CN217091318U - Foot wearing assembly, exoskeleton ankle joint device and exoskeleton system - Google Patents

Abstract

The utility model discloses a foot wearing component, an exoskeleton ankle joint device and an exoskeleton system, which relate to the technical field of rehabilitation equipment and comprise a base plate and a tread limited by the base plate; an adjustment device; the first end of the tensioning belt penetrates into the adjusting device, and the second end of the tensioning belt extends in the direction away from the adjusting device and defines a wearing space with the treading surface; the adjusting device is used for adjusting the extension length of the tension belt, so that the size of the wearing space is adjusted. Through the regulation of adjusting device to the tensioning area to the size in space is dressed in the adjustment, thereby lets dress the subassembly and satisfy different wearers foot size, and uses it to the supplementary recovered equipment's of supplementary exoskeleton ankle joint device and ectoskeleton system in, provides certain degree of freedom of movement for wearer's ankle joint, knee joint and hip joint, improves recovered effect, and can further improve the efficiency when the wearing person dresses and breaks away from the ectoskeleton, reduces and dresses the time.

Description

Foot wearing assembly, exoskeleton ankle joint device and exoskeleton system

Technical Field

The utility model relates to a technical field of rehabilitation equipment especially relates to a subassembly, ectoskeleton ankle joint device and ectoskeleton system are dressed to foot.

Background

In order to reduce the burden of a rehabilitee in a rehabilitation department in rehabilitation clinic, the patient is guided to rehabilitate in an auxiliary way through various rehabilitation machines and instruments, the rehabilitation exoskeleton is a common rehabilitation training method, and in the wearing and training process, certain power assistance or resistance is provided for the patient in the limb movement process of the patient so as to improve the rehabilitation effect.

Effective fixation, wearing time, flexibility and rapid adjustment of the rehabilitation exoskeleton and a person are key indexes for measuring exoskeleton performance, and wearing convenience or wearing time relates to the problems of human input, patient rehabilitation efficiency, equipment utilization rate and the like.

For the foot binding device, the current sole design for the rehabilitation exoskeleton mainly comprises three types:

1. the shoes with fixed sizes are fixed on the ankle joints of the exoskeleton, but the scheme has poor adaptability to the sizes of feet, and the skin of the soles of the feet is abraded and injured frequently due to improper sizes;

2. the thin sheet with fixed size is designed and inserted into the shoe as a support, but the scheme is more suitable for the exoskeleton of customized personal use and has poor adaptability to different crowds;

3. the sole board of design stereoplasm fixes through the bandage of heel and preceding sole, and the wearer can wear the shoes and carry out the rehabilitation training, and this kind of structure is better to different crowds' adaptability, but this kind of fixed mode is comparatively complicated, and it is loaded down with trivial details to pass the process.

SUMMERY OF THE UTILITY MODEL

The embodiment of the utility model provides an one of purpose lies in: the utility model provides a subassembly is dressed to foot, through adjusting device to the rolling of tensioning band or unreel to quick adjustment dresses the size in space, when adapting to different crowds' foot size, improves and dresses efficiency, solves the above-mentioned problem that exists among the prior art.

The embodiment of the utility model provides a second purpose lies in: the exoskeleton ankle joint device provides a certain guiding function for the ankle joint of a wearer on the basis, and improves the rehabilitation effect of the exoskeleton ankle joint device.

The embodiment of the utility model provides a third of purpose lies in: the exoskeleton system is provided, so that the exoskeleton wearing process is more convenient, the wearing time is reduced, and the stability between the limb of a wearer and the exoskeleton is improved.

In order to achieve one of the purposes, the utility model adopts the following technical scheme:

in one aspect, a foot-worn assembly is provided that includes a base plate defining a tread surface; an adjustment device; the first end of the tensioning belt penetrates into the adjusting device, the second end of the tensioning belt extends in the direction far away from the adjusting device, and a wearing space is defined between the tensioning belt and the treading surface; the adjusting device is used for adjusting the extension length of the tension belt, so that the size of the wearing space is adjusted.

To achieve the second purpose, the utility model adopts the following technical scheme:

in another aspect, an exoskeleton ankle joint device is provided, which comprises a lower leg rod assembly and an ankle joint assembly, wherein the lower leg rod assembly is used for binding a lower leg of a wearer, and the exoskeleton ankle joint device further comprises a foot wearing assembly as described above and is used for fixing a foot of the wearer; the base plate is rotatably connected with the lower leg rod assembly through the ankle joint assembly, so that the foot of a wearer can swing relative to the lower leg.

To achieve the third purpose, the utility model adopts the following technical proposal:

in yet another aspect, an exoskeleton system is provided, comprising a waist assembly, a hip joint assembly and a thigh rod assembly connected in series; the exoskeleton ankle joint device further comprises a lower leg rod assembly which is rotatably connected with the upper leg rod assembly through a knee joint assembly.

The utility model has the advantages that: this subassembly is dressed to foot passes through adjusting device and adjusts the flexible length of tensioning band to adjust the size of wearing the space. The wearing in-process, only need penetrate the foot and dress the space and trample the sole in trampling the face, through the adjustment to adjusting device to with dressing the size of space adjustment to being suitable for oneself foot, satisfy different wearers foot size, strong adaptability. Moreover, the wearing or the dismantling of the assembly can be realized only by adjusting the adjusting device, the wearing time is shortened, and the wearing and dismantling efficiency is improved.

On the basis, the foot wearing assembly is applied to the exoskeleton ankle joint device and the exoskeleton system, a certain degree of freedom of movement can be provided for ankle joints, knee joints and hip joints of a wearer, the rehabilitation effect is improved, the efficiency of the wearer in wearing and separating from the exoskeleton can be further improved, and the wearing time is shortened.

Drawings

The present invention will be described in further detail with reference to the accompanying drawings and examples.

Fig. 1 is a schematic view illustrating a wearing state of a foot wearing assembly and an exoskeleton ankle device according to an embodiment of the present invention;

fig. 2 is a second schematic view illustrating a wearing state of the foot wearing assembly and the exoskeleton ankle apparatus according to the embodiment of the present invention;

fig. 3 is a third schematic view illustrating a wearing state of the foot wearing assembly and the exoskeleton ankle apparatus according to the embodiment of the present invention;

FIG. 4 is a perspective view of one of the foot-worn assembly and exoskeleton ankle apparatus assembly of the present invention;

FIG. 5 is a second configuration diagram of the assembly of the foot-worn assembly and exoskeleton ankle apparatus according to the embodiment of the present invention;

FIG. 6 is an exploded view of the foot-worn assembly and exoskeleton ankle apparatus according to an embodiment of the present invention;

FIG. 7 is an exploded view of the foot-worn assembly and exoskeleton ankle apparatus according to the embodiment of the present invention;

FIG. 8 is a schematic cross-sectional view of an ankle joint assembly according to an embodiment of the present invention;

fig. 9 is a schematic view illustrating a wearing state of the exoskeleton system according to the embodiment of the present invention;

fig. 10 is a second schematic view of the exoskeleton system according to the embodiment of the present invention.

In the figure: 10. a substrate; 11. treading the tread; 12. fixing a binding band; 121. a first belt body; 122. a second belt body; 13. a heel stabilizing member; 20. an adjustment device; 21. tensioning the belt; 22. a wearing space; 30. a shank rod assembly; 31. a shank support bar; 311. a guide groove; 32. a shank adjusting rod; 321. a guide block; 33. a locking mechanism; 34. a sliding bearing; 40. an ankle joint component; 41. an ankle joint output shaft; 42. an elastic reset member; 43. a sole connecting plate; 44. an ankle joint rotation axis; 50. a waist feature; 60. a hip joint assembly; 70. a thigh bar assembly; 80. and (7) pressing the block by using the torsional spring.

Detailed Description

In order to make the technical problem solved by the present invention, the technical solutions adopted by the present invention and the technical effects achieved by the present invention clearer, the embodiments of the present invention are described in further detail below, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the protection scope of the present invention.

In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, detachably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature "on," "above" and "over" the second feature may include the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

As shown in fig. 1 to 5, the present embodiment provides a foot wearing assembly, which is designed to meet the wearing requirements of the foot structures of different wearers, and improve the wearing efficiency of the foot and even the lower limb, so as to cooperate with an exoskeleton ankle joint device and an exoskeleton system to realize the rehabilitation training of the foot of the wearer.

The foot wearing component comprises a base plate 10, the foot wearing component is basically of a plate-shaped structure in the embodiment, the shape of the foot wearing component is similar to the shape of a human sole and defines a tread surface 11 in the direction parallel to the horizontal plane, a wearer can wear a personal shoe tool in the process of wearing an exoskeleton system and tread on the tread surface 11, compared with the conventional general rehabilitation shoe arranged on the foot component by the exoskeleton system, the foot wearing component can avoid the problem of abrasion of the foot of the wearer caused by the fact that the size and the structure of the rehabilitation shoe are not matched with the foot of the wearer, the comfort level of the wearer is improved, the adaptability of the wearing component is improved, and the foot wearing component is suitable for different foot sizes of the wearer.

And dress ectoskeleton ankle joint device and skeleton system at the user and be used for the in-process of rehabilitation training, the wearer tramples in base plate 10 for the foot is all the time with trample 11 contacts, at the in-process of rehabilitating like this, owing to receive the effect of self gravity and ectoskeleton system auxiliary force, the wearer sole has the sensation of atress, reach the effect that similar sole landed when walking, thereby increase the body consciousness of wearer foot atress, improve its autonomic participation and feel, and then improve the recovered effect of wearer's low limbs.

In order to achieve the effect of fast wearing and detaching between the limb of the wearer and the exoskeleton system, the foot wearing assembly further comprises an adjusting device 20 and a tension belt 21, a first end of the tension belt 21 penetrates into the adjusting device 20 and is connected with the adjusting device 20, a second end of the tension belt 21 extends out from the adjusting device 20 and extends in the direction away from the adjusting device 20, and a wearing space 22 for the foot of the wearer to be sleeved in is defined between the area between the second end of the tension belt 21 and the adjusting device 20 and the treading surface 11.

In this embodiment, the tension belt 21 is a flexible belt body, including but not limited to a belt body formed by weaving or a rope-shaped body formed by twisting, and the cross-sectional shape of the flexible belt body may be irregular shapes such as a circle and a flat shape, as long as the flexible belt body can be smoothly wound and unwound.

Adjusting device 20 is used for adjusting the extension length that tensioning band 21 stretches out adjusting device 20 to adjust the size of wearing space 22, be suitable for different wearer's foot structures and sizes, the longer the length that tensioning band 21 stretches out adjusting device 20, wearing space 22 girth is the bigger, the foot girth that can penetrate is the bigger, the shorter the length that tensioning band 21 stretches out adjusting device 20 is, wearing space 22 girth is the smaller, the foot girth that can penetrate is the smaller. The two ends of the tension belt 21 can be respectively fixed on the two sides of the base plate 10, so as to form a ring-shaped wearing structure with the treading surface 11, and also can be separated from the two sides of the base plate 10, so that the wearing part and the treading surface 11 are enclosed to form the wearing space 22 by installing other wearing parts on the base plate 10, and the adjusting device 20 and the tension belt 21 are fixed on the wearing part, so as to adjust the wearing part and achieve the purpose of adjusting the size of the wearing space 22.

The circumferential dimension refers to the inner circumferential dimension of the annular wearing member formed by connecting the tension band 21 or the wearing member to the tread surface 11.

The adjusting device 20 has a fixed state, a winding state and an unwinding state;

in the fixed state, the adjusting device 20 and the tension belt 21 are relatively fixed, so that the size of the wearing space 22 is fixed, and the feet of the wearer are stabilized;

in the rolling state, the adjusting device 20 rolls the tension belt 21, so that the tension belt 21 is accommodated in the adjusting device 20 to reduce the wearing space 22, and finally the feet of the wearer are pressed;

under the unwinding state, adjusting device 20 and tensioning belt 21 can move relatively to make tensioning belt 21 can follow the direction motion of keeping away from adjusting device 20, let dress space 22 enlarge, let the wearer's foot can break away from base plate 10, also can be adapted to different wearers' foot size structure.

Preferably, the adjusting device 20 is a ratchet take-up device, which is an existing standard product on the market at present, generally, a winding wheel is arranged inside the ratchet take-up device, a ratchet wheel is coaxially arranged with the winding wheel, a pawl for clamping or releasing the ratchet wheel is arranged outside the ratchet wheel, the winding wheel and the pawl can only rotate in a single direction under the condition that the pawl clamps the ratchet wheel, and an acting force pressing towards the direction of the ratchet wheel is continuously applied to the pawl through elastic members such as a torsion spring, a spring and the like so as to clamp the ratchet wheel and prevent the ratchet wheel from reversing. The knob is arranged outside the ratchet wheel take-up device and is coaxial with the take-up wheel, the knob can drive the ratchet wheel and the take-up wheel to rotate, the ratchet wheel has freedom degree of axial reciprocating motion, the knob is pulled or pushed along the axial direction to enable the ratchet wheel to reciprocate along the axial direction, so that clamping matching with the pawl is achieved, only unidirectional rotation can be achieved, or the ratchet wheel is separated from the pawl, and free reciprocating rotation of the ratchet wheel and the take-up wheel is achieved.

In the practical application process, one end of the tension belt 21 is wound on the periphery of the winding wheel, the tension belt 21 needs to be wound, when the wearing space 22 is narrowed, a wearer or a rehabilitee can rotate the ratchet wheel towards the counterclockwise direction or the clockwise direction (winding direction) through the knob of the knob ratchet winding device, so that the tension belt 21 is wound into the winding wheel, the second end of the tension belt 21 can gradually approach the ratchet winding device to narrow the wearing space 22, and when the knob stops rotating, the pawl can clamp the ratchet wheel in the ratchet winding device to stop the rotation of the ratchet wheel, so that the winding wheel stops rotating, the length of the tension belt 21 extending out of the ratchet winding device is fixed, and the wearing space 22 is stabilized; when the tensioning belt 21 needs to be unreeled, so as to enlarge the wearing space 22, the knob is pulled or pushed along the axial direction, so that the ratchet wheel moves along the axial direction and is separated from the matching with the pawl, the pawl releases the ratchet wheel, the effect that the ratchet wheel can freely rotate forward and backward is achieved, the take-up pulley can rotate along the unreeling direction, when the take-up pulley unreels to the length required by the foot size of a wearer, the knob can be pushed or pulled again through the accessible, the ratchet wheel recovers the matching with the pawl again, the purpose of rotation stopping of the take-up pulley is achieved, the wearer can penetrate the foot into the wearing space 22 and then readjusts the ratchet take-up device to be reeled, and the size of the wearing space 22 is matched with the circumference of the foot of the wearer as much as possible.

Further, in order to increase the effective area of securement between the foot-worn assembly and the wearer's foot, and thereby improve the stability between the wearer's foot and the exoskeleton ankle apparatus and exoskeleton system, the foot-worn assembly further comprises a securing strap 12, the securing strap 12 being a flexible strap, which has a width such that it has a sufficient contact area with the foot of the wearer, opposite ends of the fixing band 12 are pivotally connected to both sides of the base plate 10, respectively, in such a manner that the fixing band 12 can rotate with respect to the base plate 10, having a certain adaptability to the structure of the foot of the wearer, the fixing strap 12 and the tread surface 11 enclose the wearing space 22, when the foot of the wearer is inserted into the wearing space 22, the fixing strap 12 extends from one side of the foot of the wearer to the other side around the instep thereof, and finally presses the foot against the tread surface 11.

As described above, the adjusting device 20 and the tension band 21 can be connected to the base plate 10 through other wearing parts, the adjusting device 20 and the second end of the tension band 21, i.e. the end extending out of the adjusting device 20, are also fixed on the outer peripheral surface of the binding band, and under the condition that no external force is applied to the fixing binding band 12, the second end of the tension band 21 and the adjusting device 20 have a certain distance therebetween so as to provide a certain narrowed space for the fixing binding band 12.

In order to increase the adjustable range of the wearing space 22, the fixing band 12 is a split structure, and includes a first band 121 and a second band 122, one end of the first band 121 and one end of the second band 122 are respectively pivoted to two opposite sides of the base plate 10, in this embodiment, two sides of the base plate 10 refer to left and right sides in the length direction of the base plate 10, and the other ends of the first band 121 and the second band 122 extend in a direction approaching each other, in the absence of external force, the first band 121 and the second band 122 are both arc-shaped structures, and form a ring-shaped wearing structure in cooperation with the treading surface 11, in order to make the foot of the wearer keep stable with the base plate 10 during wearing, in the absence of external force, one end of the first band 121 and the second band 122 are partially overlapped, even if the circumference of the foot of the wearer is large, the first strap 121 and the second strap 122 have a sufficient length to wrap around the sides and back of the wearer's foot to ensure a sufficient contact area with the wearer's foot.

The second ends of the adjusting device 20 and the tension belt 21 are fixed to the first belt 121 and the second belt 122, respectively, in this embodiment, the tension belt 21 extends out of one end of the adjusting device 20, the adjusting device 20 is fixed on the second belt body 122 through a hook arranged on the second belt body 122, and through unwinding and winding of the tension belt 21, thereby allowing the first belt body 121 and the second belt body 122 to move in a direction to approach each other, narrowing the wearing space 22, or both, can be released to allow the wearing space 22 to be enlarged by applying an external force, in this embodiment, the first belt body 121 is made of hard material, the second belt body 122 is made of flexible material, by arranging the ratchet wheel take-up device on the first belt body 121, thereby let the tensioning belt 21 pull the second belt body 122 as the flexible material, make the second belt body 122 can compress tightly the person's foot of wearing, improve the rigidity of wearing the structure, further improve the stability between foot and the base plate 10.

Preferably, in order to make the foot of the wearer more stable when wearing the exoskeleton system, the adjusting device 20 and the tension band 21 are disposed near the first end of the base plate 10 for cooperating with the tread surface 11 to stabilize the instep of the wearer, and the second end of the base plate 10 is disposed with the heel stabilizing member 13 for cooperating with the tread surface 11 to stabilize the heel of the wearer.

Further, the tread surface 11 includes three areas connected in sequence, a heel area located at the rear of the sole, a sole center area located at the middle of the sole and a front sole area located at the front of the sole, the first belt 121 and the second belt 122, the adjusting device 20 and the tensioning belt 21 disposed on the first belt 121 and the second belt 122 are disposed at two sides of the front sole area or the sole center area, so that the first belt 121 and the second belt 122 can wrap the instep and two sides during the wearing process of the wearer.

And heel stabilizer 13 is for setting up in the arc plate of base plate 10 tip in this embodiment, its structure can match with the wearer heel, it has the through-hole to open at the middle part of arc plate, make the wearer heel can partly protrusion in heel stabilizer 13, more be suitable for ergonomic, the wearer heel is through pasting in heel stabilizer 13 and trample in root region back, first area body 121 and second area body 122 are with the instep support press in arch region and preceding sole region, realize stably wearing.

In the process of wearing the foot wearing assembly, the pawl in the ratchet take-up device is released to the ratchet wheel, so that the first belt body 121 and the second belt body 122 are in a free state, the heel of a wearer treads on the treading surface 11 and abuts against the heel stabilizing piece 13, stable wearing of the heel is realized, then the ratchet wheel is matched with the pawl by pushing or pulling a knob on the ratchet take-up device, and then the knob is screwed to enable the take-up wheel to rotate towards the take-up direction, so that the tensioning belt 21 is continuously rolled into the ratchet take-up device, the second belt body 122 is pulled to approach towards the first belt body 121, the wearing space 22 is narrowed, and finally, the back of the foot of the wearer is pressed on the treading surface 11 by the first belt body 121 and the second belt body 122, and the foot wearing is completed;

in the process of disassembling the foot wearing assembly, the above-mentioned operation is performed, the ratchet wheel is disengaged from the pawl by pushing or pulling the knob on the ratchet wheel take-up device, the take-up pulley is enabled to rotate towards the unwinding direction, the tension belt 21 is unwound to release the ratchet wheel take-up device, the first belt body 121 and the second belt body 122 are enabled to loosen the constraint on the foot of the wearer, and the foot of the wearer can be released from the wearing space 22.

Further, the exoskeleton ankle apparatus includes a lower leg bar assembly 30 for binding the lower leg of the wearer for synchronous movement with the lower leg of the wearer, and an ankle assembly 40 for securing the foot of the wearer.

The base plate 10 is rotatably connected with the lower leg rod assembly 30 through the ankle joint assembly 40, so that the foot of a wearer can swing relative to the lower leg, a degree of freedom capable of rotating back and forth is provided between the foot and the lower leg of the wearer, and the ankle can be swung and rotated like a normal traveling process in the rehabilitation process of the wearer, so that walking is realized.

Specifically, the ankle joint assembly 40 includes an ankle joint output rod 41, one end of the ankle joint output rod 41 is fixed to the base plate 10 and is non-rotatable with the base plate 10, and the other end of the ankle joint output rod 41 is pivoted to the lower leg rod assembly 30, so that the degree of freedom of movement of the base plate 10 and the lower leg rod assembly 30 is realized through the pivoting relationship.

In this embodiment, since the lower leg rod assembly 30 is disposed close to the lower leg of the wearer, the lower leg rod assembly 30 can be better driven during the lower leg exercise of the wearer during the rehabilitation exercise, and the ankle joint output rod 41 is disposed at one side of the lower leg rod assembly 30 away from the leg of the wearer, therefore, a certain distance is provided between the ankle joint output rod 41 and the foot and the substrate 10 of the wearer, in order to compensate for the distance, the ankle joint output rod 41 and the substrate 10 can be smoothly connected, a sole connecting plate 43 for fixedly connecting the base plate 10 and the ankle joint output rod 41 is disposed between the substrate 10 and the ankle joint output rod 41, the sole connecting plate 43 is a plate-shaped structure, one end of the sole connecting plate 43 is fixedly inserted into the side of the substrate 10, the connection strength between the sole connecting plate 43 and the substrate 10 is improved by gluing, the other side of the sole connecting plate 43 is fixedly connected with the ankle joint output rod 41 by bolts, thereby allowing movement of the wearer's foot to move the ankle output lever 41 relative to the lower leg lever assembly 30 via the base plate 10.

As shown in fig. 6-8, in order to improve the rehabilitation effect, an elastic restoring member 42 is disposed between the ankle joint output rod 41 and the lower leg rod assembly 30, the elastic restoring member 42 is preferably a torsion spring, the ankle joint output rod 41 and the lower leg rod assembly 30 are pivotally connected through the cooperation of an ankle joint rotating shaft 44 and shaft holes on the lower leg rod assembly 30, in order to prolong the service life of the joint, two sliding bearings 34 are disposed on opposite sides of the lower leg rod assembly 30, the shaft holes in the two sliding bearings 34 are communicated, the ankle joint rotating shaft 44 is rotatably threaded in the two sliding bearings 34, the elastic restoring member 42 is sleeved outside the ankle joint rotating shaft 44, two torsion arms of the torsion spring are respectively fixed through torsion spring pressing blocks 80 disposed on the lower leg rod assembly 30 and the ankle joint output rod 41, and two ends of the elastic restoring member 42 are respectively fixed with the lower leg rod assembly 30 and the ankle joint output rod 41, the ankle joint restoring device is used for providing acting force opposite to the movement direction for the ankle joint of a wearer in the foot movement process, so that the restoring effect is improved, and further, when the ankle joint output rod 41 rotates relative to the shank rod assembly 30, the ankle joint output rod can be subjected to the torsion moment of the elastic restoring piece 42, and the torsion moment provided by the elastic restoring piece 42 can maintain the balance of the ankle joint of the wearer in the process of carrying out rehabilitation training by wearing the exoskeleton system, so that the ankle joint can be kept in an upright state.

Specifically, in order to adapt the lower leg rod assembly 30 to the lower leg lengths of different wearers, the lower leg rod assembly 30 includes a lower leg support rod 31 and a lower leg adjustment rod 32, one end of the lower leg adjustment rod 32 is movably connected to the lower leg support rod 31 and can reciprocate along the radial direction of the lower leg support rod 31 to adjust the length of the lower leg rod assembly 30, the other end of the lower leg adjustment rod 32 is pivotally connected to the ankle joint output rod 41, and the sliding bearings 34 are all disposed at one end of the lower leg adjustment rod 32 away from the lower leg support rod 31.

Further, a locking mechanism 33 is arranged between the lower leg support rod 31 and/or the lower leg adjusting rod 32, the locking mechanism 33 is used for locking or releasing the lower leg support rod 31 and the lower leg adjusting rod 32, so that the lower leg adjusting rod 32 can move or be fixed relative to the lower leg support rod 31, a wearer or a rehabilitation teacher can adjust the length of the lower leg adjusting rod 32 extending out of the lower leg support rod according to the length of the lower leg, a rotating shaft of a knee joint assembly, which is positioned at one end, far away from the lower leg adjusting rod 32, of the lower leg support rod 31 can be arranged right opposite to the knee joint of the wearer, the height matching of the exoskeleton and the limb joint of the wearer is ensured, the rotation of the exoskeleton system is ensured to be aligned with the joint rotation center of the wearer, the effective output of the power of the exoskeleton system is ensured, and the safety of the wearer is ensured.

Preferably, the lower leg support rod 31 is provided with a guide groove 311, and the lower leg adjustment rod 32 is provided with a guide block 321; or, the lower leg support rod 31 is provided with a guide block 321, and the lower leg adjustment rod 32 is provided with a guide groove 311; the guide block 321 is reciprocally movable along a stroke range defined by the guide slot 311.

The utility model provides an ectoskeleton ankle joint device can realize the recovered training of stretching out and bending around the wearing person's ankle joint, simultaneously through ankle joint output rod 41 in order to realize that the wearing person is recovered of walking, the self gravity of wearing person falls on sole and base plate 10, rather than being undertaken by the foot of wearing person self, and it has greatly improved wearing person's focus holding power and recovered in-process uninstallation ability, has improved the rehabilitation performance.

Moreover, the assembly is worn by the foot, so that the wearing efficiency of the exoskeleton ankle joint device can be improved, and the time consumption in the wearing process is reduced.

In the early and acute rehabilitation period of patients with apoplexy, cerebral palsy and the like, the brain nervous system interrupted and disordered due to brain tissue injury is often required to be awakened and remodeled through joint movement, and simultaneously, the muscle strength can be improved through the joint movement, and other diseases such as muscular atrophy, pressure sore generation of limbs and the like can be avoided.

As shown in fig. 9 and 10, the wearer can assist in rehabilitating his or her lower limbs by wearing an exoskeleton system, which includes, in addition to the exoskeleton ankle apparatus described above, a waist assembly 50, a hip assembly 60, and a thigh bar assembly 70 connected in series, with the shank bar assembly 30 being pivotally connected to the thigh bar assembly 70 via a knee joint assembly.

The lumbar assembly 50 is used to secure the waist of the wearer and serves as the primary support component of the overall exoskeleton system, ensuring that the system joints are aligned with the wearer's lower extremity joints; a hip joint assembly 60, which is mainly used for adjusting the relative width of the thigh rod assembly 70 and the shank rod assembly 30, and provides a plurality of degrees of freedom of movement of the legs without the legs of the wearer, so that the system has higher adaptability, and provides the hip joint of the wearer with degrees of freedom of movement in different directions; the thigh rod assembly 70 is used for fixing the thigh of the wearer and is connected with the shank rod assembly 30 fixed on the shank of the wearer through the knee joint assembly, so that the flexion and extension freedom degree is provided for the knee joint of the wearer; finally, the foot-worn assembly provides a degree of freedom of movement to the wearer's ankle via the ankle assembly 40, thereby providing support to the wearer's lower limb during rehabilitation.

In the description herein, it is to be understood that the terms "upper," "lower," "left," "right," and the like are used merely for convenience in description and simplicity in operation, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting. Furthermore, the terms "first" and "second" are used merely for descriptive purposes and are not intended to have any special meaning.

In the description herein, references to the description of "an embodiment," "an example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be appropriately combined to form other embodiments as will be appreciated by those skilled in the art.

The technical principle of the present invention is described above with reference to specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without any inventive effort, which would fall within the scope of the present invention.

Claims (10)

1. A foot-worn assembly, comprising:

a base plate (10) defining a tread surface (11);

an adjustment device (20);

a tension belt (21) with a first end penetrating into the adjusting device (20) and a second end extending away from the adjusting device (20) and defining a wearing space (22) with the treading surface (11);

the adjusting device (20) is used for adjusting the extension length of the tension belt (21) so as to adjust the size of the wearing space (22).

2. A foot wear assembly according to claim 1, wherein the adjustment device (20) is a ratchet take-up.

3. The foot-worn assembly of claim 1, further comprising:

the two opposite ends of the fixing binding band (12) are respectively pivoted to the two sides of the base plate (10) and enclose the treading surface (11) to define the wearing space (22);

the adjusting device (20) and the second end of the tensioning belt (21) are fixed on the outer peripheral surface of the fixing bandage (12) at intervals.

4. A foot-worn assembly according to claim 3, wherein the securing strap (12) comprises:

the first belt body (121) and the second belt body (122), one end of the first belt body (121) and one end of the second belt body (122) are respectively pivoted to two opposite sides of the substrate (10), and the other ends of the first belt body (121) and the second belt body (122) extend towards the direction of mutual approaching;

the second ends of the adjusting device (20) and the tension band (21) are fixed to the first band body (121) and the second band body (122), respectively.

5. The foot wear assembly according to claim 1, characterized in that the adjustment device (20) and the tension belt (21) are arranged close to a first end of the base plate (10) for cooperating with the tread (11) for stabilizing the instep of the wearer;

the second end of the base plate (10) is provided with a heel stabilizing piece (13) which is used for being matched with the treading surface (11) to stabilize the heel of the wearer.

6. An exoskeleton ankle device comprising a shank rod assembly (30) and an ankle assembly (40), the shank rod assembly (30) for binding a wearer's shank, further comprising:

a foot-worn assembly as claimed in any one of claims 1 to 5, for securing a wearer's foot;

the base plate (10) is rotatably connected to the lower leg bar assembly (30) via the ankle joint assembly (40) to enable the foot of the wearer to swing relative to the lower leg.

7. The exoskeleton ankle joint device according to claim 6, wherein the ankle joint assembly (40) comprises:

an ankle joint output rod (41) having one end fixed to the base plate (10) and the other end pivoted to the shank rod assembly (30);

an elastic reset piece (42) is arranged between the ankle joint output rod (41) and the lower leg rod assembly (30), and two ends of the elastic reset piece (42) are respectively fixed with the lower leg rod assembly (30) and the ankle joint output rod (41) relatively.

8. The exoskeleton ankle joint device according to claim 7, wherein the shank rod assembly (30) comprises:

a lower leg support bar (31);

one end of the shank adjusting rod (32) is movably connected with the shank supporting rod (31) and can reciprocate along the radial direction of the shank supporting rod (31) to adjust the length of the shank rod assembly (30), and the other end of the shank adjusting rod is in pin joint fit with the ankle joint output rod (41);

a locking mechanism (33) is arranged between the lower leg support rod (31) and/or the lower leg adjusting rod (32), and the locking mechanism (33) is used for locking or releasing the lower leg support rod (31) and the lower leg adjusting rod (32) so that the lower leg adjusting rod (32) can move or be fixed relative to the lower leg support rod (31).

9. The exoskeleton ankle joint device according to claim 8, wherein the shank support rod (31) is provided with a guide groove (311), and the shank adjusting rod (32) is provided with a guide block (321);

or the lower leg support rod (31) is provided with a guide block (321), and the lower leg adjusting rod (32) is provided with a guide groove (311);

the guide block (321) can move back and forth along the travel range limited by the guide groove (311).

10. An exoskeleton system comprising a waist assembly (50), a hip joint assembly (60) and a thigh bar assembly (70) connected in series; further comprising:

the exoskeleton ankle device according to any one of claims 6 to 9, wherein said shank rod assembly (30) is pivotally connected to said thigh rod assembly (70) by a knee joint assembly.

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