CN109464786A - A kind of ectoskeleton foot device with extension type mountain-climbing pawl - Google Patents
A kind of ectoskeleton foot device with extension type mountain-climbing pawl Download PDFInfo
- Publication number
- CN109464786A CN109464786A CN201710798183.XA CN201710798183A CN109464786A CN 109464786 A CN109464786 A CN 109464786A CN 201710798183 A CN201710798183 A CN 201710798183A CN 109464786 A CN109464786 A CN 109464786A
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- China
- Prior art keywords
- mountain
- climbing
- climbing pawl
- foot
- pawl
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B29/00—Apparatus for mountaineering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Pulmonology (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of ectoskeleton foot devices with extension type mountain-climbing pawl, including shank to tie up part, lower-leg length adjusting block, ankle-joint connecting component, extension type mountain-climbing pawl, shoes, band buckle connecting rod, adjustable connecting-rod.It is fixed on the outside of shoes by screw and ankle-joint connecting component, medial side portion is provided with sliding slot to place mountain-climbing pawl, mountain-climbing pawl is connected by a hinge with buckle connecting rod and adjustable connecting-rod, form four-bar mechanism, it can be using ankle-joint as shaft, when foot and calf joint angle become smaller, shank can release mountain-climbing pawl.The present invention is under the premise of guaranteeing ankle-joint Three Degree Of Freedom, it is added to telescopic mountain-climbing pawl structure, it can be provided during mountain-climbing or climbing for user servo-actuated, and during being climbed according to human body foot pose variation and stretch out mountain-climbing pawl, after restoring level walking, telescopic claw is withdrawn, and does not influence user's normal walking, and whole process depends on the angle of human foot and shank.
Description
Technical field
The invention discloses a kind of ectoskeleton foot devices with extension type mountain-climbing pawl, belong to wearable ectoskeleton technology
Field is related to a kind of wearable ectoskeleton foot device.
Technical background
China has numerous field mans, such as rescue person, forest ranger, number of employees increase year by year,
And mountain forest or except strategical vantage point area operating condition it is complicated and changeable, to worker be one test, to mitigate its work load, need to its work
Equipment is improved, and the one ectoskeleton equipment for being adapted to its work pose demand of design is necessary；Outdoor sports are more next
More welcome, mountain-climbing is the outdoor sports being very welcomed, and tradition mountain-climbing shoes part is with mountain-climbing pawl and is arranged in mountaineering shoe sole,
It routs up when using, detains back when not in use, operation and use are all not very convenient, and needing to design one kind can be according to human body pose
State stretches out mountain-climbing pawl servo-actuatedly, to adapt to the wearable device of the gradient.
Existing wearable lower limb exoskeleton majority is applied to rehabilitation medical, to send out this wearable device
Exhibition, it is necessary to it be made to be applied to multiple fields.However it is applied to auxiliary normal human walking or completes specific required movement
Foot ectoskeleton then needs for different purposes, to increase appropriate auxiliary device, to meet under the premise of guaranteeing enough freedom degrees
Different work and use demand.
Summary of the invention
To meet above-mentioned requirements, the object of the present invention is to provide a kind of ectoskeleton foots with the telescopic mountain-climbing pawl of trailing type
Part device.The front and back for providing ankle-joint respectively from bottom to top rotates, swings and slightly rotates three degree of freedom.Above foot
Equipped with the telescopic mountain-climbing pawl with certain rise, can be stretched out with foot around the rotation of ankle-joint.The connecting rod of telescopic claw has
Locking button, can be by its locking when not needing telescopic claw.
The technical scheme is that a kind of ectoskeleton foot device with extension type mountain-climbing pawl.Realize that ectoskeleton is small
Leg ties up the connection of part, shoes and scalable mountain-climbing pawl.The lateral heel of shoes 7 is fixed with arthrodesis block 8, on fixed block 8 equipped with turning
Cradle head seat 10,10 outside of cradle head seat is seated equipped with cradle head link block 11 in movable joint fixed block 9 thereon, to
Guarantee rotation to joint freedom degrees.11 top of cradle head link block is separated by pin shaft hole, passes through with swinging joint link block 12
Pin shaft connection, can realize the swing of joint introversion and extroversion.Axle bed is arranged at 12 top of swinging joint link block, and outer wall has slot, uses
To connect with lower-leg length adjusting block 13, two short axles of 13 lower end of lower-leg length adjusting block can be in swinging joint link block
It is slightly rotated in the slot opened.The medial side portion of shoes 7 opens up sliding slot.Be seated thereon mountain-climbing pawl 6, mountain-climbing pawl tail portion by hinge with
Connecting rod 5 connects, and with buckle on connecting rod 5, to clasp shaft 14, shaft 14 can rotate in connecting rod, to adapt to people's foot
Location status.It after the buckle of connecting rod 5 is opened, can be buckled in the buckle frame at the top of the flap of shoes 7, so as not to use mountain-climbing pawl 6
When, people's normal walking is not influenced.14 tail portion of shaft is connect by hinge with connecting rod is adjusted, and is adjusted and is provided with several holes on connecting rod 3
The Kong Peizuo opened on part is tied up with shank, connecting rod extension elongation is adjusted by the fixed corresponding aperture of locked component 4, to adapt to difference
User needs.
A kind of ectoskeleton foot dress with scalable mountain-climbing pawl of the 1, present invention is had the advantage that using structure of the invention
It sets, ensure that the three degree of freedom of ankle-joint, the pose requirement of human body walking and operation can be fully met.2, with scalable
Mountain-climbing pawl, when real user is in slope or climbing steep hills road, telescopic claw can reduce with foot and shank angle
Stretch out it is more and more, to assist climbing process.Do not need using when can locking.Convenient for mountain-climbing or when complicated mountain and forest region is walked
Use demand, make ectoskeleton application have more specific aim.3, component composed structure is simple simultaneously, and cost is relatively low, convenient for wearing.
Detailed description of the invention
Fig. 1 is shaft side figure of the present invention.
Fig. 2 is schematic diagram of the invention.
Fig. 3 is band buckle connecting rod and shaft schematic diagram.
Fig. 4 is the schematic diagram of shoes of the present invention.
Fig. 5 is the schematic diagram of swinging joint link block of the present invention.
1- locking nut；2- shank ties up part；3- adjusts connecting rod；4- locked component；5- connecting rod；6- mountain-climbing pawl；7- shoes；8-
Arthrodesis block；9- cradle head fixed block；10- cradle head seat；11- cradle head link block；The connection of 12- swinging joint
Block；13- lower-leg length adjusting block；14- shaft.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing and application example,
The present invention will be described in further detail.
A kind of ectoskeleton foot device with extension type mountain-climbing pawl as shown in Figure 1 and Figure 2,7 heel of the shoes outside are solid
Surely there is joint fixed block 8, cradle head fixed block 9 is installed on arthrodesis block 8, closed thereon by the fixed rotation of two screws
Seat 10 is saved, cradle head link block 11 is installed via two screws again in socket joint, cradle head link block can be around socket joint
Rotation；Cradle head link block top is provided with pin shaft hole, connect it by pin shaft with swinging joint link block 12, is closed with realizing
The inside and outside freedom degree swung of section；Swinging joint link block top is opened there are two elongated slot, set on lower-leg length adjusting block 13 there are two
Short pin, this two short pins can be placed in the elongated slot that swinging joint link block is opened and can slide in slot, realize small
The freedom degree that width is swung.It is equipped with long T-slot on lower-leg length adjusting block, shank is allowed to tie up part corresponding part in T shape slot
Middle sliding, and its position is locked by set lever 13.Long sliding slot is offered to place mountain-climbing pawl in 7 medial side portion of shoes
6, mountain-climbing pawl is slided in elongated slot, is connect by hinge with connecting rod 5 at the top of mountain-climbing pawl, by buckleing in connecting rod 5
Firmly shaft 14, shaft can rotate in connecting rod, allow to adapt to human foot's state, 14 tail portion of connecting rod is by hinge and adjusts
It saves connecting rod 3 to connect, adjusts and be provided with several apertures on connecting rod 3, the aperture that can be tied up on part with shank is corresponding, solid by locked component
It is scheduled on corresponding position, to adapt to the lower-leg length of different users.
Connecting rod 5 as shown in Figure 2 and Figure 3, one end have buckle, and buckle is opened as shown in figure 3, internal shaft 14 is placed on
In T-slot in connecting rod, guarantee that it can be rotated.Buckle can be buckled on the buckle frame at the top of flap after opening.
A kind of course of work for ectoskeleton foot device with extension type mountain-climbing pawl that the present invention mentions:
In conjunction with Fig. 2, it can be seen that the cradle head component of ankle-joint from bottom to top, swinging joint link block 12, and
Connection between lower-leg length adjusting block 13 is enough to ensure that the three degree of freedom of ankle-joint, is adapted to user's foot position completely
Appearance state.Wearer need to only get on one's shoes, and tie up the adjustment device length of part 2 by shank and dress the fixed i.e. completion of shank.Work as place
When abrupt slope or climbing state, shank ties up part 2, connecting rod 5 and mountain-climbing pawl 6 and forms slider-rocker mechanism, when human foot is closed around ankle
Section rotation during reducing it with shank angle, will release mountain-climbing pawl, guarantee that slight slope can be protruded by stretching out mountain-climbing pawl, auxiliary
It helps others climbing process；When foot and shank angle increase, drives mountain-climbing pawl to withdraw, do not influence flat walking.If not needing to step on
When mountain pawl stretches out, connecting rod 5 can be buckled and be opened, shaft 14 be released, then by the buckle frame at the top of the flap for being buckled in shoes 7
On, locking mountain-climbing pawl sliding.
Claims (3)
1. a kind of ectoskeleton foot device with extension type mountain-climbing pawl, realizes the follow-up telescoping of mountain-climbing pawl, it is characterised in that shoes
(7) medial side portion is provided with sliding slot, and mountain-climbing pawl (6) is placed on sliding slot, and mountain-climbing pawl tail end is connect by hinge with connecting rod (5), even
It is provided with T-slot inside bar (5), and shaft (14) are installed by being buckled in slot, shaft (14) passes through hinge and the company of adjusting
Bar (3) connection adjusts connecting rod and is provided with several apertures and corresponding with (2) the front end extension aperture of shank bandage, passes through locking group
Part (4) fixes relative position.Wherein, to guarantee the requirement of foot exoskeleton ankle joint freedom degree, fixation is related at shoes (7) heel
It saves fixed block (8), is sequentially installed with cradle head fixed block (9), cradle head seat (10), cradle head link block thereon
(11), foot can be provided around articulation freedom degree, swinging joint link block (12) passes through pin shaft and cradle head link block
(11) it connects, provides that foot is inside and outside to swing freedom degree, open that there are two elongated slot, lower-leg length adjusting blocks above swinging joint link block
(13) lower end can be put into two elongated slots there are two short pin, and can be slided in elongated slot, and small size rotational freedom is provided.Its
Middle lower-leg length adjusting block (13) and shank tie up part, fixed by set lever 1.
2. a kind of ectoskeleton foot device with extension type mountain-climbing pawl according to claim 1, it is characterised in that: change
It adjusts connecting rod (3) and shank ties up the corresponding aperture of part extension, to change extension elongation.
3. a kind of ectoskeleton foot device with extension type mountain-climbing pawl according to claim 1, it is characterised in that: described
Lower-leg length adjusting block (13), is provided with long T-slot thereon, is installed into shank and ties up part opposite segments, its adjustable extension elongation,
Set lever puts the brazier head screw realization fixation of T-slot into screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710798183.XA CN109464786A (en) | 2017-09-07 | 2017-09-07 | A kind of ectoskeleton foot device with extension type mountain-climbing pawl |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710798183.XA CN109464786A (en) | 2017-09-07 | 2017-09-07 | A kind of ectoskeleton foot device with extension type mountain-climbing pawl |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109464786A true CN109464786A (en) | 2019-03-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710798183.XA Pending CN109464786A (en) | 2017-09-07 | 2017-09-07 | A kind of ectoskeleton foot device with extension type mountain-climbing pawl |
Country Status (1)
| Country | Link |
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| CN (1) | CN109464786A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110200352A (en) * | 2019-06-18 | 2019-09-06 | 黄旭东 | A kind of mountain-climbing leg tool |
| CN110237502A (en) * | 2019-06-17 | 2019-09-17 | 张莹 | Rehabilitation department adult patient ankle Training care device |
-
2017
- 2017-09-07 CN CN201710798183.XA patent/CN109464786A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110237502A (en) * | 2019-06-17 | 2019-09-17 | 张莹 | Rehabilitation department adult patient ankle Training care device |
| CN110200352A (en) * | 2019-06-18 | 2019-09-06 | 黄旭东 | A kind of mountain-climbing leg tool |
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