Mountaineering exoskeleton foot device

Abstract

The utility model provides a mountaineering exoskeleton foot device which comprises a plantar support, a front sole, a heel, a front upper, a rear upper and a connecting piece, the plantar support is connected with an exoskeleton support, the heel is arranged outside the plantar support in a sleeving mode and detachably connected with the plantar support through a spring buckle, the front sole is connected with the heel through the connecting piece, and the front sole is connected with the heel through the connecting piece. The connecting piece is arranged between the front sole and the heel, so that the distance between the front sole and the heel can be adjusted; the front upper is arranged at the front end of the front sole, and the rear upper is arranged at the rear end of the heel. The sole part and the exoskeleton support are designed in a split mode, so that the sole device can be quickly worn; and the shoe sole can adapt to different shoe types and is good in compatibility and good in foot fitting performance, and the experience feeling is greatly enhanced.

Description

Technical Field

[0001] The utility model relates to the technical field of exoskeleton robots, in particular to a mountaineering exoskeleton foot device. Background Art

[0002] At present, exoskeleton robots have begun to show a development trend in real life, which is specifically reflected in the expansion of use in medical, transportation and other related work scopes. However, they are still very scarce in industries such as leisure and tourism. If you do not have enough physical strength to climb mountains, the leisure experience will be greatly reduced. Wearing an exoskeleton during climbing can relieve fatigue during climbing through motor drive, thereby obtaining a better experience during climbing leisure. The principle of using a climbing exoskeleton is to reduce the use of muscle force through motor drive. After the motor outputs, the force needs to be output to the ground, so the climbing exoskeleton must have a sole part.

[0003] Currently, the sole of the exoskeleton is basically connected to the bracket, which makes it troublesome to wear; and its adaptability and compatibility with shoes are poor, giving people the feeling that a child is wearing adult shoes; in addition, its sole has poor heel-to-foot fit, and the user experience is not good, so it is not suitable for leisure and entertainment scenarios such as mountaineering. Utility Model Content

[0004] The utility model aims to provide a mountaineering exoskeleton foot device to overcome the deficiencies in the prior art.

[0005] In order to solve the above technical problems, the technical solution of the utility model is: a mountaineering exoskeleton foot device, including a sole support, a forefoot, a rear heel, a front cover, a rear cover, and a connecting piece, wherein the sole support is connected to the exoskeleton support, the rear heel sleeve is arranged outside the sole support, and is detachably connected to the sole support through a spring buckle, the forefoot is connected to the rear heel through a connecting piece, and the connecting piece is arranged between the forefoot and the rear heel, and can adjust the distance between the forefoot and the rear heel; the front cover is arranged at the front end of the forefoot, and the rear cover is arranged at the rear end of the rear heel. The climber's shoes are put on and fixed on this skeleton foot device through the front cover, the rear cover and the shoelaces.

[0006] Furthermore, in the above-mentioned mountaineering exoskeleton foot device, the plantar support includes a sensor base and a bracket connector. The sensor base is a stepped cylindrical structure with a flange plate in the middle. The bracket connector is sleeved on the lower end of the sensor base and connected to the flange plate for connecting the exoskeleton bracket.

[0007] Furthermore, in the above-mentioned mountaineering exoskeleton foot device, the bottom of the rear heel is provided with an open mounting hole, the open end of the mounting hole is provided with an arc-shaped guide portion extending outward, and the upper end of the sensor base is inserted into the mounting hole.

[0008] Furthermore, in the above-mentioned mountaineering exoskeleton foot device, two spring clips are provided, located on both sides of the rear heel, the spring clips include a pressure rod, a spring, and a pin. An L-shaped mounting groove is provided on the outer side of the rear heel, and the pressure rod is also L-shaped and arranged in the mounting groove. The pin is fixed in the middle of the mounting groove, close to the L-shaped corner position, the pin is inserted in the corresponding position of the pressure rod and is rotatably connected to the pressure rod, one end of the pressure rod is connected to the spring fixed in the mounting groove, and the other end is provided with a clamping block extending toward the mounting hole, and the plantar support is provided with an annular clamping groove matching the clamping block.

[0009] Furthermore, in the above-mentioned mountaineering exoskeleton foot device, the connecting piece is a spring, and specifically, can be a manganese steel spring.

[0010] Furthermore, in the above-mentioned mountaineering exoskeleton foot device, the connecting plate is detachably connected to the forefoot and the heel through fasteners, and the end of the connecting plate connected to the forefoot is an adjustment part, and the adjustment part is provided with a waist-shaped groove, and the forefoot is connected to the connecting plate by a fastener passing through the waist-shaped groove.

[0011] Furthermore, in the above-mentioned mountaineering exoskeleton foot device, a slot is provided at one end of the forefoot close to the heel, and a special-shaped T-shaped groove is provided on the top surface of one end of the heel close to the forefoot, the adjustment part of the connecting piece is inserted in the slot, and a fixing part adapted to the T-shaped groove is provided at one end of the connecting piece connected to the heel, and the fixing part is embedded in the T-shaped groove.

[0012] Furthermore, in the above-mentioned mountaineering exoskeleton foot device, the opposite ends of the forefoot and the heel are both provided with extended bosses for supporting the connecting plate.

[0013] Furthermore, in the above-mentioned mountaineering exoskeleton foot device, the front upper is connected to the forefoot through an upper connector, and the rear upper is connected to the heel through an upper connector. Both the front upper and the rear upper are connected to the upper connector through rivets and can rotate around the rivets. The upper connector is connected to the forefoot and the heel through fasteners.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: the plantar part and the exoskeleton support of the present invention adopt a split design, which is convenient for putting on and taking off the plantar part, and then the connection between the heel and the plantar support is achieved through a spring buckle, which further facilitates the putting on and taking off of the plantar part and can achieve quick wearing of the plantar device; and a connecting piece made of spring sheet is used to connect the forefoot and the heel, which can adjust the distance between the forefoot and the heel, can adapt to different shoe types, has good compatibility, and can ensure the rigidity of the arch while also ensuring the curvature of the arch when walking in human biology, has good heel-to-foot fit, and enhances the experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 The structure of the foot device of the mountaineering exoskeleton of the utility model is shown in FIG. Figure 1 ;

[0017] Figure 2 The structure of the foot device of the mountaineering exoskeleton of the utility model is shown in FIG. Figure 2 ;

[0018] Figure 3 It is a partial structural schematic diagram of the foot device of the mountaineering exoskeleton of the utility model;

[0019] Figure 4 It is a partial explosion diagram of the foot device of the mountaineering exoskeleton of the utility model;

[0020] In the figure: 1, plantar support; 11, sensor base; 111, flange plate; 112, annular slot; 12, bracket connector; 2, forefoot; 21, slot; 22, extension boss; 3, rear heel; 31, mounting hole; 32, guide part; 33, mounting slot; 34, T-shaped groove; 4, front upper; 5, back upper; 6, connecting piece; 61, waist groove; 62, fixing part; 7, pressure rod; 8, spring; 9, pin; 10, upper connector. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0022] Example 1

[0023] like Figure 1-4As shown, a mountaineering exoskeleton foot device includes a plantar support 1, a forefoot 2, a rear heel 3, a front cover 4, a rear cover 5, and a connecting piece 6. The plantar support 1 is connected to an exoskeleton frame (not shown in the figure), and the rear heel 3 is sleeved on the outside of the plantar support 1 and is detachably connected to the plantar support 1 through a spring buckle; the forefoot 2 is connected to the rear heel 3 through the connecting piece 6, a weight reduction hole is provided at the bottom of the forefoot 2, and the connecting piece 6 is provided between the forefoot 2 and the rear heel 3, and the distance between the forefoot 2 and the rear heel 3 can be adjusted; the front cover 4 is provided at the front end of the forefoot 2, and the rear cover 5 is provided at the rear end of the rear heel 3, and the climber's shoes are put on and fixed on this foot device through the front cover 4, the rear cover 5 and the shoelaces. When wearing, first adjust the connecting piece 6 according to the size of the shoe, so as to adjust the distance between the forefoot and the heel, which is compatible with different shoe types and has good compatibility, and then fix the shoe on the forefoot 2 and the heel 3; then step the heel 3 on the sole support 1, the heel 3 is set outside the sole support 1, and then press the spring buckle to realize the clamping and fixing of the heel 3 and the sole support 1; when separation is required, press the spring buckle, the buckle is loosened, and then the human foot drives the heel 3 to be pulled out from the sole support 1, and then the shoe and the foot device are detached from the outside, and the shoe and the exoskeleton bracket are separated, which is convenient and fast to operate, and the foot device can be quickly put on and taken off. The sole part and the exoskeleton bracket of the utility model adopt a split design, which is convenient for putting on and taking off the sole part, and then the connection between the heel and the sole support is realized by the spring buckle, which further facilitates the putting on and taking off of the sole part, and the rapid wearing of the sole device can be realized; and it can adapt to different shoe types and has good compatibility.

[0024] In the above structure, if Figure 1-4 As shown, the plantar support 1 includes a sensor base 11 and a bracket connector 12. The sensor base 11 is a stepped cylindrical structure with a flange plate 111 in the middle. The bracket connector 12 is sleeved on the lower end of the sensor base 11 and connected to the flange plate 111, and is used to connect the exoskeleton bracket, with a simple structure and a stable connection.

[0025] In order to facilitate the wearing of the heel 3, Figure 2 , 4 As shown, the bottom of the rear heel 3 is provided with an open mounting hole 31, the open end of the mounting hole 31 is provided with an arc-shaped guide portion 32 extending outward, and the upper end of the sensor base 11 is inserted into the mounting hole 31. In this embodiment, the opening of the mounting hole 31 is a semicircular opening, which allows the plantar support 1 to directly enter the mounting hole 31 of the rear heel 3 from the side opening, which is convenient for wearing and can also roughly locate the rear heel 3 and the plantar support 1.

[0026] Among them, Figure 1-4As shown, there are two spring buckles, located on both sides of the rear heel 3, the spring buckles include a pressure rod 7, a spring 8, and a pin 9. An L-shaped mounting groove 33 is provided on the outside of the rear heel 3. The pressure rod 7 is also L-shaped and is arranged in the mounting groove 33. The pin 9 is fixed in the middle of the mounting groove 33, close to the L-shaped corner position. The pin 9 is inserted in the corresponding position of the pressure rod 7 and is rotatably connected with the pressure rod 7. One end of the pressure rod 7 is connected to the spring 8 fixed in the mounting groove 33, and the other end is provided with a block extending toward the mounting hole 31. The sole support 1 is provided with an annular groove 112 that cooperates with the block. Specifically, the annular groove 112 is arranged on the outer side of the upper end of the sensor base 11. The rear heel 3 and the sole support 1 are completely positioned by the spring buckle, and the spring buckle is easy to operate, which improves the experience.

[0027] Example 2

[0028] Based on the structure of Example 1, the connecting piece 6 is a spring sheet, specifically, a manganese steel spring sheet, which has elasticity and a certain rigidity. While ensuring the rigidity of the arch of the foot, it also ensures the curvature of the arch of the foot when the human body simulates walking, has a good heel-to-foot fit, and enhances the experience.

[0029] Among them, Figure 1-3 As shown, the connecting piece 6 is detachably connected to the forefoot 2 and the heel 3 through a fastener, and one end of the connecting piece 6 connected to the forefoot 2 is an adjustment portion, and the adjustment portion is provided with a waist-shaped groove 61, and the forefoot 2 is connected to the connecting piece 6 through the fastener passing through the waist-shaped groove 61. By adjusting the installation position of the fastener in the waist-shaped groove 61, the distance between the forefoot 2 and the heel 3 can be adjusted, so as to adapt to different shoe types, and the compatibility is good.

[0030] In the above structure, if Figure 1-3 As shown, a slot 21 is provided at one end of the forefoot 2 close to the rear heel 3, and a special-shaped T-shaped groove 34 is provided on the top surface of one end of the rear heel 3 close to the forefoot 2, and the adjustment portion of the connecting piece 6 is inserted in the slot 21, and a fixing portion 62 adapted to the T-shaped groove 34 is provided at one end of the connecting piece 6 connected to the rear heel 3, and the fixing portion 62 is embedded in the T-shaped groove 34. Specifically, the bottom surface of the T-shaped groove 34 is arc-shaped, and one end of the fixing portion 62 close to the bottom surface of the T-shaped groove 34 is V-shaped, which plays a role of bidirectional limit with the open end of the T-shaped groove 34, which facilitates the adjustment of the connecting piece 6 and can also enhance the connection strength of the connecting piece 6.

[0031] In order to enhance the connection stability of the connecting piece 6, as Figure 2 As shown, the front sole 2 and the rear heel 3 are both provided with an extension boss 22 supporting the connecting piece 6 at opposite ends, and the extension bosses 22 of the two extend in a direction approaching each other.

[0032] In addition, if Figure 1-3As shown, the front upper 4 is connected to the forefoot 2 through the upper connector 10, and the rear upper 5 is connected to the heel 3 through the upper connector 10. Both the front upper 4 and the rear upper 5 are connected to the upper connector 10 through rivets and can rotate around the rivets, so that the front upper 4 and the rear upper 5 can fit the shoes better and improve the wearing comfort. The upper connector 10 is connected to the forefoot 2 and the heel 3 through fasteners.

[0033] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

[0034] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A mountaineering exoskeleton foot device, characterized in that: It includes a plantar support, a forefoot, a rear heel, a front cover, a rear cover, and a connecting piece. The plantar support is connected to the exoskeleton support. The rear heel sleeve is arranged on the outside of the plantar support and is detachably connected to the plantar support through a spring buckle. The forefoot is connected to the rear heel through a connecting piece, and the connecting piece is arranged between the forefoot and the rear heel to adjust the distance between the forefoot and the rear heel; the front cover is arranged at the front end of the forefoot, and the rear cover is arranged at the rear end of the rear heel.

2. The mountaineering exoskeleton foot device according to claim 1, characterized in that: The plantar support includes a sensor base and a bracket connector. The sensor base is a stepped cylindrical structure with a flange plate in the middle. The bracket connector is sleeved on the lower end of the sensor base and connected to the flange plate for connecting to the exoskeleton bracket.

3. The mountaineering exoskeleton foot device according to claim 2, characterized in that: The bottom of the rear heel is provided with an open mounting hole, the open end of the mounting hole is provided with an arc-shaped guide portion extending outward, and the upper end of the sensor base is inserted into the mounting hole.

4. The mountaineering exoskeleton foot device according to claim 1 or 3, characterized in that: There are two spring buckles located on both sides of the rear heel. The spring buckles include a pressure rod, a spring, and a pin. An L-shaped mounting groove is provided on the outer side of the rear heel. The pressure rod is also L-shaped and is disposed in the mounting groove. The pin is fixed in the middle of the mounting groove. The pin is inserted in the corresponding position of the pressure rod and is rotatably connected to the pressure rod. One end of the pressure rod is connected to the spring fixed in the mounting groove, and the other end is provided with a block extending toward the mounting hole. An annular groove cooperating with the block is provided on the plantar support.

5. The mountaineering exoskeleton foot device according to claim 1, characterized in that: The connecting piece is a spring piece.

6. The mountaineering exoskeleton foot device according to claim 1 or 5, characterized in that: The connecting piece is detachably connected to the forefoot and the heel via fasteners, and one end of the connecting piece connected to the forefoot is an adjustment portion, on which a waist-shaped groove is provided, and the forefoot is connected to the connecting piece via a fastener passing through the waist-shaped groove.

7. The mountaineering exoskeleton foot device according to claim 6, characterized in that: A slot is provided at one end of the forefoot near the heel, and a special-shaped T-shaped groove is provided on the top surface of one end of the heel near the forefoot. The adjusting part of the connecting piece is inserted in the slot, and a fixing part adapted to the T-shaped groove is provided at one end of the connecting piece connected to the heel, and the fixing part is embedded in the T-shaped groove.

8. The mountaineering exoskeleton foot device according to claim 6, characterized in that: The opposite ends of the forefoot and the heel are both provided with extension bosses for supporting the connecting piece.

9. The mountaineering exoskeleton foot device according to claim 1, characterized in that: The front upper is connected to the forefoot through an upper connector, and the rear upper is connected to the heel through an upper connector. Both the front upper and the rear upper are connected to the upper connector through rivets and can rotate around the rivets. The upper connector is connected to the forefoot and the heel through a fastener.

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