Prosthetic limb detection platform and detection method under three-degree-of-freedom independent loading

Abstract

The invention discloses an artificial limb detection platform and method under three-degree-of-freedom independent loading. The artificial limb detection platform comprises a rack, a horizontal unit arranged on the lower portion of the rack, a support connected with the horizontal unit and located in the rack, a rocker unit arranged on the support and a vertical unit arranged on the upper portion of the rack. The horizontal unit comprises a horizontal ball screw pair, a horizontal moving plate and a horizontal sliding plate which are arranged from bottom to top; the horizontal ball screw pair is connected with the lower end of the rack, an output shaft of the horizontal servo motor is fixedly connected with one end of a horizontal ball screw in the horizontal ball screw pair, and the upper portion of a thread sleeve arranged on the horizontal ball screw extends out of the upper end of the ball screw pair and is fixedly connected with the horizontal moving plate. According to the invention, three-degree-of-freedom motion and loading of horizontal, vertical and vertical plane rotation can be realized; and load simulation in the full gait process of the lower limbs with different human body characteristics can be realized.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation engineering, and in particular to a prosthesis detection platform and a detection method under three-degree-of-freedom independent loading. Background Art

[0002] Currently, there are more than 40 million lower limb amputees worldwide. Lower limb prostheses are an important tool for lower limb amputees to partially restore their biological limb functions and return to society.

[0003] The traditional lower limb prosthesis design process relies on experimental and empirical iterative design. The most common method for evaluating the performance of lower limb prostheses is subject testing, which involves subjective factors of the subjects, has high variability between subjects, and the test results are not repeatable. In order to objectively evaluate the quantitative relationship between the comprehensive mechanical properties of lower limb prostheses and the end-user experience, an effective method is to use a lower limb prosthesis test device for testing.

[0004] Currently, there is only one dual-station prosthetic ankle-foot device tester, which uses four-way servo control for collaborative loading. It can perform dynamic tests on two lower prosthetic ankle-foot devices at a time, and can be used to simulate the deformation and stress of the foot when the heel touches the ground and the toes are about to leave the ground during normal walking. However, since the horizontal and vertical loading forces cannot be decoupled, the performance of the lower limb prosthesis cannot be tested during the full gait process of walking. Summary of the invention

[0005] The purpose of the invention is to overcome the deficiency of the prior art double-station prosthetic ankle-foot device testing machine that cannot test the performance of lower limb prostheses during the full gait of walking, and to provide a prosthetic testing platform and testing method under three-degree-of-freedom independent loading.

[0006] In order to achieve the above-mentioned object of the invention, the present invention adopts the following technical solutions:

[0007] A prosthesis detection platform under three-degree-of-freedom independent loading comprises a frame, a horizontal unit arranged at the lower part of the frame, a bracket connected to the horizontal unit and located in the frame, a rocker unit arranged on the bracket and a vertical unit arranged at the upper part of the frame; the horizontal unit comprises a horizontal ball screw pair, a horizontal moving plate and a horizontal sliding plate arranged from bottom to top; the horizontal ball screw pair is connected to the lower end of the frame, the output shaft of the horizontal servo motor is fixedly connected to one end of the horizontal ball screw in the horizontal ball screw pair, the upper part of the screw sleeve arranged on the horizontal ball screw extends out of the upper end of the ball screw pair and It is fixedly connected to the horizontal moving plate, the upper surface of the horizontal moving plate and the lower surface of the horizontal sliding plate are connected in a transverse sliding manner, and a horizontal tension and compression sensor is provided between the horizontal moving plate and the horizontal sliding plate; the rocker unit includes a reducer, a rocker servo motor, a rocker ball screw and a rotating plate arranged on the bracket; the shaft of the high-speed gear of the reducer is connected to the output shaft of the rocker servo motor, the inner nut of the shaft of the low-speed gear of the reducer is rollingly connected to the rocker ball screw, the upper end of the rocker ball screw is connected to the hinge through the rocker tension and compression sensor, and the hinge is connected to the lower right part of the lower surface of the rotating plate The front and rear sides of the rotating plate are respectively connected to the bracket for rotation; the vertical unit includes a vertical servo motor, a vertical ball screw pair, a vertical loading plate, a prosthetic leg mounting frame arranged on the vertical loading plate, a vertical tension and compression sensor and a sensor mounting piece; the vertical ball screw pair is fixedly connected to the upper part of the frame, the output shaft of the vertical servo motor is connected to one end of the vertical ball screw of the vertical ball screw pair, the connecting mechanism on the vertical ball screw is connected to the vertical ball screw thread, the connecting mechanism is connected to the vertical loading plate, and the prosthetic leg mounting frame includes a plurality of mounting sleeves arranged up and down, The sensor mounting part is located on the vertical loading plate above the prosthetic leg mounting frame, the vertical tension and compression sensor is located between the sensor mounting part and the upper end of the prosthetic leg, and the prosthetic foot connected to the lower end of the prosthetic leg is in contact with the upper surface of the rotating plate; it also includes a host computer, a control card and an acquisition card which are electrically connected in sequence, the control card is electrically connected to the horizontal servo motor, the rocker servo motor and the vertical servo motor respectively, and the acquisition card is electrically connected to the horizontal tension and compression sensor, the rocker tension and compression sensor, the vertical tension and compression sensor, the encoder of the horizontal servo motor, the encoder of the rocker servo motor and the encoder of the vertical servo motor respectively.

[0008] The output shaft of the horizontal servo motor drives one end of the horizontal ball screw to be fixedly connected, and the screw sleeve moves left and right along the horizontal ball screw to drive the horizontal moving plate to move. The horizontal moving plate pushes and pulls the horizontal tension and compression sensor, and the horizontal tension and compression sensor pushes and pulls the horizontal sliding plate to move left and right. The horizontal tension and compression sensor records the force in the horizontal direction; the encoder of the horizontal servo motor records the rotation angle of the output shaft of the horizontal servo motor, and the displacement of the horizontal moving plate is obtained by using the corresponding relationship between the angle and the displacement;

[0009] The output shaft of the rocker servo motor drives the shaft of the high-speed gear to rotate, and the high-speed gear meshes with the low-speed gear, driving the shaft of the low-speed gear to rotate. The inner nut is fixed to the shaft of the low-speed gear by a screw, and the inner nut rotates together with the shaft of the low-speed gear; the inner nut drives the rocker ball screw to rotate, and the rocker ball screw converts the rotational motion into linear motion, pushing and pulling the rocker tension and compression sensor, and the rocker tension and compression sensor pulls the hinge, thereby causing the rotating plate to rotate, and the rocker tension and compression sensor records the force along the direction of the rocker ball screw; the encoder of the rocker servo motor records the rotation angle of the output shaft of the rocker servo motor, and the corresponding relationship between the output shaft rotation angle and the rotation angle of the rotating plate is used to obtain the rotation angle of the rotating plate;

[0010] The vertical servo motor drives the vertical ball screw to rotate, and the connecting mechanism drives the vertical loading plate to move up and down; the vertical tension and compression sensor drives the prosthetic leg to move up and down along with the vertical loading plate, and the vertical tension and compression sensor measures the ground support reaction force applied by the rotating plate on the prosthetic foot; the encoder of the vertical servo motor records the rotation angle of the vertical servo motor, and the vertical displacement of the prosthetic foot is obtained based on the corresponding relationship between the angle and the displacement.

[0011] The present invention decouples the three-degree-of-freedom loading of horizontal and vertical loading forces and vertical plane rotation (flexion angle of the prosthetic foot) of the lower limb prosthesis during the whole gait process, and breaks away from the limitations of incomplete coverage of human characteristics and subjective evaluation of lower limb prosthesis subjects in the test, thereby realizing the testing of lower limb prosthesis performance during the whole gait process of walking.

[0012] It can be seen that the present invention can load independently in three degrees of freedom: horizontal, vertical and vertical plane flipping, and can test the comprehensive mechanical properties of lower limb prostheses during the full gait process of walking.

[0013] Preferably, two connecting blocks extending out from the upper end of the horizontal ball screw pair are provided on the upper part of the screw sleeve, and two guide rails are provided on the horizontal ball screw pair. A slide plate is provided between the two guide rails, and the slide plate is fixedly connected to the horizontal moving plate and the connecting blocks respectively.

[0014] The screw sleeve moves left and right along the horizontal ball screw, and the screw sleeve drives the slide plate to move left and right along the two guide rails through two connecting blocks.

[0015] Preferably, the horizontal ball screw pair includes a rectangular shell with an opening at the upper end and a cover plate arranged on the rectangular shell; the cover plate is provided with a long strip opening for facilitating the extension of two connecting blocks, the horizontal servo motor is connected to the left end of the rectangular shell through a flange, and a right end cover is provided on the rectangular shell, the two ends of the guide rail are respectively connected to the flange and the right end cover, and the two ends of the horizontal ball screw are respectively connected to the two ends of the rectangular shell through two deep groove ball bearings.

[0016] The arrangement of the long strip opening, the flange, the right end cover and the two deep groove ball bearings enables the two guide rails to be stably installed, and the left and right movement of the horizontal moving plate is more stable.

[0017] Preferably, the middle part of the guide rail is fixedly connected to the horizontal moving plate through a limit strip, and two laterally extending lower convex strips are provided on the upper surface of the horizontal moving plate, and the upper part of the cross-section of the lower convex strip is V-shaped, and two upper convex strips are provided on the lower surface of the horizontal sliding plate, and the lower part of the cross-section of the upper convex strip is triangular, and the lower part of the upper convex strip extends into the upper part of the corresponding lower convex strip.

[0018] The limit strip is fixedly connected to the horizontal movable plate, so that the middle part of the guide rail is not easy to drop under the action of gravity, and the sliding of the slide plate will not encounter obstacles; the setting of two upper convex strips and two lower convex strips allows the horizontal movable plate and the horizontal sliding plate to slide along the fixed guide, making the detection more stable.

[0019] Preferably, the frame includes a bottom horizontal rectangular frame, a left vertical frame, a front oblique support rod for connecting the right front end of the bottom horizontal rectangular frame and the upper front end of the left vertical frame, and a rear oblique support rod for connecting the right rear end of the bottom horizontal rectangular frame and the upper rear end of the left vertical frame; the horizontal ball screw pair is connected to the upper surface of the bottom horizontal rectangular frame through a rectangular plate.

[0020] The structural setting of the rack makes the rack lighter and meets the requirements of strength and stability.

[0021] Preferably, the bracket includes a front trapezoidal frame and a rear trapezoidal frame with a longer lower frame, the lower ends of the front trapezoidal frame and the rear trapezoidal frame are fixedly connected to the horizontal sliding plate, and a mounting frame is provided between the middle of the front trapezoidal frame and the middle of the rear trapezoidal frame. The mounting frame is rectangular, and two U-shaped frames are provided on the right side of the mounting frame. The two sides of the reducer are rotatably connected to the two U-shaped frames through two deep groove ball bearings.

[0022] The structural setting of the bracket makes the bracket lighter and meets the requirements of strength and stability; the setting of two U-shaped frames and two deep groove ball bearings makes the reducer stable to install and easy to rotate.

[0023] Preferably, the vertical ball screw pair includes a strip shell with an opening on the right side; the connecting mechanism includes two vertical rails arranged at the opening of the strip shell, a vertical sliding plate arranged between the two vertical rails, and an external nut arranged on the vertical ball screw; the right side of the external nut is connected to the vertical sliding plate, and the vertical sliding plate is connected to the vertical loading plate.

[0024] The outer nut drives the vertical sliding plate to move up and down along the two vertical rails, and the vertical sliding plate drives the vertical loading plate to move up and down, so the movement process is more stable and reliable.

[0025] A detection method for a prosthetic detection platform under three-degree-of-freedom independent loading comprises the following steps:

[0026] Step 8-1, put the artificial leg into each installation sleeve, each installation sleeve allows the artificial leg to move only in the vertical direction, and install the artificial foot to the lower end of the artificial leg; the upper computer sets the loading curves of the horizontal unit, the rocker unit and the vertical unit, and sets the force loading range of the horizontal unit, the rocker unit and the vertical unit;

[0027] Step 8-2, the control card controls the motors of each unit to rotate at a fixed angular velocity, and the acquisition card records the encoder and driver data of each motor and the tension and compression sensor data of each unit, and uploads them to the host computer;

[0028] Step 8-3, the host computer determines whether each unit has reached the maximum load value of the force loading range. If it has not reached the maximum load value of the force loading range, go to step 8-2; otherwise, go to step 8-4;

[0029] Step 8-4, calibrating the loading force of the control signals of the horizontal servo motor, the rocker servo motor and the vertical servo motor;

[0030] Step 8-5, the control card gives the control signal of each servo motor according to the set loading curve;

[0031] Step 8-6, each unit works synchronously:

[0032] Horizontal Unit:

[0033] The horizontal servo motor drives the horizontal ball screw, the slide plate and the horizontal moving plate to move left and right, and a relative displacement is generated between the horizontal moving plate and the horizontal sliding plate. The horizontal moving plate pushes and pulls the horizontal tension and compression sensor, and the horizontal tension and compression sensor pushes and pulls the horizontal sliding plate to move left and right. The horizontal tension and compression sensor records the force in the horizontal direction. The encoder of the horizontal servo motor records the rotation angle of the output shaft of the horizontal servo motor, and the displacement of the horizontal moving plate is obtained by using the corresponding relationship between the angle and the displacement.

[0034] Joystick unit:

[0035] The output shaft of the rocker servo motor drives the shaft of the high-speed gear to rotate, and the high-speed gear meshes with the low-speed gear, driving the shaft of the low-speed gear to rotate. The inner nut is fixed to the shaft of the low-speed gear by a screw, and the inner nut rotates together with the shaft of the low-speed gear; the inner nut drives the rocker ball screw to rotate, and the rocker ball screw converts the rotational motion into linear motion. The rocker ball screw pushes and pulls the rocker tension and compression sensor, and the rocker tension and compression sensor pulls the hinge, thereby causing the rotating plate to rotate, and the rocker tension and compression sensor records the force along the direction of the rocker ball screw; the encoder of the rocker servo motor records the rotation angle of the output shaft of the rocker servo motor, and the rotation angle of the rotating plate is obtained by using the corresponding relationship between the rotation angle of the output shaft and the rotation angle of the rotating plate;

[0036] Vertical unit:

[0037] The vertical servo motor drives the vertical ball screw to rotate, and the connecting mechanism drives the vertical loading plate to move up and down; the vertical tension and compression sensor drives the prosthetic leg to move up and down with the vertical loading plate, and the vertical tension and compression sensor measures the ground support reaction force applied by the rotating plate on the prosthetic foot; the encoder of the vertical servo motor records the rotation angle of the vertical servo motor, and the vertical displacement of the prosthetic foot is obtained according to the corresponding relationship between the angle and the displacement;

[0038] Step 8-7, the acquisition card collects the measurement values ​​of the horizontal tension and compression sensor, the rocker tension and compression sensor, the vertical tension and compression sensor, the encoder of the horizontal servo motor, the encoder of the rocker servo motor and the encoder of the vertical servo motor, and uploads them to the host computer; the encoder of each servo motor detects the rotation angle of the output shaft of the servo motor and transmits it back to the driver of the servo motor, and the driver controls the servo motor in three ways: position, speed and torque;

[0039] Step 8-8, importing the loading force of the control signal of the horizontal servo motor, the rocker servo motor and the vertical servo motor into the loading curves of the horizontal unit, the rocker unit and the vertical unit respectively, calculating the control signal value of each servo motor and inputting it into the control card, and the control card controls the synchronous loading of each servo motor;

[0040] Step 8-9, the host computer determines whether the loading curve of each unit has been loaded. If it needs to be loaded, go to step 8-6; otherwise, end the detection.

[0041] Preferably, the vertical ball screw pair includes a strip shell with an opening on the right side; the connecting mechanism includes two vertical rails arranged at the opening of the strip shell, a vertical sliding plate arranged between the two vertical rails, and an outer nut arranged on the vertical ball screw; the right side of the outer nut is connected to the vertical sliding plate, and the vertical sliding plate is connected to the vertical loading plate; the connecting mechanism drives the vertical loading plate to move up and down by the following steps: the outer nut drives the vertical sliding plate to move up and down along the two vertical rails, and the vertical sliding plate drives the vertical loading plate to move up and down.

[0042] Therefore, the present invention has the following beneficial effects: it can realize horizontal, vertical, and vertical plane rotation three-degree-of-freedom movement and loading; it can realize load simulation of the entire gait process of the lower limbs with different human body characteristics. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a structural schematic diagram of the present invention;

[0044] Figure 2 is a side view of the present invention;

[0045] Figure 3 is an exploded view of a horizontal unit of the present invention;

[0046] Figure 4 The invention discloses a schematic structural diagram of a high-speed gear, a low-speed gear and an inner nut of a reducer. DETAILED DESCRIPTION

[0047] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0048] like Figure 1-Figure 4The embodiment shown is a prosthesis detection platform under three-degree-of-freedom independent loading, including a frame 1, a horizontal unit arranged at the lower part of the frame, a bracket 3 connected to the horizontal unit and located in the frame, a rocker unit arranged on the bracket and a vertical unit arranged at the upper part of the frame; the horizontal unit includes a horizontal ball screw pair 21, a horizontal moving plate 23 and a horizontal sliding plate 24 arranged from bottom to top; the horizontal ball screw pair is connected to the lower end of the frame, the output shaft of the horizontal servo motor 25 is fixedly connected to one end of the horizontal ball screw 211 in the horizontal ball screw pair, and a ball screw extends from the upper part of the screw sleeve 212 arranged on the horizontal ball screw The upper end of the screw pair is fixedly connected to the horizontal moving plate, the upper surface of the horizontal moving plate and the lower surface of the horizontal sliding plate are connected in a transverse sliding manner, and a horizontal tension and compression sensor 26 is provided between the horizontal moving plate and the horizontal sliding plate; the rocker unit includes a reducer 40, a rocker servo motor 41, a rocker ball screw 42 and a rotating plate 43 arranged on the bracket; the shaft of the high-speed gear 401 of the reducer is connected to the output shaft of the rocker servo motor, the inner nut 403 of the shaft of the low-speed gear 402 of the reducer is rollingly connected to the rocker ball screw, the upper end of the rocker ball screw is connected to the hinge 45 through the rocker tension and compression sensor 44, and the hinge It is connected to the lower right part of the lower surface of the rotating plate, and the front and rear sides of the rotating plate are respectively connected to the bracket for rotation; the vertical unit includes a vertical servo motor 51, a vertical ball screw pair 52, a vertical loading plate 53, a prosthetic leg mounting frame 54 arranged on the vertical loading plate, a vertical tension and compression sensor 55 and a sensor mounting member 56; the vertical ball screw pair is fixedly connected to the upper part of the frame, the output shaft of the vertical servo motor is connected to one end of the vertical ball screw of the vertical ball screw pair, the connecting mechanism on the vertical ball screw is connected to the vertical ball screw thread, the connecting mechanism is connected to the vertical loading plate, and the prosthetic leg mounting frame includes multiple upper The mounting sleeve 541 is arranged below, the sensor mounting part is located on the vertical loading plate above the artificial leg mounting frame, the vertical tension and compression sensor is located between the sensor mounting part and the upper end of the artificial leg 61, and the artificial foot 62 connected to the lower end of the artificial leg contacts the upper surface of the rotating plate; it also includes an upper computer, a control card and an acquisition card that are electrically connected in sequence, the control card is electrically connected to the horizontal servo motor, the rocker servo motor and the vertical servo motor respectively, and the acquisition card is electrically connected to the horizontal tension and compression sensor, the rocker tension and compression sensor, the vertical tension and compression sensor, the encoder of the horizontal servo motor, the encoder of the rocker servo motor and the encoder of the vertical servo motor respectively. Each tension and compression sensor in this embodiment is an S-type tension and compression sensor.

[0049] Two connecting blocks 2120 extending out of the upper end of the horizontal ball screw pair are arranged on the upper part of the screw sleeve. Two guide rails 22 are arranged on the horizontal ball screw pair. A slide plate 220 is arranged between the two guide rails. The slide plate is fixedly connected to the horizontal moving plate and the connecting blocks respectively.

[0050] The horizontal ball screw pair includes a rectangular shell 213 with an opening at the upper end and a cover plate 214 arranged on the rectangular shell; the cover plate is provided with a long strip opening for facilitating the extension of two connecting blocks, the horizontal servo motor is connected to the left end of the rectangular shell through a flange 215, a right end cover 2131 is provided on the rectangular shell, the two ends of the guide rail are respectively connected to the flange and the right end cover, and the two ends of the horizontal ball screw are respectively connected to the two ends of the rectangular shell through two deep groove ball bearings 216.

[0051] The middle part of the guide rail is fixedly connected to the horizontal movable plate through a limit strip 221. Two laterally extending lower convex strips 231 are provided on the upper surface of the horizontal movable plate. The upper part of the cross-section of the lower convex strip is V-shaped. Two upper convex strips 241 are provided on the lower surface of the horizontal sliding plate. The lower part of the cross-section of the upper convex strip is triangular, and the lower part of the upper convex strip extends into the upper part of the corresponding lower convex strip.

[0052] The frame includes a bottom horizontal rectangular frame 11, a left vertical frame 12, a front oblique support rod 13 for connecting the right front end of the bottom horizontal rectangular frame and the upper front end of the left vertical frame, and a rear oblique support rod 14 for connecting the right rear end of the bottom horizontal rectangular frame and the upper rear end of the left vertical frame; the horizontal ball screw pair is connected to the upper surface of the bottom horizontal rectangular frame through a rectangular plate 15.

[0053] The bracket includes a front trapezoidal frame 31 and a rear trapezoidal frame 32 with a longer lower frame. The lower ends of the front trapezoidal frame and the rear trapezoidal frame are fixedly connected to the horizontal sliding plate. A mounting frame 301 is provided between the middle of the front trapezoidal frame and the middle of the rear trapezoidal frame. The mounting frame is rectangular. Two U-shaped frames 33 are provided on the right side of the mounting frame. The two sides of the reducer are rotatably connected to the two U-shaped frames through two deep groove ball bearings.

[0054] The vertical ball screw pair includes a strip housing 521 with an opening on the right side; the connecting mechanism includes two vertical rails 571 arranged at the opening of the strip housing, a vertical sliding plate 572 arranged between the two vertical rails, and an external nut arranged on the vertical ball screw; the right side of the external nut is connected to the vertical sliding plate, and the vertical sliding plate is connected to the vertical loading plate.

[0055] A detection method for a prosthetic detection platform under three-degree-of-freedom independent loading comprises the following steps:

[0056] Step 8-1, put the artificial leg into each installation sleeve, each installation sleeve allows the artificial leg to move only in the vertical direction, and install the artificial foot to the lower end of the artificial leg; the upper computer sets the loading curves of the horizontal unit, the rocker unit and the vertical unit, and sets the force loading range of the horizontal unit, the rocker unit and the vertical unit;

[0057] Step 8-2, the control card controls the motors of each unit to rotate at a fixed angular velocity, and the acquisition card records the encoder and driver data of each motor and the tension and compression sensor data of each unit, and uploads them to the host computer;

[0058] Step 8-3, the host computer determines whether each unit has reached the maximum load value of the force loading range. If it has not reached the maximum load value of the force loading range, go to step 8-2; otherwise, go to step 8-4;

[0059] Step 8-4, calibrating the loading force of the control signals of the horizontal servo motor, the rocker servo motor and the vertical servo motor;

[0060] Step 8-5, the control card gives the control signal of each servo motor according to the set loading curve;

[0061] Step 8-6, each unit works synchronously:

[0062] Horizontal Unit:

[0063] The horizontal servo motor drives the horizontal ball screw, the slide plate and the horizontal moving plate to move left and right, and a relative displacement is generated between the horizontal moving plate and the horizontal sliding plate. The horizontal moving plate pushes and pulls the horizontal tension and compression sensor, and the horizontal tension and compression sensor pushes and pulls the horizontal sliding plate to move left and right. The horizontal tension and compression sensor records the force in the horizontal direction. The encoder of the horizontal servo motor records the rotation angle of the output shaft of the horizontal servo motor, and the displacement of the horizontal moving plate is obtained by using the corresponding relationship between the angle and the displacement.

[0064] Joystick unit:

[0065] The output shaft of the rocker servo motor drives the shaft of the high-speed gear to rotate, and the high-speed gear meshes with the low-speed gear, driving the shaft of the low-speed gear to rotate. The inner nut is fixed to the shaft of the low-speed gear by a screw, and the inner nut rotates together with the shaft of the low-speed gear; the inner nut drives the rocker ball screw to rotate, and the rocker ball screw converts the rotational motion into linear motion. The rocker ball screw pushes and pulls the rocker tension and compression sensor, and the rocker tension and compression sensor pulls the hinge, thereby causing the rotating plate to rotate, and the rocker tension and compression sensor records the force along the direction of the rocker ball screw; the encoder of the rocker servo motor records the rotation angle of the output shaft of the rocker servo motor, and the rotation angle of the rotating plate is obtained by using the corresponding relationship between the rotation angle of the output shaft and the rotation angle of the rotating plate;

[0066] Vertical unit:

[0067] The vertical servo motor drives the vertical ball screw to rotate, and the connecting mechanism drives the vertical loading plate to move up and down; the vertical tension and compression sensor drives the prosthetic leg to move up and down with the vertical loading plate, and the vertical tension and compression sensor measures the ground support reaction force applied by the rotating plate on the prosthetic foot; the encoder of the vertical servo motor records the rotation angle of the vertical servo motor, and the vertical displacement of the prosthetic foot is obtained according to the corresponding relationship between the angle and the displacement;

[0068] Step 8-7, the acquisition card collects the measurement values ​​of the horizontal tension and compression sensor, the rocker tension and compression sensor, the vertical tension and compression sensor, the encoder of the horizontal servo motor, the encoder of the rocker servo motor and the encoder of the vertical servo motor, and uploads them to the host computer; the encoder of each servo motor detects the rotation angle of the output shaft of the servo motor and transmits it back to the driver of the servo motor, and the driver controls the servo motor in three ways: position, speed and torque;

[0069] Step 8-8, importing the loading force of the control signal of the horizontal servo motor, the rocker servo motor and the vertical servo motor into the loading curves of the horizontal unit, the rocker unit and the vertical unit respectively, calculating the control signal value of each servo motor and inputting it into the control card, and the control card controls the synchronous loading of each servo motor;

[0070] Step 8-9, the host computer determines whether the loading curve of each unit has been loaded. If loading is still required, go to step 8-6; otherwise, end the detection.

[0071] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A prosthetic testing platform with three degrees of freedom and independent loading. Its characteristics are: The invention comprises a frame (1), a horizontal unit arranged at the lower part of the frame, a bracket (3) connected to the horizontal unit and located in the frame, a rocker unit arranged on the bracket and a vertical unit arranged at the upper part of the frame; the horizontal unit comprises a horizontal ball screw pair (21), a horizontal moving plate (23) and a horizontal sliding plate (24) arranged from bottom to top; the horizontal ball screw pair is connected to the lower end of the frame, the output shaft of the horizontal servo motor (25) is fixedly connected to one end of the horizontal ball screw (211) in the horizontal ball screw pair, and the upper part of the screw sleeve (212) arranged on the horizontal ball screw extends out of the upper end of the ball screw pair and is fixedly connected to the horizontal moving plate The upper surface of the horizontal moving plate and the lower surface of the horizontal sliding plate are connected in a transverse sliding manner, and a horizontal tension and compression sensor (26) is provided between the horizontal moving plate and the horizontal sliding plate; the rocker unit comprises a reducer (40) arranged on a bracket, a rocker servo motor (41), a rocker ball screw (42) and a rotating plate (43); the shaft of the high-speed gear (401) of the reducer is connected to the output shaft of the rocker servo motor, the inner nut (403) of the shaft of the low-speed gear (402) of the reducer is rollingly connected to the rocker ball screw, the upper end of the rocker ball screw is connected to the hinge (45) through the rocker tension and compression sensor (44), and the hinge is connected to the rotating plate (43). The lower right part of the lower surface of the rotating plate is connected, and the front and rear sides of the rotating plate are respectively connected to the bracket for rotation; the vertical unit includes a vertical servo motor (51), a vertical ball screw pair (52), a vertical loading plate (53), a prosthetic leg mounting frame (54) arranged on the vertical loading plate, a vertical tension and compression sensor (55) and a sensor mounting member (56); the vertical ball screw pair is fixedly connected to the upper part of the frame, the output shaft of the vertical servo motor is connected to one end of the vertical ball screw of the vertical ball screw pair, the connecting mechanism on the vertical ball screw is connected to the vertical ball screw thread, the connecting mechanism is connected to the vertical loading plate, and the prosthetic leg mounting frame includes some The invention discloses a vertically arranged mounting sleeve (541), wherein the sensor mounting part is located on the vertical loading plate above the artificial leg mounting frame, the vertical tension and compression sensor is located between the sensor mounting part and the upper end of the artificial leg (61), and the artificial foot (62) connected to the lower end of the artificial leg contacts the upper surface of the rotating plate; and further comprises an upper computer, a control card and an acquisition card which are electrically connected in sequence, wherein the control card is electrically connected to the horizontal servo motor, the rocker servo motor and the vertical servo motor respectively, and the acquisition card is electrically connected to the horizontal tension and compression sensor, the rocker tension and compression sensor, the vertical tension and compression sensor, the encoder of the horizontal servo motor, the encoder of the rocker servo motor and the encoder of the vertical servo motor respectively.

2. The prosthesis detection platform under three degrees of freedom and independent loading according to claim 1, Its characteristics are: Two connecting blocks (2120) extending from the upper end of the horizontal ball screw pair are arranged on the upper part of the screw sleeve. Two guide rails (22) are arranged on the horizontal ball screw pair. A slide plate (220) is arranged between the two guide rails. The slide plate is fixedly connected to the horizontal moving plate and the connecting blocks respectively.

3. The prosthesis detection platform under three degrees of freedom and independent loading according to claim 2, Its characteristics are: The horizontal ball screw pair comprises a rectangular shell (213) with an opening at the upper end, and a cover plate (214) arranged on the rectangular shell; the cover plate is provided with a long strip opening for facilitating the extension of two connection blocks; the horizontal servo motor is connected to the left end of the rectangular shell through a flange (215); a right end cover (2131) is provided on the rectangular shell; the two ends of the guide rail are respectively connected to the flange and the right end cover; and the two ends of the horizontal ball screw are respectively connected to the two ends of the rectangular shell through two deep groove ball bearings (216).

4. The prosthesis detection platform under three degrees of freedom and independent loading according to claim 3, Its characteristics are: The middle part of the guide rail is fixedly connected to the horizontal moving plate through a limit strip (221); two lower convex strips (231) extending laterally are provided on the upper surface of the horizontal moving plate; the upper part of the cross section of the lower convex strip is V-shaped; two upper convex strips (241) are provided on the lower surface of the horizontal sliding plate; the lower part of the cross section of the upper convex strip is triangular; the lower part of the upper convex strip extends into the upper part of the corresponding lower convex strip.

5. The prosthesis detection platform under three degrees of freedom and independent loading according to claim 1, Its characteristics are: The frame comprises a bottom horizontal rectangular frame (11), a left vertical frame (12), a front oblique support rod (13) for connecting the right front end of the bottom horizontal rectangular frame and the upper front end of the left vertical frame, and a rear oblique support rod (14) for connecting the right rear end of the bottom horizontal rectangular frame and the upper rear end of the left vertical frame; a horizontal ball screw pair is connected to the upper surface of the bottom horizontal rectangular frame through a rectangular plate (15).

6. The prosthesis detection platform under three degrees of freedom and independent loading according to claim 1, Its characteristics are: The bracket comprises a front trapezoidal frame (31) and a rear trapezoidal frame (32) with a longer lower frame, the lower ends of the front trapezoidal frame and the rear trapezoidal frame are fixedly connected to the horizontal sliding plate, a mounting frame (301) is arranged between the middle of the front trapezoidal frame and the middle of the rear trapezoidal frame, the mounting frame is rectangular, two U-shaped frames (33) are arranged on the right side of the mounting frame, and the two sides of the reducer are rotatably connected to the two U-shaped frames through two deep groove ball bearings respectively.

7. The prosthesis detection platform under three degrees of freedom and independent loading according to claim 1 or 2 or 3 or 4 or 5 or 6, Its characteristics are: The vertical ball screw pair comprises a strip housing (521) with an opening on the right side; the connection mechanism comprises two vertical rails (571) arranged at the opening of the strip housing, a vertical sliding plate (572) arranged between the two vertical rails, and an outer nut arranged on the vertical ball screw; the right side of the outer nut is connected to the vertical sliding plate, and the vertical sliding plate is connected to the vertical loading plate.

8. A detection method based on the prosthesis detection platform under three degrees of freedom independent loading according to claim 4, Its characteristics are: The steps include: Step 8-1, put the artificial leg into each installation sleeve, each installation sleeve allows the artificial leg to move only in the vertical direction, and install the artificial foot to the lower end of the artificial leg; the upper computer sets the loading curves of the horizontal unit, the rocker unit and the vertical unit, and sets the force loading range of the horizontal unit, the rocker unit and the vertical unit; Step 8-2, the control card controls the motor of each unit to rotate at a fixed angular velocity, and the acquisition card records the encoder and driver data of each motor and the tension and compression sensor data of each unit, and uploads them to the host computer; Step 8-3, the host computer determines whether each unit has reached the maximum load value of the force loading range. If it has not reached the maximum load value of the force loading range, go to step 8-2; otherwise, go to step 8-4; Step 8-4, calibrating the loading force of the control signals of the horizontal servo motor, the rocker servo motor and the vertical servo motor; Step 8-5, the control card gives the control signal of each servo motor according to the set loading curve; Step 8-6, each unit works synchronously: Horizontal Unit: The horizontal servo motor drives the horizontal ball screw, the slide plate and the horizontal moving plate to move left and right, and a relative displacement is generated between the horizontal moving plate and the horizontal sliding plate. The horizontal moving plate pushes and pulls the horizontal tension and compression sensor, and the horizontal tension and compression sensor pushes and pulls the horizontal sliding plate to move left and right. The horizontal tension and compression sensor records the force in the horizontal direction. The encoder of the horizontal servo motor records the rotation angle of the output shaft of the horizontal servo motor, and the displacement of the horizontal moving plate is obtained by using the corresponding relationship between the angle and the displacement. Joystick unit: The output shaft of the rocker servo motor drives the shaft of the high-speed gear to rotate. The high-speed gear meshes with the low-speed gear, driving the shaft of the low-speed gear to rotate. The inner nut is fixed to the shaft of the low-speed gear by a screw, and the inner nut rotates together with the shaft of the low-speed gear; the inner nut drives the rocker ball screw to rotate, and the rocker ball screw converts the rotational motion into linear motion. The rocker ball screw pushes and pulls the rocker tension and compression sensor, and the rocker tension and compression sensor pulls the hinge, thereby causing the rotating plate to rotate. The rocker tension and compression sensor records the force along the direction of the rocker ball screw; the encoder of the rocker servo motor records the rotation angle of the output shaft of the rocker servo motor, and the corresponding relationship between the output shaft rotation angle and the rotation angle of the rotating plate is used to obtain the rotation angle of the rotating plate; vertical unit: The vertical servo motor drives the vertical ball screw to rotate, and the connecting mechanism drives the vertical loading plate to move up and down; the vertical tension and compression sensor drives the prosthetic leg to move up and down with the vertical loading plate, and the vertical tension and compression sensor measures the ground support reaction force applied by the rotating plate on the prosthetic foot; the encoder of the vertical servo motor records the rotation angle of the vertical servo motor, and the vertical displacement of the prosthetic foot is obtained according to the corresponding relationship between the angle and the displacement; Step 8-7, the acquisition card collects the measurement values ​​of the horizontal tension and compression sensor, the rocker tension and compression sensor, the vertical tension and compression sensor, the encoder of the horizontal servo motor, the encoder of the rocker servo motor and the encoder of the vertical servo motor, and uploads them to the host computer; the encoder of each servo motor detects the rotation angle of the output shaft of the servo motor and transmits it back to the driver of the servo motor, and the driver controls the servo motor in three ways: position, speed and torque; Step 8-8, importing the loading force of the control signal of the horizontal servo motor, the rocker servo motor and the vertical servo motor into the loading curves of the horizontal unit, the rocker unit and the vertical unit respectively, calculating the control signal value of each servo motor and inputting it into the control card, and the control card controls the synchronous loading of each servo motor; Step 8-9, the host computer determines whether the loading curve of each unit has been loaded. If it needs to be loaded, go to step 8-6; otherwise, end the detection.

9. The detection method of the prosthesis detection platform under three degrees of freedom independent loading according to claim 8, Its characteristics are: The vertical ball screw pair includes a strip shell with an opening on the right side; the connecting mechanism includes two vertical rails arranged at the opening of the strip shell, a vertical sliding plate arranged between the two vertical rails, and an outer nut arranged on the vertical ball screw; the right side of the outer nut is connected to the vertical sliding plate, and the vertical sliding plate is connected to the vertical loading plate; the connecting mechanism drives the vertical loading plate to move up and down by the following steps: the outer nut drives the vertical sliding plate to move up and down along the two vertical rails, and the vertical sliding plate drives the vertical loading plate to move up and down.

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