CN215920441U - Ankle joint wearing assembly and exoskeleton system - Google Patents

Abstract

The utility model relates to an ankle joint wearing assembly and an exoskeleton system, wherein in the wearing process, a foot is inserted into a space between a first connecting piece and a second connecting piece and is stepped on a bottom plate; then, with first connecting piece lapping on heel to lap the second connecting piece on the instep, make the ankle joint dress subassembly can effectively fix the foot, so that the foot can do corresponding walking action in the ankle joint dress subassembly. When the foot is stepped on the bottom plate, the toes can extend out of one end of the bottom plate, so that the toes are exposed, and therefore, when the foot performs the rear pedaling action, the toes can be freely bent without being limited by the bottom plate. Therefore, the whole back pedaling action is smoothly completed, and the stability of the exoskeleton system operation is favorably improved.

Description

Ankle joint wearing assembly and exoskeleton system

Technical Field

The utility model relates to the technical field of exoskeletons, in particular to an ankle joint wearing assembly and an exoskeletons system.

Background

The exoskeleton is also called as a mechanical exoskeleton and is a machine device which can be worn by people, and provides extra energy for the human body to assist the movement of four limbs, thereby achieving the purpose of increasing the capability of the human body. Currently, exoskeletons are mainly applied to the fields of military use, medical treatment and the like.

When the ankle joint is designed to be worn, the backward pedaling action in the walking process needs to be considered, namely, when walking, the foot can generate the backward pedaling action, and the toes of the foot need to be bent and matched at the moment so as to complete the whole backward pedaling action. However, the traditional ankle wearing piece usually adopts a steel plate to be placed on the sole to fix the foot, which easily causes the foot to be limited by the wearing piece structure, and the whole back pedaling action cannot be smoothly completed, thereby affecting the walking action of the exoskeleton.

SUMMERY OF THE UTILITY MODEL

Accordingly, there is a need for an ankle wearing assembly and an exoskeleton system that effectively secures the foot so that the foot can smoothly complete the entire back-pedaling motion.

An ankle-donning assembly, comprising: a base plate for supporting a foot, and having one end for allowing toes of the foot to protrude; the first supporting piece and the second supporting piece are respectively connected to two opposite sides of the bottom plate; the first connecting piece and the second connecting piece are respectively connected between the first supporting piece and the second supporting piece at intervals, the first connecting piece is used for being lapped on the heel of the foot part, and the second connecting piece is used for being lapped on the instep of the foot part.

In the ankle joint wearing assembly, the foot is inserted into the space between the first connecting piece and the second connecting piece and is stepped on the bottom plate in the wearing process; then, with first connecting piece lapping on heel to lap the second connecting piece on the instep, make the ankle joint dress subassembly can effectively fix the foot, so that the foot can do corresponding walking action in the ankle joint dress subassembly. When the foot is stepped on the bottom plate, the toes can extend out of one end of the bottom plate, so that the toes are exposed, and therefore, when the foot performs the rear pedaling action, the toes can be freely bent without being limited by the bottom plate. Therefore, the whole back pedaling action is smoothly completed, and the stability of the exoskeleton system operation is favorably improved.

In one embodiment, the ankle joint wearing assembly further comprises a first side cover, the first side cover is connected with the first supporting piece, one end of the second connecting piece extends into a position between the first side cover and the first supporting piece, a first buckling position is arranged on the second connecting piece, and a second buckling position which is matched with the first buckling position in a buckling mode is arranged on the first side cover and/or the first supporting piece.

In one embodiment, the first fastening position is a first pin, and the second fastening position is a first fastening hole.

In one embodiment, the ankle joint wearing assembly further comprises a second side cover, the second side cover is connected with the second supporting piece, the other end of the second connecting piece extends into a position between the second side cover and the second supporting piece, a third buckling position is arranged on the second connecting piece, and a fourth buckling position in buckling fit with the third buckling position is arranged on the second side cover and/or the second supporting piece.

In one embodiment, the third fastening position is a second pin, and the fourth fastening position is a second fastening hole.

In one embodiment, a first bending portion and a second bending portion are respectively disposed on two opposite sides of the bottom plate, the first bending portion is clamped between the first side cover and the first supporting member, and the second bending portion is clamped between the second side cover and the second supporting member.

In one embodiment, a first clamping groove is formed in the first side cover, a first flanging is arranged on the first bending portion, and the first flanging is clamped into the first clamping groove.

In one embodiment, a second clamping groove is formed in the second side cover, a second flanging is arranged on the second bending portion, and the second flanging is clamped into the second clamping groove.

In one embodiment, a first flexible pad is attached to the first support member, and the first flexible pad is used for contacting with the foot.

In one embodiment, a second flexible pad is attached to the second support member for contacting the foot.

In one embodiment, the second connector is adjustable in length between the first and second supports.

In one embodiment, the number of the base plates is two or more, the two or more base plates are arranged between the first supporting piece and the second supporting piece in parallel at intervals, and one end of the base plate farthest from the first connecting piece is used for allowing toes of the foot to extend out.

An exoskeleton system comprising an ankle wearing assembly as claimed in any one of the preceding claims.

The exoskeleton system adopts the ankle joint wearing assembly, and in the wearing process, feet penetrate through the space between the first connecting piece and the second connecting piece and step on the bottom plate; then, with first connecting piece lapping on heel to lap the second connecting piece on the instep, make the ankle joint dress subassembly can effectively fix the foot, so that the foot can do corresponding walking action in the ankle joint dress subassembly. When the foot is stepped on the bottom plate, the toes can extend out of one end of the bottom plate, so that the toes are exposed, and therefore, when the foot performs the rear pedaling action, the toes can be freely bent without being limited by the bottom plate. Therefore, the whole back pedaling action is smoothly completed, and the stability of the exoskeleton system operation is favorably improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the utility model and, together with the description, serve to explain the utility model and not to limit the utility model.

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a first schematic view of an ankle-wearing assembly according to an embodiment;

FIG. 2 is a second schematic structural view of an ankle-wearing assembly according to an embodiment;

FIG. 3 is an exploded view of an ankle-donning assembly according to one embodiment;

figure 4 is a schematic view of an ankle-wearing assembly shown in one embodiment engaged with a foot.

100. An ankle worn component; 110. a base plate; 111. a first bending portion; 112. a second bending portion; 113. a first flanging; 114. second flanging; 120. a first support member; 121. a first flexible mat; 130. a second support member; 131. a second flexible mat; 140. a first connecting member; 150. a second connecting member; 151. a first buckling position; 1511. a first pin shaft; 152. a third buckling position; 1521. a second pin shaft; 153. a flexible band; 160. a first side cover; 161. a first card slot; 162. a second buckling position; 1621. a first card hole; 170. a second side cover; 171. a second card slot; 172. a fourth buckling position; 1721. a second card hole; 200. a foot portion; 210. toes; 220. a heel; 230. the instep.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

In one embodiment, referring to fig. 1, 2 and 4, an ankle-wearing assembly 100, the ankle-wearing assembly 100 includes: a base plate 110, a first support 120, a second support 130, a first connector 140, and a second connector 150. The base plate 110 serves to support the foot 200, and one end of the base plate 110 serves to allow the toes 210 of the foot 200 to protrude. The first and second supporting members 120 and 130 are respectively connected to opposite sides of the base plate 110. The first connecting member 140 and the second connecting member 150 are connected between the first supporting member 120 and the second supporting member 130 at intervals, respectively, and the first connecting member 140 is adapted to be rested on the heel 220 of the foot 200. The second connector 150 is adapted to be attached to the instep 230 of the foot portion 200.

The ankle wearing assembly 100, as described above, penetrates the foot 200 from between the first connecting member 140 and the second connecting member 150 during wearing, and steps on the base plate 110; then, the first connecting member 140 is attached to the heel 220, and the second connecting member 150 is attached to the instep 230, so that the ankle wearable assembly 100 can effectively fix the foot 200, and the foot 200 can perform a walking motion in the ankle wearable assembly 100. Since the toes 210 of the foot 200 can extend beyond one end of the base plate 110 when the foot 200 steps on the base plate 110, and the toe 210 is exposed, the toes 210 can be freely bent without being restricted by the base plate 110 when the foot 200 performs a kicking motion. Therefore, the whole back pedaling action is smoothly completed, and the stability of the exoskeleton system operation is favorably improved.

It should be noted that the end of the toe 210 extending out of the bottom plate 110 should be understood as follows: when the foot 200 steps on the base plate 110, the toe 210 of the foot protrudes beyond the base plate 110 and is exposed from one end of the base plate 110. Of course, it is also contemplated that the bottom plate 110 may be secured to only a rear portion of the foot 200 (e.g., an ankle portion). In addition, the foot 200 may or may not have shoes when stepping on the bottom plate 110.

It should be noted that, the number of the ankle wearing assemblies 100 of the present embodiment may not be limited when they are sold or used, for example: can be sold or used independently, or can be sold or used in pairs, etc.

Alternatively, the connection manner of the bottom plate 110 on the first support 120 and the second support 130 may be, but is not limited to, bolting, clamping, riveting, welding, bonding, pinning, integrally forming, etc. Similarly, the connection manner of the first connector 140 and the second connector 150 on the first support 120 and the second support 130 can also be, but not limited to, bolting, clamping, riveting, welding, bonding, pinning, integrally forming, etc.

Further, referring to fig. 1 and 3, the ankle-wearing assembly 100 further includes a first side cover 160. The first side cover 160 is connected with the first support 120. One end of the second connector 150 extends between the first side cover 160 and the first support 120. The second connecting member 150 is provided with a first fastening position 151. The first side cover 160 and/or the first support 120 (i.e. there are three cases: the first side cover 160, or the first support 120, or the first side cover 160 and the first support 120) are provided with a second fastening portion 162 that is in snap fit with the first fastening portion 151. As such, during the assembly process, one end of the second connector 150 is sandwiched between the first side cover 160 and the first support 120; then, the first buckle 151 and the second buckle 162 are engaged with each other, so that one end of the second connector 150 is stably connected between the first side cover 160 and the first support 120, thereby improving the structural stability of the ankle wearing assembly 100.

Alternatively, the first side cover 160 may be detachably connected to the first support 120 by bolts, pins, or the like, or may be non-detachably connected by welding, riveting, or integral molding.

Optionally, the first fastening portion 151 is a convex structure, and the second fastening portion 162 is a groove or hole structure; alternatively, the first fastening portion 151 is a groove or hole structure, and the second fastening portion 162 is a protrusion structure.

Specifically, referring to fig. 1 and fig. 3, the first buckling position 151 is a first pin 1511, and the second buckling position 162 is a first fastening hole 1621.

In one embodiment, referring to fig. 2 and 3, the ankle-donning assembly 100 further comprises a second side cover 170. The second side cover 170 is connected with the second support 130. The other end of the second connecting member 150 extends between the second side cover 170 and the second supporting member 130, and the second connecting member 150 is provided with a third fastening position 152. The second side cover 170 and/or the second supporting member 130 (i.e. there are three cases: the second side cover 170; or the second supporting member 130; or the second side cover 170 and the second supporting member 130) are provided with a fourth fastening position 172 that is snap-fitted with the third fastening position 152. Therefore, both ends of the second connector 150 are respectively and correspondingly clamped between the first side cover 160 and the first support 120 and between the second side cover 170 and the second support 130 by means of a snap-fit manner.

Alternatively, the second side cover 170 may be detachably connected to the second support 130 by bolts, pins, or the like, or may be non-detachably connected by welding, riveting, or integral molding. When the first side cover 160 and the second side cover 170 are both detachably connected, the first side cover 160 and the second side cover 170 are respectively removed, and the second connector 150 can be replaced and maintained.

Optionally, the third fastening portion 152 is a convex structure, and the fourth fastening portion 172 is a groove or hole structure; alternatively, the third buckling position 152 is a groove or hole structure, and the fourth buckling position 172 is a convex structure.

Specifically, referring to fig. 2 and fig. 3, the third fastening portion 152 is a second pin 1521, and the fourth fastening portion 172 is a second fastening hole 1721.

In one embodiment, referring to fig. 1, the length of the second connecting member 150 between the first supporting member 120 and the second supporting member 130 is adjustable. Thus, the length of the second connecting member 150 can be adjusted according to different foot widths during the wearing process, so that the ankle worn assembly 100 can be suitable for users with different foot widths.

It should be noted that there are various ways of adjusting the length of the second connecting member 150 between the first supporting member 120 and the second supporting member 130, such as: the second connector 150 itself has an adjustable latch and lock hole; alternatively, the connection position of the second connector 150 on the first support 120 or the second support 130 may be adjustable, and the like.

Further, referring to fig. 1 and fig. 2, the position of the first pin 1511 on the second connecting member 150 is adjustable, for example, a plurality of pin holes are disposed on the second connecting member 150. During the adjustment, the position of the second connector 150 between the first side cover 160 and the first support 120 is adjusted; after adjustment, the first pin 1511 is inserted into the first locking hole 1621 and the corresponding pin hole. Of course, in other embodiments, the position of the second pin 1521 on the second connector 150 is also adjustable, for example, a plurality of pin holes are provided on the second connector 150. During the adjustment, the position of the second link 150 between the second side cover 170 and the second support 130 is adjusted; after adjustment, the second pin 1521 is inserted into the second locking hole 1721 and the corresponding pin hole.

In one embodiment, referring to fig. 3, the base plate 110 is provided with a first bending portion 111 and a second bending portion 112 on opposite sides thereof. The first bending portion 111 is clamped between the first side cover 160 and the first support 120. The second bending portion 112 is clamped between the second side cover 170 and the second support 130, such that the first support 120, the bottom plate 110 and the second support 130 are tightly connected to each other by the cooperation of the first side cover 160 and the second side cover 170. Of course, in order to further improve the connection strength, the first bending portion 111 and the first side cover 160 or the first support 120 may be connected by bolts, welding, riveting, pins, bonding, or the like. Similarly, the second bent portion 112 and the second side cover 170 or the second supporting member 130 may be connected by bolts, welding, riveting, pins, bonding, etc.

Further, referring to fig. 1 and fig. 3, a first engaging groove 161 is disposed on the first side cover 160. The first bent portion 111 is provided with a first flange 113, and the first flange 113 is clamped in the first clamping groove 161. In this way, the coupling strength of the first side cover 160 and the first support 120 at the side of the base plate 110 is further improved.

In an embodiment, referring to fig. 2 and fig. 3, a second locking groove 171 is disposed on the second side cover 170, a second flange 114 is disposed on the second bending portion 112, and the second flange 114 is locked in the second locking groove 171. In this way, the coupling strength of the other side of the base plate 110 between the second side cover 170 and the second supporter 130 is further improved.

In one embodiment, referring to fig. 3, a first flexible pad 121 is attached to the first supporting member 120. The first flexible pad 121 is adapted to contact the foot 200 to improve comfort of the ankle worn assembly 100.

It should be noted that the material of the first flexible pad 121 may be foam, felt, rubber, etc., and this embodiment is not limited specifically, and only needs to satisfy that the inner side of the first supporting member 120 has a certain flexibility. Meanwhile, the first flexible mat 121 is disposed on the first support 120 in various ways, such as: can be a glue, a magic tape and other bonding modes; other connection means are of course possible.

In one embodiment, referring to fig. 3, the second support 130 is attached with a second flexible pad 131, and the second flexible pad 131 is used to contact with the foot 200, so as to ensure a certain flexibility inside the second support 130, thereby improving the comfort of the ankle wearing assembly 100.

It should be noted that the second flexible pad 131 may be made of foam, felt, rubber, etc., and this embodiment is not limited specifically, and only needs to satisfy that the inner side of the second supporting member 130 has a certain flexibility. Meanwhile, the second flexible mat 131 is disposed on the second support 130 in various ways, such as: can be a glue, a magic tape and other bonding modes; other connection means are of course possible.

In one embodiment, referring to fig. 3, there are more than two bottom plates 110. The two or more bottom plates 110 are arranged in parallel and spaced apart between the first support 120 and the second support 130. The end of the base plate 110 furthest from the first link 140 is used for the toes 210 of the foot 200 to protrude.

Alternatively, the material of the bottom plate 110 may be plastic, wood, metal, etc. When the material of the bottom plate 110 is metal, the bottom plate 110 may be specifically designed as a 304 steel plate.

In one embodiment, the first support 120 and the second support 130 may be sized to be uniform or may be non-uniform. For example, referring to fig. 1, the size of the second support 130 is larger than that of the first support 120. In addition, the first support 120 and the second support 130 have various shapes, such as: the first and second supports 120 and 130 may each have an oval, circular, triangular, quadrilateral, or other shape, etc.

In one embodiment, referring to fig. 1, the second connecting member 150 is provided with a flexible belt 153 to contact with the instep 230, so as to improve the overall comfort of the product.

In one embodiment, referring to fig. 1 and 4, an exoskeleton system includes an ankle worn component 100 of any of the above embodiments.

The exoskeleton system, which adopts the ankle joint wearing assembly 100, penetrates the foot 200 from the position between the first connecting piece 140 and the second connecting piece 150 and steps on the bottom plate 110 during wearing; then, the first connecting member 140 is attached to the heel 220, and the second connecting member 150 is attached to the instep 230, so that the ankle wearable assembly 100 can effectively fix the foot 200, and the foot 200 can perform a walking motion in the ankle wearable assembly 100. Since the toes 210 of the foot 200 can extend beyond one end of the base plate 110 when the foot 200 steps on the base plate 110, and the toe 210 is exposed, the toes 210 can be freely bent without being restricted by the base plate 110 when the foot 200 performs a kicking motion. Therefore, the whole back pedaling action is smoothly completed, and the stability of the exoskeleton system operation is favorably improved.

It should be noted that the exoskeleton system can be only an ankle joint exoskeleton module, and can also be a whole set of human exoskeleton consisting of other joint exoskeletons. Additionally, the ankle-donning assembly 100 may be mounted on the exoskeleton system in a manner that connects either the first support 120 or the second support 130 to other structures in the exoskeleton system.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the utility model and to simplify the description, and are not intended to 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 of the utility model.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Claims (10)

1. An ankle worn assembly, comprising:

a base plate for supporting a foot, and having one end for allowing toes of the foot to protrude;

the first supporting piece and the second supporting piece are respectively connected to two opposite sides of the bottom plate;

the first connecting piece and the second connecting piece are respectively connected between the first supporting piece and the second supporting piece at intervals, the first connecting piece is used for being lapped on the heel of the foot part, and the second connecting piece is used for being lapped on the instep of the foot part.

2. The ankle worn assembly according to claim 1, further comprising a first side cover, wherein the first side cover is connected to the first support member, one end of the second connector extends between the first side cover and the first support member, the second connector is provided with a first fastening position, and the first side cover and/or the first support member are provided with a second fastening position that is in snap fit with the first fastening position.

3. The ankle wearable assembly of claim 2, wherein the first fastening location is a first pin and the second fastening location is a first snap hole.

4. The ankle worn assembly of claim 2 further comprising a second side cover, wherein the second side cover is connected to the second support member, the other end of the second connecting member extends between the second side cover and the second support member, the second connecting member is provided with a third fastening position, and the second side cover and/or the second support member is provided with a fourth fastening position that is in snap fit with the third fastening position.

5. The ankle wearable assembly of claim 4, wherein the third button position is a second pin and the fourth button position is a second hole.

6. The ankle wearable assembly of claim 4, wherein the base plate has a first bent portion and a second bent portion on opposite sides thereof, the first bent portion being clamped between the first side cover and the first support member, and the second bent portion being clamped between the second side cover and the second support member.

7. The ankle wearable assembly according to claim 6, wherein the first side cover is provided with a first locking groove, the first bent portion is provided with a first flange, and the first flange is locked in the first locking groove; and/or the presence of a gas in the gas,

and a second clamping groove is formed in the second side cover, a second flanging is arranged on the second bending part, and the second flanging is clamped into the second clamping groove.

8. The ankle wearable assembly of any of claims 1-7, wherein the first support has a first flexible pad affixed thereto for contacting the foot; and/or the presence of a gas in the gas,

the second support piece is attached with a second flexible pad, and the second flexible pad is used for contacting the foot.

9. The ankle wearable assembly of any of claims 1-7, wherein the second connector is adjustable in length between the first support and the second support; and/or the presence of a gas in the gas,

the number of the base plates is more than two, the base plates are arranged between the first supporting piece and the second supporting piece at intervals in parallel, and one end of the base plate farthest away from the first connecting piece is used for enabling toes of the feet to extend out.

10. An exoskeleton system comprising the ankle wearable assembly of any of claims 1 to 9.

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