Double-lower-limb passive load-bearing exoskeleton

Abstract

The utility model discloses a passive load-bearing exoskeleton for double lower limbs. The double-lower-limb passive load-bearing exoskeleton comprises a bearing module, a waist module, a hip joint module, a knee joint module and an ankle-foot module, and further comprises a human body binding and connecting device which is made of a large-area flexible fabric material and is connected with each limb section of a human body in a binding manner, so that the wearing stability and comfort of the exoskeleton are ensured; according to the double-lower-limb passive load-bearing exoskeleton, teeth are arranged at the tail ends of a waist and back connecting rod, a thigh rod and a shank rod, and the teeth at the tail ends of rod pieces are meshed with teeth, in the same shape, on the surface of a locking block and are locked through a cam type quick release handle, so that the stability of an exoskeleton rigid structure chain is guaranteed; meanwhile, the occlusion position can be flexibly adjusted to adapt to different postures of wearers. According to the double-lower-limb passive load-bearing exoskeleton, an auxiliary supporting effect is provided for a human body through the rigid structure chain, walking assistance is provided through the elastic energy storage device, and the body burden of the human body during long-distance bearing walking can be relieved.

Description

Technical Field

[0001] The utility model relates to the field of wearable equipment, in particular to a passive load-bearing exoskeleton for lower limbs. Background Art

[0002] As the modern industrialization process progresses, people's handling work in production and life scenes has gradually increased. Due to the physiological limits of human beings, their handling efficiency in production activities has been limited, and various types of handling equipment have emerged. However, these devices are often designed for different occasions and can only play a role in the use scenarios of specific handling objects, and their versatility is poor. In recent years, exoskeleton robots, as a special equipment that can enhance human's own movement ability, have gradually begun to be put into use in the load-bearing field, showing strong flexibility and versatility.

[0003] Currently, the existing exoskeleton products on the market are mainly concentrated in the fields of medical care and industrial handling. The product functions are mostly single-joint active power-assistance. Problems such as short battery life, heavy product weight, and poor human-machine coordination make single-joint active power-assistance exoskeletons difficult to use in application scenarios such as emergency rescue and field firefighting. Utility Model Content

[0004] The purpose of the utility model is to address the limitations of the existing technology and provide a dual lower limb passive load-bearing exoskeleton that can flexibly assist the movement of the lower limbs of the human body and assist in supporting the load, is easy to wear, and has a lightweight structure. It provides a wearable load-bearing equipment to address the problems of heavy personnel loads, low transportation efficiency, and potential risks of physiological diseases in outdoor long-distance load-bearing work such as forest firefighting and emergency rescue.

[0005] In order to solve the above problems, the utility model adopts the following technical solutions:

[0006] A passive load-bearing exoskeleton for both lower limbs, characterized in that: from top to bottom, it includes a back module 1, a waist module 2, a hip joint module 3, a knee joint module 4, and an ankle-foot module 5; in addition, the exoskeleton also includes a human body binding connection device 6, including a shoulder strap connected to the back module, a waist strap connected to the waist module, a calf strap connected to the knee joint module, and a foot binding mechanism connected to the ankle-foot module. The human body binding connection device is bound and connected to each limb segment of the human body to ensure the stability and comfort of wearing the exoskeleton.

[0007] Furthermore, the backpack module 1 includes a waist and back connecting rod 9, and the single-side surface of the lower end of the waist and back connecting rod 9 is provided with trapezoidal teeth, which interlocks with the waist and back connecting locking block 18 with teeth of the same shape in the waist module 2; the waist module 2 includes two waist rod connecting rotating blocks 13, and the waist rod connecting rotating blocks 13 are provided with inner holes, which are connected to the waist tube 19 of the hip joint module 3 and locked by fixing bolts; the hip joint module 3 includes a thigh rod 24, and the single-side surface of the lower end of the thigh rod 24 is provided with trapezoidal teeth, which interlocks with the thigh connecting locking block 40 with teeth of the same shape in the knee joint module 4; the knee joint module 4 includes a calf connecting locking block with trapezoidal teeth on the single-side surface, which interlocks with the calf connecting rod with teeth of the same shape in the ankle-foot module 5.

[0008] Furthermore, the backpack module 1 includes a back plate 7, a support plate 8 and a waist-back connecting rod 9, and the support plate 8 and the waist-back connecting rod 9 are connected to the lower end of the back plate 7 through a bolt group.

[0009] Furthermore, the main structure of the waist module 2 is composed of an outer waist plate 11 and an inner waist plate 10 that are interlocked with each other. Adjustment bolts 12 are installed on both sides of the waist module 2. The stud part of the adjustment bolt 12 cooperates with the screw hole in the slider 16. The slider 16 is equipped with a waist rod connecting rotating block 13. A bearing 17 is installed between the slider 16 and the waist rod connecting rotating block 13. The rotation of the adjustment bolt 12 can drive the slider 16 in the slide groove of the outer waist plate 11 to move linearly to adjust the distance between the two waist rod connecting rotating blocks; in addition, a waist and back connecting locking block 18 is installed inside the waist module 2 to engage with the waist and back connecting rod 9, and quick locking is achieved through a quick release handle 15 on the surface of the outer waist plate 11.

[0010] Furthermore, the main structure of the hip joint module 3 is composed of a waist tube 19, a T-shaped rotating shaft 25, a hip joint connecting block, a thigh rod 24 and a waist elastic energy storage device, wherein the hip joint connecting block is composed of a hip joint upper connecting block 20 and a hip joint lower connecting block 21 connected by bolts.

[0011] Furthermore, the waist elastic energy storage device includes a tension spring 30 inside the waist tube 19 and a steel wire rope passing through the waist tube 19, the T-shaped shaft 25 and the hip joint connecting block. The hip joint can pull the tension spring 30 to accumulate elastic potential energy during extension movement, and release it during the joint flexion stage, thereby providing a certain walking assistance to the exoskeleton wearer.

[0012] Furthermore, the main structure of the knee joint module 4 is composed of a thigh plate 31, a trip wire rod 34, a rotating rod 35, a calf plate 37 and a knee joint elastic energy storage device; the thigh plate 31 is equipped with a thigh connecting locking block 40 which engages with the lower end of the thigh rod 24 of the hip joint module, and achieves quick locking through the quick-release handle 33 on the surface of the thigh plate end cover 32.

[0013] Furthermore, the middle section of the tripwire rod 34 is provided with a bearing four 41, which cooperates with the bearing hole at the upper end of the rotating rod 35 to form a rotating pair; the knee joint elastic energy storage device includes a tension spring two 44 and a steel wire rope in the thigh plate 31. When the knee joint flexes, it can pull the tension spring two 44 to accumulate elastic potential energy, and release it in the joint extension stage, thereby providing a certain walking assistance for the exoskeleton wearer.

[0014] Furthermore, the main structure of the ankle-foot module 5 is composed of a calf rod 45, an ankle joint connecting block 46, an ankle joint rotating block 47, an ankle support rod 48 and a plantar plate 49; the ankle joint connecting block 46 and the ankle joint rotating block 47 are connected by a hinge pin 50 and can rotate relative to each other around the pin shaft.

[0015] Furthermore, the lower end of the ankle joint rotating block 47 is provided with a bearing 52, which cooperates with the bearing hole at the upper end of the ankle support rod 48 to form a rotating pair; the ankle support rod 48 is connected to the side bolts of the sole plate 49.

[0016] The beneficial effects of the utility model are:

[0017] The passive load-bearing exoskeleton for both lower limbs proposed by the utility model is provided with teeth on one side of the end of the waist and back connecting rod, the thigh rod and the calf rod. The teeth at the end of the rod and the teeth of the same shape on the surface of the locking block engage with each other to ensure the stability of the rigid structure chain of the exoskeleton; in addition, a cam-type quick-release handle is used to lock the rod and the locking block, so that the engagement position of the rod and the locking block can be quickly adjusted to flexibly adapt to the body shape of different wearers; the cam-type quick-release structure and the tooth-type step-by-step adjustable structure also ensure the stability of the relative positions between the parts, so that the exoskeleton is not easily affected by the sliding displacement between the parts during use, which leads to changes in the joint distance.

[0018] The passive load-bearing exoskeleton for both lower limbs proposed by the utility model adopts a flexible fabric material with a large area of ​​coating to design the human body binding connection devices for the waist, back and legs. While the rigid structural chain of the exoskeleton is stably bound to the human limbs, the flexible fabric deforms autonomously based on the human body shape, and has good adaptability to wearers with different body shapes. The large-area coating connection method helps to reduce the pressure of the human-computer interaction force on the local skin of the body during wearing, avoids abrasions or marks on the wearer's limbs during the use of the exoskeleton, and ensures wearing comfort. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The utility model discloses a double lower limb passive load-bearing exoskeleton without a human body binding connection device.

[0020] Figure 2 The utility model discloses a back-carrying module structure schematic diagram of a double lower limb passive load-bearing exoskeleton.

[0021] Figure 3 The utility model discloses a waist module structure schematic diagram of a double lower limb passive load-bearing exoskeleton.

[0022] Figure 4 It is an exploded view of the waist module structure of the double lower limb passive load-bearing exoskeleton disclosed by the utility model.

[0023] Figure 5 It is a schematic structural diagram of a hip joint module of a double lower limb passive load-bearing exoskeleton disclosed in the utility model.

[0024] Figure 6 It is an exploded view of the hip joint module structure of the passive load-bearing exoskeleton of both lower limbs disclosed by the utility model.

[0025] Figure 7 The utility model discloses a schematic diagram of the structure of a knee joint module of a passive load-bearing exoskeleton for lower limbs.

[0026] Figure 8 It is an exploded view of the knee joint module structure of the passive load-bearing exoskeleton of both lower limbs disclosed by the utility model.

[0027] Fig. 9 The utility model discloses an ankle-foot module structure schematic diagram of a passive load-bearing exoskeleton for lower limbs.

[0028] Fig.10 It is an exploded view of the ankle-foot module structure of the passive load-bearing exoskeleton of both lower limbs disclosed by the utility model.

[0029] Fig.11 The utility model discloses a schematic diagram of the overall structure of a double lower limb passive load-bearing exoskeleton. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and working principle of the utility model clearer, the implementation mode of the utility model is explained in detail according to the following drawings. It should be noted that the implementation mode described below is only used as an explanation of the utility model and is not used to limit the utility model.

[0031] like Figure 1 and Fig.11As shown, this embodiment discloses a passive load-bearing exoskeleton for both lower limbs, which includes, from top to bottom, a back module 1, a waist module 2, a hip joint module 3, a knee joint module 4, and an ankle-foot module 5. The above modules are connected to form a rigid structural chain of the exoskeleton main body, which assists the human body in supporting part of the load and provides a certain assisting effect for the joints during the wearing of the exoskeleton; in addition, the exoskeleton also includes a human body binding connection device 6, including a shoulder strap connected to the back module 1, a waist strap connected to the waist module 2, a calf strap connected to the knee joint module 4, and a foot binding mechanism connected to the ankle-foot module 5; the waist, back and leg materials of the human body binding connection device are all flexible fabrics covered with a large area, which fit the corresponding parts of the human body through flexible deformation during the binding and connection process with the limbs of the human body, so as to ensure the stability and comfort of the exoskeleton wearing.

[0032] See also Figure 2 The dual lower limb passive load-bearing exoskeleton backpack module disclosed in this example, the backpack module 1 includes a back plate 7, a support plate 8 and a waist and back connecting rod 9; the outer side of the back plate 7 is bolted to the support plate 8, and the two plates are perpendicular to each other to form a back frame to carry the load; the upper end of the waist and back connecting rod 9 is provided with a square groove, the lower end of the back plate is embedded in the square groove of the waist and back connecting rod 9 and is fastened and connected by a bolt group; the lower end of the waist and back connecting rod 9 is provided with trapezoidal teeth, which are engaged with the teeth of the same shape on the surface of the waist and back connecting locking block 18 in the waist module 2, and the engagement position can be adjusted by a quick-release handle 15. The engagement of the trapezoidal teeth can enable the waist module 2 to stably support the load and the weight of the backpack module 1.

[0033] See also Figure 3 and Figure 4The dual lower limb passive load-bearing exoskeleton waist module disclosed in this example has a main structure of the waist module 2 consisting of an outer waist plate 11 and an inner waist plate 10 with the same outer contour, which are interlocked to form an outer shell and connected by bolts, and an inner groove for installing other parts is provided inside; adjustment bolts 12 are installed on both sides of the waist module 2, and the stud part of the adjustment bolt 12 cooperates with the threaded hole of the slider 16 in the groove of the outer waist plate 11, and the cylindrical section of the slider 16 is equipped with a bearing 17, and the outer circumferential surface of the bearing 17 cooperates with the bearing hole of the waist bar connecting rotating block 13. The rotation of the adjustment bolt 12 can drive the slider 16 and the waist bar connecting rotating block 13 to move horizontally, thereby adjusting the distance between the two waist bars and changing the waist width of the exoskeleton to adapt to the waist circumference of different wearers; in order to ensure the stability of the installation of the waist bar connecting rotating block 13 and the slider 16, a step hole is provided inside the waist bar connecting rotating block 13 The waist bar connecting rotating block 13 and the slider 16 are fastened by bolts in the step hole, and the sealing end cover 14 on the outer section of the waist bar connecting rotating block is sealed to protect the internal bearing from dust; the slider 16, the bearing 17, and the waist bar connecting rotating block 13 form a rotating pair, and the waist bar can rotate around the axis of the cylindrical section of the slider 16, so that the lower limbs of the exoskeleton can follow the abduction and adduction of the legs of the human body; the waist module 2 also includes a waist and back connecting locking block 18 and a quick-release handle 15. The surface of the waist and back connecting locking block 18 is provided with trapezoidal teeth, and the teeth with the same shape as the lower end of the waist and back connecting rod are pressed and engaged by the quick-release handle 15 to ensure the stable connection between the waist module 2 and the back module 1. At the same time, by loosening the quick-release handle 15, the tooth engagement position can be quickly adjusted to change the height of the back module 1 to adapt to the height of different wearers and improve the wearing comfort of the exoskeleton.

[0034] See also Figure 5 and Figure 6The dual lower limb passive load-bearing exoskeleton hip joint module disclosed in this example, the main structure of the hip joint module 3 is composed of a waist tube 19, a T-shaped shaft 25, a hip joint connection block, a thigh rod 24 and a waist elastic energy storage device; wherein, the hip joint connection block is composed of a hip joint upper half connection block 20 and a hip joint lower half connection block 21 connected by bolts, and the hip joint upper half connection block 20 and the hip joint lower half connection block 21 both have a circular groove, and the inner surface of the circular groove is connected to the outer circumference of the bearing 26 installed at both ends of the T-shaped shaft. The outer surface of the T-shaped shaft 25 is threaded and connected to the internal thread on one side of the waist bar 19. The T-shaped shaft 25, the second bearing, and the hip joint connection block form a revolving pair. The waist bar can rotate around the axis of the T-shaped shaft 25, so that the lower limbs of the exoskeleton can follow the internal and external rotation of the human legs; the cylindrical section of the middle section of the lower half of the hip joint connection block 21 is equipped with a bearing three 27, the outer circumferential surface of the bearing three 27 cooperates with the bearing hole at the end of the thigh rod 24 and is connected to the hip joint by bolts connected to the lower half of the hip joint connection block 21 The joint end cover 22 is limited to prevent the bearing 3 27 from falling off; the lower end surface of the thigh rod is provided with trapezoidal teeth, which mesh with the thigh connection locking block 40 of the knee joint module 4 to ensure the stability of the connection between the hip joint module 3 and the knee joint module 4 and the convenience of adjusting the spacing; in addition, the hip joint also includes an elastic energy storage device composed of a tension spring 30, a steel wire rope, and a tensioning device. The tension spring 30 is installed in a hollow pipe of the waist tube 19, and the end of the waist tube connection transfer block 13 is fastened to the waist by a steel wire rope The tube is connected to the inner hole end face of the rotating block 13 to fix the tension spring 30. The steel wire rope connected to the other end of the tension spring 30 passes through the inner hole of the T-shaped rotating shaft 25 and the lower half connecting block 21 of the hip joint, bypasses the thigh wire pulley 28 and is fixed by the thigh tensioner 29. By adjusting the fixing position of the steel wire rope by the thigh tensioner 29, the pre-tensioning degree of the tension spring 30 can be changed, thereby changing the elastic joint damping; the thigh tensioner 29 and the thigh wire pulley 28 are connected to the threaded hole on the thigh wire pulley mounting block 23 that clamps the thigh rod 24.

[0035] See also Figure 7 and Figure 8The dual lower limb passive load-bearing exoskeleton knee joint module disclosed in this example, the main structure of the knee joint module 4 is composed of a thigh plate 31, a trip wire rod 34, a rotating rod 35, a calf plate 37 and a knee joint elastic energy storage device; the thigh plate 31 is equipped with a thigh connecting lock block 40, the surface of which is provided with trapezoidal teeth, which are engaged with the trapezoidal teeth of the same shape as the lower end of the thigh rod 24 of the hip joint module 3, and the quick-release handle 2 33 on the surface of the thigh plate end cover 32 is used to achieve rapid locking and locking position adjustment; the thigh plate 31 is provided with a circular hole, and a tension spring 2 44 is installed in the hole, the lower end of the tension spring 2 44 is connected to the steel wire rope, and the steel wire rope is connected to the calf tensioner after passing around the calf wire wheel 42; the calf wire wheel 42 and the calf tensioner are installed on the calf wire of the clamping rotating rod 35 In the threaded hole of the wheel mounting block 36; the lower end of the thigh plate 31 is equipped with a trip wire rod 34, the middle section of the trip wire rod 34 is equipped with a bearing four 41, the outer cylindrical surface of the bearing four 41 cooperates with the rotating rod 35, so that the rotating rod 35 and the trip wire rod 34 can rotate with each other, and the groove on the surface of the trip wire rod 34 trips the wire rope to increase its length during the flexion and rotation of the knee joint, pulling the tension spring two 44 to accumulate elastic potential energy, and releasing the potential energy during the extension of the knee joint to provide a certain assist effect for the human body; the lower end of the rotating rod 35 is connected with the calf plate 37 square groove bolt, and the calf plate 37 is equipped with a calf connecting locking block 43, the surface of which is provided with trapezoidal teeth, which are engaged with the teeth of the same shape as the upper end of the calf rod 45 of the ankle-foot module 5 and are locked by the quick-release handle three 39 on the surface of the calf plate end cover 38.

[0036] See also Fig. 9 and Fig.10 The dual lower limb passive load-bearing exoskeleton ankle-foot module disclosed in this example, the main structure of the ankle-foot module 5 is composed of a calf rod 45, an ankle joint connecting block 46, an ankle joint rotating block 47, an ankle support rod 48 and a sole plate 49; the upper end of the calf rod 45 is provided with trapezoidal teeth, which are engaged and locked with the calf connecting locking block 43 with teeth of the same shape, so that the ankle-foot module 5 is stably connected to the knee joint module 4 and the relative distance can be flexibly adjusted to adapt to the body characteristics of different wearers; the ankle joint connecting block 46 and the ankle joint rotating block 4 7 are connected by a hinge pin 50 and can rotate relative to each other around the pin shaft. A brass bushing 51 is installed between the ankle joint rotating block 47 and the hinge pin 50 to reduce the friction when the ankle joint rotating block 47 rotates relative to the ankle joint connecting block 46, thereby increasing the service life of the exoskeleton; a bearing 52 is installed on the side surface of the lower end of the ankle joint rotating block 47, and the outer cylindrical surface of the bearing 52 cooperates with the bearing hole at the upper end of the ankle support rod 48 so that the ankle joint rotating block 47 and the ankle support rod 48 can rotate relative to each other; the lower end of the ankle support rod is connected and fastened to the sole plate 49 by a bolt group.

Claims

1. A passive load-bearing exoskeleton for lower limbs, characterized in that: The invention comprises, from top to bottom, a back module (1), a waist module (2), a hip joint module (3), a knee joint module (4), and an ankle-foot module (5); the back module (1) is provided with a waist-back connecting rod (9), and a single-side surface of the lower end of the waist-back connecting rod (9) is provided with trapezoidal teeth, which interlock with a waist-back connecting locking block (18) provided with teeth of the same shape in the waist module (2); the waist module (2) is provided with two waist connecting rotating blocks (13), and the waist connecting rotating blocks (13) are provided with inner holes, which are connected to the waist tube (19) of the hip joint module (3) and locked by fixing bolts; the hip joint module (3) is provided with a thigh rod (24), and a single-side surface of the lower end of the thigh rod (24) is provided with a The surface of the exoskeleton is provided with trapezoidal teeth, which interlock with a thigh connection locking block (40) provided with teeth of the same shape in the knee joint module (4); the knee joint module (4) is provided with a calf connection locking block (43) with trapezoidal teeth on one side surface, which interlocks with a calf rod (45) provided with teeth of the same shape in the ankle-foot module (5); in addition, the exoskeleton is also provided with a human body binding connection device (6), including a shoulder strap connected to the back module, a waist strap connected to the waist module, a calf strap connected to the knee joint module, and a foot binding mechanism connected to the ankle-foot module. The human body binding connection device is connected to each limb of the human body to ensure the stability and comfort of wearing the exoskeleton.

2. The passive load-bearing exoskeleton for lower limbs according to claim 1, characterized in that: The backpack module (1) comprises a back plate (7), a support plate (8) and a waist-back connecting rod (9); the support plate (8) and the waist-back connecting rod (9) are connected to the lower end of the back plate (7) via a bolt group.

3. The passive load-bearing exoskeleton for lower limbs according to claim 1, characterized in that: The main structure of the waist module (2) is composed of an outer waist plate (11) and an inner waist plate (10) which are interlocked with each other. Adjustment bolts (12) are installed on both sides of the waist module (2). The stud part of the adjustment bolt (12) cooperates with the screw hole in the slider (16). The slider (16) is equipped with a waist rod connecting rotating block (13). A bearing (17) is installed between the slider (16) and the waist rod connecting rotating block (13). The rotation of the adjustment bolt (12) can drive the slider (16) in the sliding groove of the outer waist plate (11) to move linearly to adjust the distance between the two waist rod connecting rotating blocks (13); in addition, a waist and back connecting locking block (18) is installed inside the waist module (2) to engage with the waist and back connecting rod (9), and quick locking is achieved through a quick release handle (15) on the surface of the outer waist plate (11).

4. The passive load-bearing exoskeleton for lower limbs according to claim 1, characterized in that: The main structure of the hip joint module (3) is composed of a waist tube (19), a T-shaped rotating shaft (25), a hip joint connecting block, a thigh rod (24) and a waist elastic energy storage device, wherein the hip joint connecting block is composed of a hip joint upper connecting block (20) and a hip joint lower connecting block (21) connected by bolts.

5. The passive load-bearing exoskeleton for lower limbs according to claim 4, characterized in that: The waist elastic energy storage device comprises a tension spring (30) inside the waist tube (19) and a steel wire rope passing through the waist tube (19), the T-shaped rotating shaft (25) and the hip joint connecting block. The hip joint can pull the tension spring (30) to accumulate elastic potential energy during the extension movement, and release it during the joint flexion stage, thereby providing a certain walking assistance to the exoskeleton wearer.

6. The passive load-bearing exoskeleton for lower limbs according to claim 1, characterized in that: The main structure of the knee joint module (4) is composed of a thigh plate (31), a trip wire rod (34), a rotating rod (35), a calf plate (37) and a knee joint elastic energy storage device; the thigh plate (31) is equipped with a thigh connecting locking block (40) which engages with the lower end of the thigh rod (24) of the hip joint module, and realizes rapid locking through a quick-release handle (33) on the surface of the thigh plate end cover (32).

7. The passive load-bearing exoskeleton for lower limbs according to claim 6, characterized in that: The middle section of the tripwire rod (34) is provided with a bearing four (41), which cooperates with the bearing hole at the upper end of the rotating rod (35) to form a rotating pair; the knee joint elastic energy storage device includes a tension spring two (44) and a steel wire rope in the thigh plate (31), and the knee joint can pull the tension spring two (44) to accumulate elastic potential energy during flexion movement, and release it during the joint extension stage, thereby providing a certain walking assistance for the exoskeleton wearer.

8. The passive load-bearing exoskeleton for lower limbs according to claim 1, characterized in that: The main structure of the ankle-foot module (5) is composed of a calf rod (45), an ankle joint connecting block (46), an ankle joint rotating block (47), an ankle support rod (48) and a foot sole plate (49); the ankle joint connecting block (46) and the ankle joint rotating block (47) are connected by a hinge pin (50) and can rotate relative to each other around the pin shaft.

9. The passive load-bearing exoskeleton for lower limbs according to claim 8, characterized in that: The lower end of the ankle joint rotating block (47) is provided with a bearing 5 (52) which cooperates with the bearing hole at the upper end of the ankle support rod (48) to form a rotating pair; the ankle support rod (48) is connected to the side bolts of the sole plate (49).

Images