Foot posture adjusting structure of lower limb exoskeleton

Abstract

The utility model provides a foot posture adjusting structure of a lower limb exoskeleton. The foot posture adjusting structure comprises a sole plate, a shank, an ankle joint connecting base and a spring reset mechanism. The ankle joint connecting seat is fixed on the sole plate and is hinged with the shank; a supporting seat is fixed at the lower part of the shank; a height adjusting rod is arranged on the supporting seat; the spring reset mechanism comprises a telescopic dowel bar and an elastic piece; the two ends of the telescopic dowel bar are spherically hinged to the lower end of the height adjusting rod and the ankle joint connecting seat respectively; the telescopic dowel bar comprises an upper dowel bar and a lower dowel bar which are in sliding fit in the axial direction; the elastic piece is arranged between the upper dowel bar and the lower dowel bar in a coupling manner so as to adjust the sole plate which is not subjected to external force to a preset posture, so that the gait of a patient suffering from ankle joint diseases such as foot drop or strephenopodia during walking exercise is improved; in addition, the initial deformation amount of the elastic piece can be adjusted according to the ankle joint motion range condition of the patient, the situation that ligaments at the ankle joints are excessively stretched when the patient exercises is avoided, and the use comfort is improved.

Description

Technical Field

[0001] The utility model belongs to the field of lower limb exoskeleton rehabilitation, and particularly relates to a foot posture adjustment structure of a lower limb exoskeleton. Background Art

[0002] In daily life, there are often people who suffer from lower limb dysfunction due to poliomyelitis, stroke, accidents, etc., and are unable to stand and walk independently. They need to use a lower limb exoskeleton to assist the patient in walking exercises. However, for some patients with lower limb dysfunction such as foot drop or clubfoot, due to their inability to independently complete the adjustment of the ankle joint angle, gait abnormalities will occur when the patient walks, affecting the exercise rehabilitation effect.

[0003] In order to improve the gait of patients with lower limb dysfunction with foot drop complications during walking exercises, the utility model patent with the application number 202120447805.6 discloses a foot lifting device of an exoskeleton walking rehabilitation robot, which uses a spring reset mechanism behind the ankle joint to provide the torque required for ankle dorsiflexion, so as to solve the problem that the patient cannot actively control ankle dorsiflexion and causes the phenomenon of ground shoveling when the patient takes a step. However, it is found in actual exercises that due to the influence of factors such as muscle strength and ligament elasticity, there are large differences in the dorsiflexion range of motion of different patients, and the spring reset mechanism of the above patent cannot be adjusted according to the dorsiflexion range of motion of the patient, greatly affecting the comfort of the patient's use. Content of the Utility Model

[0004] In view of the above-mentioned shortcomings of the prior art, the purpose of the present utility model is to provide a foot posture adjustment structure of a lower limb exoskeleton with a simple structure, so as to improve the gait of patients with ankle diseases such as foot drop or clubfoot during walking exercises, and improve the exercise comfort while ensuring the exercise effect.

[0005] To achieve the above and other related purposes, a foot posture adjustment structure of a lower limb exoskeleton provided by the present utility model includes a foot sole plate, a calf, an ankle joint connecting seat, and a spring reset mechanism; the ankle joint connecting seat is fixedly arranged on the foot sole plate, and the ankle joint connecting seat is hinged to the calf; a support seat is fixed at the lower part of the calf, and a height adjustment rod with an adjustable bottom height position is installed on the support seat; the spring reset mechanism includes a telescopic force transmission rod and an elastic member arranged coaxially; the telescopic force transmission rod includes an upper force transmission rod and a lower force transmission rod arranged coaxially, and the upper force transmission rod and the lower force transmission rod are slidably matched in their axial directions; the upper end of the telescopic force transmission rod is connected to the bottom end of the height adjustment rod through an upper spherical hinge, and the lower end of the telescopic force transmission rod is connected to the ankle joint connecting seat through a lower spherical hinge; the elastic member is coupled between the upper force transmission rod and the lower force transmission rod to adjust the foot sole plate without external force to a preset posture, so as to improve the gait of patients with ankle joint diseases such as foot drop or equinovarus during walking exercise; moreover, the device of the present utility model can adjust the initial deformation amount of the elastic member in advance according to the ankle joint mobility of the patient, effectively avoiding the situation that the ligaments at the ankle joint are overstretched when the patient walks and exercises, and improving the use comfort; in addition, the telescopic force transmission rod and the spherical hinge structures at both ends of the telescopic force transmission rod enable the elastic member to only perform telescopic movement and cannot bend or twist, improving the service life of the elastic member.

[0006] Preferably, the support seat is located at the rear side of the calf; the elastic member is a compression spring; the upper spherical hinge includes an upper ball head and an upper ball seat fixed at the top end of the upper force transmission rod, and the lower spherical hinge includes a lower ball head and a lower ball seat fixed at the bottom end of the lower force transmission rod; the elastic member is coaxially sleeved on the telescopic force transmission rod, and both ends of the elastic member are respectively abutted against the upper ball seat and the lower ball seat; thus, when a patient with lower limb dysfunction complicated with foot drop uses this foot posture adjustment structure to exercise and walk, the front end of the ankle joint connecting seat is driven to rotate downward by the foot sole plate under the action of an external force to compress the telescopic force transmission rod and the compression spring; after the foot sole plate loses the external force, the compression spring resets and pushes the telescopic force transmission rod to elongate, so as to push the front end of the ankle joint connecting seat to rotate upward, thereby driving the foot sole plate to tilt upward and avoiding the problem of the front sole shoveling the ground.

[0007] Preferably, the support seat is located on the front side of the calf; the elastic member is a tension spring; the upper spherical hinge includes an upper ball head and an upper ball seat fixed to the top end of the upper force transmission rod, and the upper ball head is inseparably installed in the upper ball seat; the lower spherical hinge includes a lower ball head and a lower ball seat fixed to the bottom end of the lower force transmission rod, and the lower ball head is inseparably installed in the lower ball seat; the elastic member is coaxially sleeved on the telescopic force transmission rod, and both ends of the elastic member are respectively connected to the upper ball seat and the lower ball seat; thus, when a patient with lower limb dysfunction complicated with foot drop uses this foot posture adjustment structure to exercise walking, the front end of the ankle joint connecting seat is driven to rotate downward under the action of an external force on the sole of the foot, so as to stretch the telescopic force transmission rod and the tension spring; after the external force on the sole of the foot is removed, the tension spring resets to shorten the telescopic force transmission rod, so as to pull the front end of the ankle joint connecting seat to rotate upward, thereby driving the sole of the foot to tilt upward and avoiding the problem of the front sole shoveling the ground.

[0008] Preferably, the height adjustment rod is threadedly installed on the support seat. By simply screwing the height adjustment rod, the height position of the bottom end of the height adjustment rod can be changed, thereby completing the adjustment of the initial deformation amount of the elastic member, which has the advantage of convenient adjustment.

[0009] Preferably, a hoop device is installed above the support seat; the hoop device includes a first hoop plate, a second hoop plate and a locking device; one end of the first hoop plate is fixedly connected to the support seat, and the other end of the first hoop plate forms a connection end; one end of the second hoop plate is fixedly connected to the support seat, and the other end of the second hoop plate forms a connection end; the locking device includes a locking bolt and a locking nut; the locking bolt sequentially passes through the two connection ends and is connected to the locking nut to clamp the height adjustment rod between the first hoop plate and the second hoop plate, thereby preventing the height adjustment rod from rotating due to vibration during walking.

[0010] Preferably, the height adjustment rod includes an upper screwing rod and a lower threaded rod; the diameter of the upper screwing rod is smaller than the diameter of the lower threaded rod, and an open retaining ring is sleeved on the upper screwing rod, and the outer diameter of the open retaining ring is larger than the outer diameter of the lower threaded rod; the hoop device clamps the open retaining ring to clamp the upper screwing rod between the first hoop plate and the second hoop plate; the setting of the open retaining ring can effectively prevent the clamping force of the hoop device from being directly applied to the lower threaded rod and damaging the thread on the lower threaded rod.

[0011] Preferably, an S-shaped tension and compression sensor is integrated in the ankle joint connecting seat or a pressure sensor is installed on the sole of the foot.

[0012] Preferably, a stop portion cooperating with the support seat is provided on the ankle joint connecting seat, so that the included angle between the sole of the foot and the calf is not greater than 90°.

[0013] Preferably, a footrest is provided on the top surface of the foot sole; the footrest includes a heel support plate, a heel baffle, and side baffles on both sides of the heel support plate; straps for fixing the user's instep are provided on the side baffles; the relative fixation of the user's foot and the foot sole is achieved through the footrest to improve the exercise comfort of the user.

[0014] Preferably, the strap is arranged on the side baffle through a buckle, and the buckle is located outside the side baffle.

[0015] As described above, the foot posture adjustment structure of a lower limb exoskeleton of the present invention has the following beneficial effects:

[0016] When the spring reset mechanism is arranged on the front side or the rear side of the ankle joint, a dorsiflexion moment can be provided by the elastic member to avoid the problem of the front sole shoveling the ground when a lower limb dysfunction patient with foot drop complications wears this sole structure for exercise walking; when the spring reset mechanism is arranged on the outer side or the inner side of the ankle joint, the gait of a patient with varus or valgus foot can be improved by the elastic member during exercise walking, reducing the risk of ankle sprain; in addition, the initial deformation amount of the elastic member can be adjusted according to the ankle joint mobility of different patients in this application to avoid the problem of excessive stretching of the ankle ligaments when the patient uses it, improving the use comfort of the patient; moreover, since both ends of the telescopic force transmission rod are connected to the calf and the ankle joint seat by spherical hinges, the bending and torsion of the elastic member are effectively avoided, improving the service life of the elastic member. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A three-dimensional view of the foot posture adjustment structure (spring reset mechanism at the rear) provided by an embodiment of the present invention.

[0018] Figure 2 For Figure 1 The schematic diagram after removing the protective cover.

[0019] Figure 3 A partial cross-sectional view of the foot posture adjustment structure (spring reset mechanism at the rear) provided by an embodiment of the present invention in the initial state (i.e., the state without external force).

[0020] Figure 4 A partial cross-sectional view of the foot posture adjustment structure (spring reset mechanism at the rear) provided by an embodiment of the present invention in the state of maximum external force.

[0021] Figure 5 A partial cross-sectional view of the foot posture adjustment structure (spring reset mechanism at the front) provided by an embodiment of the present invention in the state of maximum external force.

[0022] Figure 6 A schematic diagram of the hoop device in the present invention on the support seat.

[0023] Figure 7 This is a schematic structural diagram of the height adjustment rod in the present utility model.

[0024] Figure 8 This is an exploded schematic diagram of the footrest and the footboard in the present utility model.

[0025] Explanation of reference numerals

[0026] Footboard 1, calf 2, ankle joint connecting seat 3, rotating shaft 31, protective cover 32, stop portion 33, support seat 4, height adjustment rod 41, upper screwing rod 411, lower threaded rod 412, hoop device 5, first hoop plate 51a, second hoop plate 51b, connecting end 511, adjusting bolt 521, spring return mechanism 6, telescopic force transmission rod 61, upper force transmission rod 611, lower force transmission rod 612, elastic member 62, upper ball head 71, lower ball head 72, footrest 8, heel support plate 81, heel baffle 82, side baffle 83, buckle 9. Detailed implementation manners

[0027] The following specific embodiments illustrate the implementation manners of the present utility model. Those skilled in the art can easily understand other advantages and effects of the present utility model from the content disclosed in this specification.

[0028] Please refer to Figures 1 to 8 . It should be noted that the structures, ratios, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification for those skilled in the art to understand and read, and are not used to limit the limiting conditions for the implementation of the present utility model. Therefore, they do not have technical essential significance. Any modification of the structure, change of the proportional relationship, or adjustment of the size, without affecting the effects that the present utility model can produce and the purposes that can be achieved, should still fall within the scope that can be covered by the technical content disclosed in the present utility model. At the same time, the terms such as "upper", "lower", "left", "right", "middle", and "one" cited in this specification are only for the convenience of clear description and are not used to limit the scope for the implementation of the present utility model. The change or adjustment of their relative relationships, without substantial change in the technical content, should also be regarded as the scope for the implementation of the present utility model.

[0029] The foot posture adjustment structure of the lower limb exoskeleton related to the present utility model is installed on the lower limb exoskeleton and is used to assist the lower limb dysfunction users with ankle diseases such as foot drop or clubfoot to exercise and walk, effectively improving their poor gait during exercise and walking.

[0030] Embodiment 1

[0031] As Figures 2 to 4As shown in the figure, the foot posture adjustment structure of the lower limb exoskeleton provided in the first embodiment is used to improve the gait of patients with lower limb dysfunction complicated with foot drop; the foot posture adjustment structure includes a foot sole 1, a calf 2, an ankle joint connecting seat 3, and a spring reset mechanism 6; one side of the rear end of the foot sole 1 is fixedly connected with a fixing plate, and the ankle joint connecting seat 3 is fixedly arranged on the top surface of the fixing plate; the calf 2 is hinged to the ankle joint connecting seat 3 through a rotating shaft 31 or a ball joint to form an ankle joint structure; a support seat 4 is fixedly arranged at the rear side of the lower part of the calf 2, and a stop portion 33 cooperating with the support seat 4 is arranged on the ankle joint connecting seat 3, so that the included angle between the foot sole 1 and the calf 2 is not greater than 90°; a height adjusting rod 41 with an adjustable bottom end height position is arranged on the support seat 4; the upper end of the spring reset mechanism 6 is connected to the bottom end of the height adjusting rod 41 through an upper ball joint, and the lower end of the spring reset mechanism 6 is ball-connected to the ankle joint connecting seat 3 through a lower ball joint; thus, when the bottom end height position of the height adjusting rod 41 is changed, the spring reset mechanism 6 can be elongated or shortened, so as to change the initial deformation amount of the spring reset mechanism 6, avoid the problem that the ligaments at the patient's ankle joint are overstretched, and improve the use comfort; in addition, since both ends of the spring reset mechanism 6 are ball joint structures, the spring reset mechanism 6 will not bend, twist, etc., and the service life of the spring reset mechanism 6 is improved.

[0032] Wherein, the spring reset mechanism 6 includes a telescopic force transmission rod 61 and an elastic member 62 arranged coaxially, and the elastic member 62 is a compression spring; the telescopic force transmission rod 61 includes an upper force transmission rod 611 and a lower force transmission rod 612 arranged coaxially, and the upper force transmission rod 611 and the lower force transmission rod 612 are slidably matched in their axial directions; the length adjustment of the telescopic force transmission rod 6 can be realized by sliding the upper force transmission rod 611 closer to or away from the lower force transmission rod 612; the upper end of the telescopic force transmission rod 61 is connected to the lower end of the height adjusting rod 41 through an upper ball joint, and the lower end of the telescopic force transmission rod 61 is connected to the ankle joint connecting seat 3 through a lower ball joint; the elastic member 62 is coupled between the upper force transmission rod 611 and the lower force transmission rod 612 and is used to drive the telescopic force transmission rod 61 to elongate so as to adjust the foot sole 1 without external force to the upturned state; thus, when the patient enters the late stage of support from the initial stage of support and the foot sole 1 bears external force, the foot sole 1 will drive the front end of the ankle joint connecting seat 3 to rotate downward under the action of the external force, so that the telescopic force transmission rod 61 and the compression spring are compressed; when the patient lifts the foot and the foot sole 1 loses the external force, the compression spring will reset and push the telescopic force transmission rod 61 to elongate, so as to push the front end of the ankle joint connecting seat 3 to rotate upward, thereby driving the foot sole 1 to upturn and avoiding the problem of the front sole shoveling the ground when the patient exercises and walks.

[0033] Specifically, the upper ball joint includes an upper ball head 71 and an upper ball seat, and the lower ball joint includes a lower ball head 72 and a lower ball seat; among them, the upper ball seat is fixed at the top end of the upper force transmission rod 611, and the upper ball head 71 is installed at the bottom end of the height adjustment rod 41; the lower ball seat is fixed at the bottom end of the lower force transmission rod 612, and the lower ball head 71 is installed on the ankle joint connecting seat 3.

[0034] After the ball joint structure is used for a long time, the ball head will be worn and needs to be replaced; in order to reduce the difficulty of replacing the ball head, the upper ball joint further includes a fixed ball seat fixed at the bottom end of the height adjustment rod 41, and the upper ball head 71 is rotatably arranged between the fixed ball seat and the upper ball seat in a separable manner; the lower ball joint further includes a ball socket opened on the ankle joint connecting seat 3, and the lower ball head 72 is rotatably arranged between the ball socket and the lower ball seat in a separable manner; in this way, the worn ball head can be conveniently replaced.

[0035] The coupling setting method of the spring 2 includes, but is not limited to, the following two setting forms, as long as it can push the telescopic force transmission rod 61 to move after the external force disappears to realize the upward tilt of the sole 1:

[0036] The first setting form: the elastic member 62 is coaxially sleeved on the telescopic force transmission rod 61, and both ends of the elastic member 62 are respectively abutted against the upper ball seat and the lower ball seat; the telescopic force transmission rod 61 is used to limit the bending of the elastic member 62 to ensure that the elastic member 62 can only undergo telescopic deformation.

[0037] The second setting form: inner holes are opened at the opposite ends of the upper force transmission rod 611 and the lower force transmission rod 612, one of the inner holes is a sliding hole, and the other inner hole is a spring installation hole; the elastic member 62 is placed in the spring installation hole, and both ends of the elastic member 62 are respectively abutted against the bottoms of the two inner holes.

[0038] Due to the influence of factors such as muscle strength and ligament elasticity, there are significant differences in the dorsiflexion range of motion among different patients; and the present application can change the height position of the bottom end of the height adjustment rod 41 according to the dorsiflexion range of motion of the patient, so as to realize the adjustment of the initial deformation amount of the elastic member 61, avoid problems such as ligament strain caused by excessive dorsiflexion when the patient lifts the foot, and improve the use safety and comfort.

[0039] Among them, the setting form of the height adjustment rod 41 is various, including but not limited to the following two setting forms:

[0040] The first setting form: the height adjustment rod 41 is installed on the support seat 4 by threading, and by changing the screwing depth of the height adjustment rod 41, the height position of the bottom end of the height adjustment rod 41 can be adjusted.

[0041] The second setting form: The height adjustment rod 41 is slidably installed on the support base 4, and a plurality of first adjustment holes are provided on the height adjustment rod 41 from top to bottom, and a second adjustment hole matching the first adjustment hole is provided on the support base 4; The bottom height position of the height adjustment rod 41 can be changed by inserting a pin through the second adjustment hole and matching it with the first adjustment holes at different heights.

[0042] For the convenience of adjustment, in this embodiment, the height adjustment rod 41 is threadedly installed on the support base 4.

[0043] Such as Figure 3 、 Figure 4 and Figure 7 As shown, a hoop device 5 is installed above the support base 4; The hoop device 5 includes a first hoop plate 51a, a second hoop plate 51b and a locking device; Among them, one end of the first hoop plate 51a is fixedly connected to the support base 4, and the other end of the first hoop plate 51a forms a connection end 511; One end of the second hoop plate 51b is fixedly connected to the support base 4, and the other end of the second hoop plate 51b forms a connection end 511; The locking device includes a locking bolt 521 and a locking nut; The locking bolt 521 passes through the two connection ends 511 in sequence and is connected to the locking nut to clamp the height adjustment rod 41 between the first hoop plate 51a and the second hoop plate 51b, thereby preventing the height adjustment rod 41 from rotating automatically due to vibration during the exercise walk.

[0044] Furthermore, as Figure 7 shown, the height adjustment rod 41 includes an upper screwing rod 411 and a lower threaded rod 412; The diameter of the upper screwing rod 411 is smaller than the diameter of the lower threaded rod 412, and an open retaining ring is sleeved on the upper screwing rod 411, and the outer diameter of the open retaining ring needs to be larger than the outer diameter of the lower threaded rod 412; The hoop device 5 is used to clamp the open retaining ring to clamp the upper screwing rod 411 by the deformation of the open retaining ring to prevent the upper screwing rod 411 from rotating automatically; Since the clamped position of the height adjustment rod 41 is on the upper screwing rod 411, the possibility of damage to the thread of the lower threaded rod 412 is effectively avoided, and the service life of the height adjustment rod 41 is improved.

[0045] Such as Figure 2 and Figure 8 As shown, a footrest 8 is provided on the top surface of the footboard 1; The footrest 8 includes a heel support plate 81, a heel baffle 82 and side baffles 83 on both sides of the heel support plate 81; Straps for fixing the user's instep are provided on the side baffles 83, and the relative fixation of the user's foot and the footboard 1 is realized through the footrest 8 and the straps to improve the comfort of the user during the exercise walk.

[0046] Furthermore, as Figure 2 and Figure 8 shown, the strap is arranged on the side baffle 83 through a buckle 9, and the buckle 8 is located outside the side baffle 83.

[0047] Further, an S-shaped tensile and compressive force sensor is integrated in the ankle joint connecting seat 3 or a pressure sensor is installed on the sole 1 to obtain the sole pressure by using the sensor, so as to facilitate the user to judge the recovery condition of the patient according to the change of the sole pressure.

[0048] Further, as Figure 1 and Figure 2 shown, a protective cover 32 covering the spring reset mechanism 6 is provided at the rear of the ankle joint connecting seat 3 to improve the aesthetics.

[0049] Embodiment 2

[0050] The foot posture adjustment structure of the lower limb exoskeleton in this embodiment is used to improve the gait of patients with lower limb dysfunction complicated with foot drop; the difference from Embodiment 1 is only the position and structure of the spring reset mechanism 6.

[0051] As Figure 5 shown, the support seat 4 is fixed on the front side of the lower part of the calf 2. The spring reset mechanism 6 includes a telescopic force transmission rod 61 and an elastic member 62 arranged coaxially. The elastic member 62 is a tension spring; the telescopic force transmission rod 61 includes an upper force transmission rod 611 and a lower force transmission rod 612 arranged coaxially, and the upper force transmission rod 611 and the lower force transmission rod 612 are slidably matched in their axial directions; the length adjustment of the telescopic force transmission rod 6 can be realized by the sliding approach or separation of the upper force transmission rod 611 and the lower force transmission rod 612; the upper end of the telescopic force transmission rod 61 is connected to the lower end of the height adjustment rod 41 through an upper ball joint, and the lower end of the telescopic force transmission rod 61 is connected to the front end of the ankle joint connecting seat 3 through a lower ball joint; the elastic member 62 is coupled between the upper force transmission rod 611 and the lower force transmission rod 612 and is used to drive the telescopic force transmission rod 61 to shorten so as to adjust the sole 1 without external force to the upturned state; thus, when the patient enters the late stage of support from the initial stage of support and the sole 1 bears external force, the sole 1 will drive the front end of the ankle joint connecting seat 3 to rotate downward under the action of the external force, so that the telescopic force transmission rod 61 and the tension spring are stretched; when the patient lifts the foot and the sole 1 loses the external force, the tension spring will reset and push the telescopic force transmission rod 61 to shorten, so as to push the front end of the ankle joint connecting seat 3 to rotate upward, thereby driving the sole 1 to upturn and avoiding the problem of the front sole shoveling the ground when the patient exercises and walks.

[0052] Specifically, the upper ball joint includes an upper ball head 71 fixed to the bottom end of the height adjustment rod 41 and an upper ball seat fixed to the top end of the upper force transmission rod 611, and the upper ball head 71 is inseparably installed in the upper ball seat; the lower ball joint includes a lower ball head 72 fixed to the ankle joint support seat 3 and a lower ball seat fixed to the bottom end of the lower force transmission rod 612, and the lower ball head is inseparably installed in the lower ball seat; the tension spring is coaxially sleeved on the telescopic force transmission rod 61, and both ends of the tension spring are respectively connected to the upper ball seat and the lower ball seat; thus, after the external force disappears, the telescopic force transmission rod 61 can be shortened under the action of the tension spring to push the sole 1 to tilt upwards.

[0053] Embodiment 3:

[0054] The foot posture adjustment structure of the lower limb exoskeleton in this embodiment is used to improve the gait of patients with lower limb dysfunction caused by clubfoot or valgus foot; the difference between this embodiment and Embodiment 1 lies only in: the position, structure and ankle joint form of the spring reset mechanism 6.

[0055] In this embodiment, the lower leg 2 is hinged to the ankle joint connecting seat 3 through a ball joint to form an ankle joint structure.

[0056] In this embodiment, the support seat 4 can be fixed to the outer side or the inner side of the lower part of the lower leg 2; the spring reset mechanism 6 includes a telescopic force transmission rod 61 and an elastic member 62 arranged coaxially; the telescopic force transmission rod 61 includes an upper force transmission rod 611 and a lower force transmission rod 612 arranged coaxially, and the upper force transmission rod 611 and the lower force transmission rod 612 are slidably matched in their axial directions; the length adjustment of the telescopic force transmission rod 6 can be realized by the sliding approach or separation of the upper force transmission rod 611 and the lower force transmission rod 612; the upper end of the telescopic force transmission rod 61 is connected to the lower end of the height adjustment rod 41 through an upper ball joint, and the lower end of the telescopic force transmission rod 61 is connected to the ankle joint connecting seat 3 through a lower ball joint; the elastic member 62 is coupled between the upper force transmission rod 611 and the lower force transmission rod 612 to adjust the sole 1 in a state of being lifted outwards or inwards when no external force is applied; thus, when a patient with clubfoot or valgus foot exercises and walks, the sole 1 will correct the clubfoot or valgus foot of the patient under the action of the elastic member 62.

[0057] Specifically, when it is necessary to improve the symptoms of clubfoot, if the support seat 4 is fixed to the outer side of the lower part of the lower leg 2, the elastic member 62 of the elastic reset mechanism 6 is a tension spring; if the support seat 4 is fixed to the inner side of the lower part of the lower leg 2, the elastic member 62 of the elastic reset mechanism 6 is a compression spring; when it is necessary to improve the symptoms of valgus foot, if the support seat 4 is fixed to the outer side of the lower part of the lower leg 2, the elastic member 62 of the elastic reset mechanism 6 is a compression spring; if the support seat 4 is fixed to the inner side of the lower part of the lower leg 2, the elastic member 62 of the elastic reset mechanism 6 is a tension spring.

[0058] In summary, the foot posture adjustment structure of the lower limb exoskeleton of the present utility model can effectively improve the gait of patients during exercise walking. In addition, in the present utility model, only by screwing the height adjustment rod 41 can the initial compression amount of the elastic member 62 be adjusted, effectively meeting the usage requirements of different patients, avoiding damage to the ankle ligaments of patients caused by excessive stretching during use, and improving the comfort of patients during use. The setting of the hoop device can clamp and fix the height adjustment rod 41 after the adjustment of the initial deformation amount is completed, preventing it from moving upward due to vibration during exercise walking and affecting the provision of the correction moment, and ensuring the effectiveness of ankle exercise.

[0059] The above embodiments are only illustrative of the principles and effects of the present utility model, and are not used to limit the present utility model. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present utility model. Therefore, all equivalent modifications or changes completed by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed by the present utility model should still be covered by the claims of the present utility model.

Claims

1. A foot posture adjustment structure of a lower limb exoskeleton, comprising a foot sole (1), a calf (2), an ankle joint connecting seat (3) and a spring reset mechanism (6); the ankle joint connecting seat (3) is fixedly arranged on the foot sole (1), and the ankle joint connecting seat (3) is hinged to the calf (2); characterized in that, A support base (4) is fixed to the lower part of the lower leg (2); a height adjustment rod (41) with an adjustable bottom height position is installed on the support base (4); the spring return mechanism (6) includes a telescopic force transmission rod (61) and an elastic member (62) arranged coaxially; the telescopic force transmission rod (61) includes an upper force transmission rod (611) and a lower force transmission rod (612) arranged coaxially, and the upper force transmission rod (611) and the lower force transmission rod (612) are slidably engaged in their axial directions; the upper end of the telescopic force transmission rod (61) is connected to the bottom end of the height adjustment rod (41) through an upper ball joint, and the lower end of the telescopic force transmission rod (61) is connected to the ankle joint connecting seat (3) through a lower ball joint; the elastic member (62) is coupled between the upper force transmission rod (611) and the lower force transmission rod (612) to adjust the sole (1) without external force to a preset posture.

2. The foot posture adjustment structure of a lower limb exoskeleton according to claim 1, characterized in that, The support base (4) is located at the rear side of the lower leg (2); the elastic member (62) is a compression spring; the upper ball joint includes an upper ball head (71) and an upper ball seat fixed to the top end of the upper force transmission rod (611), and the lower ball joint includes a lower ball head (72) and a lower ball seat fixed to the bottom end of the lower force transmission rod (612); the elastic member (62) is coaxially sleeved on the telescopic force transmission rod (61), and both ends of the elastic member (62) are respectively abutted against the upper ball seat and the lower ball seat.

3. The foot posture adjustment structure of a lower limb exoskeleton according to claim 1, characterized in that, The support base (4) is located at the front side of the lower leg (2); the elastic member (62) is a tension spring; the upper ball joint includes an upper ball head (71) and an upper ball seat fixed to the top end of the upper force transmission rod (611), and the upper ball head (71) is inseparably installed in the upper ball seat; the lower ball joint includes a lower ball head (72) and a lower ball seat fixed to the bottom end of the lower force transmission rod (612), and the lower ball head (72) is inseparably installed in the lower ball seat; the elastic member (62) is coaxially sleeved on the telescopic force transmission rod (61), and both ends of the elastic member (62) are respectively connected to the upper ball seat and the lower ball seat.

4. A foot posture adjustment structure of a lower limb exoskeleton according to any one of claims 1 to 3, characterized in that, The height adjustment rod (41) is threadedly installed on the support base (4).

5. The foot posture adjustment structure of a lower limb exoskeleton according to claim 4, characterized in that, A hoop device (5) is installed above the support base (4); the hoop device (5) includes a first hoop plate (51a), a second hoop plate (51b) and a locking device; one end of the first hoop plate (51a) is fixedly connected to the support base (4), and the other end of the first hoop plate (51a) forms a connection end (511); one end of the second hoop plate (51b) is fixedly connected to the support base (4), and the other end of the second hoop plate (51b) forms a connection end (511); the locking device includes a locking bolt (521) and a locking nut; the locking bolt (521) sequentially passes through the two connection ends (511) and is connected to the locking nut to clamp the height adjustment rod (41) between the first hoop plate (51a) and the second hoop plate (51b).

6. The foot posture adjustment structure of a lower limb exoskeleton according to claim 5, characterized in that, The height adjustment rod (41) includes an upper screwing rod (411) and a lower threaded rod (412); the diameter of the upper screwing rod (411) is smaller than that of the lower threaded rod (412), and an open retaining ring is sleeved on the upper screwing rod (411), and the outer diameter of the open retaining ring is larger than that of the lower threaded rod (412); the hoop device (5) clamps the open retaining ring to clamp the upper screwing rod (411) between the first hoop plate (51a) and the second hoop plate (51b).

7. A foot posture adjustment structure of a lower limb exoskeleton according to any one of claims 1 to 3, characterized in that An S-shaped tension and compression sensor is integrated in the ankle joint connecting seat (3) or a pressure sensor is installed on the foot sole (1).

8. The foot posture adjustment structure of a lower limb exoskeleton according to claim 2, characterized in that, A stop portion (33) that cooperates with the support seat (4) is provided on the ankle joint connecting seat (3) so that the included angle formed by the foot sole (1) and the calf (2) is not greater than 90°.

9. A foot posture adjustment structure of a lower limb exoskeleton according to any one of claims 1 to 3, characterized in that, A footrest (8) is provided on the top surface of the foot sole (1); the footrest (8) includes a heel support plate (81), a heel baffle (82) and side baffles (83) located on both sides of the heel support plate (81); straps for fixing the user's instep are provided on the side baffles (83).

10. The foot posture adjustment structure of a lower limb exoskeleton according to claim 9, characterized in that, The strap is arranged on the side baffle (83) through a buckle (9), and the buckle (9) is located outside the side baffle (83).

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