CN110141464A - A kind of high energy efficiency energy-controllable foot mechanism - Google Patents
A kind of high energy efficiency energy-controllable foot mechanism Download PDFInfo
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- CN110141464A CN110141464A CN201910428979.5A CN201910428979A CN110141464A CN 110141464 A CN110141464 A CN 110141464A CN 201910428979 A CN201910428979 A CN 201910428979A CN 110141464 A CN110141464 A CN 110141464A
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- ceiling hold
- energy
- foot
- side baffle
- deck
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/12—Feet
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Footwear And Its Accessory, Manufacturing Method And Apparatuses (AREA)
Abstract
The present invention relates to bio-robot foot joint field of mechanisms, specifically a kind of high energy efficiency energy-controllable foot mechanism, including shoes shell component and foot energy-storage releasing mechanism, shoes shell component includes side baffle, shoes shell component further includes the shoe cover component connecting with side baffle, foot energy-storage releasing mechanism includes preceding ceiling hold and rear ceiling hold, preceding ceiling hold and rear ceiling hold are respectively hinged at the front end and rear end of side baffle, being connected with each other between preceding ceiling hold and rear ceiling hold has pressure spring, and preceding ceiling hold and rear ceiling hold are furnished with the clamping assembly for limiting its rotation and storage energy.The present invention is by landing heel, ball of foot landing, ball of foot is liftoff, heel is liftoff gait process carry out the energy absorption and energy release process of alternative expression, the energy discharged in the storage walking for being optimal, and efficiently automatically it is improved the efficiency of mechanism using energy storage.
Description
Technical field
The present invention relates to bio-robot foot joint field of mechanisms, in particular to a kind of high energy efficiency energy-controllable foot machines
Structure.
Background technique
Bio-robot foot mechanism is to combine the multi-disciplinary high-grade intelligent machine such as machinery, sensor, control technology
Structure.Bio-robot foot mechanism can assist people to walk well, moreover it is possible to play the role of medical rehabilitation, so bio-robot is sufficient
The market demand of portion mechanism is very big.
Bio-robot foot mechanism also faces problem at present.Ground is pedaled in the foot of people when walking and foot lands all
It can be along with the folding and unfolding of energy.How this portion of energy effectively to be stored is a problem.In addition, how efficient land productivity
With energy and a problem.Existing bio-robot foot mechanism use pure passively energy delivery mode, inefficiency,
Reliability is low.It is impacted in addition, mechanism exists in the stage of contacting to earth and ground.These impact can not only will cause mechanism damage and
The loss of energy also will cause nonlinear control element phenomenon, seriously affect the performance of mechanism.
Existing bio-robot foot mechanism is able to solve the part above problem, specific as follows:
In patent [CN201810104135], a kind of multiple degrees of freedom energy storage foot mechanism, including vola unit, side are disclosed
Plate unit, ankle-joint unit and binding unit, ankle-joint unit are detachably connected by side plate unit and vola unit, and binding is single
Member is detachably connected with vola unit and ankle-joint unit, and ankle-joint unit includes ankle support seat, ankle support seat
Including integrally formed supporting table and hangers, through-hole is offered on hangers, installation ankle-joint toe stoops bent shaft and axis in through-hole
Holding is assemblied in ankle support seat in side plate unit in a rotatable manner, and supporting table is detachably connected energy-storage units.Pass through side
Plate unit combination cable wire fixed block, cable wire, steel link block, only compression bar, pressure spring, pressure spring pipe, pressure spring tube top lid, are bent and are carried on the back by toe
Movement is bent, only compression bar rises or falls in pressure spring pipe, bends the storage of energy in movement and dorsiflex campaign to reach toe and releases
It puts.Although the invention can reduce energy loss, structure is simple, and without drive system, foot impacts assimilation effect is bad.
In patent [CN201210200662], a kind of flexible humanoid robot foot section mechanism landed is disclosed.The invention
Including front along the sole being bent upwards, bottom rubber pad, middle layer rubber pad, flush end is to top waveform spring, covering piece, more
Tie up flexible hinge, torque sensor, ankle support seat.Multidimensional flexible hinge is fixedly installed above sole, ankle support seat is logical
Torque sensor is crossed to connect with multidimensional flexible hinge；It is disposed with middle layer rubber pad and bottom from top to bottom below sole
Layer rubber pad.Flush end lands to the mode of the bikini configuration and multidimensional flexible hinge supported at three point of top waveform spring in foot
When the rotation of robot trunk certain amplitude in pitch orientation and rotating direction may be implemented, to significantly improve robot
Self adjustment capability in reply foot Ground shock waves；During foot-up starts to walk, compressed multidimensional flexible hinge peace
Energy-efficient purpose is played to the top releasable elastic deformation energy of waveform spring in end in the walking process of robot, it is compressed in
Interbed rubber pad and bottom rubber pad play the role of damping again, prevent starting from impacting ambassador robot disequilibrium；Bottom
Pleated structure around the protrusion of rubber pad lower surface three, the effect of spring is equivalent to when foot lands, can effectively be slowed down
Although compression travel the invention of trunk has many advantages, such as receiving, load is big, stroke is short, required space is small, collection of energy effect
Rate is lower, heelstrike and the energy absorption of forward roll is poor for the gait rear foot, does not have energy stores machine for releasing additionally
Structure.
In order to meet the market demand of bio-robot foot mechanism and solve defect existing for the product of part market, grind
It is extremely urgent to issue a kind of novel bio-robot foot joint mechanism.Novel bio-robot foot joint mechanism should
The defect of said mechanism is made up, the energy discharged in walking can be stored, and can be efficiently using so that the efficiency of mechanism obtains
It improves, additionally it is possible to which buffering ground faces its impact.
Summary of the invention
Based on problem above, the present invention provides a kind of high energy efficiency energy-controllable foot mechanisms.
In order to solve the above technical problems, The technical solution adopted by the invention is as follows:
A kind of high energy efficiency energy-controllable foot mechanism, including shoes shell component and foot energy-storage releasing mechanism, shoes shell component packet
Include side baffle, shoes shell component further includes the shoe cover component connecting with side baffle, foot energy-storage releasing mechanism include preceding ceiling hold and
Ceiling hold afterwards, preceding ceiling hold and rear ceiling hold are respectively hinged at the front end and rear end of side baffle, between preceding ceiling hold and rear ceiling hold
Interconnection has pressure spring, and preceding ceiling hold and rear ceiling hold are furnished with the clamping assembly for limiting its rotation and storage energy.
As a preferred mode, it is also provided on side baffle corresponding with preceding ceiling hold and rear ceiling hold rotary motion trace
Preceding top arc groove and rear top arc groove, preceding ceiling hold are equipped with relative to place with preceding top arc groove and rotate for ceiling hold before limiting along preceding top arc groove
Clamping plate, rear ceiling hold and rear top arc groove are equipped with the clamping plate rotated for ceiling hold after limiting along rear top arc groove, clamping relative to place
Component is mounted on preceding top arc groove, at rear top arc groove.
As a preferred mode, clamping assembly includes deck, circlip, clip spring seat, circlip both ends respectively with clip spring seat
And deck connection, offer on side baffle sinciput card slot for installing preceding ceiling hold and rear ceiling hold pairing clamping assembly and after
Push up card slot, be mounted in sinciput card slot with deck, circlip, the clip spring seat of the pairing of preceding ceiling hold, with the deck of rear ceiling hold pairing,
Circlip, clip spring seat push up in card slot after being mounted on.
As a preferred mode, further include linkage control for driving clamping assembly clamping ceiling hold and rear ceiling hold
Mechanism processed.
As a preferred mode, linkage control mechanism includes wire seat, drawstring and steering engine, and steering engine is passed through by drawstring
The connection of the deck of wire seat and clamping assembly.
As a preferred mode, side baffle tail portion is connected with rear baffle, and wire seat is mounted on rear baffle, steering engine with
Hinged mode is mounted on rear baffle.
As a preferred mode, further include for drive steering engine rotate electrical part, electrical part include gyroscope, control
Circuit board and motor processed.
It as a preferred mode, further include buffer gear, buffer gear includes small leg guard, and small leg guard is with hinged
Mode be mounted on side baffle, twice the vertical chute is offered on small leg guard, be equipped in the vertical chute fixed spring seat,
The spring that mobile spring seat, both ends are connect with fixed spring seat and mobile spring seat respectively, the movement of twice the vertical chute installation
Spring base is connect with side block front edge of board and rear end respectively by front tension bar and back stay, and front tension bar and back stay and side baffle move
The connection type of flexible spring seat is hinged.
Compared with prior art, the beneficial effects of the present invention are: the present invention is by landing heel, ball of foot is fallen
The gait process that ground, ball of foot are liftoff, heel is liftoff carries out the energy absorption and energy release process of alternative expression, is optimal
The energy discharged in the storage walking of change, and efficiently automatically it is improved the efficiency of mechanism using energy storage.
Detailed description of the invention
Fig. 1 is forward direction axonometric drawing of the invention.
Fig. 2 is backward axonometric drawing of the invention.
Fig. 3 is the structural schematic diagram of shoes shell component.
The component front axonometric drawing that Fig. 4 is preceding ceiling hold, rear ceiling hold, pressure spring are formed.
The module backside axonometric drawing that Fig. 5 is preceding ceiling hold, rear ceiling hold, pressure spring are formed.
Fig. 6 is the partial enlarged view of A in Fig. 4.
Fig. 7 is the partial enlarged view of B in Fig. 4.
Fig. 8 is the structural schematic diagram of clamping assembly.
Fig. 9 is the structural schematic diagram of deck.
Figure 10 is the structural schematic diagram of clamping plate.
Figure 11 is the structural schematic diagram of buffer gear.
Figure 12 is the structural schematic diagram of small leg guard.
Figure 13 is the structural schematic diagram of fixed spring seat, spring, mobile spring seat formation component.
Figure 14 is the structural schematic diagram of wire seat.
Figure 15 is the structural schematic diagram of steering engine.
Figure 16 is the connection schematic diagram of drawstring and steering engine, wire seat, deck.
Wherein, 1 shoes shell component, 101 side baffles, top arc groove before 1011,1012 sinciput card slots, top arc groove after 1013,1014
After push up card slot, 1015 sinciput rotational axis holes push up rotational axis hole after 1016,1017 backplate rotational axis holes, 102 shoe covers, keep off after 103
Plate,
2 foot energy-storage releasing mechanisms, ceiling hold before 201,2011 sinciput latches, ceiling hold after 202 push up latch after 2021,
203 press spring bases, 204 clamping plates, 205 pressure springs, 206 clamping assemblies, 2061 decks, 2062 circlips, 2063 clip spring seats,
3 buffer gears, 301 small leg guards, 3011 the vertical chutes, 302 shank rear baffles, 303 fixed spring seats, 304 bullets
Spring, 305 mobile spring seats, 306 front tension bars, 307 back stays,
4 linkage control mechanisms, 401 wire seats, 402 steering engines.
Specific embodiment
The present invention will be further described below with reference to the drawings.Embodiments of the present invention include but is not limited to following reality
Apply example.
Embodiment 1:
Referring to Fig. 1 and Fig. 2, a kind of high energy efficiency energy-controllable foot mechanism, including shoes shell component 1 and foot energy storage machine for releasing
Structure 2, wherein shoes shell component 1 includes side baffle 101, and shoes shell component 1 further includes 102 component of shoe cover connecting with side baffle 101, shoes
Covering 102 components can be identical as the structure of existing shoes, such as sandals, slippers, sport footwear, is capable of fixing foot, side baffle
101 purpose essentially consists in fixed 102 component of shoe cover and installation foot energy-storage releasing mechanism 2, can be plate shape, or
Other curved profiled pieces, in order to facilitate its processing, referring to Fig. 3, the present embodiment side baffle 101 is panel-like member.Foot energy storage
Relieving mechanism 2 includes preceding ceiling hold 201 and rear ceiling hold 202, and preceding ceiling hold 201 and rear ceiling hold 202 are respectively hinged at side block
The front end and rear end of plate 101, preceding ceiling hold 201 are hinged on side baffle 101 by sinciput rotational axis hole 1015, rear ceiling hold
202 pass through after top rotational axis hole 1016 be hinged on side baffle 101, referring to Fig. 1, Fig. 2, Fig. 4 and Fig. 5, wherein before ceiling hold 201
Front end stretch out for ground face contact, rear 202 rear end of ceiling hold and ground face contact, in order to facilitate energy storage, preceding ceiling hold 201 is with after
Being connected with each other between ceiling hold 202 has pressure spring 205, preceding in order to guarantee the controllability of foot energy-storage releasing mechanism 2 energy storage and release
Ceiling hold 201 and rear ceiling hold 202 are furnished with the clamping assembly 206 for limiting its rotation and storage energy.In addition, for clamping
The driving of component 206 can be controlled using the prior art such as straight-line motion mechanism, straight-line motion mechanism such as hydraulic air pressure stretch
Contracting part, gear rack straight movement mechanism, ball-screw straight-line motion mechanism etc., due to being driven for clamping assembly 206
And stuck preceding ceiling hold 201 and rear ceiling hold 202 are the prior art, there are many embodiments, is not repeating herein.
The present embodiment energy storage discharges process there are two types of mode, and one kind is the landing liftoff release of energy storage, another kind for from
Ground energy storage landing release, difference are only that the clamping opportunity of clamping assembly 206 is different.
Energy storage procedural mode one:
1) foot lands thermal energy storage process:
Since preceding ceiling hold 201 and rear ceiling hold 202 are prior to ground face contact, 201 front end of ceiling hold is jacked up and is made before causing
Its rear end rotates clockwise, and then 202 rear end of ceiling hold is jacked up rotation counterclockwise, so that preceding ceiling hold 201 and rear ceiling hold
Pressure spring 205 interconnected is compressed between 202, ceiling hold 201 before the driving device clamping that then clamping assembly 206 is matched by it
With rear ceiling hold 202, the thermal energy storage process of foot landing is completed.
2) less touch with the ground discharges process:
Due to pressure spring 205 interconnected between preceding ceiling hold 201 and rear ceiling hold 202 by compression store energy, foot from
Ground moment driving dress clamping assembly 206 discharges preceding ceiling hold 201 and rear ceiling hold 202, and compressed pressure spring 205, which restores deformation, to be released
Exoergic amount jacks up shoes shell component 1 with ground supports again with rear ceiling hold 202 by preceding ceiling hold 201, completes less touch with the ground energy
Release process.
Energy storage procedural mode two:
1) less touch with the ground thermal energy storage process:
During the feet step on the ground (liftoff), preceding 201 front end of ceiling hold, which is jacked up, rotates clockwise its rear end, then topmast
202 rear end of frame is jacked up rotation counterclockwise, so that pressure spring 205 interconnected is pressed between preceding ceiling hold 201 and rear ceiling hold 202
Contracting, the preceding ceiling hold 201 of the driving device clamping that then clamping assembly 206 is matched by it and rear ceiling hold 202, complete less touch with the ground
Thermal energy storage process.
2) foot lands release process:
Since pressure spring 205 interconnected between preceding ceiling hold 201 and rear ceiling hold 202 stores energy by compression, fallen in foot
Ground moment driving dress clamping assembly 206 discharges preceding ceiling hold 201 and rear ceiling hold 202, and the pressure spring 205 for being by compression restores deformation
It releases energy and shoes shell component 1 is jacked up with ground supports again with rear ceiling hold 202 by preceding ceiling hold 201, complete foot and land energy
Measure release process.
It is worth noting yes, above-mentioned 206 driving device of clamping assembly movement is related to signal acquisition and circuit control, is
The prior art, for the ease of those skilled in the art's implementation, it is noted that how to control 206 clamping of clamping assembly and release.
1) gyroscope, circuit control panel, driving device (such as motor, hydraulic-pneumatic actuator), detect shoes by gyroscope
The tilt angle of shell component 1 passes through top since foot is that heel first lands (shoes shell component 1 is skewed) in landing at this time
The signal control circuit plate of spiral shell instrument transmitting controls driving device again and controls clamping assembly 206.
2) pressure sensor, circuit control panel, driving device, control process is same as described above, and difference is to detect
Shoes shell component 1 bears pressure and is controlled.
3) distance measuring sensor, circuit control panel, driving device, control process is same as described above, and difference is to detect
Shoes shell component 1 is controlled at a distance from ground.
Embodiment 2:
The present embodiment and the main distinction of embodiment 1 are: 1) according to the process of walking that the foot landing process of step is thin
It is divided into heel first to land, land after ball of foot, less touch with the ground process subdivision is liftoff after first liftoff, heel for ball of foot, and
For the above process optimization design present invention；2) optimization design clamping assembly 206 and its linkage control mechanism 4；3) optimization design
Preceding ceiling hold 201, rear ceiling hold 202,205 bindiny mechanism of pressure spring, and the preceding ceiling hold 201 of optimization design, rear ceiling hold 202 and side
The motion limiting mechanism of baffle 101；4) additional buffer gear 3 is added.
Referring to Fig. 1 and Fig. 2, a kind of high energy efficiency energy-controllable foot mechanism, including shoes shell component 1 and foot energy storage machine for releasing
Structure 2, wherein shoes shell component 1 includes side baffle 101, and shoes shell component 1 further includes 102 component of shoe cover connecting with side baffle 101, shoes
Covering 102 components can be identical as the structure of existing shoes, such as sandals, slippers, sport footwear, is capable of fixing foot, side baffle
101 purpose essentially consists in fixed 102 component of shoe cover and installation foot energy-storage releasing mechanism 2, can be plate shape, or
Other curved profiled pieces, in order to facilitate its processing, referring to Fig. 3, the present embodiment side baffle 101 is panel-like member.Foot energy storage
Relieving mechanism 2 includes preceding ceiling hold 201 and rear ceiling hold 202, and preceding ceiling hold 201 and rear ceiling hold 202 are respectively hinged at side block
The front end and rear end of plate 101, referring to Fig. 1, Fig. 2, Fig. 4 and Fig. 5, wherein before 201 front end of ceiling hold stretch out for ground face contact,
202 rear end of ceiling hold and ground face contact afterwards, in order to facilitate energy storage, being connected with each other between preceding ceiling hold 201 and rear ceiling hold 202 has pressure
Spring 205, in order to guarantee the controllability of foot energy-storage releasing mechanism 2 energy storage and release, preceding ceiling hold 201 and rear ceiling hold 202
Equipped with the clamping assembly 206 for limiting its rotation and storage energy.In addition, can be used for the driving of clamping assembly 206
The prior art such as straight-line motion mechanism is controlled, and straight-line motion mechanism such as hydraulic-pneumatic extensible member, gear rack straight move
Mechanism, ball-screw straight-line motion mechanism etc., due to clamping assembly 206 is driven and stuck preceding ceiling hold 201 with after
Ceiling hold 202 is the prior art, and there are many embodiments, is not repeating herein.
Further, in order to limit 202 rotary motion trace of preceding ceiling hold 201 and rear ceiling hold, guarantee the steady of its rotation process
It is qualitative, referring to Fig. 3, sinciput corresponding with preceding ceiling hold 201 and 202 rotary motion trace of rear ceiling hold is also provided on side baffle 101
Arc slot 1011 and rear top arc groove 1013, referring to fig. 4, Fig. 5, Fig. 6 and Fig. 7, preceding ceiling hold 201 are set with the opposite place of preceding top arc groove 1011
There are the clamping plate 204 rotated for ceiling hold 201 before limiting along preceding top arc groove 1011, rear ceiling hold 202 and rear 1013 phase of top arc groove
It is equipped with the clamping plate 204 rotated for ceiling hold 202 after limiting along rear top arc groove 1013 to place, passes through clamping plate 204, preceding top arc groove
1011 and rear top arc groove 1013 limit the rotary motion trace of preceding ceiling hold 201 and rear ceiling hold 202, ensure that preceding ceiling hold 201 and
The stability of 202 rotation process of ceiling hold afterwards.In order to enable the effective preceding ceiling hold 201 of clamping of clamping assembly 206 and rear topmast
Frame 202, clamping assembly 206 are mounted on preceding top arc groove 1011, at rear top arc groove 1013.
Further, in order to simplify the structure of clamping assembly 206, the restoring force of elasticity is made it have, referring to Fig. 8 and Fig. 9,
Clamping assembly 206 include deck 2061, circlip 2062, clip spring seat 2063,2062 both ends of circlip respectively with clip spring seat 2063 and card
Seat 2061 connects, and jacking deck 2061 by the elastic force of circlip 2062 makes its stuck preceding ceiling hold 201 or rear ceiling hold 202, is
Promote stability when deck 2061 and dead ceiling hold or rear 202 clamping of ceiling hold, referring to Fig. 6, Fig. 7 and Fig. 9, preceding ceiling hold
201 with sinciput latch 2011 is equipped at 2061 cooperation of deck, push up latch after being equipped at rear ceiling hold 202 and 2061 cooperation of deck
2021, deck 2061 is equipped with the latch matched with sinciput latch 2011 and rear top latch 2021, is cooperated by latch and promotes card
Stability when tight.In order to facilitate clamping assembly 206 installation and guarantee the past renaturation that deck 2061 moves, on side baffle 101
Offer for install preceding ceiling hold 201 and rear ceiling hold 202 match clamping assembly 206 sinciput card slot 1012 and after push up card slot
1014, it is mounted in sinciput card slot 1012 with deck 2061, circlip 2062, the clip spring seat 2063 of the pairing of preceding ceiling hold 201, and it is rear
Deck 2061, circlip 2062, the clip spring seat 2063 of the pairing of ceiling hold 202 push up in card slot 1014 after being mounted on, the deck in clamping
2061 move back and forth in sinciput card slot 1012 and rear top card slot 1014, ensure that the reproducibility of 206 clamping process of clamping assembly.
Further, linkage control is carried out to clamping assembly 206 for convenience, the present embodiment further includes for driving clamping
The linkage control mechanism 4 of 206 clamping ceiling hold of component and rear ceiling hold 202.Linkage control mechanism 4 includes wire seat 401, drawstring
And steering engine 402, steering engine 402 pass through wire seat 401 by drawstring and connect with the deck 2061 of clamping assembly 206.Its medium pulling rope is logical
It crosses there are many wire seat 401 with deck 2061 connect arrangement, provides most simplified 401 arrangement of wire seat herein, join
See that Figure 16, wire seat 401 are separately positioned on 103 4 jiaos of rear baffle of 206 adjacent of clamping assembly, steering engine 402 is centrally disposed
Rear baffle 103, each corner are arranged corresponding wire seat 401 and guide drawstring, rotate eventually by steering engine 402 and realize that drawstring is drawn
Dynamic deck 2061 carries out clamping process.The rotation of steering engine 402 is driven using prior art motor.The structure of steering engine 402 is shown
It is intended to referring to Figure 15.The structural schematic diagram of wire seat 401 is referring to Figure 14.
Further, steering engine 402 is driven for convenience, the present embodiment further includes for driving steering engine 402 to rotate
Electrical part, electrical part includes gyroscope, control circuit board and motor.
Further, in order to first land, land after ball of foot and will be before less touch with the ground process foot to foot landing process heel
It is liftoff after the first liftoff, heel of the palm that 101 heeling condition of side baffle is made to carry out snubber, referring to Fig. 1, Fig. 2, Figure 11, Tu12Ji
Figure 13, the present embodiment further include buffer gear 3, and buffer gear 3 includes small leg guard 301, and small leg guard 301 is in articulated manner
It is mounted on side baffle 101, hinge hole is backplate rotational axis hole 1017, offers twice the vertical chute on small leg guard 301
3011, be equipped in the vertical chute 3011 fixed spring seat 303, mobile spring seat 305, both ends respectively with fixed spring seat 303
And the spring 304 that mobile spring seat 305 connects, the mobile spring seat 305 that twice the vertical chute 3011 is installed pass through front tension bar 306
And back stay 307 is connect with 101 front end of side baffle and rear end respectively, front tension bar 306 and back stay 307 and side baffle 101 move
The connection type of spring base 305 is hinged.During foot landing, side baffle 101 is relative to the small rotation clockwise of leg guard 301
Turn, front tension bar 306 jacks the mobile spring seat 305 of its pairing and compressed spring 304 stores energy, and back stay 307 stretches it and matches
Pair mobile spring seat 305 and compressed spring 304 store energy, during subsequent less touch with the ground, front tension bar 306 and back stay
The spring 304 of 307 pairings, which restores deformation, makes side baffle 101 restore deformation, reduces walking process since the energy that gait generates disappears
Consumption, while process generation buffering is landed to foot, reduce the bring vibration due to the inclination of side baffle 101 of foot landing process.
Working principle:
The present embodiment energy storage discharges process there are two types of mode, and difference is: 1) 402 action moment of steering engine is different；2)
Mode one is that rear ceiling hold 202 releases energy with preceding successive successively absorb of ceiling hold 201, and mode two is rear ceiling hold 202 with before
Ceiling hold 201, which alternately absorbs, to release energy.
Energy storage discharges procedural mode one:
Gait cycle process: heel land the energy storage → ball of foot landing liftoff release → ball of foot of energy storage → heel from
Ground release
1) heel lands thermal energy storage process:
Since heel first lands, rear ceiling hold 202 is prior to ground face contact, and ceiling hold 202 carries out inverse after being jacked by ground
Hour hands rotation, with 2061 clamping of deck after rotating by a certain angle, preceding ceiling hold 201 is in highest limit state, Jin Erhou at this time
Ceiling hold 202 counterclockwise rotation and preceding ceiling hold 201 can not rotate, pressure spring 205 is compressed, and is completed heel and is landed energy storage
Journey；
2) ball of foot lands thermal energy storage process:
When ball of foot lands, preceding ceiling hold 201 is prior to shoes shell component 1 and ground face contact, ceiling hold 201 before being jacked by ground
Rotated clockwise, then ceiling hold 202 is in gripping orientation with deck 2061 at this time, pressure spring 205 by preceding ceiling hold 201 after
Continuous compression carries out energy storage, completes ball of foot and lands thermal energy storage process.
3) the liftoff release process of heel:
Since pressure spring 205 interconnected between preceding ceiling hold 201 and rear ceiling hold 202 stores energy by compression, after foot
Heeloff moment steering engine 402 rotates counterclockwise ceiling hold 202 after pulling deck 2061 is decontroled, and pressure spring 205 releases energy after making and pushes up
Bracket 202 rotates clockwise, and rear 202 rear end of ceiling hold and ground face contact instead determine shoes shell component 1, complete the liftoff energy of heel
Release process.
4) the liftoff release process of ball of foot:
Since pressure spring 205 interconnected between preceding ceiling hold 201 and rear ceiling hold 202 stores energy by compression, before foot
Palm liftoff instant steering engine 402, which rotates clockwise, pulls deck 2061 to decontrol preceding ceiling hold 201, and pressure spring 205 releases energy and makes sinciput
Bracket 201 rotates counterclockwise, and preceding 201 front end of ceiling hold and ground face contact instead determine shoes shell component 1, complete the liftoff energy of ball of foot
Release process.
Energy storage procedural mode two:
Gait cycle process: heel land the energy storage → ball of foot landing liftoff energy storage → heel of release → ball of foot from
Ground release
1) heel lands thermal energy storage process:
Since heel first lands, rear ceiling hold 202 is prior to ground face contact, and ceiling hold 202 carries out inverse after being jacked by ground
Hour hands rotation, after rotating by a certain angle with 2061 clamping of deck, at this time before ceiling hold 201 it is stuck by deck 2061, and then after push up
Bracket 202 rotates counterclockwise and preceding ceiling hold 201 can not rotate, and pressure spring 205 is compressed, and rear ceiling hold 202 is jacked to maximum
It is stuck by deck 2061 after stroke, it completes heel and lands thermal energy storage process.
2) ball of foot lands release process:
When ball of foot lands, rear ceiling hold 202 is blocked by deck 2061 with preceding ceiling hold 201, lands wink in ball of foot
Between, steering engine 402 rotates clockwise the deck 2061 pulled with the pairing of preceding ceiling hold 201, and deck 2061 decontrols preceding ceiling hold 201,
So that the energy of pressure spring 205 discharges, preceding ceiling hold 201 first carries out ability release with ground face contact before forefoot lands, and completes
Ball of foot lands energy release process.
3) the liftoff thermal energy storage process of ball of foot:
When ball of foot is liftoff, preceding 201 front end of ceiling hold is jacked by ground, so that preceding ceiling hold 201 rotates clockwise, at this time
Since rear ceiling hold 202 is stuck by deck 2061, rear ceiling hold 202 is fixed, and preceding ceiling hold 201 rotates counterclockwise, 205 quilt of pressure spring
Compression, preceding ceiling hold 201 is again stuck by deck 2061 after being jacked to range, completes the liftoff thermal energy storage process of ball of foot.
4) the liftoff release process of heel:
When heel is liftoff, rear ceiling hold 202 is blocked by deck 2061 with preceding ceiling hold 201, in heel liftoff wink
Between, the deck 2061 that rotation pulls counterclockwise and rear ceiling hold 202 matches of steering engine 402, ceiling hold 202 after deck 2061 is decontroled,
So that the energy of pressure spring 205 discharges, rear ceiling hold 202 carries out ability release with ground face contact when heel is liftoff, completes foot
Heeloff energy release process afterwards.
Procedural mode, the present embodiment preferred embodiment two, because mode two can be real are discharged for above two energy storage
Existing preceding ceiling hold 201, rear ceiling hold 202 replace energy storage and discharge process, and energy absorption storage can reach the limit values.
It is worth noting yes, above-mentioned 206 driving device of clamping assembly movement is related to signal acquisition and circuit control, is
The prior art, for the ease of those skilled in the art's implementation, it is noted that how to control 206 clamping of clamping assembly and release.
Signal acquisition and circuit control embodiment: gyroscope, circuit control panel, driving device (such as motor, hydraulic-pneumatic
Actuator), the tilt angle of shoes shell component 1 is detected by gyroscope, since foot first lands (shoes shell group in landing for heel
Part 1 be it is skewed), at this time by gyroscope transmit signal control circuit plate control again driving device to clamping assembly 206 into
Row control.
Because gyroscope can detecte the heeling condition of shoes shell component 1, and then be judged according to the heeling condition of shoes shell component 1
For gait state (heel landing, ball of foot landing, ball of foot is liftoff, heel is liftoff), eventually by circuit board and driving
Device controls steering engine 402, realizes the controlled release of energy, therefore for the present embodiment, signal acquisition and circuit
It controls embodiment and uses gyroscope, circuit control panel, driving device.
It as above is the embodiment of the present invention.Design parameter in above-described embodiment and embodiment is merely to understand table
State the invention verification process of inventor, the scope of patent protection being not intended to limit the invention, scope of patent protection of the invention
Still it is subject to the claims, it is all to change with equivalent structure made by specification and accompanying drawing content of the invention, together
Reason should be included within the scope of the present invention.
Claims (9)
1. a kind of high energy efficiency energy-controllable foot mechanism, including shoes shell component (1) and foot energy-storage releasing mechanism (2), the shoes
Shell component (1) includes side baffle (101), it is characterised in that: the shoes shell component (1) further includes connecting with side baffle (101)
Shoe cover (102) component, the foot energy-storage releasing mechanism (2) includes preceding ceiling hold (201) and rear ceiling hold (202), before described
Ceiling hold (201) and rear ceiling hold (202) are respectively hinged at the front end and rear end of side baffle (101), the preceding ceiling hold (201)
Being connected with each other between rear ceiling hold (202) has pressure spring (205), and the preceding ceiling hold (201) and rear ceiling hold (202) are equipped with being used for
Limit the clamping assembly (206) of its rotation and storage energy.
2. a kind of high energy efficiency energy-controllable foot mechanism according to claim 1, it is characterised in that: the side baffle
(101) be also provided on it is corresponding with preceding ceiling hold (201) and rear ceiling hold (202) rotary motion trace before top arc groove (1011) and after
Top arc groove (1013), the preceding ceiling hold (201) and preceding top arc groove (1011) opposite place are equipped with for limiting preceding ceiling hold (201)
Along the clamping plate (204) of preceding top arc groove (1011) rotation, the rear ceiling hold (202) and rear top arc groove (1013) opposite place are equipped with use
The clamping plate (204) that ceiling hold (202) is rotated along rear top arc groove (1013) after limitation, before the clamping assembly (206) is mounted on
At top arc groove (1011), rear top arc groove (1013).
3. described in any item a kind of high energy efficiency energy-controllable foot mechanisms according to claim 1~2, it is characterised in that: described
Clamping assembly (206) includes deck (2061), circlip (2062), clip spring seat (2063), circlip (2062) both ends respectively with
Clip spring seat (2063) and deck (2061) connection, offer on the side baffle (101) for install preceding ceiling hold (201) and after
Ceiling hold (202) matches sinciput card slot (1012) the Ji Houding card slot (1014) of clamping assembly (206), with preceding ceiling hold (201)
The deck (2061), circlip (2062), the clip spring seat (2063) of pairing are mounted in sinciput card slot (1012), with rear ceiling hold
(202) after the deck (2061), circlip (2062), the clip spring seat (2063) matched is mounted in top card slot (1014).
4. a kind of high energy efficiency energy-controllable foot mechanism according to claim 3, it is characterised in that: the preceding ceiling hold
(201) sinciput latch (2011) are equipped with at deck (2061) cooperation, at the rear ceiling hold (202) and deck (2061) cooperation
Latch (2021) are pushed up after being equipped with, the deck (2061) is equipped with and matches with sinciput latch (2011) Ji Houding latch (2021)
Latch.
5. a kind of high energy efficiency energy-controllable foot mechanism according to claim 3, it is characterised in that: further include for driving
The linkage control mechanism (4) of clamping assembly (206) clamping ceiling hold and rear ceiling hold (202).
6. a kind of high energy efficiency energy-controllable foot mechanism according to claim 5, it is characterised in that: the linkage control machine
Structure (4) includes wire seat (401), drawstring and steering engine (402), and the steering engine (402) passes through wire seat (401) and card by drawstring
Deck (2061) connection of tight component (206).
7. a kind of high energy efficiency energy-controllable foot mechanism according to claim 6, it is characterised in that: the side baffle
(101) tail portion is connected with rear baffle (103), and the wire seat (401) is mounted on rear baffle (103), the steering engine (402) with
Hinged mode is mounted on rear baffle (103).
8. a kind of high energy efficiency energy-controllable foot mechanism according to claim 7, it is characterised in that: further include for driving
The electrical part of steering engine (402) rotation, the electrical part includes gyroscope, control circuit board and motor.
9. described in any item a kind of high energy efficiency energy-controllable foot mechanisms according to claim 1~2, it is characterised in that: also wrap
It includes buffer gear (3), the buffer gear (3) includes small leg guard (301), and the small leg guard (301) is in articulated manner
It is mounted on side baffle (101), offers twice the vertical chute (3011), the vertical chute on the small leg guard (301)
(3011) be equipped in fixed spring seat (303), mobile spring seat (305), both ends respectively with fixed spring seat (303) and mobile
The spring (304) of spring base (305) connection, before the mobile spring seat (305) of twice the vertical chute (3011) installation passes through
Pull rod (306) and back stay (307) are connect with side baffle (101) front end and rear end respectively, the front tension bar (306) and back stay
(307) connection type with side baffle (101), mobile spring seat (305) is hinged.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910428979.5A CN110141464B (en) | 2019-05-22 | 2019-05-22 | High-energy efficiency controllable foot mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910428979.5A CN110141464B (en) | 2019-05-22 | 2019-05-22 | High-energy efficiency controllable foot mechanism |
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| Publication Number | Publication Date |
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| CN110141464A true CN110141464A (en) | 2019-08-20 |
| CN110141464B CN110141464B (en) | 2020-04-14 |
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| CN201910428979.5A Active CN110141464B (en) | 2019-05-22 | 2019-05-22 | High-energy efficiency controllable foot mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110696942A (en) * | 2019-10-09 | 2020-01-17 | 浙江大学 | Under-actuated humanoid mechanical foot |
| CN113940853A (en) * | 2021-10-19 | 2022-01-18 | 吉林大学 | Department of neurology is low limbs care equipment for rehabilitation training |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110696942A (en) * | 2019-10-09 | 2020-01-17 | 浙江大学 | Under-actuated humanoid mechanical foot |
| CN113940853A (en) * | 2021-10-19 | 2022-01-18 | 吉林大学 | Department of neurology is low limbs care equipment for rehabilitation training |
| CN113940853B (en) * | 2021-10-19 | 2023-10-24 | 吉林大学 | Lower limb nursing equipment for neurology rehabilitation training |
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