Exoskeleton quick-release ankle assembly and use method thereof

Abstract

The invention discloses an exoskeleton quick-release ankle assembly and a using method thereof. The exoskeleton quick-release ankle assembly comprises a leg connecting piece, and the leg connecting piece is rigidly connected with an exoskeleton shank rod; the C-shaped assembly is connected with the leg connecting piece; and the sole component is connected with the C-shaped component. Two degrees of freedom are achieved, the front force transmission structure can effectively play a role in effective supporting, and meanwhile supporting performance and flexibility are achieved. The quick release structure and the joint rotating shaft are integrally designed, the size is small, the weight is light, the light weight of the product is achieved, and the movement flexibility after wearing is guaranteed. Through the modular design of the quick-release sole components and the quick-release joints, individual customization of individual differences can be realized only by replacing sole components with different sizes conveniently according to different foot sizes, and the quick-release sole has the advantage of guaranteeing wearing fitness and flexibility.

Description

Technical Field

[0001] The present invention relates to the fields of mechanical manufacturing and exoskeleton technology, and in particular to an exoskeleton quick-release ankle assembly and a use method thereof. Background Art

[0002] At present, the exoskeleton foot and ankle component is an important part of the exoskeleton system. On the one hand, the foot and ankle component is in contact with the ground, which is the load-bearing basis of the exoskeleton system, and plays the role of transferring loads and supporting weight; on the other hand, the human ankle joint is a rotational joint with 3 degrees of freedom, which requires high flexibility in wearing the exoskeleton foot and ankle component; in addition, people's body shapes vary greatly, and the foot and ankle component should fit and adapt to the feet and ankle joints of people with different body shapes as much as possible, so as not to interfere with and hinder the normal movements of the human body; finally, the components of the exoskeleton system must have the ability to be quickly put on and taken off.

[0003] In the prior art, the ankle assembly has high requirements for support, flexibility, and individual adaptability. In order to be compatible with the foot sizes of different wearers, the existing exoskeleton ankle structure solutions usually design the sole assembly to be wider, which often leads to collision and interference of the ankle assemblies of both feet during exercise after wearing. In addition, the existing exoskeleton ankle solutions generally provide support on the back or left and right sides of the ankle joint. The rare front support solutions are because the ankle assembly of the front support solution needs to pass the forefoot through the middle of the C-shaped assembly when wearing, and the wide forefoot of the human body makes it inconvenient to wear.

[0004] In summary, there is at least one of the following technical problems:

[0005] Existing exoskeleton ankle structural solutions are often designed to have wider sole components in order to be compatible with the foot sizes of different wearers, which often leads to collision and interference of the ankle components of both feet during exercise after wearing.

[0006] Existing exoskeleton ankle solutions generally provide support on the back or left and right sides of the ankle joint. There are few front support solutions. This is because the ankle component of the front support solution requires the forefoot to pass through the middle of the C-shaped component when worn, and the human forefoot is relatively wide, making it inconvenient to wear. Summary of the invention

[0007] The main purpose of the present invention is to provide an exoskeleton quick-release ankle assembly and a method of using the same, so as to solve the problem that the existing exoskeleton ankle structure solutions in the prior art are often designed to be wider in order to be compatible with the foot sizes of different wearers, which often leads to collision and interference of the ankle assemblies of both feet during exercise after wearing the exoskeleton.

[0008] Existing exoskeleton ankle solutions generally provide support on the back or left and right sides of the ankle joint. There are few front support solutions. This is because the ankle component of the front support solution requires the forefoot to pass through the middle of the C-shaped component when worn, and the human forefoot is relatively wide, which makes it inconvenient to wear.

[0009] In order to achieve the above object, according to one aspect of the present invention, an exoskeleton quick-release ankle assembly is provided, comprising:

[0010] A leg connector, the leg connector being rigidly connected to the exoskeleton shank rod;

[0011] A C-shaped component connected to the leg connector;

[0012] A sole component is connected to the C-shaped component.

[0013] Preferably, the C-shaped component comprises:

[0014] An upper portion of a C-shaped member, wherein the upper portion of the C-shaped member is connected to the leg connecting member via a rotating member;

[0015] The lower part of the C-shaped member is arranged in pairs, and the lower part of the C-shaped member is hinged to the upper part of the C-shaped member.

[0016] Preferably, the rotating member comprises:

[0017] A fastening screw, wherein the fastening screw passes through the through holes of the upper portion of the C-shaped member and the leg connecting member;

[0018] Bearing retaining rings, which are arranged in pairs and are respectively sleeved on the fastening screws;

[0019] Bearings, the bearings are arranged in pairs and are respectively sleeved on the fastening screws;

[0020] A fastening nut connected to the fastening screw;

[0021] End covers are arranged at both ends of the fastening screw.

[0022] Preferably, the sole assembly comprises:

[0023] a rear part of the sole, wherein the inner side of the rear part of the sole contacts the human body;

[0024] A connecting piece, wherein the connecting piece is provided with an M5 threaded through hole;

[0025] The front part of the sole is connected to the rear part of the sole through a connecting piece;

[0026] An M5 flat head screw is matched with an M5 threaded through hole on the connecting piece.

[0027] Preferably, the sole assembly further includes an ankle joint quick-release structure, and the ankle joint quick-release structure includes:

[0028] A copper sleeve, the copper sleeve is matched with the short shaft;

[0029] A short shaft, wherein two protrusions are provided on the short shaft, and the short shaft passes through the copper sleeve and is connected to two grooves corresponding to the rear part of the sole by interference fit;

[0030] An M3 flat head screw, wherein the M3 flat head screw is matched with the rear part of the sole;

[0031] A spring, wherein the spring is sleeved on the button;

[0032] A button, wherein the button is a semi-hollow structure, the upper part of the button is an inclined surface structure, and the other end of the button is matched with the M3 flat head screw thread after the spring is compressed;

[0033] A rear foot bandage, the rear foot bandage being connected to the rear of the sole;

[0034] A front foot strap is connected to the front of the sole of the foot.

[0035] Preferably, when the wearer's ankle joint produces dorsiflexion movement, the C-shaped component rotates counterclockwise around the axis of rotation until the lower part of the C-shaped part contacts the connecting part and limits the rotation. At this time, the rotation angle of the lower part of the C-shaped part is 35°, and 35° dorsiflexion limit protection is performed.

[0036] Preferably, when the wearer's ankle joint produces inversion movement, the leg connector rotates counterclockwise around the axis of rotation until the leg connector contacts the upper part of the C-shaped part and limits the rotation. At this time, the rotation angle of the leg connector is 30°, achieving 30° inversion limit protection.

[0037] Preferably, when the wearer's ankle joint produces eversion movement, the leg connector rotates counterclockwise around the axis of rotation until the leg connector contacts the upper part of the C-shaped part and limits the rotation. At this time, the rotation angle of the leg connector is -30°, achieving 30° eversion limit protection.

[0038] Preferably, the ankle joint quick-release structure is integrated with the joint shaft.

[0039] According to another aspect of the present invention, a method for using an exoskeleton quick-release ankle assembly is provided, comprising:

[0040] During the wearing process, the sole component is placed flat on the ground, the wearer's foot is placed in the sole component, the rear foot strap and the front foot strap are tied, and the C-shaped component is plugged into the sole component. During the process, the button is automatically pressed into the lower part of the C-shaped component. When it is plugged in place, the button is pushed out by the spring, locking the C-shaped component to prevent it from falling out. At this time, the inner side of the lower part of the C-shaped component contacts the copper sleeve, and the C-shaped component rotates with a single degree of freedom around the copper sleeve as the axis;

[0041] During the release process, the wearer places the feet flat on the ground, presses the buttons on both sides to the bottom with the left and right hands respectively, then lifts the C-shaped component to separate it from the sole component, and releases the rear and front foot straps to release the wearer.

[0042] The application of the technical solution of the present invention has the following technical effects:

[0043] The present invention decomposes the exoskeleton ankle component into two modules, a sole component and a C-type component, and realizes the rapid disassembly and assembly function of the two modules, which has the following advantages:

[0044] With two degrees of freedom, the front force transmission structure can effectively play an effective supporting role, while being both supportive and flexible.

[0045] The integrated design of quick-release structure and joint pivot has small size and light weight, which makes the product lightweight and ensures the flexibility of movement after wearing.

[0046] Through the modular design of quick-release sole components and quick-release joints, it is very convenient to replace sole components of different sizes according to different foot sizes, so as to achieve personalized customization for individual differences and ensure wearing fit and flexibility.

[0047] The problem of the difficulty of putting on and taking off the common front-supported ankle component is effectively solved by adopting a split quick-release solution for the ankle component and a modular design for the sole component. When the exoskeleton is working, the sole component has continuous and intense friction with the ground. The sole component works in poor conditions and is a consumable part of the exoskeleton system. The design is split into separate modules to reduce the maintenance and use costs of the entire exoskeleton. According to different foot sizes, it is very convenient to replace only the sole components of different sizes to achieve personalized customization for individual differences and ensure the fit and flexibility of the wearer. Based on the existing structure, the ankle joint motion protection mechanism is set up with comprehensive consideration of the human ankle joint motion angle to effectively avoid sports injuries caused by excessive motion angles. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0049] Figure 1 A schematic structural diagram of an exoskeleton quick-release ankle assembly according to the present invention is shown;

[0050] Figure 2 Shows Figure 1 An exploded view of the quick-release ankle assembly of the exoskeleton;

[0051] Figure 3Shows Figure 1 A cross-sectional view of the quick-release ankle joint structure of the exoskeleton quick-release ankle assembly;

[0052] Figure 4 Shows Figure 1 A cross-sectional view of the connection between the front and rear plantar parts of the exoskeleton quick-release ankle assembly;

[0053] Figure 5 Shows Figure 1 A cross-sectional view of the upper rotation axis system of the exoskeleton quick-release ankle assembly;

[0054] Figure 6 Shows Figure 1 The exoskeleton quick-release ankle assembly has a 35° dorsiflexion limit protection;

[0055] Figure 7 Shows Figure 1 The exoskeleton quick-detachable ankle assembly provides 30° internal and external eversion protection.

[0056] The above drawings include the following reference numerals:

[0057] Leg connecting piece 1; C-shaped component 2; sole component 3; bearing retaining ring 21; bearing 22; fastening screw 231; fastening nut 232; end cover 24; C-shaped upper part 25; C-shaped lower part 26; rear part of sole 31; front part of sole 32; spring 33; copper sleeve 34; short shaft 35; button 36; connecting piece 37; M5 flat head screw 38; M3 flat head screw 39; rear foot strap 40; front foot strap 41. DETAILED DESCRIPTION

[0058] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0059] like Figures 1 to 7 As shown, an embodiment of the present invention provides an exoskeleton quick-release ankle assembly, including: a leg connector 371, which is rigidly connected to the exoskeleton calf rod; a C-shaped assembly 2, which is connected to the leg connector 371; and a sole assembly 3, which is connected to the C-shaped assembly 2.

[0060] In this embodiment, the C-shaped component 2 includes: a C-shaped upper part 25, which is connected to the leg connecting member 371 through a rotating member; a C-shaped lower part 26, which is arranged in pairs and is hinged to the C-shaped upper part 25. The rotating member includes: a fastening screw 231, which passes through the through holes of the C-shaped upper part 25 and the leg connecting member 371; a bearing retaining ring 21, which is arranged in pairs and is respectively sleeved on the fastening screw 231; a bearing 22, which is arranged in pairs and is respectively sleeved on the fastening screw 231; a fastening nut 232, which is connected to the fastening screw 231; and an end cover 24, which is arranged at both ends of the fastening screw 231. The sole assembly 3 includes: a rear sole part 31, the inner side of which contacts the human body; a connecting piece 37, on which an M5 threaded through hole is provided; a front sole part 32, which is connected to the rear sole part 31 via the connecting piece 37; and an M5 flat head screw 38, which cooperates with the M5 threaded through hole on the connecting piece 37.

[0061] In this embodiment, the sole assembly 3 also includes an ankle joint quick-release structure, which includes: a copper sleeve 34, which cooperates with a short shaft 35; a short shaft 35, which is provided with two protrusions, and the short shaft 35 passes through the copper sleeve 34 and is connected with two grooves corresponding to the rear part of the sole 31 by interference fit; an M3 flat head screw 39, which cooperates with the rear part of the sole 31; a spring 33, which is sleeved on a button 36; a button 36, which is a semi-hollow structure, and the upper part of the button 36 is an inclined structure, and the other end of the button 36 compresses the spring 33 and then is threadedly matched with the M3 flat head screw 39; a rear foot strap 40, which is connected to the rear part of the sole 31; and a front foot strap 41, which is connected to the front part of the sole 32. When the wearer's ankle joint produces dorsiflexion movement, the C-type component rotates counterclockwise around the rotation axis until the lower part 26 of the C-shaped member contacts with the connecting member 37 and then limits the rotation. At this time, the rotation angle of the lower part 26 of the C-shaped member is 35°, and dorsiflexion 35° limit protection is performed. When the wearer's ankle joint produces inversion movement, the leg connecting member 371 rotates counterclockwise around the rotation axis until the leg connecting member 371 contacts with the upper part 25 of the C-shaped member and then limits the rotation. At this time, the rotation angle of the leg connecting member 371 is 30°, achieving 30° inversion limit protection. When the wearer's ankle joint produces eversion movement, the leg connecting member 371 rotates counterclockwise around the rotation axis until the leg connecting member 371 contacts with the upper part 25 of the C-shaped member and then limits the rotation. At this time, the rotation angle of the leg connecting member 371 is -30°, achieving 30° eversion limit protection. The ankle joint quick-release structure is integrated with the joint rotation axis.

[0062] Specifically, the present invention includes a leg connector 371, a C-shaped component 2, a foot component 3, a bearing retaining ring 21, a bearing 22, a fastening screw 231, a fastening nut 232, an end cap 24, a C-shaped upper part 25, a C-shaped lower part 26, a rear part 31 of the foot, a front part 32 of the foot, a spring 33, a copper sleeve 34, a short shaft 35, a button 36, a connector 37, an M5 flat head screw 38, an M3 flat head screw 39, a rear foot strap 40, and a front foot strap 41. The leg connector 3711 is rigidly connected to the exoskeleton calf rod. Ankle joint quick release structure: the short shaft 35 is provided with two protrusions, and the short shaft 35 passes through the copper sleeve 34 and is connected with two grooves corresponding to the rear part 31 of the foot by interference fit, and then six countersunk screws are used to pass through the countersunk hole of the rear part 31 of the foot and screw into the corresponding threaded hole of the short shaft 35. The button 36 compresses the spring 33, and the other end is threadedly matched with the M3 flat head screw 39. When working, the button 36 is pushed out by the spring 33 and serves as the rotating shaft of the lower part 26 of the C-shaped part, which reliably connects the C-shaped component 2 with the sole component 3. When disassembling, press the button 36 in, and lift the lower part 26 of the C-shaped part to quickly release it. The inner side of the rear part 31 of the sole contacts the human foot, and a countersunk hole is used with a countersunk screw to ensure wearing comfort. The semi-hollow structure of the button 36 reserves space for the compression stroke of the spring 33, realizing a light and thin design structure. The upper part of the button 36 is designed as an inclined surface, and the lower part 26 of the C-shaped part is pressed down vertically to automatically press the button 36 in. When plugged into place, the button 36 is pushed out by the spring 33 to lock the C-shaped component 2. The operation process is convenient. The front part 32 of the sole is connected to the rear part 31 of the sole: the front part 32 of the sole is connected to the rear part 31 of the sole through a connector 37, the connector 37 is provided with an M5 threaded through hole, and the M5 flat head screw 38 is threadedly connected to the connector 37, so as to reliably fix the front part 32 of the sole to the rear part 31 of the sole. Sports protection mechanism: The cause of ankle joint injury is usually that the joint movement angle exceeds the joint limit angle, among which excessive dorsiflexion and excessive inversion and eversion are the most common. The normal range of motion of the human ankle joint is limited to: dorsiflexion 30°-40°, eversion and eversion ±30°. Based on the existing structural form, the present invention comprehensively considers the human ankle joint activity angle, and sets ankle joint movement protection, which prevents the joint movement angle from exceeding the safe angle range after wearing, and effectively avoids sports injuries caused by excessive joint movement angle.

[0063] In this embodiment, Figure 6 The figure shows the principle diagram of the 35° dorsiflexion limit protection structure. Figure 6 As shown, the C-shaped component rotates counterclockwise around the axis of rotation until the lower portion 26 of the C-shaped member contacts the connecting member 37 and cannot rotate further. At this time, the rotation angle of the lower portion 26 of the C-shaped member is 35°, thereby achieving 35° dorsiflexion limit protection. Figure 7 The figure shows the principle diagram of the 30° inward and outward eversion protection structure. When the wearer's ankle joint produces inward (outward) eversion movement, such as Figure 7As shown, the leg connector 3711 rotates counterclockwise around the axis until the leg connector 371 contacts the upper portion 25 of the C-shaped member and cannot rotate any further. At this time, the rotation angle of the leg connector 3711 is 30° (-30°), thereby achieving 30° limit protection for inward and outward rotation.

[0064] Another embodiment of the present invention provides a method for using an exoskeleton quick-release ankle assembly, comprising:

[0065] During the wearing process, the sole component 3 is placed flat on the ground, the wearer's foot is placed in the sole component 3, the rear foot strap 40 and the front foot strap 41 are tied, and the C-shaped component 2 is plugged into the sole component 3. During the process, the lower part 26 of the C-shaped component is automatically pressed into the button 36. When plugged into place, the button 36 is pushed out by the spring 33 to lock the C-shaped component 2 to prevent it from falling out. At this time, the inner side of the lower part 26 of the C-shaped component is in contact with the copper sleeve 34, and the C-shaped component 2 rotates with a single degree of freedom around the copper sleeve 34 as the axis;

[0066] During the release process, the wearer places the foot flat on the ground, presses the buttons 36 on both sides to the bottom with the left and right hands respectively, then lifts up the C-shaped component 2 to separate it from the sole component 3, and releases the rear foot strap 40 and the front foot strap 41 to release.

[0067] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

[0068] The present invention decomposes the exoskeleton ankle component into two modules, the sole component 3 and the C-type component, and realizes the rapid disassembly and assembly function of the two modules, which has the following advantages:

[0069] With two degrees of freedom, the front force transmission structure can effectively play an effective supporting role, while being both supportive and flexible.

[0070] The integrated design of quick-release structure and joint pivot has small size and light weight, which makes the product lightweight and ensures the flexibility of movement after wearing.

[0071] By modularizing the quick-release sole assembly 3 and the quick-release joint, it is possible to easily replace the sole assembly 3 of different sizes according to different foot sizes, thereby achieving personalized customization based on individual differences and ensuring wearing fit and flexibility.

[0072] The following problems are effectively solved by using the split quick-release solution for the ankle component and the modular design of the sole component 3:

[0073] The split quick-release solution of the exoskeleton ankle assembly of the present invention and the use method thereof effectively solve the problem of the difficulty in putting on and taking off the common front-supported ankle assembly solution. When the exoskeleton is working, the sole assembly 3 produces continuous and violent friction with the ground. The sole assembly 3 works in poor conditions and is a consumable part of the exoskeleton system. The design is split into separate modules, which reduces the maintenance and use costs of the entire exoskeleton. According to different foot sizes, it is very convenient to only replace the sole assembly 3 of different sizes, realize individual customization, and ensure wearing fit and flexibility. Based on the existing structure, the ankle joint motion angle is comprehensively considered, and an ankle joint motion protection mechanism is set to effectively avoid sports injuries caused by excessive motion angles.

[0074] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An exoskeleton quick-release ankle assembly, characterized in that: include: A leg connector, the leg connector being rigidly connected to the exoskeleton shank rod; A C-shaped component connected to the leg connector; A sole component is connected to the C-shaped component.

2. The exoskeleton quick-release ankle assembly according to claim 1, characterized in that: The C-shaped assembly comprises: An upper portion of a C-shaped member, wherein the upper portion of the C-shaped member is connected to the leg connecting member via a rotating member; The lower part of the C-shaped member is arranged in pairs, and the lower part of the C-shaped member is hinged to the upper part of the C-shaped member.

3. The exoskeleton quick-release ankle assembly according to claim 2, characterized in that: The rotating member comprises: A fastening screw, wherein the fastening screw passes through the through holes of the upper portion of the C-shaped member and the leg connecting member; Bearing retaining rings, which are arranged in pairs and are respectively sleeved on the fastening screws; Bearings, the bearings are arranged in pairs and are respectively sleeved on the fastening screws; A fastening nut connected to the fastening screw; End covers are arranged at both ends of the fastening screw.

4. The exoskeleton quick-release ankle assembly according to claim 1, characterized in that: The sole assembly comprises: a rear part of the sole, wherein the inner side of the rear part of the sole contacts the human body; A connecting piece, wherein the connecting piece is provided with an M5 threaded through hole; The front part of the sole is connected to the rear part of the sole through a connecting piece; An M5 flat head screw is matched with an M5 threaded through hole on the connecting piece.

5. The exoskeleton quick-release ankle assembly according to claim 1, characterized in that: The sole assembly also includes an ankle joint quick-release structure, and the ankle joint quick-release structure includes: A copper sleeve, the copper sleeve is matched with the short shaft; A short shaft, wherein two protrusions are provided on the short shaft, and the short shaft passes through the copper sleeve and is connected with two grooves corresponding to the rear part of the sole by interference fit; An M3 flat head screw, wherein the M3 flat head screw is matched with the rear part of the sole; A spring, wherein the spring is sleeved on the button; A button, wherein the button is a semi-hollow structure, the upper part of the button is an inclined structure, and the other end of the button is matched with the M3 flat head screw thread after the spring is compressed; A rear foot bandage, the rear foot bandage being connected to the rear of the sole of the foot; A front foot strap is connected to the front of the sole of the foot.

6. The exoskeleton quick-release ankle assembly according to claim 1, characterized in that: When the wearer's ankle joint produces dorsiflexion movement, the C-shaped component rotates counterclockwise around the axis of rotation until the lower part of the C-shaped part contacts the connecting part and limits the rotation. At this time, the rotation angle of the lower part of the C-shaped part is 35°, and 35° dorsiflexion limit protection is performed.

7. The exoskeleton quick-release ankle assembly according to claim 1, characterized in that: When the wearer's ankle joint produces inversion movement, the leg connector rotates counterclockwise around the rotation axis until the leg connector contacts the upper part of the C-shaped part and limits the rotation. At this time, the rotation angle of the leg connector is 30°, achieving 30° inversion limit protection.

8. The exoskeleton quick-release ankle assembly according to claim 1, characterized in that: When the wearer's ankle joint produces eversion movement, the leg connector rotates counterclockwise around the axis of rotation until the leg connector contacts the upper part of the C-shaped part and limits the rotation. At this time, the rotation angle of the leg connector is -30°, achieving 30° eversion limit protection.

9. The exoskeleton quick-release ankle assembly according to claim 5, characterized in that: The ankle joint quick-release structure is integrated with the joint shaft.

10. A method for using an exoskeleton quick-release ankle assembly, based on the exoskeleton quick-release ankle assembly according to any one of claims 1 to 9, characterized in that: include: During the wearing process, the sole component is placed flat on the ground, the wearer's foot is placed in the sole component, the rear foot strap and the front foot strap are tied, and the C-shaped component is plugged into the sole component. During the process, the button is automatically pressed into the lower part of the C-shaped component. When it is plugged in place, the button is pushed out by the spring, locking the C-shaped component to prevent it from falling out. At this time, the inner side of the lower part of the C-shaped component contacts the copper sleeve, and the C-shaped component rotates with a single degree of freedom around the copper sleeve as the axis; During the release process, the wearer places the feet flat on the ground, presses the buttons on both sides to the bottom with the left and right hands respectively, then lifts the C-shaped component to separate it from the sole component, and releases the rear and front foot straps to release the wearer.

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