CN218165581U - Flexible wearable bionic leg and foot - Google Patents
Flexible wearable bionic leg and foot Download PDFInfo
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- CN218165581U CN218165581U CN202220782228.0U CN202220782228U CN218165581U CN 218165581 U CN218165581 U CN 218165581U CN 202220782228 U CN202220782228 U CN 202220782228U CN 218165581 U CN218165581 U CN 218165581U
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Abstract
The utility model belongs to the technical field of the leg is sufficient bionical, concretely relates to bionical leg of flexible wearing formula is sufficient, including thigh bracket, thigh connecting rod, shank connecting rod, the upper end of shank connecting rod has the circular arc ball groove, and the lower extreme of thigh connecting rod rotates respectively and is connected with first connecting rod and second connecting rod, and the lower extreme of first connecting rod and second connecting rod rotates respectively and connects the upper end at the shank connecting rod, and first connecting rod, thigh connecting rod, second connecting rod and shank connecting rod form the quadrangle, and circular arc ball inslot activity is provided with the knee joint ball pivot, and the knee joint spring presses the knee joint ball pivot at the circular arc ball inslot. The utility model discloses imitative people's knee joint passes through knee joint ball pivot and knee joint spring and realizes flexible rotation, and is more similar with human knee joint, and bionic performance is good, has guaranteed the travelling comfort of disabled person when using the walking of bionical leg sufficient mechanism.
Description
Technical Field
The utility model belongs to the technical field of leg is sufficient bionical, concretely relates to bionical leg of flexible wearing formula is sufficient.
Background
According to the modern medical theory and clinical medical practice, the rehabilitation training is scientific and correct except for necessary medical means, and the dynamic bionic leg and foot of the lower limb can meet the requirements.
To the disabled person of lower limb paraplegia, the bionical leg of wearing formula can help the disabled person to walk, wear bionical leg foot mechanism and replace the walking of people's leg with the lower limb lower part of paraplegia, bionical leg foot mechanism on the present market mainly accomplishes the rotation of knee joint and ankle joint through drive modes such as motor or hydraulic pressure, and then accomplishes the motion of wearing person's lower limb, but this kind of motion mode is very stiff, only can satisfy walking function, the shock attenuation performance is poor, it is not week to take into account user's wearing travelling comfort, can't help the wearing person completely to carry out normal body motion.
SUMMERY OF THE UTILITY MODEL
The utility model aims at overcoming the defect that the shock absorption performance is poor, the wearing travelling comfort is poor that exists among the prior art, providing a wear convenient, flexible better flexible bionical leg foot of wearing formula.
The utility model provides a technical scheme that its technical problem adopted is:
the utility model provides a bionical leg foot of flexible wearing formula which characterized in that: the leg joint mechanism comprises a thigh bracket, a thigh connecting rod arranged below the thigh bracket, a crus connecting rod connected with the thigh connecting rod through a knee joint component, and a foot plate rotationally connected to the lower end of the crus connecting rod through an ankle joint component, wherein the knee joint component comprises: the knee joint connecting rod comprises a first connecting rod and a second connecting rod which are rotatably connected to the lower end of a thigh connecting rod, the lower end of the first connecting rod and the lower end of the second connecting rod are rotatably connected to the upper end of a shank connecting rod respectively, the first connecting rod, the thigh connecting rod, the second connecting rod and the shank connecting rod form a quadrangle, an arc ball groove is formed in the upper end of the shank connecting rod, an upper spring baffle is fixedly connected to the middle of the first connecting rod, a knee joint ball hinge is movably arranged in the arc ball groove, a knee joint spring is arranged between the knee joint ball hinge and the upper spring baffle, and the knee joint ball hinge is pressed in the arc ball groove by the knee joint spring.
Furthermore, in order to be closer to the walking state of the lower limbs of the person, in a normal walking process, the thigh is back relative to the shank, an obtuse included angle is formed between the thigh and the shank, and the length of the first connecting rod is smaller than that of the second connecting rod.
Furthermore, a knee joint electric push rod is installed on the thigh connecting rod, a first driving rope is fixedly connected with the telescopic end of the knee joint electric push rod, and the lower end of the first driving rope is fixedly connected to the shank connecting rod. The electric push rod is adopted to pull the driving rope for driving, so that the bionic leg and foot structure is more compact, and the driving efficiency is higher.
Furthermore, the middle part of the thigh connecting rod is rotatably connected with a first push rod barrel, the middle part of the shank connecting rod is rotatably connected with a second push rod barrel, the first push rod barrel and the second push rod barrel are both connected with a first guide rod in a sliding manner, a first spring is sleeved outside the first guide rod, and two ends of the first spring respectively prop against the first push rod barrel and the second push rod barrel. The whole knee joint is not designed into a spherical pair or a revolute pair like the traditional mechanical knee joint, but keeps a flexible rotation by the spherical hinge elastically rolling in the circular arc spherical groove.
Furthermore, the lower end of the shank connecting rod is rotatably connected with a foot plate, an ankle joint electric push rod is installed on the shank connecting rod, the telescopic end of the ankle joint electric push rod is fixedly connected to one end of a second driving rope, and the other end of the second driving rope is fixedly connected to the foot plate.
In order to further promote the rotation of the ankle joint, the shock absorption is carried out on the lower leg connecting rod, the walking comfort of a person is guaranteed, the middle of the lower leg connecting rod is rotatably connected with a third push rod cylinder, the front part of the foot plate is rotatably connected with a fourth push rod cylinder, a second guide rod is slidably connected in the third push rod cylinder and the fourth push rod cylinder, a second spring is sleeved outside the second guide rod, and two ends of the second spring are respectively propped against the third push rod cylinder and the fourth push rod cylinder.
Furthermore, the front end of sole rotates and is connected with five toe subassemblies, the front end of sole has five mutual parallel arrangement's toe even board, the toe subassembly includes toe rotation connecting rod and toe head, the toe rotate the connecting rod one end with the toe is even board rotation connection, and the other end rotates with the toe head and is connected, the toe head with fixedly connected with toe extension spring between the sole. The toe structure can further help the wearer to buffer the impact force generated during walking, and meanwhile, the joint mapping part connected with the spring can provide power assistance during walking of the wearer, so that the man-machine cooperation experience of the lower limb bionic exoskeleton is improved.
Furthermore, the knee joint ball pivot comprises a ball pivot head, a ball pivot mounting plate fixed on the upper portion of the ball pivot head and a lower spring guide rod arranged on the ball pivot mounting plate, an upper spring guide rod is arranged on the lower side of the upper spring baffle plate, two ends of the knee joint spring respectively abut against the upper spring baffle plate and the lower spring baffle plate, and the knee joint spring sleeve is arranged on the upper spring guide rod and the lower spring guide rod. The whole knee joint is not designed into a spherical pair or a revolute pair like the traditional mechanical knee joint, but keeps a flexible rotation by the spherical hinge elastically rolling in the circular arc spherical groove.
Furthermore, thigh fixing rods are symmetrically arranged on the left side and the right side of the thigh bracket, a semi-circular arc-shaped open-ended thigh rigid ring is fixedly connected between the upper ends of the two thigh fixing rods, and a thigh fixing flexible belt is connected to the outer end of the thigh rigid ring. The lower limbs of the paraplegia of the human body are fixed with the bionic leg and foot mechanism through the thigh rigid ring and the thigh fixing flexible belt.
Furthermore, a thigh supporting sponge cushion (29) is fixed on the upper surface of the thigh supporting plate. Ensuring the comfort of the wearer when wearing.
The utility model discloses a bionical leg sufficient beneficial effect of flexible wearing formula is:
1. the utility model discloses imitative people's knee joint passes through knee joint ball pivot and knee joint spring and realizes flexible rotation, and is more similar with human knee joint, and bionic performance is good, has guaranteed the travelling comfort of disabled person when using the walking of bionical leg sufficient mechanism.
2. Bionic leg and foot mechanisms make consideration on wearing comfort, the thigh support spongy cushion at a wearing position improves comfort, and meanwhile, the adjustable thigh fixing flexible belt is suitable for wearers of different body types to use.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Fig. 1 is an overall structure diagram of an embodiment of the present invention;
FIG. 2 is a view of the knee joint structure of the embodiment of the present invention;
FIG. 3 is a view showing the structure of the ankle joint according to the embodiment of the present invention;
figure 4 is a diagram of a toe assembly configuration according to an embodiment of the present invention.
In the figure, 1, a thigh connecting rod, 2, a first connecting rod, 3, a shank connecting rod, 31, a circular arc ball groove, 4, a thigh bracket, 41, an internal thread sleeve, 5, a second connecting rod, 6, a knee joint electric push rod, 7, a first driving rope, 8, a spring upper baffle, 9, a knee joint ball hinge, 91, a ball hinge head, 92, a ball hinge mounting plate, 93, a lower spring guide rod, 10, a knee joint spring, 11, a first push rod barrel, 12, a second push rod barrel, 13, a first guide rod, 14, a first spring, 15, a foot plate, 151, a toe connecting plate, 16, an ankle joint electric push rod, 17, a second driving rope, 18, a third push rod barrel, 19, a fourth push rod barrel, 20, a second guide rod, 21, a second spring, 22, a toe rotating connecting rod, 23, a toe head, 24, a toe tension spring, 25, an upper spring guide rod, 26, a thigh rigid ring, 27, a thigh fixing flexible belt, 28, thigh fixing rod, 29 and a sponge supporting pad.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic drawings, which illustrate the basic structure of the present invention in a schematic manner, and thus show only the components related to the present invention.
As shown in fig. 1-4 the utility model discloses a bionical leg foot's of flexible wearing formula specific embodiment, including thigh bracket 4, install thigh connecting rod 1 under thigh bracket 4, the shank connecting rod 3 of being connected with thigh connecting rod 1 through the knee joint subassembly, rotate through ankle joint subassembly and connect in sole (15) of shank connecting rod (3) lower extreme, thigh bracket 4 is used for fixing by the low limbs that end, thigh connecting rod 1 is fixed to the below of thigh bracket 4, the upper end of shank connecting rod 3 has circular arc ball groove 31, the lower extreme of thigh connecting rod 1 is rotated respectively and is connected with first connecting rod 2 and second connecting rod 5, the lower extreme of first connecting rod 2 and the lower extreme of second connecting rod 5 rotate respectively and connect in the upper end of shank connecting rod 3, first connecting rod 2, thigh connecting rod 1, second connecting rod 5 and shank connecting rod 3 form the quadrangle, install knee joint electric putter 6 on thigh connecting rod 1, the installation end of electric putter 6 is installed at the side of thigh connecting rod 1, the telescopic connection first driving rope 7's of electric putter 6 upper end, the lower extreme fixed connection of first driving rope 7 is on shank connecting rod 3, the first connecting rod 2 the first connecting rod has the spring ball hinge 10, knee joint hinge spring hinge baffle has circular arc ball groove 10, knee joint hinge baffle 10 is provided with the internal spring ball groove 31.
Referring to fig. 1 and 2, in order to further maintain the flexibility of the thigh when the knee joint is bent and absorb shock for the thigh of the paraplegia, a first push rod cylinder 11 is rotatably connected to the middle of the thigh link 1, a second push rod cylinder 12 is rotatably connected to the middle of the shank link 3, a first guide rod 13 is slidably connected to each of the first push rod cylinder 11 and the second push rod cylinder 12, a first spring 14 is sleeved outside the first guide rod 13, and two ends of the first spring 14 respectively abut against the first push rod cylinder 11 and the second push rod cylinder 12.
The knee joint electric push rod 6 on one side of the thigh connecting rod 1, two first push rod cylinders 11 which are arranged in parallel are arranged on the other side, correspondingly, two second push rod cylinders 12 which are arranged in parallel are arranged in the middle of the shank connecting rod, the first push rod cylinders 11 and the second push rod cylinders 12 are arranged oppositely, and two ends of a first guide rod 13 penetrate into the first push rod cylinders 11 and the second push rod cylinders 12 respectively.
The knee joint ball joint 9 comprises a ball joint head 91, a ball joint mounting plate 92 fixed on the upper portion of the ball joint head 91 and a lower spring guide rod 93 arranged on the ball joint mounting plate 92, an upper spring guide rod 25 is arranged on the lower side of the upper spring baffle plate 8, two ends of a knee joint spring 10 respectively abut against the upper spring baffle plate 8 and the lower spring baffle plate, and the knee joint spring 10 is sleeved on the upper spring guide rod 25 and the lower spring guide rod 93. The entire knee joint is not designed as a ball pair or a revolute pair as in the conventional mechanical knee joint, but maintains a flexible rotation by the spherical hinge head 91 elastically rolling in the circular arc ball groove 31.
In order to more closely approach the walking state of the lower limbs of a person, when walking, the thigh is usually arranged at the back of the lower leg, an obtuse included angle is formed between the thigh and the lower leg, and the length of the first connecting rod 2 is smaller than that of the second connecting rod 5.
When the first driving rope 7 is in a loose state, the knee joint electric push rod 6 pulls the first driving rope 7, and because the length of the first connecting rod 2 is smaller than that of the second connecting rod 5, and the first connecting rod 2 is positioned at the rear side of the second connecting rod 5, under the pulling of the knee joint spring 10 to the shank connecting rod 3, the knee joint is in a knee bending state, and an obtuse angle is formed between the thigh connecting rod 1 and the shank connecting rod 3. When the knee joint electric push rod 6 tensions the first driving rope 7 to drive the shank connecting rod 3 to rotate, the thigh connecting rod 1 and the shank connecting rod 3 are positioned on the same line, and the shank is straightened to step forwards.
With reference to fig. 1 and 3, the ankle joint is driven by the rope to rotate, the flexibility is good, the lower end of the shank connecting rod 3 is connected with the foot plate 15 in a rotating mode, the shank connecting rod 3 is provided with the ankle joint electric push rod 16, the telescopic end of the ankle joint electric push rod 16 is fixedly connected to one end of the second driving rope 17, and the other end of the second driving rope 17 is fixedly connected to the foot plate 15. The other end of the second driving rope 17 in this embodiment is fixedly connected to the front end of the foot board 15.
In order to further promote the rotation of the ankle joint, the shock absorption is carried out on the lower leg connecting rod 3, the walking comfort of people is ensured, the middle part of the lower leg connecting rod 3 is rotatably connected with a third push rod cylinder 18, the front part of the foot plate 15 is rotatably connected with a fourth push rod cylinder 19, a second guide rod 20 is respectively and slidably connected in the third push rod cylinder 18 and the fourth push rod cylinder 19, a second spring 21 is sleeved outside the second guide rod 20, and two ends of the second spring 21 are respectively propped against the third push rod cylinder 18 and the fourth push rod cylinder 19.
When the ankle joint electric push rod 16 contracts and pulls the second driving rope 17 to contract, the front end of the foot plate 15 is lifted upwards, and the action of lifting the foot to prepare for stepping is completed.
Referring to fig. 4, five toe assemblies are rotatably connected to the front end of the foot plate 15, the front end of the foot plate 15 is provided with five toe link plates 151 arranged in parallel, each assembly comprises a toe rotating link 22 and a toe head 23, one end of the toe rotating link 22 is rotatably connected with the toe link plate 151, the other end of the toe rotating link 22 is rotatably connected with the toe head 23, and a toe tension spring 24 is fixedly connected between the toe head 23 and the foot plate 15. The toe structure can further help the wearer to buffer the impact force generated during walking, and meanwhile, the joint mapping part connected with the spring can provide power assistance during walking of the wearer, so that the man-machine cooperation experience of the lower limb bionic exoskeleton is improved.
For human, the toes mainly play a role in maintaining the standing balance of the human body, and play a role in buffering the toe transformation of the gravity center before and after the human body battle; meanwhile, the toes also have the function of facilitating walking, the elasticity of the toes enables people to have more time for exerting force when walking or running, and the generated power is stronger. After the structure and the function of the human toe are referred to, the bionic toe structure capable of realizing the toe function is designed based on the bionics. The bionic toe structure formed by connecting the two mapping joint parts through the spring is designed according to the toe joint structure, the spring has good buffering and energy storage functions, the toe structure can further help a wearer to buffer impact force generated during walking, meanwhile, the joint mapping parts connected through the spring can provide power assistance during walking of the wearer, and man-machine cooperation experience of the bionic exoskeleton of lower limbs is improved.
Referring to fig. 1, the left and right sides of the thigh bracket 4 are symmetrically provided with thigh fixing rods 28, a thigh rigid ring 26 with a semicircular arc opening is fixedly connected between the upper ends of the two thigh fixing rods 28, and the outer end of the thigh rigid ring 26 is connected with a thigh fixing flexible belt 27. The lower limb of paraplegia of the human body is fixed with the bionic leg-foot mechanism through the thigh rigid ring 26 and the thigh fixing flexible belt 27.
The thigh bracket 4 has female sleeves 41 on both sides thereof, and the thigh fixing lever 28 is screwed into the female sleeves 41. The height of the rotary fixing rod can be adjusted by rotating the thigh fixing rod 28 so as to adjust the height of the thigh rigid ring 26 for fixing the paraplegic lower limb, thereby meeting the requirements of the disabled with different amputation degrees. The upper surface of the thigh supporting plate is fixed with a thigh supporting spongy cushion 29, so that the comfort of a wearer when wearing the thigh supporting plate is ensured. The thigh support sponge pad 29 is breathable and soft, and protects the lower limbs of the wearer.
The utility model discloses bionical leg foot mechanism adopts the aluminum alloy as whole material, and the precision is high, and intensity is high.
The bionic muscle spring formed at the knee joint can provide a buffering effect and improve the wearing comfort.
The toe mechanism is additionally arranged on the part of the sole of the bionic leg and foot, so that the impact force generated when a wearer walks can be further buffered, the integral stability of the mechanism is improved, and power assistance can be provided when the wearer walks.
It should be understood that the specific embodiments described above are only for illustrating the present invention and are not used to limit the present invention. Obvious changes or variations from the spirit of the invention are within the scope of the invention.
Claims (10)
1. The utility model provides a bionical leg foot of flexible wearing formula which characterized in that: including thigh bracket (4), install thigh connecting rod (1) under thigh bracket (4), through the knee joint subassembly with shank connecting rod (3) that thigh connecting rod (1) are connected, rotate through the ankle joint subassembly and connect in sole (15) of shank connecting rod (3) lower extreme, the knee joint subassembly includes: rotate to be connected first connecting rod (2) and second connecting rod (5) of the lower extreme of thigh connecting rod (1), the lower extreme of first connecting rod (2) with the lower extreme of second connecting rod (5) rotates respectively to be connected the upper end of shank connecting rod (3), first connecting rod (2), thigh connecting rod (1), second connecting rod (5) and shank connecting rod (3) form the quadrangle, the upper end of shank connecting rod (3) has circular arc ball groove (31), the middle part fixedly connected with spring overhead gage (8) of first connecting rod (2), circular arc ball groove (31) internalization is provided with knee joint ball pivot (9), knee joint ball pivot (9) with knee joint spring (10) have between spring overhead gage (8), knee joint spring (10) will knee joint ball pivot (9) are pressed in circular arc ball groove (31).
2. The flexible wearable bionic leg foot according to claim 1, characterized in that: the length of the first connecting rod (2) is smaller than that of the second connecting rod (5).
3. The flexible wearable bionic leg foot according to claim 2, characterized in that: install knee joint electric putter (6) on thigh connecting rod (1), the flexible end fixedly connected with first driving rope (7) of knee joint electric putter (6), the lower extreme fixed connection of first driving rope (7) is in on shank connecting rod (3).
4. The flexible wearable bionic leg foot according to claim 1, characterized in that: the middle part of thigh connecting rod (1) rotates and is connected with first push rod section of thick bamboo (11), the middle part of shank connecting rod (3) rotates and is connected with second push rod section of thick bamboo (12), first push rod section of thick bamboo (11) with equal sliding connection has first guide bar (13) in the second push rod section of thick bamboo (12), first guide bar (13) overcoat is equipped with first spring (14), the both ends of first spring (14) push up respectively first push rod section of thick bamboo (11) with on the second push rod section of thick bamboo (12).
5. The flexible wearable bionic leg foot according to claim 2, characterized in that: the lower end of the shank connecting rod (3) is rotatably connected with a foot plate (15), an ankle joint electric push rod (16) is installed on the shank connecting rod (3), the telescopic end of the ankle joint electric push rod (16) is fixedly connected to one end of a second driving rope (17), and the other end of the second driving rope (17) is fixedly connected to the foot plate (15).
6. The flexible wearable bionic leg foot according to claim 5, characterized in that: the middle part of the shank connecting rod (3) is rotatably connected with a third push rod cylinder (18), the front part of the foot plate (15) is rotatably connected with a fourth push rod cylinder (19), the third push rod cylinder (18) and the fourth push rod cylinder (19) are both connected with a second guide rod (20) in a sliding manner, a second spring (21) is sleeved outside the second guide rod (20), and two ends of the second spring (21) respectively abut against the third push rod cylinder (18) and the fourth push rod cylinder (19).
7. The flexible wearable bionic leg foot according to claim 1, characterized in that: the front end of sole (15) rotates and is connected with five toe subassemblies, the front end of sole (15) has five mutual parallel arrangement's toe even board (151), the toe subassembly includes toe rotation connecting rod (22) and toe head (23), the toe rotate the one end of connecting rod (22) with toe even board (151) rotate and are connected, and the other end rotates with toe head (23) and is connected, toe head (23) with fixedly connected with toe extension spring (24) between sole (15).
8. The flexible wearable bionic leg foot according to claim 1, characterized in that: knee joint ball pivot (9) include ball pivot head (91), fix ball pivot mounting panel (92) on ball pivot head (91) upper portion and setting are in lower spring guide pole (93) on ball pivot mounting panel (92), the downside of spring overhead gage (8) has upper spring guide pole (25), the both ends of knee joint spring (10) push up respectively and lean on spring overhead gage (8) with on the baffle under the spring, knee joint spring (10) cover is established upper spring guide pole (25) with on lower spring guide pole (93).
9. The flexible wearable bionic leg foot according to claim 1, characterized in that: thigh fixing rods (28) are symmetrically arranged on the left side and the right side of the thigh bracket (4), a semi-circular-arc-shaped opened thigh rigid ring (26) is fixedly connected between the upper ends of the two thigh fixing rods (28), and a thigh fixing flexible belt (27) is connected to the outer end of the thigh rigid ring (26).
10. A flexible wearable bionic leg foot according to any one of claims 1-9, characterized in that: a thigh supporting sponge cushion (29) is fixed on the upper surface of the thigh bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220782228.0U CN218165581U (en) | 2022-04-06 | 2022-04-06 | Flexible wearable bionic leg and foot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220782228.0U CN218165581U (en) | 2022-04-06 | 2022-04-06 | Flexible wearable bionic leg and foot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218165581U true CN218165581U (en) | 2022-12-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220782228.0U Active CN218165581U (en) | 2022-04-06 | 2022-04-06 | Flexible wearable bionic leg and foot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218165581U (en) |
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2022
- 2022-04-06 CN CN202220782228.0U patent/CN218165581U/en active Active
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