Joint angle measuring device

Abstract

The utility model relates to a joint angle measuring device. The joint angle measuring device is configured to be capable of detecting data of rotation of the first part relative to the second part, and the joint angle measuring device comprises a first fixing seat, an angle measuring assembly and a transmission assembly; the first fixing seat is connected to a first part; the angle measuring assembly comprises a rotating part, a base and an angle measuring sensor, the rotating part is rotationally connected to the base, and the angle measuring sensor is used for measuring the relative rotating angle between the rotating part and the base; one end of the transmission assembly is connected to the first fixing base, and the other end of the transmission assembly is in transmission connection with the rotating piece. The transmission assembly is configured to drive the rotating piece to rotate relative to the base when the first part rotates relative to the second part. Angle measuring assemblies do not need to be installed at the joints corresponding to the first part and the second part, the movement space of the first part relative to the second part is released, and therefore the wearing comfort and environmental adaptability of the joint angle measuring device are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of measurement, in particular to a joint angle measurement device. BACKGROUND

[0002] The progress of embodied intelligence promotes the pursuit of the operation precision of the end effector, and accordingly the demand for accurately obtaining joint motion data (especially the angle of complex finger joints) has also increased sharply. The traditional finger joint angle measurement method has disadvantages in space occupation and wearing comfort. CONTENT OF THE UTILITY MODEL

[0003] Therefore, it is necessary to provide a joint angle measurement device in view of the technical problem that the existing joint angle measurement method has inherent disadvantages in space occupation and wearing comfort.

[0004] A joint angle measurement device configured to detect data of a first part relative to a second part, the joint angle measurement device comprising:

[0005] a first fixed seat configured to be connected to the first part;

[0006] an angle measurement assembly comprising a rotating member, a base and an angle measurement sensor, the rotating member being rotatably connected to the base, the angle measurement sensor being configured to measure the relative rotation angle between the rotating member and the base; and

[0007] a transmission assembly, one end of the transmission assembly being connected to the first fixed seat, the other end of the transmission assembly being rotatably connected to the rotating member, the transmission assembly being configured to drive the rotating member to rotate relative to the base when the first part rotates relative to the second part.

[0008] In one embodiment, the transmission assembly comprises a pull rope, one end of the pull rope being connected to the first fixed seat, the other end of the pull rope being partially wound around the rotating member, the pull rope being configured to drive the rotating member to rotate relative to the base when the first part rotates relative to the second part.

[0009] In one embodiment, the second fixed seat is configured to be connected to the second part, the pull rope is connected to the rotating member and connected to the first fixed seat via the second fixed seat, the transmission assembly further comprises a support sleeve, one end of the support sleeve being connected to the second fixed seat, the other end of the support sleeve being connected to the base, and the support sleeve being sleeved on the part of the pull rope between the base and the second fixed seat.

[0010] The length of the support sleeve is greater than the distance between the second fixing base and the base, so that the length of the pull rope between the rotating member and the first fixing base is constant when the first part does not rotate relative to the second part and the second part rotates relative to the third part with the first fixing base connected to the first part, the second fixing base connected to the second part, and the base connected to the third part.

[0011] In one of the embodiments, the base is provided with a support member, and an end of the support sleeve away from the second fixing base is connected to the support member.

[0012] In one of the embodiments, the part of the pull rope between the support member and the rotating member is perpendicular to the rotation axis between the rotating member and the base.

[0013] In one of the embodiments, the transmission assembly further comprises a transition mechanism connected to at least one of the first fixing base, the base, and the second fixing base, and configured to measure the data of the rotation of the second part relative to the third part; the transition mechanism is connected to the support sleeve, and is configured to fix the support sleeve.

[0014] In one of the embodiments, the support sleeve is a Bowden cable sheath; and / or, the pull rope is a tendon rope.

[0015] In one of the embodiments, when the first fixing base is connected to the first part, the second fixing base is connected to the second part, and the first part rotates relative to the second part, the pull rope moves in a preset plane, and the preset plane is perpendicular to the rotation axis between the first part and the second part.

[0016] In one of the embodiments, the angle measurement assembly further comprises an elastic member, one end of the elastic member is connected to the rotating member, or one end of the elastic member is connected to the end of the pull rope located at the rotating member, and the other end of the elastic member is connected to the base.

[0017] In one of the embodiments, the first fixing base comprises a first matching surface, the first matching surface is used to abut against the first part, and is at least partially attached to the first part.

[0018] The joint angle measuring device provided by the embodiment of the application is configured to detect data of rotation of a first part relative to a second part, and comprises a first fixing seat, an angle measuring assembly and a transmission assembly. The first fixing seat is used for being connected to the first part. The angle measuring assembly comprises a rotating piece, a base and an angle measuring sensor. The rotating piece is rotationally connected to the base, and the angle measuring sensor is used for measuring a relative rotation angle between the rotating piece and the base. One end of the transmission assembly is connected to the first fixing seat, and the other end of the transmission assembly is transmissionally connected to the rotating piece. The transmission assembly is configured to drive the rotating piece to rotate relative to the base when the first part rotates relative to the second part. In the application, the angle measuring assembly is installed on a side far away from the first part, and the rotation of the first part relative to the second part is transmitted to the rotating piece through the transmission assembly, that is, the rotation of the first part relative to the second part is converted into the rotation of the rotating piece relative to the base. Therefore, the angle measuring assembly does not need to be installed at a joint corresponding to the first part and the second part, the activity space of the first part relative to the second part is released, and the comfort and environmental adaptability of wearing the joint angle measuring device are improved. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 A schematic view of a joint angle measuring device provided by an embodiment of the application.

[0020] Figure 2 A front view of a joint angle measuring device provided by an embodiment of the application.

[0021] REFERENCE NUMERALS

[0022] 100 - first fixing seat; 110 - first matching surface; 120 - first matching hole; 200 - angle measuring assembly; 210 - rotating piece; 220 - base; 221 - third matching hole; 222 - third matching surface; 224 - bottom plate; 230 - angle measuring sensor; 240 - supporting piece; 241 - second limiting hole; 250 - connecting column; 260 - elastic piece; 300 - transmission assembly; 310 - pull rope; 320 - second fixing seat; 321 - second matching hole; 322 - second matching surface; 323 - first limiting hole; 324 - boss; 330 - supporting sleeve; 340 - transition mechanism; 410 - first part; 420 - second part; 430 - third part. DETAILED DESCRIPTION

[0023] In order to make the above objectives, features and advantages of the present application more clear and comprehensible, the specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be practiced in a number of different ways beyond the specific embodiments described herein and with modifications thereof, without departing from the scope of the present application, and it is understood that these specific embodiments are given for purposes of example and exemplary description only and are not presented in a way of limitation to the present application.

[0024] In the description of the present application, it should be understood that, if there are terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation to the present application.

[0025] In addition, if the terms "first", "second" appear, these terms are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features referred to. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, if the term "a plurality of" appears, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise explicitly specified and limited.

[0026] In the present application, unless otherwise explicitly specified and limited, if the terms "mounting", "connecting", "connecting", "fixing" and the like appear, these terms should be understood in a broad sense. For example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0027] In the present application, unless specifically defined otherwise, if there is a description of a first feature on or above or below a second feature, it can mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature can be above or above or above the second feature, which can mean that the first feature is directly above or obliquely above the second feature, or only means that the first feature is horizontally higher than the second feature. The first feature can be below or below or below the second feature, which can mean that the first feature is directly below or obliquely below the second feature, or only means that the first feature is horizontally lower than the second feature.

[0028] It should be noted that if an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or there can be an intermediate element. If an element is referred to as being "connected" to another element, it can be directly connected to the other element or there can be an intermediate element. If present, the terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used in the present application are for illustrative purposes only and do not represent the only implementation.

[0029] Referring to Figure 1 and Figure 2 , Figure 1 A schematic view of a joint angle measuring device provided by an embodiment of the present application. Figure 2 A front view of a joint angle measuring device provided by an embodiment of the present application. The joint angle measuring device provided by an embodiment of the present application is configured to detect data of the rotation of a first part 410 relative to a second part 420, and comprises a first fixed seat 100, an angle measuring assembly 200 and a transmission assembly 300. The first fixed seat 100 is used to connect to the first part 410. The angle measuring assembly 200 comprises a rotating member 210, a base 220 and an angle measuring sensor 230. The rotating member 210 is rotatably connected to the base 220, and the angle measuring sensor 230 is used to measure the relative rotation angle between the rotating member 210 and the base 220. One end of the transmission assembly 300 is connected to the first fixed seat 100, and the other end of the transmission assembly 300 is drivingly connected to the rotating member 210. The transmission assembly 300 is configured to drive the rotating member 210 to rotate relative to the base 220 when the first part 410 rotates relative to the second part 420.

[0030] Specifically, the connection between the angle measurement assembly 200 and the first fixed seat 100 is realized by the transmission assembly 300 in the present application, the angle measurement assembly 200 is installed at a position other than the first part 410, and the rotation of the first part 410 relative to the second part 420 is transmitted to the rotating member 210 through the transmission assembly 300, that is, the rotation of the first part 410 relative to the second part 420 is converted into the rotation of the rotating member 210 relative to the base 220, so that the angle measurement assembly 200 does not need to be installed at the joint corresponding to the first part 410 and the second part 420, the activity space of the first part 410 relative to the second part 420 is released, and thus the comfort and environmental adaptability of the joint angle measurement device are improved.

[0031] It should be noted that the angle measurement assembly 200 can be placed at a position other than the first part 410 according to actual needs, for example, placed at the second part 420, or placed at a position other than the first part 410 and the second part 420.

[0032] It should be further noted that the first part 410 and the second part 420 of the present application are two parts relatively rotating at a joint, which can be any joint part on a human body, any joint part on an animal, or a joint part of a robot, a mechanical animal, or any other entity structure.

[0033] Referring to Figure 1 and Figure 2 In some embodiments, the transmission assembly 300 includes a pull rope 310, one end of the pull rope 310 is connected to the first fixed seat 100, and the other end of the pull rope 310 is partially wound on the rotating member 210, and the pull rope 310 is configured to drive the rotating member 210 to rotate relative to the base 220 when the first part 410 rotates relative to the second part 420.

[0034] Specifically, the first fixed seat 100 is connected to the first part 410, and when the first part 410 rotates relative to the second part 420, the first fixed seat 100 will rotate synchronously with the first part 410, thereby driving the pull rope 310 to move along the length direction of the pull rope 310 (to elongate or shorten), and since the pull rope 310 is partially wound on the rotating member 210, a pulling force is applied to the rotating member 210 to drive the rotating member 210 to rotate relative to the base 220, so as to accurately convert the joint angle change into linear displacement, and then convert into a rotation amount through the rotation of the rotating member 210 relative to the base 220, thereby realizing non-contact high-precision angle measurement. In some embodiments, the pull rope 310 is a rigid rope, and the length of the pull rope 310 does not change under the pulling of the first fixed seat 100, so as to improve the accuracy of the rotation angle measurement of the first part 410 relative to the second part 420.

[0035] Further, in some embodiments, the pull rope 310 is always in tension, thereby converting all rotation of the first part 410 relative to the second part 420 into linear displacement, to improve the accuracy of the angle measurement of the rotation of the first part 410 relative to the second part 420.

[0036] Referring to Figure 1 and Figure 2 In some embodiments, the joint angle measurement device further comprises a second fixed seat 320 for connecting to the second part 420. The pull rope 310 is connected to the rotating member 210 and connects the first fixed seat 100 via the second fixed seat 320. The transmission assembly 300 further comprises a support sleeve 330, one end of the support sleeve 330 is connected to the second fixed seat 320, the other end of the support sleeve 330 is connected to the base 220, and the support sleeve 330 is sleeved on the portion of the pull rope 310 between the base 220 and the second fixed seat 320. The length of the support sleeve 330 is greater than the maximum distance between the second fixed seat 320 and the base 220, so that when the first fixed seat 100 is connected to the first part 410, the second fixed seat 320 is connected to the second part 420, and the base 220 is connected to the third part 430, the length of the pull rope 310 between the rotating member 210 and the first fixed seat 100 does not change when the first part 410 does not rotate relative to the second part 420 and the second part 420 rotates relative to the third part 430.

[0037] Specifically, the length of the support sleeve 330 is greater than the maximum distance between the second fixed seat 320 and the base 220, so that when the first part 410 does not rotate relative to the second part 420 and the second part 420 rotates relative to the third part 430 of the mounting base 220, the support sleeve 330 located between the second fixed seat 320 and the base 220 is always in a relaxed state, so as to not exert force on the pull rope 310 inside the support sleeve 330, so that the pull rope 310 is not pulled and moved. And because the support sleeve 330 has a certain supporting effect, it can support the distance between the second fixed seat 320 and the base 220, and can also ensure that the length of the pull rope 310 in the area between the second fixed seat 320 and the base 220 does not change when the second part 420 rotates relative to the third part 430. And because the distance between the rotating part 210 and the base 220 is fixed, the length of the pull rope 310 in the area between the second fixed seat 320 and the base 220 is also ensured to be unchanged. Therefore, in general, because the first part 410 and the second part 420 do not rotate relative to each other, the length of the pull rope 310 between the first fixed seat 100 and the second fixed seat 320 does not change, and the length of the pull rope 310 in the area between the second fixed seat 320 and the base 220 (rotating part 210) does not change. Therefore, when the second part 420 rotates relative to the third part 430 of the mounting base 220, the pull rope 310 will not exert a pulling force on the rotating part 210, that is, will not drive the rotating part 210 to rotate relative to the base 220, so that when the second part 420 rotates relative to the third part 430, the angle measurement assembly 200 will not generate angle measurement data, thereby preventing measurement data from being generated when the first part 410 does not rotate relative to the second part 420, and improving the accuracy of measuring the rotation angle between the first part 410 and the second part 420.

[0038] It should be noted that the third part 430 can be a part that is rotationally connected with the second part 420, or can be other parts. Through the above arrangement of the second fixed seat 320 and the support sleeve 330, the mounting position of the base 220 is not limited, that is, the mounting position of the angle measurement assembly 200 in the present application is not limited, thereby improving the adaptability and reliability of the joint angle measurement device.

[0039] In some embodiments, the detection part can be defined as a finger, that is, the first part 410 and the second part 420 are two finger joints rotationally connected. In other embodiments, the first part 410 and the second part 420 can also be toe joints, legs, arms, bionic finger joints, etc.

[0040] In some embodiments, the first part 410 can be the first finger joint of a finger, the second part 420 can be the second finger joint of the finger, and the third part 430 can be the palm.

[0041] For example, see the appendix to the instruction manual. Figure 2 Taking an example, the first part 410 and the second part 420 are two rotatably connected finger joints. Specifically, the first fixing seat 100 is fixed to the skin around the distal phalanx of the joint, serving as the first anchor point of the pull cord 310; the second fixing seat 320 is fixed to the skin around the proximal phalanx of the joint, serving as the second anchor point; and the base 220 is fixed to the palm and back of the hand, serving as the third anchor point. When the interphalangeal joint is flexed, that is, when the first part 410 and the second part 420 rotate relative to each other, the distance between the first anchor point and the second anchor point increases, causing a change in the extension length (the length of the cord not wrapped around the rotating part 210) of the pull cord 310, which is either pre-tensioned or just in a straightened state. This changes the length of the cord, which is not wrapped around the rotating part 210, thereby driving the rotating part 210 to rotate relative to the base 220. The angle measuring sensor 230 measures the rotation angle. That is, the above design, through the distance holding characteristic of the support sleeve 330, accurately converts the joint angle change into a linear displacement, which is then converted into a rotational amount by the rotation of the rotating part 210 relative to the base 220, ultimately achieving non-contact, high-precision angle measurement.

[0042] See Figure 1 and Figure 2 In some embodiments, the support sleeve 330 is a Bowden sheath. The rigidity of the Bowden sheath, or rather, its distance-maintaining properties, ensures a constant distance between the second and third anchor points along the length of the sheath. A precision guide channel is provided within the sheath for the movement of the pull rope 310. The flexibility of the Bowden sheath ensures that the transmission process does not affect the natural flexion and extension of the joint, significantly improving wearing comfort. It should be noted that the support sleeve 330 of this application can also be a rigid sleeve made of any other material.

[0043] See Figure 1 and Figure 2 In some embodiments, the pull cord 310 is a tendon cord, thereby achieving efficient force transmission to precisely convert changes in joint angle into the amount of rotation of the rotating member 210 relative to the base 220. In some embodiments, the tendon cord is typically made of high-strength materials, such as UHMWPE (ultra-high molecular weight polyethylene fiber) and steel wire. It should be noted that the pull cord 310 can also be a cord made of other materials, such as nylon cord.

[0044] See Figure 1 and Figure 2In some embodiments, the second fixing base 320 is provided with a first limiting hole 323, and the support sleeve 330 is arranged in the first limiting hole 323 at one end close to the first fixing base 100 and connected with the hole wall of the first limiting hole 323, so as to limit the movement of the support sleeve 330 relative to the second fixing base 320, so as to ensure that the distance between the support sleeve 330 and the second fixing base 320 is unchanged, and the interference with the pull rope 310 extending out of the one end of the support sleeve 330 close to the first fixing base 100 is reduced. Optionally, the first limiting hole 323 is provided with an opening on the side, so as to facilitate the installation and disassembly of the support sleeve 330 relative to the first limiting hole 323.

[0045] Further, the second fixing base 320 is provided with a boss 324 away from the second part 420, and the first limiting hole 323 is arranged on the boss 324, so as to reduce the volume of the second fixing base 320 and improve the comfort of wearing the second fixing base 320.

[0046] Referring to Figure 1 and Figure 2 In some embodiments, the first fixing base 100 includes a first matching surface 110, the first matching surface 110 is used for abutting against the first part 410 and at least partially adhering to the first part 410, so as to improve the stability and comfort of the connection between the first fixing base 100 and the first part 410. Optionally, the first matching surface 110 is an arc surface.

[0047] Further, in the direction parallel to the rotation axis between the first part 410 and the second part 420, both ends of the first fixing base 100 are provided with a first matching hole 120, so as to be arranged in the first matching hole 120 through a connecting belt or the like, so as to realize the fixation with the first part 410.

[0048] Referring to Figure 1 and Figure 2 In some embodiments, the second fixing base 320 includes a second matching surface 322, the second matching surface 322 is used for abutting against the second part 420 and at least partially adhering to the second part 420, so as to improve the stability and comfort of the connection between the second fixing base 320 and the second part 420. Optionally, the second matching surface 322 is an arc surface.

[0049] Further, in the direction parallel to the rotation axis between the first part 410 and the second part 420, both ends of the second fixing base 320 are provided with a second matching hole 321, so as to be arranged in the second matching hole 321 through a connecting belt or the like, so as to realize the fixation with the second part 420.

[0050] Referring to Figure 1 and Figure 2In some embodiments, the base 220 comprises a third matching surface 222, which is used to abut and at least partially match the third part 430, so as to improve the stability and comfort of the connection between the base 220 and the third part 430. Optionally, the third matching surface 222 is an arc surface.

[0051] Further, in the direction parallel to the rotation axis between the first part 410 and the second part 420, both ends of the base 220 are provided with third matching holes 221, so that a connecting belt or the like structure is arranged through the third matching holes 221 to realize the fixation with the third part 430.

[0052] Referring to Figure 1 and Figure 2 In some embodiments, when the first fixed seat 100 is connected with the first part 410, the second fixed seat 320 is connected with the second part 420, and the first part 410 rotates relative to the second part 420, the pull rope 310 moves in a preset plane, which is perpendicular to the rotation axis between the first part 410 and the second part 420.

[0053] Specifically, the first part 410 and the second part 420 are connected by rotating around the first axis, and the region between the first fixed seat 100 and the second fixed seat 320, where the pull rope 310 is located, extends in a direction perpendicular to the first axis, so that when the first part 410 rotates relative to the second part 420, the pull rope 310 always moves in a direction perpendicular to the first axis, i.e., in a plane perpendicular to the first axis, thereby ensuring that the moving direction of the pull rope 310 is consistent with the rotating direction of the first part 410, i.e., the plane where the moving direction of the pull rope 310 is parallel to the rotating direction of the first part 410, and in the conversion according to the rotating angle of the rotating member 210 relative to the base 220 and the rotating angle of the first part 410 relative to the second part 420, the movement amount of the pull rope 310 in other directions can be avoided, so as to improve the simplicity and accuracy of the angle conversion.

[0054] Referring to Figure 1 and Figure 2 In some embodiments, the base 220 is provided with a support member 240, which is connected to the base 220, and the end of the support sleeve 330 away from the second fixed seat 320 is connected to the support member 240.

[0055] Specifically, the support sleeve 330 is connected to the base 220 through the support 240. The support 240 is arranged to limit the position of the end of the support sleeve 330 away from the second fixing base 320, so that there is a gap between the pull rope 310 extending from the end of the support sleeve 330 away from the second fixing base 320 and the base 220, thereby reducing the friction between the pull rope 310 and the base 220 when the pull rope 310 is extended or retracted, thereby improving the accuracy of measuring the rotation angle of the first part 410 relative to the second part 420.

[0056] Referring to Figure 1 and Figure 2 In some embodiments, the support 240 is provided with a second limiting hole 241, and the end of the support sleeve 330 away from the first fixing base 100 is arranged in the second limiting hole 241 and connected with the hole wall of the second limiting hole 241, so as to stabilize and limit the movement of the support sleeve 330 relative to the support 240, thereby ensuring that the distance between the support sleeve 330 and the second fixing base 320 is unchanged, and reducing the interference with the pull rope 310 extending from the end of the support sleeve 330 away from the first fixing base 100. Optionally, the second limiting hole 241 has an opening on the side, so as to facilitate the installation and disassembly of the support sleeve 330 relative to the second limiting hole 241.

[0057] Referring to Figure 1 and Figure 2 In some embodiments, the part of the pull rope 310 between the support 240 and the rotating member 210 is perpendicular to the rotation axis between the rotating member 210 and the base 220, so that the force exerted by the pull rope 310 on the rotating member 210 is perpendicular to the rotation axis between the rotating member 210 and the base 220, and then the force generated by the elongation or shortening of the pull rope 310 is entirely converted into the rotation of the rotating member 210 relative to the base 220, thereby accurately measuring the rotation angle of the first part 410 relative to the second part 420. Optionally, the rotating member 210 is a rotating disc.

[0058] Referring to Figure 1 and Figure 2 In some embodiments, the transmission assembly 300 further comprises a transition mechanism 340 connected with at least one of the first fixing base 100, the base 220 and the second fixing base 320, and the transition mechanism 340 is configured to measure the data of the rotation of the second part 420 relative to the third part 430. The transition mechanism 340 is connected with the support sleeve 330, and the transition mechanism 340 is configured to fix the support sleeve 330, so that there is a gap between the support sleeve 330 and the target to be measured, i.e. the support sleeve 330 can play a role of wiring, reducing the interference of the support sleeve 330 during the rotation of the second part relative to the third part, and improving the reliability of the joint angle measuring device.

[0059] Referring to Figure 1 and Figure 2 In some embodiments, the angle measurement assembly 200 further comprises an elastic member 260, one end of the elastic member 260 is connected to the rotating member 210 or one end of the elastic member 260 is connected to the pull rope 310 at the end of the rotating member 210, and the other end of the elastic member 260 is connected to the base 220. The elastic member 260 is configured to reset the pull rope 310 when the first part 410 is reset after rotation.

[0060] In addition, the elastic member 260 generates tension on the pull rope 310, so that the pull rope is in a just straightened state or in a tensioned state, so that when the first part 410 rotates relative to the second part 420, the displacement of the pull rope 310 can be stably driven to accurately convert the change of the joint angle into linear displacement, and then the rotating member 210 rotates relative to the base 220 to convert into rotation amount, and finally realize non-contact high-precision angle measurement.

[0061] Referring to Figure 1 and Figure 2 In some embodiments, the angle measurement assembly 200 further comprises a connecting column 250 connected to the base 220, and the end of the elastic member 260 away from the rotating member 210 is connected to the connecting column 250 to stably apply tension to the rotating member 210 to achieve tensioning of the pull rope 310. Optionally, the elastic member 260 is a spring.

[0062] In other embodiments, the elastic member 260 can also be a torsion spring, which is arranged between the rotating member 210 and the base 220 to stably apply force to the rotating member 210 to tension the pull rope 310 by the rotating member 210.

[0063] Referring to Figure 1 Figure 2 Figure 1 Figure 2 Figure 1 Figure 2 Figure 1 Figure 2 Figure 1 Figure 2 Figure 1 Figure 2 Figure 1 Figure 2 Figure 1 Figure 2 Figure 1 Figure 2 Figure 1 Figure 2 Figure In some embodiments, the angle measurement sensor 230 is arranged at the rotating connection between the rotating member 210 and the base 220 to stably measure the relative rotation of the rotating member 210 and the base 220. Optionally, the angle measurement sensor 230 is an encoder.

[0064] Further, the base 220 comprises a bottom plate 224 for connecting to the third part 430, and the third matching surface 222 and the third matching hole 221 are both located on the bottom plate 224. The angle measurement sensor 230, the support member 240 and the connecting column 250 are all mounted on the bottom plate 224, and the rotating member 210 is arranged on the bottom plate 224 through the angle measurement sensor 230.

[0065] The mechanical transmission mode adopted by the embodiment of the application is not affected by visual angle shielding (such as self-shielding of fingers, changes in ambient light), and ensures measurement robustness. The mechanical signal transmission is not affected by environmental interference, and is suitable for complex operation scenarios (such as body-robot teleoperation, VR interaction, surgical robot control, etc.).

[0066] In addition, a distal measurement design is adopted, and the angle measurement sensor 230 (such as an encoder) is arranged on the back of the hand (a third anchor point), without the need to install a rigid component at the space-limited finger joint, and the finger movement space is completely liberated.

[0067] The flexible characteristic (bendable) of the Bowden cable sheath ensures that the transmission process does not affect the natural flexion and extension of the joint, and the wearing comfort is significantly improved.

[0068] The tendon displacement directly drives the encoder, without temperature drift, material creep and other electrical signal interference, and the long-term stability is better than that of a strain sensor. The mechanical structure has an inherent linear relationship (displacement-angle conversion), which reduces the calibration requirement and reduces the use and maintenance cost.

[0069] In addition, the Bowden cable sheath, tendon and encoder are all mature industrial components, which are low in cost and easy to mass-produce. The resolution of the encoder can reach 0.1°, while the anti-interference characteristic of mechanical transmission is maintained.

[0070] In addition, the mechanical transmission delay is extremely low, which meets the real-time control requirement (such as micro-operation of a surgical robot). The device can stably work in complex working conditions such as humidity and electromagnetic interference, and expands the industrial and medical application scenarios.

[0071] Overall, the embodiment of the application simultaneously breaks through in the four dimensions of precision, comfort, stability and cost through the mechanical decoupling design (distal measurement + flexible transmission), and provides a high-robustness and low-invasion solution for joint motion capture, which is especially suitable for fields (such as body-robot teleoperation, medical rehabilitation, precision operation training, etc.) with strict requirements for reliability and wearing experience.

[0072] The technical features of the above-described embodiments can be combined in any manner. To make the description concise, all possible combinations of the technical features in the above-described embodiments are not described, but as long as the combinations of the technical features do not contradict, they should be considered as the scope of the description.

[0073] The above-described embodiments only express several implementation manners of the application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the patent scope of the application. It should be noted that for ordinary skilled persons in the art, some modifications and improvements can be made without departing from the concept of the application, and these all belong to the protection scope of the application. Therefore, the patent protection scope of the application should be subject to the appended claims.

Claims

1. An articular angle measuring device, characterized in that, The joint angle measuring device is configured to detect data of rotation of a first part relative to a second part, and comprises: a first fixing base connected to the first part; an angle measuring assembly comprising a rotating member, a base and an angle measuring sensor, the rotating member being rotatably connected to the base, and the angle measuring sensor being configured to measure a relative rotation angle between the rotating member and the base; and a transmission assembly, one end of which is connected to the first fixing base, and the other end of which is rotatably connected to the rotating member, the transmission assembly being configured to drive the rotating member to rotate relative to the base when the first part rotates relative to the second part.

2. The joint angle measuring device according to claim 1, characterized in that The transmission assembly comprises a pull rope, one end of which is connected to the first fixing base, and the other end of which is partially wound around the rotating member, the pull rope being configured to drive the rotating member to rotate relative to the base when the first part rotates relative to the second part.

3. The joint angle measuring device according to claim 2, characterized in that The transmission assembly further comprises a support sleeve, one end of which is connected to the second fixing base, and the other end of which is connected to the base, and the support sleeve is sleeved on the part of the pull rope between the base and the second fixing base. The length of the support sleeve is greater than the distance between the second fixing base and the base, so that the length of the pull rope between the rotating member and the first fixing base remains unchanged when the first part does not rotate relative to the second part and the second part rotates relative to a third part, with the first fixing base connected to the first part, the second fixing base connected to the second part, and the base connected to the third part.

4. The joint angle measuring device according to claim 3, characterized in that The base is provided with a support member, and the end of the support sleeve away from the second fixing base is connected to the support member.

5. The joint angle measurement device of claim 4, wherein, The part of the pull rope between the support member and the rotating member is perpendicular to the rotation axis between the rotating member and the base.

6. The joint angle measuring device according to claim 3, characterized in that The transmission assembly further comprises a transition mechanism connected to at least one of the first fixing base, the base and the second fixing base, the transition mechanism being configured to measure data of rotation of the second part relative to the third part, and the transition mechanism being connected to the support sleeve and configured to fix the support sleeve.

7. The joint angle measuring device according to any one of claims 3-6, characterized in that, The support sleeve is a Bowden cable sheath, and / or the pull rope is a tendon rope.

8. The joint angle measuring device according to any one of claims 3-6, characterized in that, When the first fixing base is connected to the first part, the second fixing base is connected to the second part, and the first part rotates relative to the second part, the pull rope moves in a preset plane, and the preset plane is perpendicular to the rotation axis between the first part and the second part.

9. The joint angle measuring device according to any one of claims 2-6, characterized in that, The angle measuring assembly further comprises an elastic member, one end of the elastic member is connected to the rotating member or one end of the elastic member is connected to the pull rope at the end of the rotating member, and the other end of the elastic member is connected to the base.

10. The joint angle measuring device according to any one of claims 1-6, characterized in that, The first fixing seat comprises a first matching surface, the first matching surface is used for abutting against the first part, and is at least partially attached to the first part.

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