Shank mechanism of handicapped person auxiliary equipment based on double-foot moving platform

Abstract

The utility model relates to the technical field of handicapped person auxiliary equipment, in particular to a shank mechanism of handicapped person auxiliary equipment based on a double-foot moving platform, which comprises a first shank plate and a second shank plate, the first shank plate and the second shank plate are respectively connected with two inner side surfaces of an inner plate body; the two outer side faces of the inner plate body are connected with the two ends of the inner side face of the outer plate body through optical shafts, a flexion and extension motor is installed on the side face of the outer plate body, the side face of the inner plate body is connected with a turnover motor fixing base through bolts, a turnover motor is installed on the turnover motor fixing base, and the turnover motor is controlled through the flexion and extension motor and the turnover motor. The flexion and extension degree of freedom and the turnover degree of freedom are controlled, the sole self-adaptive degree of freedom is controlled by compression of a first spring and a second spring to achieve the effects of adapting to ground change and making the sole of a person more comfortable, and in the using process, power can be actively generated to assist the human body in walking by adapting to the flexion and extension degree of human joints; and the three functions of comfort, stability and reliability are achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of disabled people's auxiliary equipment, in particular to a lower leg mechanism of disabled people's auxiliary equipment based on double foot mobile platform. BACKGROUND

[0002] Traditional humanoid robots often use a single foot plate as its sole, due to the lack of corresponding degrees of freedom and buffering performance of the single sole structure, it is difficult for traditional robots to imitate human walking gait, thereby limiting further improvement in performance. As an important part of the foot structure of humanoid robots, robots without this degree of freedom are basically impossible to achieve human gait, and it is also the most important joint in the simplified model of the foot structure of the robot. For a long time, the robot ankle joint is rigid and single degree of freedom, resulting in insufficient movement ability of the robot foot under a large impact force.

[0003] The existing invention patent CN201711201789 discloses a double foot robot foot mechanism with active and passive compliance function, based on the field of hydraulic servo, through multiple hinged connections, the damper and the midfoot support frame, the rear sole, the elastic element and the front sole are connected, and can rotate relative to each other, providing one degree of freedom and can withstand a large impact. The rolling degree of freedom is added to the ankle joint to increase the adaptability of the robot to different gaits. The research in this patent emphasizes the importance of adding degrees of freedom to the foot plate, and in this invention, due to the small space of the foot, and the pedestrian will actively exert a force downward when walking, therefore, we choose to use two springs in the foot for passive deformation, which can change correspondingly when under stress, so that the foot bottom adapts to the ground, and the foot is more comfortable to step on.

[0004] Therefore, it is necessary to provide a lower leg mechanism of disabled people's auxiliary equipment based on double foot mobile platform to solve the above technical problems. UTILITY MODEL CONTENTS

[0005] To solve the above technical problems, the utility model provides a lower leg mechanism of disabled people's auxiliary equipment based on double foot mobile platform.

[0006] The lower leg mechanism of disabled people's auxiliary equipment based on double foot mobile platform provided by the utility model comprises: a first lower leg plate and a second lower leg plate, one end of the first lower leg plate and the second lower leg plate is connected with the two ends of a first rotating plate through bolts respectively, the other end of the first lower leg plate and the second lower leg plate is connected with the two ends of a second rotating plate through bolts respectively, the side surface of the first rotating plate is connected with the driving end of a joint motor, the joint motor is installed on the side surface of a thigh plate, the second rotating plate is connected with the other thigh plate through a bearing, the first lower leg plate and the second lower leg plate are connected with the two inner side surfaces of an inner plate body respectively,

[0007] The two outer sides of the inner plate body are connected to the two ends of the inner side of the outer plate body through an optical axis, the two sides of the outer plate body perpendicular to the sides connected to the outer plate body and the inner plate body are connected to the first side plate and the second side plate through a first rotating shaft and a second rotating shaft respectively, the first side plate and the second side plate are connected to the two ends of the upper part of the foot mechanism respectively, the side of the outer plate body is provided with a motor fixing seat, the motor fixing seat is provided with a flexion and extension motor, the driving end of the flexion and extension motor is connected to one end of a rocking wall, the other end of the rocking wall is connected to a connecting rod, the connecting rod is connected to the two sides of the foot mechanism through a connecting shaft respectively, the side of the inner plate body is connected to a turnover motor fixing seat through a bolt, the turnover motor fixing seat is provided with a turnover motor, and the driving end of the turnover motor is connected to the side of the outer plate body.

[0008] Preferably, the foot mechanism comprises a front foot baffle, the two outer sides of the front foot baffle are connected to the first foot medial plate and the second foot medial plate respectively, the inner sides of the first foot medial plate and the second foot medial plate are connected to the two outer sides of the rear foot baffle respectively, the outer side of the first foot medial plate is connected to one outer side of the front foot baffle through a first spring, the outer side of the second foot medial plate is connected to the other outer side of the front foot baffle through a second spring, the upper end of the first foot medial plate is connected to the first side plate, the upper end of the second foot medial plate is connected to the second side plate, and the sides of the first foot medial plate and the second foot medial plate are connected to the two ends of the connecting shaft.

[0009] Preferably, the side of the first calf plate is connected to a U-shaped first limiting plate, and the side of the second calf plate is connected to a U-shaped second limiting plate.

[0010] Preferably, the two ends of the first rotating shaft are connected to a first left locking ring and a first right locking ring respectively, and the two ends of the second rotating shaft are connected to a second left locking ring and a second right locking ring respectively.

[0011] Preferably, a first gasket is arranged between the first side plate and the first foot medial plate, the inner surface of the first gasket is sleeved on the outer surface of the first rotating shaft, a second gasket is arranged between the second side plate and the second foot medial plate, and the inner surface of the second gasket is sleeved on the outer surface of the second rotating shaft.

[0012] Preferably, one end of the two inner surfaces of the front foot baffle is connected to the two ends of an upper foot baffle, and the upper foot baffle is in a U shape.

[0013] Preferably, a plurality of front air holes are arranged on the side of the front foot baffle, and a plurality of rear air holes are arranged on the side of the rear foot baffle.

[0014] Preferably, the two ends of the optical axis are connected to a third front locking ring and a third rear locking ring respectively.

[0015] Compared with the related art, the calf mechanism of the auxiliary equipment for the disabled person based on the biped mobile platform has the following beneficial effects:

[0016] 1、The utility model discloses a through flexing motor and turnover motor control, realize flexing degree of freedom and turnover degree of freedom's control, the sole self -adaptation degree of freedom is controlled by the compression of first and second spring, reaches the effect of adapting ground change, makes the person sole more comfortable, in the use, can take the initiative to exert force, through the flexing degree of adaptation human joint and exert force auxiliary human walking, reach comfortable stable reliable three -fold effect;

[0017] 2、The utility model discloses a through setting up the foot front baffle of U type, can limit the upper end of foot, when using, prevent the space of upper end of foot too big, make foot appear to sway in foot mechanism, reduced the comfortable degree of wearing;

[0018] 3、The utility model discloses a through setting up front air hole and rear air hole, can when using, the air of outside enters the inboard of foot mechanism, convenient air exchange, prevent long -time wearing formula, foot humid, lead to the breeding of bacteria. DRAWINGS

[0019] Figure 1 It is a preferred embodiment structural schematic drawing of the calf mechanism of the auxiliary equipment for the disabled person based on the biped mobile platform provided by the utility model;

[0020] Figure 2 It is a preferred embodiment structural schematic drawing of the calf mechanism of the auxiliary equipment for the disabled person based on the biped mobile platform provided by the utility model; Figure 1 It is a preferred embodiment structural schematic drawing of the calf mechanism of the auxiliary equipment for the disabled person based on the biped mobile platform provided by the utility model;

[0021] Figure 3 It is a preferred embodiment structural schematic drawing of the calf mechanism of the auxiliary equipment for the disabled person based on the biped mobile platform provided by the utility model; Figure 1 It is a preferred embodiment structural schematic drawing of the calf mechanism of the auxiliary equipment for the disabled person based on the bipede mobile platform provided by the utility model;

[0022] Figure 4 It is a preferred embodiment structural schematic drawing of the calf mechanism of the auxiliary equipment for the disabled person based on the bipede mobile platform provided by the utility model; Figure 1 It is a preferred embodiment structural schematic drawing of the calf mechanism of the auxiliary equipment for the disabled person based on the bipede mobile platform provided by the utility model;

[0023] Figure 5 It is a preferred embodiment structural schematic drawing of the calf mechanism of the auxiliary equipment for the disabled person based on the bipede mobile platform provided by the utility model;

[0024] Figure 6 It is a preferred embodiment structural schematic drawing of the calf mechanism of the auxiliary equipment for the disabled person based on the bipede mobile platform provided by the utility model;

[0025] The figure label: 1, first shank plate; 2, second shank plate; 3, second rotary plate; 4, joint motor; 5, flexion motor; 6, motor fixing seat; 7, swing wall; 8, connecting rod; 9, connecting shaft; 10, foot mechanism; 11, thigh plate; 12, inner plate body; 13, outer plate body; 14, first side plate; 15, first rotary plate; 16, second side plate; 17, front foot baffle; 18, first midfoot plate; 19, rear foot baffle; 20, front air hole; 21, rear air hole; 22, first spring; 23, third front locking ring; 24, second midfoot plate; 25, second spring; 26, first limiting plate; 27, second limiting plate; 28, first left locking ring; 29, first right locking ring; 30, first gasket; 31, second left locking ring; 32, second right locking ring; 33, second gasket; 34, turnover motor fixing seat; 35, turnover motor; 36, upper foot baffle. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be described clearly and completely below in combination with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments. The components of the embodiments of the utility model described and shown in the drawings can be arranged and designed in various different configurations.

[0027] Therefore, the following detailed description of the embodiments of the utility model provided in the drawings is not intended to limit the scope of the claimed utility model, but only represents selected embodiments of the utility model. Based on the embodiments in the utility model, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the utility model.

[0028] The new type of shank mechanism of the disabled person assisting device based on a biped mobile platform is described in detail below in combination with specific embodiments.

[0029] Reference Figures 1 to 6 The shank mechanism of the disabled person assisting device based on a biped mobile platform provided by the utility model comprises: a first shank plate 1 and a second shank plate 2, one end of the first shank plate 1 and the second shank plate 2 is connected with the two ends of a first rotary plate 15 through bolts respectively, the other end of the first shank plate 1 and the second shank plate 2 is connected with the two ends of a second rotary plate 3 through bolts respectively, the side surface of the first rotary plate 15 is connected with the driving end of a joint motor 4, the joint motor 4 is installed on the side surface of a thigh plate 11, the second rotary plate 3 is connected with the other thigh plate 11 through a bearing, the first shank plate 1 and the second shank plate 2 are connected with the two inner side surfaces of an inner plate body 12 respectively,

[0030] The two outer sides of the inner plate body 12 are connected to the two ends of the inner side of the outer plate body 13 through an optical axis, the two sides of the outer plate body 13 connected to the sides of the outer plate body 13 and the inner plate body 12 are respectively connected to the first side plate 14 and the second side plate 16 through a first rotating shaft and a second rotating shaft, the first side plate 14 and the second side plate 16 are respectively connected to the two ends of the upper part of the foot mechanism 10, the side of the outer plate body 13 is provided with a motor fixing seat 6, the motor fixing seat 6 is provided with a flexion and extension motor 5, the driving end of the flexion and extension motor 5 is connected to one end of a rocking wall 7, the other end of the rocking wall 7 is connected to a connecting rod 8, the connecting rod 8 is connected to the two sides of the foot mechanism 10 through a connecting shaft 9, the side of the inner plate body 12 is connected to a turnover motor fixing seat 34 through a bolt, the turnover motor fixing seat 34 is provided with a turnover motor 35, and the driving end of the turnover motor 35 is connected to the side of the outer plate body 13.

[0031] In the embodiment of the utility model, reference Figure 3 、 Figure 4 As shown in the figure, the foot mechanism 10 includes a front foot baffle 17, the two outer sides of the front foot baffle 17 are respectively connected to a first foot middle side plate 18 and a second foot middle side plate 24, the inner sides of the first foot middle side plate 18 and the second foot middle side plate 24 are respectively connected to the two outer sides of a rear foot baffle 19, the outer side of the first foot middle side plate 18 is connected to one outer side of the front foot baffle 17 through a first spring 22, the outer side of the second foot middle side plate 24 is connected to the other outer side of the front foot baffle 17 through a second spring 25, the upper end of the first foot middle side plate 18 is connected to the first side plate 14, the upper end of the second foot middle side plate 24 is connected to the second side plate 16, and the sides of the first foot middle side plate 18 and the second foot middle side plate 24 are connected to the two ends of the connecting shaft 9.

[0032] It should be noted that: by setting the flexion and extension motor 5, the front and rear flexion and extension movements of the rocking wall 7 and the connecting rod 8 can be driven through the rotation of the flexion and extension motor 5, thereby realizing the flexion and extension movement of the foot mechanism 10, making the machine adapt to the change of human foot to assist the walking of people, and by setting the turnover motor 35, the whole foot mechanism 10 can be driven to rotate through the rotation of the turnover motor 35; when wearing, in order to ensure the comfort of the human body, the space of the inner cavity of the foot mechanism 10 is designed to be slightly larger than the volume of the human foot, and flexible materials such as TPU plastic, insoles and the like are inserted inside, thereby improving the comfort degree of wearing.

[0033] The calf mechanism comprises three degrees of freedom, namely a flexion and extension degree of freedom, a turnover degree of freedom and a sole self-adapting degree of freedom.

[0034] In the embodiment of the utility model, reference Figure 4 As shown in the figure, the side surface of the first calf plate 1 is connected with a U-shaped first limiting plate 26, and the side surface of the second calf plate 2 is connected with a U-shaped second limiting plate 27.

[0035] It should be noted that: by setting the first limiting plate 26 and the second limiting plate 27, the two sides of the calf can be limited and protected respectively by the first limiting plate 26 and the second limiting plate 27, so as to prevent uneven stress on the calf during use and affect the normal use of the device.

[0036] In the embodiment of the utility model, reference Figure 5 As shown in the figure, the two ends of the first rotating shaft are respectively connected with a first left locking ring 28 and a first right locking ring 29, and the two ends of the second rotating shaft are respectively connected with a second left locking ring 31 and a second right locking ring 32.

[0037] In the embodiment of the utility model, reference Figure 5 As shown in the figure, a first gasket 30 is arranged between the first side plate 14 and the first medial side plate 18, the inner surface of the first gasket 30 is sleeved on the outer surface of the first rotating shaft, a second gasket 33 is arranged between the second side plate 16 and the second medial side plate 24, and the inner surface of the second gasket 33 is sleeved on the outer surface of the second rotating shaft.

[0038] It should be noted that: by the first locking ring and the second locking ring, the connecting part of the first medial side plate 18 and the first side plate 14 and the connecting part of the second medial side plate 24 and the second side plate 16 can be limited, and by setting the first gasket 30 and the second gasket 33, the friction between the surfaces during rotation can be reduced while being limited.

[0039] In the embodiment of the utility model, reference Figure 6 As shown in the figure, one end of the two inner surfaces of the front foot plate 17 is respectively connected with the two ends of the upper foot plate 36, and the shape of the upper foot plate 36 is U-shaped.

[0040] It should be noted that: by setting the U-shaped upper foot plate 36, the upper end of the foot can be limited, so that in use, the space of the upper end of the foot is not too large, the foot in the foot mechanism 10 is prevented from shaking, and the comfort degree of wearing is reduced.

[0041] In the embodiment of the utility model, reference Figure 3 As shown in the figure, the side of the front foot baffle 17 is provided with a plurality of front air holes 20, and the side of the rear foot baffle 19 is provided with a plurality of rear air holes 21.

[0042] It should be noted that: by setting the front air hole 20 and the rear air hole 21, the air outside can enter the inside of the foot mechanism 10 during use, facilitating air exchange, preventing long-term wearing, foot moisture, and causing bacteria to breed.

[0043] In the embodiment of the utility model, reference Figure 3 As shown in the figure, the two ends of the optical axis are connected with the third front locking ring 23 and the third rear locking ring.

[0044] It should be noted that: by setting the third front locking ring 23 and the third rear locking ring, the outer plate body 13 and the inner plate body 12 can be limited, preventing the inner plate body 12 and the outer plate body 13 from moving forward and backward due to external force during use, affecting subsequent use.

[0045] The working principle of the lower leg mechanism of the auxiliary equipment for the disabled based on the double-foot mobile platform is as follows:

[0046] By setting the flexion and extension motor 5, the flexion and extension movement of the swing wall 7 and the connecting rod 8 can be driven through the rotation of the flexion and extension motor 5, thereby realizing the flexion and extension movement of the foot mechanism 10, so that the machine can adapt to the change of human foot and assist the walking of the person, and by setting the turnover motor 35, the entire foot mechanism 10 can be rotated through the rotation of the turnover motor 35, and the flexion and extension freedom and the turnover freedom can be controlled through the control of the flexion and extension motor 5 and the turnover motor 35, the foot bottom self-adaptive freedom is controlled by the compression of the first and second springs 25, the change of the ground is adapted, the foot bottom of the person is more comfortable, and in the use process, the power can be actively generated, the power is generated to assist the walking of the human body by adapting the flexion and extension degree of the human joint, and the three effects of comfort, stability and reliability are achieved.

[0047] The circuit and the control involved in the utility model are prior art, and will not be described in detail here.

[0048] The above is only an embodiment of the utility model, and does not limit the patent range of the utility model, and any equivalent structure or equivalent process transformation made by using the contents of the utility model specification and drawings, or direct or indirect application in other related technical fields, is also included in the patent protection range of the utility model.

Claims

1. A lower leg mechanism of an assistive device for the handicapped based on a bipedal mobile platform, characterized by, The utility model relates to a kind of bionic robot, including: First calf plate (1) and second calf plate (2), one end of the first calf plate (1) and second calf plate (2) is connected with the two ends of first rotary plate (15) respectively by bolt, the other end of the first calf plate (1) and second calf plate (2) is connected with the two ends of second rotary plate (3) respectively by bolt, the side of first rotary plate (15) is connected with the drive end of joint motor (4), the joint motor (4) is installed on the side of thigh plate (11), second rotary plate (3) is connected with another thigh plate (11) by bearing, the two inner sides of the first calf plate (1) and second calf plate (2) are connected with the two inner sides of inner plate body (12) respectively; The two outer sides of the inner plate body (12) are connected with the two ends of the inner side of outer plate body (13) by optical axis, the two sides of the outer plate body (13) and the side of the inner plate body (12) are perpendicular, and the two sides of the outer plate body (13) are connected with the first side plate (14) and the second side plate (16) by first rotation shaft and second rotation shaft respectively, the two ends of the upper part of foot mechanism (10) are connected with the first side plate (14) and the second side plate (16) respectively, the side of the outer plate body (13) is provided with motor fixing seat (6), the flexion motor (5) is installed on the motor fixing seat (6), the drive end of the flexion motor (5) is connected with one end of rocking wall (7), the other end of the rocking wall (7) is connected with connecting rod (8), the two sides of the foot mechanism (10) are connected by connecting shaft (9), the side of the inner plate body (12) is connected with turnover motor fixing seat (34) by bolt, the turnover motor (35) is installed on the turnover motor fixing seat (34), and the drive end of the turnover motor (35) is connected with the side of the outer plate body (13).

2. The lower leg mechanism of the paraplegic assisting device based on a biped mobile platform according to claim 1, wherein The foot mechanism (10) includes front foot baffle (17), the two outer sides of the front foot baffle (17) are connected with the first foot medial plate (18) and the second foot medial plate (24) respectively, the inner sides of the first foot medial plate (18) and the second foot medial plate (24) are connected with the two outer sides of rear foot baffle (19) respectively, the outer side of the first foot medial plate (18) is connected with one outer side of the front foot baffle (17) by first spring (22), the outer side of the second foot medial plate (24) is connected with the other outer side of the front foot baffle (17) by second spring (25), the upper end of the first foot medial plate (18) is connected with the first side plate (14), the upper end of the second foot medial plate (24) is connected with the second side plate (16), and the sides of the first foot medial plate (18) and the second foot medial plate (24) are connected with the two ends of connecting shaft (9).

3. The lower leg mechanism of the paraplegic assisting device based on a biped mobile platform according to claim 1, wherein The side of the first calf plate (1) is connected with U-shaped first limiting plate (26), and the side of the second calf plate (2) is connected with U-shaped second limiting plate (27).

4. The lower leg mechanism of the paraplegic assisting device based on a biped mobile platform according to claim 1, wherein The two ends of the first rotation shaft are connected with first left locking ring (28) and first right locking ring (29) respectively, and the two ends of the second rotation shaft are connected with second left locking ring (31) and second right locking ring (32) respectively.

5. The lower leg mechanism of the paraplegic assisting device based on a biped mobile platform according to claim 4, wherein The first gasket (30) is arranged between the first side plate (14) and the first midfoot plate (18), and the inner surface of the first gasket (30) is sleeved on the outer surface of the first rotating shaft; the second gasket (33) is arranged between the second side plate (16) and the second midfoot plate (24), and the inner surface of the second gasket (33) is sleeved on the outer surface of the second rotating shaft.

6. The lower leg mechanism of the paraplegic assisting device based on a biped mobile platform according to claim 2, wherein The two ends of the inner surfaces of the front foot plate (17) are respectively connected to the two ends of the upper foot plate (36), and the upper foot plate (36) is in the shape of a U.

7. The lower leg mechanism of the paraplegic assisting device based on a biped mobile platform according to claim 6, wherein The side surface of the front foot plate (17) is provided with a plurality of front air holes (20), and the side surface of the rear foot plate (19) is provided with a plurality of rear air holes (21).

8. The lower leg mechanism of the paraplegic assisting device based on a biped mobile platform according to claim 1, wherein The two ends of the optical axis are respectively connected to the third front locking ring (23) and the third rear locking ring.

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