CN219847281U - Ankle joint exoskeleton - Google Patents

Abstract

The utility model belongs to the technical field of wearing equipment, and particularly relates to an ankle exoskeleton, which comprises a foot wearing device and a shank supporting device; the shank supporting device comprises a shank outer framework, a shank binding belt is arranged on the shank outer framework, an ankle outer framework is rotationally connected to the bottom of the shank outer framework, a foot outer framework is connected to the bottom of the ankle outer framework, the foot outer framework comprises an arch frame and a heel frame, the arch frame is fixed in the middle of the bottom plate, and the heel frame is fixed at the tail of the bottom plate; the ankle exoskeleton comprises a ring frame, the middle parts of the two sides of the ring frame are connected with the bottom shaft of the shank exoskeleton, the tail part of the ring frame is fixedly connected with a first rotating shaft, the first rotating shaft is inserted into the top of the heel frame, the top of the arch frame is provided with an arch buckle, the head part of the ring frame is fixed with a second rotating shaft, and the second rotating shaft penetrates through the arch buckle; and a limiting component is fixedly connected to the circumferential wall of the second rotating shaft and used for solving the problems that the prior ankle exoskeleton has low degree of freedom and is inconvenient to move.

Description

Ankle joint exoskeleton

Technical Field

The utility model belongs to the technical field of wearing equipment, and particularly relates to an ankle exoskeleton.

Background

In human body activities, walking is the most basic exercise, and in the whole walking process, the maximum power of the ankle joint is about 4 times of that of the hip joint and the knee joint, and the ankle joint is the joint with the highest energy output and the highest required power in three lower limb joints, and the ankle is greatly damaged by long-time walking exercise. In some activities with frequent running and jumping movements, the ankle is more easily damaged due to larger moment. Such as student running, jumping or basketball playing. During these exercises, the phenomenon of a sprained foot is easily observed.

In view of the above problems, the present chinese patent application No. 201922108377 discloses a flexible ankle exoskeleton comprising a foot wearing device, an ankle protection device, and a lower leg support device; the ankle joint protection device is located on the upper portion of the foot wearing device, the shank support device is located on one side of the foot wearing device and the ankle joint protection device, the three are connected through ankle joint screws, and the ankle joint screws form ankle joint rotation shafts. When the ankle joint protection device is used, the ankle joint of a wearer is wrapped in the ankle joint protection device, and the flexible ankle joint exoskeleton can play a role in protecting the ankle joint under the cooperation of the shank support device and the foot wearing device.

Because the ankle joint moves in the three-dimensional space, the ankle joint has multiple degrees of freedom, not only can dorsiflexion and plantarflexion actions along the ankle bones, but also can perform actions such as varus, valgus, internal rotation, external rotation and the like to a certain extent. However, the shank support device of the flexible ankle exoskeleton is connected with the foot wearing device through the screw, and the shank support device and the foot wearing device can only rotate along the axial direction of the screw, so that the freedom degree is low. The feet of the user wearing the flexible ankle exoskeleton cannot do varus or pronation and the like, so that the user cannot conveniently move.

Disclosure of Invention

In view of the above, the present utility model aims to provide an ankle exoskeleton, which solves the problems of low degree of freedom and inconvenient movement of the existing ankle exoskeleton.

The utility model solves the technical problems by the following technical means:

an ankle exoskeleton comprises a foot wearing device and a lower leg supporting device, wherein the foot wearing device comprises a bottom plate, and foot binding bands are arranged on the bottom plate; the shank supporting device comprises a shank outer framework, a shank binding belt is arranged on the shank outer framework, an ankle outer framework is rotationally connected to the bottom of the shank outer framework, a foot outer framework is connected to the bottom of the ankle outer framework, the foot outer framework comprises an arch frame and a heel frame, the arch frame is fixed in the middle of the bottom plate, and the heel frame is fixed at the tail of the bottom plate; the ankle exoskeleton comprises a ring frame, the middle parts of the two sides of the ring frame are connected with the bottom shaft of the shank exoskeleton, the tail part of the ring frame is fixedly connected with a first rotating shaft, the first rotating shaft is inserted into the top of the heel frame, the top of the arch frame is provided with an arch buckle, the head part of the ring frame is fixed with a second rotating shaft, and the second rotating shaft penetrates through the arch buckle; and a limiting component is fixedly connected to the circumferential wall of the second rotating shaft.

Based on the technical scheme, the utility model also improves the following steps:

further, spacing subassembly includes two arc fixed plates, and the arc fixed plate is fixed in on the circumference wall of second pivot, and sliding connection has the board of keeping out between two arc fixed plates, is equipped with the regulating plate between two boards of keeping out, and the both ends of regulating plate are with keeping out board threaded connection respectively.

Further, the central angle degree of the arc-shaped fixing plate is larger than 150 degrees. Prevent the deflection angle from being too large during the activity and damage the ankle.

Further, the number of degrees of central angles of the arc-shaped valley bottom plates is smaller than 180 degrees.

Further, the calf support is made of carbon fiber material. The bearing capacity of the legs is reduced, and the legs are convenient to move.

The utility model has the beneficial effects that: the shank exoskeleton can rotate along the ring frame, so that a user can do dorsiflexion or rubbing motion conveniently, the ring frame can rotate around the second rotating shaft, the user can do moderate varus or valgus motion conveniently, the degree of freedom is higher, and the user can move conveniently.

Drawings

The utility model can be further illustrated by means of non-limiting examples given in the accompanying drawings;

FIG. 1 is a schematic perspective view of an ankle exoskeleton according to an embodiment of the present utility model;

FIG. 2 is a side view of an ankle exoskeleton in an embodiment of the present utility model;

FIG. 3 is a schematic view showing the combination of an ankle exoskeleton, a foot exoskeleton and a base plate in accordance with an embodiment of the present utility model;

FIG. 4 is an enlarged view of a portion of FIG. 3A;

FIG. 5 is a schematic diagram showing the combination of the second shaft and the fixing plate according to the embodiment of the utility model;

FIG. 6 is a schematic perspective view of an abutment plate according to an embodiment of the present utility model;

FIG. 7 is a schematic perspective view of an adjusting plate according to an embodiment of the present utility model;

wherein, 1-bottom plate, 2-foot ribbon, 3-shank exoskeleton, 4-shank ribbon, 5-ankle exoskeleton, 51-ring frame, 52-first pivot, 53-second pivot, 6-foot exoskeleton, 61-arch, 62-heel, 63-arch knot, 7-spacing subassembly, 71-fixed plate, 72-butt plate, 73-regulating plate.

Detailed Description

The utility model will be described in detail below with reference to the attached drawings and specific examples:

as shown in fig. 1 to 7

An ankle joint exoskeleton comprises a foot wearing device and a lower leg supporting device, wherein the foot wearing device comprises a bottom plate 1, a foot strapping 2 is arranged on the bottom plate 1, and the foot strapping 2 is used for strapping the feet of a user on the bottom plate 1;

the calf support device comprises a calf exoskeleton 3, a calf ribbon 4 is arranged on the calf exoskeleton 3, the calf ribbon 4 is used for binding the calf of a user on the calf exoskeleton 3, the bottom of the calf exoskeleton 3 is rotationally connected with an ankle exoskeleton 5, the ankle exoskeleton 5 surrounds the periphery of the ankle of the user, the bottom of the ankle exoskeleton 5 is connected with a foot exoskeleton 6, the foot exoskeleton 6 comprises an arch 61 and a heel frame 62, the arch 61 is fixed in the middle of a bottom plate 1, the heel frame 62 is fixed at the tail of the bottom plate 1, and soft materials are arranged on the inward sides of the ankle exoskeleton 5 and the calf exoskeleton 3 and used for playing a buffering role to prevent the calf and the ankle of the user from being injured;

the ankle exoskeleton 5 comprises a ring frame 51, the middle parts of two sides of the ring frame 51 are connected with the bottom shaft of the shank exoskeleton 3, the shank exoskeleton 3 can rotate along the shaft and the ring frame 51, the tail part of the ring frame 51 is fixedly connected with a first rotating shaft 52, the first rotating shaft 52 is inserted at the top of a heel frame 62, the first rotating shaft 52 is rotationally connected with the heel frame 62, the top of an arch 61 is provided with an arch buckle 63, the head of the ring frame 51 is fixedly provided with a second rotating shaft 53, and the second rotating shaft 53 penetrates through the arch buckle 63.

The limiting component 7 is fixedly connected to the circumferential wall of the second rotating shaft 53, the limiting component 7 is used for limiting the rotation angle of the second rotating shaft 53, when the limiting component 7 rotates along with the second rotating shaft 53, two sides of the limiting component 7 can abut against the top of the arch 61, so that the rotation of the second rotating shaft 53 is limited, the ring frame 51 is indirectly prevented from being excessively deflected, the user can be prevented from excessively turning inwards or outwards when the user turns his or her feet, and therefore the ankle is protected, and the user is prevented from being bent.

Specifically, spacing subassembly 7 includes two arc fixed plates 71, and arc fixed plate 71 is fixed in on the circumference wall of second pivot 53, and sliding connection has a butt plate 72 between two arc fixed plates 71, is equipped with regulating plate 73 between two butt plates 72, and regulating plate 73's both ends respectively with butt plate 72 threaded connection, through the size of change regulating plate 73 to the central angle between two bottom plates 1 of change that can be convenient is convenient for different users to use, and the adaptability is stronger.

Specifically, the number of degrees of the central angle of the arc-shaped fixing plate 71 is greater than 150 degrees. The deflection angle of the ankle is within 30 degrees, so that the ankle is prevented from being deflected too much during accidents, and the risk is reduced.

Specifically, the radius angle of the arc-shaped fixing plate 71 is less than 180 degrees.

Specifically, the shank support device is made of carbon fiber materials, the carbon fiber materials are light in weight and high in strength and rigidity, and the carbon fiber materials are light under the premise of meeting the rigidity and strength, so that the bearing capacity of the legs can be reduced, and the shank support device is convenient to move.

The application method of the utility model is as follows: after the ankle exoskeleton is worn by a user, the shank exoskeleton 3 can rotate along the ring frame 51 during movement, so that the user can conveniently dorsiflex or stretch and bend, the ring frame 51 can rotate around the second rotating shaft 53, the user can conveniently perform moderate varus or valgus movement, the freedom degree is higher, and the user can conveniently move.

The above embodiments are only for illustrating the technical solution of the present utility model and not for limiting the same, and although the present utility model has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present utility model, which is intended to be covered by the scope of the claims of the present utility model. The technology, shape, and construction parts of the present utility model, which are not described in detail, are known in the art.

Claims (5)

1. An ankle exoskeleton comprising a foot wear device and a calf support device, characterized in that: the foot wearing device comprises a bottom plate (1), wherein a foot ribbon (2) is arranged on the bottom plate (1);

the shank supporting device comprises a shank exoskeleton (3), a shank ribbon (4) is arranged on the shank exoskeleton (3), an ankle exoskeleton (5) is rotatably connected to the bottom of the shank exoskeleton (3), a foot exoskeleton (6) is connected to the bottom of the ankle exoskeleton (5), the foot exoskeleton (6) comprises an arch (61) and a heel rest (62), the arch (61) is fixedly arranged in the middle of the bottom plate (1), and the heel rest (62) is fixedly arranged at the tail of the bottom plate (1);

the ankle exoskeleton (5) comprises a ring frame (51), the middle parts of two sides of the ring frame (51) are connected with the bottom of the shank exoskeleton (3) through shafts, a first rotating shaft (52) is fixedly connected to the tail of the ring frame (51), the first rotating shaft (52) is inserted into the top of the heel frame (62), an arch buckle (63) is arranged at the top of the arch frame (61), a second rotating shaft (53) is fixed to the head of the ring frame (51), and the second rotating shaft (53) penetrates through the arch buckle (63);

and a limiting component (7) is fixedly connected to the circumferential wall of the second rotating shaft (53).

2. An ankle exoskeleton as claimed in claim 1, wherein: limiting component (7) are including two arc fixed plates (71), arc fixed plate (71) are fixed in on the circumference wall of second pivot (53), two sliding connection has between arc fixed plate (71) to keep out board (72), two be equipped with regulating plate (73) between keep out board (72), regulating plate (73) both ends respectively with keep out board (72) threaded connection.

3. An ankle exoskeleton as claimed in claim 2, wherein: the central angle degree of the arc-shaped fixing plate (71) is larger than 150 degrees.

4. An ankle exoskeleton according to claim 3, wherein: the central angle degree of the arc-shaped fixing plate (71) is smaller than 180 degrees.

5. An ankle exoskeleton as claimed in claim 1, wherein: the shank support device is made of carbon fiber materials.