

Electron displacement measurement device is the device for measuring angle and air line distance, generally comprises measuring probe and measurement band.

As shown in Figure 6 a, measuring probe 611 contacts with measurement band 612.Measurement band 612 can be the electricity of strip Resistance, measuring probe 611 can be conductive pole, and measurement band 612 two ends add voltage, and measuring probe 611 is from one end of measurement band 612 The voltage moved on on the other end, measuring probe 611 changes in rule, generally linear pattern.

As shown in Figure 6 b, measurement band 622 is uniformly divided into several contacts, and these contacts can be conducting strip, with difference Voltage, measuring probe 621 by each contact when can obtain different voltages, measuring probe is calculated according to voltage swing 621 position；These contacts can be conducting strip, general not charged, and they are encoded, and measuring probe 621 is powered, surveys Amount probe 621 is contacted with each conducting strip can show different codings；These contacts can also be sensitive piece or illuminating part, The correspondence of measuring probe 621 is exactly illuminating part or sensitive piece.

The joint component of rope-like constructed includes electronics angular surveying rope and stimulus to the sense organ device.

Electronics angular surveying rope mainly has seven kinds of structural forms：Elastic press type electronics angular surveying rope, stay-supported electronics angle Measurement rope, fluid tubular type Electron Angular degree measurement rope, shaft type electronics angular surveying rope, film rope type electronics angular surveying rope, film Tubular type electronics angular surveying rope and snap the line tubular type electronics angular surveying rope.

Elastic press type electronics angular surveying rope, including elastica, orientation measurement piece.Elastica, it is not only flexible but also have it is certain just Property line, bend elastica, elastica can produce the elastic acting force opposite with ambient pressure, this active force and elastica Camber is into rule sex ratio, elasticity of torsion line, and elastica can produce the normal reaction force of recovery, the torsion number of degrees of elastica with The elastic force of elastica is directly proportional, and elastica can be spring, steel wire, and there is spring certain elasticity to have certain rigidity again.Direction Measuring piece includes pressure transmission part, measurement overcoat, electronics inducing element, and pressure transmission part is that cross section is non-circular object, measures overcoat It is hollow to be that center has, and the transverse cross-sectional shape of hollow space is corresponding with the cross section of pressure transmission part, and size is more crosscutting than pressure transmission part Face is slightly bigger, and pressure transmission part is placed on vacancy in measurement overcoat, some electronics inducing elements is installed therebetween, inducing element is solid It is scheduled on pressure transmission part, can also be fixed on outside measurement and put.Elastica one end is fixed together with pressure transmission part, rotates elastica, Pressure transmission part also follows the horizontal stroke in vacancy in rotation, pressure transmission part vacancy in measurement overcoat, the cross section of pressure transmission part and measurement overcoat Tangent plane is non-circular, and pressure transmission part can not be rotated in measurement overcoat, the torsion of elastica can be passed to pressure transmission part and measurement is outer Some electronics inducing elements between set.The dynamics and elastica measured according to some electronics inducing elements is on torsional direction Coefficient of elasticity calculate torsional direction of the one end relative to the other end of elastica.Elastic press type electronics angular surveying rope is applied Power, bent elastica, and elastic force is passed to pressure transmission part by elastica, then by pressure transmission part that pressure transmission is outer with measurement to pressure transmission part Electronics inducing element between set, according to electronics inducing element it is measurable go out pressure size, according to residing for electronics inducing element Position can extrapolate the direction of elastica elastic force.

The diagram of elastic press type electronics angular surveying rope, as shown in Figure 7a, the one end of elastica 714 is arranged on pressure transmission part 712 Together, pressure transmission part 712 is placed on the hollow interior of measurement overcoat 713, and electronics is provided between pressure transmission part 712 and measurement overcoat 713 Measuring cell 711, electronic surveying element 711 is the device for measuring pressure size.The other end of elastica 714 installs disk 715. To both disk 715 and measurement overcoat 713 force, because elastica has certain elastic force, pressure transmission part 712 and measurement overcoat Opposite reaction force is produced between 713.Some electronic surveying elements are installed between pressure transmission part 712 and measurement overcoat 713 711, electronic surveying element 711 is reflected not according to the direction of power and the size of power between pressure transmission part 712 and measurement overcoat 713 Data can be calculated the angle that elastica is curved and the direction reversed by same data-signal.During installation, the He of disk 715 Measure on the fixed limb of overcoat 713, the application such as on elbow joint is fixed on measurement overcoat 713 on forearm, disk 715 It is fixed on upper arm.Also to protect elastica 714 and pressure transmission part 712 not to be disturbed at work by limbs and clothing in addition, protect Demonstrate,prove the precision of measurement.

Stay-supported electronics angular surveying rope, including center pillar, line stretcher and electronic surveying element.Center pillar is even thickness or rule Rule property is uniform, can be with the columnar object of free bend（Mainly rope form, can be with hollow out, or carving）；Line stretcher is fine rule；Vertically In its cross section and by the line at cross section center（It is not necessarily straight line）The referred to as center line of the center pillar；The center of line stretcher Line, the center line of the line stretcher is referred to as perpendicular to its cross section and by the line at cross section center；

Some gentry's diminishing lines are installed on center pillar（Can be a line stretcher or many line stretchers）, using pipe, The objects such as hole, ring are fixed on line stretcher on center pillar, line stretcher is translated along the direction of center pillar center line.The one of line stretcher End is fixed on center pillar.The other end accesses electronic surveying element.Line stretcher is installed parallel to the center line of center pillar.

If line stretcher is the line without elasticity, when stay-supported electronics angular surveying rope is bent, stretching for inside radius is in One end of diminishing line is protruding, is in the inside retraction in one end of the line stretcher of outer radius.Stroke and measurement rope degree of crook with And line stretcher is relevant to the distance between the center line of center pillar.The stretching of electronic surveying element measurement line stretcher and retraction amount, lead to The angle of bend of bending center pillar can be drawn by crossing the distance for the centreline space that program compares line stretcher and center pillar.

If line stretcher is flexible line, the two ends of line stretcher are fixed on the two ends of center pillar, line stretcher and center pillar it Between install electronics tension measurement element, the pulling force for measuring line stretcher.When stay-supported electronics angular surveying rope is bent, it is in The pulling force of the line stretcher of inside radius is small, and the pulling force for being in the line stretcher of outer radius is big.The size and measurement rope of line stretcher pulling force are curved Qu Chengdu and line stretcher are relevant to the distance between the center line of center pillar.Electronic surveying element measures the pulling force of line stretcher, leads to The angle of bend of bending center pillar can be drawn by crossing the distance for the centreline space that program compares line stretcher and center pillar.

Measurement rope can do serpentine bending, both curved inwardly, and be bent outwardly again.The result that line stretcher is measured is measurement The sum of the superposition of rope angle of bend.

When there are multiple line stretchers on measurement rope, the angle of multiple bendings can be measured.Data can be compared again simultaneously To the accurate impression of increase measurement.

If line stretcher is the line without elasticity, contact measurement device, measuring probe and survey can be installed on line stretcher Amount band is separately mounted on line stretcher and center pillar.One end of line stretcher is fixed on center pillar, and the other end installs measuring probe or survey Measure band.Line stretcher is moved relative to center pillar, measuring probe also relative measurement Tape movement, the displacement that contact measurement device measurement is drawn It is displacement of the line stretcher with respect to center pillar.

Wheel type electronic measuring cell, the center line peace of the typically two symmetrical center pillars of line stretcher can also be installed on measurement rope Dress, the first from left is right, one end connection of two line stretchers, and is connected on the axle sleeve of wheel type electronic measuring cell, and another two ends are fixed On center pillar, measurement rope is towards a line stretcher bending, and line stretcher is moved relative to center pillar, and pulls axle sleeve to rotate, and axle sleeve is relative Axle is rotated, and wheel type electronic measuring cell measures axle can calculate the position that line stretcher is rotated relative to center pillar with axle sleeve relative rotation angle Move.

The diagram of stay-supported electronics angular surveying rope, as shown in Figure 7b, line stretcher are on the line without elasticity, center pillar 721 Line stretcher 723,724,725,726 is mounted with, this four line stretchers are placed in pipe.Line stretcher 724 is placed in pipe 727, Ke Yi Freely stretched in pipe 727, pipe 727 is arranged on center pillar 721.The other end 728 of line stretcher 724 is fixed on center pillar 721.It is flexible It is provided with line 723,724,725,726 on electronic surveying element, line stretcher 724 and measurement band 729 is installed, pipe 727, which is installed, is surveyed Amount probe 7210, measuring probe 7210 and measurement band 729 composition electron displacement measurement device, i.e. electronic surveying element, herein The distance that measurement line stretcher 724 is moved relative to pipe 727.Pass through the data pair to the measurement on line stretcher 723,724,725,726 Than the camber that can be calculated this electronics angular surveying rope.

During installation, the two ends of stay-supported electronics angular surveying rope are fixed on the two ends of limbs upper joint, such as elbow joint, One end of stay-supported electronics angular surveying rope is fixed on forearm, the other end is fixed on upper arm.

The principle of fluid tubular type Electron Angular degree measurement rope is a bit similar with stay-supported electronics angular surveying rope.

Fluid tubular type Electron Angular degree measurement rope, including center pillar, fluid hose and pressure sensitivity measurement device.Center pillar be even thickness or It is regular uniform, can be with the rope form object of free bend（Mainly rope form, can be with hollow out, or carving）；

Fluid hose is the pipe of even thickness, and its is closed at both ends, and pipe is built with gas or liquid, also pressure sensitivity measurement device.

Fluid hose, the center line of fluid hose is referred to as perpendicular to the cross section of fluid hose and by the line at the center in cross section.

Some fluid hoses are installed on center pillar, the centerline parallel of fluid hose is installed in the center line of center pillar, and fixed On center pillar, center pillar bending, movement are followed.

When the measurement rope bending of fluid tubular type Electron Angular degree, the fluid overpressure of bending side becomes big, the stream of opposite side Body overpressure diminishes, and the pressure sensitivity measurement device measurement in fluid hose draws pressure value, is arrived according to pressure value size and fluid hose The distance between center pillar calculates flexibility.Multiple fluid hoses are typically used to measure the flexibility of fluid-type measurement rope, it is right The comparing analysis meter that multiple fluid hoses are transmitted counts evidence.

Shaft type electronics angular surveying rope mainly includes shaft type measurement device.As shown in Figure 7 c, axle 732 and axle sleeve 733 are constituted One shaft type measurement device, referred to as shaft type measurement device A；Axle 737 and the composition shaft type measurement device of axle sleeve 736 B；Axle 739 and axle Set 7310 constitutes shaft type measurement device C；Axle 7312 and the composition shaft type measurement device of axle sleeve 7311 D.In addition, pipe 734 is enclosed on bar 735 Outside, the tangent plane of pipe 734 and bar 735 is non-circular, in this way, bar 735 can be slided with respect to pipe 734 freely, and can not phase Pipe 734 is rotated.Pipe 734 and the composition connector of bar 735 E.Shaft type measurement device A axle sleeve 733 and shaft type measurement device B axle 737 are indirectly mounted to together by connector E；The axle 739 of shaft type measurement device B axle sleeve 736 and shaft type measurement device C connects It is connected together；The axle 7312 of shaft type measurement device C axle sleeve 7310 and shaft type measurement device D links together.Wherein, shaft type is surveyed Metering device A axis 731 is vertical with shaft type measurement device B axis 7314, the axis 738 with shaft type measurement device C It is parallel, it is vertical with shaft type measurement device D axis 7313.Should also there is electronic surveying element in shaft type measurement device, in this figure Do not mark.

Film rope type electronics angular surveying rope mainly includes measured thin film device.Measured thin film device is laminar electronics Measurement device.

Using observer as reference, measured thin film device it is roomy facing to observer, towards being referred to as of observer behind, separately Before one roomy face is referred to as, it is referred to as above towards upper face, the face under is referred to as bottom surface, is referred to as the left side, direction towards left Right is referred to as the right side.Line before vertical thin-film measurement device is referred to as its Y lines.

Several measured thin film devices, link together two-by-two.With another film above one measured thin film device It is directly or indirectly connected together below measurement device, the Y lines of both are mutually perpendicular to, can also be parallel, few cases Under can also be in any angle.Two adjacent measured thin film devices can be directly linked together, can also be therebetween Plus a small rod of hard, the quantity that the measured thin film device in diaphragm type measurement rope is used can be reduced by so doing, reduction manufacture Cost.

Thin-film electro subangle measurement rope two ends are exerted oneself, the measurement of thin-film electro subangle, thin-film electro subangle is bent The basic Component units measured thin film device of measurement has bent for distinct program, and camber can be passed to it by measured thin film device Electronic surveying element above, electronic surveying element is transformed into different electric signals according to the pressure and camber that are subject to, according to The electric signal of electronic surveying element on the upper all measured thin film devices of diaphragm type measurement rope calculates diaphragm type measurement rope Total camber.

Generally, for protective film measurement device, diaphragm can be also added, so measured thin film device has three Layer or sandwich construction.

As shown in figure 7d, the measured thin film device drawn is the measured thin film device with three-decker with matcoveredn Part, measured thin film device 746 and measured thin film device 745 are linked together, and the other end and film of measured thin film device 745 are surveyed Metering device 744 is linked together, and the other end and measured thin film device 743 of measured thin film device 744 link together, and film is surveyed The other end of metering device 743 connects measured thin film device 742 and measured thin film device 747 simultaneously, measured thin film device 742 and thin The other end of film measurement device 747 connects measured thin film device 741 simultaneously.

Film tubular type Electron Angular degree measurement rope is another occupation mode of measured thin film device, several measured thin film devices Part is distributed in periarticular composition tubulose, rather than rope form.

As shown in figure 7e, measured thin film device 751,752,753,754, the two ends of this four measured thin film devices connect respectively It is connected on two and takes composition tubulose, to be fixed on limbs around joint, arthrogryposis, this four measured thin films The bending direction of device is different, according to the measurement data obtained by this four measured thin film devices can calculate joint towards which Individual direction bending and angle of bend.

Snap the line tubular type electronics angular surveying rope mainly includes some elastica measurement devices.Some elastica measurement devices point Cloth constitutes tubulose in periarticular.

As depicted in fig. 7f, the two ends of elastica measurement device 761,762,763,764 are connected to three and take composition Tubulose, to be fixed on limbs around joint.Arthrogryposis, this four elastica telescopic levels are different, according to The measurement data of this four elasticas calculates joint towards the angle of which direction bending and bending.

Joint component also includes stimulus to the sense organ module, and main output of vibration power stimulates skin tactile to inform and wear to remind Wearer, stimulus to the sense organ module can be piezo, can also be vibration motor or electromagnetic device, or other generations The electronic device of vibrations.

Extend for convenience, be convenient to other devices on the utility model, hole, hole are left in joint component, It is convenient to be fixed with bolt；Groove is left, expansion equipment is conveniently blocked, expansion equipment is fixed；The devices such as block, piece are left, are also Convenient fixed expansion equipment, is allowed to not rock, shakes.

Also include electronic control component, electronic control component connection controller and connection joint component in joint component On all electronic devices, what the electron displacement measurement device in joint component was collected is probably analog signal, it is therefore desirable to Analog-signal transitions are passed to controller by electronic control component again into data signal, if collection is data signal, also The length of specification data signal, matching coding rule passes to controller again；What controller passed to electronic control component is ten Senary code, therefore heuristicimal code is translated into corresponding instruction by electronic control component needs, and electronic member is controlled according to instruction Part works, and control here, which generally refers to energization, allows electric element to work, or closes power supply and be stopped by electric element, or passes Coded data is passed, indicates how electric element works.

Joint component is worn, and can obtain each interarticular relative locus, and can not obtain relatively empty Between in other objects position, the Position Design of other objects is obtained in joint component space for convenience relatively empty Between coordinate setting measurement apparatus.A relative spatial co-ordinates positioning measurement is installed in a joint component in general the utility model Device, the position of other joint components can be by calculating.

Relative spatial co-ordinates positioning measuring device mainly has three kinds of structures：Image recognition type relative spatial co-ordinates positioning measurement Device, ultrasonic-type relative spatial co-ordinates positioning measuring device, link type relative spatial co-ordinates positioning measuring device.

Image recognition type relative spatial co-ordinates positioning measuring device includes figure poster and camera, pacifies in joint component Some figure poster are filled, device sensor devices or camera on metope, on support or on other objects.Gathered by camera To image calculate position of the figure poster in image and size and calculate the relative position of figure poster in space, And then draw the position of joint component in space.A picture A is such as pasted on desk, textures draw B on the wrist joint of wearer, Picture A size and actual picture A size in the image shot are calculated, the scaling between image and material object can be drawn, Distances and angle of the picture B with respect to picture A in the image of shooting are calculated again, then are multiplied with scaling Ji Wei picture B in reality With the relative position between the picture A on desk.Certainly there are the computational methods of more other modes.

Ultrasonic-type relative spatial co-ordinates positioning measuring device includes ultrasonic vocalization device and ultrasonic receiver part, in joint Some ultrasonic vocalization devices are installed, several ultrasonic vocalization devices are arranged in joint component, ultrasonic receiver part on part On object of reference, on such as metope, on support or on other objects, by calculating ultrasonic vocalization device to ultrasonic receiver Distance between part draws the position of joint component in space.It can in addition contain give ultrasound coding, so-called coding, i.e. ultrasonic wave is pressed Certain frequency power sends ultrasonic wave.Some information can be transmitted by ultrasound coding, and distinguish different sound-producing devices.

Link type relative spatial co-ordinates positioning measuring device includes some bars and axle, also electron displacement measurement device.Phase Adjacent bar is end to end, middle installation axle, and electron displacement measurement device is installed on axle.Electron displacement measurement device measurement on axle Connect the angle between two bars on this axle.Assuming that have bar A, bar B, bar C, bar D, axle A, axle B, axle C, bar A one end and The ends of bar B mono- are connected on axle A, and bar A and bar B can be rotated around axle A, electron displacement the measurement device measurement bar A and bar B on axle A it Between angle, the bar B other end and a bar C end be connected on axle B, and bar B and bar C can be rotated around axle B, the electronic bits on axle B Angle between shift measurement device measurement bar B and bar C；The bar C other end and a bar D end are connected on axle C, and bar C and bar D can be with Rotated around axle C, the angle on axle C between electron displacement measurement device measurement bar C and bar D.The bar A other end is arranged on joint portion On part, the bar D other end is arranged on object of reference, on such as metope, on desk, support it is first-class.By calculating the length of bar, bar it Between angle come calculate joint component with respect to object of reference space coordinate.

GPS location mode can also be used to obtain the locus that joint component is relative.

Do not injured to protect wearer's body to stop by mechanical devices, and Saving cortilage part is not damaged by clothing, sharp weapon etc. Wound, installs protective case in joint component.Protective case, flake or tubular device, protection device.Two panels flake shield can be used Shell, a piece of device being close in human body, Saving cortilage part is because of crowded bodies of hurting sb.'s feelings such as rotations, and another is placed on the outer of joint component Face, Saving cortilage components interior accurate device, it is to avoid because of damaged in collision.The protective case that pipe is filled can be used the part of joint component Set is loaded, or the whole shell-likes of joint component are got up.

Device pressure measurement device is also answered in joint component, the pressure produced to measure between joint component and limbs Power.In game link, under the scene that resistance is imposed to joint, such as caught in playing by opponent in arm, joint component The game of power take-off module simulation output in opponent power, the direction of power and the size of power.Pressure measxurement in joint component It is exactly counteragent of the player to opponent in playing to the pressure of joint component that device, which now measures the limbs drawn,.In addition in muscle In patient's application of atrophy, the action that can obtain patient is intended to, and providing power for patient helps.

Microphone can also be installed on the utility model, the sound for gathering wearer；Camera can also be installed, Expression for gathering wearer.

The utility model is worn, joint component obtain joint angles and be transformed into electric signal received by controller, Processing, computing, can also pass to other programs, internet program, and storage action；Also send instructions to joint portion Part.Therefore controller should have data transmission unit, memory cell, arithmetic element.

Data transmission unit includes data reception module, data line interface, wireless data transfer module.Data line interface bag USB interface, earphone line interface, video line interface, COM line interfaces, the cable interface of specification are included, in addition to the data of non-standard connect Mouthful.Wireless data transfer module includes bluetooth module, WIFI module, infrared module.

Memory cell can be the recording equipments such as memory bar, hard disk, USB flash disk, SD card, TF cards, memory stick.

Arithmetic element refers to the device for having operational capability, generally refers to microprocessor, including single-chip microcomputer, ARM machines, Android Machine, microcomputer etc. can be with the machinery equipments of calculation process.

Should also there is manual operating unit on controller, to switching on and shutting down, selection game, figure viewed from behind music, recording are acted, stopped Stop is recorded, playback action etc..

Manual operating unit includes button, display screen, and button operation is used to selecting switch machine, it is also an option that program；It is aobvious Display screen mainly shows operation indicating, and display screen can be display screen with touch function or without touch function Display screen.

Controller should also have battery, power supervisor, charging inlet, and battery can be integrally fixed on the utility model, Can also be dismountable.Polylith battery can be used, polylith battery may be mounted at diverse location on the utility model, be used to Balanced weight, the protecting crust of firm and good heat dispersion, protecting crust protection wearing will be done close to the battery of wearer Person is not because accident is injured by battery.Power supervisor is mainly monitoring battery electric quantity, the radiating of battery, provides power supply, with And management battery charging.The power supply that power supervisor is provided must be less than the safe voltage of 36V, i.e. human body, the voltage of battery Also the safe voltage of human body is had to comply with.By charging inlet, insertion external charger charges for battery.Charging inlet is except inserting Outside the interface of line, also indicator lamp, that is, charged the indicator lamp whether being full of, and when battery short of electricity, indicator lamp can be shown For red, when battery electric quantity is full of, indicator lamp is shown in green, it is of course also possible to indicate that battery is with other colors It is no to be full of, if shortcoming.

Image-display units should be also installed, such as display screen, VR glasses should also install sound output single on controller First such as earphone, loudspeaker.

In order to beautiful, electric light can also be installed in joint component, electric light here is bulb, LED, fluorescent tube or Light bar, and other can illuminating electronic element, can be by the illumination effect of programme-control lamp.Control the flicker effect of lamp and bright Dark intensity.

The utility model can be by the joint component embodiment into numerous with controller combination, such as：

The embodiment of all finger movements on Wearable gloves, collection finger, Wearable gloves can also pass through electric device Part guiding makes which kind of action finger makees, and the present embodiment can be used for piano fingering instruction in drill practice, can be used for game.

The Wearable helmet, using joint component, the embodiment of the first-class composition of shooting, joint component collection headwork is taken the photograph As head collection wearer's facial expression, the present embodiment is mainly used in the making of animation video display.

Wearable gloves and the Wearable helmet are joint component topical applications on human body, are described below two in people Body stops the embodiment of upper overall applicability.

Joint component can be combined by several mechanical joint shaft member, and illustrate simply introduce it is therein a kind of or Several combinations, the joint component combination shown in figure can not limit other combinations of joint component.

The embodiment of first entirety wearing

As Fig. 8,9,10,11,12 show the schematic diagram that first entirety dresses embodiment.Reference numerals in this five width figure Identical is same device.Wherein Fig. 8 is the front view of the present embodiment, and Fig. 9 is the rear view of the present embodiment, and Figure 10 is this The schematic diagram of the joint of head part of embodiment, Figure 11 is the schematic diagram of the shoulder arm joint component of the present embodiment, and Figure 12 is this The schematic diagram of the leg joint component of embodiment.Finger-joint part and the schematic diagram of foot's joint component are not painted and marked Know, it, which is designed and produced, to be taken a hint from other joint components.

The introduction of joint of head part, as shown in Fig. 8,9,10, joint of head part is by elementary cell axle 8102, annular Hollow shaft 8103, elementary cell axle 8104 these three mechanical joint shaft member composition, annex 8101 are fixed on head, elementary cell axle 8102 axle sleeve is arranged on annex 8101, another axle sleeve of elementary cell axle 8102 and the arc of annular hollow shaft 8103 Track links together.Two axle sleeves of elementary cell axle 8102 are relatively rotated, and annex 8101 and annular hollow shaft 8103 are also followed Relatively rotate, the sliding block of annular hollow shaft 8103 is installed together with an axle sleeve of elementary cell axle 8104, elementary cell axle 8104 another axle sleeve is arranged on plate 8105.Two axle sleeves of elementary cell axle 8104 are rotated, and also drive annular hollow shaft 8103 rotate.Elementary cell axle 8106 is arranged on wearer's neck and backbone junction, measures rotation and the output power of neck.This Two elementary cell axles and an annular hollow shaft have been used in group head machine power joint component combination, and totally three machineries are closed Nodal axisn part, can collect the angle that all directions on head are rotated substantially, and output power makes head turn to all angles. Can also be by measuring the rotational angle on head using the combination of other modes and exporting power.

The introduction of shoulder arm joint component, as shown in Fig. 8,9,11, in shoulder arm joint component comprising shoulder joints part, Ancon joint component and the big part of wrist joint component three composition, also clavicle joint part.Do not mark finger in this diagram Joint component.Except joint component also has link block, and other modules.The composition clavicle joint of cross unit shaft 8201 portion Part；Annular hollow shaft 8203 and the composition shoulder joints part of elementary cell axle 8214；The composition ancon of elementary cell axle 8206 joint Part；Annular hollow shaft 8211, elementary cell axle 8210 and the annular hollow shaft being made up of plate 8208,8209 collectively constitute wrist Joint component.

Thoracic dorsal plate 8215 is fixed on shirtfront and the back of wearer, and it has two platy structures to be fixed on and wear by band etc. With wearer.One axle sleeve of cross unit shaft 8201 is fixed on thoracic dorsal plate, and another axle sleeve is arranged in connector 8202 On, the other end of connector 8202 and the sliding block of annular hollow shaft 8203 are connected together.

One axle sleeve of the track of annular hollow shaft 8203 and elementary cell axle 8214 links together.Elementary cell axle 8214 another axle sleeve is linked together with fixture 8204, and fixture 8204 is fixed on the upper arm of wearer, and annular is empty Heart axle 8203 and the collective effect of elementary cell axle 8214 gather the rotational angle all around of shoulder joint, and output power draws Lead shoulder joint and go to the angle specified.

Elementary cell axle 8206 is fixed on elbow joint by fixture 8212 and 8213, and elementary cell axle 8206 follows elbow The rotational angle of articulation collection elbow joint exports power-assisted elbow joint and turns to the angle specified simultaneously.Shoulder joints portion Linked together between part and ancon joint component by connector 8205.Two adjacent joint components can also be without using connection Part is connected.Wherein the buckle installed above of fixture 8212 and 8213, can be opened into the arc of opening, conveniently be put into arm, arm After being put into, the circle of buckle composition closing is closed, joint component is fixed on limbs.

Plate 8209 is fixed on palm, and plate 8209, which is installed, installs annular hollow shaft on the sliding block of annular hollow shaft, plate 8208 Track, plate 8209 and plate 8208 constitute annular hollow shaft, elementary cell axle are installed between plate 8208 and annular hollow shaft 8211 8210, an axle sleeve of elementary cell axle 8210 is arranged in annular hollow shaft 8211, and another axle sleeve is arranged on plate 8208. The annular hollow shaft and annular hollow shaft 8211 and elementary cell axle 8210 that plate 8208,8209 is constituted constitute wrist joint portion Part.Linked together between wrist joint component and ancon joint component with connector 8207, two can also be made without connector Person is independent.

The introduction of leg joint component, as shown in Fig. 8,9,12, leg joint component includes hip joint components, knee joint Part and the big part of ankle-joint part three, also fixing device, link block.

Cross unit shaft 8302 and the annular composition of hollow shaft 8304 hip component, a front and rear left side for the correspondence hip of cross unit shaft 8302 Right swing, the rotation of the annular correspondence of hollow shaft 8304 hip from inside to outside with ecto-entad；The correspondence knee of elementary cell axle 8307 is closed The rotation of section；The rotation of the correspondence ankle-joint of elementary cell axle 8310.8301 be abdomen stern pedestal, and wearer is fixed on by fixing band Abdomen stern position.One axle sleeve of cross unit shaft 8302 is indirectly mounted on abdomen stern pedestal 8301, and another axle sleeve is arranged on On fixture 8312, fixture 8312 is fixed on wearer leg close to the position of waist, and the track of annular hollow shaft 8304 is fixed On wearer's knee joint top, its sliding block is connected on abdomen stern pedestal 8301 indirectly by connector 8303, and connector 8303 can To follow the swing of leg left-right and front-back, but can not be with being rotated inside and outside leg, annular hollow shaft 8304 corresponds to the interior of hip joint It is outer to rotate.One axle sleeve of elementary cell axle 8307 is fixed on big near knee joint by fixture 8305 and fixture 8306 On leg and shank.One axle sleeve of elementary cell axle 8310 is arranged on fixture 8311, and another axle sleeve is arranged on plate 8309 On, fixture 8311 is fixed on shank near ankle-joint, and plate 8309 is fixed on pin, and ankle-joint is rotated, elementary cell axle 8310 also and then rotate, and the electronic measurement circuit on elementary cell axle 8310 collects the angle of the rotation of elementary cell axle 8310, The indirect rotational angle for collecting ankle-joint, gives the electric signal of elementary cell axle 8310,8,310 two axle sleeve phases of elementary cell axle To rotating, also fixture 8311 and plate 8309 is driven to rotate, fixture 8311 and the collective effect of plate 8309 are shaked the ankle.It is fixed Linked together between part 8311 and fixture 8306 with connector 8308, can also be without using connector.

In addition as shown in figure 9, installing some cross unit shafts 8402 at wearer's back to obtain back joint Rotational angle, and output power guide back articulation to specified angle.Cross unit shaft 8402 passes through fixing band 8401 It is fixed on wearer.

The embodiment of second entirety wearing, as shown in figure 13, in this example, has used electronics angular surveying in large quantities Rope.Electronics angular surveying rope is fixed on clothing by modes such as sewing, stickups, and wearer's body can also be fixed on rubber belt On.

Headband 1, jacket 2, gloves 3, trousers 4, it is mounted with some electronics angular surveying ropes on socks 5.

There are two endless belts on headband 1, an endless belt is looped around at forehead, and an endless belt is looped around at chin, electricity Subangle measurement rope 101,102 is arranged on headband 1, the opening angle in the measurement face of electronics angular surveying rope 101 joint, electronics The other end of angular surveying rope 102 is arranged on the rotational angle to measure joint of head at the collar of jacket 2.

Electronics angular surveying rope 201 and electronics angular surveying rope 205 are arranged at the shoulder joint of jacket 2, to measure left and right The rotational angle of shoulder joint；Electronics angular surveying rope 202 and electronics angular surveying rope 207 are arranged on the elbow joint of jacket 2, are used to Measure the rotational angle of elbow joint；It is attached that electronics angular surveying rope 203 and electronics angular surveying rope 208 are arranged on the wrist joint of jacket 2 Closely, to measure the carpal rotational angle in left and right；Electronics angular surveying rope 209,210,211,212 and 213 is installed on jacket 2 Back joint, the rotational angle to measure back joint.Wherein stimulus to the sense organ device 204 and stimulus to the sense organ device 206 is pacified Near shoulder joint, to stimulate wearer, inform, remind joint to be rotated toward which direction.

Electronics angular surveying rope 301 is arranged on wrist joint on gloves 3, to measure carpal rotational angle；Electronics Angular surveying rope 302,303,304,305 is arranged on gloves 3, the rotation in the joint of correspondence one finger of measurement.

Electronics angular surveying rope 401 and 404 is arranged on trousers 4 at hip joint, the rotational angle to measure hip joint； Electronics angular surveying rope 402,405 is arranged on trousers 4 on knee joint, the kneed rotational angle of correspondence；Electronics angular surveying Rope 403,406 is arranged on rotation of the ankle of trousers 4 to measure focile.

Electronics angular surveying rope 501 is arranged on socks 5, the rotational angle to measure ankle-joint.

Stimulus to the sense organ device can be installed at each joint part, stimulated by shaking, auxiliary guiding joint goes to specified Angle.

Claims (12)

1. a kind of limb action electronic switching equipment, it is characterised in that including：

Joint component, is directly or indirectly worn on joint, the angle for gathering articulation, and/or for exporting machine The device of tool motion guiding articulation；

Controller, to the electronic installation of Electric signal processing；

The joint component can follow articulation and export the angle electric signal in joint,

The controller reads the angle electric signal of the joint component, and handles electric signal, and/or sends electric signal to described Joint component with cause work export power.

2. a kind of limb action electronic switching equipment according to claim 1, it is characterised in that the joint component is at least Including a mechanical joint shaft member, in addition to link block, the mechanical joint shaft member includes mechanical driving device and electronic bits Shift measurement device,

The mechanical driving device includes mechanical transmissioning piece first and mechanical transmissioning piece second, mechanical transmissioning piece first and mechanical transmissioning piece second Can occur relative rotation or movement,

The link block is used for the limbs for dressing or being fixed on joint both sides, and is connected with mechanical driving device, and/or even Other joint components are connect,

The electron displacement measurement device links with mechanical driving device, between measurement mechanical transmissioning piece first and mechanical transmissioning piece second Angle or displacement.

3. a kind of limb action electronic switching equipment according to claim 2, it is characterised in that the machine driving dress Put, including：Mechanical transmissioning piece first and mechanical transmissioning piece second, mechanical transmissioning piece first and mechanical transmissioning piece second are connected by axle, machinery Driving member first and mechanical transmissioning piece second are relatively rotated around axle.

4. a kind of limb action electronic switching equipment according to claim 2, it is characterised in that the machine driving dress Put, including：Mechanical transmissioning piece first, mechanical transmissioning piece second and stopper, the mechanical transmissioning piece first are arc track, the machinery Driving member second is sliding block, the sliding block in the presence of the stopper in close proximity on the arc track, and can only edge The arc track is slided.

5. a kind of limb action electronic switching equipment according to claim 2, it is characterised in that the machine driving dress Put, including：Mechanical transmissioning piece first, mechanical transmissioning piece second and stopper, the mechanical transmissioning piece first are band, the mechanical transmissioning piece Second is sliding block, and the sliding block takes in the presence of the stopper in close proximity to described, and can only be slided along the band.

6. a kind of limb action electronic switching equipment according to claim 2, it is characterised in that the machine driving dress Put, including：Mechanical transmissioning piece first, mechanical transmissioning piece second, in addition to some linear pattern power devices；

The linear pattern power device, linearly output action power, the linear pattern power device include force-applying piece and by Power part, the force-applying piece of the linear pattern power device is arranged in mechanical transmissioning piece first, the stress of the linear pattern power device Part is arranged in mechanical transmissioning piece second.

7. a kind of limb action electronic switching equipment according to claim 2, it is characterised in that the link block, bag Include：

Telescopic band, band shape, bar shaped, cylindrical objects；

Track plates, equipped with ring, hole or the limits device in hole；

The limits device that the telescopic band may be inserted on the track plates, can be moved along direction of insertion.

8. a kind of limb action electronic switching equipment according to claim 2, it is characterised in that the electron displacement measurement Device calculates displacement or angle by the information of electric current, voltage, resistance, electric capacity, electromagnetism or light sensation.

9. a kind of limb action electronic switching equipment according to claim 2, it is characterised in that the electron displacement measurement Device be section formula electron displacement measurement device, including measuring probe and measurement band, the measurement band include some section contacts, The section contact is linearly or circular arc direction is uniformly distributed, and the section contact is conducting strip, illuminating part, sensitive piece Or magnetic induction device.

10. a kind of limb action electronic switching equipment according to claim 2, it is characterised in that the mechanical joint axle Part also includes power take-off module,

The power take-off module includes force-applying piece and stressed member.

11. a kind of limb action electronic switching equipment according to claim 1, it is characterised in that the joint component bag Include：

Electronics angular surveying rope, is the electronics angle measurement device of long similar rope, can curve, to measure its two ends because curved Change the line of production raw relative angle, and export the electric signal about angle value；

Stimulus to the sense organ device, input electrical signal and the device that stimulus to the sense organ is provided.

12. a kind of limb action electronic switching equipment according to claim 11, it is characterised in that the electronics angle is surveyed Amount rope includes some shaft type measurement devices

The shaft type measurement device, including axle, the axle sleeve being enclosed on outside axle, electronic surveying element,

The axle sleeve is enclosed on axle, pivoting,

The electronic surveying element is arranged on the axle and the axle sleeve, measures the angle of axle sleeve pivoting,

Some shaft type measurement devices link together two-by-two,

The axle of two adjacent shaft type measurement devices is parallel or vertical,

The axle or axle sleeve of the shaft type measurement device and the axle sleeve or axle of the adjacent shaft type measurement device are directly or indirectly pacified It is fitted together.