Ankle with limiting structure, artificial leg and robot

Abstract

The utility model discloses a kind of feet, artificial leg and robot with limiting structure, feet with limiting structure include: foot front, foot middle and foot rear portion;The foot middle includes: the dorsum of foot and the sole of foot connected with each other;The dorsum of foot is respectively connected with the rotation of the foot front, the foot rear portion;The rotation of the dorsum of foot to the foot front is limited;The rotation of the sole of foot to the foot rear portion is limited.This application utilizes the rotation range of each component of foot middle to limit each component mutually, so that the bionic effect of foot is better.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a foot, prosthetic leg, and robot with a limiting structure. Background Technology

[0002] Prostheses are fitted to robots and amputees to assist amputees and enable robots to walk. The prosthetic foot is a crucial structure in prostheses; during different movements and postures, the various components of the prosthetic foot rotate or deform relative to each other.

[0003] In existing technologies, the components of a prosthetic foot rotate relative to each other, but the range of rotation between these components is not limited, resulting in a significant difference between the prosthetic foot and a real foot.

[0004] Therefore, existing technologies still need to be improved and developed. Utility Model Content

[0005] The technical problem to be solved by this utility model is to provide a foot, prosthetic leg and robot with a limiting structure to address the above-mentioned defects of the prior art, so as to solve the problem that the overall stability of the prosthetic foot in the prior art is insufficient and there is a large gap between it and the real foot.

[0006] The technical solution adopted by this utility model to solve the technical problem is as follows:

[0007] A foot with a limiting structure, comprising: a forefoot, a middlefoot, and a posteriorfoot; the middlefoot includes: an instep and a sole connected to each other;

[0008] The instep is rotatably connected to the front and rear parts of the foot, respectively.

[0009] The instep limits the rotation of the forefoot.

[0010] The sole of the foot limits the rotation of the rear part of the foot.

[0011] The foot with a limiting structure, wherein the dorsal side of the foot includes:

[0012] Both the first and second side portions are located on the sole of the foot;

[0013] The back is connected to the first side and the second side;

[0014] Wherein, the front end of the first side portion and the front end of the second side portion both form a first inclined portion;

[0015] The first side portion and the second side portion limit the downward rotation of the forefoot portion;

[0016] The first inclined portion and the back limit the upward rotation of the front of the foot.

[0017] The foot with a limiting structure, wherein the rear portion of the foot includes:

[0018] The third and fourth sides;

[0019] The first baffle is disposed on the third side;

[0020] The second baffle is provided on the fourth side;

[0021] Wherein, the first stop bar limits the rotation of the first side portion;

[0022] The second stop bar limits the rotation of the second side.

[0023] The foot with a limiting structure, wherein the rear ends of the third side and the fourth side both form a second inclined portion;

[0024] The posterior part of the foot also includes:

[0025] The first connecting part is connected at both ends to the second inclined part of the third side and the second inclined part of the fourth side, respectively;

[0026] Wherein, the sole of the foot limits the front end of the third side portion and the front end of the fourth side portion;

[0027] The sole of the foot limits the second inclined portion and the first connecting portion.

[0028] The foot with a limiting structure, wherein the rear portion of the foot further includes:

[0029] The second connecting part is connected to the third side and the fourth side at both ends, respectively.

[0030] The foot with a limiting structure further includes:

[0031] The mounting part is rotatably connected to the second connecting part;

[0032] The instep limits the front end of the mounting part;

[0033] The rear part of the foot limits the rear end of the mounting part.

[0034] The foot with a limiting structure, wherein the mounting part includes:

[0035] The fifth and sixth sides are interconnected;

[0036] The second connecting portion is rotatably connected to the fifth side and the sixth side, respectively.

[0037] The foot with a limiting structure, wherein the rear portion of the foot includes:

[0038] The third baffle is provided on the third side;

[0039] A fourth baffle is provided on the fourth side.

[0040] The third stop bar limits the fifth side portion;

[0041] The fourth stop bar limits the sixth side portion.

[0042] A prosthetic leg, wherein it comprises a foot with a limiting structure as described in any of the above.

[0043] A robot comprising a foot with a limiting structure as described in any of the above, or a prosthetic leg as described above.

[0044] Beneficial effects: This application utilizes the mutual restriction of rotation range among the various components of the foot to achieve a better biomimetic effect. Attached Figure Description

[0045] Figure 1 This is a schematic diagram of the first structure of the foot with a limiting structure in an embodiment of this utility model.

[0046] Figure 2 This is a side view of the foot with a limiting structure in an embodiment of this utility model.

[0047] Figure 3 yes Figure 2 Sectional view along line A.

[0048] Figure 4 This is a schematic diagram of the second structure of the foot with a limiting structure in an embodiment of this utility model.

[0049] Figure 5 This is a schematic diagram of the third structure of the foot with a limiting structure in an embodiment of this utility model.

[0050] Figure 6 This is a top view of the foot with a limiting structure in an embodiment of this utility model.

[0051] Figure 7 This is a schematic diagram of the first structure of the posterior part of the foot in an embodiment of this utility model.

[0052] Figure 8 This is a schematic diagram of the second structure of the posterior part of the foot in an embodiment of this utility model.

[0053] Explanation of reference numerals in the attached figures:

[0054] 10. Front of foot;

[0055] 20. Midfoot; 21. Dorsal side of foot; 210. First inclined portion; 211. First lateral portion; 212. Second lateral portion; 213. Back; 22. Sole of foot;

[0056] 30. Rear part of the foot; 301. Second inclined part; 31. Third side part; 32. Fourth side part; 33. First stop bar; 34. Second stop bar; 35. First connecting part; 36. Second connecting part; 37. Third stop bar; 38. Fourth stop bar;

[0057] 40. Mounting section; 41. Fifth side section; 42. Sixth side section. Detailed Implementation

[0058] To make the objectives, technical solutions, and advantages of this utility model clearer and more explicit, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0059] Please also refer to Figures 1-8 This utility model provides some preferred embodiments of a foot with a limiting structure.

[0060] like Figure 1 As shown, the foot with the limiting structure can be either the left or right foot. The foot with the limiting structure includes a forefoot, located at the front of the foot. It also includes a posterior foot, located at the rear of the foot. Using the foot with the limiting structure as a reference, the walking direction is forward, the backward direction is backward, the left foot's position is left, the right foot's position is right, facing the ground is downward, and facing the sky is upward. The foot with the limiting structure includes a middle foot, located in the middle of the foot. The middle foot is located between the forefoot and posterior foot, rotatably connected to the forefoot, allowing the forefoot to rotate vertically relative to the middle foot. The posterior foot is also rotatably connected to the middle foot, allowing the posterior foot to rotate forward and backward relative to the middle foot. The foot with the limiting structure includes a mounting part, which connects to the residual leg or other prosthesis to achieve the installation of the foot with the limiting structure. The mounting part is located above the posterior foot and rotatably connected to it. Other structures can be installed on the mounting section, midfoot section, and rearfoot section to drive the relative rotation between the various components. The mounting section rotates back and forth relative to the rearfoot section, and when the mounting section rotates rearward, the rearfoot section limits the rear end of the mounting section.

[0061] like Figure 2As shown, the midfoot includes a sole, which is located at the lower part of the foot with a limiting structure. The midfoot includes a dorsum, which is located at the upper part of the foot with a limiting structure. When the mounting part rotates forward, the dorsum limits the front end of the mounting part. The midfoot is modeled after the shape of a human foot. The dorsum is rotatably connected to the forefoot and hindfoot, respectively. The front end of the dorsum is rotatably connected to the forefoot, and the rear end of the dorsum is rotatably connected to the hindfoot. The dorsum includes a back, which faces upward and is located at the upper part of the dorsum. The dorsum includes a side, which faces horizontally and is located between the back and the sole. The side is connected to the back and the sole, respectively. The front end of the side forms a first inclined portion. When the forefoot rotates upward, the first inclined portion and the back restrict the forefoot from continuing to rotate upward (see...). Figure 5 When the forefoot rotates downwards, the lower end of the lateral portion restricts further downward rotation of the forefoot. There are two lateral portions: a first lateral portion and a second lateral portion (see...). Figure 6 The first side is located on the left side, and the second side is located on the right side. The first side connects to the left side of the sole, and the second side connects to the right side of the sole (see...). Figure 3 The front end of the first side and the front end of the second side both form a first inclined portion. The rear end of the posterior part of the foot forms a second inclined portion, which restricts further posterior rotation of the posterior part when the posterior part of the foot rotates backward (see...). Figure 4 The front of the posterior part of the foot extends inward toward the middle of the foot. When the posterior part of the foot rotates forward, the sole of the foot restricts the posterior part of the foot from continuing to rotate forward.

[0062] like Figure 3 As shown, the posterior part of the foot includes a third side and a fourth side, with the third side located on the left and the fourth side on the right, and the third and fourth sides connected to each other. Both the third and fourth sides are located between the first and second sides. The rear ends of both the third and fourth sides form a second inclined portion. The posterior part of the foot includes a first connecting portion, with its two ends connecting to the third and fourth sides respectively, specifically connecting the second inclined portions of the third and fourth sides (see [reference]). Figure 8 The heel portion includes a first stop bar located on a third side. The first stop bar limits the movement of the first side. The heel portion also includes a second stop bar located on a fourth side. The second stop bar limits the movement of the second side. The limiting effect of the first and second stop bars restricts the range of forward rotation of the heel portion. When the first stop bar abuts against the first side, the second crotch portion abuts against the second side, and the front ends of the third and fourth sides abut against the sole of the foot, thus allowing for limiting in multiple positions. The mounting portion includes a fifth and a sixth side, which are interconnected. The heel portion is rotatably connected to the fifth and sixth sides, respectively.

[0063] like Figure 4 As shown, the first and third stop bars can be connected together (see...). Figure 7The first stop bar can be curved, and the third stop bar can be straight.

[0064] like Figure 5 As shown, the second and fourth stop bars can be connected together (see...). Figure 8 The second stop can be curved, and the fourth stop can be straight.

[0065] like Figure 7 As shown, the posterior part of the foot also includes: a second connecting part, the two ends of which are respectively connected to the third side and the fourth side. The mounting part is rotatably connected to the second connecting part, and the second connecting part is rotatably connected to the fifth side and the sixth side respectively (see...). Figure 5 ).

[0066] This application utilizes the mutual restriction of rotation range among the various components of the foot to achieve a better biomimetic effect.

[0067] Based on the foot with a limiting structure in any of the above embodiments, the present invention also provides a prosthetic leg, including the foot with a limiting structure as described in any of the above embodiments, as specifically as described above.

[0068] Based on any of the above embodiments, the present invention also provides a robot, including the foot with a limiting structure or the prosthetic leg described in any of the above embodiments, as specifically described above.

[0069] It should be understood that the application of this utility model is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A foot with a limiting structure, characterized in that, It includes: Forefoot, middle foot, and heel foot; The middle part of the foot includes: the instep and the sole of the foot connected to each other; The instep is rotatably connected to the front and rear parts of the foot, respectively. The instep limits the rotation of the forefoot. The sole of the foot limits the rotation of the rear part of the foot.

2. The foot with a limiting structure according to claim 1, characterized in that, The dorsum of the foot includes: Both the first and second side portions are located on the sole of the foot; The back is connected to the first side and the second side; Wherein, the front end of the first side portion and the front end of the second side portion both form a first inclined portion; The first side portion and the second side portion limit the downward rotation of the forefoot portion; The first inclined portion and the back limit the upward rotation of the front of the foot.

3. The foot with a limiting structure according to claim 2, characterized in that, The posterior part of the foot includes: The third and fourth sides; The first baffle is disposed on the third side; The second baffle is provided on the fourth side; Wherein, the first stop bar limits the rotation of the first side portion; The second stop bar limits the rotation of the second side.

4. The foot with a limiting structure according to claim 3, characterized in that, The rear ends of both the third side and the fourth side form a second inclined portion; The posterior part of the foot also includes: The first connecting part is connected at both ends to the second inclined part of the third side and the second inclined part of the fourth side, respectively; Wherein, the sole of the foot limits the front end of the third side portion and the front end of the fourth side portion; The sole of the foot limits the second inclined portion and the first connecting portion.

5. The foot with a limiting structure according to claim 3, characterized in that, The posterior part of the foot also includes: The second connecting part is connected to the third side and the fourth side at both ends, respectively.

6. The foot with a limiting structure according to claim 5, characterized in that, The foot with the limiting structure also includes: The mounting part is rotatably connected to the second connecting part; The instep limits the front end of the mounting part; The rear part of the foot limits the rear end of the mounting part.

7. The foot with a limiting structure according to claim 6, characterized in that, The mounting unit includes: The fifth and sixth sides are interconnected; The second connecting portion is rotatably connected to the fifth side and the sixth side, respectively.

8. The foot with a limiting structure according to claim 7, characterized in that, The posterior part of the foot includes: The third baffle is provided on the third side; A fourth baffle is provided on the fourth side. The third stop bar limits the fifth side portion; The fourth stop bar limits the sixth side portion.

9. A prosthetic leg, characterized in that, It includes a foot with a finite position structure as described in any one of claims 1 to 8.

10. A robot, characterized in that, It includes a foot with a limiting structure as described in any one of claims 1 to 8, or a prosthetic leg as described in claim 9.

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