CN-120002613-B - Multi-terrain ankle joint and foot cooperative exoskeleton device and application thereof

CN120002613BCN 120002613 BCN120002613 BCN 120002613BCN-120002613-B

Abstract

The application relates to the field of human body exercise equipment, in particular to a multi-terrain ankle joint and foot cooperative exoskeleton device. The device includes an ankle joint assist mechanism for providing assistance and auxiliary balance for ankle joint walking and a foot balancing mechanism for providing overall balance. The device realizes the dynamic compensation of feet through the foot balancing mechanism, ensures that the whole device is always in a balanced state, thereby being capable of adapting to various complex terrains and remarkably expanding the application scene. The ankle joint power assisting mechanism provides power compensation for the movement of the ankle joint, effectively prevents damage possibly caused by excessive rotation of the ankle joint, and through the cooperative work of the mechanisms, the accuracy of the power assisting force is remarkably improved, the stability and the supporting force of the whole device are enhanced, the foot of a wearer is ensured to be always stable, accidents such as falling or sprain are effectively prevented, the safety and the movement efficiency are greatly improved, and particularly, when the ankle joint is in outdoor complex terrain with height difference, the ankle joint power assisting mechanism has remarkable advantages in safety.

Inventors

JI ZHIFEI
CHEN JISHENG
WANG CHENYI
LIN XIAOCHUAN
WANG ZHANHUI

Assignees

塔斯动力(厦门)智能科技有限公司

Dates

Publication Date: 20260505
Application Date: 20250401

Claims (3)

1. The multi-terrain ankle joint and foot cooperative exoskeleton device is characterized by comprising an ankle joint power assisting mechanism (1) for assisting ankle joint walking and assisting balance and a foot balancing mechanism (2) for providing integral balance; The ankle joint power assisting mechanism (1) comprises a shank fixing mechanism (11) for fixing a shank and a power mechanism (12) for providing power, wherein the upper part of the power mechanism (12) is connected with the shank fixing mechanism (11); The foot balancing mechanism (2) comprises an upper bottom plate (201) for providing foot support, a lower bottom plate (202) for contacting the ground and a balancing assembly, wherein the upper bottom plate (201) and the lower bottom plate (202) are connected through the balancing assembly so that the relative distance and angle between the upper bottom plate (201) and the lower bottom plate (202) can be adjusted; A power-assisted disc (1207) and a driving component (1205) for driving the power-assisted disc (1207) to rotate are arranged in the power mechanism (12), and the lower part of the power-assisted disc (1207) is connected with the upper base plate (201) so that the driving component (1205) drives the power-assisted disc (1207) to rotate to drive the upper base plate (201) to move; the upper part of the power mechanism (12) is rotationally connected with the shank fixing mechanism (11) through a movable connecting piece, so that the power mechanism (12) and the shank fixing mechanism (11) can rotate relatively; the lower part of the power-assisted disc (1207) is connected with the upper bottom plate (201) through a movable connecting piece, so that the lower part of the power-assisted disc (1207) and the upper bottom plate (201) can rotate relatively; The power mechanism (12) comprises an inner rotating disc (1201) and an outer rotating disc (1202) which are mutually sleeved to form a shell, a booster disc (1207) and a rotating shaft (1206) which are positioned in the shell; One end of the driving part (1205) is rigidly connected to the inner side of the outer rotating disc (1202), one end of the rotating shaft (1206) is connected to the output end of the driving part (1205), the other end of the rotating shaft is rotationally connected to the inner side of the inner rotating disc (1201), and the rotating shaft (1206) is connected with the power-assisted disc (1207) through a transmission part (1204), so that the driving part (1205) drives the rotating shaft (1206) to rotate, and the power-assisted disc (1207) is driven to rotate through the transmission part (1204); Wherein the upper part of the shell is rotationally connected with the lower leg fixing mechanism (11), and the lower part of the power-assisted disc (1207) is rotationally connected with the upper bottom plate (201); The power assisting device comprises a power assisting disc (1207), a transmission piece (1204), an annular spring (1209), a plurality of buffer grooves (1208), a plurality of transmission pieces (1204) and a plurality of annular springs (1209), wherein the buffer grooves (1208) are formed in the middle through hole of the power assisting disc (1207) at intervals, the rotating shaft (1206) penetrates through the through hole and is connected with the power assisting disc (1207) in a rotating mode, the peripheries of the rotating shaft (1206) are rigidly connected with the plurality of transmission pieces (1204) matched with the buffer grooves (1208), one end of the annular spring (1209) is connected with the buffer grooves (1208), and the other end of the annular spring is connected with the transmission piece (1204) so that the rotating shaft (1206) is driven by the transmission piece (1204) and the annular spring (1209) to drive the power assisting disc (1207) to rotate; The power mechanism (12) further comprises two auxiliary side plates (1203), wherein the auxiliary side plates (1203) are positioned at two sides of the power assisting plate (1207) and are rotationally connected with the rotating shaft (1206), so that two sides of the power assisting plate (1207) are respectively connected with the two auxiliary side plates (1203); The ankle joint power assisting mechanism (1) further comprises a limiting measuring mechanism (13), wherein the limiting measuring mechanism (13) comprises a ranging rope box (1301), a pull rope (1302) and a fixing block (1303), an opening is formed in the middle of the ranging rope box (1301), the ranging rope box (1301) is sleeved on the rotating shaft (1206) through the opening, one side of the ranging rope box is fixedly connected with the driving component (1205), the fixed end of the pull rope (1302) is connected with the rotating shaft (1206) and is wound and accommodated in the ranging rope box (1301), the free end of the pull rope (1302) is connected with the fixing block (1303), the bottom of the fixing block (1303) is parallel to the bottom surface of the upper bottom plate (201), and the side surface of the fixing block (1303) is rigidly connected with the outer side surface of the upper bottom plate (201). The balance assembly comprises a universal connecting piece and a telescopic rod assembly, wherein the upper bottom plate (201) and the lower bottom plate (202) are respectively provided with a horizontal sensor; The upper side of the lower base plate (202) is provided with a second connecting lug group which comprises a lower rear left lug (215), a lower rear right lug (216) and a lower front lug (214) which are distributed in a triangular manner; The upper rear lug (212) is respectively connected with the lower rear left lug (215) and the lower rear right lug (216) through two telescopic rod assemblies, the lower front lug (214) is respectively connected with the upper front left lug (210) and the upper front right lug (211) through two telescopic rod assemblies, the upper front left lug (210) is connected with the lower rear left lug (215) through one telescopic rod assembly, and the upper front right lug (211) is connected with the lower rear right lug (216) through one telescopic rod assembly; The end part of the telescopic rod assembly is rotationally connected with the connection part of the first connection lug group and the second connection lug group by adopting a universal connecting piece; The shank fixing mechanism (11) comprises an airbag binding belt (1101), a shank fixing piece (1102), a bearing (1103) and a rotating rod (1104); The lower part of one side of the air bag binding belt (1101) is connected with the lower leg fixing piece (1102), a round hole is formed in the lower end of the lower leg fixing piece (1102), a bearing (1103) is arranged in the round hole, the rotating rod (1104) is sleeved in the bearing (1103), and the lower end of the rotating rod (1104) is rigidly connected with the outer rotating disc (1202); six telescopic rod assemblies are symmetrical on the left side and the right side of the upper base plate (201) and the lower base plate (202), and adjacent telescopic rod assemblies are distributed in a crossing mode, so that a triangle structure is formed between the adjacent telescopic rod assemblies and the plane where the upper base plate (201) or the lower base plate (202) is located.
2. The multi-terrain ankle and foot cooperative exoskeleton device of claim 1, wherein: The shank fixing mechanism (11) is rotatably connected with the power mechanism (12) through a bearing (1103) and a rotating rod (1104) so that the shank fixing mechanism (11) and the power mechanism (12) can rotate relatively; And/or the number of the groups of groups, The side surface of the upper bottom plate (201) is rotationally connected with the lower part of the power-assisted disc (1207) through a left end connecting piece, so that the lower part of the power-assisted disc (1207) and the upper bottom plate (201) can rotate relatively; And/or the number of the groups of groups, The foot balancing mechanism (2) further comprises a limiting damper (1304), wherein the lower part of the power-assisted disc (1207) is rotationally connected with the upper base plate (201) through a pin connecting piece, the upper part of the limiting damper (1304) is fixedly connected with the lower part of the power-assisted disc (1207), and the pin connecting piece penetrates through the limiting damper (1304) so that the limiting damper (1304) can limit the rotation angle of the lower part of the power-assisted disc (1207) and the upper base plate (201).
3. The multi-terrain ankle and foot cooperative exoskeleton device of claim 1, wherein: Two circular protrusions are arranged on each protrusion of the first connection protrusion group, and two circular protrusions are arranged on each protrusion of the second connection protrusion group; And/or the number of the groups of groups, The telescopic rod assembly comprises a driving sleeve rod (208) and a rod outer sleeve (207), wherein the driving sleeve rod (208) is sleeved in the rod outer sleeve (207), and the driving sleeve rod (208) can slide and stretch in the rod outer sleeve (207) so as to enable the length of the telescopic rod assembly to be telescopic; And/or the number of the groups of groups, The upper bottom plate (201) is provided with a binding band (3) for fixing the foot.

Description

Multi-terrain ankle joint and foot cooperative exoskeleton device and application thereof Technical Field The application relates to the field of human body exercise equipment, in particular to a multi-terrain ankle joint and foot cooperative exoskeleton device. Background The human body exoskeleton device is used as a wearable intelligent device and has wide application prospects in the fields of mountain climbing exploration, logistics transportation, fire rescue, medical rehabilitation and the like. The human exoskeleton device mainly enhances or restores the motor function of a wearer through a mechanical power assisting system, so that the activity efficiency of a human body is remarkably improved. However, there are two significant drawbacks to existing ankle and foot assist exoskeleton devices: First, most devices lack independent power systems, resulting in limited boosting effect; secondly, the existing device has strict requirements on the use environment, can only normally operate on flat ground, and is difficult to adapt to complex terrains. The limitations severely restrict the practicability and popularization value of the device. More serious, when the device is used under the condition of complex terrains, the device is easy to have the problems of mechanical failure and the like, not only the power assisting effect is influenced, but also the movement damage to the wearer is possibly caused, and the potential safety hazard is large. Accordingly, it is within the purview of one skilled in the art to develop an ankle and foot assist exoskeleton device having an independent power system that can accommodate a wide variety of terrain conditions. Disclosure of Invention In order to solve the defects of the prior art mentioned in the background art, the application provides a multi-terrain ankle joint and foot cooperative exoskeleton device, which solves the problems that the ankle joint exoskeleton device has no power and the device cannot be used in complex terrains, thereby improving the practicability and widening the use scene of the exoskeleton device. The application provides a multi-terrain ankle joint and foot cooperative exoskeleton device, which comprises an ankle joint power assisting mechanism for assisting ankle joint walking and assisting balance and a foot balancing mechanism for providing integral balance. The ankle joint power assisting mechanism comprises a shank fixing mechanism for fixing a shank and a power mechanism for providing power, wherein the upper part of the power mechanism is connected with the shank fixing mechanism, the foot balancing mechanism comprises an upper base plate for providing foot support, a lower base plate for contacting with the ground and a balancing component, the upper base plate and the lower base plate are connected through the balancing component so that the relative distance and angle between the upper base plate and the lower base plate can be adjusted, a power assisting disc and a driving component for driving the power assisting disc to rotate are arranged in the power mechanism, and the lower part of the power assisting disc is connected with the upper base plate so that the driving component drives the power assisting disc to rotate to drive the upper base plate to move. In one embodiment, the upper part of the power mechanism is rotatably connected with the shank fixing mechanism through a movable connecting piece so that the power mechanism and the shank fixing mechanism can rotate relatively, and the lower part of the power assisting disc is connected with the upper bottom plate through a movable connecting piece so that the lower part of the power assisting disc and the upper bottom plate can rotate relatively. In one embodiment, the power mechanism comprises an inner rotating disc, an outer rotating disc, a power assisting disc and a rotating shaft, wherein the inner rotating disc and the outer rotating disc are mutually sleeved to form a shell, the power assisting disc and the rotating shaft are positioned in the shell, one end of the driving part is rigidly connected to the inner side of the outer rotating disc, one end of the rotating shaft is connected to the output end of the driving part, the other end of the rotating shaft is rotatably connected to the inner side of the inner rotating disc, the rotating shaft is connected with the power assisting disc through a transmission piece, the driving part drives the rotating shaft to rotate, the power assisting disc is driven to rotate through the transmission piece, the upper part of the shell is rotatably connected with the lower leg fixing mechanism, and the lower part of the power assisting disc is rotatably connected with the upper bottom plate. In one embodiment, the power mechanism further comprises two auxiliary side plates, wherein the auxiliary side plates are positioned at two sides of the power assisting plate and are rotationally connected with the rotating shaft so tha