CN111671624A - Wearable metatarsophalangeal joint walking power assisting device - Google Patents
Wearable metatarsophalangeal joint walking power assisting device Download PDFInfo
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- CN111671624A CN111671624A CN202010574317.1A CN202010574317A CN111671624A CN 111671624 A CN111671624 A CN 111671624A CN 202010574317 A CN202010574317 A CN 202010574317A CN 111671624 A CN111671624 A CN 111671624A
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- wire rope
- rocker
- sole plate
- steel wire
- connecting rod
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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
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/04—Devices for stretching or reducing fractured limbs; Devices for distractions; Splints
- A61F5/042—Devices for stretching or reducing fractured limbs; Devices for distractions; Splints for extension or stretching
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/04—Devices for stretching or reducing fractured limbs; Devices for distractions; Splints
- A61F5/05—Devices for stretching or reducing fractured limbs; Devices for distractions; Splints for immobilising
-
- 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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0266—Foot
-
- 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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0266—Foot
- A61H2001/027—Toes
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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
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- 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
-
- 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
Abstract
The invention relates to a wearable metatarsophalangeal joint walking assisting device, which comprises a front sole plate, a support piece, a motor and a linkage device, wherein the front sole plate is provided with a front sole plate and a front sole plate; the linkage device comprises a driving steel wire rope wheel, a steel wire rope, a driven steel wire rope wheel, a connecting rod, a driving rocker, a middle connecting rod and a driven rocker, wherein the driving steel wire rope wheel is connected with the motor, the driven steel wire rope wheel is positioned at the lower end of the supporting plate, the driving steel wire rope wheel is connected with the driven steel wire rope wheel through the steel wire rope, the driven steel wire rope wheel is connected with one end of the connecting rod, the bottom end of the driving rocker is movably connected with the rear end of the rear sole plate, the upper end of the driving rocker is in contact connection with one end of the connecting rod, one end of the middle connecting rod is movably connected with the driving rocker, the other end of the middle connecting rod is movably connected with the driven rocker. Can carry out the switching of initiative and passive motion, carry out the helping hand training to the metatarsophalangeal joint.
Description
Technical Field
The invention belongs to the technical field of exoskeleton robots, and particularly relates to a wearable metatarsophalangeal joint walking assisting device.
Background
The information in this background section is only for enhancement of understanding of the general background of the invention and is not necessarily to be construed as an admission or any form of suggestion that this information forms the prior art that is already known to a person of ordinary skill in the art.
The metatarsophalangeal joint is the joint of the toes formed by the metatarsal capitals and the phalanges, and is the largest joint of the foot except for the ankle joint, and the main movement is flexion (plantar flexion) extension (dorsiflexion) and slight contraction and extension movement. The metatarsophalangeal joint has the function of being not overlooked for foot movement, and the flexion and extension movement of the metatarsophalangeal joint can generate important influence on actions of running, jumping and the like of a human body, particularly the kicking-off effect in the later stage of support. For patients with spinal injuries, stroke and the like, the motion function of the lower limbs of the patients is usually affected, and the metatarsophalangeal joints cannot move like healthy people. At present, the lower limb exoskeleton assisting robot used for load-bearing operation, individual combat and lower limb rehabilitation generally only considers joints such as hip joints, knee joints, ankle joints and the like, but does not consider metatarsophalangeal joints. For example, the existing power assisting device can only perform auxiliary orthopedic and rehabilitation training on the ankle joint, and although the existing power assisting device can be worn for walking, only orthopedic training can be performed in the walking process, and the existing power assisting device cannot perform rehabilitation training by using a traction device; some power assisting devices can perform rehabilitation training on metatarsophalangeal joints, but cannot be worn for use during walking.
Disclosure of Invention
In view of the above-mentioned problems in the prior art, it is an object of the present invention to provide a wearable metatarsophalangeal joint walking assistance device.
In order to solve the technical problems, the technical scheme of the invention is as follows:
a wearable metatarsophalangeal joint walking assisting device comprises a front foot sole plate, a rear foot sole plate, a lower leg supporting plate, a motor and a linkage device;
the front sole plate corresponds to the position of toes, the rear sole plate corresponds to the position of a rear sole of a person, the lower leg supporting plate corresponds to the position of lower legs of the person, the rear end side surface of the front sole plate is involuted with the front end side surface of the rear sole plate, and the involution area corresponds to the position of metatarsophalangeal joints; the rear end of the rear sole plate is rotatably connected with the lower end of the shank supporting plate, and the connecting area corresponds to the ankle joint part;
the motor is fixed at the upper end of the back of the shank supporting plate;
the linkage device comprises a driving steel wire rope wheel, a steel wire rope, a driven steel wire rope wheel, a connecting rod, a driving rocker, a middle connecting rod and a driven rocker, wherein the driving steel wire rope wheel is connected with the motor, the driven steel wire rope wheel is positioned at the lower end of the side face of the supporting plate, the driving steel wire rope wheel is connected with the driven steel wire rope wheel through the steel wire rope, the driven steel wire rope wheel is connected with one end of the connecting rod, the bottom end of the driving rocker is movably connected with the rear end of the rear sole plate, the upper end of the driving rocker is in contact connection with the other end of the connecting rod, one end of the middle connecting rod is movably connected with the driving rocker.
The invention solves the problems that the existing metatarsophalangeal joint rehabilitation device cannot be worn and used during walking, and the wearable exoskeleton device cannot provide assistance for the metatarsophalangeal joints. The prior power assisting device cannot adapt to frequent joint movement, and the energy utilization efficiency of the power provided by the power assisting device is low.
The invention has the beneficial effects that:
the power assisting device adopts a lightweight design to reduce the weight of the power assisting device, so that the burden of legs of a human body during exercise is reduced;
in a walking period, the power assisting device provides power assisting for dorsiflexion movement of the metatarsophalangeal joints, and the plantarflexion movement can be completed under the action of the joints of the human body, so that the joints of the power assisting device can be switched between active movement and passive movement;
the motor control is simplified, and the joint motion of the power assisting device needs frequent starting, stopping, reversing, active and passive characteristic switching and the like, so that the weight of the power assisting device can be reduced by simplifying the motor control, the frequent use of the power assisting device is realized, and the use value is improved;
the power assisting device adopts a portable battery for power supply, and utilizes the energy stored by the spring to assist the joint to perform plantarflexion movement, thereby improving the energy utilization efficiency and increasing the endurance time.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the invention and not to limit the invention.
FIG. 1 is a block diagram of a wearable metatarsophalangeal joint power assist device of the invention;
FIG. 2 is a structural view of the booster of the present invention in an initial state;
FIG. 3 is a structural view showing a rotational state of the booster of the invention;
FIG. 4 is a front structural view of the booster of the present invention;
wherein, 1, preceding sole board, 2, back sole board, 3, backup pad, 4, motor, 5, wire rope, 6, initiative wire rope wheel, 7, driven wire rope wheel, 8, motor mount pad, 9, connecting rod, 10, gyro wheel, 11, initiative rocker, 12, cantilever pin, 13, first couple, 14, first round pin axle, 15, second couple, 16, second round pin axle, 17, spring mount pad, 18, intermediate link, 19, extension spring, 20, driven rocker, 21, first magic subsides, 22, second magic subsides, 23, third magic subsides.
Detailed Description
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
As shown in figure 1, the invention relates to a power assisting device, the whole power assisting device is divided into a front sole plate 1 and a support, the front sole plate corresponds to a toe part, and can be a flat plate or a concave plate which mainly provides support for the toe part; the support piece corresponds the position of foot and knee below, including back sole board 2 and backup pad 3, and it can be concave template, plays the effect of support, plays the effect of fixed interlock and motor simultaneously. The booster device is a wearable device, adopts light weight design, 1, adopts steel wire rope transmission, has light weight, allows the driving motor to be arranged at a position far away from feet, and even can be arranged at the positions of thighs, waists and the like; 2. the transmission part is made of high-performance non-metallic materials, so that the weight is reduced. Is favorable for reducing the burden of the legs of the human body during exercise.
The invention comprises a motor 4 which is a direct current motor and provides rotation power in one direction.
The linkage device is arranged at one or two, if the linkage device is arranged at two sides of the power assisting device, the linkage device is symmetrically arranged at two sides of the power assisting device, the front sole plate 1 is driven to rotate relative to the rear sole plate 2 through the linkage device, the active and passive movement switching of the metatarsophalangeal joint is realized, the front sole plate 1 can rotate upwards and downwards under the driving of the motor, the active and passive movement switching of the metatarsophalangeal joint can be realized simultaneously, compared with the complex motor control, the linkage device is matched with the motor, and the complex action is realized through a simple structure.
Based on the above, the basic structure for realizing the metatarsophalangeal joint training and assisting force is as follows:
initiative wire rope wheel 11 is connected with motor 4, driven wire rope wheel 7 is located the lower extreme of backup pad 3, initiative wire rope wheel 6 passes through wire rope 5 with driven wire rope wheel 7 and is connected, driven wire rope wheel 7 is connected with the one end of connecting rod 9, the bottom of initiative rocker 11 and the rear end swing joint of back sole board 2, the upper end of initiative rocker 11 is connected with the one end contact of connecting rod 9, the one end and the initiative rocker 11 swing joint of middle connecting rod 18, the other end and driven rocker 20 swing joint, driven rocker 20 and preceding sole board 2 fixed connection.
Firstly, the motor 4 drives the driving wire rope wheel 11 to realize fixed rotation in one direction, as shown in fig. 1, 2 and 3, the rotation is in a counterclockwise direction, so that the driving wire rope wheel 11 drives the driven wire rope wheel to rotate in the counterclockwise direction;
then, the driven wire rope wheel 7 drives the connecting rod 9 to rotate by 360 degrees;
then, when the connecting rod 9 rotates to contact with the driving rocker 11, the driving rocker 11 is pushed to rotate along the direction far away from the rear sole plate 2, and because the lower end of the driving rocker 11 is movably connected with the rear sole plate 2, the upper end of the driving rocker 11 rotates for a certain time by taking the lower end as a shaft;
then, the intermediate connecting rod 18 is movably connected with the active rocker 11, so that the active rocker 11 drives the intermediate connecting rod 18 and the active rocker 11 to move in one direction;
then, the driven rocker 20 is movably connected with the middle connecting rod 18, so that the middle connecting rod 18 drives the driven rocker 20 to rotate at a certain angle;
then the front sole plate 1 is driven to rotate at a certain angle, and when dorsiflexed, the motor drives the joint to move through the transmission mechanism. The power assisting device assists the metatarsophalangeal joint to move actively.
When the contact between the connecting rod 9 and the driving rocker 11 is disconnected, the driving rocker 11 is restored to the original state, the process is the process that the middle connecting rod 18 and the driven rocker 20 are restored to the original state, when plantarflexion occurs, the motor does not participate in the process of assisting the metatarsophalangeal joints by means of the self action of the joints of the human body and the energy storage of the springs, and the power assisting device assists the metatarsophalangeal joints to move passively.
In some embodiments of the invention, the rear sole plate is movably connected with the lower leg support plate, and the movable rotating shaft is superposed with the driven wire rope wheel rotating shaft and the rotating center of the pitching motion of the ankle joint of the human body.
As shown in fig. 4, the present invention relates to a wearable power assisting device, in which a rear sole plate and a support plate are movably connected, i.e. can be separated and then folded, and during walking, the ankle part where the rear sole plate and the support plate are folded is bent at a certain angle.
In some embodiments of the present invention, the present invention further comprises an extension spring 19, the extension spring 19 is disposed obliquely, an upper end of the extension spring 19 is fixedly connected to the active rocker 11, a lower end of the extension spring 19 is fixedly connected to the rear sole plate 2, and a lower end of the extension spring 19 is located on a side of the upper end of the extension spring 19 close to the front sole plate.
The extension spring 19 is connected with the active rocker 11, when the active rocker 11 actively rotates, the extension spring 19 is driven to extend, a certain elastic potential energy is accumulated, after the connecting rod 9 is disconnected from the active rocker 11, the active rocker 11 is driven by the extension spring 19 to realize the passive motion of the metatarsophalangeal joint by utilizing the spring energy storage assistance, so that the active motion and the passive motion of the metatarsophalangeal joint are switched, and if the active motion and the passive motion are frequently switched, the complex motor control is not needed.
In some embodiments of the present invention, the present invention further comprises a spring fixing device respectively located on the rear sole plate 2 and the active rocker 11, the spring fixing device comprises a spring mounting seat 17, a pin shaft, and a hook, the spring mounting seat is fixedly connected with the rear sole plate or the active rocker, the pin shaft is fixedly connected with the spring mounting seat, the hook is movably connected with the pin shaft, and two ends of the spring are respectively detachably connected with the hook.
As shown in fig. 1, 2 and 3, two ends of the extension spring are respectively connected with a first hook 13 and a second hook 15, the first hook 13 is connected with a first pin 14, and the second hook 15 is connected with a second pin 16.
The spring fixing device realizes the detachable connection of the spring, realizes the fixation of the spring, enables the spring to be in an inclined state, only the spring in the inclined state can have the elastic force for enabling the front sole plate to be in a recovery state along the original route, if the extension spring is horizontally arranged, the extension spring is horizontal force, but the horizontal arrangement of the extension spring is not very suitable because the front sole plate rotates and does not horizontally move.
In some embodiments of the present invention, the present invention further comprises a motor mounting seat 8, the motor is fixed at the upper end of the supporting member through the motor mounting seat 8, the motor mounting seat 8 is a concave plate, a bottom plate of the concave plate is fixedly connected with the supporting member, and a rotating shaft of the motor passes through the side plate to be connected with the driving wire rope pulley. If two linkage devices are arranged, a rotating shaft of the motor penetrates through the two side plates to be connected with the two driving wire rope wheels respectively.
The concave plate is divided into three plates, two side plates are respectively connected with two ends of the bottom plate, and after the bottom plate is fixedly connected with the supporting piece, two ends of a rotating shaft of the motor respectively penetrate through the two side plates, so that the motor is fixed.
The driving wire rope wheel is connected with a rotating shaft of the motor through a flat key.
In some embodiments of the present invention, the rope winding device further comprises a roller 10, one end of the connecting rod 9 is fixedly connected with the driven wire rope wheel 7, and the other end is a free end which is fixedly connected with the roller 10.
As shown in the processes of figures 2 and 3, the contact connection of the connecting rod and the active rocker realizes the action of driving movement, the roller is positioned at the lower end of the connecting rod, and the connecting rod and the active rocker are connected in a rolling sliding way through the roller, so that the connection position is smoother, and noise is avoided in the connection process.
In some embodiments of the present invention, the free end is connected to the roller 10 through a connecting shaft, and both ends of the connecting shaft are respectively fixedly connected to the connecting rod and the roller, and the roller can rotate relative to the connecting shaft.
In some embodiments of the invention, the apex of the active rocker 11 is located below the upper surface of the ball 2.
The connecting rod drives the initiative rocker to rotate, and the initiative rocker drives intermediate linkage, driven rocker motion, and the lower extreme and the initiative rocker contact of connecting rod, if the summit of initiative rocker is located the top of back sole board upper surface, then the contact time of connecting rod and initiative rocker will the overlength, and the overlength leads to the crooked angle of preceding sole board too big, is unfavorable for the exercise and the recovery of metatarsophalangeal toe.
In some embodiments of the present invention, the lower end of the active rocker is fixedly connected to the rear sole plate through a cantilever pin 12, one end of the cantilever pin is fixedly connected to the rear sole plate, and the active rocker is movably connected to the cantilever pin 12.
The cantilever pin plays a role in connecting the driving rocker and the rear sole plate, so that the cantilever pin and the rear sole plate are fixed, and the driving rocker can rotate around the cantilever pin.
In some embodiments of the present invention, the driven rocker 20 is an L-shaped rod, and includes a vertical rod and a horizontal rod perpendicular to each other, the upper end of the vertical rod is connected to the middle link, and the horizontal rod is fixedly connected to the forefoot plate.
The middle connecting rod drives the driven rocker to rotate, the driven rocker rotates around the connecting point position of the horizontal plate and the vertical plate, the L-shaped plate is arranged, exercise of the metatarsophalangeal joints can be achieved, the metatarsophalangeal joints are connected with the toe joints and the metatarsophalangeal joints, the toe joints and the metatarsophalangeal joints are not movable, the metatarsophalangeal joints move, and the effect of power-assisted training is achieved.
In some embodiments of the present invention, the present invention further includes a first magic tape 21, a second magic tape 22, and a third magic tape, two ends of the first magic tape 21 are respectively and fixedly connected with two side ends of the front sole plate 1, the side ends are respectively connected with the driven rocker, two ends of the second magic tape 22 are respectively and fixedly connected with a side edge of the top end of the supporting plate 3, and two ends of the third magic tape 23 are respectively and fixedly connected with two side ends of the rear sole plate.
As shown in fig. 4, the first magic tape 21, the second magic tape 22 and the third magic tape respectively perform the function of fixing the foot and the leg.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A wearing formula metatarsophalangeal joint booster unit that walks which characterized in that: comprises a front sole plate, a support piece, a motor and a linkage device;
the front sole plate corresponds to the toe part, the supporting piece corresponds to the lower parts of the feet and the knees, the supporting piece is a concave plate and comprises a horizontal rear sole plate and a vertical supporting plate, the side surface of the rear end of the front sole plate is involuted with the side surface of the front end of the rear sole plate, and the involution area corresponds to the metatarsophalangeal joint part;
the motor is fixed at the upper end of the back of the vertical part;
the linkage device comprises a driving steel wire rope wheel, a steel wire rope, a driven steel wire rope wheel, a connecting rod, a driving rocker, a middle connecting rod and a driven rocker, wherein the driving steel wire rope wheel is connected with the motor, the driven steel wire rope wheel is positioned at the lower end of the side face of the supporting plate, the driving steel wire rope wheel is connected with the driven steel wire rope wheel through the steel wire rope, the driven steel wire rope wheel is connected with one end of the connecting rod, the bottom end of the driving rocker is movably connected with the rear end of the rear sole plate, the upper end of the driving rocker is in contact connection with the other end of the connecting rod, one end of the middle connecting rod is movably connected with the driving rocker.
2. The wearable metatarsophalangeal joint walking assist device of claim 1, wherein: the rear sole plate is movably connected with the shank support plate, and the movable rotating shaft is superposed with the rotating shaft of the driven wire rope wheel and the rotating center of the pitching motion of the ankle joint of the human body.
3. The wearable metatarsophalangeal joint walking assist device of claim 1, wherein: still include extension spring, extension spring slope sets up, and extension spring's upper end and initiative rocker fixed connection, extension spring's lower extreme and back sole board fixed connection, one side that extension spring lower extreme is located extension spring upper end and is close to preceding sole board.
4. The wearable metatarsophalangeal joint walking assist device of claim 3, wherein: the spring fixing device comprises a spring mounting seat, a pin shaft and a hook, the spring mounting seat is fixedly connected with the rear sole plate or the active rocker, the pin shaft is fixedly connected with the spring mounting seat, the hook is movably connected with the pin shaft, and two ends of the spring are detachably connected with the hook respectively.
5. The wearable metatarsophalangeal joint walking assist device of claim 1, wherein: the motor is fixed at the upper end of the support piece through the motor mounting seat, the motor mounting seat is a concave plate, a bottom plate of the concave plate is fixedly connected with the support piece, and a rotating shaft of the motor penetrates through the two side plates to be connected with the two driving wire rope wheels respectively.
6. The wearable metatarsophalangeal joint walking assist device of claim 1, wherein: still include the gyro wheel, the one end and the driven wire rope sheave fixed connection of connecting rod, the other end is the free end, free end and gyro wheel fixed connection.
7. The wearable metatarsophalangeal joint walking assist device of claim 1, wherein: the vertex position of the active rocker is positioned below the upper surface of the rear sole plate.
8. The wearable metatarsophalangeal joint walking assist device of claim 1, wherein: the lower end of the driving rocker is fixedly connected with the rear sole plate through a cantilever pin, one end of the cantilever pin is fixedly connected with the rear sole plate, and the driving rocker is movably connected with the cantilever pin.
9. The wearable metatarsophalangeal joint walking assist device of claim 1, wherein: the driven rocker is an L-shaped rod and comprises a vertical rod and a horizontal rod which are perpendicular to each other, the upper end of the vertical rod is connected with the middle connecting rod, and the horizontal rod is fixedly connected with the front foot sole plate.
10. The wearable metatarsophalangeal joint walking assist device of claim 1, wherein: the shoe sole plate comprises a supporting plate and is characterized by further comprising a first magic tape, a second magic tape and a third magic tape, wherein two ends of the first magic tape are fixedly connected with two side ends of the front sole plate respectively, the side ends are respectively connected with the driven rocker, two ends of the second magic tape are fixedly connected with the side edge of the top end of the supporting plate respectively, and two ends of the third magic tape are fixedly connected with two side ends of the rear sole plate respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010574317.1A CN111671624B (en) | 2020-06-22 | 2020-06-22 | Wearable metatarsophalangeal joint walking power assisting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010574317.1A CN111671624B (en) | 2020-06-22 | 2020-06-22 | Wearable metatarsophalangeal joint walking power assisting device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111671624A true CN111671624A (en) | 2020-09-18 |
| CN111671624B CN111671624B (en) | 2021-08-27 |
Family
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Family Applications (1)
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| CN202010574317.1A Active CN111671624B (en) | 2020-06-22 | 2020-06-22 | Wearable metatarsophalangeal joint walking power assisting device |
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