CN105997441B - Wearable lower limb healing robot based on ectoskeleton - Google Patents

Abstract

The invention discloses a wearable lower limb rehabilitation robot based on an exoskeleton, which includes a waist device, two left and right symmetrical leg devices and two left and right symmetrical foot devices; the waist device is worn on the waist of a human body and includes a waist support Parts, waist driving device, waist moving parts, waist belt and leg parts; the leg device is hinged with the waist device and fastened to the human leg through a flexible strap, including the leg driving device, thigh parts and lower leg parts; foot The device is worn on the human foot and is hinged with the bottom end of the leg device, including a foot driving device, a foot support and a base plate. The invention is used to help patients or the elderly complete lower limb rehabilitation training including waist movement, and improve the effect of lower limb rehabilitation training. It can meet the waist movement rules at different speeds.

Description

Wearable lower limb rehabilitation robot based on exoskeleton

technical field

The invention relates to a medical rehabilitation device, in particular to a wearable lower limb rehabilitation robot based on an exoskeleton.

Background technique

With the aging population in our country, the number of patients with limb motor dysfunction caused by vascular diseases or nervous system diseases, which leads to hemiplegia, is increasing; The number of people who are unable to walk normally due to injury or limb impairment continues to increase, bringing a heavy burden to families and society. In the process of rehabilitation treatment, improving patients' walking ability and self-care ability is an important aspect for them to return to society. Therefore, restoring independent walking ability is the primary goal of rehabilitation treatment efforts.

The lower limb rehabilitation robot is the product of rehabilitation engineering. It can guide the limbs to do various specified repetitive rehabilitation training through the machine, stimulate and rebuild the nervous system that controls the movement of the limbs, and achieve the purpose of restoring the motor function of the lower limbs. It is an effective clinical intervention. means.

The history of lower limb rehabilitation robots is still short, but it is developing rapidly. The Swiss LOKOMAT robot was successfully developed in 1999 and is the earliest gait rehabilitation robot; Japan has developed the HAL series of wearable power-assisted robots, which is the world's first commercial exoskeleton robot; the American ELEGS lower limb rehabilitation robot is equipped with a pair of crutches , and sensors are installed in it to obtain the operator's movement intention; the Dutch LOPES lower limb powered exoskeleton not only provides the normal joint degree of freedom, but also designs the degree of freedom for the pelvis to move up and down. In China, the research work on lower limb rehabilitation robots started relatively late. Tsinghua University developed the walking rehabilitation training system GRTS; Zhejiang University developed a lower limb assisted walking exoskeleton mechanism, which is driven by pneumatic mode and semi-active control mode. Other domestic scientific research institutions have also carried out research on lower limb rehabilitation robots, but generally speaking, they are still in the laboratory research stage, and there is still a long way to go before commercialization.

The existing lower limb rehabilitation robots have the following defects and deficiencies: (1) The structural design of the lower limb rehabilitation robot is not anthropomorphic enough, including the configuration of degrees of freedom, the fit between the bone structure and the human body, and the adjustability to adapt to wearers of different sizes; 2) The research on lower limb rehabilitation robots mostly focuses on the leg mechanism and foot mechanism, and the research on the waist mechanism is less, ignoring the waist movement during walking training; (3) Most of the lower limb rehabilitation robots are bulky, too heavy, and functional Single, expensive, can not meet the needs of practical applications.

Contents of the invention

The purpose of the present invention is to provide a wearable lower limb rehabilitation robot based on exoskeleton.

The technical solution for realizing the purpose of the present invention is: a wearable lower limb rehabilitation robot based on an exoskeleton, including a waist device, two left and right symmetrical leg devices and two left and right symmetrical foot devices;

The lumbar device includes a lumbar support part, a first lumbar driving device, a second lumbar driving device, a third lumbar driving device, a lumbar moving part, a waist belt, a first leg part and a second leg part, the lumbar support part The two ends of the two legs are respectively hinged with the first and second leg parts, and the second waist driving device and the third waist driving device are respectively installed at the hinges to drive the first leg part and the second leg part to rotate. The waist moving part is installed on the waist supporting part, the end of the waist moving part is connected with the belt, and the belt is driven by the first waist driving device to simulate the pelvic movement of the human body during walking;

The leg device includes a first leg driving device, a second leg driving device, a third leg driving device, a thigh part and a lower leg part; The parts are hinged, the second leg driving device is installed at the hinge to drive the thigh part to rotate, the lower leg part is hinged to the bottom end of the thigh part, the third leg driving device is installed at the hinge to drive the lower leg part to rotate, and the first leg drives The device is installed on the thigh part, driving the thigh part to twist along the length direction of the thigh part;

The foot device includes a foot drive device, a foot support and a base plate; the foot support and the base plate are fixed, the base plate is hinged to the bottom of the lower leg part, and the foot drive device is installed at the hinge to drive the foot device to rotate.

Compared with prior art, remarkable advantage of the present invention is:

(1) According to the waist motion characteristics of the walking training, the waist device can simulate the waist motion trajectory under different speeds in the rehabilitation walking training by adjusting the position of the sliding bar of the waist moving parts, so as to meet the rehabilitation of different stages in the rehabilitation treatment process Pace requirements;

(2) The present invention has good adaptability to the wearing requirements of different wearers: the width requirements of different wearers can be satisfied by the adjustment of the waist support parts, and the height requirements of different wearers can be satisfied by the adjustment of the waist moving parts. The adjustment of the large and small leg parts can meet the requirements of different wearers' large and small leg lengths;

(3) When the leg device of the present invention simulates the rotation of the human hip joint, the rotation center of the leg mechanism is on the central bone of the human leg. The mismatch between the bone and the human leg bone due to the deformation of the leg muscles (especially when the wearer is in a sitting state), meets the requirements of ergonomics and improves the wearing comfort;

(4) The present invention designs the foot device of the lower limb rehabilitation robot. In addition to the degree of freedom of extension and flexion at the ankle, a local degree of freedom of rotation is left at the hinge of the foot bracket, which is convenient for the human foot to do rotation rehabilitation training. In addition, its foot The internal device is set as a double-foot soleplate, and a small soleplate is also installed at the lower end of the foot support. When the wearer is doing partial rehabilitation training on the foot, the large soleplate can bear the overall gravity of the rehabilitation robot, reducing the burden on the wearer;

(5) The present invention has a simple and compact structure, is easy to implement, uses lightweight materials, and has high economic value and practicability.

Description of drawings

Fig. 1 is a schematic structural diagram of a wearable lower limb rehabilitation robot based on an exoskeleton of the present invention.

Fig. 2 is a structural schematic diagram of the waist device of the present invention.

Fig. 3 is a schematic structural view of the thigh component of the present invention.

Fig. 4 is a structural schematic diagram of the lower leg member and the foot device of the present invention.

detailed description

Referring to Fig. 1, a wearable lower limb rehabilitation robot based on exoskeleton of the present invention includes a waist device 1, two left and right symmetrical leg devices 2 and two left and right symmetrical foot devices 3;

The lumbar device 1 includes a lumbar support part 4, a first lumbar driving device 5-1, a second lumbar driving device 5-2, a third lumbar driving device 5-3, a lumbar moving part 6, a waist belt 7, and a first connecting leg part 8-1 and the second leg part 8-2, the two ends of the waist support part 4 are respectively hinged with the first leg part 8-1 and the second leg part 8-2, and the second The waist driving device 5-2 and the third waist driving device 5-3 drive the first leg connecting member 8-1 and the second leg connecting member 8-2 to rotate, and the waist moving part 6 is installed on the waist supporting part 4, The end of the waist moving part 6 is connected to the waist belt 7, and the waist belt 7 is driven by the first waist driving device 5-1 to simulate the pelvic movement of the human body when walking;

The leg device 2 comprises a first leg driving device 9-1, a second leg driving device 9-2, a third leg driving device 9-3, a thigh part 10 and a calf part 11; the thigh part 10 It is hinged with the first leg part 8-1 or the second leg part 8-2 at the waist, and the second leg driving device 9-2 is installed at the hinge to drive the thigh part 10 to rotate, and the lower leg part 11 and the thigh part 10 The bottom end is hinged, and the third leg driving device 9-3 is installed at the hinge to drive the calf part 11 to rotate. The first leg driving device 9-1 is installed on the thigh part 10 to drive the thigh part 10 along the length direction of the thigh part 10 reverse

The foot device 3 includes a foot drive device 12, a foot support 13 and a base plate 14; the foot support 13 and the base plate 14 are fixed, and the base plate 14 is hinged with the bottom of the calf part 11, and the foot drive device is installed at the hinge 12 drives the foot device 3 to rotate.

Further, as shown in Figure 2(a), the lumbar support component 4 includes an intermediate support member 4-1, a first sliding member 4-2 and a second sliding member 4-3, and the first sliding member 4- 2 and the second sliding piece 4-3 slide in the groove of the middle support piece 4-1, and there are multiple sets of Bolt holes, the first sliding part 4-2, the second sliding part 4-3 and the intermediate support part 4-1 are fixedly connected by bolts, and the width of the belt can be adjusted by selecting bolts at different positions; the first sliding part 4-2 and the second sliding part 4-3 are respectively hinged with the first leg part 8-1 and the second leg part 8-2, and the second waist driving device 5-2 and the third waist driving device 5-3 are installed at the hinge, Drive the first leg part 8-1 and the second leg part 8-2 to rotate.

Further, as shown in Figure 2(a) and Figure 2(b), the waist moving part 6 includes a small bevel gear 6-1, a large bevel gear shaft 6-2, a sliding head 6-3, and a rear nest 6 -4, connecting rod 6-5, center moving part 6-6, connecting part 6-7, small bevel gear shaft 6-8, first sliding rod 6-9, second sliding rod 6-10, first nesting 6-11 and second nest 6-12;

The waist moving part 6 is slidably connected with the intermediate support member 4-1 through the central moving part 6-6, the first waist driving device 5-1 is installed on the small bevel gear 6-1, and the small bevel gear 6-1 is connected with the large bevel The gear shaft 6-2 meshes, the sliding head 6-3 is slidingly connected with the crank of the large bevel gear shaft 6-2, and the rear nest 6-4 is driven by the sliding head 6-3 to move left and right, and through the middle support member 4- 1 The slidingly connected connecting rod 6-5 transmits the translation to the central moving part 6-6 hinged with the connecting rod 6-5, and the central moving part 6-6 slides left and right in the chute of the intermediate support part 4-1, so The small bevel gear shaft 6-8 is hinged with the connector 6-7, and is also meshed with the large bevel gear shaft 6-2, and the first sliding rod 6-9 and the second sliding rod 6-10 are connected with the small bevel gear The shaft 6-8 is slidingly connected, the small bevel gear shaft 6-8 drives the first sliding rod 6-9 and the second sliding rod 6-10 to rotate respectively, and the first nesting 6-11 and the second nesting 6-12 are respectively formed by The first sliding rod 6-9 and the second sliding rod 6-10 move up and down in translation; the waist belt 7 is connected with the central moving part 6-6 through a cylinder pair, and is formed by the first nest 6-11 and the second nest. The upper end of the cover 6-12 is supported, and the waist belt 7 is tied to the waist of the human body through a flexible strap.

Further, as shown in Fig. 3(a) and Fig. 3(b), the thigh part 10 includes a pinion gear 10-1, an upper thigh rod 10-2, a middle thigh rod 10-3, and a lower thigh rod 10-4 And the knee part 10-5, the thigh part 10 is hinged with the first leg part 8-1 or the second leg part 8-2 of the waist through the thigh upper rod 10-2, and the second leg drive is installed at the hinge The device 9-2 drives the thigh part 10 to rotate, and the upper thigh rod 10-2 and the thigh middle rod 10-3 are respectively provided with an arc-shaped chute and a ring gear, and the ring gear is driven by the pinion 10-1 to slide in an arc shape. Rotate in the groove, the first leg driving device 9-1 is installed on the pinion 10-1, the lower thigh rod 10-4 and the thigh middle rod 10-3 are provided with a plurality of bolt holes of different heights, the thigh lower rod 10- 4. It is fixedly connected with the middle thigh rod 10-3 by bolts; the outer ring gear at the upper end of the knee joint member 10-5 is meshed with the inner ring gear at the lower end of the thigh lower rod 10-4; the thigh member 10 is tied by a flexible strap strapped to a person's thigh.

Further, as shown in FIG. 4 , the calf part 11 includes a calf upper rod 11-1 and a lower leg rod 11-2, the calf upper rod 11-1 is hinged to the bottom end of the knee joint 10-5, and the hinge is installed The third leg driving device 9-3 drives the calf part 11 to rotate, and the lower leg rod 11-2 and the lower leg upper rod 11-1 are provided with a plurality of bolt holes of different heights, and the lower leg rod 11-2 and the lower leg upper rod 11 -1 is fixedly connected by bolts; the lower leg part 11 is tied to the lower leg of the person by a flexible strap.

Further, the foot support 13 includes a rotating plate 13-1, a connecting plate 13-2, an upper foot plate 13-3 and a lower foot plate 13-4, the rotating plate 13-1 is connected with the bottom plate 14, and the bottom plate 14 is connected with the lower leg rod The bottom end of 11-2 is hinged, and the foot drive device 12 is installed at the hinge to drive the foot device 3 to rotate, the connecting plate 13-2 is fixedly connected with the rotating plate 13-1 by bolts, and the foot upper plate 13-3 is connected with the connecting plate 13- 2. Hinged by bolts 13-5, the underfoot board 13-4 and the upper board 13-3 are provided with bolt holes of different heights, and the lower board 13-4 and the upper board 13-3 are fixedly connected by bolts. The bottom plate 14 is in direct contact with the ground and supports the entire wearable lower limb rehabilitation robot based on the exoskeleton.

The waist device 1, leg device 2 and foot device 3 of the exoskeleton-based wearable lower limb rehabilitation robot are respectively worn on the waist, legs and feet of the human body, and the corresponding parts of the human body are driven by the movement of the exoskeleton for overall or partial healing. Rehabilitation.

The waist device 1 is adjusted to meet the width requirements of different wearers for the waist belt through the first slider 4-2 and the second slider 4-3 of the waist support part 4; through the adjustment of the connecting part 6-7 of the waist moving part 6 to meet The height requirements of different wearers for the belt. The waist device 1 can simulate the waist movement track of the rehabilitation patient's walking training, and can adapt to the waist movement track at different speeds by adjusting the waist moving part 6 .

When the leg device 2 simulates the rotation of the human hip joint, the rotation center of the leg mechanism is on the central skeleton of the human leg, and a local degree of freedom of rotation is reserved near the knee joint, so as to make up for the difference between the exoskeleton at the thigh and the human leg bone due to the Mismatch issues caused by muscle deformation.

The foot device 3 can meet the requirements of different wearers for the height of the feet by adjusting the foot support 13, and a partial degree of freedom of rotation is left at the hinge of the foot support 13, which is convenient for the human foot to do rotation rehabilitation training.

The present invention will be further described below in conjunction with specific examples.

Example

In conjunction with Fig. 1, this embodiment takes an exoskeleton-based wearable lower limb rehabilitation robot to drive the wearer to perform lower limb rehabilitation walking training as an example. The exoskeleton-based wearable lower limb rehabilitation robot includes a waist device 1, a leg device 2 and a foot device 3. It is tied or worn on the waist, legs and feet of the human body through flexible straps, and the movement of the exoskeleton drives the corresponding parts of the human body for walking rehabilitation training.

Referring to Fig. 2, in the waist device 1, the width of the waist mechanism is adjusted by adjusting the positions of the first sliding member 4-2 and the second sliding member 4-3 on the middle support member, and the width of the waist mechanism is adjusted by adjusting the connection member 6-7 on the middle support member 4. -1 position to adjust the height of the waist mechanism; the first waist driving device 5-1 drives the large bevel gear shaft 6-2 to rotate, and the position of the sliding head 6-3 on the large bevel gear shaft 6-2 is determined by the training pace , the left and right translation of the rear nesting 6-4 is driven, and the left and right translation is transmitted to the central moving part 6-6 through the connecting rod 6-5. The central moving part 6-6 is hinged with the belt 7 through the cylinder pair and drives the belt 7 to about Move: the large bevel gear shaft 6-2 rotates, and the motion is transmitted to the small bevel gear shaft 6-8 and the first sliding rod 6-9, the second sliding rod 6-10, the first nesting 6-11 and the second sliding rod through meshing The second nest 6-12 moves up and down under the drive of the first slide bar 6-9 and the second slide bar 6-10, and the upper end of the first nest 6-11 and the second nest 6-12 support the lower end of the waist belt 7 to guide The waist belt 7 moves up and down; the second waist driving device 5-2 and the third waist driving device 5-3 drive the first leg parts 8-1 and the second leg parts 8-2 to drive the legs and foot mechanisms to move laterally Stretching exercises.

Referring to Fig. 3, the upper thigh rod 10-2 is hinged with the first leg member 8-1 or the second leg member 8-2 at the waist, and is driven by the second leg driving device 9-2 to drive the thigh member 10 to rotate; A leg driving device 9-1 drives the pinion gear 10-1, and drives it to rotate in the arc-shaped chute of the upper thigh rod 10-2 by meshing with the ring gear of the thigh middle rod 10-3, thereby driving the entire leg The rotation of the mechanism and the foot mechanism; the thigh lower rod 10-4 and the thigh middle rod 10-3 are fixedly connected by bolts, and the selection of different height bolt holes can adjust the length of the thigh rod; the outer ring gear on the upper end of the knee part 10-5 and the The inner ring gear at the lower end of the thigh lower rod 10-4 is engaged and connected, and a local degree of freedom of rotation is reserved for self-adjustment by the human leg to make up for the mismatch between the exoskeleton at the thigh and the human leg bone due to the deformation of the leg muscles.

With reference to Fig. 4, the calf upper rod 11-1 is hinged with the knee member 10-5, driven by the third leg driving device 9-3 to drive the calf part 11 to rotate; the lower leg rod 11-2 and the lower leg upper rod 11-1 pass through The bolts are fixedly connected, and the length of the calf rod can be adjusted by selecting different bolt holes; the rotating plate 13-1 and the bottom plate 14 of the foot support 13 in the foot device 3 are hinged with the bottom end of the lower leg rod 11-2, and the foot drive is installed at the hinge. The device 12 drives the foot device 3 to rotate; the foot upper plate 13-3 and the connecting plate 13-2 are hinged through the bolt 13-5, and the foot support 13 can rotate left and right when the foot is suspended to adapt to the rotation of the foot when people walk; The foot plate 13-4 and the foot plate 13-3 are fixedly connected by bolts, and the selection of different bolt holes can be suitable for different foot heights; the base plate 14 is directly in contact with the ground to support the entire exoskeleton-based wearable lower limb rehabilitation robot.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (5)

1. a kind of wearable lower limb healing robot based on ectoskeleton, it is characterised in that including lumbar device (1), two left sides Right symmetrical leg device (2) and two symmetrical foot devices (3)；

The lumbar device (1) includes lumbar support part (4), the first waist drive device (5-1), the second waist drive device (5-2), the 3rd waist drive device (5-3), waist movement part (6), waistband (7), first connect leg piece (8-1) and second and connect leg Part (8-2), the both ends of the lumbar support part (4) connect leg piece (8-1) with first respectively and second company's leg piece (8-2) is be hinged, The second waist drive device (5-2) and the 3rd waist drive device (5-3) are installed in hinged place respectively, and driving first connects leg piece (8- 1) and second connects leg piece (8-2) rotation, and the waist movement part (6) is installed on lumbar support part (4), waist movement portion The end of part (6) is connected with waistband (7), by the first waist drive device (5-1) drive waistband (7) simulate human locomotion when Pelvic movement；

The leg device (2) includes the first leg drive device (9-1), the second leg drive device (9-2), the drive of the 3rd leg Dynamic device (9-3), thigh parts (10) and lower leg component (11)；The thigh parts (10) connect leg piece (8- with the first of waist 1) or second company's leg piece (8-2) is be hinged, and hinged place is installed the second leg drive device (9-2) driving thigh parts (10) and rotated, The lower leg component (11) and the bottom of thigh parts (10) are hinged, and the driving of the 3rd leg drive device (9-3) is installed in hinged place Lower leg component (11) is rotated, and first leg drive device (9-1) is installed in thigh parts (10), drives thigh parts (10) reversed along thigh parts (10) length direction；

The foot device (3) includes foot drive device (12), foot support (13) and bottom plate (14)；The foot support (13) and Bottom plate (14) is fixed, and the bottom plate (14) and the bottom of lower leg component (11) are hinged, hinged place installation foot drive device (12) Foot device (3) is driven to rotate；

The lumbar support part (4) includes intermediate support (4-1), the first sliding part (4-2) and the second sliding part (4-3), First sliding part (4-2) and the second sliding part (4-3) slide in intermediate support (4-1) groove, and are consolidated by bolt Fixed connection, first sliding part (4-2) and the second sliding part (4-3) connect leg piece (8-1) and second with first and connect leg piece respectively (8-2) is be hinged, and the second waist drive device (5-2) and the 3rd waist drive device (5-3) are installed in hinged place, and driving first connects leg Part (8-1) and second connects leg piece (8-2) rotation；

The waist movement part (6) includes bevel pinion (6-1), large bevel gear shaft (6-2), slide head (6-3), rear nesting (6-4), connecting rod (6-5), center moving member (6-6), connector (6-7), small coning gear shaft (6-8), the first sliding bar (6-9), Second sliding bar (6-10), first nested (6-11) are nested with second (6-12)；

The waist movement part (6) is slidably connected by center moving member (6-6) and intermediate support (4-1), the first waist Drive device (5-1) is arranged on bevel pinion (6-1), and bevel pinion (6-1) engages with large bevel gear shaft (6-2), slide head (6-3) and large bevel gear shaft (6-2) crank are slidably connected, and rear nesting (6-4) acts left and right translation by slide head (6-3) band, Translation is passed to by the connecting rod (6-5) being slidably connected with intermediate support (4-1) and moved with the be hinged center of connecting rod (6-5) Part (6-6), center moving member (6-6) horizontally slip in intermediate support (4-1) chute, the small coning gear shaft (6-8) It is be hinged with connector (6-7), while also engaged with large bevel gear shaft (6-2), first sliding bar (6-9) and the second sliding bar (6-10) is slidably connected with small coning gear shaft (6-8), and small coning gear shaft (6-8) drives the first sliding bar (6-9) and respectively Two sliding bars (6-10) rotate, and first nested (6-11) (6-12) nested with second is respectively by the first sliding bar (6-9) and second Sliding bar (6-10) band action upward-downward translation；The waistband (7) is connected with center moving member (6-6) by cylindrical pair, and by One nested (6-11) (6-12) nested with second upper end support, waistband (7) tie up to human body loins position by flexible bandage.

2. the wearable lower limb healing robot according to claim 1 based on ectoskeleton, it is characterised in that the thigh Part (10) includes bar (10-3) in little gear (10-1), thigh upper boom (10-2), thigh, thigh lower beam (10-4) and connects knee part (10-5), the thigh parts (10) connect leg piece (8-1) or second company's leg piece by the first of thigh upper boom (10-2) and waist (8-2) is be hinged, and hinged place is installed the second leg drive device (9-2) driving thigh parts (10) and rotated, thigh upper boom (10-2) Be respectively arranged with arc chute and gear ring on bar in thigh (10-3), the gear ring is driven by little gear (10-1) and slided in arc Rotated in groove, the first leg drive device (9-1), thigh lower beam (10-4) and bar (10- in thigh are installed in little gear (10-1) 3) bolt hole of multiple different heights, thigh lower beam (10-4) and bar (10-3) company of being bolted in thigh are provided with Connect；Even the external toothing of knee part (10-5) upper end engages connection with the ring gear of thigh lower beam (10-4) lower end.

3. the wearable lower limb healing robot according to claim 2 based on ectoskeleton, it is characterised in that the thigh Part (10) is tied up on the thigh of people by flexible bandage system.

4. the wearable lower limb healing robot according to claim 2 based on ectoskeleton, it is characterised in that the shank Part (11) includes shank upper boom (11-1) and shank lower beam (11-2), the bottom of shank upper boom (11-1) and even knee part (10-5) Be hinged, hinged place is installed the 3rd leg drive device (9-3) driving lower leg component (11) and rotated, shank lower beam (11-2) and shank The bolt hole of multiple different heights is provided with upper boom (11-1), shank lower beam (11-2) passes through bolt with shank upper boom (11-1) It is fixedly connected；The lower leg component (11) is tied up on the shank of people by flexible bandage system.

5. the wearable lower limb healing robot according to claim 4 based on ectoskeleton, it is characterised in that the pin branch Frame (13) includes flap (13-1), connecting plate (13-2), pin upper plate (13-3) and underfooting plate (13-4), flap (13-1) and bottom plate (14) connect, the bottom of bottom plate (14) and shank lower beam (11-2) is hinged, hinged place installation foot drive device (12) driving foot Part device (3) is rotated, and connecting plate (13-2) is bolted to connection with flap (13-1), pin upper plate (13-3) and connecting plate (13-2) is be hinged by bolt (13-5), underfooting plate (13-4) and the bolt hole that different height is provided with pin upper plate (13-3), Underfooting plate (13-4) is bolted to connection with pin upper plate (13-3).