Bionic exoskeleton ankle joint structure

Abstract

The utility model discloses an exoskeleton ankle joint structure based on bionics, wherein the joint universal shaft joint and the joint upper connecting piece constitute a rotary pair, the joint universal shaft joint and the joint lower connecting piece constitute a rotary pair, the rotary pair constituted by the joint universal shaft joint and the joint lower connecting piece and the rotary pair constituted by the joint universal shaft joint and the joint upper connecting piece are in a perpendicular relationship, and the outside of the joint universal shaft joint, the joint lower connecting piece and the joint upper connecting piece is covered by an elastic ligament sleeve. The utility model utilizes the elastic covering material of the elastic ligament sleeve to cover the remaining parts, realizes the multi-angle elastic reset tendency of the upper and lower joints of the whole ankle joint through the elastic material, replaces the torsional spring or universal joint mechanism of two rotary shafts, provides a multi-aspect restoring force, makes up the one-way stress defect of the torsional spring, simultaneously reduces the corresponding mechanism of the torsional spring, so that the whole joint mechanism only needs four main parts and corresponding connecting components, and the structure is simple and the effect is better.

Description

Technical Field

[0001] This utility model belongs to the field of exoskeletons, specifically relating to a biomimetic exoskeleton ankle joint structure. Background Technology

[0002] The ankle joint, as an important joint in the human body, connects the lower leg and the foot, and also occupies an important position in the field of exoskeletons.

[0003] Because the foot generally requires a high degree of flexibility, existing exoskeleton ankle joint structures usually use universal joint mechanisms or spring return mechanisms as the rotation mechanism of the ankle joint. However, universal joint mechanisms often lack restoring force and have poor joint movement follow-up. Spring return mechanisms have problems such as complex mechanisms or the inability of the spring to bear force in both directions, which leads to a decrease in the life of the mechanism. Summary of the Invention

[0004] In order to overcome the above-mentioned technical defects in the prior art, this utility model proposes a biomimetic exoskeleton ankle joint structure.

[0005] The technical solution to achieve the purpose of this utility model is as follows:

[0006] A biomimetic exoskeleton ankle joint structure includes a universal joint, a lower joint connector, and an upper joint connector;

[0007] The joint universal joint is connected to the lower joint connector and the upper joint connector respectively;

[0008] The universal joint and the upper joint connector form a rotary kinematic pair, and the universal joint and the lower joint connector form a rotary kinematic pair. The rotary kinematic pair formed by the universal joint and the lower joint connector is perpendicular to the rotary kinematic pair formed by the universal joint and the upper joint connector.

[0009] Furthermore, limiting grooves are provided at the connection points of the universal joint and the upper joint connector to limit the movement of the joint.

[0010] Furthermore, the universal joint and the upper joint connector are connected by a mortise and tenon joint.

[0011] One end of the joint universal joint is provided with a mortise, and the end where the joint upper connector and the joint universal joint are connected is provided with a tenon;

[0012] The mortise of the universal joint is connected to the tenon of the upper joint connector.

[0013] Furthermore, a first pin is provided at the connection between the universal joint and the upper joint connector for fixation.

[0014] Furthermore, the joint universal joint and the joint lower connector are connected by a second pin.

[0015] Limiting contacts are provided at the connection between the universal joint and the lower joint connector to limit the movement of the joint.

[0016] Furthermore, the outer sides of the joint universal joint, the lower joint connector, and the upper joint connector are covered with elastic ligament sleeves.

[0017] The elastic ligament sleeve forms a soft and flexible connection with the joint universal joint, the lower joint connector, and the upper joint connector, providing an elastic repositioning tendency.

[0018] Furthermore, the elastic ligament sleeve is fixedly connected to the joint universal joint, the lower joint connector, and the upper joint connector, respectively.

[0019] Furthermore, the elastic ligament sleeve is fixed to the joint universal joint, the lower joint connector, and the upper joint connector by bolts, rivets, or glue.

[0020] Compared with the prior art, the advantages of this utility model are as follows:

[0021] This invention has a simple structure. It uses an elastic ligament sleeve as an elastic covering material to cover the joint universal joint, the lower joint connector, and the upper joint connector. The elastic material enables the upper and lower joints of the entire ankle joint to achieve a multi-angle elastic return tendency. It replaces the torsion spring or universal joint mechanism with two rotating axes, provides multi-directional restoring force, makes up for the defect of the torsion spring that can only bear force in one direction, and reduces the mechanism corresponding to the torsion spring. This means that the entire joint mechanism only needs four main parts and corresponding connecting parts.

[0022] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0023] Figure 1 This is a schematic diagram and exploded view of the biomimetic exoskeleton ankle joint structure of this utility model.

[0024] Figure 2 This is a schematic diagram showing the connection between the universal joint and the upper joint connector of this utility model.

[0025] Figure 3 This is a schematic diagram showing the connection between the universal joint and the lower joint connector of this utility model.

[0026] Figure 4 This is a schematic diagram of the elastic ligament sleeve covering and fixing according to the present invention. Detailed Implementation

[0027] It is readily understood that, based on the technical solution of this utility model, various embodiments of this utility model can be conceived by those skilled in the art without altering its essential spirit. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solution of this invention and should not be considered as the entirety of this utility model or as a limitation or restriction on its technical solution. Rather, these embodiments are provided to enable those skilled in the art to gain a more thorough understanding of this utility model. Preferred embodiments of this utility model are described in detail below with reference to the accompanying drawings, which constitute a part of this application and, together with the embodiments of this utility model, serve to illustrate the innovative concept of this invention.

[0028] Example

[0029] Combination Figures 1 to 4 A biomimetic exoskeleton ankle joint structure includes a universal joint 2, a lower joint connector 5, and an upper joint connector 6.

[0030] The universal joint 2 is connected to the lower joint connector 5 and the upper joint connector 6 respectively;

[0031] The universal joint 2 and the upper joint connector 6 form a rotary kinematic pair, and the universal joint 2 and the lower joint connector 5 form a rotary kinematic pair. The rotary kinematic pair formed by the universal joint 2 and the lower joint connector 5 is perpendicular to the rotary kinematic pair formed by the universal joint 2 and the upper joint connector 6.

[0032] Limiting grooves are provided at the connection points of the universal joint 2 and the upper joint connector 6 to limit the movement of the joint; the universal joint 2 and the upper joint connector 6 are connected by a mortise and tenon structure.

[0033] One end of the universal joint 2 is provided with a mortise, and the end of the joint upper connector 6 connected to the universal joint 2 is provided with a tenon;

[0034] The mortise of the universal joint 2 is connected to the tenon of the upper joint connector 6.

[0035] A first pin 3 is also provided at the connection between the universal joint 2 and the upper joint connector 6 for fixing.

[0036] like Figure 2 As shown, an inner limiting groove is provided at the mortise of the universal joint 2, and an outer limiting groove is provided on both sides of the tenon of the upper joint connector 6; the shape of the connection between the universal joint 2 and the upper joint connector 6 corresponds to the shape of the inner limiting groove and the outer limiting groove; at the same time, a first pin 3 is also provided between the universal joint 2 and the upper joint connector 6 to fix the two together.

[0037] The joint structure, the limiting groove, and the pin together fix the connection between the joint universal joint 2 and the joint upper connector 6, limit the movement, and enable the rotational kinematic pair to stably realize the connection and movement of the upper part of the ankle joint.

[0038] Combination Figure 3 The universal joint 2 and the lower joint connector 5 are connected by a second pin 4; a limiting contact is provided at the connection between the universal joint 2 and the lower joint connector 5 to realize the movement limitation of the joint.

[0039] Similar to the upper joint, the joint universal joint 2 and the lower joint connector 5 are connected and fixed through limiting contacts and the second pin 4, and the movement is limited. The rotational kinematic pair can stably realize the connection and movement of the lower part of the ankle joint.

[0040] In addition, the outer sides of the joint universal joint 2, the lower joint connector 5, and the upper joint connector 6 are covered with elastic ligament sleeves 1;

[0041] The elastic ligament sleeve 1 and the joint universal joint 2, the lower joint connector 5, and the upper joint connector 6 form a soft and flexible connection, providing an elastic reset tendency.

[0042] The elastic ligament sleeve 1 is fixedly connected to the joint universal joint 2, the lower joint connector 5, and the upper joint connector 6, respectively. Figure 4 As shown, multiple fixed points are set to achieve a stable connection;

[0043] The elastic ligament sleeve 1 is fixed to the universal joint 2, the lower joint connector 5, and the upper joint connector 6 respectively by bolts, rivets, or glue. In this embodiment, bolts are used for fixation. After the elastic ligament sleeve 1 is fixed to the universal joint 2, the lower joint connector 5, and the upper joint connector 6, a soft and flexible connection is formed among the three, creating a tendency for repositioning elasticity.

[0044] This invention has a simple structure. It uses an elastic ligament sleeve 1 as an elastic covering material to cover the joint universal joint 2, the lower joint connector 5, and the upper joint connector 6. The elastic material enables the upper and lower joints of the entire ankle joint to achieve a multi-angle elastic return tendency. It replaces the torsion spring or universal joint mechanism with two rotating axes, provides multi-directional restoring force, makes up for the defect of the torsion spring that can only bear force in one direction, and reduces the mechanism corresponding to the torsion spring. This means that the entire joint mechanism only needs four main parts and corresponding connecting parts.

[0045] The above embodiments illustrate and describe the basic principles and main features of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from the spirit and scope of the invention, and all such changes and modifications fall within the scope of the invention as claimed.

Claims

1. A biomimetic exoskeleton ankle joint structure, characterized in that, Includes a universal joint (2), a lower joint connector (5), and an upper joint connector (6); The universal joint (2) is connected to the lower joint connector (5) and the upper joint connector (6) respectively; The universal joint (2) and the upper joint connector (6) form a rotary kinematic pair, and the universal joint (2) and the lower joint connector (5) form a rotary kinematic pair. The rotary kinematic pair formed by the universal joint (2) and the lower joint connector (5) is perpendicular to the rotary kinematic pair formed by the universal joint (2) and the upper joint connector (6).

2. The biomimetic exoskeleton ankle joint structure according to claim 1, characterized in that, Limiting grooves are provided at the connection points of the universal joint (2) and the upper connector (6) to limit the movement of the joint.

3. The biomimetic exoskeleton ankle joint structure according to claim 1, characterized in that, The universal joint (2) and the upper joint connector (6) are connected by a mortise and tenon structure; One end of the joint universal joint (2) is provided with a mortise, and the end where the joint upper connector (6) and the joint universal joint (2) are connected is provided with a tenon; The mortise of the universal joint (2) is connected to the tenon of the upper joint connector (6).

4. The biomimetic exoskeleton ankle joint structure according to claim 3, characterized in that, A first pin (3) is also provided at the connection between the universal joint (2) and the upper joint connector (6) for fixing.

5. The biomimetic exoskeleton ankle joint structure according to claim 1, characterized in that, The joint universal joint (2) and the joint lower connector (5) are connected by a second pin (4); Limiting contacts are provided at the connection between the universal joint (2) and the lower joint connector (5) to limit the movement of the joint.

6. The biomimetic exoskeleton ankle joint structure according to any one of claims 1-5, characterized in that, The outer sides of the universal joint (2), the lower joint connector (5), and the upper joint connector (6) are covered with elastic ligament sleeves (1); The elastic ligament sleeve (1) forms a soft and flexible connection with the joint universal joint (2), the lower joint connector (5), and the upper joint connector (6), providing an elastic repositioning tendency.

7. The biomimetic exoskeleton ankle joint structure according to claim 6, characterized in that, The elastic ligament sleeve (1) is fixedly connected to the joint universal joint (2), the lower joint connector (5), and the upper joint connector (6) respectively.

8. The biomimetic exoskeleton ankle joint structure according to claim 7, characterized in that, The elastic ligament sleeve (1) is fixed to the joint universal joint (2), the lower joint connector (5), and the upper joint connector (6) by bolts, rivets, or glue.

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