CN110141464B - High-energy efficiency controllable foot mechanism - Google Patents
High-energy efficiency controllable foot mechanism Download PDFInfo
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- CN110141464B CN110141464B CN201910428979.5A CN201910428979A CN110141464B CN 110141464 B CN110141464 B CN 110141464B CN 201910428979 A CN201910428979 A CN 201910428979A CN 110141464 B CN110141464 B CN 110141464B
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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
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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
- 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
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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
- 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
Abstract
The invention relates to the field of foot joint mechanisms of bionic robots, in particular to a high-energy efficiency energy controllable foot mechanism which comprises a shoe shell assembly and a foot energy storage and release mechanism, wherein the shoe shell assembly comprises a side baffle and a shoe cover assembly connected with the side baffle, the foot energy storage and release mechanism comprises a front top support and a rear top support, the front top support and the rear top support are respectively hinged to the front end and the rear end of the side baffle, a pressure spring is mutually connected between the front top support and the rear top support, and the front top support and the rear top support are provided with clamping assemblies for limiting the rotation of the front top support and storing energy. The invention performs the alternating energy absorption and energy release process to the gait process of falling of the heel, falling of the half sole, leaving of the half sole and leaving of the heel, thereby achieving the optimal storage of the energy released in the walking, and utilizing the stored energy efficiently and automatically to finally improve the efficiency of the mechanism.
Description
Technical Field
The invention relates to the field of bionic robot foot joint mechanisms, in particular to a high-energy efficiency controllable foot mechanism.
Background
A foot mechanism of a bionic robot is a high-grade intelligent mechanism integrating multiple disciplines such as machinery, sensors, control technology and the like. The foot mechanism of the bionic robot can well assist the walking of people and also has the function of medical rehabilitation, so the market demand of the foot mechanism of the bionic robot is great.
Bionic robot foot mechanisms currently face problems. When a person walks, the feet of the person kick the ground and the feet of the person touch the ground, along with the energy recovery and release. How to store this part of the energy efficiently is a problem. In addition, how to efficiently utilize energy is also a problem. The existing foot mechanism of the bionic robot adopts a pure passive energy release mode, and has low efficiency and low reliability. Furthermore, the mechanism impacts the ground during the ground contact phase. These impacts not only cause damage to the mechanism and loss of energy, but also cause control system non-linearity, which severely affects the performance of the mechanism.
The existing foot mechanism of the bionic robot can solve part of the problems, and specifically comprises the following steps:
in patent [ CN201810104135 ], an energy storage foot mechanism with multiple degrees of freedom is disclosed, including sole unit, the curb plate unit, ankle joint unit and binding unit, the ankle joint unit passes through the curb plate unit and can dismantle with sole unit and be connected, bind all can dismantle with sole unit and ankle joint unit and be connected, the ankle joint unit includes the ankle joint supporting seat, the ankle joint supporting seat includes integrated into one piece's brace table and hangers, the through-hole has been seted up on the hangers, installation ankle joint toe bends back of the body and bends bent pivot and bearing and makes the ankle joint supporting seat assemble in the curb plate unit with rotatable mode in the through-hole, the brace table can be dismantled and connect the energy storage unit. The side plate unit is combined with the steel cable fixing block, the steel cable, the steel connecting block, the pressure stop rod, the pressure spring pipe and the pressure spring pipe top cover, and the pressure stop rod ascends or descends in the pressure spring pipe through toe bending and dorsiflexion motions, so that energy is stored and released in the toe bending motions and the dorsiflexion motions. Although the invention can reduce energy loss, the structure is simple, no driving system is provided, and the foot impact absorption effect is not good.
In patent No. (CN 201210200662), a flexibly landed humanoid robot foot mechanism is disclosed. The ankle joint comprises a foot bottom plate with an upward bent front edge, a bottom rubber pad, a middle rubber pad, a flat-end opposite-top wave spring, a coating sheet, a multi-dimensional flexible hinge, a torque sensor and an ankle supporting seat. A multidimensional flexible hinge is fixedly arranged above the sole plate, and the ankle supporting seat is connected with the multidimensional flexible hinge through a torque sensor; the middle layer rubber pad and the bottom layer rubber pad are sequentially arranged below the foot bottom plate from top to bottom. The robot can drive the robot to rotate in the pitching direction and the rolling direction in a certain range in a three-point configuration of the flat-end opposite-vertex wave spring and a three-point supporting mode of the multi-dimensional flexible hinge when the foot is grounded, so that the self-adjusting capacity of the robot when the robot is used for coping with the grounding impact of the foot is obviously improved; in the process of lifting and starting, the compressed multi-dimensional flexible hinge and the flat end can release elastic deformation energy to the top wave-shaped spring, so that the aim of saving energy is fulfilled in the walking process of the robot, and the compressed middle-layer rubber pad and the compressed bottom-layer rubber pad play a role in damping, so that the robot is prevented from losing balance due to overlarge starting impact; the fold structure around the three bulges on the lower surface of the bottom rubber pad is equivalent to the action of a spring when the foot lands on the ground, and can effectively slow down the compression stroke of the drive-off.
In order to meet the market demand of the foot mechanism of the bionic robot and overcome the defects of partial products in the market, the development of a novel foot joint mechanism of the bionic robot is urgent. The novel foot joint mechanism of the bionic robot can make up the defects of the mechanism, can store energy released during walking, can be efficiently utilized to improve the efficiency of the mechanism, and can buffer the impact of the ground on the mechanism.
Disclosure of Invention
In view of the above, the present invention provides a high energy efficiency foot mechanism with controllable foot.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
the utility model provides a controllable foot mechanism of high energy efficiency volume, including shoes shell subassembly and foot energy storage release mechanism, shoes shell subassembly includes the side shield, shoes shell subassembly still includes the shoe cover subassembly of being connected with the side shield, foot energy storage release mechanism includes preceding top support and back top support, preceding top support and back top support articulate respectively at the front end and the rear end of side shield, interconnect has the pressure spring between preceding top support and the back top support, preceding top support and back top support are furnished with the chucking subassembly that is used for restricting its rotation and stored energy.
As an optimal mode, a front top arc groove and a rear top arc groove corresponding to the rotating track of the front top support and the rear top support are further formed in the side baffle, a clamping plate used for limiting the front top support to rotate along the front top arc groove is arranged at the position, opposite to the front top arc groove, of the front top support, a clamping plate used for limiting the rear top support to rotate along the rear top arc groove is arranged at the position, opposite to the rear top arc groove, of the rear top support, and the clamping assembly is installed at the positions, front top arc groove and rear top arc groove, of the rear top arc groove.
As a preferred mode, the clamping assembly comprises a clamping seat, a clamp spring and a clamp spring seat, two ends of the clamp spring are respectively connected with the clamp spring seat and the clamping seat, a front top clamping groove and a rear top clamping groove for installing the front top support and the rear top support in matching with the clamping assembly are formed in the side baffle, the clamping seat, the clamp spring and the clamp spring seat in matching with the front top support are installed in the front top clamping groove, and the clamping seat, the clamp spring and the clamp spring seat in matching with the rear top support are installed in the rear top clamping groove.
As a preferred mode, still include the coordinated control mechanism who is used for driving chucking subassembly chucking roof-rack and back roof-rack.
As a preferred mode, the linkage control mechanism comprises a wire seat, a pull rope and a steering engine, wherein the steering engine penetrates through the wire seat through the pull rope to be connected with a clamping seat of the clamping assembly.
As a preferred mode, the tail part of the side baffle is connected with a rear baffle, the wire seat is installed on the rear baffle, and the steering engine is installed on the rear baffle in a hinged mode.
As a preferred mode, the steering engine further comprises electric devices for driving the steering engine to rotate, wherein the electric devices comprise a gyroscope, a control circuit board and a motor.
As a preferred mode, the damping mechanism comprises a shank guard plate, the shank guard plate is installed on the side baffle in a hinged mode, two vertical sliding grooves are formed in the shank guard plate, fixed spring seats, movable spring seats and springs, the two ends of the springs are respectively connected with the fixed spring seats and the movable spring seats, the movable spring seats installed on the two vertical sliding grooves are respectively connected with the front end and the rear end of the side baffle through front pull rods and rear pull rods, and the front pull rods and the rear pull rods are connected with the side baffle and the movable spring seats in a hinged mode.
Compared with the prior art, the invention has the beneficial effects that: the invention performs the alternating energy absorption and energy release process to the gait process of falling of the heel, falling of the half sole, leaving of the half sole and leaving of the heel, thereby achieving the optimal storage of the energy released in the walking, and utilizing the stored energy efficiently and automatically to finally improve the efficiency of the mechanism.
Drawings
Fig. 1 is a front isometric view of the present invention.
Fig. 2 is a rear isometric view of the present invention.
Fig. 3 is a schematic structural view of the shoe shell assembly.
Fig. 4 is a front isometric view of an assembly formed by the front top bracket, the rear top bracket and the compression spring.
Fig. 5 is a perspective view of the back of the assembly formed by the front top bracket, the rear top bracket and the compression spring.
Fig. 6 is a partially enlarged view of a in fig. 4.
Fig. 7 is a partially enlarged view of B in fig. 4.
Fig. 8 is a schematic structural view of the chucking assembly.
Fig. 9 is a schematic structural diagram of the card socket.
Fig. 10 is a schematic structural view of the splint.
Fig. 11 is a schematic structural view of the damper mechanism.
FIG. 12 is a schematic view of the construction of the calf guard.
Fig. 13 is a schematic structural view of a fixed spring seat, a spring, and a movable spring seat forming member.
Fig. 14 is a schematic structural view of the wire holder.
Fig. 15 is a schematic structural diagram of the steering engine.
Fig. 16 is a schematic connection diagram of the pull rope, the steering engine, the wire holder and the card holder.
Wherein, 1 shoe shell component, 101 side baffle, 1011 front top arc groove, 1012 front top clamping groove, 1013 back top arc groove, 1014 back top clamping groove, 1015 front top rotating shaft hole, 1016 back top rotating shaft hole, 1017 guard plate rotating shaft hole, 102 shoe cover, 103 back baffle,
2 foot energy storage and release mechanism, 201 front top bracket, 2011 front top latch, 202 rear top bracket, 2021 rear top latch, 203 pressure spring seat, 204 clamp plate, 205 pressure spring, 206 clamping component, 2061 clamping seat, 2062 clamping spring, 2063 clamping spring seat,
3 buffer mechanism, 301 calf guard, 3011 vertical runner, 302 calf back plate, 303 fixed spring seat, 304 spring, 305 moving spring seat, 306 front pull rod, 307 back pull rod,
4 linkage control mechanism, 401 wire seat, 402 steering engine.
Detailed Description
The invention will be further described with reference to the accompanying drawings. Embodiments of the present invention include, but are not limited to, the following examples.
Example 1:
referring to fig. 1 and 2, a high-energy efficiency controllable foot mechanism includes a shoe shell assembly 1 and a foot energy storage and release mechanism 2, wherein the shoe shell assembly 1 includes a side baffle 101, the shoe shell assembly 1 further includes a shoe cover 102 assembly connected to the side baffle 101, the shoe cover 102 assembly can be the same as the existing shoes, such as sandals, slippers, sports shoes, etc., and can fix the foot, the side baffle 101 mainly aims at fixing the shoe cover 102 assembly and installing the foot energy storage and release mechanism 2, and it can be a plate shape or other curved shape, for convenience of processing, referring to fig. 3, the side baffle 101 of this embodiment is a plate shape. The foot energy storage and release mechanism 2 comprises a front top support 201 and a rear top support 202, the front top support 201 and the rear top support 202 are respectively hinged to the front end and the rear end of the side baffle 101, the front top support 201 is hinged to the side baffle 101 through a front top rotating shaft hole 1015, the rear top support 202 is hinged to the side baffle 101 through a rear top rotating shaft hole 1016, see fig. 1, fig. 2, fig. 4 and fig. 5, wherein the front end of the front top support 201 extends out to be in contact with the ground, the rear end of the rear top support 202 is in contact with the ground, for the convenience of energy storage, a pressure spring 205 is connected between the front top support 201 and the rear top support 202, and for the purpose of ensuring the controllability of energy storage and release of the foot energy storage and release mechanism 2, the front top support 201 and the rear top support 202 are provided with a. In addition, the driving of the clamping assembly 206 can be controlled by using the prior art, such as a linear motion mechanism, such as a hydraulic and pneumatic telescopic part, a rack and pinion linear motion mechanism, a ball screw linear motion mechanism, etc., and since the driving of the clamping assembly 206 to clamp the front top bracket 201 and the rear top bracket 202 is the prior art, the embodiments are various and are not described herein.
The energy storage and release process of the embodiment has two modes, one is ground-based energy storage and ground-based release, and the other is ground-based energy storage and ground-based release, and the difference is only that the clamping time of the clamping assembly 206 is different.
The energy storage process is a first way:
1) the energy storage process of foot landing:
because the front top support 201 and the rear top support 202 contact with each other before the ground, the front end of the front top support 201 is jacked up to enable the rear end of the front top support 201 to rotate clockwise, the rear end of the rear top support 202 is jacked up to rotate anticlockwise, so that the compression springs 205 connected with each other between the front top support 201 and the rear top support 202 are compressed, then the clamping assemblies 206 are clamped by the matched driving devices to clamp the front top support 201 and the rear top support 202, and the energy storage process of the foot landing is completed.
2) Foot off-ground release process:
because the compression springs 205 connected with each other between the front top support 201 and the rear top support 202 are compressed to store energy, the clamping assembly 206 is driven to release the front top support 201 and the rear top support 202 at the moment when the foot leaves the ground, and the compressed compression springs 205 recover the deformation to release energy to support and jack up the shoe shell assembly 1 with the ground again through the front top support 201 and the rear top support 202, so that the process of releasing the energy from the foot leaves the ground is completed.
Energy storage process mode two:
1) the foot off-ground energy storage process:
in the process of pedaling the ground (lifting off the ground), the front end of the front top support 201 is jacked up to enable the rear end of the front top support 201 to rotate clockwise, the rear end of the rear top support 202 is jacked up to rotate anticlockwise, so that the compression springs 205 connected with each other between the front top support 201 and the rear top support 202 are compressed, then the clamping assembly 206 is clamped by the matched driving device to clamp the front top support 201 and the rear top support 202, and the energy storage process of the feet off the ground is completed.
2) The foot landing release process:
because the compression springs 205 connected with each other between the front top support 201 and the rear top support 202 are compressed to store energy, the clamping assembly 206 is driven to release the front top support 201 and the rear top support 202 at the moment when the foot falls to the ground, and the compressed compression springs 205 recover the deformation to release energy to support and jack up the shoe shell assembly 1 with the ground again through the front top support 201 and the rear top support 202, so that the process of releasing the energy when the foot falls to the ground is completed.
It should be noted that the above-mentioned operations of the driving device of the clamping assembly 206 relate to signal acquisition and circuit control, which are well known in the art, and for the convenience of those skilled in the art, it is pointed out how to control the clamping and releasing of the clamping assembly 206.
1) Gyroscope, circuit control board, drive arrangement (like motor, hydraulic pressure pneumatic drive spare), detect the inclination of shoe shell subassembly 1 through the gyroscope, because the foot lands for the heel first when falling to the ground (shoe shell subassembly 1 is the slope form), the signal control circuit board through the gyroscope transmission controls drive arrangement again and controls chucking subassembly 206 this moment.
2) The control process of the pressure sensor, the circuit control panel and the driving device is the same as the process, and the difference is that the pressure borne by the shoe shell component 1 is detected for control.
3) The control process of the distance measuring sensor, the circuit control board and the driving device is the same as the above process, and the difference is that the distance between the shoe shell component 1 and the ground is detected for control.
Example 2:
the main differences between this embodiment and embodiment 1 are: 1) the method comprises the following steps of subdividing the foot landing process of a step into a heel first landing process and a forefoot second landing process according to the walking process, subdividing the foot lift-off process into a forefoot first lift-off process and a heel second lift-off process, and optimally designing the invention aiming at the processes; 2) optimally designing the clamping assembly 206 and the linkage control mechanism 4 thereof; 3) optimally designing connecting mechanisms of the front top support 201, the rear top support 202 and the pressure spring 205, and optimally designing movement limiting mechanisms of the front top support 201, the rear top support 202 and the side baffle 101; 4) an additional damping mechanism 3 is added.
Referring to fig. 1 and 2, a high-energy efficiency controllable foot mechanism includes a shoe shell assembly 1 and a foot energy storage and release mechanism 2, wherein the shoe shell assembly 1 includes a side baffle 101, the shoe shell assembly 1 further includes a shoe cover 102 assembly connected to the side baffle 101, the shoe cover 102 assembly can be the same as the existing shoes, such as sandals, slippers, sports shoes, etc., and can fix the foot, the side baffle 101 mainly aims at fixing the shoe cover 102 assembly and installing the foot energy storage and release mechanism 2, and it can be a plate shape or other curved shape, for convenience of processing, referring to fig. 3, the side baffle 101 of this embodiment is a plate shape. Foot energy storage release mechanism 2 includes preceding top support 201 and back top support 202, preceding top support 201 and back top support 202 articulate respectively at the front end and the rear end of side shield 101, refer to fig. 1, fig. 2, fig. 4 and fig. 5, wherein preceding top support 201 front end stretches out and is used for contacting with ground, back top support 202 rear end contacts with ground, for the convenience of the energy storage, interconnect has pressure spring 205 between preceding top support 201 and the back top support 202, in order to guarantee the controllability of foot energy storage release mechanism 2 energy storage and release, preceding top support 201 and back top support 202 are furnished with and are used for limiting its rotation and the chucking subassembly 206 of stored energy. In addition, the driving of the clamping assembly 206 can be controlled by using the prior art, such as a linear motion mechanism, such as a hydraulic and pneumatic telescopic part, a rack and pinion linear motion mechanism, a ball screw linear motion mechanism, etc., and since the driving of the clamping assembly 206 to clamp the front top bracket 201 and the rear top bracket 202 is the prior art, the embodiments are various and are not described herein.
Further, in order to limit the rotation tracks of the front top support 201 and the rear top support 202 and ensure the stability of the rotation process thereof, referring to fig. 3, the side baffle 101 is further provided with a front top arc groove 1011 and a rear top arc groove 1013 corresponding to the rotation tracks of the front top support 201 and the rear top support 202, referring to fig. 4, 5, 6 and 7, a clamp plate 204 for limiting the rotation of the front top support 201 along the front top arc groove 1011 is arranged at a position opposite to the front top arc groove 1011 of the front top support 201, a clamp plate 204 for limiting the rotation of the rear top support 202 along the rear top arc groove 1013 is arranged at a position opposite to the rear top arc groove 1013 of the rear top support 202, and the rotation tracks of the front top support 201 and the rear top support 202 are limited by the clamp plate 204, the front top arc groove 1011 and the rear arc groove 1013, so as to ensure the stability of the rotation process of the front top support 201 and the rear top support 202. In order to effectively clamp the front top bracket 201 and the rear top bracket 202 by the clamping assembly 206, the clamping assembly 206 is installed at the front top arc groove 1011 and the rear top arc groove 1013.
Further, in order to simplify the structure of the clamping assembly 206 and make it have elastic restoring force, referring to fig. 8 and 9, the clamping assembly 206 includes a clamping seat 2061, a clamp spring 2062 and a clamp spring seat 2063, two ends of the clamp spring 2062 are respectively connected with the clamp spring seat 2063 and the clamping seat 2061, the clamping seat 2061 is lifted up by the elastic force of the clamp spring 2062 to clamp the front top support 201 or the rear top support 202, in order to improve the stability when the clamping seat 2061 is clamped with the dead top support or the rear top support 202, referring to fig. 6, 7 and 9, a front top clamping tooth 2011 is arranged at the matching position of the front top support 201 and the clamping seat 2061, a rear top clamping tooth 2021 is arranged at the matching position of the rear top support 202 and the clamping seat 2061, the clamping seat 2061 is provided with clamping teeth matched with the front top clamping tooth 2011 and the rear top clamping tooth 2021, and the stability when clamping is improved by. In order to facilitate the installation of the clamping assembly 206 and ensure the movement reciprocation of the clamping seat 2061, the side baffle 101 is provided with a front top clamping groove 1012 and a rear top clamping groove 1014 for installing the front top bracket 201 and the rear top bracket 202 to match with the clamping assembly 206, the clamping seat 2061, the clamp spring 2062 and the clamp spring seat 2063 matched with the front top bracket 201 are installed in the front top clamping groove 1012, the clamping seat 2061, the clamp spring 2062 and the clamp spring seat 2063 matched with the rear top bracket 202 are installed in the rear top clamping groove 1014, and the clamping seat 2061 reciprocates in the front top clamping groove 1012 and the rear top clamping groove 1014 during the clamping, so that the repeatability of the clamping process of the clamping assembly 206 is ensured.
Further, in order to facilitate the linkage control of the clamping assembly 206, the present embodiment further includes a linkage control mechanism 4 for driving the clamping assembly 206 to clamp the top bracket and the rear top bracket 202. The linkage control mechanism 4 comprises a wire seat 401, a pull rope and a steering engine 402, wherein the steering engine 402 is connected with the clamping seat 2061 of the clamping assembly 206 by the pull rope penetrating through the wire seat 401. The arrangement mode that the stay cord is connected with the cassette 2061 through the wire seat 401 has a plurality of, and the simplest wire seat 401 arrangement mode is provided here, refer to fig. 16, the wire seat 401 is respectively arranged at the adjacent positions of the clamping components 206 at the four corners of the rear baffle 103, the steering gear 402 is arranged at the central rear baffle 103, the corresponding wire seat 401 at each corner guides the stay cord, and finally the stay cord pulls the cassette 2061 to clamp the stay cord through the rotation of the steering gear 402. The rotation of the steering engine 402 is driven by a prior art motor. A schematic structural diagram of the steering engine 402 is shown in fig. 15. A schematic structural diagram of the wire holder 401 is shown in fig. 14.
Further, in order to drive the steering engine 402, the present embodiment further includes an electric device for driving the steering engine 402 to rotate, where the electric device includes a gyroscope, a control circuit board, and a motor.
Further, in order to cushion and absorb the inclined state of the side baffle 101 during landing of the foot, during landing of the heel, during landing of the foot, after the foot, the foot sole is firstly lifted off, and after the foot sole is lifted off, referring to fig. 1, 2, 11, 12 and 13, the present embodiment further includes a cushioning mechanism 3, the cushioning mechanism 3 includes a shank guard plate 301, the shank guard plate 301 is mounted on the side baffle 101 in a hinged manner, the hinged hole is a guard plate rotating shaft hole 1017, two vertical sliding grooves 3011 are formed on the shank guard plate 301, a fixed spring seat 303, a movable spring seat 305, and a spring 304, both ends of which are respectively connected with the fixed spring seat 303 and the movable spring seat 305 are mounted in the vertical, The movable spring seat 305 is connected in a hinged manner. In the foot landing process, the side baffle 101 rotates clockwise relative to the lower leg guard 301, the front pull rod 306 jacks the matched movable spring seat 305 and compresses the spring 304 to store energy, the rear pull rod 307 stretches the matched movable spring seat 305 and compresses the spring 304 to store energy, and in the subsequent foot landing process, the front pull rod 306 and the matched spring 304 of the rear pull rod 307 recover deformation to recover deformation of the side baffle 101, so that energy consumption caused by gait in the walking process is reduced, meanwhile, the foot landing process is buffered, and vibration caused by inclination of the side baffle 101 in the foot landing process is reduced.
The working principle is as follows:
the energy storage and release process of the embodiment has two modes, and the difference is that: 1) the steering engine 402 operates at different times; 2) the first mode is that the rear top support 202 and the front top support 201 sequentially absorb and release energy, and the second mode is that the rear top support 202 and the front top support 201 alternately absorb and release energy.
The energy storage and release process is carried out in a first mode:
and gait cycle process: energy storage of heel falling to the ground → energy storage of forefoot falling to the ground → release of heel in the ground → release of forefoot in the ground
1) Energy storage process when the heel falls to the ground:
since the heel touches the ground first, the rear top support 202 contacts the ground first, the rear top support 202 is lifted by the ground and rotates anticlockwise and is clamped with the clamping seat 2061 after rotating a certain angle, at the moment, the front top support 201 is in the highest limit state, the rear top support 202 rotates anticlockwise, the front top support 201 cannot rotate, the pressure spring 205 is compressed, and the heel touch energy storage process is completed;
2) the energy storage process of the sole landing:
when the sole of the foot falls to the ground, the front top support 201 contacts with the ground before the shoe shell assembly 1, the front top support 201 is lifted by the ground to rotate clockwise, the rear top support 202 is clamped with the clamping seat 2061, and the pressure spring 205 is compressed by the front top support 201 continuously to store energy, so that the energy storage process of the sole of the foot falling to the ground is completed.
3) Heel off-ground release process:
because the compression springs 205 connected with each other between the front top support 201 and the rear top support 202 are compressed to store energy, the steering engine 402 rotates anticlockwise at the moment that the heel leaves the ground to pull the clamping seat 2061 to release the rear top support 202, the compression springs 205 release the energy to enable the rear top support 202 to rotate clockwise, the rear end of the rear top support 202 is in contact with the ground, the shoe shell assembly 1 is reversely fixed, and the heel off-ground energy release process is completed.
4) The release process of the forefoot from the ground:
because the compression spring 205 connected with each other between the front top support 201 and the rear top support 202 is compressed to store energy, the steering engine 402 rotates clockwise at the moment that the sole leaves the ground to pull the clamping seat 2061 to release the front top support 201, the compression spring 205 releases energy to enable the front top support 201 to rotate anticlockwise, the front end of the front top support 201 contacts with the ground, the shoe shell assembly 1 is reversely fixed, and the process of releasing the sole leaving energy is completed.
Energy storage process mode two:
and gait cycle process: energy storage on landing of heel → release on landing of forefoot → energy storage on leaving foot sole → release on leaving heel
1) Energy storage process when the heel falls to the ground:
because the heel falls to the ground first, back top holder 202 is earlier in ground contact, carries out anticlockwise rotation by ground jacking back top holder 202, rotates certain angle back and blocks with cassette 2061, and preceding top holder 201 is died by cassette 2061 card this moment, and then back top holder 202 anticlockwise rotation and preceding top holder 201 can't rotate, and pressure spring 205 is compressed, and back top holder 202 is died by the card of cassette 2061 card after being jacked to the maximum stroke, accomplishes the heel and lands the energy storage process.
2) The release process of the sole falling to the ground:
when the sole falls to the ground, the rear top support 202 and the front top support 201 are clamped by the clamping seats 2061, at the moment that the sole falls to the ground, the steering engine 402 rotates clockwise to pull the clamping seats 2061 matched with the front top support 201, the clamping seats 2061 release the front top support 201, so that the energy of the pressure spring 205 is released, the front top support 201 contacts with the ground before the sole falls to the ground to release the capacity, and the falling energy release process of the sole is completed.
3) The sole off-ground energy storage process:
when sole liftoff before the foot, preceding top support 201 front end is by ground jacking for preceding top support 201 clockwise rotation, this moment because back top support 202 is died by card seat 2061 card, back top support 202 is fixed, preceding top support 201 anticlockwise rotation, pressure spring 205 is compressed, and preceding top support 201 is died by card seat 2061 card again after being jacked to the maximum stroke, accomplishes sole liftoff energy storage process before the foot.
4) Heel off-ground release process:
when the heel leaves the ground, the rear top support 202 and the front top support 201 are clamped by the clamping seats 2061, at the moment that the heel leaves the ground, the steering engine 402 rotates anticlockwise to pull the clamping seats 2061 matched with the rear top support 202, the clamping seats 2061 are released, the energy of the pressure spring 205 is released, the rear top support 202 is in contact with the ground when the heel leaves the ground, the capacity is released, and the process of releasing the energy of the heel from the ground is completed.
For the above two energy storage and release process modes, the second mode is preferred in this embodiment because the second mode can realize the alternating energy storage and release process of the front top rack 201 and the rear top rack 202, and the energy absorption and storage energy reaches the limit value.
It should be noted that the above-mentioned operations of the driving device of the clamping assembly 206 relate to signal acquisition and circuit control, which are well known in the art, and for the convenience of those skilled in the art, it is pointed out how to control the clamping and releasing of the clamping assembly 206.
The signal acquisition and circuit control implementation mode comprises the following steps: gyroscope, circuit control board, drive arrangement (like motor, hydraulic pressure pneumatic drive spare), detect the inclination of shoe shell subassembly 1 through the gyroscope, because the foot lands for the heel first when falling to the ground (shoe shell subassembly 1 is the slope form), the signal control circuit board through the gyroscope transmission controls drive arrangement again and controls chucking subassembly 206 this moment.
Because the gyroscope can detect the inclination state of the shoe shell component 1, and then the inclination state of the shoe shell component 1 is judged to be the gait state (heel falling, half sole falling, and half sole falling), and finally the steering engine 402 is controlled by the circuit board and the driving device to realize the controllable release of energy, for the embodiment, the gyroscope, the circuit control board and the driving device are adopted in the signal acquisition and circuit control implementation mode.
The above is an embodiment of the present invention. The specific parameters in the above embodiments and examples are only for the purpose of clearly illustrating the invention verification process of the inventor and are not intended to limit the scope of the invention, which is defined by the claims, and all equivalent structural changes made by using the contents of the specification and the drawings of the present invention should be covered by the scope of the present invention.
Claims (9)
1. A controllable foot mechanism of high energy efficiency ability, includes shoe shell subassembly (1) and foot energy storage release mechanism (2), shoe shell subassembly (1) includes side shield (101), its characterized in that: the shoe shell assembly (1) further comprises a shoe cover (102) assembly connected with the side baffle (101), the foot energy storage and release mechanism (2) comprises a front top support (201) and a rear top support (202), the front top support (201) and the rear top support (202) are hinged to the front end and the rear end of the side baffle (101) respectively, a pressure spring (205) is connected between the front top support (201) and the rear top support (202) mutually, and the front top support (201) and the rear top support (202) are provided with a clamping assembly (206) used for limiting the rotation of the front top support and storing energy.
2. A high energy efficiency foot mechanism according to claim 1 wherein: still seted up on side shield (101) with preceding top cradle (201) and back top cradle (202) rotate the corresponding preceding top arc groove (1011) of orbit and back top arc groove (1013), preceding top cradle (201) is equipped with preceding top arc groove (1011) relative department and is used for restricting preceding top cradle (201) along preceding top arc groove (1011) pivoted splint (204), back top cradle (202) is equipped with back top arc groove (1013) relative department and is used for restricting back top cradle (202) along back top arc groove (1013) pivoted splint (204), chucking subassembly (206) are installed in preceding top arc groove (1011), back top arc groove (1013) department.
3. A high energy efficiency foot mechanism according to any one of claims 1-2, wherein: the clamping assembly (206) comprises a clamping seat (2061), a clamping spring (2062) and a clamping spring seat (2063), two ends of the clamping spring (2062) are respectively connected with the clamping spring seat (2063) and the clamping seat (2061), a front top clamping groove (1012) and a rear top clamping groove (1014) which are used for installing the clamping assembly (206) matched with the front top support (201) and the rear top support (202) are formed in the side baffle (101), the clamping seat (2061), the clamping spring (2062) and the clamping spring seat (2063) which are matched with the front top support (201) are installed in the front top clamping groove (1012), and the clamping seat (2061), the clamping spring (2062) and the clamping spring seat (2063) which are matched with the rear top support (202) are installed in the rear top clamping groove (1014).
4. A high energy efficiency foot mechanism according to claim 3 wherein: the front top support (201) is provided with front top clamping teeth (2011) at the matching position with the clamping seat (2061), the rear top clamping teeth (2021) are arranged at the matching position of the rear top support (202) and the clamping seat (2061), and the clamping seat (2061) is provided with clamping teeth matched with the front top clamping teeth (2011) and the rear top clamping teeth (2021).
5. A high energy efficiency foot mechanism according to claim 3 wherein: the device also comprises a linkage control mechanism (4) for driving the clamping assembly (206) to clamp the front top support (201) and the rear top support (202).
6. The energy efficient energy controllable foot mechanism of claim 5, wherein: the linkage control mechanism (4) comprises a wire seat (401), a pull rope and a steering engine (402), wherein the steering engine (402) penetrates through the wire seat (401) through the pull rope to be connected with a clamping seat (2061) of the clamping assembly (206).
7. A high energy efficiency foot mechanism according to claim 6 wherein: the tail of the side baffle (101) is connected with a rear baffle (103), the wire seat (401) is installed on the rear baffle (103), and the steering engine (402) is installed on the rear baffle (103) in a hinged mode.
8. A high energy efficiency foot mechanism according to claim 7 wherein: the electric steering engine further comprises an electric device used for driving the steering engine (402) to rotate, and the electric device comprises a gyroscope, a control circuit board and a motor.
9. A high energy efficiency foot mechanism according to any one of claims 1-2, wherein: still include buffer gear (3), buffer gear (3) include shank backplate (301), shank backplate (301) are installed on side shield (101) with articulated mode, two vertical spouts (3011) have been seted up on shank backplate (301), install fixed spring seat (303), mobile spring seat (305), spring (304) that both ends are connected with fixed spring seat (303) and mobile spring seat (305) respectively in vertical spout (3011), two vertical spouts (3011) are installed mobile spring seat (305) are connected with side shield (101) front end and rear end respectively through preceding pull rod (306) and back pull rod (307), preceding pull rod (306) and back pull rod (307) are articulated with side shield (101), the connected mode of mobile spring seat (305).
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| CN201910428979.5A CN110141464B (en) | 2019-05-22 | 2019-05-22 | High-energy efficiency controllable foot mechanism |
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| CN201910428979.5A CN110141464B (en) | 2019-05-22 | 2019-05-22 | High-energy efficiency controllable foot mechanism |
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| CN110141464B true CN110141464B (en) | 2020-04-14 |
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| CN110696942B (en) * | 2019-10-09 | 2020-12-08 | 浙江大学 | Under-actuated humanoid mechanical foot |
| CN113940853B (en) * | 2021-10-19 | 2023-10-24 | 吉林大学 | Lower limb nursing equipment for neurology rehabilitation training |
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