Foot device of exoskeleton robot

Abstract

The invention discloses a foot device of an exoskeleton robot. The exoskeleton robot foot device comprises a first piece, an ankle joint assembly and a sole assembly, and the ankle joint assembly is arranged between the first piece and the sole assembly; the ankle joint assembly comprises a second piece, a third piece, a fourth piece and a reset component which are connected, the end, away from the third piece, of the second piece is rotationally connected with the first piece, the second piece can rotate around the first direction relative to the first piece, one end of the third piece is connected with the second piece, and the second piece can rotate around the second direction relative to the third piece. The other end of the third piece is connected with the fourth piece, the fourth piece can rotate around a third direction relative to the third piece, and one end, far away from the third piece, of the fourth piece is connected with the sole assembly; the reset component is used for resetting the two pieces connected with the reset component. The multi-degree-of-freedom swing exoskeleton robot can perform multi-degree-of-freedom swing, and the power assisting capacity of the exoskeleton robot

Description

Technical Field

[0001] The invention belongs to the technical field of coal mine emergency rescue equipment, and in particular relates to an exoskeleton robot foot device. Background Art

[0002] As an important field of energy mining, coal mine safety has always been the focus of social attention. Due to the complex geological conditions and harsh working environment of coal mines, coal mine accidents occur from time to time. Therefore, emergency rescue work in coal mines is particularly important. As an important emergency rescue equipment, the application effect of exoskeleton robots in the field of coal mine rescue is very obvious. It can efficiently assist rescue team members in carrying, dragging, and walking with loads, effectively enhancing the human functions and combat capabilities of rescue team members and reducing the physical energy consumption of rescue team members. Summary of the invention

[0003] The present invention is based on the inventor's discovery and understanding of the following facts and problems:

[0004] The inventors realized that due to the complex working terrain of on-site rescue in coal mines, the foot structure of the exoskeleton robot in the related technology lacks the necessary flexibility during interaction with the external environment, and it is difficult to effectively resist impact forces beyond the expected range, increasing the risk of injury to the wearer in complex or uncertain environments.

[0005] The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

[0006] To this end, an embodiment of the present invention provides an exoskeleton robot foot device that can swing with multiple degrees of freedom, thereby improving the power-assisting ability of the exoskeleton robot.

[0007] The exoskeleton robot foot device of the embodiment of the present invention comprises a first piece, an ankle joint component and a sole component, wherein the first piece is used to connect with the leg, the ankle joint component is arranged between the first piece and the sole component, and the sole component is used to support the foot;

[0008] The ankle joint assembly comprises:

[0009] A second member, a third member and a fourth member connected to each other, one end of the second member away from the third member is rotatably connected to the first member, the second member is rotatable relative to the first member around a first direction, one end of the third member is connected to the second member, the second member is rotatable relative to the third member around a second direction, the other end of the third member is connected to the fourth member, the fourth member is rotatable relative to the third member around a third direction, and one end of the fourth member away from the third member is connected to the sole assembly;

[0010] A reset component, wherein the number of the reset components is plural, and the reset components are arranged between the first component and the second component, between the second component and the third component, and between the third component and the fourth component, and the reset component is used to reset the two components connected thereto;

[0011] The ankle joint assembly has an initial state, in which the first direction, the second direction, and the third direction are orthogonal to each other.

[0012] The exoskeleton robot foot device of the embodiment of the present invention improves the assistance capability of the exoskeleton robot through multi-degree-of-freedom rotation or swinging between the first piece, the second piece, the third piece and the fourth piece, and enhances the wearer's flexibility, comfort and adaptability to changing environments when working.

[0013] In some embodiments, the sole assembly comprises:

[0014] A rear foot support, the rear foot support being fixedly connected to the fourth member;

[0015] A front foot support, the front foot support being rotatably connected to the rear foot support so that the front foot support can swing relative to the rear foot support as the foot bends;

[0016] A connecting member is arranged on the rear foot support and the front foot support, and is used to connect the rear foot support and the front foot support to the foot.

[0017] In some embodiments, there are two front foot supports, and the two front foot supports are arranged side by side along the width direction of the foot;

[0018] And / or, one end of the rear foot support away from the front foot support has a fixing block, and the fourth member is fixedly connected to the fixing block.

[0019] In some embodiments, the connecting member is a fastener, and a plurality of the fasteners are respectively disposed on the front foot support and the rear foot support, and are used to connect the front foot support and the rear foot support to the foot through a strap;

[0020] And / or, it also includes an anti-skid bottom layer, which is arranged at the bottom of the front foot support and the rear foot support.

[0021] In some embodiments, the first direction is parallel to the vertical direction, the first direction is orthogonal to the second direction, the second direction is orthogonal to the third direction, and in the initial state, the first direction is orthogonal to the third direction.

[0022] In some embodiments, the reset component includes a first support block, a second support block and a reset member, the first support block and the second support block are rotatably connected, the reset member is arranged between the first support block and the second support block, and the reset member is used to reset the first support block and the second support block.

[0023] In some embodiments, the second member has a first cavity, a reset component is disposed in the first cavity, a first support block in the reset component located between the first member and the second member is fixedly connected to the second member, and a second support block is fixedly connected to the first member;

[0024] And / or, the third component has a second cavity and a third cavity, the axis of the second cavity is orthogonal to the axis of the third cavity, and a reset component is provided in the second cavity and the third cavity, the first support block in the reset component located between the second component and the third component is fixedly connected to the third component, and the second support block is fixedly connected to the second component, and the first support block in the reset component located between the third component and the fourth component is fixedly connected to the third component, and the second support block is fixedly connected to the fourth component.

[0025] In some embodiments, the first support blocks in the resetting components located in the second cavity and the third cavity are integrally formed with the third component.

[0026] In some embodiments, the first piece is a sleeve connected to the leg; the second piece is a shell, and the second piece has two connecting ear plates at one end close to the third piece, and the two connecting ear plates are arranged on both sides of the third piece in the second direction; the fourth piece is a plate body, and there are two fourth pieces, and the two fourth pieces are arranged on both sides of the third piece in the third direction.

[0027] In some embodiments, a first shaft is provided between the first member and the second member, a second shaft is provided between the second member and the third member, a third shaft is provided between the third member and the fourth member, and the reset component is a torsion spring, and the torsion spring is provided on the first shaft, the second shaft and the third shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 Schematic diagram of the structure of the exoskeleton robot foot device according to an embodiment of the present invention.

[0029] Figure 2 Schematic diagram of the cross-sectional structure of the exoskeleton robot foot device according to an embodiment of the present invention.

[0030] Figure 3 Schematic diagram of an exploded view of an ankle joint assembly in an embodiment of the present invention.

[0031] Reference numerals:

[0032] 1. The first one;

[0033] 2. Ankle joint assembly; 21. Second piece; 211. Connecting ear plate; 22. Third piece; 23. Fourth piece; 24. Resetting component; 241. First supporting block; 242. Second supporting block; 243. Resetting component;

[0034] 3. Sole assembly; 31. Rear foot support; 32. Front foot support; 33. Fastener; 34. Anti-slip bottom layer; 35. Fixing block. DETAILED DESCRIPTION

[0035] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0036] See also Figure 1-Figure 3 The exoskeleton robot foot device of an embodiment of the present invention includes a first piece 1, an ankle joint component 2 and a sole component 3. The first piece 1 is used to connect with the leg, the ankle joint component 2 is arranged between the first piece 1 and the sole component 3, and the sole component 3 is used to support the foot.

[0037] The first piece 1 is tied or worn on the leg, for example, on the calf, and the sole assembly 3 is tied or worn on the foot. When the human body walks normally, the leg and the foot will produce relative movement. The ankle joint assembly 2 of the embodiment of the present invention can rotate or swing freely, so that the first piece 1 and the sole assembly 3 can adapt to the changes of the human body's legs and feet and move flexibly, thereby improving the comfort of the wearer.

[0038] The ankle joint assembly 2 includes a second component 21, a third component 22 and a fourth component 23 connected to each other, and a reset component 24. The end of the second component 21 away from the third component 22 is rotatably connected to the first component 1, and the second component 21 is rotatable relative to the first component 1 around a first direction. One end of the third component 22 is connected to the second component 21, and the second component 21 is rotatable relative to the third component 22 around a second direction. The other end of the third component 22 is connected to the fourth component 23, and the fourth component 23 is rotatable relative to the third component 22 around a third direction. The end of the fourth component 23 away from the third component 22 is connected to the sole assembly 3.

[0039] There are multiple reset components 24, and reset components 24 are provided between the first component 1 and the second component 21, between the second component 21 and the third component 22, and between the third component 22 and the fourth component 23. The reset components 24 are used to reset the two components connected thereto; the ankle joint assembly 2 has an initial state, and in the initial state, the first direction, the second direction, and the third direction are orthogonal to each other.

[0040] It should be understood that the ankle joint component 2 is arranged between the sole component 3 and the first piece 1. The sole component 3 can rotate relative to the first piece 1 around the first direction, the second direction and the third direction to achieve adaptive adjustment of multiple degrees of freedom. When subjected to impact forces from multiple directions from the outside, adaptive deformation adjustment is performed. Due to the setting of the reset component 24, the reset component 24 provides a certain buffer, which can reduce the risk of injury in complex or uncertain environments and improve practicality. It can also make the two adjacent pieces flexible and provide reset force, which does not affect the normal walking of the human body and is more comfortable.

[0041] Among them, the first direction is the A-axis direction in the figure, the second direction is the B-axis direction in the figure, and the third direction is the C-axis direction in the figure.

[0042] Figure 1 The structure shown in is a schematic diagram of the fourth member after being rotated by a certain angle relative to the third member around the third direction. Figure 2 The structure shown in FIG. 1 is a schematic diagram of the cross-sectional structure of the ankle joint component 2 in the initial state.

[0043] The exoskeleton robot foot device of the embodiment of the present invention improves the assistance capability of the exoskeleton robot through multi-degree-of-freedom rotation or swinging between the first piece 1, the second piece 21, the third piece 22 and the fourth piece 23, and enhances the wearer's flexibility, comfort and adaptability to changing environments when working.

[0044] Further, the first direction is parallel to the vertical direction, the first direction is orthogonal to the second direction, the second direction is orthogonal to the third direction, and when the ankle joint assembly 2 is in an initial state, the first direction is orthogonal to the third direction.

[0045] Taking the normal standing posture of a human body wearing an exoskeleton robot foot device as an example, the first direction is the height direction of the human body, the second direction may be the front and back direction of the human body, and the third direction is the left and right direction of the human body.

[0046] The first part 1 is connected to the human leg, and the second part 21 can rotate around a first direction relative to the first part 1. Therefore, when the human foot swings relative to the calf in a horizontal plane, the sole assembly 3 can rotate in the horizontal plane to adapt to changes in the foot.

[0047] When the exoskeleton robot's sole assembly 3 is subjected to a horizontal external force, the first piece 1 and the second piece 21 rotate relative to each other in the horizontal plane, driving the entire ankle joint assembly 2 and the sole assembly 3 to rotate. When the horizontal external force disappears, the reset component 24 between the first piece 1 and the second piece 21 is reset, and under the action of the reset force of the reset component 24, the entire ankle joint assembly 2 and the sole assembly 3 automatically return to their original state.

[0048] When the exoskeleton robot's sole assembly 3 is subjected to a lateral external force in the left and right directions, the third piece 22 and the second piece 21 can rotate laterally, thereby driving the sole assembly 3 to rotate laterally in the left and right directions relative to the first piece 1. When the lateral external force disappears, the reset component 24 between the second piece 21 and the third piece 22 is reset, and under the action of the reset force of the reset component 24, the third piece 22, the fourth piece 23 and the sole assembly 3 of the ankle joint assembly 2 are automatically restored to their original state.

[0049] When the exoskeleton robot's sole assembly 3 is subjected to an external force in the front-to-back direction, the fourth member 23 and the third member 22 can rotate sideways in the front-to-back direction, thereby driving the sole assembly 3 to rotate in the front-to-back direction relative to the first member 1. When the external force in the front-to-back direction disappears, the reset component 24 between the third member 22 and the fourth member 23 is reset, and under the action of the reset force of the reset component 24, the fourth member 23 and the sole assembly 3 in the ankle joint assembly 2 are automatically restored to their original state.

[0050] In actual situations, the external force on the sole assembly 3 of the exoskeleton robot can be decomposed into multiple directions of combined force in the first direction, the second direction and the third direction. Therefore, the first part 1 and the second part 21, the second part 21 and the third part 22, and the third part 22 and the fourth part 23 will all move according to the force conditions, thereby ensuring the flexibility of the sole assembly 3, improving comfort, and improving safety while ensuring the power assistance capability.

[0051] In some embodiments, the sole assembly 3 includes a rear foot support 31, a front foot support 32 and a connecting piece, the rear foot support 31 is fixedly connected to the fourth piece 23; the front foot support 32 is rotatably connected to the rear foot support 31 so that the front foot support 32 can swing relative to the rear foot support 31 as the foot bends; the connecting piece is provided on the rear foot support 31 and the front foot support 32, and the connecting piece is used to connect the rear foot support 31 and the front foot support 32 to the foot.

[0052] Since the forefoot and the heel of the human foot will change during walking, the sole assembly 3 in the embodiment of the present invention adapts to the changes of the human foot through the rotatably connected rear foot support 31 and front foot support 32 to improve comfort. Since the rear foot support 31 is fixedly connected to the fourth piece 23, it does not affect the adjustment performance of the ankle joint assembly 2.

[0053] Furthermore, there are two front foot supports 32, and the two front foot supports 32 are arranged side by side along the width direction of the foot.

[0054] The multiple toes on the forefoot of the human body are subjected to different forces when walking, and the range of changes is different. Therefore, the embodiment of the present invention can respectively adapt to the changes of different toes through the two front foot supports 32 arranged side by side, reduce the impact of the front foot supports 32 on the range of changes of the human foot, and improve the comfort of walking after the human body is equipped with an exoskeleton robot.

[0055] Optionally, the front foot support 32 and the rear foot support 31 are connected by a hinge.

[0056] At the toe structure, when the human body stands normally, the forefoot and the heel are at the same horizontal plane, and the front foot support 32 and the rear foot support 31 of the exoskeleton are in the initial state. When the human body moves, the forefoot and the heel of the human body will appear at a certain angle. Based on the structural design of the separation of the front and rear foot supports 31 in the present invention, the human foot will drive the front foot support 32 and the rear foot support 31 of the exoskeleton to present a certain angle, thereby increasing the flexibility and comfort of the sole movement. When the exercise is over, due to the hinge connection between the forefoot and the rear foot, the front foot support 32 and the rear foot support 31 of the exoskeleton will automatically return to the original state as the foot changes.

[0057] Furthermore, one end of the rear foot support 31 away from the front foot support 32 has a fixing block 35, and the fourth member 23 is fixedly connected to the fixing block 35. The setting of the fixing block 35 facilitates the fixed connection between the rear foot support 31 and the fourth member 23, and improves the stability of the structure without affecting their respective performances.

[0058] Optionally, the fixing block 35 is a column located at one end of the rear foot support 31 away from the front foot support 32. A connecting hole can be provided on the fixing block 35, and the fixing block 35 and the fourth piece 23 are connected and fixed by fixing parts such as bolts.

[0059] In some embodiments, the connecting member is a fastener 33, and a plurality of fasteners 33 are respectively disposed on the front foot support 32 and the rear foot support 31, and are used to connect the front foot support 32 and the rear foot support 31 to the foot through straps.

[0060] The fastener 33 is a ring body fixed to the front foot support 32 and the rear foot support 31. The strap can be passed through a plurality of fasteners 33 to tie the front foot support 32 and the rear foot support 31 to the foot of the human body. The fastener 33 can be fixed to the front foot support 32 and the rear foot support 31 by welding, or by fixing members such as bolts.

[0061] Furthermore, the sole assembly 3 also includes an anti-skid bottom layer 34 , which is disposed at the bottom of the front foot support 32 and the rear foot support 31 .

[0062] The anti-skid bottom layer 34 is fixed at the bottom of the front foot support 32 and the rear foot support 31, which can prevent slipping during walking and improve walking stability. The anti-skid layer can be anti-skid patterns, rubber pads, etc. set at the bottom of the front foot support 32 and the rear foot support 31.

[0063] In some embodiments, the reset component 24 includes a first support block 241, a second support block 242 and a reset member 243. The first support block 241 and the second support block 242 are rotatably connected. The reset member 243 is arranged between the first support block 241 and the second support block 242. The reset member 243 is used to reset the first support block 241 and the second support block 242.

[0064] It should be understood that the first support block 241 and the second support block 242 can rotate relative to each other. Therefore, when the reset component 24 is arranged between the first member 1 and the second member 21, the first member 1 can be fixedly connected to the second support block 242, and the second member 21 can be fixedly connected to the first support block 241, so that the first member 1 and the second member 21 can rotate relative to each other.

[0065] The reset member 243 has resilience. When an external force is applied between the first support block 241 and the second support block 242, the first support block 241 and the second support block 242 rotate relative to each other, and the reset member 243 is elastically deformed. When the external force disappears, the reset member 243 rebounds and resets, and the first support block 241 and the second support block 242 return to their initial positions.

[0066] For example, the reset element 243 may be a torsion spring, a leaf spring, an elastic rope, or the like.

[0067] Optionally, the first support block 241 and the second support block 242 are connected by a rotating shaft, and a cavity is formed between the first support block 241 and the second support block 242. The reset member 243 is arranged in the cavity. When the reset member 243 adopts a spring, multiple groups of springs are connected between the first support block 241 and the second support block 242, and the spring has an arc segment. When the first support block 241 and the second support block 242 rotate relative to each other after being subjected to external force, the spring deforms. When the external force disappears, the spring resets and drives the first support block 241 and the second support block 242 to return to their original state.

[0068] In some embodiments, the second piece 21 has a first cavity in which a reset component 24 is disposed. A first support block 241 in the reset component 24 between the first piece 1 and the second piece 21 is fixedly connected to the second piece 21 , and a second support block 242 is fixedly connected to the first piece 1 .

[0069] In the reset component 24 between the first member 1 and the second member 21 , the first support block 241 is fixedly connected to the second member 21 by bolts or other fixing members, and the second support block 242 is fixedly connected to the first member 1 by bolts or other fixing members.

[0070] Furthermore, the third piece 22 has a second cavity and a third cavity, the axis of the second cavity is orthogonal to the axis of the third cavity, and a reset component 24 is provided in the second cavity and the third cavity. The first support block 241 in the reset component 24 located between the second piece 21 and the third piece 22 is fixedly connected to the third piece 22, and the second support block 242 is fixedly connected to the second piece 21. The first support block 241 in the reset component 24 located between the third piece and the fourth piece 23 is fixedly connected to the third piece 22, and the second support block 242 is fixedly connected to the fourth piece 23.

[0071] In the reset component 24 between the second member 21 and the third member 22, the first support block 241 is fixedly connected to the third member 22 by bolts or other fixing members, and the second support block 242 is fixedly connected to the second member 21 by bolts or other fixing members.

[0072] In the reset component 24 between the third member 22 and the fourth member 23, the first support block 241 is fixedly connected to the third member 22 by bolts or other fixing members, and the second support block 242 is fixedly connected to the fourth member 23 by bolts or other fixing members.

[0073] Optionally, in the embodiment of the present invention, the first support block 241, the second support block 242 and the reset member 243 in the reset member 24 are combined together to form an assembly, which facilitates assembly, improves structural stability, and can reduce the number of components.

[0074] Furthermore, the first support blocks 241 in the reset components 24 in the second cavity and the third cavity are integrally formed with the third member 22 .

[0075] That is to say, the third piece 22 can be combined with the two reset components 24 to form an assembled structural component, which is convenient for assembly, can ensure the stability of its structure, and improve the force-bearing performance of the third piece 22 and the reset components 24 located in its second cavity and third cavity.

[0076] In some embodiments, the first piece 1 is a sleeve connected to the leg; the second piece 21 is a shell, and the end of the second piece 21 close to the third piece 22 has two connecting ear plates 211, and the two connecting ear plates 211 are arranged on both sides of the third piece 22 in the second direction; the fourth piece 23 is a plate body, and there are two fourth pieces 23, and the two fourth pieces 23 are arranged on both sides of the third piece 22 in the third direction.

[0077] After the sleeve is put on the calf, it can be fastened to the calf by means of straps, buckles and other parts. The two connecting ear plates 211 of the second piece 21 can be more conveniently assembled with the third piece 22, and connected by bolts and other fasteners after alignment. The fourth piece 23 is two connecting plates, which are convenient for connecting with the sole assembly 3 and the third piece 22, and are also convenient for disassembly, and then the parts can be replaced, which improves practicality.

[0078] In some embodiments, a first shaft is provided between the first piece 1 and the second piece 21, a second shaft is provided between the second piece 21 and the third piece 22, a third shaft is provided between the third piece 22 and the fourth piece 23, the reset component 24 is a torsion spring, and torsion springs are provided on the first shaft, the second shaft and the third shaft.

[0079] Different from the structure of the above-mentioned embodiment, the first piece 1 and the second piece 21 in the embodiment of the present invention are arranged along the axial direction of the first shaft and are connected by the first shaft. The first shaft extends along the first direction, so that the second piece 21 can rotate around the first axis relative to the first piece 1; the second shaft extends along the second direction, the second piece 21 and the third piece 22 are both pivotally connected to the second shaft, and the third piece 22 can rotate around the second axis relative to the second piece 21; the third shaft extends along the third direction, the third piece 22 and the fourth piece 23 are both pivotally connected to the third shaft, and the fourth piece 23 can swing around the third axis relative to the third piece 22.

[0080] Taking the human body wearing the exoskeleton robot foot device as an example, the second piece 21 can rotate relative to the first piece 1 in a roughly horizontal plane, the third piece 22 can swing in the left and right direction relative to the second piece 21, and the fourth piece 23 can swing in the roughly front and back direction relative to the third piece 22.

[0081] The embodiment of the present invention provides a reset force by torsion springs provided on the first axis, the second axis and the third axis. When the feet and legs of the human body swing or rotate, or when the flexible device of the foot of the exoskeleton robot is subjected to external force, the ankle joint assembly 2 can be adjusted in multiple degrees of freedom, and when the foot returns to a normal standing state, or when the external force disappears, the flexible device of the foot of the exoskeleton robot can be restored to its initial state under the action of the torsion springs.

[0082] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0083] 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 the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0084] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0085] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0086] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0087] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. An exoskeleton robot foot device, characterized in that: It comprises a first piece, an ankle joint component and a sole component, wherein the first piece is used to be connected to the leg, the ankle joint component is arranged between the first piece and the sole component, and the sole component is used to support the foot; The ankle joint assembly comprises: A second member, a third member and a fourth member connected to each other, one end of the second member away from the third member is rotatably connected to the first member, the second member is rotatable relative to the first member around a first direction, one end of the third member is connected to the second member, the second member is rotatable relative to the third member around a second direction, the other end of the third member is connected to the fourth member, the fourth member is rotatable relative to the third member around a third direction, and one end of the fourth member away from the third member is connected to the sole assembly; A reset component, wherein the number of the reset components is plural, and the reset components are arranged between the first component and the second component, between the second component and the third component, and between the third component and the fourth component, and the reset component is used to reset the two components connected thereto; The ankle joint assembly has an initial state, in which the first direction, the second direction, and the third direction are orthogonal to each other.

2. The exoskeleton robot foot device according to claim 1, characterized in that: The sole assembly comprises: A rear foot support, the rear foot support being fixedly connected to the fourth member; A front foot support, the front foot support being rotatably connected to the rear foot support so that the front foot support can swing relative to the rear foot support as the foot bends; A connecting member is arranged on the rear foot support and the front foot support, and is used to connect the rear foot support and the front foot support to the foot.

3. The exoskeleton robot foot device according to claim 2, characterized in that: There are two front foot supports, and the two front foot supports are arranged side by side along the width direction of the foot; And / or, one end of the rear foot support away from the front foot support has a fixing block, and the fourth member is fixedly connected to the fixing block.

4. The exoskeleton robot foot device according to claim 2 or 3, characterized in that: The connecting member is a fastener, and a plurality of the fasteners are respectively arranged on the front foot support and the rear foot support, and are used to connect the front foot support and the rear foot support to the foot through a strap; And / or, it also includes an anti-skid bottom layer, which is arranged at the bottom of the front foot support and the rear foot support.

5. The exoskeleton robot foot device according to claim 1, characterized in that: The first direction is parallel to the vertical direction, the first direction is orthogonal to the second direction, the second direction is orthogonal to the third direction, and in the initial state, the first direction is orthogonal to the third direction.

6. The exoskeleton robot foot device according to claim 1, characterized in that: The reset component includes a first support block, a second support block and a reset member, the first support block and the second support block are rotatably connected, the reset member is arranged between the first support block and the second support block, and the reset member is used to reset the first support block and the second support block.

7. The exoskeleton robot foot device according to claim 6, characterized in that: The second member has a first cavity, a reset component is disposed in the first cavity, a first support block in the reset component located between the first member and the second member is fixedly connected to the second member, and a second support block is fixedly connected to the first member; And / or, the third component has a second cavity and a third cavity, the axis of the second cavity is orthogonal to the axis of the third cavity, and a reset component is provided in the second cavity and the third cavity, the first support block in the reset component located between the second component and the third component is fixedly connected to the third component, and the second support block is fixedly connected to the second component, and the first support block in the reset component located between the third component and the fourth component is fixedly connected to the third component, and the second support block is fixedly connected to the fourth component.

8. The exoskeleton robot foot device according to claim 7, characterized in that: The first support blocks in the reset component located in the second cavity and the third cavity are integrally formed with the third component.

9. The exoskeleton robot foot device according to claim 7 or 8, characterized in that: The first piece is a sleeve, which is connected to the leg; the second piece is a shell, and the second piece has two connecting ear plates at one end close to the third piece, and the two connecting ear plates are arranged on both sides of the third piece in the second direction; the fourth piece is a plate body, and there are two of the fourth pieces, and the two fourth pieces are arranged on both sides of the third piece in the third direction.

10. The exoskeleton robot foot device according to claim 1, characterized in that: A first shaft is provided between the first member and the second member, a second shaft is provided between the second member and the third member, a third shaft is provided between the third member and the fourth member, and the reset component is a torsion spring, which is provided on the first shaft, the second shaft and the third shaft.

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