Method and device for evaluating functions of additive manufacturing orthopedic insoles

Abstract

The invention provides a method and device for evaluating functions of an additive manufacturing orthopedic insole. The device comprises a component control module, a storage device, an operation table, a heating device, a pressurizing device and an operation execution device. The control module is used for obtaining shape design parameters from the design model of the orthopedic insole and determining a substrate, an orthopedic functional part and an insole forming part which are to be selected; the operation execution device obtains the corresponding substrate from the substrate storage area and places the substrate on the operation table; the base is further used for obtaining the corresponding orthopedic function parts from the orthopedic function part storage area and fixedly installing the orthopedic function parts on the base to form an insole forming base; the operation execution device is further used for obtaining the corresponding insole forming part from the insole forming part storage area and placing the insole forming part on the insole forming base. The heating device and the pressurizing device are used for enabling the insole forming piece to be tightly attached to the upper surface of the insole forming base in a hot press forming mode so as to re-engrave the surface shape of the insole forming piece, and therefore the insole for testing is manufactured.

Description

Technical Field

[0001] The present invention relates to the technical field of orthopedic insoles, and in particular to a method and device for evaluating the function of an additively manufactured orthopedic insole. Background Art

[0002] Additive manufacturing (3D printing) personalized orthopedic insoles have become a widely used method for treating foot problems. Through precise design and additive manufacturing technology, personalized orthopedic insoles can effectively improve the pressure distribution on the sole of the foot, relieve foot pain, correct foot problems, and help restore normal gait. The production process of personalized orthopedic insoles usually includes several important steps: modeling, design, manufacturing, evaluation and modification. Among them, the evaluation and feedback of the wearing effect are particularly critical because it directly determines the correction effect and comfort of the orthopedic insole. However, in the current production process of personalized orthopedic insoles made by additive manufacturing, there are some significant challenges in the evaluation and modification stages, especially in the selection and adaptation of test insoles.

[0003] One feature of additive manufacturing is that once manufacturing is completed, the design of the insole becomes immutable, which means that if design deficiencies or incompatibility with user needs are discovered during the wear test, it is necessary to re-enter the design phase, make modifications, re-manufacture, and re-evaluate; this process is not only time-consuming, but each re-manufacturing requires additional materials, increasing costs.

[0004] In order to solve the unchangeable limitations of additive manufacturing, some researchers or hospital manufacturers have tried to achieve flexibility through modular design, that is, assembling multiple modular components into a pair of test insoles, and adjusting the configuration of the modules as needed to more accurately adapt to different foot problems and correction needs. This type of assembled insole is usually composed of multiple detachable and adjustable parts, which can be flexibly modified according to user feedback during the wearing process, but its problems cannot be ignored. Due to the splicing and connection between the various parts of the assembled insole, the overall stability of the test insole may be affected, resulting in discomfort or instability when worn. This instability may affect the accuracy of the orthotic effect, especially when precise support and pressure distribution are required.

[0005] In addition, during the production process of test insoles, due to the personalized needs of orthopedic insoles, the number of insoles produced is relatively small, which also leads to the fact that equipment for automatically producing test insoles is extremely rare, or is mostly operated manually. Summary of the invention

[0006] In view of this, an embodiment of the present invention provides a method and apparatus for evaluating the function of an additively manufactured orthopedic insole, so as to eliminate or improve one or more defects existing in the prior art.

[0007] In one aspect, the present invention provides a device for evaluating the function of an additively manufactured orthopedic insole, the device comprising: a control module, a component storage device, an operating table, a heating device, a pressurizing device, and an operation execution device; the component comprises a base, an orthopedic functional part, and an insole forming part; The component storage device includes a base storage area, an orthopedic functional component storage area and an insole forming component storage area, and each component placed in each storage area can be acquired one by one by the operation execution device; The control module is used to obtain the shape design parameters of the orthopedic insole from the design model of the orthopedic insole, and determine the base, orthopedic functional parts and insole forming parts to be selected according to the shape design parameters; the control module is in communication connection with the heating device, the pressurizing device and the operation execution device to control them to execute corresponding actions; The operation execution device is used to obtain a corresponding substrate from the substrate storage area based on the selected substrate, and place the substrate on the operation table; it is also used to obtain a corresponding orthopedic functional component from the orthopedic functional component storage area based on the selected orthopedic functional component, and fix the orthopedic functional component on the substrate; the substrate and at least one orthopedic functional component constitute an insole forming base; The operation execution device is also used to obtain a corresponding insole forming part from the insole forming part storage area based on the selected insole forming part, and place the insole forming part on the insole forming base; The selected base, orthopedic functional parts, and insole moldings are all obtained based on the design model of the test insole; The heating device is at least used to heat the selected insole forming part to a set temperature; The pressurizing device is located above or on one side of the operating table, and is used to press the insole molding piece tightly against the upper surface of the insole molding base by hot pressing to replicate its surface shape, thereby producing a test insole, which is used to test and evaluate the function of the orthopedic insole.

[0008] In some embodiments, the operating table is provided with a substrate fixing mechanism for fixing the substrate during the molding process of the test insole and releasing the substrate after molding; The substrate fixing mechanism is a negative pressure adsorption mechanism, a clamping mechanism or a magnetic adsorption mechanism, and the negative pressure adsorption mechanism or the magnetic adsorption mechanism is used for adsorption from the bottom of the substrate, and the clamping direction of the clamping mechanism is along the length and / or width direction of the substrate.

[0009] In some embodiments, the heating device is disposed in the insole forming part storage area, and the heating device is disposed in each storage unit of the insole forming part storage area, and can independently control the heating of each storage unit to heat the selected insole forming part; or the heating device includes a common heating block, and the heating block is used to transfer the operation execution device from the insole forming part storage area to the selected insole forming part of the heating block for heating; or, The heating device is arranged on the operating table, and is used to heat the entire insole forming base and the insole forming piece; or, The heating device is arranged in each base to heat the base and the insole forming part; or, The heating device is arranged on the pressure member of the pressure device and is used for directly heating the insole forming member.

[0010] In some embodiments, the device further comprises a cooling device for cooling the formed insole molded part; The cooling device comprises a cooling fan arranged above or at least on one side of the operating table, and the cooling fan is used to blow out natural wind or cold wind.

[0011] In some embodiments, the device further comprises a box body of closed or non-closed design, the component storage device is arranged at an upper position of the box body, and the operating table is located at a middle position of the box body.

[0012] In some embodiments, an insole outlet is provided at the lower position of the box body, and the operation execution device is also used to move the insole molded part that has been molded and demolded after cooling to the insole outlet position.

[0013] In some embodiments, the box is further provided with an operation panel, and the operation panel is used to manually input the design model of the orthopedic insole; or, The device also includes a data receiving module, which is used to automatically receive the design model of the orthopedic insole.

[0014] In some embodiments, the pressure member of the pressure device includes at least one of a pressure roller, a ball, a flexible plate, and a pressure airbag.

[0015] In some embodiments, the operation execution device includes a manipulator device with visual positioning; or, The operation execution device includes a push rod arranged at the rear of each component, a linear guide rail for moving the component from the push-out position to the operating table, and a manipulator for disassembling and assembling each component; or, The operation execution device is also used to move the base and the orthopedic functional part on the operating table back to their original positions after the insole forming part is formed and removed.

[0016] In some embodiments, the device further comprises a temperature detection device for non-contact monitoring of the real-time temperature of the insole molding; During the molding process of the insole molding part, if the real-time temperature of the insole molding part monitored by the temperature detection device is lower than the set temperature, the heating device is controlled to be turned on or increase the heating value so that the temperature of the insole molding part reaches the set temperature; During the cooling process after the insole molded part is formed, if the real-time temperature of the insole molded part monitored by the temperature detection device is about to reach the demoulding temperature, the operation execution device is controlled to remove the insole molded part and drop it to the insole exit position.

[0017] On the other hand, the present invention also provides a method for evaluating the function of an additively manufactured orthopedic insole, the method is implemented based on the above-mentioned device, and the method further includes the following steps: The control module obtains the shape design parameters of the orthopedic insole from the design model of the orthopedic insole, and determines the base, orthopedic functional parts and insole forming parts to be selected according to the shape design parameters; The control operation execution device obtains the corresponding substrate in the substrate storage area and places the substrate on the operating table; the control operation execution device obtains the corresponding orthopedic functional component in the orthopedic functional component storage area and places the orthopedic functional component on the substrate of the operating table to form an insole forming base; the control operation execution device obtains the corresponding insole forming component in the insole forming component storage area and places the insole forming component on the insole forming base; Controlling the heating device to heat the selected insole forming part directly or indirectly to a set temperature; Controlling the pressurizing device to pressurize and mold the insole molding piece, so that the insole molding piece is closely attached to the upper surface of the insole molding base and replicates its shape, so as to obtain a test insole; After the insole to be tested is cooled, the control operation execution device is removed and put into the insole outlet.

[0018] The method and device for evaluating the function of additively manufactured orthopedic insoles in the embodiment of the present invention provide an efficient, accurate and automated solution; through the automated operation execution device, heating and pressurizing device, combined with the precise component selection of the design model, it is possible to produce personalized test insoles that meet the biomechanical requirements, which can be widely used in the fields of medical treatment, sports and personalized customization. The present invention can greatly improve production efficiency and reduce manual operation errors through a fully automated operation execution device. This system can quickly and accurately combine the various functional modules of the insole, reducing the cumbersome process of traditional manual insoles. The system reduces manual intervention and unnecessary steps in an automated manner, and can significantly shorten the production cycle of the test insole. At the same time, the automated equipment can also effectively reduce material waste and improve production efficiency. In addition, since the base, orthopedic functional parts and insole molding parts are all generated based on the design model, the present invention can customize personalized test insoles according to the foot conditions of different patients, accurately matching different evaluation requirements.

[0019] Additional advantages, purposes, and features of the present invention will be described in part in the following description, and will become apparent to those skilled in the art after studying the following, or may be learned from the practice of the present invention. The purposes and other advantages of the present invention may be achieved and obtained by the structures specifically indicated in the specification and the accompanying drawings.

[0020] Those skilled in the art will appreciate that the objectives and advantages that can be achieved with the present invention are not limited to the above specific description, and the above and other objectives that can be achieved by the present invention will be more clearly understood from the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings described herein are used to provide a further understanding of the present invention, constitute a part of this application, and do not constitute a limitation of the present invention. The components in the drawings are not drawn to scale, but are only for illustrating the principles of the present invention. In order to facilitate the illustration and description of some parts of the present invention, the corresponding parts in the drawings may be enlarged, that is, they may become larger relative to other components in the exemplary device actually manufactured according to the present invention. In the drawings: Figure 1 It is a schematic structural diagram of a base, an orthopedic functional component and an insole forming component in one embodiment of the present invention.

[0022] Figure 2 FIG. 4 is a schematic structural diagram of a substrate in another embodiment of the present invention.

[0023] Figure 3 It is a schematic structural diagram of an apparatus for evaluating the function of additively manufactured orthopedic insoles in one embodiment of the present invention.

[0024] Figure 4This is a schematic structural diagram of a box body of an apparatus for evaluating the function of additively manufactured orthopedic insoles in one embodiment of the present invention.

[0025] Figure 5 The present invention is a flowchart of a method for evaluating the function of an additively manufactured orthopedic insole in one embodiment of the present invention.

[0026] Reference numerals: 101. Box body; 102. Operation panel; 103. Insole outlet; 110, component storage device; 111, base storage area; 112, orthopedic functional component storage area; 113, insole molding component storage area; 120, operating table; 130, heating device; 131, heating block; 140, pressurizing device; 150, operation execution device; 160, cooling device; 210. base; 220. orthopedic functional part; 230. insole forming part. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments and the accompanying drawings. Here, the illustrative embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0028] It should also be noted that, in order to avoid obscuring the present invention due to unnecessary details, only structures and / or processing steps closely related to the solutions according to the present invention are shown in the accompanying drawings, while other details that are not closely related to the present invention are omitted.

[0029] It should be emphasized that the term “include / comprises” when used herein refers to the presence of features, elements, steps or components, but does not exclude the presence or addition of one or more other features, elements, steps or components.

[0030] It should also be noted that, unless otherwise specified, the term “connection” herein may refer not only to a direct connection but also to an indirect connection involving an intermediate.

[0031] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the accompanying drawings, the same reference numerals represent the same or similar components, or the same or similar steps.

[0032] In order to solve or alleviate the problems of time-consuming, labor-intensive and high-cost repeated production of personalized orthopedic insoles encountered in the testing process in the prior art, the present invention provides an insole molding base for making test insoles, and also provides an automatic molding system for test insoles. The present invention can automatically assemble an adaptive insole molding base based on the design of the personalized orthopedic insole given by the orthotist, and can also automatically place an integrated insole molding part on the insole molding base, and press the test insole into a specific shape by heating and pressurizing.

[0033] The method and device for evaluating the function of additively manufactured orthopedic insoles of the present invention provide an efficient, accurate and automated solution for the production of test insoles. Through the automated operation execution device, heating and pressurizing device, combined with the precise component selection of the design model, personalized insoles that meet biomechanical requirements can be produced, which can be widely used in the fields of medical treatment, sports and personalized customization.

[0034] In one aspect, the present invention provides an insole forming base for making a test insole, such as Figure 1 and Figure 2 As shown, the manufacturing process of the test insole relies on precise component combination and efficient molding technology, among which the insole molding base is the key part of the entire insole molding system.

[0035] The base 210 is the basic structure of the insole and can be made of hard materials to support the shape of the entire insole, carrying all functional components (such as the orthopedic functional component 220) and the insole forming component 230, ensuring that the insole has sufficient support and stability during pressure molding. The design of the base 210 can be based on the needs of foot shape, gait, comfort, etc., combined with the requirements of foot orthopedics.

[0036] The orthopedic functional part 220 is an additional component designed to meet special foot needs (such as plantar support, shock absorption, arch correction, etc.). These functional parts usually have different shape characteristics and can be individually selected and installed according to the patient's foot condition. The orthopedic functional part 220 can be installed on the base 210 by magnetic adsorption, bonding or snap-on connection, etc., to adjust the foot pressure, improve gait and provide comfortable support. For example, the orthopedic functional part 220 may include a forefoot support, a medial arch support, a lateral arch support and a heel cup support divided according to the anatomical structure, and may also include a metatarsal pad, a transverse arch pad, and circular, elliptical and other shape modules for support and correction of specific foot problems.

[0037] The insole molding 230 is a material and component used to make a test insole, and it generates a test insole by replicating the surface shape of the insole molding base. The insole molding 230 is made of a plastic material, such as a low-temperature thermoplastic board or EVA foam material, which has the ability to deform at a specific temperature and can maintain the shape at room temperature. By replicating the surface shape of the base, the test insole meets the design requirements in appearance and function. When using the same base 210, the insole molding 230 can generally be reused, that is, after each test is completed, it is flattened and the molding operation of the next test insole is carried out again.

[0038] The insole forming piece 230 is an integrated structure. Compared with the assembled insoles in the prior art, the insole forming plate has a smooth and continuous curved surface structure, which is more in line with the shape of the insole for daily use, optimizes the comfort, support and stability of the insole, and realistically restores the design model of the test insole. The pressure forming method also simplifies the production process, reduces costs, and can be customized according to user needs. The consistency of the overall structure, uniform pressure distribution and high-strength support make this design have significant advantages in foot correction and comfort.

[0039] In another aspect, the present invention provides a device for evaluating the function of an additively manufactured orthopedic insole, such as Figure 3 and Figure 4 As shown, the device for evaluating the function of additively manufactured orthopedic insoles includes a control module, a component storage device 110, an operating table 120, a heating device 130, a pressurizing device 140, and an operation execution device 150. The components include the above-mentioned base, orthopedic functional parts, and insole forming parts.

[0040] The component storage device 110 includes a base storage area 111, an orthopedic functional component storage area 112, and an insole forming component storage area 113. Each component placed in each storage area can be acquired one by one by the operation execution device 150. The area division of each storage area can be scientific and reasonable, which can store various required components and also consider the acquisition path of the operation execution device 150.

[0041] The control module is used to obtain the shape design parameters of the orthopedic insole from the design model of the orthopedic insole, and determine the base 210, orthopedic functional parts 220 and insole molding parts 230 to be selected according to the shape design parameters. The design model accurately generates components that meet the biomechanical requirements according to the individual's foot needs and orthopedic goals. The steps of selecting the base, orthopedic functional parts, and insole molding parts can be performed by extracting the shape features and the positions of the feature points of the bottom contour, forefoot, medial arch, lateral arch, and heel of the design model, and then using ICP (neighboring point selection) registration, PointNet++, VoxelNet and other target detection algorithms based on point cloud data or CorrNet3D (based on unsupervised non-rigid point cloud registration network) for small module detection and other algorithms to extract parameters and determine the most matching components to be used. The control module is connected to the heating device 130, the pressurizing device 140 and the operation execution device 150 in communication to control them to perform corresponding actions; such as controlling the heating device 130 to turn on or off, or controlling the heating device to adjust the heating power; such as controlling the horizontal and vertical movement of the pressure member of the pressurizing device 140, and also controlling its movement speed and pressure, etc.; such as controlling the operation execution device 150 to obtain (can be grasped, adsorbed or pushed and pulled, etc.) the corresponding components in each storage area and place them on the operating table. Optionally, the control module can be a computer host, which integrates functions such as data input, algorithm program and sending control instructions.

[0042] The operation execution device 150 is used to obtain the corresponding substrate 210 from the substrate storage area 111 based on the selected substrate, and place the substrate 210 on the operation table 120; it is also used to obtain the corresponding orthopedic functional component 220 from the orthopedic functional component storage area 112 based on the selected orthopedic functional component 220, and fix the orthopedic functional component 220 on the substrate 210. The substrate and at least one orthopedic functional component constitute an insole forming base; the operation execution device 150 is also used to obtain the corresponding insole forming component 230 from the insole forming component storage area 113 based on the selected insole forming component 230, and place the insole forming component 230 on the insole forming base. After the preparation of the test insole is completed, or when another improved test insole needs to be remade, the operation execution device 150 is also used to move the substrate 210 and the orthopedic functional component 220 on the operation table 120 back to their original positions after the insole forming component 230 is formed and removed.

[0043] The heating device 130 is at least used to heat the selected insole molding to a set temperature. This heating process can ensure that the insole molding has sufficient plasticity and softness, so that it can accurately replicate the surface shape of the insole base during the subsequent pressurization process. The heating device 130 can provide uniform temperature distribution to avoid molding problems caused by uneven heating.

[0044] The pressurizing device 140 is located above or on one side of the operating table 120, and is used to press the insole molding to replicate the surface shape of the insole molding base, thereby producing a test insole. The function of the pressurizing device 140 is to apply appropriate pressure to fully contact the insole molding with the surface of the base after the insole molding is heated to an appropriate temperature, so that the surface of the insole molding accurately replicates the shape of the base. This process ensures the accurate replication of the surface shape of the insole by applying uniform pressure, thereby ensuring the high precision of the test insole. The test insole finally formed is used for subsequent additive manufacturing orthopedic insole testing and evaluation.

[0045] In the above embodiment, the device for evaluating the function of additively manufactured orthopedic insoles in the embodiment of the present invention can greatly improve production efficiency and reduce manual operation errors through the fully automated operation execution device 150. The present invention can quickly and accurately combine the various functional modules of the insole, reducing the cumbersome process of traditional manual insoles. The present invention reduces manual intervention and unnecessary steps in an automated manner, and can significantly shorten the production cycle of test insoles. At the same time, automated equipment can also effectively reduce material waste and improve production efficiency. In addition, since the base, orthopedic functional parts and insole moldings are all generated based on the design model of the orthopedic insole, the present invention can customize personalized test insoles according to the foot conditions of different patients, accurately matching different functional evaluation requirements.

[0046] The device for evaluating the function of additively manufactured orthopedic insoles in the embodiment of the present invention provides an efficient, accurate, and automated solution for the production of test insoles. Through the automated operation execution device 150, the heating and pressurizing device 140, combined with the precise component selection of the design model, personalized insoles that meet biomechanical requirements can be produced, which can be widely used in the fields of medical treatment, sports, and personalized customization.

[0047] It is understandable that the various components in the embodiments of the present invention do not rely on a specific production process or material, and appropriate production methods (such as additive manufacturing, traditional mold making, etc.) can be selected according to actual needs to manufacture the various components.

[0048] In some embodiments, during the molding process of the test insole, the substrate usually needs to be fixed on the operating table 120 to ensure that the substrate does not move or shift during the molding process of the insole. Whether it is heating, pressurizing or molding operation, the substrate needs to remain stable to avoid interference from external forces. Therefore, a substrate fixing mechanism is provided on the operating table 120 for fixing the substrate during the molding process of the test insole and releasing the substrate after molding. After molding is completed, a convenient way is needed to release the substrate from the operating table 120 so as to take out the molded insole or carry out further processing. At this time, the release function of the substrate fixing mechanism is very important, which can ensure that the substrate is detached without damage after molding is completed.

[0049] As at least one feasible manner, the substrate fixing mechanism is a negative pressure adsorption mechanism, a clamping mechanism or a magnetic adsorption mechanism, and the negative pressure adsorption mechanism or the magnetic adsorption mechanism is used to adsorb from the bottom of the substrate, and the clamping direction of the clamping mechanism is along the length and / or width direction of the substrate.

[0050] Optionally, taking a negative pressure adsorption mechanism as an example, the negative pressure adsorption mechanism forms a low-pressure area at the bottom of the substrate so that the substrate is adsorbed on the operating table 120. By controlling the intensity of the negative pressure, the fixing strength of the substrate can be accurately controlled to prevent the substrate from being too tight or too loose. Negative pressure adsorption can evenly adsorb the entire substrate on the operating table 120 to avoid the substrate being loosely fixed due to uneven local adsorption. The operation is relatively simple, and the fixing strength can be adjusted by adjusting the intensity of the negative pressure without the need for a complex mechanical structure. Since negative pressure adsorption does not involve physical contact, it can prevent the surface of the substrate from being damaged or scratched.

[0051] Optionally, taking the clamping mechanism as an example, the clamping mechanism can be clamped along the length or width direction of the substrate by a mechanical device (such as a cylinder, a spring, etc.) to ensure that the substrate does not move during the molding process. The clamping can be achieved by a clamp, which applies pressure along the edge, length or width direction of the substrate to firmly fix the substrate on the operating table 120. The clamping mechanism can provide a strong fixing force, which is particularly suitable for molding processes that require a high fixing strength. The clamping mechanism can adjust the clamping force as needed to adapt to substrates of different thicknesses or materials to ensure that the substrate is stable and not damaged. The clamping mechanism can be adjusted according to the specific size and shape of the substrate and is suitable for different types of insole substrates.

[0052] Optionally, taking a magnetic adsorption mechanism as an example, the magnetic adsorption mechanism uses magnetic force to adsorb the substrate from the bottom of the substrate so that it is firmly fixed on the operating table 120. Magnetic adsorption can embed magnets on the surface of the operating table 120 or use magnetic materials to construct an adsorption area as needed, and the substrate itself must contain ferromagnetic materials. The magnetic adsorption mechanism can quickly adsorb and release the substrate in a short time, and the operation is very convenient. Due to the characteristics of magnetic adsorption, there is no need to directly contact the substrate, so damage to the substrate surface can be avoided, which is particularly suitable for substrates with high precision and high surface requirements.

[0053] In some embodiments, the design and configuration of the heating device 130 is intended to provide precise heat control during the insole forming process to facilitate shaping, softening or enhancing the physical properties of the insole forming piece. The specific heating scheme and heating position have a significant impact on the effectiveness and efficiency of the forming process.

[0054] Optionally, the heating device 130 is disposed in the insole forming part storage area 113. The heating device 130 is disposed in each storage unit of the insole forming part storage area 113, and can individually control the heating of each storage unit to heat the selected insole forming part. This method can realize automated management, batch heating of multiple insole forming parts, and improve production efficiency; it can also reduce the time for making test insoles to a certain extent, that is, the heating process can be realized in the storage unit. This method can also allow personalized heating of insole forming parts to meet the molding requirements of test insoles of different materials or shapes. As another achievable method, the heating device 130 includes a common heating block 131 (such as Figure 3 As shown in FIG. 1 ), the heating block 131 is used to transfer the operation execution device 150 from the insole forming part storage area 113 to the selected insole forming part of the heating block 131 for heating. Compared with heating each storage unit independently, the design of the common heating block can reduce the number of heating parts and simplify the system structure. The heating block serves as a centralized heating area, which facilitates unified control and monitoring of the heating process.

[0055] Optionally, the heating device 130 is disposed on the operating table 120, and the heating device 130 is used to heat the entire insole forming base and the insole forming part. Integrating the heating device 130 on the operating table 120 can reduce the space occupied by the equipment and facilitate the operator to control the heating. The heating device 130 can cover the entire or part of the operating table 120, and can evenly heat the insole forming base and the insole forming part to ensure temperature consistency during the heating process.

[0056] Optionally, the heating device 130 is disposed in each substrate 210 (eg Figure 2As shown in FIG. 1 ), the heating device 130 is used to heat the substrate and the insole molding. This design integrates the heating device 130 in each substrate to facilitate heating of the substrate and the insole molding. The substrate is an important part of the molding process, which can provide stable support and promote heating. It can provide precise heating for different substrates and insole moldings, ensuring that the temperature of each part is uniform and accurate.

[0057] Optionally, the heating device 130 is disposed on the pressure member of the pressurizing device 140 to directly heat the insole forming part. This method allows heating and pressurizing to be performed simultaneously, and the insole can be formed while heating, which reduces the time for heating and pressurizing and improves efficiency. Synchronous heating during the pressurizing process helps ensure that the insole forming part is evenly heated, avoiding poor forming effects due to uneven heat distribution.

[0058] In the above embodiment, different configurations of the heating device 130 can be selected according to different process requirements and operating procedures. Individually controlled heating (heating of each storage unit inside the storage area) is suitable for scenarios with personalized requirements for different insole molded parts. The common heating block is suitable for situations where the production process is simple, the number of insole molded parts is small or the shapes are consistent. The heating of the operating table 120 is suitable for large-scale production processes and provides a uniform heating effect, but has high requirements for the space and equipment layout of the operating table 120. Heating inside the base and heating on the pressurized part are suitable for occasions where efficient and precise heating control is required, especially in thermoforming processes that require simultaneous heating and pressurization, which can improve production efficiency and molding accuracy.

[0059] In some embodiments, the device also includes a cooling device 160 for cooling the formed insole molded part; the cooling device 160 includes a cooling fan arranged above or at least on one side of the operating table 120, and the cooling fan is used to blow out natural wind or cold wind. In these embodiments, the design of the cooling device 160 is to quickly and effectively cool the formed insole molded part to an appropriate hardness or stable state to facilitate demolding from the base, subsequent processing and use. The cooling process is a key step in the insole molding process, and it is necessary to ensure that the cooling speed is uniform to avoid deformation or uneven material of the molded part. The wind blown by the cooling fan can help quickly reduce the temperature of the molded part. By controlling parameters such as wind speed, wind direction, and wind temperature, the cooling speed can be adjusted to ensure the uniformity of the insole molded part during the cooling process and prevent deformation or quality problems caused by uneven cooling.

[0060] When using air cooling, the cooling fan can be set above the operating table 120 or at least on one side. This position can ensure that the cold air can be blown evenly to the entire molding area, avoiding defects in the molded parts due to uneven local cooling. If the cooling fan is located above the operating table 120, the cold air can naturally flow from above to the surface of the insole molding, which helps to evenly reduce the overall temperature. Placing the cooling fan on the side of the operating table 120 can adjust the wind direction according to actual needs, and blow cold air in a targeted manner to ensure that the insole moldings in a specific area can be effectively cooled.

[0061] The cooling fan can blow out natural wind or cold air. Natural wind refers to air that has not undergone additional cooling treatment. It is suitable for scenarios where extremely fast cooling is not required, or when the external ambient temperature is low, using natural wind for cooling can save energy. Cold air refers to air that has been treated by cooling equipment (such as air-conditioning cold air or refrigerated air). This type of cold air is suitable for situations where rapid cooling is required, especially when the insole moldings need to be cooled in a short time to ensure production efficiency and molding quality. Cold air will have a better effect. In other embodiments, other cooling methods can also be used, such as liquid cooling or compressed air cooling.

[0062] In some embodiments, Figure 4 As shown, the device for evaluating the function of additively manufactured orthopedic insoles also includes a box 101 of closed or non-closed design. The closed box 101 can help keep the working environment inside the system clean and temperature controlled, such as preventing dust, moisture or external environmental factors from affecting the quality of the molded parts. The non-closed design helps to improve the ventilation effect, especially in scenarios where faster cooling or air circulation is required. The component storage device 110 is arranged at the upper position of the box 101, and the operating table 120 is located in the middle position of the box 101. This design enables the operating table 120 to conveniently connect the component storage device 110 and the insole outlet 103 at the upper and lower parts, which is convenient for effective management and processing. As the core component of the entire molding system, the operating table 120 is responsible for the placement of raw materials, the control of the molding process, and the processing of the final molded parts. Its location in the middle helps to optimize the workflow and ensure smooth connection between different processes.

[0063] As at least one possible implementation, the base storage area 111 can be located on the left side of the upper part of the box 101, for storing base modules of different heights and sizes; the orthopedic functional parts storage area 112 can be located in the middle of the upper part of the box 101, for storing orthopedic functional parts of different types and different shape parameters; the insole forming parts storage area 113 can be located on the right side of the upper part of the box 101, for storing low-temperature thermoplastic plates of different sizes and shapes. Such a design can provide a reasonable storage space for the components to be used in the system, thereby facilitating operations such as loading and unloading, and does not interfere with the workflow of other parts.

[0064] In some embodiments, Figure 4 As shown, the lower part of the box 101 is provided with an insole outlet 103, and the operation execution device 150 is also used to move the insole molded parts that have been molded and demolded after cooling to the insole outlet 103. After the steps of molding, cooling, demolding, etc., the insole molded parts need to be taken out or transported to the next process through the outlet. The lower part can use the effect of gravity so that the molded parts can automatically or easily move to the outlet after cooling, which is convenient for subsequent sorting or evaluation.

[0065] In the above embodiment, the design of the device for evaluating the function of additively manufactured orthopedic insoles demonstrates an efficient workflow, which can greatly improve production efficiency and the degree of automation of the system by rationally arranging the box 101, the storage device, the operating table 120, the cooling device 160 and the operation execution device 150. The formed insoles are quickly transferred from the operating table 120 to the insole outlet 103 through a precise handling system, ready for subsequent processing and transportation. The entire system can adapt to different production needs and improve production capacity and accuracy.

[0066] In some embodiments, the box 101 is further provided with an operation panel 102, and the operation panel 102 is used to manually input the design model of the test insole.

[0067] For example, the specific implementation process is as follows: (1) The user inputs the designed insole model on the operation panel 102. (2) The device for evaluating the function of additively manufactured orthopedic insoles in the present invention automatically converts the insole model into component parameters of the base, orthopedic functional parts, etc. The robot arm (operation execution device 150) selects the corresponding component in the upper left module storage area according to the component parameters, places it on the operation table 120 with the heating device 130, and splices it as the insole forming base. (3) The robot arm selects a low-temperature thermoplastic plate (insole forming part) of corresponding size according to the calculated parameters and places it on the insole forming base. (4) The heating device 130 starts to be powered on, and the base temperature is controlled at about 60 degrees. At the same time, the pressurizing device 140 repeatedly rolls on the surface of the low-temperature thermoplastic plate, so that the low-temperature thermoplastic plate is completely attached to the surface of the base. (5) After the production is completed, the heating device 130 turns off the heating function, turns on the ventilation function, quickly cools down, and plays a demoulding role. (6) The robotic arm puts the prepared test insole (i.e., the molded insole molded part) into the exit area and puts the remaining components back into the storage area.

[0068] In other embodiments, the device for evaluating the function of additively manufactured orthopedic insoles further includes a data receiving module, which is used to automatically receive the design model of the test insole. For example, the data receiving module can exchange data with an external computer system or design software through a network connection, a USB interface, or wireless communication. In this design, the design model can be generated by a three-dimensional design software or a CAD system, and directly transmitted to the device for evaluating the function of additively manufactured orthopedic insoles through the data receiving module. This method can greatly reduce human input errors and achieve a more efficient production process. The design model can be in a standard data format (such as CAD drawings, STL files, G codes, etc.), which contains detailed parameters required for molding, such as the geometry of the insole, the required materials, size, thickness, etc.

[0069] In the above embodiment, the design of the operation panel 102 and the data receiving module is introduced, so that the device for evaluating the function of additively manufactured orthopedic insoles is more flexible and efficient in dealing with different production tasks. The operation panel 102 provides a convenient manual input interface suitable for customized production needs, while the data receiving module improves production efficiency, reduces human errors, and adapts to mass production through automation. The combination of the two can meet diverse production needs while improving the stability and intelligence level of the system.

[0070] In some embodiments, the pressure member of the pressure device 140 includes at least one of a pressure roller, a ball, a flexible plate, and a pressure airbag. In this design, the pressure member of the pressure device 140 is used to apply uniform pressure to the test insole during the molding process to ensure that the insole molding is accurately molded according to the predetermined design model. Each pressure member has different functions and characteristics, and can be selected or used in combination according to specific application requirements.

[0071] Optionally, a pressure roller is used to apply uniform pressure during the forming process, which is particularly suitable for continuous and efficient production processes. For example, during the hot pressing process, the pressure roller can evenly press the insole material to ensure that its surface is flat and the thickness is uniform. The pressure roller can evenly distribute the pressure by rotating and rolling to avoid excessive or insufficient local pressure. The pressure of the pressure roller can be adjusted by adjusting the speed of the roller, pressure and other parameters.

[0072] Optionally, the ball bearings can be used as pressure-applying members to precisely apply local pressure or disperse uniform pressure, which is suitable for molding processes that require high precision. The use of ball bearings can avoid large-area compression and is suitable for more complex and delicate molding requirements. Ball bearings can provide more localized pressure and are suitable for more delicate and complex insole molding processes. The pressure applied by ball bearings is relatively gentle, which reduces damage to the material surface and is suitable for production processes that require higher surface quality.

[0073] Optionally, the flexible plate pressure member is made of soft material and can adapt to the shape of the product. This type of flexible plate can adapt to the different shapes of insole designs by deformation, providing uniform and adaptive pressure distribution. The flexible plate can cover a large contact area and provide a more uniform pressure distribution, which is suitable for processes with high requirements for surface finish and uniformity.

[0074] Optionally, the pressure-applying airbag adjusts the pressure by inflating or deflating, which is a very flexible way of applying pressure. The airbag can adjust the pressure as needed and can evenly distribute the pressure, and is often used in scenarios where pressure needs to be precisely controlled. The airbag can adapt to the surface contour of the object and adjust the intensity and uniformity of the applied pressure by changing the gas pressure. The airbag can be equipped with an automated control system that can adjust the air pressure based on real-time feedback to ensure the accuracy of the pressure distribution.

[0075] In the above embodiments, different pressure-applying members may be selected according to production requirements and product characteristics in specific applications, or they may be used in combination to achieve the best pressurizing effect.

[0076] In some embodiments, the operation execution device 150 includes a manipulator device with visual positioning. This configuration achieves precise positioning and automatic operation by integrating a visual positioning system (such as a camera and an image processing algorithm) with a manipulator device (such as an industrial robot arm). The visual system guides the manipulator to perform precise grasping, placement, assembly and other tasks by capturing images of the work area in real time. For example, the manipulator device can accurately identify the position of the insole molding through the visual positioning system, and then accurately move it to the desired position to complete various complex operations such as assembly, disassembly or adjustment. The visual system can correct the positioning error of the manipulator in real time to ensure the accuracy of the operation. The computer vision system can quickly and flexibly respond to different types of components and operation tasks. It can handle complex shapes and highly variable working environments.

[0077] In some embodiments, the operation execution device 150 includes a push rod arranged behind each component, a linear guide rail for moving the component from the push-out position to the operating table 120, and a manipulator for disassembling and assembling each component. This configuration uses a push rod, a linear guide rail, and a manipulator to achieve the movement, disassembly, and precise positioning of the component. The push rod is used to move the component from the storage position to the push-out position (such as the side where the operating table 120 is located), and can provide linear motion. The linear guide rail is used to move the component from the push-out position to a position close to the operating table 120. The manipulator is used for operations such as disassembly, handling, and assembly, and realizes the disassembly, handling, and assembly of the component by grabbing and placing.

[0078] In some embodiments, the device for evaluating the function of additively manufactured orthopedic insoles further comprises a temperature detection device for non-contact monitoring of the real-time temperature of the insole forming part. During the molding process of the insole forming part, if the real-time temperature of the insole forming part monitored by the temperature detection device is lower than the set temperature, the heating device 130 is controlled to be turned on or increase the heating value so that the temperature of the insole forming part reaches the set temperature; during the cooling process after the insole forming part is molded, if the real-time temperature of the insole forming part monitored by the temperature detection device is about to reach the demolding temperature, the operation execution device 150 is controlled to remove the insole forming part and throw it to the insole outlet 103.

[0079] In this embodiment, the device for evaluating the function of additively manufactured orthopedic insoles integrates multiple key components, aiming to achieve efficient and accurate management of the insole molding process through precise temperature control and automated operation. The temperature detection device is used to monitor the temperature of the insole molding in real time and non-contact. The temperature detection device can use infrared temperature sensors or laser temperature measurement technology to accurately sense the surface temperature of the insole molding without direct contact with the insole molding. If the temperature detection device detects that the temperature of the insole molding is lower than the set value, the system will automatically start or increase the heat generation, and heat the insole molding through the heating device 130 (such as an electric heater, a hot air gun, an infrared heater, etc.) to raise its temperature to the set molding temperature range. Ensure that the insole molding is maintained at an ideal temperature level throughout the molding process, thereby ensuring the plasticity, shape retention and final molding quality of the material.

[0080] When the insole molding is completed, the system enters the cooling stage. During this process, the temperature detection device will continue to monitor the temperature of the insole molding. Once it detects that the temperature has dropped to the demolding temperature (i.e., the temperature at which the mold can be safely removed), the next operation is triggered. The demolding temperature refers to the temperature at which the surface temperature of the insole molding drops to a low enough temperature during the cooling process to ensure that the molding can be removed smoothly without damage. Through precise temperature management, the insole molding is ensured to have the best physical properties when demolding, reducing the defective rate.

[0081] The device for evaluating the function of additively manufactured orthopedic insoles achieves efficient and accurate temperature control management during the insole molding process through accurate temperature detection and control. The close cooperation of the temperature detection device, the heating device 130 and the operation execution device 150 ensures that the molded parts are produced at an ideal temperature, while improving production efficiency through the automated pick-and-place system.

[0082] In another aspect, the present invention also provides a method for evaluating the function of an additively manufactured orthopedic insole, such as Figure 5 As shown, the implementation of the method is based on the above-mentioned device for evaluating the function of additively manufactured orthopedic insoles, and the method also includes the following steps: S10: The control module obtains the shape design parameters of the orthopedic insole from the design model of the orthopedic insole, and determines the base, orthopedic functional parts and insole molding parts to be selected according to the shape design parameters. In this step, the control module may refer to the processor and controller of the device, etc., which has the functions of data reception, calculation and sending control instructions. The shape design parameters of the orthopedic insole may include size, thickness, curve, etc. By analyzing the design model, each component is accurately selected and configured to ensure that the test sole is prepared as vividly and realistically as possible according to the design model of the orthopedic insole. The higher the shape restoration degree of the test sole, the better the data reliability for evaluating the function of the additively manufactured orthopedic insole.

[0083] S20: Control the operation execution device to obtain the corresponding substrate in the substrate storage area and place the substrate on the operating table; control the operation execution device to obtain the corresponding orthopedic functional parts in the orthopedic functional parts storage area and place the orthopedic functional parts on the substrate of the operating table to form an insole forming base; control the operation execution device to obtain the corresponding insole forming parts in the insole forming parts storage area and place the insole forming parts on the insole forming base. In this step, the insole forming base is constructed by assembling the substrate and the orthopedic functional parts on the operating table according to the design requirements, so as to prepare for the subsequent forming and heating process. The path planning of the operation execution device, the grasping and placing of components, etc. can all be controlled by the control module.

[0084] S30: Control the heating device to heat the selected insole molding directly or indirectly to a set temperature. In this step, heating the insole molding can soften it, which is convenient for subsequent molding and reproduction processes. The setting of the heating temperature can be selected according to the characteristics of the material to ensure that molding can be effectively performed without damaging the material.

[0085] S40: Control the pressurizing device to pressurize the insole molding part, so that the insole molding part is closely attached to the upper surface of the insole molding base and replicates its shape to obtain a test insole. By pressurizing, the molding part completely replicates the shape of the molding base, thereby generating a test insole that can be used for functional evaluation. This step ensures that the design model of the orthopedic insole can be accurately converted into a physical model to meet the expected functional requirements.

[0086] S50: After the insole to be tested is cooled, the control operation execution device is removed and put into the insole outlet. The cooling process stabilizes the molded part and can retain its shape at room temperature. After the insole is taken out, subsequent functional tests or other applications can be carried out.

[0087] In addition to the application of preparing test insoles in the field of personalized orthopedic insoles, the device for evaluating the function of additively manufactured orthopedic insoles of the present invention can also be widely used in sports shoes, medical insoles, fashion insoles, work shoe insoles, special function insoles, insole material research and development, insole automated production lines, etc. Through automation, personalization and precise temperature control management, the device can improve production efficiency and product quality, and meet the diverse needs for insoles in different scenarios.

[0088] It should be clear that the present invention is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present invention is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present invention.

[0089] In the present invention, features described and / or illustrated for one embodiment may be used in the same or similar manner in one or more other embodiments, and / or combined with features of other embodiments or replace features of other embodiments.

[0090] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the embodiments of the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A device for evaluating the function of additively manufactured orthopedic insoles, characterized in that: The device comprises: a control module, a component storage device (110), an operating table (120), a heating device (130), a pressurizing device (140), and an operation execution device (150); the component comprises a base (210), an orthopedic functional part (220), and an insole forming part (230); The component storage device (110) comprises a base storage area (111), an orthopedic functional component storage area (112), and an insole forming component storage area (113), and each component placed in each storage area can be retrieved one by one by the operation execution device (150); The control module is used to obtain shape design parameters of the orthopedic insole from a design model of the orthopedic insole, and to determine the base (210), orthopedic functional component (220), and insole forming component (230) to be selected according to the shape design parameters; the control module is in communication connection with the heating device (130), the pressurizing device (140), and the operation execution device (150) to control them to execute corresponding actions; The operation execution device (150) is used to obtain a corresponding substrate (210) from the substrate storage area (111) based on a selected substrate (210), and place the substrate (210) on the operation table (120); it is also used to obtain a corresponding orthopedic functional component (220) from the orthopedic functional component storage area (112) based on a selected orthopedic functional component (220), and fix the orthopedic functional component (220) on the substrate (210); the substrate (210) and at least one orthopedic functional component (220) form an insole forming base; the operation execution device (150) is also used to obtain a corresponding insole forming component (230) from the insole forming component storage area (113) based on a selected insole forming component (230), and place the insole forming component (230) on the insole forming base; The heating device is at least used to heat the selected insole forming part (230) to a set temperature; The pressurizing device (140) is located above or on one side of the operating table (120) and is used to press the insole molding piece (230) into close contact with the upper surface of the insole molding base by means of hot pressing to replicate its shape, thereby producing a test insole, which is used to test and evaluate the function of the orthopedic insole.

2. The device for evaluating the function of additively manufactured orthopedic insoles according to claim 1, characterized in that: The operating table (120) is provided with a base fixing mechanism for fixing the base (210) during the molding process of the test insole and for releasing the base (210) after molding; The substrate fixing mechanism is a negative pressure adsorption mechanism, a clamping mechanism or a magnetic adsorption mechanism, the negative pressure adsorption mechanism or the magnetic adsorption mechanism is used to adsorb from the bottom of the substrate (210), and the clamping direction of the clamping mechanism is along the length and / or width direction of the substrate (210).

3. The device for evaluating the function of additively manufactured orthopedic insoles according to claim 1, characterized in that: The heating device (130) is arranged in the insole forming part storage area (113), and the heating device (130) is arranged in each storage unit of the insole forming part storage area (113), and can independently control the heating of each storage unit, so as to heat the selected insole forming part (230); or the heating device (130) includes a common heating block (131), and the heating block (131) is used to transfer the operation execution device (150) from the insole forming part storage area (113) to the selected insole forming part (230) of the heating block (131) for heating; or, The heating device (130) is disposed on the operating table (120), and the heating device (130) is used to heat the entire insole forming base and the insole forming part (230); or, The heating device (130) is disposed in each substrate (210) and is used to heat the substrate (210) and the insole forming part (230); or, The heating device (130) is arranged on the pressure-applying piece of the pressure-applying device (140) and is used to directly heat the insole forming piece (230).

4. The device for evaluating the function of additively manufactured orthopedic insoles according to claim 1, characterized in that: The device further comprises a cooling device (160) for cooling the formed insole molded part (230); The cooling device (160) comprises a cooling fan arranged above or at least on one side of the operating table (120), and the cooling fan is used to blow out natural wind or cold wind.

5. The device for evaluating the function of additively manufactured orthopedic insoles according to claim 1, further comprising a box (101) of closed or non-closed design, the component storage device (110) being arranged at an upper position of the box (101), and the operating table (120) being located at a middle position of the box (101).

6. The device for evaluating the function of additively manufactured orthopedic insoles according to claim 5, characterized in that: The lower part of the box (101) is provided with an insole outlet (103), and the operation execution device (150) is also used to move the insole molded part (230) that has been molded and demoulded after cooling to the position of the insole outlet (103); or, The box (101) is also provided with an operation panel (102), and the operation panel (102) is used to manually input the design model of the orthopedic insole; or the device further comprises a data receiving module, and the data receiving module is used to automatically receive the design model of the orthopedic insole.

7. The device for evaluating the function of additively manufactured orthopedic insoles according to claim 1, characterized in that: The pressure member of the pressure device (140) comprises at least one of a pressure roller, a ball, a flexible plate and a pressure airbag.

8. The device for evaluating the function of additively manufactured orthopedic insoles according to claim 1, characterized in that: The operation execution device (150) comprises a manipulator device with visual positioning; or, The operation execution device (150) comprises a push rod arranged at the rear of each component, a linear guide rail for moving the component from the push-out position to the operating table, and a manipulator for disassembling and assembling each component; or, The operation execution device (150) is also used to move the base (210) and the orthopedic functional part (220) on the operating table back to their original positions after the insole forming part (230) is formed and removed.

9. The device for evaluating the function of additively manufactured orthopedic insoles according to claim 1, characterized in that: The device also includes a temperature detection device for non-contact monitoring of the real-time temperature of the insole forming part (230); During the molding process of the insole molding part (230), if the real-time temperature of the insole molding part (230) monitored by the temperature detection device is lower than a set temperature, the heating device is controlled to be turned on or increase the heating value so that the temperature of the insole molding part (230) reaches the set temperature; During the cooling process after the insole forming part (230) is formed, if the real-time temperature of the insole forming part (230) monitored by the temperature detection device is about to reach the demoulding temperature, the operation execution device is controlled to remove the insole forming part (230) and drop it to the insole exit position.

10. A method for evaluating the function of an additively manufactured orthopedic insole, characterized in that: The method is implemented based on the device according to any one of claims 1 to 9, and the method further comprises the following steps: The control module obtains the shape design parameters of the orthopedic insole from the design model of the orthopedic insole, and determines the base, orthopedic functional parts and insole forming parts to be selected according to the shape design parameters; The control operation execution device obtains the corresponding substrate in the substrate storage area and places the substrate on the operating table; the control operation execution device obtains the corresponding orthopedic functional component in the orthopedic functional component storage area and places the orthopedic functional component on the substrate of the operating table to form an insole forming base; the control operation execution device obtains the corresponding insole forming component in the insole forming component storage area and places the insole forming component on the insole forming base; Controlling the heating device to heat the selected insole forming part directly or indirectly to a set temperature; Controlling the pressurizing device to pressurize and mold the insole molding piece, so that the insole molding piece is closely attached to the upper surface of the insole molding base and replicates its shape, so as to obtain a test insole; After the insole to be tested is cooled, the control operation execution device is removed and put into the insole outlet.

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