CN212214157U

CN212214157U - Exoskeleton foot sole structure

Info

Publication number: CN212214157U
Application number: CN201922334772.XU
Authority: CN
Inventors: 王天
Original assignee: Hangzhou Chengtian Technology Development Co Ltd
Current assignee: Hangzhou Chengtian Technology Development Co Ltd
Priority date: 2019-12-24
Filing date: 2019-12-24
Publication date: 2020-12-25
Anticipated expiration: 2029-12-24

Abstract

The utility model relates to an ectoskeleton sole structure, including the shank joint, connect the installation buckle, the tension unit, the sole connecting block drags, pressure sensor, sole hardboard enough. The crus joint is hinged with the sole connecting block, and mechanical limit is arranged between the crus joint and the sole connecting block. The mechanical limit is used for limiting the running angle of the ankle joint, so that the foot drop is prevented. The tension unit is installed between the installation buckle and the sole connecting block. The connecting and mounting buckle is locked and mounted at the periphery of the crus joint. The tension unit is preferably a tension spring, the tension spring is stored by gravitational potential energy in the walking process, and the elastic potential energy of the tension spring is released when the ankle moves forwards, so that the forward moving assisting force is provided for the ankle joint. The pressure sensor is arranged in a sensor mounting groove between the foot mop and the hard plate of the sole. The beneficial effects are that: the pressure sensor is arranged on the sole of the foot to detect the common gravity of the human body of the body, and data support is provided for subsequent gait analysis and guidance of recovery training.

Description

Exoskeleton foot sole structure

Technical Field

The utility model relates to a spare part on the supplementary rehabilitation training ectoskeleton specifically says so and is exactly an ectoskeleton sole structure.

Background

In daily life, people often cannot walk for various reasons. Such as paralysis of the legs due to stroke or insufficient strength of the legs due to aging, which makes it impossible to walk for a long time. A number of prior art techniques have shown that exoskeletons are becoming more and more widely used in the field of assisting lower extremity walking and medical rehabilitation. Disabled persons can use the exoskeleton robot to assist walking. The foot structure of exoskeleton equipment on the market mostly adopts a flat plate structure or a circular tube structure, and a pressure sensor is generally placed at the ankle position, so that the pressure value for detection is the pressure of the exoskeleton machine, and the pressure value is not true.

The motor is used for driving between the foot part and the lower leg part of the exoskeleton, so that the structural complexity and the control difficulty are increased; or the foot action of the disabled person cannot be effectively controlled by using the common hinge.

A self-balancing power-assisted walking exoskeleton robot system, patent No. 2018210788467, uses a left ankle joint in its exoskeleton foot structure, which is a common joint or can be understood as an electrically driven joint. The shank joint is purchased from a solid steel plate, and has low structural strength and higher specific gravity. The compact structure is poor. The measured pressure value is the gravity value of the human body.

SUMMERY OF THE UTILITY MODEL

For having not enough among the reply prior art and optimizing prior art, the utility model provides an ectoskeleton sole structure.

An exoskeleton foot sole structure comprises a shank joint (1), a connecting and mounting buckle (2), a tension unit (3), a foot sole connecting block (4), a foot mop (5), a pressure sensor (7) and a foot sole hard plate (8).

The sole connecting block (4) is fixedly arranged on the sole hard plate (8), the crus joint (1) is hinged with the sole connecting block (4), and a mechanical limit (13) is arranged between the crus joint (1) and the sole connecting block (4). So that the angle between the shank joint (1) and the sole hard board (8) is less than or equal to 90 degrees. The mechanical limit (13) is used for limiting the running angle of the ankle joint, so that the foot drop is prevented. As shown in fig. 1.

The tension unit (3) is arranged between the mounting buckle (2) and the sole connecting block (4). The connecting and mounting buckle (2) is locked and mounted at the periphery of the shank joint (1). The tension unit (3) is preferably a tension spring, in the walking process, gravitational potential energy is used for storing energy for the tension spring, and when the ankle strides forwards, the elastic potential energy of the tension spring is released to provide a power assisting for the ankle to stride forwards. As shown in fig. 4/5.

The foot slipper (5) is also included, and the pressure sensor (7) is arranged in a sensor mounting groove (10) of the sole hard plate (8); a soft and wear-resistant sole rubber pad (9) is arranged under the sole hard plate (8); the lower surface of the foot slipper (5) and the upper surface of the foot pad (9) are contacted with the pressure sensor (7). As shown in fig. 2. So that the pressure is transmitted from the ground upwards and the measured value is the common gravitational force of the body and the human body.

The utility model has the advantages that: a pressure sensor is arranged on the sole of the foot to detect the pressure of the sole of the foot and provide data support for subsequent gait analysis and guidance of recovery training; the ankle part is provided with mechanical limit, so that the whole sole can only rotate upwards from the horizontal position to prevent foot drop; the ankle part is provided with a power-assisted spring; the spring-mounted catch can be moved on the leg tube to adjust the spring force. Embodying the common gravity of the body and the human body.

Drawings

The present invention will be further described with reference to the accompanying drawings.

Fig. 1 is an overall three-dimensional view of the present invention.

Fig. 2 is an exploded view of the present invention.

Fig. 3 is a partial sectional view of the present invention.

Fig. 4 and 5 are schematic views of the usage state of the present invention.

Fig. 6 is a schematic diagram of a sensor array according to the present invention.

Wherein:

1-crus joint, 2-connecting and installing buckle, 3-tension spring, 4-sole connecting block, 5-foot mop, 51-anti-disengagement, 6-sensor conversion plate, 7-pressure sensor, 8-sole hard plate, 9-sole rubber pad, 10-sensor installing groove, 11-symmetrical buckle, 12-sensor array, 13-mechanical limiting and 14-quick-release rod.

Detailed Description

Exemplary embodiments of the present invention will be described below with reference to the accompanying drawings.

As a specific embodiment one: the foot tractor comprises a shank joint (1), a connecting and installing buckle (2), a tension unit (3), a sole connecting block (4), a foot tractor (5), a pressure sensor (7) and a sole hard plate (8).

The sole connecting block (4) is fixedly arranged on the sole hard plate (8), the crus joint (1) is hinged with the sole connecting block (4), and a mechanical limit (13) is arranged between the crus joint (1) and the sole connecting block (4), so that an angle which is smaller than or equal to 90 degrees is formed between the crus joint (1) and the sole hard plate (8).

The tension unit (3) is arranged between the mounting buckle (2) and the sole connecting block (4); the connecting and mounting buckle (2) is locked and mounted at the periphery of the shank joint (1); the foot slipper (5) is also included, and the pressure sensor (7) is arranged in a sensor mounting groove (10) of the sole hard plate (8); a soft and wear-resistant sole rubber pad (9) is arranged under the sole hard plate (8); the lower surface of the foot slipper (5) and the upper surface of the foot pad (9) are contacted with the pressure sensor (7).

As a preferred embodiment two: the quick release device is characterized by further comprising a quick release rod (14), wherein the quick release rod (14) is matched with the connecting and mounting buckle (2) for use, so that the connecting and mounting buckle (2) can be locked on the outer wall of the shank joint (1). The quick-release rod (14) is widely applied to the technical field of height adjustment of the bicycle seat and has the technical advantages of quick operation and stable locking.

As a preferred embodiment three: the foot-fixing device also comprises symmetrical hasps (11) which are symmetrically distributed, wherein holes are formed in the symmetrical hasps (11) and are used for connecting and binding a binding band for binding the foot surface of a user.

As a preferred embodiment four: the foot mop (5) is provided with a raised anti-blocking gear (51), and the anti-blocking gear (51) is positioned at the position corresponding to the heel of a user. For users with more restricted lower limb movement, such as those recovering from paralysis, an anti-slip stop (51) is required to better secure the user's shoe to the foot support (5). As shown in fig. 1.

As a preferred embodiment five: the crus joint (1) is an oval hollow structure. The oval structure can bear other installation parts inside, and the functionality of the device is expanded. And for the pipe structure atress more stable, bearing capacity is strong, and the lock is dead simple, light in weight. As shown in fig. 1/2.

As a preferred embodiment six: the pressure sensor (7) is a resistance strain half-bridge type weighing sensor or a film pressure sensor. As shown in fig. 2.

As a preferred embodiment seven: the film pressure sensor forms a sensor array (12); the foot mop (5) is made of soft materials so as to ensure that the pressure of the user's sole crossing can be transmitted to each pressure sensor in the sensor array (12) through the foot mop (5). As shown in fig. 6.

As a preferred embodiment eight: the tension unit (3) is a tension spring or a pneumatic push rod. The preferred scheme is the extension spring, convenient to use, light in weight. Using a pneumatic or electric push rod, a degree of automation can be achieved, but at the expense of weight and cost performance.

The embodiments of the present invention are examples of the present invention, and may be combined with other known techniques, or may be modified to omit some modifications without departing from the scope of the present invention.

Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the same; although the present invention has been described in detail with reference to preferred embodiments, it should be understood by those skilled in the art that: the invention can be modified or equivalent substituted for some technical features; without departing from the spirit of the present invention, it should be understood that the scope of the claims is intended to cover all such modifications and variations.

Claims

1. An exoskeleton foot sole structure, which is characterized in that: comprises a shank joint (1), a connecting and installing buckle (2), a tension unit (3), a sole connecting block (4), a foot mop (5), a pressure sensor (7) and a sole hard plate (8);

the sole connecting block (4) is fixedly arranged on the sole hard plate (8), the crus joint (1) is hinged with the sole connecting block (4), and a mechanical limit (13) is arranged between the crus joint (1) and the sole connecting block (4), so that an angle which is less than or equal to 90 degrees is formed between the crus joint (1) and the sole hard plate (8);

the tension unit (3) is arranged between the mounting buckle (2) and the sole connecting block (4); the connecting and mounting buckle (2) is locked and mounted at the periphery of the shank joint (1);

the foot slipper (5) is also included, and the pressure sensor (7) is arranged in a sensor mounting groove (10) of the sole hard plate (8); a soft and wear-resistant sole rubber pad (9) is arranged under the sole hard plate (8); the lower surface of the foot slipper (5) and the upper surface of the foot pad (9) are contacted with the pressure sensor (7).

2. The exoskeleton foot sole structure as claimed in claim 1 is characterized in that the exoskeleton foot sole structure further comprises a quick release rod (14), and the quick release rod (14) is matched with the connection mounting buckle (2) for use, so that the connection mounting buckle (2) can be locked on the outer wall of the crus joint (1).

3. The exoskeleton foot sole structure as claimed in claim 2, further comprising symmetrical buckles (11) with symmetrical layout, wherein the symmetrical buckles (11) are provided with holes for connecting straps for binding the foot surface of a user.

4. A exoskeleton foot sole structure as claimed in claim 3 characterised in that the foot pad (5) has a raised anti-slip feature (51), the anti-slip feature (51) being located in a position corresponding to the heel of the user.

5. A exoskeleton foot sole structure as claimed in claim 4 characterised in that the lower leg joint (1) is of an oval hollow configuration.

6. A exoskeleton foot structure as claimed in claim 4 or claim 5 characterised in that the pressure sensor (7) is a resistance strain half bridge load cell or a membrane pressure sensor.

7. The exoskeleton foot sole structure as claimed in claim 6, wherein said membrane pressure sensors are grouped in a sensor array (12); the foot mop (5) is made of soft materials so as to ensure that the pressure of the user's sole crossing can be transmitted to each pressure sensor in the sensor array (12) through the foot mop (5).

8. The exoskeleton foot sole structure as claimed in claim 7, wherein said tension unit (3) is a tension spring or a pneumatic push rod.