CN104083237B - There is the active drive ankle-foot orthosis of plantar pressure measuring ability - Google Patents

Abstract

The invention discloses an actively driven ankle-foot orthosis with a plantar pressure detection function. The actively driven ankle-foot orthosis includes a lower leg fixing component, a foot sensing component and an active driving component. The active drive assembly drives the active bevel gear through the DC motor, the active bevel gear meshes with the driven bevel gear, the driven bevel gear is installed on the transmission shaft, and the two ends of the transmission shaft have synchronous pulleys, synchronous belts and tensioning screws respectively. There are 7 thin-film pressure sensors and an accelerometer in the foot sensor assembly. The active driving ankle-foot orthosis of the present invention, on the one hand, designs the sole of the intelligent pressure sensor according to human bionics, uses spring steel sheets to connect and sense the heel and sole of the sole of the foot, and simulates the segmented structure of the sole of the human body to make the toes and soles It can bend freely during walking; on the other hand, an active driving degree of freedom is designed on the sagittal plane of the ankle joint, which can effectively provide the patient with the required movement through the drive of the DC motor while preventing the patient's foot from drooping. Power, reduce the patient's walking burden.

Description

Actively driven ankle-foot orthosis with plantar pressure detection

technical field

The present invention relates to an orthosis, more particularly, refers to an actively driven ankle-foot orthosis with a plantar pressure detection function.

Background technique

Orthotics are auxiliary medical devices that prevent or correct limbs and trunk deformities or treat bone, joint and neuromuscular diseases and compensate for their functions.

An ankle-foot orthosis is an orthosis with a structure from the calf to the sole of the foot that controls the movement of the ankle joint.

An important function of ankle-foot orthoses is to improve the abnormal gait of foot drop. Foot drop leads to the inability to dorsiflex the foot. When walking, the diseased foot is dragged or the lower limb is lifted higher. When landing, the toe always touches the foot. ground. Foot drop is a common complication in coma, paralysis, lower extremity dysfunction, and long-term bedridden patients.

At present, ankle-foot orthoses at home and abroad are roughly divided into two types: passive and active. Passive ankle-foot orthoses are the most common at present because of their simple structure and low cost. Usually this type of device is generally integral in structure, such as using spring steel sheets to realize the slight deformation of the joints of the patient during walking. The purpose of orthopedics is achieved by restricting the patient's abnormal large-angle movement. Passive AFOs generally contain no controls or electronics, but may have mechanical elements such as springs or dampers for motion control during gait. Because the structure is simple, there is no active driving power, it can not assist the patient to advance, and can only limit the excessive plantar flexion (foot drop) of the patient's ankle joint.

Passive orthoses only perform motion control and do not provide direct assistance for gait propulsion. In addition, the control of passive orthoses relies on activating springs, valves, and switches in an open-loop manner, which has poor robustness. , cannot adapt to changing walking conditions and changing functional tasks. Actively driven orthotics use external energy to overcome the above shortcomings.

Actively-actuated ankle-foot orthoses control ankle-foot movement through the use of sensors and controllable mechanisms. The power provided can not only prevent foot drop, but also be used to assist forward movement. However, most of the current active-driven ankle-foot orthoses use planetary wheels or ball screws to achieve deceleration, resulting in a cumbersome mechanism that is not suitable for daily wear.

Contents of the invention

In order to solve the above existing defects, the present invention designs an actively driven ankle-foot orthosis with a plantar pressure detection function. The active driving ankle-foot orthosis of the present invention, on the one hand, designs the sole of the intelligent pressure sensor according to human bionics, uses spring steel sheets to connect and sense the heel and sole of the sole of the foot, and simulates the segmented structure of the sole of the human body to make the toes and soles It can bend freely during walking; on the other hand, an active driving degree of freedom is designed on the sagittal plane of the ankle joint, which can effectively provide the patient with the required movement through the drive of the DC motor while preventing the patient's foot from drooping. Power, reduce the patient's walking burden.

An active-driven ankle-foot orthosis with a plantar pressure detection function of the present invention includes a lower leg fixing component (1), a foot sensing component (2) and an active driving component (3);

The calf fixation assembly (1) includes a first connecting piece (1A), a second connecting piece (1B), a third connecting piece (1C), a fourth connecting piece (1D), a fifth connecting piece (1E), a sixth Connector (1F), seventh connector (1G), eighth connector (1H), ninth connector (1J), tenth connector (1K), eleventh connector (1L), twelfth Connector (1M);

The first connecting piece (1A) is a U-shaped structural piece. The first connecting piece (1A) is provided with a first support arm (1A1), a second support arm (1A2) and a first transverse plate (1A3). The upper end of the third connecting piece (1C) is connected to the first arm (1A1). The upper end of the fourth connecting piece (1D) is connected to the second support arm (1A2). The third connecting arm (1M1) of the twelfth connecting piece (1M) is connected to the first transverse plate (1A3).

The second connecting piece (1B) is a U-shaped structural piece. The second connecting piece (1B) is provided with a third arm (1B1), a fourth arm (1B2) and a second transverse plate (1B3). The third arm (1B1) is provided with a front fixed panel (1B11) and a rear fixed panel (1B12), and the front fixed panel (1B11) of the third arm (1B1) is connected to the third connector (1C), The upper end of the seventh connecting piece (1G) is connected to the rear fixed panel (1B12) of the third arm (1B1). The fourth arm (1B2) is provided with a front fixed panel (1B21) and a rear fixed panel (1B22), and the front fixed panel (1B21) of the fourth arm (1B2) is connected to the fourth connector (1D), The upper end of the eighth connecting piece (1H) is connected to the rear fixed panel (1B22) of the fourth arm (1B2). A ninth connecting piece (1J) and a tenth connecting piece (1L) are connected to the second horizontal plate (1B3).

The lower end of the third connecting piece (1C) is provided with a first limiting guide groove (1C2) and a through hole (1C1); the first limiting guiding groove (1C2) is used to place the upper end of the thirteenth connecting piece (2G) A bump, A through hole (1C1) is used for the A ankle-foot joint shaft (35F) to pass through.

The lower end of the fourth connecting piece (1D) is provided with a second limiting guide groove (1D2) and a B through hole (1D1); the second limiting guiding groove (1D2) is used to place the upper end of the fourteenth connecting piece (2H) The B bump (2H3), the B through hole (1D1) is used for the B ankle-foot joint shaft (36F) to pass through.

The fifth connecting piece (1E) is fixedly installed on the third connecting piece (1C).

The sixth connecting piece (1F) is fixedly installed on the fourth connecting piece (1D).

The lower end of the seventh connecting piece (1G) is provided with a third limiting guide groove (1G1); A tensioning screw (33E) is placed in the third limiting guide groove (1G1).

The lower end of the eighth connecting piece (1H) is provided with a fourth limiting guide groove (1H1); a B tensioning screw (34E) is placed in the fourth limiting guide groove (1H1).

The ninth connecting piece (1J) is an L-shaped structural piece. The first connecting arm (1J1) of the ninth connecting piece (1J) is provided with a threaded hole, and the first supporting arm (1J2) of the ninth connecting piece (1J) is provided with a third bearing hole (1J3). A B ball bearing (32B) is installed in the bearing hole (1J3).

The tenth connecting piece (1K) is an L-shaped structural piece. The second connecting arm (1K1) of the tenth connecting piece (1K) is provided with a threaded hole, and the second supporting arm (1K2) of the tenth connecting piece (1K) is provided with a fourth bearing hole (1K3). A ball bearing (31B) is installed in the bearing hole (1K3).

The upper end of the eleventh connecting piece (1L) is fixedly installed on the fourth connecting piece (1D), and the lower end of the eleventh connecting piece (1L) is fixedly installed with a photoelectric encoder (35D).

The twelfth connecting piece (1M) is an L-shaped structural piece. The third connecting arm (1M1) of the twelfth connecting piece (1M) is provided with a threaded hole, and the third supporting arm (1M2) of the twelfth connecting piece (1M) is provided with a threaded hole for the reducer (3H) to pass through. Through hole (1M3).

The foot sensing component (2) includes a shoelace part, a sole part, a heel part, 7 film pressure sensors and an accelerometer;

Wherein, the shoelace part includes a first strap (2A), a second strap (2B), a third strap (2C), a fourth strap (2D), a fifth strap (2E), a first strap Belt connector (2X) and second strap connector (2Y);

Wherein, the sole part includes a steel plate foot plate (2Q), a toe sole plate (2T), a sole sole plate (2U), a first support palm (2I), a second support palm (2J), a third support palm (2K ), the fourth palm (2L), the fifth palm 2M, the sixth palm (2N), the seventh palm (2P); the first palm (2I), the second Support palm (2J), third support palm (2K), fourth support palm (2L), fifth support palm (2M), sixth support palm (2N) and seventh support palm (2P ) have the same bottom structure;

Wherein, the heel portion of the shoe includes a heel baffle (2F), a heel upper plate (2R), a heel lower plate (2S), a heel upper baffle (2V), a heel lower baffle (2W), a thirteenth connector ( 2G) and the fourteenth connector (2H);

The first strap connector (2X) is provided with AA through holes (2X1), AB through holes (2X2), and through holes for both ends of the first strap (2A) and the second strap (2B) to pass through ; AA through hole (2X1) is used to place the first membrane pressure sensor (21); AB through hole (2X2) is used to place the second membrane pressure sensor (22).

The second strap connector (2Y) is provided with an AC through hole (2Y1), an AD through hole (2Y2), and a through hole for both ends of the third strap (2C) and the fourth strap (2D) to pass through ; AC through hole (2Y1) is used to place the third membrane pressure sensor (23); AD through hole (2Y2) is used to place the fourth membrane pressure sensor (24).

There are BA through holes (2Q1), BB through holes (2Q2), BC through holes (2Q3), BD through holes (2Q4), BE through holes (2Q5), BF through holes (2Q6) on the steel foot plate (2Q) and BG through hole (2Q7), BA through hole (2Q1) for placing the first membrane pressure sensor (21), BB through hole (2Q2) for placing the second membrane pressure sensor (22), BC through hole (2Q3) Used to place the third membrane pressure sensor (23), BD through hole (2Q4) is used to place the fourth membrane pressure sensor (24), BE through hole (2Q5) is used to place the fifth membrane pressure sensor (25), BF through hole The hole (2Q6) is used to place the sixth membrane pressure sensor (26), and the BG through hole (2Q7) is used to place the seventh membrane pressure sensor (27).

AA concave cavity (2T1) and AB concave cavity (2T2) are arranged on the toe bottom plate (2T). The AA concave cavity (2T1) is used to fix the lower end surface of the first film pressure sensor (21), and the AB concave cavity (2T2) To fix the lower end face of the second membrane pressure sensor (22).

An AC cavity (2U1) and an AD cavity (2U2) are arranged on the sole plate (2U). The AC cavity (2U1) is used to fix the lower end surface of the third film pressure sensor (23), and the AD cavity (2U2) is used To fix the lower end face of the fourth membrane pressure sensor (24).

There are AE through holes (2R1), AF through holes (2R2), AG through holes (2R3) on the heel plate (2R), AE through holes (2R1) are used to place the fifth film pressure sensor (25), AF through holes The hole (2R2) is used to place the sixth membrane pressure sensor (26), and the AG through hole (2R3) is used to place the seventh membrane pressure sensor (27).

There are AE cavity (2S1), AF cavity (2S2), AG cavity (2S3) and AH cavity (2S4) on the heel lower plate (2S), and the AE cavity (2S1) is used to fix the fifth film pressure The lower end face of the sensor (25), the AF concave cavity (2S2) is used to fix the lower end face of the sixth thin film pressure sensor (26), and the AG concave cavity (2S3) is used to fix the lower end face of the seventh thin film pressure sensor (27), The AH cavity (2S4) is used to mount the accelerometer.

The bottom of the first support palm (2I) is provided with a round boss (2I1), and the round boss (2I1) is provided with a concave cavity (2I3) for placing the first film pressure sensor (21). The center of boss (2I1) is AE through hole (2I2), and this AE through hole (2I2) is used for screw to pass through, and the screw that passes through realizes the first pallet palm (2I) and the first film pressure sensor (21 ) is fixed on the upper end face;

The bottom of the second support palm (2J) is fixed to the upper end surface of the second film pressure sensor (22), the bottom of the third support palm (2K) is fixed to the upper end surface of the third film pressure sensor (23), and the fourth The bottom of the support palm (2L) is fixed to the upper end surface of the fourth film pressure sensor (24), the bottom of the fifth support palm (2M) is fixed to the upper end surface of the fifth film pressure sensor (25), and the sixth support The bottom of the palm (2N) is fixed to the upper end surface of the sixth film pressure sensor (26), and the bottom of the seventh palm (2P) is fixed to the upper end surface of the seventh film pressure sensor (27);

The thirteenth connector (2G) is provided with an AA transverse connector (2G1), an AA longitudinal connector (2G2) and an A bump; the AA transverse connector (2G1) is fixed to one side of the heel lower plate (2S), The other side of the heel lower plate (2S) is fixed to the AB transverse connector (2H1) of the fourteenth connector (2H); the upper end of the AA longitudinal connector (2G2) is connected to the third connector (1C), and the AA longitudinal connector (2H) is connected to the third connector (1C). One end of the heel baffle (2F) is connected to the connecting piece (2G2).

The fourteenth connecting piece (2H) is provided with the AB horizontal connecting piece (2H1), the AB vertical connecting piece (2H2) and the B bump (2H3); One side is fixed, the upper end of the AB longitudinal connector (2H2) is connected to the fourth connector (1D), and the other end of the heel baffle (2F) is connected to the AB longitudinal connector (2H2).

The active driving assembly (3) includes a driving part, a first transmission part, a second transmission part, a first tension part and a second tension part;

Among them, the photoelectric encoder (3F) and the reducer (3H) of the driving part are connected with the DC motor (3G), and the drive shaft (3J) protruding from the reducer (3H) is equipped with a driving bevel gear (3A). The bevel gear (3A) meshes with the driven bevel gear (3B) and the transmission shaft 3C.

Among them, the first transmission part includes A collar (31A), A synchronous pulley (31B), A ball bearing (31C), A key (31D), first synchronous belt (3D), E collar (35A) , C synchronous pulley (35B), code disc (35C), photoelectric encoder (35D), screw (35E), A ankle-foot joint shaft (35F), C key (35G); the first synchronous belt (3D) One end is socketed with the A synchronous pulley (31B), the other end of the first synchronous belt (3D) is socketed with the C synchronous pulley (35B), and the A synchronous pulley (31B) is connected to the transmission shaft (3C) through the A key (31D) one end of the connection. The A ankle-foot joint axis (35F) is connected to the B longitudinal link (2H2) of the fourteenth link (2H), and the A ankle-foot joint axis (35F) is placed in the B through hole of the fourth link (1D) In (1D1), the C synchronous pulley (35B) is installed on the A ankle-foot joint shaft (35F) through the C key (35G), and the code disc (35C) and E collar (35A) are installed on the A ankle-foot joint shaft On (35F), the end surface of the A ankle-foot joint shaft (35F) is threadedly connected with a screw (35E). The photoelectric encoder (35D) is installed on the eleventh connector (1L).

Wherein, the second transmission part includes B collar (32A), B synchronous pulley (32B), B ball bearing (32C), B key (32D), second synchronous belt (3E), F collar (36A) , D synchronous pulley (36B), code disc (35C), photoelectric encoder (35D), B lock nut (36E), B ankle-foot joint shaft (36F), D key (36G); the second synchronous belt ( One end of 3E) is connected to the B synchronous pulley (32B), the other end of the second synchronous belt (3E) is connected to the D synchronous pulley (36B), and the B synchronous pulley (32B) is connected to the transmission shaft through the B key (32D) The other end of (3C) is connected. The B ankle-foot joint shaft (36F) is connected to the A longitudinal connector (2G2) of the thirteenth connector (2G), and the B ankle-foot joint shaft (36F) is placed in the A through hole of the third connector (1C) In (1C1), the D synchronous pulley (36B) is installed on the B ankle-foot joint shaft (36F) through the D key (36G).

Wherein, the first tension part includes C collar (33A), C ball bearing (33C), A tension screw (33E), A lock nut (33F); one end of A tension screw (33E) passes through Behind the fourth limiting guide groove (1H1) on the eighth connecting piece (1H), there are A lock nut (33F), C ball bearing (33C) and C collar (33A) in sequence, and the C collar (33A) fasten the C ball bearing (33C) on the A tension screw rod (33E);

Wherein, the second tension part includes D collar (34A), D ball bearing (34C), B tension screw (34E), B lock nut (34F); one end of B tension screw (34E) passes through After the third limiting guide groove (1G1) on the seventh connecting piece (1G), the B lock nut (34F), the D ball bearing (34C) and the D collar (34A) are sequentially socketed, and the D collar (34A) fasten the D ball bearing (34C) on the B tension screw rod (34E);

The drive shaft (3C) is provided with a first shaft section (3C1), a second shaft section (3C2), a third shaft section (3C3), a fourth shaft section (3C4), a fifth shaft section (3C5), a sixth Shaft section (3C6) and seventh shaft section (3C7);

The second shaft section (3C2) is provided with a keyway for placing the A key (31D);

The fourth shaft section (3C4) is provided with a keyway (3C41) and a blind hole (3C42), and the driven bevel gear (3B) is realized by placing a key in the keyway (3C41) and a pin in the blind hole (3C42). Fixing with the transmission shaft (3C);

The sixth shaft section (3C6) is provided with a keyway for placing the B key (32D).

A collar (31A) is socketed on the first shaft section (3C1), A synchronous pulley (31B) is socketed on the second shaft section (3C2), and the inner ring of A ball bearing (31C) is socketed on the third On the shaft section (3C3), the outer ring of the A ball bearing (31C) is installed in the fourth bearing hole (1K3) of the tenth connecting piece (1K). B collar (32A) is socketed on the seventh shaft section (3C7), B synchronous pulley (32B) is socketed on the sixth shaft section (3C6), and the inner ring of B ball bearing (32C) is socketed on the fifth On the shaft section (3C5), the outer ring of the B ball bearing (32C) is installed in the third bearing hole (1L3) of the ninth connecting piece (1J).

The advantages of an actively driven ankle-foot orthosis with plantar pressure detection function designed by the present invention are:

①Realize the active drive of the ankle-foot orthosis, which has an active drive degree of freedom on the sagittal plane of the ankle joint, which enriches the function of the device. While preventing the patient's foot from drooping, it can effectively provide the patient with the drive of the DC motor. The power required to reduce the patient's walking burden.

②The mechanism is compact and light through the double transmission mechanism of bevel gear and synchronous belt, which is suitable for daily wear by patients. The feedback control of the whole device is realized through two sets of photoelectric encoder systems at the end of the motor and the ankle joint, making the motion control of the device more precise.

③According to human bionics, the intelligent pressure sensing sole is designed, and the spring steel sheet is used to connect the sensing heel and the sole of the foot, simulating the segmented structure of the sole of the human foot, so that the toes and soles can bend freely during walking, allowing the The patient is more comfortable to wear, and the 7-piece film pressure sensor and the accelerometer respectively detect the plantar pressure and walking acceleration of the patient in real time during walking, which are used for gait control.

Description of drawings

Fig. 1 is a structural diagram of an actively driven ankle-foot orthosis designed in the present invention with a plantar pressure detection function.

Fig. 1A is another structural diagram of an actively driven ankle-foot orthosis designed in the present invention with a plantar pressure detection function.

Fig. 2 is a structural diagram of the calf fixation component of the actively driven ankle-foot orthosis designed in the present invention.

Fig. 2A is an exploded view of the calf fixation assembly of the actively driven ankle-foot orthosis designed in the present invention.

Fig. 3 is a structural diagram of the foot sensor assembly of the actively driven ankle-foot orthosis designed in the present invention.

FIG. 3A is an exploded view of the foot sensing assembly of the active drive ankle-foot orthosis designed in accordance with the present invention.

Fig. 3B is a structural diagram of the supporting piece in the foot sensing component of the active driving ankle-foot orthosis designed in the present invention.

Fig. 4 is a structural diagram of the active drive assembly of the active drive ankle-foot orthosis designed in the present invention.

Fig. 4A is an exploded view of the active drive assembly of the active drive ankle-foot orthosis designed in the present invention.

Fig. 4B is a structural view of the transmission shaft in the active drive assembly of the active drive ankle-foot orthosis designed in the present invention.

1. Calf Fixation Components 1A. First connector 1A1. First arm 1A2. Second arm 1A3. The first horizontal board 1B. Second connector 1B1. Third arm 1B11. Front fixed panel 1B12. Rear fixed panel 1B2. Fourth arm 1B21. Front fixed panel 1B22. Rear fixed panel 1B3. Second horizontal board 1C. The third connector 1C1.A through hole 1C2. The first limit guide groove 1D. The fourth connector 1D1.B through hole 1D2. The second limit guide groove 1E. Fifth connector 1F. The sixth connector 1G. The seventh connector 1G1. The third limit guide groove 1H. Eighth connector 1H1. The fourth limit guide groove 1J. The ninth connector 1J1. First connecting arm 1J2. First support arm 1J3. The third bearing hole 1K. Tenth connector 1K1. Second connecting arm 1K2. Second support arm 1K3. Fourth bearing hole 1L. Eleventh connector 1M. The twelfth connector 1M1. Third connecting arm 1M2. The third support arm 1M3. Through hole 2. Foot sensor components 2A. First Strap 2B. Second Strap 2C. The third strap 2D. The fourth strap 2E. Fifth Strap 2F. Heel guard 2G. Thirteenth connector 2G1.AA Transverse connector 2G2.AA longitudinal connector 2H. Fourteenth connector 2H1.AB Transverse connector 2H2.AB longitudinal connector 2I. The first palm 2I1. round boss 2I2.AH through-hole 2I3. concave cavity 2J. The second palm 2K. The third palm 2L. The fourth palm 2M. The fifth palm 2N. The sixth palm 2P. The seventh palm 2Q. Steel foot plate 2Q1.BA through hole 2Q2.BB through hole 2Q3.BC through hole 2Q4.BD through hole 2Q5.BE through hole 2Q6.BF through hole 2Q7.BG Through hole 2R. Heel plate 2R1.AE through-hole 2R2.AF through hole 2R3.AG through-hole 2S. Heel lower plate 2S1.AE cavity 2S2.AF cavity 2S3.AG cavity 2S4.AH cavity

2T. Toe plate 2T1.AA cavity 2T2.AB cavity 2U. sole plate 2U1.AC cavity 2U2.AD cavity 2V. Heel on the stopper 2W. Lower heel block 2X. First Strap Connector 2X1.AA through hole 2X2.AB through hole 2Y. Second strap connector 2Y1.AC through hole 2Y2.AD through hole 21. The first membrane pressure sensor 22. Second membrane pressure sensor 23. The third membrane pressure sensor 24. Fourth membrane pressure sensor 25. Fifth membrane pressure sensor 26. The sixth membrane pressure sensor 27. The seventh membrane pressure sensor 3. Active drive components 3A. Driving bevel gear 3B. Driven bevel gear 3C. Transmission shaft 3C1. The first shaft section 3C2. Second shaft section 3C3. The third shaft section 3C4. The fourth shaft section 3C41. Keyway 3C42. Blind hole 3C5. Fifth shaft section 3C6. The sixth shaft segment 3C7. Seventh shaft segment 3D. The first timing belt 3E. The second timing belt 3F. Motor photoelectric encoder 3G. DC motor 3H. Reducer 3J. Drive spindle 31A.A collar 31B.A synchronous pulley 31C.A ball bearing 31D.A key 32A.B collar 32B.B synchronous pulley 32C.B ball bearing 32D.B key 33A.C collar 33C.C ball bearing 33E.A tensioning screw 33F.A lock nut 34A.D collar 34C.D ball bearing 34E.B tensioning screw 34F.B lock nut 35A.E collar 35B.C synchronous pulley 35C. Code disc 35D. Photoelectric encoder 35E. Screws 35F.A ankle-foot joint axis 35G.C key 36A.F collar 36B.D synchronous pulley 36F.B ankle-foot joint axis 36G.D key

detailed description

The present invention will be further described in detail below in conjunction with the accompanying drawings.

Referring to Fig. 1 and shown in Fig. 1A, an actively driven ankle-foot orthosis designed by the present invention has a plantar pressure detection function, and the actively driven ankle-foot orthosis includes a calf fixation assembly 1, a foot sensing assembly 2 and The active driving assembly 3 ; the foot sensing assembly 2 and the active driving assembly 3 are connected with the calf fixing assembly 1 .

Calf Fixation Components 1

Referring to Fig. 1, Fig. 1A, Fig. 2 and Fig. 2A, the calf fixation assembly 1 includes a first connecting part 1A, a second connecting part 1B, a third connecting part 1C, a fourth connecting part 1D, and a fifth connecting part 1E , the sixth connecting piece 1F, the seventh connecting piece 1G, the eighth connecting piece 1H, the ninth connecting piece 1J, the tenth connecting piece 1K, the eleventh connecting piece 1L, and the twelfth connecting piece 1M;

Wherein, the structure of the third connecting part 1C is the same as that of the fourth connecting part 1D, and they are placed opposite to each other;

Wherein, the structure of the fifth connecting part 1E and the sixth connecting part 1F are the same, and they are placed opposite to each other;

Wherein, the structure of the seventh connecting part 1G and the eighth connecting part 1H are the same, and they are placed opposite to each other;

Wherein, the structure of the ninth connecting part 1J and the tenth connecting part 1K are the same, and they are placed opposite to each other.

The first connecting piece 1A is a U-shaped structural piece. The first connecting member 1A is provided with a first arm 1A1 , a second arm 1A2 and a first horizontal plate 1A3 , and threaded holes are respectively provided on the first arm 1A1 , the second arm 1A2 and the first horizontal plate 1A3 . In order to reduce the weight of the first connecting member 1A, there are light-reducing holes on it. The upper end of the third connecting member 1C is connected to the first arm 1A1 . The upper end of the fourth connecting member 1D is connected to the second arm 1A2 . The third connecting arm 1M1 of the twelfth connecting member 1M is connected to the first horizontal plate 1A3 .

The second connecting piece 1B is a U-shaped structural piece. The second connecting piece 1B is provided with a third arm 1B1 , a fourth arm 1B2 and a second horizontal plate 1B3 , and the third arm 1B1 , the fourth arm 1B2 and the second horizontal plate 1B3 are respectively provided with threaded holes. In order to lighten the weight of the second connecting piece 1B, a lightening hole is opened on it. The third arm 1B1 is provided with a front fixed panel 1B11 and a rear fixed panel 1B12, the front fixed panel 1B11 of the third arm 1B1 is connected to the third connecting piece 1C, the rear fixed panel 1B12 of the third arm 1B1 The upper end of the seventh connecting piece 1G is connected to it. The fourth arm 1B2 is provided with a front fixed panel 1B21 and a rear fixed panel 1B22, the front fixed panel 1B21 of the fourth arm 1B2 is connected to the fourth connector 1D, and the rear fixed panel 1B22 of the fourth arm 1B2 The upper end of the eighth connecting piece 1H is connected thereto. A ninth connecting piece 1J and a tenth connecting piece 1L are connected to the second horizontal plate 1B3 .

The third connecting piece 1C is provided with a plurality of weight-reducing holes and threaded holes, and the lower end of the third connecting piece 1C is provided with a first limiting guide groove 1C2 and A through hole 1C1; the first limiting guiding groove 1C2 is used to place The A bump on the upper end of the thirteenth connecting piece 2G, the first limiting guide groove 1C2 can limit the movement range of the A bump; the A through hole 1C1 is used for the A ankle-foot joint shaft 35F to pass through.

The fourth connecting piece 1D is provided with a plurality of weight-reducing holes and threaded holes, and the lower end of the fourth connecting piece 1D is provided with a second limiting guide groove 1D2 and a B through hole 1D1; the second limiting guiding groove 1D2 is used to place The B bump 2H3 on the upper end of the fourteenth connecting piece 2H, and the second limiting guide groove 1D2 can limit the movement range of the B bump 2H3; the B through hole 1D1 is used for the B ankle-foot joint shaft 36F to pass through.

The fifth connecting piece 1E is provided with a plurality of lightening holes and threaded holes, and the fifth connecting piece 1E is fixedly installed on the third connecting piece 1C.

The sixth connecting piece 1F is provided with a plurality of lightening holes and threaded holes, and the sixth connecting piece 1F is fixedly installed on the fourth connecting piece 1D. Under the combination of the fifth connecting part 1E and the sixth connecting part 1F, the person's calf can be clamped by binding with a rope or a belt.

The upper end of the seventh connecting piece 1G is provided with a threaded hole, and the lower end of the seventh connecting piece 1G is provided with a third limiting guide groove 1G1; A tensioning screw 33E is placed in the third limiting guiding groove 1G1. When the A tension screw 33E is adjusted to reach a proper position in the third limiting guide groove 1G1, it is tightened by the A locking nut 33F.

The upper end of the eighth connecting piece 1H is provided with a threaded hole, and the lower end of the eighth connecting piece 1H is provided with a fourth limiting guide groove 1H1; a B tensioning screw 34E is placed in the fourth limiting guiding groove 1H1. After adjusting the B tensioning screw 34E to reach a proper position in the fourth limiting guide groove 1H1, tighten it through the B locking nut 34F.

The ninth connecting piece 1J is an L-shaped structural piece. The first connecting arm 1J1 of the ninth connecting piece 1J is provided with a threaded hole, and the first supporting arm 1J2 of the ninth connecting piece 1J is provided with a third bearing hole 1J3, and a B ball bearing 32B is installed in the third bearing hole 1J3 .

The tenth connecting piece 1K is an L-shaped structural piece. The second connecting arm 1K1 of the tenth connecting piece 1K is provided with a threaded hole, and the second supporting arm 1K2 of the tenth connecting piece 1K is provided with a fourth bearing hole 1K3, and the A ball bearing 31B is installed in the fourth bearing hole 1K3. .

The upper end of the eleventh connecting piece 1L is fixedly mounted on the fourth connecting piece 1D, and the lower end of the eleventh connecting piece 1L is fixedly mounted with a photoelectric encoder 35D.

The twelfth connecting piece 1M is an L-shaped structural piece. The third connecting arm 1M1 of the twelfth connecting part 1M is provided with a threaded hole, and the third supporting arm 1M2 of the twelfth connecting part 1M is provided with a through hole 1M3 through which the speed reducer 3H passes.

In the present invention, the shank fixation assembly 1 is assembled as follows: the third connecting piece 1C, the fourth connecting piece 1D and the twelfth connecting piece 1M are connected to the first connecting piece 1A; the third connecting piece 1B is connected to the second connecting piece 1B; The connecting piece 1C, the fourth connecting piece 1D, the seventh connecting piece 1G, the eighth connecting piece 1H, the ninth connecting piece 1J and the tenth connecting piece 1K; the first connecting piece 1A is parallel to the second connecting piece 1B; the third connecting piece The fifth connecting part 1E and the thirteenth connecting part 2G are connected to the connecting part 1C; the sixth connecting part 1F, the eleventh connecting part 1L and the fourteenth connecting part 2H are connected to the fourth connecting part 1D.

Foot Sensing Component 2

Referring to Fig. 1, Fig. 1A, Fig. 3, and Fig. 3A, the foot sensor assembly 2 includes a shoelace part, a sole part, a heel part, 7 film pressure sensors and an accelerometer;

Among them, the seven thin-film pressure sensors refer to the first thin-film pressure sensor 21, the second thin-film pressure sensor 22, the third thin-film pressure sensor 23, the fourth thin-film pressure sensor 24, the fifth thin-film pressure sensor 25, and the sixth thin-film pressure sensor 26. and the seventh membrane pressure sensor 27;

Wherein, the shoelace part includes a first strap 2A, a second strap 2B, a third strap 2C, a fourth strap 2D, a fifth strap 2E, a first strap connector 2X and a second strap connection piece 2Y;

Wherein, the sole part includes a steel plate foot plate 2Q, a toe sole plate 2T, a sole sole plate 2U, a first support palm 2I, a second support palm 2J, a third support palm 2K, a fourth support palm 2L, and a fifth support palm. Palm 2M, the sixth palm 2N, the seventh palm 2P; the first palm 2I, the second palm 2J, the third palm 2K, the fourth palm 2L, the palm The bottom structures of the five supporting palms 2M, the sixth supporting palms 2N and the seventh supporting palms 2P are the same;

Wherein, the heel portion includes a heel baffle 2F, a heel upper plate 2R, a heel lower plate 2S, a heel upper baffle 2V, a heel lower baffle 2W, a thirteenth connecting piece 2G and a fourteenth connecting piece 2H; The structure of the third connecting part 2G is the same as that of the fourteenth connecting part 2H.

Referring to Fig. 3A, the first strap connector 2X is provided with AA through holes 2X1, AB through holes 2X2, and through holes for the two ends of the first strap 2A and the second strap 2B to pass through; the AA through holes 2X1 is used to place the first membrane pressure sensor 21 ; the AB through hole 2X2 is used to place the second membrane pressure sensor 22 .

Referring to Fig. 3A, the second strap connector 2Y is provided with an AC through hole 2Y1, an AD through hole 2Y2, and a through hole for passing through both ends of the third strap 2C and the fourth strap 2D; the AC through hole 2Y1 is used to place the third membrane pressure sensor 23 ; AD through hole 2Y2 is used to place the fourth membrane pressure sensor 24 .

Referring to Fig. 3A, the steel foot plate 2Q is provided with BA through-holes 2Q1, BB through-holes 2Q2, BC through-holes 2Q3, BD through-holes 2Q4, BE through-holes 2Q5, BF through-holes 2Q6 and BG through-holes 2Q7. Hole 2Q1 is used to place the first membrane pressure sensor 21, BB through hole 2Q2 is used to place the second membrane pressure sensor 22, BC through hole 2Q3 is used to place the third membrane pressure sensor 23, BD through hole 2Q4 is used to place the fourth membrane For the pressure sensor 24 , the BE through hole 2Q5 is used to place the fifth membrane pressure sensor 25 , the BF through hole 2Q6 is used to place the sixth membrane pressure sensor 26 , and the BG through hole 2Q7 is used to place the seventh membrane pressure sensor 27 .

Referring to Fig. 3A, the toe soleplate 2T is provided with AA concave cavity 2T1 and AB concave cavity 2T2, the AA concave cavity 2T1 is used to fix the lower end surface of the first thin-film pressure sensor 21, and the AB concave cavity 2T2 is used to fix the second thin-film pressure sensor 2T2. The lower end face of the sensor 22.

Referring to Fig. 3A, AC concave cavity 2U1 and AD concave cavity 2U2 are provided on sole plate 2U, AC concave cavity 2U1 is used to fix the lower end surface of the third membrane pressure sensor 23, and AD concave cavity 2U2 is used to fix the fourth membrane pressure sensor 2U2. The lower end face of the sensor 24.

Referring to Fig. 3A, there are AE through-holes 2R1, AF through-holes 2R2, and AG through-holes 2R3 on the heel upper plate 2R, AE through-holes 2R1 are used to place the fifth membrane pressure sensor 25, and AF through-holes 2R2 are used to place the fifth membrane pressure sensor 25. The sixth membrane pressure sensor 26 and the AG through hole 2R3 are used to place the seventh membrane pressure sensor 27 .

Referring to Fig. 3A, the heel lower plate 2S is provided with AE cavity 2S1, AF cavity 2S2, AG cavity 2S3 and AH cavity 2S4, and the AE cavity 2S1 is used to fix the lower end surface of the fifth film pressure sensor 25, The AF cavity 2S2 is used to fix the lower end surface of the sixth film pressure sensor 26 , the AG cavity 2S3 is used to fix the lower end surface of the seventh film pressure sensor 27 , and the AH cavity 2S4 is used to install the accelerometer.

Referring to Fig. 3A and shown in Fig. 3B, the bottom of the first supporting piece palm 2I is provided with a circular convex platform 2I1, and the concave cavity 2I3 for placing the first film pressure sensor 21 is provided on the circular convex platform 2I1. The center of the table 2I1 is the AE through hole 2I2, which is used for the passage of screws, and the passed screws realize the fixing of the first supporting piece palm 2I and the upper end surface of the first film pressure sensor 21, that is, the first supporting piece The bottom of the palm 2I is fixed to the upper end surface of the first thin film pressure sensor 21, and the lower end surface of the first thin film pressure sensor 21 is fixed in the AA cavity 2T1 of the toe soleplate 2T. In the same way:

The bottom of the second palm 2J is fixed to the upper end surface of the second film pressure sensor 22, and the lower end surface of the second film pressure sensor 22 is fixed in the AB cavity 2T2 of the toe soleplate 2T;

The bottom of the third palm 2K is fixed to the upper end surface of the third film pressure sensor 23, and the lower end surface of the third film pressure sensor 23 is fixed in the AC cavity 2U1 of the sole plate 2U;

The bottom of the fourth palm 2L is fixed to the upper end surface of the fourth film pressure sensor 24, and the lower end surface of the fourth film pressure sensor 24 is fixed in the AD cavity 2U2 of the sole plate 2U;

The bottom of the fifth palm 2M is fixed to the upper end surface of the fifth film pressure sensor 25, and the lower end surface of the fifth film pressure sensor 25 is fixed in the AE cavity 2S1 of the heel lower baffle 2S;

The bottom of the sixth palm 2N is fixed to the upper end surface of the sixth film pressure sensor 26, and the lower end surface of the sixth film pressure sensor 26 is fixed in the AF cavity 2S2 of the heel lower baffle 2S;

The bottom of the seventh palm 2P is fixed to the upper end surface of the seventh film pressure sensor 27, and the lower end surface of the seventh film pressure sensor 27 is fixed in the AG cavity 2S3 of the heel lower baffle 2S.

Referring to Fig. 3A, the thirteenth connector 2G is a T-shaped structure, on which there are AA transverse connectors 2G1, AA longitudinal connectors 2G2 and A bumps; AA transverse connectors 2G1 and a heel lower plate 2S The side is fixed, the other side of the heel lower plate 2S is fixed with the AB transverse connector 2H1 of the fourteenth connector 2H; the upper end of the AA longitudinal connector 2G2 is connected with the third connector 1C, and the AA longitudinal connector 2G2 is connected with a heel One end of the baffle 2F.

Referring to Fig. 3A, the fourteenth connecting piece 2H is a T-shaped structure, on which there are AB horizontal connecting piece 2H1, AB vertical connecting piece 2H2 and B bump 2H3; the AB horizontal connecting piece 2H1 and the lower heel plate 2S The other side is fixed, the upper end of the AB longitudinal connecting piece 2H2 is connected to the fourth connecting piece 1D, and the B bump 2H3 moves in the second limiting groove 1D2 of the fourth connecting piece 1D. The other end of the heel baffle 2F is connected to the AB longitudinal connector 2H2.

In the present invention, the installation of the membrane pressure sensor is: earlier the lower end face of the first membrane pressure sensor 21 and the second membrane pressure sensor 22 is fixed with the toe soleplate 2T, the third membrane pressure sensor 23 and the fourth membrane pressure sensor 24 The lower end surface is fixed to the bottom plate 2U of the sole, the lower end surfaces of the fifth film pressure sensor 25, the sixth film pressure sensor 26 and the seventh film pressure sensor 27 are fixed to the heel lower plate 2S, and then the steel sheet foot plate 2Q is placed, and then placed on the toes The first strap connecting part 2X, the second strap connecting part 2Y is placed on the sole of the foot, the heel upper plate 2R is placed on the heel part, and finally the first support palm 2I and the second support are placed on the upper end of the first strap connecting part 2X. The palm 2J, the third palm 2K and the fourth palm 2L are placed on the upper end of the second strap connector 2Y, the fifth palm 2M and the sixth palm 2N are placed on the upper end of the heel plate 2R And the seventh palm 2P. Screws are used to fix the film pressure sensor. The sole of the intelligent pressure sensor is designed with bionics. There are 7 pressure sensors and an accelerometer on it. Seven thin-film pressure sensor contacts are sensitive to human pedaling force.

In the foot sensor assembly 2 designed by the present invention, the steel foot plate 2Q is an imitation human foot plate and an integrated structural part, which is used to transmit the pressure of the sole of the foot to the sensor, and at the same time increase the contact area and reduce the thickness of the film. Local force on the pressure sensor. The support sheet is designed to be divided into multiple pieces, which can increase the contact area between the sole of the person's foot and the sensor, making it comfortable to wear. The supporting plate is made of silicone material, which acts as a vibration-absorbing and stable sensor. The sole of the foot is a segmented structure, that is, the toe part, the sole part and the heel part, and the toe and the forefoot are normally curved.

In the present invention, the assembly of the foot sensor assembly 2 is as follows: (A) 7 thin-film pressure sensors and 1 accelerometer are respectively installed in the concave cavities in the toe bottom plate 2T, the sole bottom plate 2U and the heel bottom plate 2S; (B) Place the steel sheet foot plate 2Q, then place the first strap connector 2X, the second strap connector 2Y and the upper heel plate 2R, and finally put the supporting plate to compress; (C) Install 5 straps; ( D) Install the thirteenth link 2G, the fourteenth link 2H and the heel guard 2F.

Active Drive Components 3

Referring to Fig. 1, Fig. 1A, Fig. 4, and Fig. 4A, the active drive assembly 3 includes a driving part, a first transmission part, a second transmission part, a first tension part and a second tension part; the first transmission part The same structure as the second transmission part; the same structure as the first tension part and the second tension part.

Wherein, the driving part includes a photoelectric encoder 3F, a DC motor 3G, a reducer 3H, a driving spindle 3J, a driving bevel gear 3A, a driven bevel gear 3B and a transmission shaft 3C. In the present invention, the DC motor 3G provides the power required for the patient to advance the ankle joint plantar flexion, and the DC motor 3G can be a MaxonEC-powermax30 brushless DC motor. The planetary gear reducer 3H is installed on the output shaft of the DC motor 3G. The reducer 3H can be selected as GP32HP, and the reduction ratio is 190:1. The photoelectric encoder 3F is installed on the counter end of the DC motor 3G, and the photoelectric encoder 3F can be an encoder whose model is HEDL5540. The gear ratio of the driving bevel gear 3A and the driven bevel gear 3B is 1:2, that is, the number of teeth of the driving bevel gear 3A is 12, and the number of teeth of the driven bevel gear 3B is 24. After the driving bevel gear 3A meshes with the driven bevel gear 3B , The driven bevel gear 3B is fixed axially and radially on the transmission shaft 3C through pins and flat keys respectively.

Among them, the first transmission part includes A collar 31A, A synchronous pulley 31B, A ball bearing 31C, A key 31D, first synchronous belt 3D, E collar 35A, C synchronous pulley 35B, code disc 35C, photoelectric Encoder 35D, screw 35E, A ankle-foot joint shaft 35F, C key 35G; In the present invention, the transmission ratio of A synchronous pulley 31B and C synchronous pulley 35B is 1:2, and one end sleeve of the first synchronous belt 3D Connect the A synchronous pulley 31B, the other end of the first synchronous belt 3D is sleeved with the C synchronous pulley 35B to realize the deceleration effect, and the A synchronous pulley 31B is connected with the transmission shaft 3C through a flat key (A key 31D). The A ankle-foot joint shaft 35F is connected to the B longitudinal connector 2H2 of the fourteenth connector 2H, the A ankle-foot joint shaft 35F is placed in the B through hole 1D1 of the fourth connector 1D, and the C synchronous pulley 35B passes through the C key 35G is installed on the A ankle-foot joint shaft 35F, and the code disc 35C and E collar 35A are installed on the A ankle-foot joint shaft 35F, and the end face of the A ankle-foot joint shaft 35F is provided with threaded holes for mounting screws 35E. The photoelectric encoder 35D is mounted on the eleventh connecting piece 1L.

Among them, the second transmission part includes B collar 32A, B synchronous pulley 32B, B ball bearing 32C, B key 32D, second synchronous belt 3E, F collar 36A, D synchronous pulley 36B, code disc 35C, photoelectric Encoder 35D, B locking nut 36E, B ankle-foot joint shaft 36F, D key 36G; In the present invention, the transmission ratio of B synchronous pulley 32B and D synchronous pulley 36B is 1:2, and the second synchronous belt 3E One end of the second synchronous belt 3E is socketed with the B synchronous pulley 32B, and the other end of the second synchronous belt 3E is socketed with the D synchronous pulley 36B to realize the deceleration effect. The B synchronous pulley 32B is connected with the transmission shaft 3C through a flat key (B key 32D). The B ankle-foot joint shaft 36F is connected to the A longitudinal connector 2G2 of the thirteenth connector 2G, the B ankle-foot joint shaft 36F is placed in the A through hole 1C1 of the third connector 1C, and the D synchronous pulley 36B passes through the D key 36G is mounted on the B ankle-foot joint axis 36F.

In the present invention, the ankle joint is provided with a photoelectric encoder, which can realize the feedback of the motion angle of the ankle joint. The photoelectric encoder 35D can be a 100-line photoelectric encoder from Freescale.

Wherein, the first tension part includes C collar 33A, C ball bearing 33C, A tension screw 33E, A lock nut 33F; one end of A tension screw 33E passes through the fourth limit on the eighth connector 1H After the position guide groove 1h1, A lock nut 33F, C ball bearing 33C and C collar 33A are sequentially socketed, and C collar 33A clamps the C ball bearing 33C on the A tension screw 33E to prevent the C ball bearing from 33C in the axial movement of A tensioning screw 33E. In the present invention, the position of the A tension screw 33E can be adjusted by fixing the fourth limiting guide groove 1h1 on the eighth connecting piece 1H with the A lock nut 33F, and the A tension screw 33E is fixed on the eighth connecting piece 1H in the fourth limiting guide groove 1H1.

Wherein, the second tension part includes D collar 34A, D ball bearing 34C, B tension screw 34E, B lock nut 34F; one end of B tension screw 34E passes through the third limit on the seventh connecting piece 1G. After the position guide groove 1G1, B lock nut 34F, D ball bearing 34C and D collar 34A are socketed in sequence, and D collar 34A clamps D ball bearing 34C on B tension screw 34E to prevent D ball bearing 34C in the axial movement of the B tensioning screw 34E. In the present invention, the position of the B tensioning screw 34E can be adjusted by fixing the third limit guide groove 1G1 on the seventh connecting piece 1G with the B lock nut 34F, and the B tensioning screw 34E is fixed on the seventh connecting piece 1G in the third limiting guide groove 1G1.

Referring to Fig. 4B, the transmission shaft 3C is provided with a first shaft segment 3C1, a second shaft segment 3C2, a third shaft segment 3C3, a fourth shaft segment 3C4, a fifth shaft segment 3C5, a sixth shaft segment 3C6 and a seventh shaft segment Shaft section 3C7; drive shaft 3C is a stepped design, used to fix driven bevel gear 3B and two small synchronous pulleys (A synchronous pulley 31A, B synchronous pulley 32A), and at the same time connect through keys to realize DC motor 3G torque transmission.

The second shaft section 3C2 is provided with a keyway for placing the A key 31D;

The fourth shaft section 3C4 is provided with a keyway 3C41 and a blind hole 3C42, and by placing a key in the keyway 3C41 and a pin in the blind hole 3C42, the driven bevel gear 3B and the transmission shaft 3C are fixed;

The sixth shaft section 3C6 is provided with a key groove for placing the B key 32D.

The A collar 31A is sleeved on the first shaft section 3C1, and the A collar 31A is used to clamp the A synchronous pulley 31B, thereby preventing the A synchronous pulley 31B from moving in the axial direction of the transmission shaft 3C. The A synchronous pulley 31B is sleeved on the second shaft section 3C2, and the A synchronous pulley 31B is fixed on the transmission shaft 3C through the A key 31D. The inner ring of the A ball bearing 31C is sleeved on the third shaft segment 3C3 , and the outer ring of the A ball bearing 31C is installed in the fourth bearing hole 1K3 of the tenth connecting member 1K.

The B collar 32A is sleeved on the seventh shaft segment 3C7, and the B collar 32A is used to clamp the B synchronous pulley 33B, thereby preventing the B synchronous pulley 32B from moving in the axial direction of the transmission shaft 3C. The B synchronous pulley 32B is sleeved on the sixth shaft section 3C6, and the B synchronous pulley 32B is fixed on the transmission shaft 3C through the B key 32D. The inner ring of the B ball bearing 32C is sleeved on the fifth shaft section 3C5, and the outer ring of the B ball bearing 32C is installed in the third bearing hole 1L3 of the ninth connecting member 1J.

In the present invention, the assembly of the active drive assembly 3 is as follows: (A) install the motor 3G, the motor encoder 3F, and the reducer 3H, and connect the active bevel gear 3A on the drive main shaft 3J; (B) the driven cone The gear 3B is sleeved on the transmission shaft 3C, A ball bearing 31B, A synchronous pulley 31B and A collar 31A are installed on one end of the transmission shaft 3C, and B ball bearing 32B and B synchronous belt are installed on the other end of the transmission shaft 3C Wheel 32B and B collar 32A; (C) After one end of A tension screw 33E passes through the fourth limit guide groove 1h1 on the eighth connecting piece 1H, A lock nut 33F and C ball bearing are sequentially sleeved 33C and C collar 33A; after one end of B tensioning screw 34E passes through the third limit guide groove 1G1 on the seventh connecting piece 1G, B lock nut 34F, D ball bearing 34C and D card are sequentially sleeved Circle 34A; (D) A ankle-foot joint shaft 35F is connected to the B longitudinal connector 2H2 of the fourteenth connector 2H, A ankle-foot joint shaft 35F is placed in the B through hole 1D1 of the fourth connector 1D, and C is synchronized Pulley 35B is installed on the A ankle-foot joint shaft 35F by C key 35G, and the code disc 35C and E collar 35A are installed on the A ankle-foot joint shaft 35F, on the end face of the A ankle-foot joint shaft 35F there is a Threaded hole for screw 35E. The photoelectric encoder 35D is mounted on the eleventh connecting piece 1L. The B ankle-foot joint shaft 36F is connected to the A longitudinal connector 2G2 of the thirteenth connector 2G, the B ankle-foot joint shaft 36F is placed in the A through hole 1C1 of the third connector 1C, and the D synchronous pulley 36B passes through the D key 36G is mounted on the B ankle-foot joint axis 36F. (E) The first synchronous belt 3D is sleeved on the A synchronous pulley 31B and the C synchronous pulley 35B, and the second synchronous belt 3E is sleeved on the B synchronous pulley 32B and the D synchronous pulley 36B.

Set the initial position of the motor, the rated speed of the motor is 15800rpm, the rated torque is 120mNm, and the power is 200W. It is 760:1. The output rated torque transmitted to the ankle-foot joint shaft is 91.2Nm, which meets the maximum torque required by the human ankle-foot movement.

After the patient wears the active drive ankle-foot orthosis designed in the present invention, the motor is activated by a button, and the torque of the motor is transmitted to the driving bevel gear through the flat key connection, and the driving bevel gear and the driven bevel gear mesh with each other, so that the driven bevel gear The gear rotates, the driven bevel gear transmits the torque to the transmission shaft through the flat key, and the transmission shaft transmits the torque to the A and B synchronous pulleys through the flat keys at both ends of the shaft, and the A synchronous belt pulley and the first synchronous belt Mesh with each other, the power is transmitted to the C synchronous pulley, and the C synchronous pulley is connected with the rotation shaft of the A ankle joint through a key connection, driving the A ankle joint to rotate. The B synchronous pulley meshes with the second synchronous belt to transmit the power to the D synchronous pulley, and the D synchronous pulley is connected with the rotating shaft of the B ankle joint through a key connection to drive the B ankle joint to rotate. When the DC motor rotates counterclockwise, it actively drives the ankle-foot orthosis into the plantarflexion mode, providing the power for the patient to walk forward. When the DC motor rotates clockwise, it drives the ankle dorsiflexion to prevent foot drop. The photoelectric encoder of the motor is used to detect the motor speed and rotation angle, and the photoelectric encoder of the ankle joint is used to detect the rotation angle of the ankle joint for real-time angle feedback control.

Claims (4)

1. An actively driven ankle-foot orthosis with plantar pressure detection function, characterized in that: the actively driven ankle-foot orthosis includes a calf fixation assembly (1), a foot sensor assembly (2) and an active drive assembly (3); The calf fixation assembly (1) includes a first connecting piece (1A), a second connecting piece (1B), a third connecting piece (1C), a fourth connecting piece (1D), a fifth connecting piece (1E), a sixth Connector (1F), seventh connector (1G), eighth connector (1H), ninth connector (1J), tenth connector (1K), eleventh connector (1L), twelfth Connector (1M); The first connecting piece (1A) is a U-shaped structural member; the first connecting piece (1A) is provided with a first support arm (1A1), a second support arm (1A2) and a first cross plate (1A3); the first support The upper end of the third connecting piece (1C) is connected on the arm (1A1); the upper end of the fourth connecting piece (1D) is connected on the second arm (1A2); the twelfth connecting piece (1D) is connected on the first horizontal plate (1A3). The third connecting arm (1M1) of the connecting piece (1M); The second connecting piece (1B) is a U-shaped structural member; the second connecting piece (1B) is provided with a third support arm (1B1), a fourth support arm (1B2) and a second horizontal plate (1B3); the third support The arm (1B1) is provided with a front fixed panel (1B11) and a rear fixed panel (1B12), the front fixed panel (1B11) of the third arm (1B1) is connected to the third connecting piece (1C), and the first The rear fixed panel (1B12) of the three arms (1B1) is connected to the upper end of the seventh connector (1G); the fourth arm (1B2) is provided with a front fixed panel (1B21) and a rear fixed panel (1B22), The front fixed panel (1B21) of the fourth arm (1B2) is connected to the fourth connector (1D), and the rear fixed panel (1B22) of the fourth arm (1B2) is connected to the eighth connector ( 1H); the second horizontal plate (1B3) is connected with the ninth connector (1J) and the tenth connector (1L); The lower end of the third connecting piece (1C) is provided with a first limiting guide groove (1C2) and a through hole (1C1); the first limiting guiding groove (1C2) is used to place the upper end of the thirteenth connecting piece (2G) A bump, A through hole (1C1) is used for A ankle-foot joint shaft (35F) to pass through; The lower end of the fourth connecting piece (1D) is provided with a second limiting guide groove (1D2) and a B through hole (1D1); the second limiting guiding groove (1D2) is used to place the upper end of the fourteenth connecting piece (2H) The B bump (2H3), the B through hole (1D1) is used for the B ankle-foot joint shaft (36F) to pass through; The fifth connecting piece (1E) is fixedly installed on the third connecting piece (1C); The sixth connecting piece (1F) is fixedly installed on the fourth connecting piece (1D); The lower end of the seventh connecting piece (1G) is provided with a third limiting guide groove (1G1); A tensioning screw (33E) is placed in the third limiting guide groove (1G1); The lower end of the eighth connecting piece (1H) is provided with a fourth limiting guide groove (1H1); a B tensioning screw (34E) is placed in the fourth limiting guide groove (1H1); The ninth connecting piece (1J) is an L-shaped structural member; the first connecting arm (1J1) of the ninth connecting piece (1J) is provided with a threaded hole, and the first supporting arm (1J2) of the ninth connecting piece (1J) is provided with a threaded hole. A third bearing hole (1J3) is provided, and a B ball bearing (32B) is installed in the third bearing hole (1J3); The tenth connecting piece (1K) is an L-shaped structural member; the second connecting arm (1K1) of the tenth connecting piece (1K) is provided with a threaded hole, and the second supporting arm (1K2) of the tenth connecting piece (1K) is provided with a threaded hole. A fourth bearing hole (1K3) is provided, and A ball bearing (31B) is installed in the fourth bearing hole (1K3); The upper end of the eleventh connecting piece (1L) is fixedly installed on the fourth connecting piece (1D), and the lower end of the eleventh connecting piece (1L) is fixedly installed with a photoelectric encoder (35D); The twelfth connecting piece (1M) is an L-shaped structure; the third connecting arm (1M1) of the twelfth connecting piece (1M) is provided with a threaded hole, and the third supporting arm of the twelfth connecting piece (1M) ( 1M2) is provided with a through hole (1M3) for the reducer (3H) to pass through; The foot sensing component (2) includes a shoelace part, a sole part, a heel part, 7 film pressure sensors and an accelerometer; Wherein, the shoelace part includes a first strap (2A), a second strap (2B), a third strap (2C), a fourth strap (2D), a fifth strap (2E), a first strap Belt connector (2X) and second strap connector (2Y); Wherein, the sole part includes a steel plate foot plate (2Q), a toe sole plate (2T), a sole sole plate (2U), a first support palm (2I), a second support palm (2J), a third support palm (2K ), the fourth palm (2L), the fifth palm 2M, the sixth palm (2N), the seventh palm (2P); the first palm (2I), the second Support palm (2J), third support palm (2K), fourth support palm (2L), fifth support palm (2M), sixth support palm (2N) and seventh support palm (2P ) have the same bottom structure; Wherein, the heel portion of the shoe includes a heel baffle (2F), a heel upper plate (2R), a heel lower plate (2S), a heel upper baffle (2V), a heel lower baffle (2W), a thirteenth connector ( 2G) and the fourteenth connector (2H); The first strap connector (2X) is provided with AA through holes (2X1), AB through holes (2X2), and through holes for both ends of the first strap (2A) and the second strap (2B) to pass through ; AA through hole (2X1) is used to place the first membrane pressure sensor (21); AB through hole (2X2) is used to place the second membrane pressure sensor (22); The second strap connector (2Y) is provided with an AC through hole (2Y1), an AD through hole (2Y2), and a through hole for both ends of the third strap (2C) and the fourth strap (2D) to pass through ; The AC through hole (2Y1) is used to place the third membrane pressure sensor (23); the AD through hole (2Y2) is used to place the fourth membrane pressure sensor (24); There are BA through holes (2Q1), BB through holes (2Q2), BC through holes (2Q3), BD through holes (2Q4), BE through holes (2Q5), BF through holes (2Q6) on the steel foot plate (2Q) and BG through hole (2Q7), BA through hole (2Q1) for placing the first membrane pressure sensor (21), BB through hole (2Q2) for placing the second membrane pressure sensor (22), BC through hole (2Q3) Used to place the third membrane pressure sensor (23), BD through hole (2Q4) is used to place the fourth membrane pressure sensor (24), BE through hole (2Q5) is used to place the fifth membrane pressure sensor (25), BF through hole The hole (2Q6) is used to place the sixth membrane pressure sensor (26), and the BG through hole (2Q7) is used to place the seventh membrane pressure sensor (27); AA concave cavity (2T1) and AB concave cavity (2T2) are arranged on the toe bottom plate (2T). The AA concave cavity (2T1) is used to fix the lower end surface of the first film pressure sensor (21), and the AB concave cavity (2T2) On the lower end surface of the second film pressure sensor (22) fixed; An AC cavity (2U1) and an AD cavity (2U2) are arranged on the sole plate (2U). The AC cavity (2U1) is used to fix the lower end surface of the third film pressure sensor (23), and the AD cavity (2U2) is used To fix the lower end surface of the fourth film pressure sensor (24); There are AE through holes (2R1), AF through holes (2R2), AG through holes (2R3) on the heel plate (2R), AE through holes (2R1) are used to place the fifth film pressure sensor (25), AF through holes The hole (2R2) is used to place the sixth membrane pressure sensor (26), and the AG through hole (2R3) is used to place the seventh membrane pressure sensor (27); There are AE cavity (2S1), AF cavity (2S2), AG cavity (2S3) and AH cavity (2S4) on the heel lower plate (2S), and the AE cavity (2S1) is used to fix the fifth film pressure The lower end face of the sensor (25), the AF concave cavity (2S2) is used to fix the lower end face of the sixth thin film pressure sensor (26), and the AG concave cavity (2S3) is used to fix the lower end face of the seventh thin film pressure sensor (27), The AH cavity (2S4) is used to install the accelerometer; The bottom of the first support palm (2I) is provided with a round boss (2I1), and the round boss (2I1) is provided with a concave cavity (2I3) for placing the first film pressure sensor (21). The center of boss (2I1) is AE through hole (2I2), and this AE through hole (2I2) is used for screw to pass through, and the screw that passes through realizes the first pallet palm (2I) and the first film pressure sensor (21 ) is fixed on the upper end face; The bottom of the second support palm (2J) is fixed to the upper end surface of the second film pressure sensor (22), the bottom of the third support palm (2K) is fixed to the upper end surface of the third film pressure sensor (23), and the fourth The bottom of the support palm (2L) is fixed to the upper end surface of the fourth film pressure sensor (24), the bottom of the fifth support palm (2M) is fixed to the upper end surface of the fifth film pressure sensor (25), and the sixth support The bottom of the palm (2N) is fixed to the upper end surface of the sixth film pressure sensor (26), and the bottom of the seventh palm (2P) is fixed to the upper end surface of the seventh film pressure sensor (27); The thirteenth connector (2G) is provided with an AA transverse connector (2G1), an AA longitudinal connector (2G2) and an A bump; the AA transverse connector (2G1) is fixed to one side of the heel lower plate (2S), The other side of the heel lower plate (2S) is fixed to the AB transverse connector (2H1) of the fourteenth connector (2H); the upper end of the AA longitudinal connector (2G2) is connected to the third connector (1C), and the AA longitudinal connector (2H) is connected to the third connector (1C). An end connected with the heel baffle (2F) on the connector (2G2); The fourteenth connecting piece (2H) is provided with the AB horizontal connecting piece (2H1), the AB vertical connecting piece (2H2) and the B bump (2H3); One side is fixed, the upper end of the AB longitudinal connector (2H2) is connected to the fourth connector (1D), and the other end of the heel baffle (2F) is connected to the AB longitudinal connector (2H2); The active driving assembly (3) includes a driving part, a first transmission part, a second transmission part, a first tension part and a second tension part; Among them, the photoelectric encoder (3F) and the reducer (3H) of the driving part are connected with the DC motor (3G), and the drive shaft (3J) protruding from the reducer (3H) is equipped with a driving bevel gear (3A). The bevel gear (3A) meshes with the driven bevel gear (3B) and the transmission shaft 3C; Among them, the first transmission part includes A collar (31A), A synchronous pulley (31B), A ball bearing (31C), A key (31D), first synchronous belt (3D), E collar (35A) , C synchronous pulley (35B), code disc (35C), photoelectric encoder (35D), screw (35E), A ankle-foot joint shaft (35F), C key (35G); the first synchronous belt (3D) One end is socketed with the A synchronous pulley (31B), the other end of the first synchronous belt (3D) is socketed with the C synchronous pulley (35B), and the A synchronous pulley (31B) is connected to the transmission shaft (3C) through the A key (31D) The A ankle-foot joint axis (35F) is connected to the B longitudinal link (2H2) of the fourteenth link (2H), and the A ankle-foot joint axis (35F) is placed on the fourth link (1D) In the B through hole (1D1), the C synchronous pulley (35B) is installed on the A ankle-foot joint shaft (35F) through the C key (35G), and the code disc (35C) and E collar (35A) are installed on the A On the ankle-foot joint shaft (35F), the end surface of the A ankle-foot joint shaft (35F) is threadedly connected with a screw (35E); the photoelectric encoder (35D) is installed on the eleventh connecting piece (1L); Wherein, the second transmission part includes B collar (32A), B synchronous pulley (32B), B ball bearing (32C), B key (32D), second synchronous belt (3E), F collar (36A) , D synchronous pulley (36B), code disc (35C), photoelectric encoder (35D), B lock nut (36E), B ankle-foot joint shaft (36F), D key (36G); the second synchronous belt ( One end of 3E) is connected to the B synchronous pulley (32B), the other end of the second synchronous belt (3E) is connected to the D synchronous pulley (36B), and the B synchronous pulley (32B) is connected to the transmission shaft through the B key (32D) The other end of (3C) is connected; the B ankle-foot joint axis (36F) is connected to the A longitudinal link (2G2) of the thirteenth link (2G), and the B ankle-foot joint axis (36F) is placed on the third link In the A through hole (1C1) of the part (1C), the D synchronous pulley (36B) is installed on the B ankle-foot joint shaft (36F) through the D key (36G); Wherein, the first tension part includes C collar (33A), C ball bearing (33C), A tension screw (33E), A lock nut (33F); one end of A tension screw (33E) passes through Behind the fourth limiting guide groove (1H1) on the eighth connecting piece (1H), there are A lock nut (33F), C ball bearing (33C) and C collar (33A) in sequence, and the C collar (33A) fasten the C ball bearing (33C) on the A tension screw rod (33E); Wherein, the second tension part includes D collar (34A), D ball bearing (34C), B tension screw (34E), B lock nut (34F); one end of B tension screw (34E) passes through After the third limiting guide groove (1G1) on the seventh connecting piece (1G), the B lock nut (34F), the D ball bearing (34C) and the D collar (34A) are sequentially socketed, and the D collar (34A) fasten the D ball bearing (34C) on the B tension screw rod (34E); The drive shaft (3C) is provided with a first shaft section (3C1), a second shaft section (3C2), a third shaft section (3C3), a fourth shaft section (3C4), a fifth shaft section (3C5), a sixth Shaft section (3C6) and seventh shaft section (3C7); The second shaft section (3C2) is provided with a keyway for placing the A key (31D); The fourth shaft section (3C4) is provided with a keyway (3C41) and a blind hole (3C42), and the driven bevel gear (3B) is realized by placing a key in the keyway (3C41) and a pin in the blind hole (3C42). Fixing with the transmission shaft (3C); The sixth shaft section (3C6) is provided with a keyway for placing the B key (32D); A collar (31A) is socketed on the first shaft section (3C1), A synchronous pulley (31B) is socketed on the second shaft section (3C2), and the inner ring of A ball bearing (31C) is socketed on the third On the shaft section (3C3), the outer ring of the A ball bearing (31C) is installed in the fourth bearing hole (1K3) of the tenth connecting piece (1K); B collar (32A) is socketed on the seventh shaft section (3C7), B synchronous pulley (32B) is socketed on the sixth shaft section (3C6), and the inner ring of B ball bearing (32C) is socketed on the fifth On the shaft section (3C5), the outer ring of the B ball bearing (32C) is installed in the third bearing hole (1L3) of the ninth connecting piece (1J). 2. The actively driven ankle-foot orthosis with plantar pressure detection function according to claim 1, characterized in that: the transmission ratio of A synchronous pulley (31B) and C synchronous pulley (35B) is 1:2, And the transmission ratio of B synchronous pulley (32B) and D synchronous pulley (34B) is 1:2. 3. the active drive ankle-foot orthosis with plantar pressure detection function according to claim 1, is characterized in that: the reduction ratio of speed reducer is 190:1, and the reduction ratio of active bevel gear and synchronous belt transmission mechanism is 2: 1. The total transmission ratio is 760:1. 4. The active-driven ankle-foot-orthosis with plantar pressure detection function according to claim 1, characterized in that: when the DC motor rotates counterclockwise, the active-drive ankle-foot-orthosis enters plantar flexion mode, allowing the patient to walk forward When the DC motor (3G) rotates clockwise, it drives the dorsiflexion of the ankle and foot joints to prevent foot drop.