Ankle joint clutch type mechanical sensing force unloading device

Abstract

The invention discloses an ankle joint clutch type mechanical sensing force unloading device. Relates to the technical field of ankle joint rehabilitation. The gear tibia piece is rotatably arranged on the ankle bearing base through the ankle joint shaft; the connecting rod mechanism comprises first connecting rods, second connecting rods, third connecting rods and tooth-shaped connecting rods, one ends of the second connecting rods are connected with the end of the fixed flange shaft, the two second connecting rods are connected with the fixed base, the first connecting rods are connected with the second connecting rods, and the other ends of the first connecting rods are connected with the third connecting rods through sliding blocks. The end, away from the third connecting rod, of the sliding block is connected with the ankle bearing base, the tooth-shaped connecting rod is connected with the ankle bearing base, and the third connecting rod is connected with the tooth-shaped connecting rod. The foot supporting part comprises a foot middle part, a foot front part and a foot rear part. Compared with an existing simple lower limb force unloading device, the lower limb force unloading device has the advantages of being compact in structure, light in weight, reliable in clutch performance and the like, and movement of the lower limbs of the human body cannot be hindered in the movement process.

Description

Technical Field

[0001] This invention relates to the field of technology, and more specifically to a mechanical sensing and force-relieving device for ankle joint clutch. Background Technology

[0002] Outdoor handling work often forces the lower limb joints to bear extra force. Over time, this heavy-duty carrying can easily lead to lower limb joint damage and premature strain on the muscles around the joints. In recent years, the development of joint-assisting devices for handling scenarios has made some progress. The most common type is the active hip-assisting exoskeleton, while there are also some simpler lower limb handling exoskeletons.

[0003] However, while active exoskeletons can provide reliable assistance through motor power, the use of motors makes the overall structure heavier, affecting gait performance during human-computer interaction, and battery life is a significant challenge during outdoor operations. Furthermore, while existing simple lower limb lifting exoskeletons can provide some force relief while standing, these mechanisms do not fully consider the movement mechanisms of the human lower limbs, which can affect the flexibility of walking at certain stages of the gait.

[0004] Therefore, how to provide an ankle joint clutch-type mechanical sensing force relief device that conforms to the movement mechanism of the human lower limb is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, the present invention provides a mechanical sensing force relief device for ankle joint clutch, which aims to solve one of the problems in the above-mentioned background art and conforms to the movement mechanism of the human lower limb.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] An ankle joint clutch-type mechanical sensing force relief device includes:

[0008] Ankle bearing base, on which two fixed flange shafts are disposed opposite to each other;

[0009] A gear-driven tibia component, which is rotatably mounted on the ankle bearing base via an ankle joint axis, with a gap provided between the gear-driven tibia component and the ankle bearing base;

[0010] A linkage mechanism, comprising a first linkage, a second linkage, a third linkage and a toothed linkage, two of the first linkage, the second linkage and the third linkage are oppositely arranged, one end of the two second linkages is connected with the end of the two fixed flange shafts to form a rotating pair, the other end of the two second linkages is fixedly connected with a fixed seat, one end of the first linkage is rotatably connected with the center of mass of the second linkage, the other end of the first linkage is coaxially connected with the third linkage through a sliding block to form a rotating pair, the end of the sliding block away from the third linkage is connected with the ankle bearing base to form a transverse moving pair, the toothed linkage is connected with the ankle bearing base through a guide pin to form a composite moving pair which can rotate and move, and the end of the third linkage away from the first linkage is connected with the toothed linkage to form a rotating pair.

[0011] A foot support part, comprising a middle foot part, a front foot part and a rear foot part, the middle foot part is fixedly connected with the ankle bearing base, the middle foot part is arranged on the side of the ankle bearing base away from the gear shin piece, and the front foot part and the rear foot part are fixedly connected with the end of the fixed seat away from the second linkage.

[0012] Further, a limiting cover is arranged to limit the axial movement of the rotating pair formed by the first linkage and the third linkage, and to limit the axial movement of the composite moving pair formed by the toothed linkage and the ankle bearing base.

[0013] Further, a gap is formed between the gear shin piece and the ankle bearing base through a spacer, and a rotating pair is formed through the ankle joint shaft.

[0014] Further, the two second linkages are rotatably connected with the first linkage at the center of mass through a bolt to form a rotating pair.

[0015] Further, the middle foot part is fixedly connected with the ankle bearing base through a screw, and the front foot part and the rear foot part are fixedly connected with the end of the fixed seat away from the second linkage through a screw.

[0016] Further, the first linkage, the second linkage, the third linkage, the sliding block and the toothed linkage of the linkage mechanism form a parallel multi-ring linkage mechanism with the front foot part and the rear foot part.

[0017] When the front foot part and the rear foot part are in contact with the ground at the same time, the gear shin piece and the toothed linkage are in a "together" state.

[0018] When the front foot part or the rear foot part is in contact with the ground alone, the gear shin piece and the toothed linkage are in a "separated" state.

[0019] Further, the other end of the two second connecting rods is fixedly connected to the fixing seat through a screw.

[0020] According to the technical scheme, compared with the prior art, the ankle joint clutch type mechanical sensing force relieving device is provided, according to the mechanical sensing of the contact of the forefoot component and the hindfoot component with the ground, the clutch state of a pair of gears is realized through the connecting rod mechanism to realize the weight relieving function of the ankle joint.

[0021] The device is in a passive configuration, compact in structure, light in weight, and greatly reduces the development cycle and development cost of equipment, and can be effectively applied to complex weight bearing scenes outdoors, protects the joints from excessive external stress, and has good application scenes and social value. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only a part of the embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the provided drawings.

[0023] Fig. 1 The assembly drawing of the ankle joint clutch type mechanical sensing force relieving device provided by the present application;

[0024] Fig. 2 The structural schematic view of the ankle joint clutch type mechanical sensing force relieving device provided by the present application (off state);

[0025] Fig. 3 The structural schematic view of the ankle joint clutch type mechanical sensing force relieving device provided by the present application (on state).

[0026] Wherein: 1 is a gear tibial component; 2 is a spacer; 3 is an ankle joint shaft; 4 is a toothed connecting rod; 5 is a guide pin; 6 is an ankle bearing base; 7 is a fixed flange shaft; 8 is a limit cap; 9 is a first connecting rod; 10 is a second connecting rod; 11 is a third connecting rod; 12 is a sliding block; 13 is a fixing seat; 14 is a forefoot component; 15 is a midfoot component; 16 is a hindfoot component. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0028] Referring toFigs. 1-3 The embodiment of the present application discloses a kind of ankle clutch formula mechanical sensing force relief device, comprising:

[0029] Ankle bearing base 6, two fixed flange shafts 7 are oppositely arranged on ankle bearing base 6;Fixed flange shaft 7 is fixedly connected with ankle bearing base 6 by thread;

[0030] Gear tibial component 1, gear tibial component 1 is rotatably arranged on ankle bearing base 6 by ankle joint shaft 3, gap is arranged between gear tibial component 1 and ankle bearing base 6;Make gear tibial component 1 and ankle bearing base 6 can be relatively rotated to simulate the plantar flexion-dorsal flexion movement of ankle joint;

[0031] Connecting rod mechanism, connecting rod mechanism includes first connecting rod 9, second connecting rod 10, third connecting rod 11 and toothed connecting rod, first connecting rod 9, second connecting rod 10 and third connecting rod 11 are oppositely arranged two, one end of two second connecting rods 10 is respectively connected with the end of two fixed flange shafts 7 to form rotating pair, the other end of two second connecting rods 10 is fixedly connected with fixed seat 13, one end of first connecting rod 9 is rotatably connected with the centroid of second connecting rod 10, the other end of first connecting rod 9 is coaxially rotatably connected with third connecting rod 11 through sliding block 12, the end of sliding block 12 away from third connecting rod 11 is connected with ankle bearing base 6 to form transverse moving pair, toothed connecting rod 4 is connected with ankle bearing base 6 through guide pin 5 to form composite motion pair that can rotate and move, one end of third connecting rod 11 away from first connecting rod 9 is connected with toothed connecting rod 4 to form rotating pair;

[0032] Foot support part, including foot middle part 15, forefoot part 14 and hindfoot part 16, foot middle part 15 is fixedly connected with ankle bearing base 6, foot middle part 15 is arranged on the side of ankle bearing base 6 away from gear tibial component 1, forefoot part 14 and hindfoot part 16 are fixedly connected with the end of fixed seat 13 away from second connecting rod 10.

[0033] In the embodiment, it also includes limit cap 8, the axial movement of rotating pair formed by first connecting rod 9 and third connecting rod 11 is limited by limit cap 8, the axial movement of composite motion pair formed by toothed connecting rod 4 and ankle bearing base 6 is limited by limit cap 8.

[0034] In the embodiment, gap is formed between gear tibial component 1 and ankle bearing base 6 by spacer 2 and rotating pair is formed by ankle joint shaft 3.

[0035] In the embodiment, two second connecting rods 10 are rotatably connected with first connecting rod 9 at centroid by bolt to form rotating pair.

[0036] In this embodiment, the midfoot component 15 is fixedly connected to the ankle bearing base 6 by screws, and the forefoot component 14 and the rearfoot component 16 are each fixedly connected to the fixed base 13 away from the second connecting rod 10 by screws.

[0037] In this embodiment, the first connecting rod 9, the second connecting rod 10, the third connecting rod 11, the slider 12 and the toothed connecting rod 4 form a parallel multi-loop connecting rod mechanism with the forefoot component 14 and the rearfoot component 16.

[0038] When the forefoot component 14 and the rearfoot component 16 are in contact with the ground at the same time, the gear tibial component 1 is in a "closed" state with the toothed connecting rod 4; at this time, the device is limited in rotation at the ankle joint by the meshing gear, but the wearer's weight can be unloaded to the ground through the device;

[0039] When the forefoot component 14 or the rearfoot component 16 is in contact with the ground alone, the gear tibial component 1 is in a "open" state with the toothed connecting rod 4; at this time, the device can be in a free motion state at the ankle joint, and does not interfere with the wearer's limb movement.

[0040] In this embodiment, the other end of the two second connecting rods 10 is fixedly connected to the fixed base 13 by screws.

[0041] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other. For the device disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method part.

[0042] The above description of the disclosed embodiments enables a person skilled in the art to implement or use the present application. Various modifications to the embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A mechanically sensing force-relieving device for ankle joint clutch, characterized in that, include: Ankle bearing base, on which two fixed flange shafts are disposed opposite to each other; A gear-driven tibia component, which is rotatably mounted on the ankle bearing base via an ankle joint axis, with a gap provided between the gear-driven tibia component and the ankle bearing base; A linkage mechanism includes a first link, a second link, a third link, and a toothed link. Two of each of the first, second, and third links are arranged opposite each other. One end of each of the two second links is connected to the ends of two fixed flange shafts to form a revolute joint. The other ends of each of the two second links are fixedly connected to a fixed seat. One end of the first link is rotatably connected to the center of mass of the second link. The other end of the first link and the third link form a coaxial revolute joint via a slider. The end of the slider away from the third link is connected to the ankle bearing base to form a lateral sliding joint. The toothed link and the ankle bearing base are connected via a guide pin to form a composite kinematic joint that can both rotate and move. The end of the third link away from the first link is connected to the toothed link to form a revolute joint. The foot support includes a midfoot component, a forefoot component, and a posterior foot component. The midfoot component is fixedly connected to the ankle bearing base and is located on the side of the ankle bearing base away from the gear tibia component. The forefoot component and the posterior foot component are both fixedly connected to the end of the fixing seat away from the second connecting rod.

2. The ankle joint clutch-type mechanical sensing force relief device according to claim 1, characterized in that, It also includes a limiting cover, which restricts the axial movement of the rotating pair formed by the first connecting rod and the third connecting rod, and restricts the axial movement of the composite kinematic pair formed by the toothed connecting rod and the ankle bearing base.

3. The ankle joint clutch-type mechanical sensing force relief device according to claim 1, characterized in that, The gear tibia component and the ankle bearing base are separated by a spacer and form a rotating pair through the ankle joint shaft.

4. The ankle joint clutch-type mechanical sensing force relief device according to claim 1, characterized in that, The two second connecting rods are rotatably connected to the first connecting rod at the center of mass by bolts to form a rotating pair.

5. The ankle joint clutch-type mechanical sensing force relief device according to claim 1, characterized in that, The midfoot component is fixedly connected to the ankle bearing base by screws, and the front foot component and the rear foot component are both fixedly connected to the end of the fixed base away from the second connecting rod by screws.

6. The ankle joint clutch-type mechanical sensing force relief device according to claim 1, characterized in that, The first link, second link, third link, slider, and toothed link of the linkage mechanism form a parallel multi-ring linkage mechanism with the front foot component and the rear foot component; When the forefoot component and the hindfoot component are in contact with the ground at the same time, the gear tibia component and the toothed connecting rod are in an "engaged" state; When the forefoot component or the hindfoot component is in contact with the ground alone, the gear tibia component and the toothed connecting rod are in a "disconnected" state.

7. The ankle joint clutch-type mechanical sensing force relief device according to claim 1, characterized in that, The other ends of both second connecting rods are fixedly connected to the mounting base by screws.

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