CN217317988U

CN217317988U - Ankle joint supporting part, ankle joint device and exoskeleton system

Info

Publication number: CN217317988U
Application number: CN202220305788.7U
Authority: CN
Inventors: 尹鹏; 石磊
Original assignee: Guangzhou Shiyuan Electronics Thecnology Co Ltd; Guangzhou Shirui Electronics Co Ltd
Current assignee: Guangzhou Sipeng Technology Co ltd
Priority date: 2022-02-15
Filing date: 2022-02-15
Publication date: 2022-08-30
Anticipated expiration: 2032-02-15

Abstract

The utility model discloses an ankle joint support part, ankle joint device and ectoskeleton system relates to mechanical joint's technical field, and ankle joint support part includes first connecting piece and second connecting piece, and first connecting piece is connected and is the contained angle setting with the second connecting piece. The second connecting piece provides an installation space of the shoe assembly, and the first connecting piece inclines towards the direction close to the installation space, so that the inclination direction of the first connecting piece relative to the second connecting piece is the same as the direction of the moment transmitted to the second connecting piece by the first connecting piece in a loaded state. In the process of putting on or taking off the exoskeleton system or wearing the exoskeleton system, the situation that the ankle joint supporting part is continuously bent repeatedly in the opposite direction to cause accelerated fatigue of materials is avoided through the arrangement mode. Effectively reduce the fracture risk of ankle joint supporting part, prolong the holistic life of part, device and even ectoskeleton system, improve the use experience of wearing person.

Description

Ankle joint supporting part, ankle joint device and exoskeleton system

Technical Field

The present disclosure relates to the field of mechanical joint technology, and more particularly, to an ankle joint support member, an ankle joint device, and an exoskeleton system.

Background

The mechanical exoskeleton is a mechanical device which can be worn by a human body, is mainly used for assisting the limb of a wearer to move, and is widely applied to the fields of medicine, building, military and the like.

In the ankle joint device of current mechanical ectoskeleton, the ankle joint subassembly is generally connected with the shoes subassembly through the L type board of bending, the L type one end of the board of bending is connected with the ankle joint subassembly, its other end sets up the inside or the bottom at the shoes subassembly, under the state of dressing, the ankle joint subassembly can receive the pressure that bears a burden and the ectoskeleton is applyed, thereby apply the moment of torsion of keeping away from the person's of dress orientation to the axle of bending of the L type board of bending, generally speaking, the direction of this moment is opposite with the direction of bending of the L type board of bending, this moment makes the L type board of bending have the trend of outside upset, lead to the L type board of bending department bending flexural deformation fatigue damage, finally lead to the department of bending deformation or even fracture, greatly reduced the life of ectoskeleton system.

SUMMERY OF THE UTILITY MODEL

The purpose of the disclosed embodiment is: the technical problems in the prior art that an ankle joint supporting part is easy to damage, the ankle joint device and a mechanical exoskeleton are short in service life and the like are solved.

In order to achieve the purpose, the following technical scheme is adopted in the disclosure:

in a first aspect, there is provided an ankle support member comprising:

a first connector for providing a mounting location for the ankle joint assembly;

the second connecting piece is used for connecting the shoe assembly, the second connecting piece provides the installation space of the shoe assembly, one end of the first connecting piece is connected with the second connecting piece and is arranged at an included angle, the other end of the first connecting piece faces to be close to the installation space, and the first connecting piece extends obliquely in the direction, so that the first connecting piece is opposite to the oblique direction of the second connecting piece, and the moment direction of the second connecting piece is the same when the first connecting piece is in a load bearing state.

As an alternative embodiment, the first connecting piece and the second connecting piece are integrally formed.

As an alternative embodiment, a side of the first connecting piece close to the second connecting piece forms a first pressure surface, and a side of the second connecting piece close to the first connecting piece forms a second force-bearing surface;

the first pressure surface and the second stress surface are arranged at an angle to form a setting space, and the installation space is located on the adjacent side of the setting space far away from the first connecting piece.

As an optional implementation manner, reinforcing ribs are arranged in the arrangement space, and the reinforcing ribs are respectively connected with the first connecting piece and the second connecting piece.

As an alternative embodiment, the reinforcing rib is in a plate structure, and the reinforcing rib is perpendicularly connected to the first pressing surface and the second force bearing surface.

As an alternative embodiment, the reinforcing bar comprises:

the first pressing surface is connected with the first pressing surface, and one end of the first pressing surface, which is close to the second stress surface, extends towards one end of the first pressing surface, which is close to the direction of the installation space;

and the second board side is connected with the second stress surface, and the second board side extends from one end, close to the first connecting piece, of the second stress surface to one end, close to the installation space direction, of the second board side.

In a second aspect, there is provided an ankle joint device comprising:

the ankle support member as described above;

and the ankle joint component is connected with the first connecting piece and provides the freedom degree of movement of the ankle joint.

As an alternative embodiment, a side of the first link remote from the second link forms a first force-bearing surface, which provides a mounting location for the ankle joint assembly;

the ankle component assembly is formed with a mounting surface that is parallel to the first force-bearing surface in a state where the ankle component is fitted to the first connector.

As an alternative embodiment, a tread surface is formed on one side of the second connecting piece far away from the first connecting piece, and the tread surface and the first stress surface are arranged at an angle alpha;

the mounting surface and the central extension line of the ankle joint are arranged at an angle beta;

the sum of the angle alpha and the angle beta is larger than 90 degrees, so that the moment applied to the first connecting piece by the ankle joint component in the state that the ankle joint component is assembled on the first connecting piece is the same as the inclination direction of the first connecting piece relative to the second connecting piece.

As an optional implementation, the method further includes:

and the shoe assembly is connected with the second connecting assembly and is positioned in the mounting space to provide a foot wearing space.

In a third aspect, there is provided an exoskeleton system comprising:

the ankle joint device as described above.

The beneficial effect of this disclosure does: the first connecting piece and the second connecting piece of the ankle joint supporting part are bent to form an angle, the first connecting piece extends towards the direction close to the installation space in an inclined mode, in the application of the ankle joint device, the ankle joint assembly is connected with the first connecting piece, the exoskeleton system and the load weight exert certain torque on the first connecting piece through the ankle joint assembly, and the direction of the torque is the same as the direction of the first connecting piece inclined relative to the second connecting piece, namely the bending direction of the ankle joint supporting part.

Wear to take off at outer skeleton system, or in the wearing process of outer skeleton system, can bend repeatedly the junction of first connecting piece and second connecting piece between first connecting piece and the second connecting piece, be the form of buckling after first connecting piece is connected with the second connecting piece, through foretell mode of setting up, the relative direction of bending of first connecting piece and second connecting piece is the same with the axle direction of bending between the two, avoided ankle joint supporting component constantly to bend towards the opposite direction with the direction of bending and lead to the condition of material accelerated fatigue. Therefore, the scheme that the inclination direction of the first connecting piece is the same as the bending direction of the whole ankle joint supporting part is adopted, the fracture risk of the ankle joint supporting part can be effectively reduced, the service life of the parts, the device and even the whole exoskeleton system is prolonged, the fatigue speed of the material is reduced, the hardening speed of the material can be delayed, the wearing and the use of a wearer are facilitated, and the wearer still has better use experience after using the exoskeleton system for a long time.

Drawings

The present disclosure is described in further detail below with reference to the figures and examples.

Fig. 1 is a schematic structural diagram illustrating a wearing state of an exoskeleton system according to an embodiment of the present disclosure;

fig. 2 is a second structural diagram illustrating a wearing state of the exoskeleton system according to the second embodiment of the present disclosure;

FIG. 3 is a front view of an assembled state of the ankle apparatus according to the embodiment of the present disclosure;

FIG. 4 is a force analysis diagram of an ankle apparatus according to an embodiment of the present disclosure;

FIG. 5 is an exploded view of an ankle apparatus portion fitting according to an embodiment of the disclosure;

FIG. 6 is a schematic view of an ankle support according to an embodiment of the disclosure;

FIG. 7 is a schematic view of an ankle joint connector according to an embodiment of the disclosure;

FIG. 8 is a second schematic view of an ankle joint connecting member according to an embodiment of the present disclosure.

In the figure: 10. an ankle support member; 11. a first connecting member; 111. a first pressing surface; 112. a first force-bearing surface; 12. a second connecting member; 121. a second force-bearing surface; 122. treading a tread surface; 13. an installation space; 14. setting a space; 15. reinforcing ribs; 151. a first board side; 152. a second plate side; 20. an ankle joint component; 21. a mounting surface; 22. a leg connecting member; 23. a first movable member; 24. a second movable member; 25. an ankle joint connector; 30. a footwear assembly; 31. a substrate; 311. a heel support surface; 40. a back frame; 50. a hip joint assembly; 60. a leg assembly.

Detailed Description

In order to make the technical problems solved, technical solutions adopted, and technical effects achieved by the present disclosure clearer, the following describes technical solutions of embodiments of the present disclosure in further detail, and it is obvious that the described embodiments are only some embodiments of the present disclosure, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.

In the description of the present disclosure, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably 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 disclosure can be understood in specific instances by those of ordinary skill in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise the first and second features being in direct contact, or may comprise the first and second features being in contact, not directly, but via another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely 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. 6, the present embodiment provides an ankle supporting part 10, wherein the ankle supporting part 10 is applied to an ankle device of a mechanical exoskeleton, the ankle supporting part 10 is formed by bending between a first connecting piece 11 and a second connecting piece 12, and the first connecting piece 11 is bent towards a side close to a wearer, so as to reduce the risk of fracture of the forced bending, and effectively prolong the service life of the ankle supporting part 10.

The exoskeleton system in this embodiment is a non-invasive mechanical device directly equipped on human body, and the current mechanical exoskeleton system generally includes two forms of active and passive. The active mechanical exoskeleton is an exoskeleton system which drives or assists to drive joints of all parts of a wearer to move through driving devices such as a motor; the passive mechanical exoskeleton is an exoskeleton system which does not have a driving device and only assists the joint parts of a wearer to move through a mechanical structure. After a wearer wears the exoskeleton system, the exoskeleton system can play roles in supporting a human body, assisting the human body to move, reducing the sense of load and the like.

The ankle joint support part 10 of the present embodiment can be applied to an active exoskeleton system as well as a passive exoskeleton system, and particularly for the passive exoskeleton, the inventors of the present application have found through long-term research that: the long-term walking and running are needed by operating personnel engaged in the field of logistics transportation, building transportation, automobile assembly, airplane assembly, fire rescue, sanitation, military and other scenes, and the load may need to be carried in the process, for this reason, the load and the exoskeleton weight can be transmitted to the bottom of the shoe assembly 30 through the ankle joint device, and the ankle joint support part 10 is located at the ankle joint device and used for connecting the ankle joint assembly 20 and the shoe assembly 30 and is easy to deform or even break under the influence of moment generated by gravity in the process of repeated stress. To this end, the present application provides the following examples.

Referring to fig. 1-2, the present embodiment provides an exoskeleton system, and in general, a passive exoskeleton system includes a back frame 40, a hip joint assembly 50, a leg joint assembly and a shoe assembly 30, in order to enable the exoskeleton system to be worn on a human body and assist the movement of a limb of a wearer, wearing assemblies are disposed on each of the above parts to provide a wearing space for the wearer, and the wearing assemblies are generally flexible wearing belts adapted to different limb sizes and lines, and the specific structure thereof is not described herein in detail.

The back frame 40 is used for fixing the mechanical exoskeleton and the waist and back part of a wearer and has a load bearing function, and in the active exoskeleton structure, the back frame 40 is generally replaced by a waist component and is bound with the waist of the wearer, so that the positioning accuracy and the man-machine fit degree of each part of the exoskeleton system can be improved. The first side of the hip joint assembly 50 is fixedly connected to one end of the back frame 40 worn on the waist of the wearer, and the second side of the hip joint assembly 50 is movably connected to the leg assembly 60, and generally, in order to adapt the hip joint structure of the human body to the hip joint assembly 50, the hip joint assembly 50 generally has two or more degrees of freedom of movement, thereby providing the degree of freedom of movement of the hip joint of the human body. The leg assembly 60 includes a thigh portion and a lower leg portion, wherein one end of the thigh portion is rotatably connected to the hip joint assembly 50 to provide a degree of freedom for the thigh, or hip joint portion, of the human body, and the other end of the thigh portion is pivotally connected to the lower leg portion to provide a degree of freedom for the knee joint of the human body. Footwear assembly 30 provides a secure space for the foot of the wearer's shoe, and in general, footwear assembly 30 includes a base plate 31 for securing the wearer's shoe and a wear assembly disposed about base plate 31, but in another arrangement, footwear assembly 30 includes a shoe that the wearer can directly penetrate the foot into the footwear of the exoskeleton system itself to complete the wear with footwear assembly 30. Footwear assembly 30 is connected to the lower leg portion via ankle assembly 20 and provides the wearer with freedom of movement of the ankle.

As shown in fig. 3, which is a schematic diagram of an overall structure of the ankle joint supporting part 10 according to this embodiment, the ankle joint supporting part 10 includes a first connecting member 11 and a second connecting member 12, in this embodiment, the first connecting member 11 and the second connecting member 12 may be sheet metal parts (stainless steel plates, aluminum plates, copper plates, hot rolled steel plates, etc.), carbon plates, plastic plates, etc. suitable for being formed by welding, screwing, bending and forming processes, etc., in this embodiment, taking material parts that are bent into an integral bending structure as an example, the first connecting member 11 and the second connecting member 12 are bent at an included angle, one end of the first connecting member 11 is connected to the second connecting member 12, the other end of the first connecting member 11 extends obliquely toward a direction close to the installation space 13, the ankle joint supporting part 10 is bent to divide it into two flat plate parts arranged at an angle, one of the plate parts is defined as the first connecting member 11, the other section of the plate member is defined as the second connecting member 12 described above.

The first connecting piece 11 provides a mounting position of the ankle joint assembly 20 for being matched and connected with the ankle joint assembly 20, the second connecting piece 12 provides a mounting space 13 of the shoe assembly 30 for being connected with the shoe assembly 30, as shown in fig. 3, through the above processing mode, the first connecting piece 11 and the second connecting piece 12 in the horizontal projection direction are approximately in a shape of "angle", so that the included angle between the first connecting piece 11 and the second connecting piece 12 forms an acute angle, the angle range of the included angle is not particularly limited in this embodiment, as long as a space enough for mounting the shoe assembly 30 is provided on the second connecting piece 12, and when the first connecting piece 11 is connected with the ankle joint assembly 20, the first connecting piece 11 has a tendency of further bending towards the bending direction.

As shown in FIG. 4, in the application of the ankle joint device and the exoskeleton system, the ankle joint assembly 20 is installed on the first connecting member 11, the second connecting member 12 is connected with the shoe assembly 30, the weight of the exoskeleton system and the load is transmitted to the bottom of the shoe assembly 30 through the ankle joint assembly 20 via the ankle joint supporting member 10, as shown in the stress analysis diagram of the assembled state of the ankle joint device and the ankle joint assembly 20, the gravity F1 of the exoskeleton system and the load is transmitted to the bottom of the shoe assembly 30 through the ankle joint supporting member 10, because the first connecting member 11 is obliquely arranged towards the direction of the installation space 13, the gravity F1 applies a moment T1 of further bending towards the direction of the installation space 13 to the first connecting member 11, and the moment T1 is in the same bending direction as the bending axis of the ankle joint supporting member 10, that is the oblique direction of the first connecting member 11 relative to the second connecting member 12 and the moment direction transmitted to the second connecting member 12 by the first connecting member 11 in the loaded state Also, the ankle support member 10 avoids bending in the opposite direction to the bending direction, thereby avoiding the occurrence of fatigue deformation fracture of the material due to repeated bending. In the micro field, the direction of the moment applied to the material is opposite to the bending direction of the material, and compared with the scheme that the direction of the moment applied to the material is the same as the bending direction of the material, the material is more easily damaged, the damage crack growth speed is higher, the material reaches the critical strength more quickly, and finally the damage crack growth speed is converted into the condition of macroscopic cracks and fractures. In addition, in the bending process, a certain internal stress is stored in the inward bent part, and the internal stress can offset a part of the moment T1, so that the fatigue resistance of the part is better.

As shown in fig. 4, in order to facilitate understanding, the present embodiment further describes the structure and stress condition of the conventional ankle support part 10, the shape of the conventional ankle support part 10 in the horizontal projection direction is substantially an "L" shaped structure, due to the reason that the center extension lines L1 of the respective members of the exoskeleton system do not completely coincide with the joint center line of the wearer, the ankle supporting members 10 can be disposed only on the inner or outer sides of the wearer's ankles in a state of being staggered with respect to the wearer's ankles, and therefore, in the "L" shape of the ankle support member 10, the exoskeleton system and the weight of the load will generate a moment on the vertically disposed plates of the ankle support member 10 that bends away from the wearer, this moment is in the opposite direction to the bending axis of the existing ankle support part 10, thereby increasing the risk of fracture of the existing ankle support part 10.

The material fracture is specifically bending fatigue fracture, and fatigue failure of the material under the action of alternating bending stress is called bending fatigue fracture. Alternating stress, also known as cyclic stress, repetitive stress, is a stress that varies periodically with time. The reason for this is that the load changes periodically or the load is constant and the member moves periodically. Since the wearer of the exoskeleton system cannot ensure that the acting force generated by the exoskeleton system is the same when stepping each time in the walking and running processes, and the weight of the load carried by the wearer may also change, the whole exoskeleton system, especially the ankle joint support part 10, needs to continuously bear alternating stress in the wearing state, thereby increasing the risk of fatigue failure of the part.

Taking a part formed by a bending process as an example, the plate is deformed from elastic deformation to elastic-plastic deformation until permanent plastic deformation is generated in the bending process, the inner surface and the outer surface of the plate firstly enter a plastic state along with the increase of the deformation degree, then the inner surface and the outer surface of the plate expand inwards, and finally the whole plate is in the plastic deformation state.

Specifically, the principle that the direction of the received moment is opposite to the bending direction of the bending shaft and is easier to break is as follows: during the bending process of the material, the outward-folded outer layer material is stretched, the inward-folded inner layer material is compressed, during the deformation process of the material, a layer which is not stretched nor compressed exists to become a strain neutral layer, the strain neutral layer is taken as a boundary, the outer layer fibers are pulled to thin the thickness, and the inner layer fibers are compressed to thicken the thickness. The position of the strain neutral layer is related to the degree of deformation, and the smaller the bending radius, the greater the degree of deformation, and the position of the neutral layer is shifted inward toward the bending center. The repeated bending of the material in the positive and negative directions is actually the process of plastic deformation of the material for many times. Taking a sheet metal part as an example, polycrystalline slippage can be started along with the rotation of material grains when plastic deformation is generated by stress, and in addition, the action of a grain boundary can promote the start of an in-crystal dislocation source to continuously generate dislocation. The motion of dislocations is formed by the movement of atoms and vacancies. These dislocations, which are continuously generated, move to the grain boundary or annihilate at the surface under the action of external stress, and a large number of vacancies are generated at the grain boundary and the surface. When the material is repeatedly bent forwards and backwards, the inner side and the outer side of the material are switched in the range regardless of stretching and compression, based on the principle, very fine gaps are formed in the material, local stress is uneven due to the existence of the irregular gaps, the stress does not exceed the bearing of the material macroscopically, however, the local stress probably exceeds the bearing of the material, the material of the parts is damaged, under the condition of repeated bending, the damage expansion speed is accelerated, and compared with the scheme that the torque direction and the bending direction are in the same direction, the whole material is more quickly broken.

In connection with the above-mentioned scheme, the ankle joint supporting part 10 is a plate structure, and the first pressing surface 111 is formed on the side of the first connecting part 11 close to the second connecting part 12, and the second force-bearing surface 121 is formed on the side of the second connecting part 12 close to the first connecting part 11. The first pressure surface 111 and the second force-bearing surface 121 are arranged at an angle to form an arrangement space 14, on the basis that the first pressure surface 111 and the second force-bearing surface 121 are both planar, because the first connecting piece 11 is arranged obliquely, the first pressure surface 111 and the second force-bearing surface 121 are also approximately shaped like a "angle", an approximately triangular area is formed between the two surfaces, namely the arrangement space 14, and the installation space 13 formed by the second connecting piece 12 is located at one end of the second connecting piece 12, which is far away from the first connecting piece 11, namely the adjacent side of the arrangement space 14, which is far away from the first connecting piece 11.

In one embodiment, in order to increase the deformation range of the bending shaft between the first connecting member 11 and the second connecting member 12 and further reduce the risk of breakage at the bending position between the first connecting member 11 and the second connecting member 12, an arc bending section is arranged between the first connecting member 11 and the second connecting member 12.

As shown in fig. 3-4 and 6, in order to further enhance the structural strength of the ankle joint supporting part 10, a reinforcing rib 15 is disposed in the installation space 14, the reinforcing rib 15 is respectively connected with the first connecting member 11 and the second connecting member 12, the reinforcing rib 15 is disposed at a side of the first connecting member 11 where the moment T1 is formed, so as to support the first connecting member 11, in the application of the ankle joint device and the exoskeleton system, the exoskeleton system generates a further bending moment F1 towards a direction close to the second connecting member 12 to the first connecting member 11 through the ankle joint assembly 20, the second connecting member 12 can be viewed as supporting on a supporting plane through the connection with the shoe assembly 30, wherein the supporting plane is generally towards a plane where a wearer is located or other irregular planes, the moment F1 can be carried by the reinforcing rib 15 disposed in the installation space 14, therefore, the gravity F1 of part of the exoskeleton system and the load can be transmitted to the second connecting piece 12 and the bottom of the shoe assembly 30 through the reinforcing ribs 15, the rigidity between the first connecting piece 11 and the second connecting piece 12 is enhanced, and under the condition of the same gravity F1, the relative deformation degree of the first connecting piece 11 and the second connecting piece 12 is reduced, so that the connecting end of the first connecting piece 11 and the second connecting piece 12 is effectively protected, and the risk of deformation and fracture between the first connecting piece 11 and the second connecting piece 12 is further reduced.

It is understood that the reinforcing rib 15 may be disposed between the first pressing surface 111 and the second force-bearing surface 121 by welding, bonding, snap-fit connection, screwing, etc., and the embodiment is not particularly limited to a specific processing technique or a specific installation manner between the reinforcing rib 15 and the first connecting member 11 or the second connecting member 12.

The reinforcing rib 15 is a plate structure, and the reinforcing rib 15 is perpendicularly connected to the first pressure surface 111 and the second stress surface 121, so that the horizontal direction of the reinforcing rib 15 is in the same direction as the torque T1 when the first connecting piece 11 applies the torque T1 to the reinforcing rib 15, the stress limit range of the reinforcing rib 15 is larger, and the structural strength is higher compared with the mode of inclining to any one surface.

Further, the rib 15 has a certain thickness, and a plurality of plate sides are formed at the edge of the rib 15 in the thickness direction thereof, specifically, the side of the rib 15 for connection with the first pressing surface 111 forms a first plate side 151, and the side of the rib 15 for connection with the second force-receiving surface 121 forms a second plate side 152.

In order to increase the stress area between the reinforcing rib 15 and the first connecting piece 11 and the second connecting piece 12 and reduce the pressure of the reinforcing rib 15 on the first pressing surface 111 and the second stress surface 121, the first plate side 151 extends from one end of the first pressing surface 111 close to the second stress surface 121 to one end of the first pressing surface 111 close to the installation space 13; the second board 152 is connected to the second force-receiving surface 121, and the second board 152 extends from one end of the second force-receiving surface 121 close to the first connector 11 to one end of the second board 152 close to the installation space 13. Through the arrangement mode, the plate size of the reinforcing rib 15 can be increased, the rigidity of the reinforcing rib 15 is improved, a better supporting effect is achieved, the pressure of the reinforcing rib 15 on the first pressure applying surface 111 and the second stress surface 121 can be reduced, and the risk of damage to the ankle joint supporting part 10 in the stress process is reduced.

It should be noted that, although the manner of providing the reinforcing rib 15 can also be applied to a bending member with a bending angle of 90 ° or more than 90 °, since the moment direction of the bending member in the above-mentioned scheme is still opposite to the bending direction of the bending shaft, the structural strength of the bending member is still not as good as that in the present embodiment, and in the scheme with a bending angle of more than 90 °, one end of the bending member away from the wearer needs to be provided with a structure for connecting the reinforcing rib 15, which also increases the processing cost and processing difficulty of the whole supporting component, and is not beneficial to processing and production.

As shown in FIG. 3, the ankle apparatus including the ankle support member 10 and the ankle assembly 20 described above, the ankle assembly 20 being used to connect the first connecting member 11 and the leg assembly 60, provides the ankle joint with freedom of movement, as will be further described below.

In general, the ankle assembly 20 is capable of providing a wearer's ankle with a combined degree of freedom of at least one or more of abduction/adduction, eversion/inversion, dorsal extension/plantar flexion, and, in general, in order to accommodate the leg structure of the human body, and to accommodate the degrees of freedom in various directions of the ankle of the human body, the ankle joint assembly 20 extends in a substantially linear direction as a whole, thereby forming a center extension line L1 arranged along the extending direction, in the embodiment, the center extension line L1 passes through the rotating axes of all degrees of freedom in the axial direction of the hip joint, in an exoskeleton application, in which ankle assembly 20 is coupled to leg assembly 60 and ankle support member 10, respectively, the weight of the exoskeleton system above the ankle and weight bearing F1 coincides with extension line L1 of ankle assembly 20, thereby transferring to and generating a moment T1 to the ankle support assembly.

As shown in fig. 5-8, further, a side of the first link 11 away from the second link 12 forms a first force-bearing surface 112, and the first force-bearing surface 112 provides a mounting position of the ankle joint assembly 20; the ankle component 20 is formed with a mounting surface 21, and the mounting surface 21 is parallel to the first force receiving surface 112 in a state where the ankle component 20 is fitted to the first link 11.

In one embodiment, for example, where the ankle assembly 20 has three degrees of freedom of motion, abduction/adduction, eversion/inversion, and dorsiflexion/plantarflexion, the ankle assembly 20 includes a leg connecting member 22, a first movable member 23, a second movable member 24 and an ankle joint connector 25, wherein, in the application of the exoskeleton system, the leg connector 22 is connected with the leg assembly 60, one end of the leg connector 22 is fixedly connected with the leg assembly 60, the other end of the leg connector 22 is pivoted and matched with the first movable member 23 to provide the freedom of eversion and inversion, the first movable member 23 is pivoted with the second movable member 24 to provide the freedom of eversion and inversion, the second movable member 24 is pivoted with the ankle joint connector 25 to provide the freedom of dorsiflexion and plantarflexion, and correspondingly, the rotation formed among the components is firstly approximately parallel to the joint axis of the freedom of the human ankle joint in all directions.

The ankle joint connecting member 25 is connected to the first connecting member 11, and the mounting surface 21 is formed at an end of the ankle joint connecting member 25 close to the first connecting member 11, specifically, the connection manner between the ankle joint connecting member 25 and the first connecting member 11 includes but is not limited to one or more combinations of a snap connection, a guide block and guide rail limit connection, a threaded connection, and a pin connection.

A tread surface 122 is formed on one side of the second connecting piece 12 far away from the first connecting piece 11, the tread surface 122 and the first stress surface 112 are arranged at an angle alpha, the mounting surface 21 and the central extension line L1 of the ankle joint are arranged at an angle beta, and the sum of the angle alpha and the angle beta is larger than 90 degrees, so that the moment direction applied to the first connecting piece 11 by the ankle joint assembly 20 in the state that the ankle joint assembly 20 is assembled on the first connecting piece 11 is the same as the inclination direction of the first connecting piece 11 relative to the second connecting piece 12. The gravitational force F1 gradually approaches the ankle support member 10 in the direction of approaching the installation space 13, and further determines that the direction of the moment T1 is the same as the bending direction of the bending axis of the ankle support member 10.

Through foretell mode of setting, also can let ankle joint device further improve man-machine interaction in exoskeleton system's application, the one end that ankle joint subassembly 20 kept away from ankle joint supporting part 10 is located the terminal of wearer's shank roughly (the one end that the shank is close to the foot), the one end that ankle joint subassembly 20 is close to ankle joint supporting part 10 is located wearer's ankle joint department roughly, because human shank lower extreme to ankle joint department, its shank periphery length dwindles gradually, the shank lower extreme is the curve of an adduction roughly, therefore, through the aforesaid setting, can let ankle joint subassembly 20 slope set up, the angle of its slope can be adjusted according to angle alpha and angle beta, thereby let it more agree with human ankle lines.

Further, a footwear assembly 30 is movably coupled to the leg assembly 60 via an ankle assembly 20, and the footwear assembly 30 is coupled to the second coupling assembly and positioned in the mounting space 13 to provide a foot-receiving space.

As shown in fig. 5, the shoe assembly 30 of the present embodiment includes a base plate 31, the base plate 31 provides a heel support surface 311, and the heel or heel of the wearer can be stepped on the heel support surface 311 in the worn state, and the forefoot or sole portion of the wearer can be stepped on the support plane. Of course, the structure of the base plate 31 may be adapted to the structure of the sole of the human body, so that the foot of the wearer can completely step on the base plate 31.

Of course, this embodiment does not exclude the above-mentioned solution of directly using a shoe as the shoe assembly 30, and the shoe is connected to the second connecting member 12, so that the wearer can directly wear the shoe to complete the wearing of the foot and exoskeleton system.

The second connecting member 12 may be fixed to the shoe assembly 30 by being fixed to a lower side, an upper side, or an inner side of the shoe assembly 30, and on the basis of the above-mentioned scheme that the shoe assembly 30 includes the base plate 31, the second connecting member 12 of the present embodiment is connected and fixed to the shoe assembly 30 by being inserted into the base plate 31 from a side portion of the base plate 31 in a horizontal direction.

By arranging the corresponding binding belt components on the side edges of the base plate 31, the shoe component 30 can be bound with the foot of a human body, and the shoe component 30 can move along with the foot of the human body.

In the description herein, it is to be understood that the terms "upper," "lower," "left," "right," and the like are used merely for convenience of description and simplicity of operation, and do not indicate or imply that the device or element so referred to must be in a particular orientation, constructed and operated in a particular manner, and are not to be considered limiting of the disclosure. 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 disclosure. 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 principles of the present disclosure have been described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the present disclosure and is not to be construed in any way as limiting the scope of the disclosure. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present disclosure without inventive effort, which would fall within the scope of the present disclosure.

Claims

1. An ankle support member comprising:

a first link (11) for providing a mounting position of the ankle joint assembly (20);

second connecting piece (12) for connect shoes subassembly (30), second connecting piece (12) provide installation space (13) of shoes subassembly (30), first connecting piece (11) one end with second connecting piece (12) are connected and are the contained angle setting, the other end court of first connecting piece (11) is close to the direction slope of installation space (13) extends, so that first connecting piece (11) for the incline direction of second connecting piece (12), with first connecting piece (11) transmit under the heavy burden state extremely the moment direction of second connecting piece (12) is the same.

2. The ankle support according to claim 1, characterized in that the first connector (11) is integrally formed with the second connector (12).

3. The ankle support according to claim 1, wherein the side of the first link (11) adjacent to the second link (12) forms a first pressure surface (111) and the side of the second link (12) adjacent to the first link (11) forms a second force surface (121);

the first pressure surface (111) and the second stress surface (121) are arranged at an angle to form a setting space (14), and the installation space (13) is located on the adjacent side of the setting space (14) far away from the first connecting piece (11).

4. The ankle support according to claim 3, wherein a reinforcing rib (15) is provided in the arrangement space (14), the reinforcing rib (15) connecting the first connector (11) and the second connector (12), respectively.

5. The ankle support according to claim 4, wherein the reinforcing rib (15) has a plate structure, and the reinforcing rib (15) is perpendicularly connected to the first pressure surface (111) and the second force-bearing surface (121).

6. The ankle support according to claim 5, wherein the reinforcing rib (15) comprises:

a first plate side (151) connected to the first pressing surface (111), wherein the first plate side (151) extends from one end of the first pressing surface (111) close to the second force bearing surface (121) to one end of the first pressing surface (111) close to the installation space (13);

and a second board side (152) connected to the second force-receiving surface (121), wherein the second board side (152) extends from one end of the second force-receiving surface (121) close to the first connecting piece (11) to one end of the second board side (152) close to the installation space (13).

7. An ankle device, comprising:

the ankle support part (10) according to any one of claims 1 to 6;

an ankle assembly (20) for connecting the first connector (11) and the leg assembly (60) providing ankle articulation freedom.

8. The ankle device according to claim 7, wherein the side of the first link (11) remote from the second link (12) forms a first force-bearing surface (112), the first force-bearing surface (112) providing a mounting position for the ankle component (20);

the ankle joint component (20) is formed with a mounting surface (21), and the mounting surface (21) is parallel to the first force-receiving surface (112) in a state where the ankle joint component (20) is fitted to the first link (11).

9. The ankle joint device according to claim 8, wherein the side of the second link (12) remote from the first link (11) forms a tread (122), the tread (122) being disposed at an angle α to the first force-bearing surface (112);

the mounting surface (21) and the central extension line of the ankle joint are arranged at an angle beta;

the sum of the angle alpha and the angle beta is larger than 90 degrees, so that in the state that the ankle joint component (20) is assembled on the first connecting piece (11), the direction of the moment applied to the first connecting piece (11) by the ankle joint component (20) is the same as the inclination direction of the first connecting piece (11) relative to the second connecting piece (12).

10. The ankle apparatus according to claim 7, further comprising:

a footwear assembly (30) connected to the second connecting assembly and located in the mounting space (13) to provide a foot-receiving space.

11. An exoskeleton system, comprising:

an ankle joint device according to any of claims 7 to 10.