CN112168442A - Variable-rigidity ankle joint - Google Patents
Variable-rigidity ankle joint Download PDFInfo
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- CN112168442A CN112168442A CN202011029175.7A CN202011029175A CN112168442A CN 112168442 A CN112168442 A CN 112168442A CN 202011029175 A CN202011029175 A CN 202011029175A CN 112168442 A CN112168442 A CN 112168442A
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- ankle joint
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- 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
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/60—Artificial legs or feet or parts thereof
- A61F2/66—Feet; Ankle joints
- A61F2/6607—Ankle joints
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- Oral & Maxillofacial Surgery (AREA)
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- Heart & Thoracic Surgery (AREA)
- Orthopedic Medicine & Surgery (AREA)
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- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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- Orthopedics, Nursing, And Contraception (AREA)
Abstract
The invention provides a variable-stiffness ankle joint which comprises a shank connecting assembly, a sole assembly and variable-stiffness driving assemblies, wherein the shank connecting assembly is used for wearing the ankle joint on the ankle of a human body; the traditional spring force application mode in the ankle joint is redesigned, and the tension provided by the spring under different postures of the sole when a human body walks is changed by matching with the curve design of the cam groove, so that the ankle joint provided by the invention has variable rigidity performance, and the moment compensation under different postures of the sole relative to the ankle joint is met.
Description
Technical Field
The invention relates to the field of exoskeleton robots, in particular to a variable-rigidity ankle joint.
Background
With the development of science and technology, exoskeletons driven by external force are gradually and widely applied to various fields to assist human bodies to finish various heavy physical labor or assist the recovery of bones and muscles of sick human bodies, while in human activities, walking is the most basic movement, and in the whole walking process, the maximum power of ankle joints is about 4 times of that of hip joints and knee joints, and the maximum power of the ankle joints is the joint with the highest energy output and the highest required power in three lower limb joints. Compared with the hip joint and the knee joint, the movement of the ankle joint also needs larger muscle force, the ground pedaling force of the ankle joint also has direct influence on the walking stride and the walking frequency, and if the moment of the ankle joint is insufficient, the normal walking and daily activities of a human body can be seriously restricted.
The ankle joint moves in a three-dimensional space and has three degrees of freedom, so that dorsiflexion and plantarflexion actions can be realized, inversion, eversion, pronation, supination and the like can also be realized, the motion curves of soles of different patients relative to ankles are different when walking, and the design difficulty of the ankle joint is greatly increased, so that the ankle joint exoskeleton with rigidity changed according to the posture change of a human body in the walking process is designed, the ankle joint exoskeleton can effectively help a user to control and compensate the moment of the ankle joint, and the phenomena of muscle strain and foot sprain caused by insufficient moment are prevented.
Disclosure of Invention
Based on the above purpose, the invention provides a stiffness-variable ankle joint, which redesigns the force application mode of a spring in the traditional ankle joint, and changes the tensile force provided by the spring under different postures of the sole when a human body walks by matching with the curve design of a cam groove, namely, the ankle joint has the stiffness-variable performance, and meets the torque compensation of the sole relative to the ankle joint under different postures of the human body.
The technical scheme adopted by the invention is as follows: a variable-stiffness ankle joint comprises a shank connecting component, a sole component and a variable-stiffness driving component;
the shank connecting component comprises shank connecting plates, fiber belts and attaching plates, the shank connecting plates comprise two pieces, the two pieces are distributed on two sides of a shank of a user, the lower ends of the two pieces are hinged with the sole component, the attaching plates comprise a plurality of pieces which are uniformly attached to the surface of the shank of the human body, and the fiber belts connect the attaching plates and the shank connecting plates together, so that the shank connecting component can bear force to wear an ankle joint on an ankle of the human body;
the sole assembly comprises a front sole plate, a rear sole plate, sole side plates and support plates, the sole side plates and the support plates respectively comprise two blocks, the two sole side plates are respectively and fixedly connected to the left side and the right side of the upper surface of the front sole plate, the two support plates are both in a curved arc shape, one ends of the two support plates are respectively hinged to one sole side plate, the other ends of the two support plates are respectively and fixedly connected with the rear sole plate, and the lower end of the shank connecting plate is hinged to the curved vertex of the support plates, so that a shank connecting piece and the sole assembly are hinged together;
the whole front foot bottom plate is a flat elliptic elastic metal plate, and a plurality of inclined supporting elastic sheets are arranged in the front foot bottom plate, so that the front foot bottom plate can elastically deform to increase the flatness when bearing heavy pressure; the rear foot bottom plate is a flat elliptic elastic metal plate integrally, and a plurality of inclined supporting elastic sheets are arranged in the rear foot bottom plate, so that the rear foot bottom plate can be elastically deformed to increase the flatness when bearing heavy pressure, and the front foot bottom plate and the rear foot bottom plate jointly increase the damping effect of the ankle joint;
the variable stiffness driving assemblies are symmetrically arranged on two sides of the ankle of a human body, each variable stiffness driving assembly comprises a swinging rod, a roller, a variable damping arc rod and a spring, the swinging rods are fixedly connected with the lower ends of the shank connecting plates, so that the swinging rods can rotate around the hinge joints of the shank connecting plates and the supporting plate relatively when swinging back and forth along with the shank connecting plates, one ends of the variable damping arc rods are hinged to the supporting plate, the other ends of the variable damping arc rods are connected with the springs, and the other ends of the springs are fixedly connected with the sole side plates; the whole hook type that is of variable damping arc pole is provided with the cam groove on the internal surface of hook type structure, the line type of cam groove is the cam line, lock nut and shank connecting plate fixed connection are passed through to the one end of swinging arms together, the other end of swinging arms is provided with the gyro wheel, the gyro wheel is articulated with the swinging arms, and when the swinging arms swung along with the shank connecting plate, the gyro wheel rolled along the cam groove in the cam groove to can promote variable damping arc pole and rotate around its pin joint with the backup pad.
One end of the spring is connected with the variable damping arc rod, the other end of the spring is connected with the connecting pin, the other end of the connecting pin is fixedly connected with the sole side plate through the adjusting nut, and the locking position of the connecting pin relative to the sole side plate can be adjusted through the adjusting nut, so that the initial pre-tightening force of the spring can be adjusted.
The supporting plate is of a 7-shaped structure formed by integrating a long rod section and a short rod section, the end point of the long rod section is hinged with the side plate of the sole, the end point of the short rod section is fixedly connected with the rear sole plate, and the joint of the long rod section and the short rod section is hinged with the lower end of the shank connecting plate.
The variable damping principle of the ankle joint of the invention is explained as follows: when the shank connecting plate swings backwards (forward stepping feet) relative to the supporting plate, the swinging rod swings forwards along the cam groove, so that the damping variable arc rod is driven to swing forwards around a hinge point of the damping variable arc rod and the supporting plate, and the pre-tightening force of the spring is reduced; when the shank connecting plate swings forwards relative to the supporting plate (the foot lifting action), the swinging rod swings backwards along the cam groove, so that the variable damping arc rod is pushed to swing backwards around a hinge point of the variable damping arc rod and the supporting plate, the hook-type variable damping arc rod pulls the spring to extend, the elastic force provided by the spring is increased, and the elastic force of the spring provides assistance for assisting the foot lifting action of a human body; namely, in the stepping action process of the human body, along with the change of the relative postures of the crus and the soles, the rolling position of the roller in the cam groove is changed, the position of the variable damping arc rod is changed, and the acting force of the variable damping arc rod on the spring is changed, so that the ankle joint has the characteristics of variable damping and variable rigidity, and the requirements of the human body are better met.
The invention has the advantages that:
1. when the human shank and the sole are in different postures, the positions of the rollers in the cam grooves are different, so that the damping variable arc rods are driven to continuously change the positions of the damping variable arc rods, the pretightening force of the springs is changed, and the damping variable and rigidity variable characteristics of the ankle joint are realized;
2. the line type of the cam groove in the variable damping arc rod with the hook-shaped structure can be adaptively designed according to the action characteristics of different users, so that the action habits of the users can be better matched, and the use experience is better;
3. the variable stiffness driving components on the left side and the right side are stressed independently, different stiffness changes on the left side and the right side can be provided according to the inclination of the sole of a human body, and the mechanical requirements of the human body can be better met;
4. the ankle joint has the advantages of few integral parts, simple structure and more convenient use and assembly.
Drawings
FIG. 1 is a schematic view of the overall structure of a variable stiffness ankle joint of the present invention;
FIG. 2 is a side elevational view of the overall construction of the variable stiffness ankle joint of the present invention;
FIG. 3 is a side elevational view of the sole portion of the variable stiffness ankle joint of the present invention;
FIG. 4 is a schematic view of a support plate structure for a variable stiffness ankle joint of the present invention;
FIG. 5 is a schematic view of a variable damping arc bar configuration for a variable stiffness ankle joint in accordance with the present invention;
FIG. 6 is a schematic view of the swing link structure of the variable stiffness ankle joint of the present invention;
FIG. 7 is a schematic structural view of a variable stiffness driving portion of the variable stiffness ankle joint of the present invention;
in the figure: 1. shank connecting plate, 2, fiber belt, 3, attaching plate, 4, front foot bottom plate, 5, rear foot bottom plate, 6, sole side plate, 7, supporting plate, 8, swinging rod, 9, roller, 10, variable damping arc rod, 11, cam groove, 12, spring, 13, connecting pin, 14, locking nut, 15 and adjusting nut.
Detailed Description
The invention is described in further detail below with reference to the accompanying examples.
The present invention is described in terms of specific embodiments, and other advantages and benefits of the present invention will become apparent to those skilled in the art from the disclosure herein.
Referring to the drawings, the structures, ratios, sizes, and the like shown in the drawings are only used for matching the disclosure of the present disclosure, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present disclosure can be implemented, so that the present disclosure has no technical significance, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the disclosure of the present disclosure without affecting the efficacy and the achievable purpose of the present disclosure. Meanwhile, the positional limitation terms used in the present specification are for clarity of description only, and are not intended to limit the scope of the present invention, and changes or modifications of the relative relationship therebetween may be regarded as the scope of the present invention without substantial changes in the technical content.
As shown in fig. 1 and 2, fig. 1 is a schematic diagram of the overall structure of a stiffness-variable ankle joint of the invention, fig. 2 is a side view of the overall structure of the stiffness-variable ankle joint of the invention, the stiffness-variable ankle joint of the invention comprises a lower leg connecting component, a sole component and a stiffness-variable driving component, the lower leg connecting component comprises a lower leg connecting plate 1, a fiber band 2 and an attaching plate 3, the lower leg connecting plate 1 comprises two pieces which are distributed on two sides of a lower leg of a user and the lower end of which is hinged with the sole component, the attaching plate 3 comprises a plurality of pieces which are uniformly attached on the surface of the lower leg of the human body, and the fiber band 2 connects the attaching plate 3 and the lower leg connecting plate 1 together, so that the lower leg connecting component;
the sole assembly comprises a front sole plate 4, a rear sole plate 5, sole side plates 6 and support plates 7, wherein the sole side plates 6 and the support plates 7 respectively comprise two blocks, the two sole side plates 6 are respectively and fixedly connected to the left side and the right side of the upper surface of the front sole plate 4, the two support plates 7 are both in a curved arc shape, one ends of the two support plates 7 are respectively hinged with one sole side plate 6, the other ends of the two support plates are respectively and fixedly connected with the rear sole plate 5, and the lower end of the shank connecting plate 1 is hinged with the curved vertex of the support plate 7, so that a shank connecting piece and the sole assembly are hinged together;
fig. 7 is a structural schematic diagram of a variable stiffness driving part of a variable stiffness ankle joint of the invention, which shows the structural relationship of variable stiffness driving components, the variable stiffness driving components are symmetrically arranged at both sides of a human ankle, each group of variable stiffness driving components comprises a swinging rod 8, a roller 9, a variable damping arc rod 10 and a spring 12, the swinging rod 8 is fixedly connected with the lower end of a shank connecting plate 1, so that the swinging rod 8 can relatively rotate around the hinge point of the shank connecting plate 1 and a supporting plate 7 when swinging back and forth along with the shank connecting plate 1, one end of the variable damping arc rod 10 is hinged on the supporting plate 7, the other end of the variable damping arc rod 10 is connected with the spring 12, the other end of the spring 12 is fixedly connected with a sole side plate 6, as shown in fig. 5, the structural schematic diagram of the variable damping arc rod of the variable stiffness ankle joint of the invention, the variable damping arc rod 10 is entirely in a, the inner surface of the hook-shaped structure is provided with a cam groove 11, the line type of the cam groove 11 is a cam line, as shown in fig. 6, the structure of the swing rod of the stiffness-variable ankle joint is shown schematically, one end of the swing rod 8 is fixedly connected with the shank connecting plate 1 through a locking nut 14, the other end of the swing rod 8 is provided with a roller 9, the roller 9 is hinged with the swing rod 8, and when the swing rod 8 swings with the shank connecting plate 1, the roller 9 rolls along the cam groove 11 in the cam groove 11, so that the variable damping arc rod 10 can be pushed to rotate around the hinged point of the variable damping arc rod and the supporting plate 7.
As shown in fig. 3, which is a side view of the sole of the variable stiffness ankle joint of the present invention, the front sole plate 4 is a flat elliptic elastic metal plate, and a plurality of inclined supporting elastic pieces are arranged inside the elastic metal plate, so that the front sole plate 4 can elastically deform to increase the flatness when being subjected to heavy pressure; the rear sole plate 5 is a flat elliptic elastic metal plate, a plurality of inclined supporting elastic sheets are arranged in the rear sole plate 5, so that the rear sole plate 5 can be elastically deformed to increase the flatness when bearing heavy pressure, and the front sole plate 4 and the rear sole plate 5 jointly increase the damping effect of the ankle joint.
Fig. 4 is a structural schematic diagram of the support plate of the variable stiffness ankle joint of the invention, as shown in the figure, the support plate 7 is a 7-shaped structure formed by integrating a long rod section and a short rod section, the end point of the long rod section is hinged with the sole side plate 6, the end point of the short rod section is fixedly connected with the rear sole plate 5, and the joint of the long rod section and the short rod section is hinged with the lower end of the shank connecting plate 1.
Referring to fig. 7, one end of the spring 12 is connected to the variable damping arc rod 10, the other end of the spring is connected to the connecting pin 13, the other end of the connecting pin 13 is fixedly connected to the sole side plate 6 through the adjusting nut 15, and the locking position of the connecting pin 13 relative to the sole side plate 6 can be adjusted through the adjusting nut 15, so that the initial pre-tightening force of the spring 12 can be adjusted.
The principle of the variable damping of the ankle joint of the present invention is explained in conjunction with fig. 1-7 as follows: when the shank connecting plate 1 swings backwards (forward stepping foot) relative to the supporting plate 7, the swing rod 8 swings forwards along the cam groove 11, so that the variable damping arc rod 10 is driven to swing forwards around a hinge point of the variable damping arc rod and the supporting plate 7, and the pretightening force of the spring 12 is reduced; when the shank connecting plate 1 swings forwards relative to the supporting plate 7 (a foot lifting action), the swing rod 8 swings backwards along the cam groove 11, so that the variable damping arc rod 10 is pushed to swing backwards around a hinge point of the variable damping arc rod and the supporting plate 7, the hook-shaped variable damping arc rod 10 pulls the spring 12 to extend, the elastic force provided by the spring 12 is increased, and the elastic force of the spring 12 provides an assisting force for assisting the foot lifting action of a human body; namely, in the stepping action of the human body, along with the change of the relative postures of the lower leg and the sole, the rolling position of the roller 9 in the cam groove 11 is changed, and the position of the variable damping arc rod 10 is changed to change the acting force of the variable damping arc rod on the spring 12, so that the ankle joint has the characteristics of variable damping and variable stiffness, and better meets the requirements of the human body.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (4)
1. A variable-stiffness ankle joint is characterized by comprising a shank connecting component, a sole component and a variable-stiffness driving component;
the shank connecting component comprises shank connecting plates, fiber belts and attaching plates, the shank connecting plates comprise two pieces, the two pieces are distributed on two sides of a shank of a user, the lower ends of the two pieces are hinged with the sole component, the attaching plates comprise a plurality of pieces which are uniformly attached to the surface of the shank of the human body, and the fiber belts connect the attaching plates and the shank connecting plates together, so that the shank connecting piece can bear force to wear an ankle joint on an ankle of the human body;
the sole assembly comprises a front sole plate, a rear sole plate, sole side plates and support plates, the sole side plates and the support plates respectively comprise two blocks, the two sole side plates are respectively and fixedly connected to the left side and the right side of the upper surface of the front sole plate, the two support plates are both in a curved arc shape, one ends of the two support plates are respectively hinged to one sole side plate, the other ends of the two support plates are respectively and fixedly connected with the rear sole plate, and the lower end of the shank connecting plate is hinged to the curved vertex of the support plates, so that a shank connecting piece and the sole assembly are hinged together;
the variable stiffness driving assemblies are symmetrically arranged on two sides of the ankle of a human body, each variable stiffness driving assembly comprises a swinging rod, a roller, a variable damping arc rod and a spring, the swinging rods are fixedly connected with the lower ends of the shank connecting plates, so that the swinging rods can rotate around the hinge joints of the shank connecting plates and the supporting plate relatively when swinging back and forth along with the shank connecting plates, one ends of the variable damping arc rods are hinged to the supporting plate, the other ends of the variable damping arc rods are connected with the springs, and the other ends of the springs are fixedly connected with the sole side plates; the whole hook type that is of variable damping arc pole is provided with the cam groove on the internal surface of hook type structure, the line type of cam groove is the cam line, lock nut and shank connecting plate fixed connection are passed through to the one end of swinging arms together, the other end of swinging arms is provided with the gyro wheel, the gyro wheel is articulated with the swinging arms, and when the swinging arms swung along with the shank connecting plate, the gyro wheel rolled along the cam groove in the cam groove to can promote variable damping arc pole and rotate around its pin joint with the backup pad.
2. The variable stiffness ankle joint according to claim 1, wherein one end of the spring is connected to the variable damping arc rod, the other end of the spring is connected to the connecting pin, the other end of the connecting pin is fixedly connected to the sole side plate through an adjusting nut, and the locking position of the connecting pin relative to the sole side plate can be adjusted through the adjusting nut, so that the initial pre-tightening force of the spring can be adjusted.
3. The variable stiffness ankle joint according to claim 1, wherein the forefoot base plate is a flat elliptic elastic metal plate, and a plurality of inclined supporting elastic pieces are arranged in the elastic metal plate, so that the forefoot base plate can be elastically deformed to increase the flatness when being subjected to heavy pressure; the rear sole plate is integrally a flat elliptic elastic metal plate, and a plurality of inclined supporting elastic sheets are arranged in the rear sole plate, so that the rear sole plate can elastically deform to increase the flatness when bearing heavy pressure, and the front sole plate and the rear sole plate jointly increase the damping effect of the ankle joint.
4. The variable stiffness ankle joint according to claim 1, wherein the support plate is formed by integrally combining a long rod section and a short rod section into a 7-shaped structure, the end point of the long rod section is hinged with the sole side plate, the end point of the short rod section is fixedly connected with the rear sole plate, and the joint of the long rod section and the short rod section is hinged with the lower end of the lower leg connecting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011029175.7A CN112168442A (en) | 2020-09-27 | 2020-09-27 | Variable-rigidity ankle joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011029175.7A CN112168442A (en) | 2020-09-27 | 2020-09-27 | Variable-rigidity ankle joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112168442A true CN112168442A (en) | 2021-01-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011029175.7A Withdrawn CN112168442A (en) | 2020-09-27 | 2020-09-27 | Variable-rigidity ankle joint |
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| CN (1) | CN112168442A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112972201A (en) * | 2021-02-22 | 2021-06-18 | 宁波大学 | Ankle joint rehabilitation training device and robot |
| CN114260881A (en) * | 2021-12-23 | 2022-04-01 | 湖南中联重科应急装备有限公司 | Ankle joint assistance exoskeleton for emergency rescue and assistance exoskeleton device |
| CN117959048A (en) * | 2024-03-29 | 2024-05-03 | 吉林大学 | Bionic variable-rigidity active-passive hybrid ankle-foot prosthesis and control method thereof |
-
2020
- 2020-09-27 CN CN202011029175.7A patent/CN112168442A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112972201A (en) * | 2021-02-22 | 2021-06-18 | 宁波大学 | Ankle joint rehabilitation training device and robot |
| CN112972201B (en) * | 2021-02-22 | 2023-07-14 | 宁波大学 | Ankle joint rehabilitation training device and robot |
| CN114260881A (en) * | 2021-12-23 | 2022-04-01 | 湖南中联重科应急装备有限公司 | Ankle joint assistance exoskeleton for emergency rescue and assistance exoskeleton device |
| CN114260881B (en) * | 2021-12-23 | 2024-04-19 | 湖南中联重科应急装备有限公司 | Ankle joint assisting exoskeleton and assisting exoskeleton equipment for emergency rescue |
| CN117959048A (en) * | 2024-03-29 | 2024-05-03 | 吉林大学 | Bionic variable-rigidity active-passive hybrid ankle-foot prosthesis and control method thereof |
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Application publication date: 20210105 |
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