阅读说明：本技术 头部转动角度测量装置 (Head rotation angle measuring device ) 是由 陈路锋 张星星 谢鸿钦 宋广奎 邱静 程洪 于 2020-09-23 设计创作，主要内容包括：本发明公开了一种头部转动角度测量装置,包括头部固定装置、肩部固定装置、三自由度转动角度测量装置和控制器,头部固定装置和肩部固定装置分别固定在人体头部和肩部,三自由度转动角度测量装置用于提供头部绕矢状轴、冠状轴和垂直轴的转动自由度,通过磁编码器测量头部绕矢状轴的旋转角度、头部绕垂直轴的旋转角度、头部绕冠状轴的旋转角度并上传至控制器进行输出。本发明通过使用磁编码器,可以提高头部转动角度测量的灵活度和精度。(The invention discloses a head rotation angle measuring device which comprises a head fixing device, a shoulder fixing device, a three-degree-of-freedom rotation angle measuring device and a controller, wherein the head fixing device and the shoulder fixing device are respectively fixed on the head and the shoulder of a human body, the three-degree-of-freedom rotation angle measuring device is used for providing rotation freedom of the head around a sagittal axis, a coronal axis and a vertical axis, and a magnetic encoder is used for measuring the rotation angle of the head around the sagittal axis, the rotation angle of the head around the vertical axis and the rotation angle of the head around the coronal axis and uploading the rotation angles to the controller for outputting. The invention can improve the flexibility and the precision of the measurement of the head rotation angle by using the magnetic encoder.)

1. The utility model provides a head turned angle measuring device, its characterized in that includes head fixing device, shoulder fixing device, three degree of freedom turned angle measuring device and controller, wherein:

the head fixing device is fixed on the head of a human body;

the shoulder fixing device is fixed on the shoulders of the human body;

the three-degree-of-freedom rotation angle measuring device is used for providing the rotation freedom of the head around a sagittal axis, a coronal axis and a vertical axis, measures a rotation angle through the magnetic encoder and uploads the rotation angle to the controller, and comprises a head connecting rod, a sliding rail clamping mechanism, an arc-shaped sliding rail, two sliding rail connecting rods, two shoulder connecting rods, a sagittal axis rotation magnetic encoder, a vertical axis linear magnetic encoder and a coronal axis rotation magnetic encoder, wherein:

the upper end of the head connecting rod is fixedly connected with the head fixing device, and the lower end of the head connecting rod is rotatably connected with the sliding rail clamping mechanism to provide the rotational freedom degree of the head around the sagittal axis;

the slide rail clamping mechanism is connected with the arc-shaped slide rail in a sliding manner, slides around the arc-shaped slide rail and provides the head with rotational freedom around a vertical shaft;

the arc-shaped slide rail is positioned at the rear of the head part, and the two ends of the arc-shaped slide rail are respectively and fixedly connected with the upper ends of the two slide rail connecting rods;

the lower ends of the two slide rail connecting rods are respectively and rotatably connected with the upper ends of the corresponding shoulder connecting rods, so that the rotational freedom degree of the head around the crown shaft is provided;

the lower ends of the two shoulder connecting rods are respectively fixedly connected with the shoulder fixing devices;

the sagittal axis rotary magnetic encoder is arranged on a revolute pair of the head connecting rod and the slide rail clamping mechanism, and the rotation angle theta of the head around the sagittal axis is measured_sAnd sending to the controller;

the vertical axis linear magnetic encoder is arranged on the slide rail clamping mechanism, the moving arc length distance L of the slide rail clamping mechanism on the arc slide rail is obtained through measurement, and the rotating angle theta of the head around the vertical axis is obtained through calculation_vAnd sent to a controller for controlling the rotation angle theta of the head around the vertical axis_vThe calculation formula of (a) is as follows:

wherein r represents the radius of the arc-shaped slide rail;

the crown shaft rotary magnetic encoder is arranged on a revolute pair of one group of slide rail connecting rods and the shoulder connecting rod 25, and the rotation angle theta of the head around the crown shaft is measured_cAnd sending to the controller;

the controller controls the rotation angle theta of the head around the sagittal axis_sAngle of rotation theta of the head about the vertical axis_vAnd the angle of rotation theta of the head about the coronal axis_cAnd summarizing, processing according to preset operation and then outputting.

2. The head rotation angle measuring device according to claim 1, wherein the head fixing means is implemented by a cap.

3. The head rotation angle measuring device according to claim 1, wherein the shoulder fixing means is a pair of arc-shaped fixing means which are fastened to both shoulders of the human body and fixed by a fabric.

4. The head rotation angle measuring device according to claim 1, wherein the rail clamping mechanism comprises a rail clamping cover, two pairs of groove bearings and a rail clamping seat, the rail clamping cover is located inside the arc-shaped rail and connected to the head link, the arc-shaped rail is located between the rail clamping cover and the rail clamping seat, the two pairs of groove bearings are mounted on the rail clamping seat, and the two pairs of groove bearings are located above and below the arc-shaped rail respectively and used for limiting the movement of the arc-shaped rail in two non-circumferential directions.

5. The head rotation angle measuring device of claim 4, wherein the sagittal axis rotary magnetic encoder comprises a magnetic post, a rotary magnetic encoder, and an encoder cover, mounted in the following manner:

the installation fitting is arranged and comprises a step shaft, an oilless bushing and a gasket, wherein a shaft head of the step shaft penetrates through an opening formed in the head connecting rod to be fixed with the sliding rail clamping cover, so that the head connecting rod and the sliding rail clamping cover are in rotating connection by taking the step shaft as a rotating shaft. An oilless bushing is arranged between the step shaft and the head connecting rod, and a gasket is arranged between the head connecting rod and the sliding rail clamping cover; a magnetic column in the sagittal axis rotary magnetic encoder is fixed at the center of the shaft end of the step shaft, the rotary magnetic encoder covers the magnetic column and is fixedly connected with the head connecting rod, and the encoder cover is arranged on the outer side of the rotary magnetic encoder.

6. The head rotation angle measuring device according to claim 4, wherein the vertical axis linear magnetic encoder comprises a magnetic tape and a linear magnetic encoder, wherein the magnetic tape is installed outside the arc-shaped slide rail, the linear magnetic encoder is installed outside the slide rail holder, the slide rail holder is provided with an opening, and the linear magnetic encoder captures a magnetic signal on the magnetic tape through the opening for measurement.

7. The head rotation angle measuring device of claim 4, wherein the crown axis rotary magnetic encoder comprises a magnetic cylinder, a rotary magnetic encoder and an encoder cover, and is installed in the following manner:

the step shaft sequentially penetrates through the openings formed in the slide rail connecting rod and the shoulder connecting rod and is fixedly connected with the shoulder connecting rod through the nut to form a revolute pair, and the oilless bushing is arranged between the step shaft and the slide rail connecting rod; the magnetic column in the crown-shaped shaft rotary magnetic encoder is fixed at the center of the shaft end of the step shaft, the rotary magnetic encoder covers the magnetic column and is fixedly connected with the slide rail connecting rod, and the encoder cover is arranged on the outer side of the rotary magnetic encoder.

Technical Field

The invention belongs to the technical field of head rotation angle measurement, and particularly relates to a head rotation angle measuring device.

Background

The cervical vertebra mobility refers to the movement of the cervical vertebra in three planes, namely a sagittal plane, a coronal plane, a horizontal plane and the like, and comprises three degrees of freedom, namely front and back flexion, left and right lateral flexion and left and right rotation, and is the most effective and direct index for reflecting the movement function of the cervical vertebra. Fig. 1 is a schematic view of the face and axis of a human body. Most cervical diseases can cause the change of the activity of cervical vertebra, so the activity of cervical vertebra is an important reference index for evaluating the function of cervical vertebra and the damage degree of cervical vertebra, diagnosing and identifying the cervical diseases, evaluating the treatment effect and carrying out prognostic analysis at present.

Patent publication No. CN 209107988U proposes a device for measuring the left-right rotation angle of the head of a human body, which comprises a support base, two positioning frames, a protractor, a head cover and a pointer, and can only measure the left-right rotation angle of the neck of the human body in a supine state, and angle data can only be read visually.

Patent publication No. CN 210582487U proposes an intelligent measuring instrument for three-dimensional activity of cervical vertebrae, which uses an attitude sensor/nine-axis gyroscope disposed on the head top to detect the attitude change of cervical vertebrae in three-dimensional space, and transmits the attitude change to a terminal device for display through wireless transmission. However, the head posture data measured by the gyroscope has drift and poor precision.

Patent with publication number CN 210375087U measures head turned angle through the attitude measurement sensor module and the infrared measurement module of installation on the helmet, needs to cooperate outside infrared industrial camera to use, and the use scene is restricted, and it is inconvenient to use.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a head rotation angle measuring device, which is used for measuring the head rotation angle by arranging a three-degree-of-freedom rotation angle measuring device, so that the measurement flexibility and precision are improved.

To achieve the above object, the head rotation angle measuring device of the present invention includes a head fixing device, a shoulder fixing device, a three-degree-of-freedom rotation angle measuring device, and a controller, wherein:

the head fixing device is fixed on the head of a human body;

the shoulder fixing device is fixed on the shoulders of the human body;

the three-degree-of-freedom rotation angle measuring device is used for providing the rotation freedom of the head around a sagittal axis, a coronal axis and a vertical axis, measures a rotation angle through the magnetic encoder and uploads the rotation angle to the controller, and comprises a head connecting rod, a sliding rail clamping mechanism, an arc-shaped sliding rail, two sliding rail connecting rods, two shoulder connecting rods, a sagittal axis rotation magnetic encoder, a vertical axis linear magnetic encoder and a coronal axis rotation magnetic encoder, wherein:

the upper end of the head connecting rod is fixedly connected with the head fixing device, and the lower end of the head connecting rod is rotatably connected with the sliding rail clamping mechanism to provide the rotational freedom degree of the head around the sagittal axis;

the slide rail clamping mechanism is connected with the arc-shaped slide rail in a sliding manner, slides around the arc-shaped slide rail and provides the head with rotational freedom around a vertical shaft;

the arc-shaped slide rail is positioned at the rear of the head part, and the two ends of the arc-shaped slide rail are respectively and fixedly connected with the upper ends of the two slide rail connecting rods;

the lower ends of the two slide rail connecting rods are respectively and rotatably connected with the upper ends of the corresponding shoulder connecting rods, so that the rotational freedom degree of the head around the crown shaft is provided;

the lower ends of the two shoulder connecting rods are respectively fixedly connected with the shoulder fixing devices;

the sagittal axis rotary magnetic encoder is arranged on a revolute pair of the head connecting rod and the slide rail clamping mechanism, and the rotation angle theta of the head around the sagittal axis is measured_sAnd sending to the controller;

the vertical axis linear magnetic encoder is arranged on the slide rail clamping mechanism, the moving arc length distance L of the slide rail clamping mechanism on the arc slide rail is obtained through measurement, and the rotating angle theta of the head around the vertical axis is obtained through calculation_vAnd sent to a controller for controlling the rotation angle theta of the head around the vertical axis_vThe calculation formula of (a) is as follows:

wherein r represents the radius of the arc-shaped slide rail;

the crown shaft rotary magnetic encoder is arranged on a revolute pair of one group of slide rail connecting rods 24 and shoulder connecting rods 25, and the rotation angle theta of the head around the crown shaft is measured_cAnd sending to the controller;

the controller controls the rotation angle theta of the head around the sagittal axis_sAngle of rotation theta of the head about the vertical axis_vAnd the angle of rotation theta of the head about the coronal axis_cAnd summarizing, processing according to preset operation and then outputting.

The head rotating angle measuring device comprises a head fixing device, a shoulder fixing device, a three-degree-of-freedom rotating angle measuring device and a controller, wherein the head fixing device and the shoulder fixing device are respectively fixed on the head and the shoulder of a human body, the three-degree-of-freedom rotating angle measuring device is used for providing rotating freedom of the head around a sagittal axis, a coronal axis and a vertical axis, measuring a rotating angle of the head around the sagittal axis, a rotating angle of the head around the vertical axis and a rotating angle of the head around the coronal axis through a magnetic encoder and uploading the measured rotating angles to the controller for outputting.

The invention has the following technical effects:

1) the invention does not need external data acquisition equipment such as a camera and the like, and is simple and flexible to use;

2) the rotation angle is measured by the magnetic encoder, so that data drifting which possibly occurs when the attitude sensor is used for measurement is avoided, and the measurement precision is effectively improved.

Drawings

FIG. 1 is a schematic view of a face and axis of a human body;

FIG. 2 is a block diagram of an embodiment of the head rotation angle measuring apparatus according to the present invention;

FIG. 3 is a front view of the three-degree-of-freedom rotation angle measuring apparatus according to the present invention;

FIG. 4 is a rear view of the three-degree-of-freedom rotation angle measuring apparatus according to the present invention;

FIG. 5 is a structural view of the slide rail clamping mechanism in the present embodiment;

FIG. 6 is a schematic view of the installation of the sagittal axis rotary magnetic encoder of this embodiment;

FIG. 7 is a schematic view showing how the vertical axis rotary magnetic encoder of the present embodiment is mounted;

FIG. 8 is a schematic view showing the manner of mounting the crown-axis rotary magnetic encoder according to the present embodiment.

Detailed Description

The following description of the embodiments of the present invention is provided in order to better understand the present invention for those skilled in the art with reference to the accompanying drawings. It is to be expressly noted that in the following description, a detailed description of known functions and designs will be omitted when it may obscure the subject matter of the present invention.

Examples

Fig. 2 is a structural view of an embodiment of the head rotation angle measuring apparatus of the present invention. As shown in fig. 2, the head rotation angle measuring device of the present invention includes a head fixing device 1, a shoulder fixing device 2, a three-degree-of-freedom rotation angle measuring device 3, and a controller 4, which are described in detail below.

The head fixing device 1 is fixed on the head of a human body. In this embodiment, the head fixing device 1 is implemented by a cap, and a buckle belt may be added to increase the fixing effect.

The shoulder fixing device 2 is fixed on the shoulder of the human body. In this embodiment, the shoulder fixing devices 2 are a pair of arc-shaped fixing devices, which are respectively fastened on two shoulders of a human body and fixed by fabric.

The three-degree-of-freedom rotation angle measuring device 3 is used for providing rotation freedom degrees of the head around a sagittal axis, a coronal axis and a vertical axis, measuring a rotation angle through a magnetic encoder and uploading the rotation angle to the controller. Fig. 3 is a front view of the three-degree-of-freedom rotation angle measuring apparatus according to the present invention. Fig. 4 is a rear view of the three-degree-of-freedom rotation angle measuring apparatus of the present invention. As shown in fig. 3 and 4, the head link 21, the rail clamping mechanism 22, the arc-shaped rail 23, the two rail connecting rods 24, the two shoulder links 25, the sagittal axis rotary magnetic encoder 26, the vertical axis linear magnetic encoder 27, and the coronal axis rotary magnetic encoder 28 of the present invention are provided with:

the upper end of the head connecting rod 21 is fixedly connected with the head fixing device 1, and the lower end is rotatably connected with the slide rail clamping mechanism 22, so that the rotational freedom degree of the head around the sagittal axis is provided. That is, when the head of the human body rotates around the sagittal axis, the head link 21 rotates around the joint with the rail clamp mechanism 22.

The slide rail clamping mechanism 22 is connected with the arc-shaped slide rail 23 in a sliding mode, and the slide rail clamping mechanism 22 slides around the arc-shaped slide rail 23 to provide the freedom degree of rotation of the head around a vertical shaft. That is, when the head of the human body rotates around the vertical axis, the rail clamping mechanism 22 slides on the arc-shaped rail 23. Fig. 5 is a structural view of the slide rail clamping mechanism in the present embodiment. As shown in fig. 3, the slide rail clamping mechanism in this embodiment includes a slide rail clamping cover 221, two pairs of groove bearings 222 and a slide rail clamping seat 223, the slide rail clamping cover 221 is located inside the arc-shaped slide rail 221 and connected to the head link 21, the arc-shaped slide rail 23 is located between the slide rail clamping cover 221 and the slide rail clamping seat 223, the two pairs of groove bearings 222 are installed on the slide rail clamping seat 223, and the two pairs of groove bearings 222 are located above and below the arc-shaped slide rail 23 respectively and used for limiting the movement of the arc-shaped slide rail 23 in two non-circumferential directions.

The arc-shaped slide rail 23 is positioned at the rear of the head, and two ends of the arc-shaped slide rail 23 are respectively fixedly connected with the upper ends of the two slide rail connecting rods 24.

The lower ends of the two slide rail connecting rods 24 are respectively rotatably connected with the upper ends of the corresponding shoulder connecting rods 25, and the rotational freedom degree of the head around the crown shaft is provided. That is, when the head of the human body rotates around the coronal axis, the two slide rail connecting rods 24 rotate around the connecting points with the corresponding shoulder connecting rods 25.

The lower ends of the two shoulder connecting rods 25 are respectively fixedly connected with the shoulder fixing devices 2.

A sagittal axis rotary magnetic encoder 26 is arranged on a revolute pair of the head connecting rod 21 and the slide rail clamping mechanism 22, and the rotation angle theta of the head around the sagittal axis is measured_sAnd sent to the controller 4;

the vertical axis linear magnetic encoder 27 is arranged on the slide rail clamping mechanism 22, the moving arc length distance L of the slide rail clamping mechanism 22 on the arc-shaped slide rail 23 is obtained through measurement, and the rotating angle theta of the head around the vertical axis is obtained through calculation_vAnd sends it to the control unitThe brake 4, the angle of rotation theta of the head about the vertical axis_vThe calculation formula of (a) is as follows:

wherein r represents the radius of the arc-shaped slide rail.

A crown shaft rotary magnetic encoder 28 is arranged on a revolute pair of one set of the slide rail connecting rod 24 and the shoulder connecting rod 25, and the rotation angle theta of the head around the crown shaft is measured_cAnd sent to the controller 4.

The controller 4 controls the rotation angle theta of the head around the sagittal axis_sAngle of rotation theta of the head about the vertical axis_vAnd the angle of rotation theta of the head about the coronal axis_cAnd summarizing, processing according to preset operation and then outputting. The preset operation generally includes denoising processing, statistical processing, and the like. In practical applications, the installation position of the controller 4 can be selected according to requirements, and as shown in fig. 3 and 4, the controller 4 is installed above the head fixing device 1 (i.e. the hat). The controller 4 and each magnetic encoder may be connected by wire or wirelessly. In this embodiment, a wired connection is adopted, and the controller supplies power to each magnetic encoder. After the controller 4 outputs the data measured by the head rotation angle measuring device, the upper computer receiving the data can perform further analysis processing and display.

For the invention, the mounting structure of each magnetic encoder is very important, and the rotation angle obtained by measurement can be more accurate only through reasonable and accurate mounting.

FIG. 6 is a schematic view showing the mounting of the sagittal axis rotary magnetic encoder of this embodiment. As shown in FIG. 6, the sagittal axis rotary magnetic encoder 26 of this embodiment includes a magnetic post 261, a rotary magnetic encoder 262, and an encoder cover 263, and the mounting assembly includes a step shaft 264, an oilless bushing 265, and a washer 266. Wherein, the shaft head of the step shaft 264 passes through the opening hole arranged on the head connecting rod 21 and is fixed with the slide rail clamping cover 211, so that the head connecting rod 21 and the slide rail clamping cover 221 use the step shaft 264 as the rotating shaftForming a rotational connection. An oilless bushing 265 is provided between the stepped shaft 264 and the head link 21, and a copper washer 266 is provided between the head link 21 and the slide rail clamping cover 221 to reduce frictional resistance of the head link 21 during rotation. The magnetic pillar 261 in the sagittal axis rotary magnetic encoder 26 is fixed at the center of the shaft end of the step shaft 264, the rotary magnetic encoder 262 covers the magnetic pillar 261 and is fixedly connected with the head connecting rod 21, and the encoder cover 263 is arranged outside the rotary magnetic encoder 262. In this manner, the relative rotation between the head link 21 and the rail clamp cover 221 is equivalent to the relative rotation between the magnetic post 261 and the rotary magnetic encoder 262, so that the sagittal axis rotary magnetic encoder 26 can measure the rotation angle θ of the head about the sagittal axis_s。

FIG. 7 is a schematic view showing how the vertical axis rotary magnetic encoder of the present embodiment is mounted. As shown in fig. 7, in the present embodiment, the vertical axis linear magnetic encoder 27 includes a magnetic tape 271 and a linear magnetic encoder 272, wherein the magnetic tape 271 is installed outside the arc-shaped slide rail 23, the linear magnetic encoder 272 is installed outside the slide rail holder 223, an opening is provided on the slide rail holder 223, the linear magnetic encoder 272 captures a magnetic signal on the magnetic tape 271 through the opening to perform measurement, so as to measure the moving arc length distance L of the slide rail clamping mechanism 22 on the arc-shaped slide rail 23.

FIG. 8 is a schematic view showing the manner of mounting the crown-axis rotary magnetic encoder according to the present embodiment. As shown in fig. 8, the crown shaft rotary magnetic encoder 28 in this embodiment includes a magnetic pole 281, a rotary magnetic encoder 282, and an encoder cover 283, and the mounting fittings include a step shaft 284, an oilless bushing 285, and a nut 286. The stepped shaft 284 sequentially penetrates through the openings formed in the sliding rail connecting rod 24 and the shoulder connecting rod 25 and is fixedly connected with the shoulder connecting rod 25 through a nut 286 to form a revolute pair, and an oilless bushing 285 is arranged between the stepped shaft 284 and the sliding rail connecting rod 24 to reduce the friction resistance of the sliding rail connecting rod 24 in the rotating process. The magnetic pillar 281 of the crown-shaped shaft rotary magnetic encoder 28 is fixed at the center of the shaft end of the step shaft 284, the rotary magnetic encoder 282 covers the magnetic pillar 281 and is fixedly connected with the slide rail connecting rod 24, and the encoder cover 283 is installed at the outer side of the rotary magnetic encoder 282. Thus, relative rotation between the slide link 24 and the shoulder link 25 is equivalent to magneticThe relative rotation between the post 281 and the rotary magnetic encoder 282 allows the coronal rotary magnetic encoder 28 to measure the rotation angle θ of the head about the coronal axis_c。

Although illustrative embodiments of the present invention have been described above to facilitate the understanding of the present invention by those skilled in the art, it should be understood that the present invention is not limited to the scope of the embodiments, and various changes may be made apparent to those skilled in the art as long as they are within the spirit and scope of the present invention as defined and defined by the appended claims, and all matters of the invention which utilize the inventive concepts are protected.