A footplate structure, prosthetic leg and robot
Patent Information
- Application Number
- CN202521757386.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-18
- Publication Date
- 2026-09-08
- Estimated Expiration
- 2035-08-18
AI Technical Summary
[0005]本实用新型要解决的技术问题在于，针对现有技术的上述缺陷，提供一种脚板结构、假腿及机器人，旨在解决现有技术中脚板结构的仿生效果有待改善的问题
[0026] Beneficial effects: In the initial state, the front plate is positioned along the extension direction of the rear plate, and both plates are in an unfolded state. During walking or running, when the front plate touches the ground, the front and rear plates rotate relative to each other, bending into a folded state. When the foot structure is off the ground or flat against the ground, the front and rear plates unfold under the action of elastic elements. Therefore, the biomimetic effect of the foot structure is better.
Smart Images
Figure CN224725899U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robotics technology, and in particular to a foot plate structure, a prosthetic leg, and a robot. Background Technology
[0002] The footplate structure is an indispensable component of a prosthetic leg. It is constructed based on the shape and function of the human foot so that it can assist in presenting the movements and functions of the human foot.
[0003] In existing technologies, foot structures can represent walking movements and functions, but in movements such as running, squatting, and bending the knees, the foot structure is relatively rigid, and the biomimetic effect needs to be improved.
[0004] Therefore, existing technologies still need to be improved and developed. Utility Model Content
[0005] The technical problem to be solved by this utility model is to provide a foot plate structure, a prosthetic leg and a robot in view of the above-mentioned defects of the prior art, so as to solve the problem that the biomimetic effect of the foot plate structure in the prior art needs to be improved.
[0006] The technical solution adopted by this utility model to solve the technical problem is as follows:
[0007] In a first aspect, the present invention provides a foot plate structure, comprising:
[0008] Back panel;
[0009] The front plate is rotatably connected to the front end of the rear plate;
[0010] An elastic element, with its two ends connected to the rear plate and the front plate respectively;
[0011] The rear plate has a first notch, and the elastic element is located within the first notch.
[0012] In other embodiments of this utility model, the front end of the front plate is formed with a second notch and an arc-shaped portion;
[0013] When the foot plate structure is a left foot plate structure, the arc-shaped part is located to the left of the second notch;
[0014] When the foot plate structure is a right foot plate structure, the arc-shaped part is located to the right of the second notch.
[0015] In other embodiments of this utility model, the foot plate structure further includes:
[0016] An elastic plate is disposed at the bottom of the rear plate.
[0017] In other embodiments of this utility model, the front end of the elastic plate is disposed at the front end of the rear plate, and there is a gap between the rear end of the elastic plate and the rear end of the rear plate.
[0018] In other embodiments of this utility model, the rear end of the elastic plate bends upward.
[0019] In other embodiments of this utility model, the foot plate structure further includes:
[0020] The bracket is located at the rear end of the rear plate.
[0021] In other embodiments of this utility model, the foot plate structure further includes:
[0022] The instep is located on the rear plate.
[0023] In other embodiments of this utility model, the front end of the front plate is bent upward.
[0024] Secondly, the present invention provides a prosthetic leg, including the foot plate structure described in any of the above claims.
[0025] Thirdly, the present invention provides a robot, including the foot plate structure as described in any of the above claims or the prosthetic leg as described above.
[0026] Beneficial effects: In the initial state, the front plate is positioned along the extension direction of the rear plate, and both plates are in an unfolded state. During walking or running, when the front plate touches the ground, the front and rear plates rotate relative to each other, bending into a folded state. When the foot structure is off the ground or flat against the ground, the front and rear plates unfold under the action of elastic elements. Therefore, the biomimetic effect of the foot structure is better. Attached Figure Description
[0027] Figure 1 This is a first structural schematic diagram of the foot plate structure in an embodiment of this utility model.
[0028] Figure 2 This is a schematic diagram of the second structure of the foot plate structure in an embodiment of this utility model.
[0029] Figure 3 This is a schematic diagram of the third structure of the foot plate structure in an embodiment of this utility model.
[0030] Figure 4 yes Figure 3 Sectional view along line A.
[0031] Figure 5 This is a schematic diagram of the structure of the rear plate in an embodiment of this utility model.
[0032] Figure 6This is a schematic diagram of the first structure of another foot plate structure in an embodiment of this utility model.
[0033] Figure 7 This is a schematic diagram of the second structure of another foot plate structure in an embodiment of this utility model.
[0034] Figure 8 This is a schematic diagram of the third structure of another foot plate structure in an embodiment of this utility model.
[0035] Figure 9 yes Figure 8 Sectional view along line B.
[0036] Explanation of reference numerals in the attached figures:
[0037] 10. Back panel; 11. First notch;
[0038] 20. Front panel; 21. Second notch; 22. Curved section;
[0039] 30. Elastic components;
[0040] 40. Flexible plate;
[0041] 50. Bracket;
[0042] 60. Instep. Detailed Implementation
[0043] To make the objectives, technical solutions, and advantages of this utility model clearer and more explicit, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.
[0044] Please also refer to Figures 1-9 This utility model provides some preferred embodiments of a foot plate structure.
[0045] like Figure 1 As shown, the footplate structure of this utility model includes a rear plate 10. The rear plate 10 is located at the rear of the footplate structure. The footplate structure includes a front plate 20. The front plate 20 is located at the front of the footplate structure. The front plate 20 is located in front of the rear plate 10, and the front plate 20 is rotatably connected to the front end of the rear plate 10. The front end of the front plate 20 forms a second notch 21, dividing the front end of the front plate 20 into two parts, corresponding to the big toe and the other toes respectively, with the second notch 21 serving as a gap between the big toe and the other toes. The front end of the front plate 20 forms an arc-shaped portion 22, which corresponds to the overall shape of the other toes. See also Figure 3 and Figure 8The footplate structure is a right-footplate structure. Since the big toe of the right foot is located to the left of the other toes, the second notch 21 is located to the left of the arc-shaped portion 22. The footplate structure includes a support 50. The support 50 is located at the rear end of the rear plate 10. The footplate structure includes an elastic plate 40. The elastic plate 40 is located at the bottom of the rear plate 10 (see...). Figure 7 and Figure 9 The elastic plate 40 is elastic and cushions the impact of the foot plate structure on the ground.
[0046] like Figure 2 As shown, a first notch 11 is formed on the rear plate 10 (see...). Figure 5 The footplate structure includes an elastic element 30. The elastic element 30 connects the front plate 20 and the rear plate 10, providing an elastic force to unfold the front plate 20 and the rear plate 10. In the initial state, the front plate 20 is positioned along the extension direction of the rear plate 10, with an angle of 180° or close to 180° between them, and the front plate 20 and the rear plate 10 are in an unfolded state. During walking or running, when the front plate 20 touches the ground, the front plate 20 and the rear plate 10 rotate relative to each other, the angle between them decreases, and the front plate 20 and the rear plate 10 are in a bent state. When the footplate structure is off the ground or flat on the ground, the front plate 20 and the rear plate 10 are in an unfolded state under the action of the elastic element 30. Therefore, the biomimetic effect of the footplate structure is better. The rear plate 10 limits the rotation of the front plate 20, ensuring that the front plate 20 and the rear plate 10 remain in an unfolded state. A third notch is formed on the elastic plate 40. The third notch is located at the front end of the elastic plate 40 and avoids obstructing the elastic element 30. The elastic element 30 may extend only a small portion into the third notch, or it may not extend into the third notch.
[0047] like Figure 3 As shown and Figure 4 As shown, the elastic plate 40 is concealed beneath the rear plate 10. The front end of the elastic plate 40 is connected to the front end of the rear plate 10, and a gap exists between the rear end of the elastic plate 40 and the rear end of the rear plate 10. When the footplate structure contacts the ground, the elastic plate 40 deforms, and this gap decreases. The rear end of the elastic plate 40 bends upwards, i.e., towards the rear plate 10. The footplate structure may be configured inside the shoe, and the upwardly curved elastic plate 40 helps protect the shoe or the ground upon contact. The elastic plate 40 may also extend to the rear of the rear plate 10 (see...). Figure 9 The elastic element 30 can be a spring. When the front plate 20 and the rear plate 10 are in the unfolded state, the spring is in its natural state; when the front plate 20 and the rear plate 10 are in the bent state, the spring is stretched, and the front plate 20 and the rear plate 10 are subjected to the stretching force of the spring, tending to unfold.
[0048] like Figure 5 As shown, the rear plate 10 can be rectangular, and the first notch 11 is provided at the front end of the rear plate 10.
[0049] like Figure 6 As shown, the foot plate structure includes an instep 60, which is positioned above the rear plate 10. The front plate 20 can be connected to the rear plate 10 via the instep 60 (see [reference]). Figure 9 The foot plate can also be connected to the rear plate 10 via other connectors, such as pivot connectors. The instep 60, front plate 20, and rear plate 10 together form the shape of the foot. The instep 60 limits the rotation of the front plate 20, and the included angle between the front plate 20 and the rear plate 10 is kept within the range of obtuse angles.
[0050] Based on the foot plate structure of any of the above embodiments, the present invention also provides a prosthetic leg, including the foot plate structure described in any of the above embodiments, as specifically as described above.
[0051] The prosthetic leg provided by this utility model has all the above-mentioned beneficial effects because it is equipped with the foot plate structure described in any of the above technical solutions.
[0052] Based on the foot plate structure and prosthetic leg of any of the above embodiments, this utility model also provides a robot, including the foot plate structure or prosthetic leg described in any of the above embodiments, as specifically as described above.
[0053] The robot provided by this utility model has all the above-mentioned beneficial effects because it is equipped with the foot plate structure or foot plate structure described in any of the above technical solutions.
[0054] It should be understood that the application of this utility model is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.
Claims
1. A foot plate structure, characterized by, It includes: Back panel; The front plate is rotatably connected to the front end of the rear plate; An elastic element, with its two ends connected to the rear plate and the front plate respectively; The rear plate has a first notch, and the elastic element is located within the first notch.
2. The footplate structure of claim 1, wherein The front end of the front plate has a second notch and an arc-shaped portion; When the foot plate structure is a left foot plate structure, the arc-shaped part is located to the left of the second notch; When the foot plate structure is a right foot plate structure, the arc-shaped part is located to the right of the second notch.
3. The footplate structure of claim 1, wherein The footplate structure also includes: An elastic plate is disposed at the bottom of the rear plate.
4. The footplate structure of claim 3, wherein The front end of the elastic plate is disposed at the front end of the rear plate, and there is a gap between the rear end of the elastic plate and the rear end of the rear plate.
5. The footplate structure of claim 4, wherein The rear end of the elastic plate bends upward.
6. The footplate structure according to any one of claims 1 to 5, characterized in that The footplate structure also includes: A bracket is located at the rear end of the rear plate.
7. The footplate structure according to any one of claims 1 to 5, characterized in that The footplate structure also includes: The instep is located on the rear plate.
8. The footplate structure according to any one of claims 1 to 5, characterized in that The front end of the front panel is bent upwards.
9. A prosthetic leg, characterized in that, It includes the foot plate structure as described in any one of claims 1 to 8.
10. A robot, characterized in that It includes the foot plate structure as described in any one of claims 1 to 8 or the prosthetic leg as described in claim 9.