A mechanical foot

Abstract

A mechanical foot provided by the present invention includes a third part and a second part. There is an included angle between the third part and the second part, and the included angle is an obtuse angle or a straight angle. The included angle between the third part and the second part is adjustable. After the included angle between the third part and the second part is adjusted, the included angle can be maintained at a fixed angle, and the included angle between the third part and the second part is non-adjustable. The present invention can lift the front sole of the affected side of the patient during walking, thereby preventing foot drag and injuries caused by some tripping or falling related to foot drag.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a mechanical foot. Background Art

[0002] For patients with lower limb weakness, such as those after stroke, the movement of the affected limb side is uncontrollable or difficult to control. Due to these reasons, when these patients lift their legs, the position of their feet always naturally droops around the ankle joint under the action of their own gravity. If the problem of foot drop is not solved, these patients are very likely to drag their feet on the ground, trip or fall when walking. Therefore, preventing foot drop is very important.

[0003] The Chinese patent with the authorization announcement number CN105722490B provides a device that can reliably lift a person's toes during the swing of the lower limb. Its ankle strap is provided with a retracting elastic element, and the retracting elastic element is connected to the foot through a cable. During the swing of the lower limb, the ankle is fixed in dorsiflexion through the cable.

[0004] This method can indeed solve the problem of foot drop to a certain extent, but there are also many problems: 1. The cable is directly connected to the foot. During the working process, the force generated by dorsiflexion will all be concentrated at one position of the ankle, which is likely to cause discomfort in the patient's ankle area; 2. The tension of the cable is controlled by the retracting elastic element, and it is very difficult to control the elasticity of the retracting elastic element. It is easy to cause different degrees of dorsiflexion during each swing of the lower limb, causing discomfort to the patient; 3. Since the cable fixed on the foot is always exposed, during the patient's walking, the cable is easily tripped by other things, causing the patient to fall. Summary of the Invention

[0005] The purpose of the present invention is to provide a mechanical foot to solve the problem that patients are prone to fall in the background art.

[0006] The technical solution adopted by the present invention to achieve the above purpose is a mechanical foot, including a third part and a second part. There is an angle between the third part and the second part, and the angle is an obtuse angle or a straight angle.

[0007] Further, the angle between the third part and the second part is adjustable.

[0008] Further, after the angle between the third part and the second part is adjusted, the angle can be maintained at a fixed angle.

[0009] Further, the angle between the third part and the second part is non-adjustable.

[0010] Further, the third part is connected to the second part. The connection includes movable connection and fixed connection. The movable connection includes rotational mating connection, elastic connection, and damping connection, and also includes a combination of rotational mating connection and elastic connection. Among them, the rotational mating connection can be achieved through a hinge, the elastic connection can be achieved through an elastic element, and the damping connection can be achieved through a damping rotating shaft.

[0011] Further, a limiting structure is provided at the connection position between the third part and the second part to prevent the damping rotating shaft from moving excessively.

[0012] Further, the second part is used to receive the front sole part, and the third part is used to receive the rear part of the front sole. The third part can be a single part or an assembly composed of two or more parts.

[0013] Further, the second part is connected to the third part through a damping rotating shaft. A first installation station is provided on the third part, and a second installation station is provided on the second part. First connection holes for installing the damping rotating shaft are provided on both the first installation station and the second installation station. The damping rotating shaft includes a first shaft body and a second shaft body. Both the first shaft body and the second shaft body include a square section and a cylindrical section. The cylindrical sections of the two are nested together, enabling the first shaft body and the second shaft body to rotate relative to each other. A spring piece and a gasket are also provided inside the damping rotating shaft. When there is a tendency for relative rotation between the first shaft body and the second shaft body, friction will occur between the spring piece and the gasket to generate a damping force. When the torque between the first shaft body and the second shaft body is greater than the maximum damping force, relative rotation will occur between the first shaft body and the second shaft body at this time. When there is no external force acting on the first shaft body and the second shaft body, or when the torque generated between the first shaft body and the second shaft body is less than the maximum damping force, the first shaft body and the second shaft body can remain relatively fixed.

[0014] Further, second connection holes corresponding to the first connection holes are provided on the square sections of the first shaft body and the second shaft body. The installation of the damping rotating shaft between the third part and the second part can be completed by passing a screw through the first connection hole and the second connection hole. There are two second connection holes on the square section. There are two first connection holes on both the first installation station and the second installation station. Two first installation stations and two second installation stations are respectively provided on the third part and the second part. Two damping rotating shafts are installed between the third part and the second part.

[0015] Further, a first groove is provided on the second part near the position of the first installation station. Part of the first installation station extends into the first groove. When the second part is flipped to the limit position, the first installation station will abut against the first groove.

[0016] Among them, a second groove is provided on one side of the first installation station close to the first groove.

[0017] In summary, the beneficial effects of the present invention are as follows: The present invention can lift the front sole of the affected side of the patient during walking, thereby preventing foot dragging and injuries caused by tripping or falling related to foot dragging; the force generated by the second elastic element acts on the front sole of the patient, and will not generate an excessive and uncomfortable force on the ankle joint position of the patient, solving the problem of discomfort caused by all forces converging on the ankle joint in the background technology; the elastic force of the second elastic element does not need to be controlled. They are determined by the weight of the patient's foot position, and the provided elastic force matches the weight of the corresponding position, and the degree of upward turning of the front sole during each swing of the lower limb can be the same, greatly reducing the discomfort of the patient; in addition, the technical solution of the present invention replaces the rope drive technical solution in the prior art, greatly reducing the possibility of the patient being tripped. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only one embodiment of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0019] Figure 1 It is a schematic diagram of the overall structure of a mechanical foot of the present invention in one direction;

[0020] Figure 2 It is a schematic diagram of the overall structure of a mechanical foot of the invention in another direction;

[0021] Figure 3 It is Figure 1 A partial enlarged schematic diagram of the "A" area in;

[0022] Figure 4 It is Figure 1 An exploded schematic diagram of the layout structure of the mechanical foot in;

[0023] Figure 5 It is Figure 4 A partial enlarged schematic diagram of the "B" area in;

[0024] Figure 6 It is Figure 4 A further exploded schematic diagram of the mechanical foot in;

[0025] Figure 7 It is a schematic diagram of the structure of the foot connection part;

[0026] Figure 8 It is a left view of the mechanical foot with the cover removed;

[0027] Figure 9 It is a front view of the mechanical foot;

[0028] Figure 10 It is a schematic diagram when the patient steps on the second and third parts and walks.

[0029] Figure 11 It is Figure 8 a partially enlarged schematic diagram of the "C" area in Specific Embodiments

[0030] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer and more understandable, the following further describes the embodiments of the present invention in detail with reference to the drawings. It should be noted that the embodiments are only a detailed description of the present invention and should not be regarded as a limitation of the present invention. All features disclosed in the embodiments of the present invention, or all steps in the disclosed methods or processes, except for mutually exclusive features and / or steps, can be combined in any way.

[0031] Embodiment 1.

[0032] This embodiment provides a mechanical ankle joint, which includes a leg part and a foot part. The leg part is used to be fixed to the patient's leg, and the foot part is used to be fixed to the patient's foot. These two parts can be movably connected to each other, so as to facilitate the walking or rehabilitation training of people who have lost the walking function, especially suitable for patients with hemiplegia or people with lower limb paralysis for lower limb rehabilitation training. Here, the lower limb paralysis or hemiplegia mainly refers to the lower limbs not being controlled by the brain nerves, and the mechanical feet worn by patients who can restore nerve control through rehabilitation training. In some ways, the movable connection here is a rotational connection, and the mechanical ankle joint includes a revolute pair, so that the leg part and the foot structure part can rotate relative to each other. In some ways, the foot part is fixed to the patient's foot by connecting the rear sole part of the mechanical foot.

[0033] In some embodiments, the rotational connection is not a free rotational connection, but a coordination with an elastic element, that is, the rotational pair has elastic rebound capability. Specifically, the rear sole of the mechanical foot is fixedly connected to the rotatable foot part. When the mechanical foot is worn, the rear sole of the patient contacts the rear sole of the mechanical foot, and the forefoot of the patient contacts the forefoot of the mechanical foot. The rear sole of the mechanical foot is connected to the foot part, and the foot part and the leg part are rotationally connected to each other (ankle joint). Normal people walk with the ankle joint and the sole of the foot. For example, when walking forward, the lower leg first lifts the sole of the foot (the sole is the area between the heel and the forefoot) off the ground, then or at the same time, the heel lifts off the ground, and then drives the forefoot off the ground. In this process, the movement of the foot is always accompanied by the continuous adjustment of the ankle joint. At the moment when the forefoot is about to leave the ground, the sole of the foot and the ground are at an angle, and the heel is the apex of this angle. Then, along with the movement of the patient's legs, the patient's foot also moves in the air. When the patient's foot lands, according to the patient's walking habits, some people land on the forefoot first, and some people land on the heel first. Regardless of the habit, the foot will have a moment of complete landing, so as to carry out the next movement or walking. These movements of the sole of the foot, especially starting and stepping, as well as the angle of movement, are closely adjusted through the rotation of the ankle joint. However, for paralyzed patients, the movement of the ankle joint, the movement of the sole of the foot, including the angle between the sole of the foot and the ground, or the order and adjustment of the heel leaving the ground and touching the ground are almost lost. Normally, when not wearing a mechanical foot, as the leg is lifted, the sole of the foot has gravity, and the foot position will naturally droop around the ankle joint under the action of its own gravity, thereby driving the heel part to be uncontrolledly connected to the ankle joint, showing natural drooping. The movement of the sole of the foot is mainly completed by the movement of the sole or foot driven by the ankle joint.

[0034] After wearing the mechanical foot with the mechanical ankle joint of this embodiment, the revolute pair with elastic rebound ability in the mechanical ankle joint can provide a force to lift the patient's foot from the ankle joint position when the patient lifts his leg. This force can keep the patient's foot position as horizontal as possible, and is used to support the patient's drooping foot, thereby alleviating the patient's drooping foot. Different from "CN105722490B" (hereinafter referred to as the prior art), the force to prevent the foot from drooping in this embodiment is emitted from the patient's ankle joint position, while the force to prevent the foot from drooping in the prior art is emitted from the patient's sole position (especially the forefoot). The mechanical ankle joint of this embodiment will not generate any pulling force on the patient's sole position, and relatively speaking, it has better comfort.

[0035] For details, please refer to the attached Figure 1 The revolute pair is the second revolute pair 40, the leg portion is at position 41, and the foot portion is at position 42.Figure 4 - Attachment Figure 6 , the mechanical ankle joint includes a leg part 41 and a foot part 42. The leg part 41 and the foot part 42 are rotationally connected through a second rotating pair 40, and the second rotating pair 40 is located at the ankle joint position. The second rotating pair 40 includes a leg connecting part 43 and a foot connecting part 44. Among them, the leg connecting part 43 is connected to the leg part 41, and the foot connecting part 44 is connected to the foot part 42. The leg connecting part 43 and the foot connecting part 44 are nested together to form a rotatable second rotating pair 40. In this embodiment, a hole 46 is provided on the leg connecting part 43, and a shaft 47 is provided on the foot connecting part 44. The shaft 47 on the foot connecting part 44 can be inserted into the hole 46 on the leg connecting part 43 to form a rotatable second rotating pair 40. Further, in order to reduce the wear when the shaft 47 rotates with the hole 46, a bearing or a bushing 48 is provided between the shaft 47 and the hole 46. The bushing 48 can be a brass bushing or a lubrication-free bushing made of special materials, which can reduce the maintenance cost of the mechanical ankle joint.

[0036] A first elastic element is provided inside the second rotating pair 40. The first elastic element enables the second rotating pair 40 to have the ability to return to the initial state after rotation, and at the same time also enables the movement speed of the second rotating pair 40 to be slowed down during rotation, so that the movement at the ankle joint position is as smooth as possible, avoiding damage caused by too fast movement speed of the ankle joint. The first elastic element can be a coil spring, a tension spring, a spring, etc. One end of the first elastic element is connected to the foot connecting part 44, and the other end is connected to the leg connecting part 43. In this way, when the second rotating pair 40 rotates, that is, when the foot connecting part 44 and the leg connecting part 43 move relative to each other, the first elastic element will be stretched or compressed. The first elastic element stores elastic potential energy, enabling the second rotating pair 40 to have the ability to return to the initial state. At the same time, during the rotation of the second rotating pair 40, due to the self-deformation of the first elastic element 40, a force that hinders rotation will always be provided to the position of the second rotating pair 40, so that the movement speed of the second rotating pair 40 can be slowed down. Specifically, in this embodiment, the outer contour of the rotationally connected part of the leg connecting part 43 is circular, and a first connection fulcrum 90 is provided on the outer side of its outer contour. A second connection fulcrum 91 is provided inside the foot connecting part 44. The first connection fulcrum 90 and the second connection fulcrum 91 are connected by a spring 45. As the second rotating pair 40 rotates, the distance between the first direct fulcrum 90 and the second connection fulcrum 91 will continuously change, and at this time the length of the spring 45 will also continuously change. In this embodiment, the first elastic element provides a thrust force, rather than a pulling force.

[0037] Preferably, in order to limit the maximum rotation angle of the mechanical ankle joint, preferably, referring to the attachment Figure 6 、attachment Figure 7, a side wall 49 is provided on the foot connection part 44. When the leg connection part 43 rotates relative to the foot connection part 44, the first connection fulcrum 90 on the leg connection part 43 will abut against the side wall 49 on the foot connection part 44. When the abutment occurs, it means that the second rotating pair 40 has moved to the limit position. The rotatable range of the second rotating pair 40 can protect the patient's ankle. Further, side walls 49 are provided on both sides of the foot connection part 44 for limiting both sides of the second rotating pair 40 to prevent the patient's foot from being overly dorsiflexed or overly extended.

[0038] Preferably, a connecting rod 92 is provided on the leg connection part 43, and the first connection fulcrum 90 is provided at the end position of the connecting rod 92. The setting of the connecting rod 92 can adjust the position of the first connection fulcrum 90. When the first connection fulcrum 90 is provided at the end of the connecting rod 92, relative to the first connection fulcrum 90 provided at the outer contour position of the leg connection part 43, since the position of the first connection fulcrum 90 between the two side walls 49 has changed, correspondingly, the rotatable range of the second rotating pair 40 will also change accordingly. By setting the connecting rod 92 with an appropriate length, the ankle has a suitable maximum dorsiflexion angle and maximum extension angle.

[0039] Preferably, both ends of the spring 45 are respectively sleeved on the first connection fulcrum 90 and the second connection fulcrum 91, and the contact positions of the spring 45 with the first connection fulcrum 90 and the second connection fulcrum 91 are in sliding fit connection, so that both ends of the spring 45 respectively form two rotating pairs with the first connection fulcrum 90 and the second connection fulcrum 91. Such a design enables the spring 45 not to be twisted due to the rotation of the first connection fulcrum 90 during the rotation of the second rotating pair 40. If both ends of the spring 45 are fixedly connected to the first connection fulcrum 90 and the second connection fulcrum 91, then as the first connection fulcrum 90 rotates, relative movement occurs between the first connection fulcrum 90 and the second connection fulcrum 91, and the spring at the connection positions of both ends of the spring 45 with the first connection fulcrum 90 and the second connection fulcrum 91 is extremely likely to be twisted and broken. The sleeved method solves this problem, and the spring 45 can always provide a pulling force in the direction of the line connecting the first connection fulcrum 90 and the second connection fulcrum 91 to urge the second rotating pair 40 to return to the initial position.

[0040] Preferably, the second connection fulcrum 91 is located at the bottom position of the foot connection part 44 near one side wall 49, which provides sufficient installation space and movement space for the spring 45 in the second rotating pair 40 and is not easily interfered with other parts. At the same time, in this embodiment, since the second connection fulcrum 91 is located at the bottom position of the side wall 49 near the heel of the foot, the spring 45 in the second rotating pair 40 is arranged in an inclined manner. This inclined manner is such that the lower end of the spring 45 is biased towards the heel position. The setting of this structure, combined with the thrust provided by the spring 45, makes the front sole position and the heel position of the mechanical foot nearly horizontal; in some other embodiments, the second connection fulcrum 91 is located at the bottom position of the side wall 49 near the front sole. At this time, the spring 45 in the second rotating pair 40 is still arranged in an inclined manner, but the inclined manner is such that the lower end of the spring 45 is biased towards the front sole position. At this time, the spring 45 needs to provide a pulling force to make the front sole position and the heel position of the mechanical foot nearly horizontal. According to the different positions where the spring 45 is set, the form of the pulling force or elastic force it provides is also different. Relatively speaking, the setting method where the second connection fulcrum 91 is located at the bottom position of the side wall 49 near the heel of the foot is slightly better than the setting method where the second connection fulcrum 91 is located at the bottom position of the side wall 49 near the front sole, because in the former state, the spring provides a thrust, that is, the spring is in a compressed state; in the latter state, the spring provides a pulling force and the spring is in a stretched state. Since the position of the second rotating pair 40 needs to rotate, with the rotational movement, the spring will continuously experience elongation or shortening. The spring in the compressed state has better stretching and shortening characteristics compared to the spring in the stretched state, because under the same material and the same manufacturing process, the length of the spring in its natural state is longer than that of the spring in the contracted state. Therefore, during the movement process, the spring in the compressed state has better elongation and shortening performance and is not easily broken after long-term work, greatly extending the service life of the joint position. Further, when the lower end of the spring 45 in the second rotating pair 40 is inclined towards the front sole position, when the leg part 41 is in the vertical state, the connecting rod 92 connected to the leg connection part 43 shifts towards the front sole side, which allows a longer spring to be accommodated between the first connection fulcrum 90 and the second connection fulcrum 91, and the longer spring also has better elongation and contraction performance. Correspondingly, when the lower end of the spring 45 in the second rotating pair 40 is inclined towards the heel position, when the leg part 41 is in the vertical state, the connecting rod 92 connected to the leg connection part 43 shifts towards the heel side.

[0041] Preferably, a mechanical ankle joint of this embodiment further includes a cover plate 93. The edge of the cover plate 93 matches the side wall 49 of the foot connection part 44. The cover plate 93 and the foot connection part 44 can be assembled together. After assembly, the rotational mating connection part of the leg connection part 43, the first connection fulcrum 90, the first elastic element, and the second connection fulcrum 91 can be wrapped inside, so that the parts in the second rotating pair 40 are not easily detached, and the operation of the second rotating pair 40 is safe and reliable. The first elastic element is not prone to rust, greatly extending its service life.

[0042] When the mechanical ankle joint of this embodiment is not worn, the foot connection part 44 or the foot part 42 is connected to the entire bottom surface where the patient's foot steps. The position of the forefoot of this bottom surface is appropriately upturned relative to the position of the heel (as shown in the appendix Figure 8 ), or the position of the forefoot is horizontal relative to the position of the heel. The height of the upturned forefoot position is slightly higher than the position of the heel, and the height of the forefoot position in the horizontal state is almost the same as the height of the heel position; during the use of the mechanical foot, when the patient's foot steps on the bottom surface and the bottom surface is attached to the ground, this is the initial state, and the mechanical ankle joint does not transfer any force to the patient or hardly transfers any force to the patient. When the patient's leg is lifted, the patient's foot droops around the ankle joint under the action of its own gravity. During the drooping process, the bottom surface that fits the patient's foot rotates together. The bottom surface causes the position of the second rotating pair 40 to rotate through the foot connection part 44. The first elastic element in the second rotating pair 40 deforms relative to the initial state. At this time, the first elastic element has a tendency to return to the initial state, thereby providing a reverse torque for lifting the foot to the second rotating pair 40. This torque can be reflected as an upward turning force transmitted to the bottom surface where the foot steps. This force can support the drooping foot, thus preventing the patient's foot from drooping; at the same time, the first elastic element can also decelerate the rotation process of the ankle joint when the ankle joint rotates, slowing down the movement speed and avoiding harm to the affected foot.

[0043] Embodiment 2.

[0044] This embodiment provides a shoe with adjustable wearing size, which includes a first part 50 and a second part 51. The first part 50 and the second part 51 form the bottom surface stepped on by the foot in Embodiment 1. The patient's foot can step on the first part 50 and the second part 51. Since the foot sizes of different patients are different, in order to enhance the adaptability of the shoe to the patient, the first part 50 and the second part 51 are movably connected. By adjusting the relative positions of the movable first part 50 and the second part 51, the length of the bottom surface stepped on by the foot after adjustment is matched with the patient's foot. Specifically, a slidable connecting plate 52 is provided between the first part 50 and the second part 51. The connecting plate 52 is connected to one of the first part 50 and the second part 51 and is embedded in the other. A second locking structure 53 is also provided on the connecting plate 52. The second locking structure 53 can lock the first part 50 and the second part 51 in the adjusted position and prevent further sliding.

[0045] In this embodiment, the connecting plate 52 is connected to the second part 51. A second locking structure 53 is also provided on the connecting plate 52. The second locking structure 53 includes a locking bar 54 provided on the connecting plate 52. Locking holes 55 are provided on the locking bar 54. The first part 50 includes an upper plate 94 and a lower plate 95. The upper plate 94 and the lower plate 95 can be assembled together. When the assembly is completed, a sliding groove 96 is formed on the first part 50. The connecting plate 52 and the part of the locking bar 54 thereon can both slide in the sliding groove 96 to realize the movable connection between the first part 50 and the second part 51. The second locking structure 53 further includes a pressing buckle 56. The pressing buckle 56 is provided on the first part 50. After adjusting the positions of the first part 50 and the second part 51, by pressing the pressing buckle 56 to make it snap into the locking hole 55, the position locking between the first part 50 and the second part 51 is completed.

[0046] Preferably, in order to facilitate the operation of the second locking structure 53 to complete the locking operation, the pressing buckle 56 is provided on the side surface of the second part 51. Correspondingly, the locking bar 54 is arranged vertically so that the pressing buckle 56 can be inserted into the locking hole 55. Further, the locking bar 54 is arranged perpendicular to the connecting plate 52. The locking bar 54 is provided at the side position of the connecting plate 52. The connecting plate 52 and the locking bar 54 thereon are integrally in an L shape. Correspondingly, the sliding groove 96 is also in an L shape.

[0047] Preferably, in order to facilitate the adjustment of the relative positions of the first part 50 and the second part 51, size marks are provided on the connecting plate 52 to facilitate the operator to adjust the size of the shoe.

[0048] Preferably, in order to improve the integrity of the shoe, although the first part 50 is movably connected to the second part 51, this movable connection is inseparable, that is, the first part 50 and the second part 51 cannot be completely separated and cannot become two unrelated components. To achieve this purpose, a sliding groove 97 is provided on the connecting plate 52. The sliding groove 97 runs through up and down, and its four walls are annular. A limiting block 98 that can be embedded in the sliding groove 97 is provided in the sliding groove 96. Specifically, there are two limiting blocks 98, both of which are provided on the bottom surface of the upper plate 94. Correspondingly, there are two sliding grooves 97 on the connecting plate 52. When the upper plate 94 and the lower plate 95 are installed, the upper plate 94 and the lower plate 95 sandwich the connecting plate 52 in the middle, and the limiting block 98 is embedded in the sliding groove 97.

[0049] Example 3, refer to the appendix Figure 9 。

[0050] The traditional mechanical foot has a leg part 41 and a stepping bottom surface 99. The leg part 41 is used to connect to the patient's leg, and the stepping bottom surface 99 is used to fit with the patient's sole. When in use, the leg part 41 is fixed to the patient's leg, and the patient's foot steps on the stepping bottom surface 99. However, in the traditional mechanical foot, the axis where the leg part 41 is located is perpendicular to the plane where the stepping bottom surface 99 is located. This makes the patient feel foot varus when wearing the mechanical foot and causes discomfort. This embodiment provides a mechanical foot, which also includes a leg part 41 and a stepping bottom surface 99. Among them, the axis where the leg part 41 is located is not perpendicular to the plane where the stepping bottom surface 99 is located. This conforms to the ergonomic design and makes the patient more comfortable when wearing the mechanical foot. Specifically, define the angle formed by the leg part 41 and the stepping bottom surface 99 as the maximum value among the angles formed by the axis where the leg part 41 is located and any straight line in the plane where the stepping bottom surface 99 is located. For example, if the angle range between the axis where the leg part 41 is located and any straight line in the plane where the stepping bottom surface 99 is located is [88°, 92°], then the angle formed by the leg part 41 and the stepping bottom surface 99 is 92°; another example, if the angle range between the axis where the leg part 41 is located and any straight line in the plane where the stepping bottom surface 99 is located is [85°, 95°], then the angle formed by the leg part 41 and the stepping bottom surface 99 is 95°. In this embodiment, the angle formed by the leg part 41 and the stepping bottom surface 99 is 92°.

[0051] Example 4.

[0052] This embodiment provides a mechanical foot, which includes a part for receiving the front sole and a part for receiving the rear side of the front sole. Wherein, there is an included angle between the part for receiving the front sole and the part for receiving the rear side of the front sole. This included angle can be an obtuse angle or a straight angle. For example, the front sole part presents an acute angle relative to the horizontal position, such as angles of 10, 20, 25, 30, 35, 40, 55 degrees, while presenting an obtuse angle with the rear sole part that is basically in the horizontal plane, such as angles of 170, 160, 155, 160, 165, 135, etc.

[0053] In some ways, this angle is adjustable. Here, the adjustment mainly means that due to different physiological structures and walking habits of the human body, the angle can be adjusted. Once adjusted, the included angle between the part for receiving the rear side of the front sole and the part for receiving the front sole basically remains at a fixed angle. Therefore, in some ways, the said angle can also be fixed and non-adjustable. So, the angle here includes two aspects. One is that the angle is fixed and non-adjustable; the other is that the angle is adjustable to suit different patients and different walking habits, or for different requirements during the rehabilitation stage of the same patient, the angle is adjusted.

[0054] In some ways, the structure for making there be an included angle between the part for receiving the rear side of the front sole and the part for receiving the front sole is diverse and can be completed by any structure, such as a damping structure, a spring structure, or any other suitable structure. A relatively extreme example of implementation is, for example, without a damping structure, but making the front sole of the mechanical foot itself be fixedly connected at a certain angle with the rear side of the front sole, such as being connected through a suitable mechanical structure, such as a hinge structure.

[0055] In some specific ways, referring to Att Figure 1 、Att Figure 3 、Att Figure 4 , the mechanical foot includes a third part 83 and a second part 51, and the third part 83 is rotationally and cooperatively connected with the second part 51. In some ways, the way of rotational and cooperative connection is especially a rotational and cooperative connection with damping. Here, the rotation can actually be understood that this damping structure can adjust the angle or the included angle between the third part 83 and the second part 51. It can be understood that it can also be a non-rotatable damping.

[0056] It can also be understood in this way that the third part 83 and the second part 51 of the mechanical foot are movably connected. This movable connection is not a natural one, but there is a damping structure between the two parts, and this damping structure connects the two parts together. In some ways, the damping structure is arranged between the forefoot and the hindfoot of the foot. Generally, a shoe is divided into a hindfoot with a heel and a forefoot with toes, and the part between them is the arch of the foot. This description is just a common one for the following explanations. The damping structure here can be any elastic or inelastic element, but it has an element that keeps it in a certain relative position; for example, it keeps the forefoot and the hindfoot in a relatively fixed position, and this fixed position is achieved by an external force acting on the mechanical foot. For example, there is a damping structure on the mechanical foot. When a person wears this mechanical foot, the mechanical foot has a second part that receives the forefoot of the human foot and a third part 83 that receives the hindfoot, so that the human foot sole fits together with the mechanical foot. Those who need to wear the mechanical foot of the present invention are generally those whose feet cannot walk normally, which is essentially different from normal healthy feet. For example, a diseased foot cannot walk normally. In particular, the foot is in a paralyzed state and is completely or incompletely controlled by the brain. Thus, during walking, the mechanical foot is needed to assist the diseased foot to walk, and this kind of walking has a rehabilitative effect.

[0057] Generally, when a healthy foot walks, the heel leaves the ground first, driving the front sole to leave the ground, and then the front sole touches the ground first, followed by the rear sole. This completes the walking process. When this foot is a diseased foot, during walking, the front and rear soles are not or completely not controlled by the brain. When lifting the lower leg to walk, the entire sole is in a naturally drooping state. When taking a step forward, it cannot move along the same motion trajectory as a healthy foot. At this time, it is very easy to fall. For example, when the diseased foot is in a naturally drooping state and taking a step forward, it may be the toes that touch the ground first. In the previous process, the movement of the foot is driven by the movement of the ankle joint. Due to the lack of effective coordination, it is easy to cause a person to fall. At this time, it is hoped that there is an angle between the front and rear soles. This angle can be an obtuse angle. For example, when the sole is on a horizontal plane, the front sole forms an obtuse angle with the horizontal plane, similar to the form where the front sole is tilted upward relative to the horizontal. When the patient's foot wears the mechanical foot, the front sole naturally exerts a force, such as pressure, on the front sole of the mechanical foot. To overcome this force, the damping element still keeps the angle between the front and rear soles of the mechanical foot relatively unchanged or stable, so that the front and rear soles of the patient also maintain an angle. When the diseased foot is walking, the front sole can always touch the ground, making it not easy to fall. Especially for a hemiplegic person, half of the whole patient, including the entire lower limb, is in a paralyzed state. When undergoing rehabilitation training, it is important for the patient to walk with the assistance of the mechanical foot to prevent falling. The main function of this damping is to present a dorsiflexion angle between the front sole of the patient's foot and the rear part of the front sole of the foot. Of course, in fact, there is a structural setting to keep an angle, such as a dorsiflexion angle, between the front and rear soles of the mechanical foot. When the patient's foot wears the mechanical foot, this angle remains almost unchanged. On the other hand, this angle can be adjusted. Due to the damping structure, since the size and walking habits of each person's foot are different, the dorsiflexion angle can be adjusted arbitrarily to meet the walking habits of each patient. This angle can be adjusted arbitrarily between 175 - 85 degrees, such as adjustments to 120, 135, or 110 degrees. Therefore, due to the presence of damping, once adjusted, the mechanical foot keeps the angle between its front and rear soles relatively fixed. In addition to the damping structure, other methods can also be used to achieve this, but in these implementation methods, it is easy to fix the dorsiflexion angle, but it is not conducive to arbitrary adjustment. For example, springs and shrapnel. Or, more simply, it is to make the front and rear soles of the mechanical foot form a dorsiflexion angle, but generally this angle cannot be adjusted arbitrarily.

[0058] In some more specific embodiments, specifically, the second part 51 is the position of the forefoot, and the third part 83 is the position behind the forefoot. The two are connected by a damping rotating shaft 58 at the junction position. An elastic element is provided inside the damping rotating shaft 58. When the affected foot of the patient steps on the ground, the gravity of the forefoot acts on the second part 51, so that the third part 83 and the second part 51 are always at an angle. Here, "always" does not mean continuously, but rather makes the forefoot and the hindfoot of the patient's foot roughly present an angle. For example, the angle at which the forefoot tilts upward away from the ground is maintained in a stable state. The maintenance of this angle is achieved by the angle between the forefoot and the hindfoot of the mechanical foot, and the angle between the forefoot and the hindfoot of the mechanical foot can be realized by a damping structure.

[0059] Specifically, the mechanical foot includes a third part 83 and a second part 51. When wearing the mechanical foot, the patient steps on the third part 83 and the second part 51. The third part 83 is movably connected to the second part. The movable connection divides the surface stepped on by the patient into two parts. The movable connection includes rotational mating connection, elastic connection, and also includes a combination of rotational mating connection and elastic connection. Refer to the attached Figure 1 、attached Figure 3 、attached Figure 4 , the movable connection in this embodiment is a special rotational mating connection: the third part 83 is rotationally mated with the second part 51, especially a rotational mating connection with damping. Specifically, the second part 51 is the position of the forefoot, and the third part 83 is the position behind the forefoot. The two are rotationally mated through a damping rotating shaft 58 at the junction position. Refer to a-d in the attached Figure 10 . When the affected foot of the patient steps on the ground, as shown in the attached Figure 10 (a), the gravity of the forefoot acts on the second part 51, and the gravity of the position behind the forefoot acts on the third part 83, making the third part 83 flush with the second part 51; when the patient lifts the affected foot, as shown in the attached Figure 10 (b), the heel position of the patient's foot leaves the ground first, and the forefoot of the foot leaves the ground later. The forefoot of the patient's foot and the part behind the forefoot of the foot present a dorsiflexion angle. Since the second part 51, the third part 83 are in contact with the bottom of the patient's foot, this process causes the third part 83 and the second part 51 to rotate relative to each other; when the patient steps out the affected foot, as shown in the attached Figure 10 (c), since the affected foot of the patient is in a suspended state at this time, the gravity of the patient's foot acts on the patient's leg, including the gravity of the patient's forefoot, and rarely falls on the second part 51. At this time, the damping rotating shaft 58 can keep the second part 51 in a dorsiflexed state, that is, prevent the second part 51 (forefoot) from drooping, and solve the problem of being easily tripped during walking; when the affected foot of the patient steps on the ground again, refer to the attached Figure 10As shown in (d), the gravity of the foot is no longer borne by the patient's leg, but acts on the second part 51 and the third part 83. Under the pressure of the patient's foot gravity, the damping rotating shaft 58 part between the third part 83 and the second part 51 causes the third part 83 and the second part 51 to rotate relative to each other again, making the third part 83 flush with the second part 51 and restoring the initial state.

[0060] Specifically, the third part 83 and the second part 51 are connected by a damping rotating shaft 58. A first installation station 89 is provided on the third part 83, and a second installation station 88 is provided on the second part 51. First connection holes for installing the damping rotating shaft 58 are provided on both the first installation station 89 and the second installation station 88. The damping rotating shaft 58 includes a first shaft body 86 and a second shaft body 87. Both the first shaft body 86 and the second shaft body 87 include a square section and a cylindrical section. The cylindrical sections of the two are nested together, enabling the first shaft body 86 and the second shaft body 87 to rotate relative to each other. A spring piece and a gasket are also provided inside the damping rotating shaft 58. When there is a tendency for relative rotation between the first shaft body 86 and the second shaft body 87, friction will occur between the spring piece and the gasket to generate a damping force. When the torque between the first shaft body 86 and the second shaft body 87 is greater than the maximum damping force, relative rotation will occur between the first shaft body 86 and the second shaft body 87 at this time. And when the rotated first shaft body 86 and second shaft body 87 are under no external force or the generated torque is less than the maximum damping force, the first shaft body 86 and the second shaft body 87 can remain relatively fixed. Second connection holes corresponding to the first connection holes are provided on the square sections of the first shaft body 86 and the second shaft body 87. The installation of the damping rotating shaft 58 between the third part 83 and the second part 51 can be completed by passing screws through the first connection holes and the second connection holes. Preferably, there are two second connection holes on the square section, two first connection holes are provided on both the first installation station 89 and the second installation station 88, two first installation stations 89 and two second installation stations 88 are respectively provided on the third part 83 and the second part 51, and two damping rotating shafts 58 are installed between the third part 83 and the second part 51. When the affected foot of the patient is lifted, it can provide an appropriate upward turning force for the front sole, preventing the front sole from sagging.

[0061] Preferably, a limiting structure is provided at the connection part between the third part 83 and the second part 51, that is, a limiting structure is provided at the connection position between the front sole part and the rear part of the front sole of the foot, so that the damping rotating shaft 58 will not be pressed down too much due to gravity, avoiding excessive rotation (downward turning) and resulting in plantar flexion. Specifically, refer to the appendix Figure 11, a first groove 59 is provided on the second part 51 near the position of the first installation station 89. A part of the first installation station 89 extends into the first groove 59. This enables the first installation station 89 to abut against the first groove 59 during the downward flipping of the second part 51, thereby preventing the downward flipping. Further, in order to allow the second part 51 to flip downward appropriately to meet the plantar flexion requirements of patients sometimes, a second groove 69 is provided on one side of the first installation station 89 close to the first groove 59.

[0062] The third part 83 can be an entire part or a component assembled from two or more parts. When the third part 83 is an entire part, as shown in the appendix Figure 10 , the third part 83 always fits against the rear part of the forefoot and is not adjustable. When the third part 83 is a component assembled from two or more parts, for example, as in Embodiment 2, the third part 83 includes a first part 50 and a connecting plate 52. The connecting plate 52 can slide within the first part 50. At this time, the mechanical foot has the advantages of adjustable size and automatic upward flipping of the forefoot during walking.

[0063] Embodiment 5.

[0064] This embodiment provides a mechanical foot, including a third part 83 and a second part 51. When wearing the mechanical foot, the patient steps on the third part 83 and the second part 51. The third part 83 is movably connected to the second part. The movable connection divides the surface stepped on by the patient into two parts. The movable connection includes a rotational mating connection, an elastic connection, and also includes a combination of a rotational mating connection and an elastic connection. The movable connection in this embodiment is an elastic rotational mating connection: the second part 51 is at the forefoot position, and the third part 83 is at the rear position of the forefoot. The two are rotationally mated and connected through an elastic rotating shaft at the junction position. A second elastic element is provided inside the elastic rotating shaft. The second elastic element can be a coil spring, a torsion spring, or other parts that can enable the elastic rotating shaft to recover its deformation after rotation. When the mechanical foot is not worn, the second part 51 is appropriately flipped upward under the action of the second elastic element. When the affected foot of the patient steps on the ground, the gravity of the forefoot acts on the second part 51, making the third part 83 flush with the second part 51. When the affected foot of the patient is lifted, that is, in the walking state, since almost all of the gravity of the forefoot acts on the patient's leg at this time, the gravity of the forefoot no longer acts on the second part 51. The second part 51 slowly flips upward under the action of the second elastic element in the elastic rotating shaft, driving the forefoot part to bend upward, that is, making the second part 51 (forefoot) no longer droop, and solving the problem of being easily tripped during walking.

[0065] Preferably, the structure of the elastic rotating shaft is similar to that of the damping rotating shaft 58 in Embodiment 4. The elastic rotating shaft includes a third shaft body and a fourth shaft body. Both the third shaft body and the fourth shaft body include a square section and a cylindrical section. The cylindrical sections of the two are nested together, enabling the third shaft body and the fourth shaft body to rotate relative to each other. Different from the damping rotating shaft 58, a second elastic element is provided between the third shaft body and the fourth shaft body. The second elastic element is provided at the nested position of the cylindrical sections of the third shaft body and the fourth shaft body, enabling the third shaft body and the fourth shaft body to have the ability to recover from deformation after relative rotation. The installation position and installation method of the elastic rotating shaft can be the same as those of the damping rotating shaft 58 in Embodiment 4, which will not be elaborated here. Preferably, the third part 83 and the second part 51 are connected by two elastic rotating shafts. There are two second elastic elements in total in the two elastic rotating shafts. When the affected foot of the patient is lifted, it can provide an appropriate upward force to flip the front sole, preventing the front sole from sagging.

[0066] Embodiment 6.

[0067] This embodiment provides a mechanical foot, including a third part 83 and a second part 51. When wearing the mechanical foot, the patient steps on the third part 83 and the second part 51. The third part 83 is movably connected to the second part. The movable connection divides the surface stepped on by the patient into two parts. The movable connection includes a rotational mating connection, an elastic connection, and also a combination of a rotational mating connection and an elastic connection. The movable connection in this embodiment is an elastic connection: the second part 51 is at the position of the front sole, and the third part 83 is at the position behind the front sole. The two are connected by a spring plate at the junction. The spring plate has a curvature so that one end is upturned, or there is an upward crease on the spring plate, enabling the second part 51 to turn upward appropriately when the mechanical foot is not worn; when the affected foot of the patient steps on the ground, the gravity of the front sole acts on the second part 51, making the third part 83 flush with the second part 51; when the affected foot of the patient is lifted, that is, in the walking state, since almost all the gravity of the front sole acts on the patient's leg at this time and the gravity of the front sole no longer acts on the second part 51, the second part 51 slowly turns upward under the action of the spring plate, driving the front sole part to bend upward, that is, preventing the second part 51 (front sole) from sagging and solving the problem of being easily tripped during walking.

[0068] Embodiment 7.

[0069] This embodiment provides a mechanical foot for wearing on a patient's foot, including a stepping bottom surface 99, an ankle fixing strap 82, and a dorsal fixing strap 85 provided on the stepping bottom surface 99. The ankle fixing strap 82 is used to fix the rear position of the patient's foot, and the dorsal fixing strap 85 is used to fix the dorsal position of the patient's foot. By fixing these two positions, the mechanical foot can be worn on the patient's foot.

[0070] Preferably, when wearing the mechanical foot, first make the posterior position of the patient's ankle joint abut against the ankle fixing strap 82, and then fix the back fixing strap 85 so that the patient's foot fits against the stepping bottom surface 99. When the patient wears the mechanical foot, the mechanical foot can be put on in a state of wearing shoes or in a state of not wearing shoes.

[0071] Since the overall length of the dorsal foot position is relatively long, a single back fixing strap 85 cannot play a good fixing role. Preferably, there are two back fixing straps 85 for better fixing the foot. Further, the back fixing strap 85 includes a shoe tooth strap 79 and a shoe buckle 78. By passing the shoe tooth strap 79 through the shoe buckle 78, the quick connection of the dorsal foot position can be completed, that is, the quick wearing of the mechanical foot can be completed. At the same time, a button 77 is provided on the shoe buckle 78, and by pressing the button 77, the quick unlocking of the shoe tooth strap 79 and the shoe buckle 78 can be realized, which is convenient for taking off the mechanical foot. The connecting positions of the shoe tooth strap 79, the shoe buckle 78 and the mechanical foot are rotationally and cooperatively connected, so that they can all adjust the wearing angle, making the mechanical foot suitable for different people to wear.

[0072] Preferably, a flexible pad 84 is provided on the mechanical foot. The flexible pad 84 can be provided on the upper surface of the stepping bottom surface 99 to improve the comfort of the patient when wearing the mechanical foot. The flexible pad 84 can also be provided on the lower surface of the stepping bottom surface 99 to reduce the noise when the mechanical foot steps on the ground, and at the same time play a role in protecting the mechanical foot. Most importantly, it can prevent slipping, avoid the patient from falling when wearing, and play a role in protecting the patient.

[0073] Example 8.

[0074] Example 8 provides a mechanical foot, and the technical solution adopted is any combination of the above Examples 1-7. Any combination includes the combination of two examples, the combination of three examples, etc.

[0075] For example, the combination of Example 1 and Example 4 can achieve that the front sole does not sag on the basis that the ankle joint does not sag, avoiding the patient from falling when walking.

[0076] For example, in the combination of Embodiment 2 and Embodiment 4, a structure with adjustable length is further provided between the forefoot and the hindfoot. One end of this structure is connected to the forefoot, and the other end is connected to the hindfoot part. Through this structure with adjustable length, the distance between the forefoot and the hindfoot can be adjusted, so that the mechanical foot can fit the sizes of different patients' feet. It should be noted that "foot" and "forefoot" here can be interchanged, both representing the patient's foot or the mechanical foot, or the mechanical forefoot or mechanical foot suitable for the patient to wear, which can also be called a mechanical shoe. The shoe includes the structure of the mechanical forefoot. This mechanical shoe, mechanical foot or mechanical forefoot is used to be worn on the patient's foot or feet. A damping structure is provided on the adjusting structure for adjusting the distance between the forefoot and the hindfoot. One end of this damping structure is connected to the structure for adjusting the distance, and the other end is connected to the forefoot. Thus, the fixation or adjustment of the angle between the forefoot and the hindfoot can also be achieved. Here, the adjusting structure can be a part of the hindfoot. Of course, it can also be a part of the forefoot.

[0077] As described above, it is only the specific implementation manner of the invention, but the protection scope of the invention is not limited thereto. Any change or substitution that can be thought of without creative work should be covered within the protection scope of the invention. Therefore, the protection scope of the invention should be subject to the protection scope defined by the claims.

Claims

1. A mechanical foot, characterized in that, It includes a third part and a second part. The second part is at the position of the forefoot, and the third part is at the position behind the forefoot. The second part and the third part are rotationally and cooperatively connected through a damping rotating shaft. An elastic element is provided inside the damping rotating shaft. The damping rotating shaft is configured such that when the affected foot is in a suspended state, an obtuse angle that enables the second part to maintain a dorsiflexed state is formed between the second part and the third part. It includes a mechanical ankle joint. The mechanical ankle joint includes a rotating pair, and the rotating pair is a second rotating pair. The second rotating pair includes a leg connection part and a foot connection part. The outer contour of the rotationally and cooperatively connected part of the leg connection part is circular, and a first connection fulcrum is provided on the outer side of the outer contour. A second connection fulcrum is provided inside the foot connection part. The first connection fulcrum and the second connection fulcrum are connected by a spring. The second connection fulcrum is located at the bottom position of the side wall near the heel side of the foot. The spring is configured to provide a thrust force so that the forefoot position and the heel position of the mechanical foot are nearly horizontal. Side walls are provided on both sides of the foot connection part. The mechanical ankle joint further includes a cover plate. The edge of the cover plate matches the side walls. The cover plate and the foot connection part are assembled together to enclose the rotationally and cooperatively connected part of the leg connection part, the first connection fulcrum, the spring, and the second connection fulcrum.

2. The mechanical foot according to claim 1, characterized in that, The included angle between the third part and the second part is adjustable.

3. A mechanical foot according to claim 2, characterized in that, After the included angle between the third part and the second part is adjusted, the included angle can be maintained at a fixed angle.

4. A mechanical foot according to claim 1, characterized in that, The included angle between the third part and the second part is not adjustable.

5. A mechanical foot according to claim 1, characterized in that A limiting structure is provided at the connection position between the third part and the second part to prevent the damping rotating shaft from moving excessively.

6. A mechanical foot according to claim 1, characterized in that, The second part is used to receive the forefoot part, and the third part is used to receive the part behind the forefoot. The third part is an entire part or an assembly formed by assembling two or more parts.

7. A mechanical foot according to claim 1, characterized in that A first installation station is provided on the third part, and a second installation station is provided on the second part. First connection holes for installing the damping rotating shaft are provided on both the first installation station and the second installation station. The damping rotating shaft includes a first shaft body and a second shaft body. Both the first shaft body and the second shaft body include a square section and a cylindrical section. The cylindrical sections of the two are nested together so that the first shaft body and the second shaft body can rotate relative to each other. A spring piece and a gasket are further provided inside the damping rotating shaft. When there is a tendency for relative rotation between the first shaft body and the second shaft body, friction will occur between the spring piece and the gasket to generate a damping force. When the torque between the first shaft body and the second shaft body is greater than the maximum damping force, relative rotation will occur between the first shaft body and the second shaft body at this time. When there is no external force acting on the first shaft body and the second shaft body, or when the torque generated between the first shaft body and the second shaft body is less than the maximum damping force, the first shaft body and the second shaft body can remain relatively fixed.

8. A mechanical foot according to claim 7, characterized in that, Second connection holes corresponding to the first connection holes are provided on the square sections of the first shaft body and the second shaft body. The installation of the damping rotating shaft between the third part and the second part can be completed by passing screws through the first connection holes and the second connection holes. There are two second connection holes on the square section, two first connection holes are provided on both the first installation station and the second installation station, two first installation stations and two second installation stations are respectively provided on the third part and the second part, and two damping rotating shafts are installed between the third part and the second part.

9. The mechanical foot according to claim 8, characterized in that, A first groove is provided on the second part near the position of the first installation station. Part of the first installation station extends into the first groove. When the second part is flipped to the limit position, the first installation station will abut against the first groove. Among them, a second groove is provided on one side of the first installation station close to the first groove.

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