A human body walking simulation exoskeleton bendable foot structure and exoskeleton robot

Abstract

The present invention discloses a foldable foot structure of an exoskeleton simulating human walking posture, comprising a forefoot structure and a rear foot structure arranged separately, an articulated seat being installed on at least one side wall of the forefoot structure, the forefoot structure being connected to the rear foot structure by at least one bridging structure through the articulated seat, the axis centerline height of the articulated seat being higher than the top of the forefoot structure, so that the bending axis of the forefoot structure and the rear foot structure is coaxial with the axis of the user's toe bending joint, the user and the exoskeleton foldable foot structure are completely integrated into one, and the user can perform alternating normal walking at high speed, low speed, climbing stairs, climbing slopes, etc. in accordance with toe bending, heel landing and whole foot landing steadily when wearing the exoskeleton robot. The present invention also discloses an exoskeleton robot, comprising an exoskeleton foldable foot structure and a calf and shank structure rotatably connected thereto, so that the user's leg and foot can perform coaxial comfortable motion coordination of their own joints and the robot with multiple degrees of freedom.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to an exoskeleton bendable foot structure simulating human walking posture and an exoskeleton robot. Background Art

[0002] The foot of the exoskeleton needs to have three basic properties: 1. The force transmitted from the power system is transmitted to the ground through the foot and then the exoskeleton is lifted up through the interaction force, so the main load-bearing structure of the foot needs to be rigidly connected to the calf structure. 2. The exoskeleton needs to obtain the movement trend of the person through the force sensor as a judgment of the actuator. 3. Since it is in conjunction with the sole of the person's shoe, it is necessary to consider the human-computer interaction performance and the effect of not hindering normal human walking.

[0003] Exoskeleton foot plates currently on the market can generally achieve the first two points, but ignore the most important third point. The existing sole plate is a whole steel plate structure, which causes people to be unable to lift their heels off the ground when wearing the exoskeleton, making walking uncomfortable. At present, there are also exoskeleton walking robot shoes that adapt to walking with toe bending. For example, a Chinese patent (publication number CN 111531526 A) discloses a toe-walking foot device and an exoskeleton robot, which can enable users to perform complex and high-power dynamic movements such as toe walking, toe running, toe climbing stairs and jumping, but the exoskeleton foot structure and exoskeleton robot do not conform to the human walking posture of toe walking and alternating heel-landing. They can only walk slowly but not at high speed, and the foot structure cannot adapt to the human walking posture of toe walking and alternating heel-landing. In addition, the existing foot structure has an axially connected rotational connection between the forefoot and the rear sole, which causes the axis of rotation of the foot to be non-coaxial with the human joint. Based on the principle of circular arc kinematics, the space between two planes with smaller angles becomes smaller. Therefore, after wearing the device, the human foot will be squeezed when walking in toe flexion, causing irreversible damage to the human foot. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide a bendable foot structure of an exoskeleton and an exoskeleton robot that simulates human walking posture, so that after wearing it, the feet can perform high-speed walking, running, slow walking, etc., which conforms to the alternating walking posture kinematics of toe walking, heel landing and flat landing.

[0005] In one aspect, the present invention provides a bendable foot structure of an exoskeleton simulating human walking posture, comprising a forefoot structure and a rear foot structure, wherein the forefoot structure and the rear foot structure are separately arranged;

[0006] A load-bearing plate is installed on one side wall of the rear sole structure, and an ankle joint assembly is hingedly connected above the load-bearing plate; a hinge seat is installed on at least one side wall of the forefoot structure, and the forefoot structure is connected to the rear sole structure through at least one bridge structure.

[0007] In some preferred embodiments, the axial center hole of the hinge seat is higher than the forefoot structure, and the hinge seat is located at the forefoot structure close to the front 2 / 3 of the forefoot structure.

[0008] In some preferred embodiments, the hinge seat is provided with one, the other end of the bridge structure is fixedly connected to the load-bearing plate, or the bridge structure is fixedly connected to the side wall of the rear sole base plate;

[0009] Alternatively, two hinged seats are provided and are symmetrically distributed at two ends of the forefoot structure, and the bridging structure is fixedly connected to the side wall of the rear foot structure.

[0010] In some preferred embodiments, the articulated seat is provided with a limiting shaft kit for limiting the rotation of the forefoot structure against the foot bones.

[0011] In some preferred embodiments, the specific form of the limiting shaft kit is a rotating shaft with a protruding portion and a non-annular rotating hole groove matched therewith, or a rotating shaft with a non-annular groove and a rotating hole protrusion matched therewith.

[0012] In some preferred embodiments, the bridging structure is a plate, and the plate is in a straight plate shape, an arc shape, or a circular arc shape.

[0013] In some preferred embodiments, the plate and the rear sole structure are integrally formed or fixed by welding or screws.

[0014] In some preferred embodiments, the forefoot structure includes a forefoot sole plate, an aluminum alloy sheet installed on the forefoot sole plate, and a rubber sole plate installed below the forefoot sole plate and adapted thereto;

[0015] In some preferred embodiments, the forefoot sole plate, the aluminum alloy sheet one and the rubber sole plate one are connected by screws, and a motion tendency sensing component one is provided between the forefoot sole plate, the aluminum alloy sheet one and the rubber sole plate one;

[0016] In some preferred embodiments, a front foot fixing component for fixing the front half of the foot is provided on the aluminum alloy sheet.

[0017] In some preferred embodiments, the forefoot fixing component may be in the form of a strap, a wire, or a net.

[0018] In some preferred embodiments, the rear sole structure includes a rear sole base plate, an aluminum alloy sheet 2 mounted on the rear sole base plate, and a rubber base plate 2 mounted below the rear sole base plate and matched therewith;

[0019] In some preferred embodiments, the rear sole plate, the second aluminum alloy sheet and the second rubber sole plate are connected by screws, and a second motion trend sensing component is provided between the rear sole plate, the second aluminum alloy sheet and the second rubber sole plate.

[0020] In some preferred embodiments, the aluminum alloy sheet 2 is provided with a rear foot fixing component for fixing the rear half of the foot.

[0021] In some preferred embodiments, the specific forms of the rearfoot fixing component include straps, wires and nets.

[0022] In some preferred embodiments, the motion tendency sensing component one is the same as the motion tendency sensing component two, which is defined herein as a motion tendency sensing component unit, and the motion tendency sensing component unit includes a pressure sensor and a buffer for fixing and transmitting force to the pressure sensor, and the specific form of the buffer is a rectangular steel sheet, a mountain-shaped steel sheet, a circular convex steel sheet, or a ring-shaped convex steel sheet.

[0023] In some preferred embodiments, the ankle joint assembly includes an axial connection clamp, a calf connection piece and a pin, wherein the pin is fixedly connected to the load-bearing plate and both ends extend out of the load-bearing plate, the axial connection clamp is two symmetrical couplings, which are rotatably connected to both ends of the pin, and a rectangular protrusion is formed at the upper end of the coupling, which is fixedly connected to the calf connection piece by a screw, and the calf connection piece is a disk body provided with circularly distributed mounting holes.

[0024] In a second aspect, the present invention provides an exoskeleton robot, comprising the above-mentioned exoskeleton bendable foot structure for simulating human walking posture.

[0025] In some preferred embodiments, it also includes a calf and calf structure connected to the exoskeleton bendable foot structure.

[0026] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0027] The corresponding rotation connection points of the separated forefoot structure and rearfoot structure of the exoskeleton bendable foot structure are located on the side of the forefoot structure at a position coaxial with the human toe joint, and the two rotation axes corresponding to the two degrees of freedom of the ankle joint of the rearfoot structure are coaxial with the rotation axis of the human ankle joint, so that the toe joint and ankle joint bending of the user's feet are synchronized with the bending of the exoskeleton robot's feet when walking. The exoskeleton robot's feet can maximize the adaptability of the human body's walking posture to the alternating process of toeing, heel landing and neat landing, which can significantly reduce the damage caused by the lack of synchronization between the bending force of the exoskeleton foot and the human body's walking posture, allowing the user to walk in normal human kinematics with alternating toeing, heel landing and neat landing. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a schematic diagram of the three-dimensional structure of an exoskeleton robot according to an embodiment of the present invention;

[0029] Figure 2 It is a schematic diagram of a side-lying three-dimensional structure of an exoskeleton bendable foot structure without a rubber bottom plate according to an embodiment of the present invention;

[0030] Figure 3 It is a schematic diagram of the overall three-dimensional structure of the exoskeleton bendable foot structure in a side view according to an embodiment of the present invention;

[0031] Figure 4 A left side view of an exoskeleton bendable foot structure according to an embodiment of the present invention;

[0032] Figure 5 It is a schematic diagram of the independent three-dimensional structure of the forefoot sole plate and the rear foot sole plate of an embodiment of the present invention;

[0033] Figure 6 It is a schematic diagram of the independent three-dimensional structure of the aluminum alloy thin plate 1 and the aluminum alloy thin plate 2 according to an embodiment of the present invention;

[0034] Figure 7 It is a schematic diagram of the three-dimensional structure of a mountain-shaped steel sheet according to an embodiment of the present invention;

[0035] Figure 8 It is a schematic diagram of the central anatomical three-dimensional structure of the exoskeleton bendable foot structure of an embodiment of the present invention;

[0036] Fig. 9 A top view of an exoskeleton bendable foot structure without a rubber bottom plate according to an embodiment of the present invention;

[0037] Fig.10 It is a schematic diagram of the three-dimensional structure of the hinge seat and the limiting shaft kit inside it according to an embodiment of the present invention;

[0038] Fig.11 for Fig.10 A schematic cross-sectional view of a non-annular groove shaft of a center limit shaft assembly;

[0039] Fig.12 A schematic diagram showing the changes of the feet of a human body in walking posture according to an embodiment of the present invention;

[0040] Fig.13 According to the method for a user to wear the exoskeleton bendable foot structure of the embodiment of the present invention Fig.11 Schematic diagram of the application scenario of instantaneous toe walking with the front and back soles of the foot bent;

[0041] Fig.14 According to the method for a user to wear the exoskeleton bendable foot structure of the embodiment of the present invention Fig.11 Schematic diagram of the application scenario when the mid-heel strikes;

[0042] Fig.15 The method for a user to wear the exoskeleton bendable foot structure of the embodiment of the present invention is as follows: Fig.11 Schematic diagram of the application scenario when the front and back soles of the feet are flat on the ground;

[0043] Fig.16 for Figure 4 Another schematic diagram of an exoskeleton bendable foot structure according to an embodiment of the present invention;

[0044] Fig.17 for Figure 4 Another schematic diagram of the exoskeleton bendable foot structure of an embodiment of the present invention. DETAILED DESCRIPTION

[0045] In order to make the technical problems, technical solutions and beneficial effects to be solved by the embodiments of the present invention more clear, the following Figures 1 to 17 It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0046] It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it can be directly on the other component or indirectly on the other component. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, connection can be used for fixing or for circuit connection.

[0047] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the implementation of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0048] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood 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 one or more of the features. In the description of the embodiments of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0049] This embodiment provides an exoskeleton robot that can be worn by a user, such as a human, and can enhance the user's functions, such as enhancing the human body's functions.

[0050] refer to Figure 1 The exoskeleton robot of this embodiment includes an exoskeleton bendable foot structure 100 and a calf and leg structure 200. The exoskeleton bendable foot structure 100 is connected to the calf and leg structure 200, specifically, a rotation connection, and the two are used in conjunction with each other.

[0051] refer to Figure 1 , 2, 3, 4 and 7, the exoskeleton bendable foot structure 100 of the present embodiment has a forefoot structure 102 and a rear foot structure 101 which are separately arranged, that is, the forefoot structure 102 and the rear foot structure 101 are split to support the heel and the forefoot of the user respectively, so that the exoskeleton bendable foot structure 100 of the present embodiment can follow the accompanying bending of the human foot; in order to enable the exoskeleton bendable foot structure 100 of the present embodiment to stably transmit the interaction force with the calf and thigh structures 200, an ankle joint component connected by a load-bearing plate 11 is provided on the rear foot structure 101, and the ankle joint component is connected to the calf and thigh structures 200, so as to realize the rotation connection between the rear foot structure 101 and the calf and thigh structures 200 accompanying the coaxial line of the human ankle joint, and synchronization is also to turn the thigh and thigh structures 200. The force on the calf structure 200 is transmitted to the rear sole structure 101 of the exoskeleton bendable foot structure 100, and the force is transmitted back to the main force points of the calf and calf structures 200 through the reaction force; and a hinge seat 4 is installed on at least one side wall of the forefoot structure 102, and the forefoot structure 102 is connected to the rear sole structure 101 through at least one bridge structure 10 through the hinge seat 4, that is, the forefoot structure 102 and the rear sole structure 101 are rotatably connected at the side by the bridge structure 10 and the hinge seat 4, and the forefoot structure 102 rotates relative to the bridge structure 10 with the axis line of the hinge seat 4 as the rotation axis, thereby realizing the rotation of the forefoot structure 102 relative to the rear sole structure 101 and bending relative to the rear sole structure 101; in this embodiment, for example, reference Figure 1 , 2 , 3, 4 and 7, an articulated seat 4 is provided, and the articulated seat 4 is provided on the left side wall of the forefoot structure 102, a bridge structure 10 is rotatably connected to the articulated seat 4, and the other end of the bridge structure 10 is connected to the load-bearing plate 11 on the rear foot structure 101 by a screw positioning type, then, the forefoot structure 102 can be bent relative to the whole formed by the rear foot structure 101 and the bridge structure 10; for example, refer to Fig.16 , the hinge seat 4 is still provided with one and is still fixed on the side wall of the rear sole structure 101, but the rear sole structure 101 of this example is longer and close to or nearly abuts the forefoot structure 102, and the forefoot structure 102 remains unchanged, then, it is only necessary to directly and fixedly connect the bridge structure 10a rotatably connected to the hinge seat 4 with the front end of the side wall of the rear sole structure 101; for example, refer to Fig.17, two hinge seats 4 are provided, and are symmetrically distributed at both ends of the forefoot structure 102, but the rear foot structure 101 of this example is relatively long and close to or nearly in abutment state, and an aluminum alloy rim 22 protruding upward for protecting the heel and preventing slipping is provided on the side wall, and a symmetrical bridge structure 10 is fixedly connected to the end of the aluminum alloy rim 22 close to the forefoot structure 102, and the other end of the bridge structure 10b is rotatably connected to the hinge seat 4, and the forefoot structure 102 remains unchanged. It should be noted that the scheme of the present invention includes this embodiment but is not limited to this embodiment.

[0052] It should be noted that the bridge structure 10 is a plate. Depending on the quality of the foot structure, connection stability, repair and manufacturing costs, the plate is a straight plate or an arc or a circular arc. The plate and the rear sole structure 101 are integrally structured or welded or screwed. For example, refer to Figure 1 , 2 , 3, 4 and 7, the plates are two parallel hollow straight plates, and are connected to the load-bearing plate 11 by screws, so that the hinge seat 4 and both sides of the load-bearing plate 11 are reinforced and supported synchronously to increase stability, so that when the user touches the ground on his toes, the forefoot structure 102 bears the gravity of the entire exoskeleton robot and the user himself through the hollow straight plate and the upper and lower leg structures 200; refer to Fig.16 The bridge structure 10a is an arc-shaped plate, which is directly fixedly connected to the side wall of the rear sole structure 101, which is welded here, and can also be made in an integrated manner; Fig.17 The bridge structure 10b includes an aluminum alloy eave 22 fixedly connected to the side wall of the rear sole structure 101, and the protrusions provided at both ends of the aluminum alloy eave close to the front sole structure 102 are the bridge structure 10b. It should be noted that the bridge structure 10 of the present invention includes this embodiment but is not limited to this embodiment.

[0053] refer to Fig.12 According to the kinematics principle of the human foot when walking, the movement of one foot of the human body from toe bending to heel landing and then the whole foot landing flatly is a complete movement process. Therefore, the wearable exoskeleton bendable foot structure needs to follow the user's foot to make accompanying movements. In addition, since the wearer's foot needs to wear shoes, the toe rotation axis of the human foot is located on the upper side of the forefoot structure 102. Therefore, the toe rotation axis of the wearable exoskeleton bendable foot structure 100 needs to be coaxial with the toe rotation axis of the human foot. Due to the size of each person's foot and manufacturing errors, they can also be nearly coaxial. For example, refer to Fig.13 , 14Of course, the position of the articulated seat 4 on the forefoot structure 102 can also be set according to the size of the public's feet. For example, a plurality of screw holes distributed front and back are set on the side of the forefoot structure 102 for adjusting the position of the articulated seat 4. The articulated seat 4 can also be installed on the side of the forefoot structure 102 in a sliding manner and locked by tightening the screws. In this embodiment, reference Figure 1 , 2 , 3, 4, 7, 16 and 17, the axial hole of the hinge seat 4 can be higher than the top of the forefoot structure 102, and the front and rear position is close to the front 2 / 3 of the forefoot structure 102. Of course, this data is only calculated based on the developer's foot size measurement, and the specific size can be calculated based on the user's size, and then the hinge seat 4 is installed by tapping the screw holes.

[0054] refer to Figure 12-15 According to the kinematics of the human foot during walking, the movement of a foot from toe-walking bending to heel-landing and then the whole foot landing flatly is a complete movement process, and the foot needs to be lifted. In this process, if the forefoot structure 102 flips in the opposite direction, the toes will trip and the person will fall. In order to avoid this situation, a limit shaft kit for limiting the rotation of the forefoot structure 102 against the foot bones is provided on the articulated seat 4. In this embodiment, the articulated seat 4 is specifically in the form of a non-circular groove shaft 41 and a matching rotation hole protrusion 42. Fig.10 and Fig.11 For example, a rotary hole protrusion with a circumferential angle of 4°-5° is formed in the rotary shaft hole of the articulated seat 4, a non-annular groove is chiseled on the rotary shaft connected to the bridging structure 10, and an interruption is formed at the end of the non-annular groove, and the interruption has an angle β, β is 4°-5°. The specific form of the limit shaft kit can also be a rotary shaft with a protruding portion and a non-annular rotary hole groove adapted thereto, that is, a non-annular rotary hole groove with a circumferential angle of 4°-5° is formed in the rotary shaft hole of the articulated seat 4, and a protruding rotary shaft is chiseled on the rotary shaft connected to the bridging structure 10. It should be noted that the implementation methods of the limit shaft kit include but are not limited to this embodiment.

[0055] refer to Figure 1 , 2, 3, 4 and 7. Specifically, in order to make the ankle joint adapt to the three rotation axes of the ankle joint of the human body, the ankle joint assembly is configured to have an axial connection clamp 13, a calf connection piece 15 and a pin 14. The pin 14 is fixedly connected to the load-bearing plate 11, and both ends extend out of the load-bearing plate 11. For example, the axial connection clamp 13 is two symmetrical couplings, which are rotatably connected to both ends of the pin 14. A rectangular protrusion is formed on the upper end of the coupling, and the rectangular protrusion is fixedly connected to the calf connection piece 15 by screws. The calf connection piece 15 is a disk body provided with circularly distributed mounting holes, and is used to be connected to the rotating shaft of the calf and calf structures 200. That is, the shaft connecting clamp 13 can rotate relative to the axis where the pin 14 is located. Since the pin 14, the load-bearing plate 11 and the rear sole structure 101 are integrated, the shaft connecting clamp 13 will rotate relative to the axis where the pin 14 is located, so that the calf structure 200 rotates relative to the rear sole structure 101 in the direction of the axis of the pin 14, thereby realizing one degree of freedom of joint rotation, and the calf connecting member 15 can rotate relative to the calf structure 200 on the axis where the axis of the center hole of the disc of the calf connecting member 15 is located. At this time, the rear sole structure 101 and the shaft connecting clamp 13 can be regarded as one body, that is, the rear sole structure 101 rotates relative to the calf structure 200 on the axis where the axis of the center hole of the disc of the calf connecting member 15 is located, thereby realizing another degree of freedom of joint rotation. Therefore, when the user wears the foot structure of the present invention, the ankle joint and the foot structure realize two degrees of freedom rotation of the same axis, making normal walking smoother.

[0056] It should be noted that the axis line of the axial connecting clamp 13 here intersects or nearly intersects with the axis line of the calf connecting piece 15. Due to measurement errors, manufacturing errors and spatial arrangement, the axis line of the calf connecting piece 15 is generally slightly higher than the axis line height of the axial connecting clamp 13.

[0057] refer to Figure 1-9 Specifically, the forefoot structure 102 includes a forefoot sole plate 1, an aluminum alloy sheet 3 installed on the forefoot sole plate 1, and a rubber sole plate 2 installed below the forefoot sole plate 1 and adapted thereto; in this embodiment, for example, reference Figure 5 , 67, the bottom of the forefoot sole plate 1 is a hollow cavity structure, three mounting grooves 18 distributed in a herringbone shape are arranged in the hollow cavity of the forefoot sole plate 1, and force blocks 17 are arranged on both sides of the mounting groove 18 in the hollow cavity of the forefoot sole plate 1, the bottom of the force block 17 is flush with the bottom surface of the forefoot sole plate 1, and a screw hole 1 is drilled at the bottom of the force block 17; a force block 3 31 adapted to the center of the mounting groove 18 is arranged at the bottom of the aluminum alloy sheet 13, and a screw hole 3 is arranged at the bottom of the force block 31, the forefoot sole plate 1, the aluminum alloy sheet 13 and the rubber sole plate 2 are connected by screws, and a buffer 19 is added between the aluminum alloy sheet 13 and the forefoot sole plate 1, and a motion tendency sensing component 1 is formed between the forefoot sole plate 1, the aluminum alloy sheet 13 and the rubber sole plate 2. The specific form of the motion trend sensing component is a pressure sensor arranged between the bottom of the buffer 19 and the rubber base plate 2. The force block 31 transmits the non-destructive pressure with buffering properties to the pressure sensor. The pressure sensor only needs to obtain the information, thereby determining the acceleration trend of the forefoot of the human foot and providing an information source for the actuator to make a judgment.

[0058] refer to Figure 3 , 13 , 14 and 15, a forefoot fixing component 20 for fixing the front half of the foot is provided on the aluminum alloy sheet 3. The number of the forefoot fixing components 02 can be one or more. The specific forms of the forefoot fixing components 02 include straps, wires and nets. The forefoot fixing component 02 can be of a fixed size or adjustable in size to suit different users. The forefoot fixing component 20 fixes the front half of the user's foot, which can ensure that the user can use the exoskeleton bendable foot structure 100 to perform various walking postures.

[0059] refer to Figure 1-8 Specifically, the rear sole structure 101 comprises a rear sole base plate 6, an aluminum alloy sheet 28 mounted on the rear sole base plate 6, and a rubber sole plate 25 mounted below the rear sole base plate 6 and adapted thereto; in this embodiment, specifically, refer to Figure 5 , 67, the bottom of the rear sole base plate 6 is a hollow structure, and three mounting grooves 2 62 distributed in an inverted T shape are arranged in the hollow cavity of the rear sole base plate 6, and force blocks 2 61 are arranged on both sides of the mounting grooves 2 62 in the hollow cavity of the rear sole base plate 6, and the bottom of the force blocks 2 61 is flush with the bottom surface of the rear sole base plate 6, and screw holes 2 are arranged at the bottom of the force blocks 2 61; force blocks 4 81 are arranged at the bottom of the aluminum alloy base plate 2 8, which are matched one by one with the center of the mounting grooves 2 62, and screw holes 4 are arranged at the bottom of the force blocks 4 81, and the rear sole base plate 6, the rubber base plate 2 5, and the aluminum alloy thin plate 2 8 are all connected by screws; a motion tendency sensing component 2 is arranged between the rear sole base plate 6, the aluminum alloy thin plate 2 8 and the rubber base plate 2 5. The specific form of the motion trend sensing component 2 is a pressure sensor arranged between the bottom of the buffer and the rubber bottom plate 2. The force block 4 81 transmits non-destructive pressure with buffering properties to the pressure sensor. The pressure sensor only needs to obtain information, thereby determining the acceleration trend of the back of the human foot and providing an information source for the actuator to make a judgment.

[0060] refer to Figure 3 , 13 , 14 and 15, a rear foot fixing component 9 for fixing the rear half of the foot is provided on the aluminum alloy sheet 8. The number of the rear foot fixing components 9 can be one or more. The specific forms of the rear foot fixing components 9 include straps, wires and nets. The rear foot fixing component 9 can be of a fixed size or can be of an adjustable size so as to be suitable for different users. The rear foot fixing component fixes the rear half of the user's foot, which can ensure that the user can use the exoskeleton bendable foot structure 100 to perform various walking postures.

[0061] It should be noted that the motion tendency sensing component 1 is the same as the motion tendency sensing component 2, and they can be collectively referred to as motion tendency sensing component units to facilitate specific purchasing standards, installation standards, and manufacturing standards during manufacturing.

[0062] In addition, the specific form of the buffer member 19 is a rectangular steel sheet, a mountain-shaped steel sheet, a circular convex steel sheet, or a ring-shaped convex steel sheet. Fig. 9 The specific form of the mountain-shaped steel sheet is a concave steel sheet 192 and a buffer rectangular steel sheet 191 fixedly connected to the middle of the concave steel sheet 192. The concave steel sheet 192 is used to wrap the installation groove 1 18 and the installation groove 2 62 and is fixedly connected to the forefoot sole 1 and the rear foot sole 6. The buffer rectangular steel sheet 191 is located directly above the installation groove 18 and the installation groove 2 62, and the upper and lower parts are respectively abutted against the force block 3 31 or the force block 4 81 and the pressure sensor.

[0063] The above are only preferred embodiments of the present invention. The protection scope of the present invention shall be based on the scope defined by the claims. Several improvements and modifications made by those skilled in the art without departing from the spirit and scope of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A bendable foot structure of an exoskeleton simulating human walking posture, characterized in that: It includes a forefoot structure and a rear foot structure, wherein the forefoot structure and the rear foot structure are separately arranged; A load-bearing plate is installed on one side wall of the rear sole structure, and an ankle joint assembly is hingedly connected above the load-bearing plate; a hinge seat is installed on at least one side wall of the forefoot structure, and the forefoot structure is connected to the rear sole structure through at least one bridge structure; The forefoot structure comprises a forefoot sole plate, an aluminum alloy sheet installed on the forefoot sole plate, and a rubber sole plate installed below the forefoot sole plate and adapted thereto; The forefoot sole plate, the aluminum alloy sheet one and the rubber sole plate one are connected by screws, and a motion tendency sensing component one is provided between the forefoot sole plate, the aluminum alloy sheet one and the rubber sole plate one; The rear sole structure comprises a rear sole bottom plate, an aluminum alloy thin plate 2 installed on the rear sole bottom plate, and a rubber bottom plate 2 installed below the rear sole bottom plate and adapted thereto; The rear sole bottom plate, the second aluminum alloy sheet and the second rubber bottom plate are connected by screws, and a second motion tendency sensing component is provided between the rear sole bottom plate, the second aluminum alloy sheet and the second rubber bottom plate; The first motion tendency sensing component is the same as the second motion tendency sensing component, and is defined as a motion tendency sensing component unit. The motion tendency sensing component unit includes a pressure sensor and a buffer for fixing and transmitting force to the pressure sensor. The specific form of the buffer is a rectangular steel sheet, a mountain-shaped steel sheet, a circular convex steel sheet, or a ring-shaped convex steel sheet. The ankle joint assembly includes an axis connection clamp, a calf connection piece and a pin, wherein the pin is fixedly connected to the load-bearing plate and has two ends extending out of the load-bearing plate, the axis connection clamp is two symmetrical couplings, the couplings are rotatably connected to the two ends of the pin, a rectangular protrusion is formed on the upper end of the coupling, and the rectangular protrusion is fixedly connected to the calf connection piece by a screw, and the calf connection piece is a disc body provided with circularly distributed mounting holes; The aluminum alloy sheet is provided with a front foot fixing component for fixing the front half of the foot; the specific form of the front foot fixing component includes a strap, a wire and a net; The aluminum alloy sheet 2 is provided with a rear foot fixing component for fixing the rear half of the foot; the specific forms of the rear foot fixing component include straps, wires and nets.

2. The bendable foot structure of the exoskeleton simulating human walking posture according to claim 1, characterized in that: The axial center hole of the hinge seat is higher than the forefoot structure, and the hinge seat is located at the forefoot structure close to the front 2 / 3 of the forefoot structure.

3. The bendable foot structure of the exoskeleton simulating human walking posture according to claim 1, characterized in that: The hinge seat is provided with one, the other end of the bridge structure is fixedly connected to the load-bearing plate, or the bridge structure is fixedly connected to the side wall of the rear sole structure; Alternatively, two hinged seats are provided and are symmetrically distributed at two ends of the forefoot structure, and the bridging structure is fixedly connected to the side wall of the rear foot structure.

4. The bendable foot structure of the exoskeleton simulating human walking posture according to claim 1, characterized in that: The hinge seat is provided with a limiting shaft kit for limiting the rotation of the forefoot structure against the foot bone. The specific form of the limiting shaft kit is a rotating shaft with a protruding part and a non-annular rotating hole groove matched therewith, or a rotating shaft with a non-annular groove and a rotating hole protrusion matched therewith.

5. The bendable foot structure of the exoskeleton for simulating human walking posture according to claim 4, characterized in that: The bridging structure is a plate, and the plate is in the shape of a straight plate, an arc, or a circular arc. The plate and the rear sole structure are integrally structured or fixed by welding or screws.

6. An exoskeleton robot, characterized in that: The invention comprises a bendable foot structure of an exoskeleton simulating human walking posture as described in any one of claims 1 to 5.

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