Method for controlling stability of intelligent lower limb prosthesis

Abstract

The invention relates to the technical field of intelligent prostheses, in particular to a method for controlling the stability of an intelligent lower limb prosthesis. Comprising a mounting seat, the adjusting mechanism is arranged on the lower side of the mounting base and comprises a foot mold, the foot mold is mounted at the bottom of the mounting base, and a through groove is formed in the foot mold; the toe board is elastically hinged in the through groove, and a torsion spring A is arranged between the toe board and the through groove. Through the design of the adjusting mechanism, when a wearer walks on a slope, the toe plate or the heel plate rotates with the joint of the foot mold as the circle center, flexible movement of the ankle joint of the intelligent artificial limb can be achieved, the gravity center of the body does not need to be deviated to the intelligent artificial limb, and the wearer does not need to completely lift the healthy lower limb; according to the technical scheme, the body stability of a wearer can be guaranteed, the wearer can walk on the slope at ease without worrying about falling down, the physical strength of the wearer is effectively saved, and the walking speed of the wearer is increased.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent prosthetics, and particularly to a control method for the stability of lower limb intelligent prosthetics. Background Art

[0002] As a product of the integration of modern medical technology and artificial intelligence, intelligent prosthetics can naturally simulate and precisely control human movements through high-precision sensors, advanced materials science, and complex algorithms, enabling wearers to regain the ability to walk.

[0003] Although current intelligent prosthetics can provide wearers with the ability to walk, they still have deficiencies in uphill and downhill scenarios. In order to provide sufficient support force for the wearer during walking, the ankle joint of the intelligent prosthetic will increase resistance through a hydraulic system. Only when the hydraulic system is under great pressure, and even when the healthy lower limb of the wearer is completely lifted and the whole body weight is applied to the ankle joint of the intelligent prosthetic, can the ankle joint of the intelligent prosthetic move. The dorsiflexion and plantar flexion movements are very inconvenient, which will lead to a slow walking speed of the wearer. When the healthy leg of the wearer is completely lifted, if the friction of the slope is insufficient, it is very easy to slip and cause the disabled person to fall. Summary of the Invention

[0004] In order to overcome the shortcomings of slow walking speed and easy falling of intelligent prosthetics when going uphill and downhill, the present invention provides a control method for the stability of lower limb intelligent prosthetics.

[0005] The technical solution is: a control method for the stability of lower limb intelligent prosthetics, including a mounting seat; An adjusting mechanism, the adjusting mechanism is arranged on the lower side of the mounting seat, and the adjusting mechanism includes: A foot mold, the foot mold is installed at the bottom of the mounting seat, and the foot mold has a through groove; A toe plate, the toe plate is elastically hinged in the through groove, and a torsion spring A is arranged between the toe plate and the through groove; A push rod A, the push rod A is fixedly installed on the toe plate; A micro piston tube A, the micro piston tube A is installed in the through groove, its piston end is used in cooperation with the push rod A, and a compression spring A is arranged between its piston end and the fixed end; A heel plate, the heel plate is hinged in the through groove, and a torsion spring B is arranged between the heel plate and the through groove; A push rod B, the push rod B is arranged on the heel plate; A micro piston tube B, the micro piston tube B is installed in the through groove, its piston end is used in cooperation with the push rod B, and a compression spring B is arranged between its piston end and the fixed end.

[0006] Further, the adjusting mechanism further includes a calf bone, the calf bone is elastically hinged in the mounting seat, a cylindrical groove is formed in the calf bone, a locking pin is slidably mounted in the cylindrical groove, a locking groove matching the locking pin is formed in the mounting seat, a movable block is fixedly mounted on the locking pin, a tension spring is arranged between the movable block and the calf bone, a telescopic rod A for driving the movable block is mounted in the mounting seat, and a hose A communicating the telescopic rod A and the micro piston tube A penetrates through the foot mold.

[0007] Further, the adjusting mechanism further includes a telescopic rod B mounted in the mounting seat for driving the movable block, and a hose B communicating the telescopic rod B and the micro piston tube B penetrates through the foot mold.

[0008] Further, a limiting mechanism for limiting the locking pin is further included. The limiting mechanism includes an elastic clamping pin. A guide groove communicating with the cylindrical groove is formed in the calf bone, the elastic clamping pin is slidably mounted in the guide groove, and a notch matching the elastic clamping pin is formed at the bottom end of the locking pin.

[0009] Further, the limiting mechanism further includes a micro piston tube C. A vertical groove communicating with the through groove is formed through the bottom of the foot mold, the micro piston tube C is elastically slidably mounted in the vertical groove, a support plate is arranged on the micro piston tube C, a wedge-shaped rod A is mounted on one side of the support plate, and a wedge-shaped rod B cooperating with the wedge-shaped rod A is fixedly mounted on the piston end of the micro piston tube A.

[0010] Further, the limiting mechanism further includes a wedge-shaped rod C. The wedge-shaped rod C is mounted on one side of the support plate, and a wedge-shaped rod D cooperating with the wedge-shaped rod C is fixedly mounted on the piston end of the micro piston tube B.

[0011] Further, the limiting mechanism further includes a pressing plate. The pressing plate is mounted on the piston end of the micro piston tube C. A compression spring C is arranged between the pressing plate and the outer wall of the micro piston tube C and is slidably arranged in the vertical groove of the foot mold. An air bag is mounted in the inner cavity of the micro piston tube C. A telescopic rod C is mounted in the guide groove of the calf bone, and a hose C communicating the air bag and the outer wall of the telescopic rod C penetrates through the foot mold, the calf bone and the micro piston tube C.

[0012] Further, a damping block is further included. The damping block is fixedly mounted in the guide groove of the calf bone and is attached to the telescopic end of the telescopic rod C.

[0013] Further, a deceleration rod is further included. A transverse groove for the deceleration rod to move is formed at the bottom of the through groove of the foot mold. The deceleration rod is elastically slidably mounted in the transverse groove and cooperates with the support plate.

[0014] Furthermore, a control method for the stability of an intelligent lower limb prosthesis includes the following steps: S1: When the wearer walks on a slope, the toe plate or the heel plate rotates around the connection point with the foot mold, causing the locking pin to disengage from the locking groove of the mounting seat, achieving the effect of the intelligent prosthesis ankle joint movement; S2: In order to provide better walking comfort for the wearer, during the process of the wearer walking on a slope, by restricting the movement speed of the support plate through the speed reduction rod, the elastic locking pin can be kept in position to limit the locking pin, thereby realizing the flexible movement of the ankle joint and improving the comfort of the wearer when walking; S3: When the wearer walks from the slope to the flat road, the wearer stays in place for a short time, allowing the gas in the airbag to have enough time to enter the telescopic rod C, and then the elastic locking pin resets and snaps into the locking groove of the mounting seat.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. Through the design of the adjustment mechanism of the present invention, when the wearer walks on a slope, by rotating the toe plate or the heel plate around the connection point with the foot mold, the flexible movement of the ankle joint of the intelligent prosthesis can be realized, without the need to shift the body center of gravity to the intelligent prosthesis, and without the wearer having to fully lift the healthy lower limb. The body stability of the wearer can be guaranteed, and the wearer can walk on the slope with confidence without worrying about falling, effectively saving the wearer's physical strength and increasing the walking speed of the wearer.

[0016] 2. Through the design of the elastic locking pin of the present invention, after the locking pin disengages from the locking groove of the mounting seat, the elastic locking pin can limit the locking pin to prevent the locking pin from snapping into the locking groove of the mounting seat after the mounting seat rotates and resets, thereby further improving the flexibility of the ankle joint of the intelligent prosthesis. When the wearer walks from the slope to the flat road, the wearer only needs to stay in place for a short time to make the locking pin drop and snap into the locking groove of the mounting seat. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic structural diagram of the whole of the present invention; Figure 2 is a schematic structural diagram of the adjustment mechanism of the present invention; Figure 3 is an installation schematic diagram of the telescopic rod A of the present invention; Figure 4 is an installation schematic diagram of the telescopic rod B of the present invention; Figure 5 is an installation schematic diagram of the elastic locking pin of the present invention; Figure 6 is an installation schematic diagram of the wedge-shaped rod A of the present invention; Figure 7 is an installation schematic diagram of the speed reduction rod of the present invention; Figure 8 Schematic installation diagram at point C of the wedge-shaped rod of the present invention; Figure 9 Schematic installation diagram at the airbag of the present invention; Figure 10 Schematic installation diagram at the damping block of the present invention.

[0018] Names and serial numbers of components in the figure: 1 - mounting seat, 201 - foot mold, 202 - toe plate, 203 - ejector rod A, 204 - micro piston tube A, 205 - heel plate, 206 - ejector rod B, 207 - micro piston tube B, 301 - lower leg bone, 302 - locking pin, 303 - movable block, 304 - telescopic rod A, 401 - telescopic rod B, 501 - elastic retaining pin, 601 - micro piston tube C, 602 - support plate, 603 - wedge-shaped rod A, 604 - wedge-shaped rod B, 701 - wedge-shaped rod C, 702 - wedge-shaped rod D, 801 - pressing plate, 802 - airbag, 803 - telescopic rod C, 804 - damping block, 901 - deceleration rod. Specific embodiments

[0019] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments, but the protection scope and application scope of the present invention are not limited.

[0020] Embodiment 1 A control method for the stability of a lower limb intelligent prosthetic limb, as Figures 1 - 3 shown, includes a mounting seat 1. An adjustment mechanism for controlling the ankle joint of the intelligent prosthetic limb is provided on the lower side of the mounting seat 1. The adjustment mechanism includes a foot mold 201 fixedly installed on the lower side of the mounting seat 1. The foot mold 201 has a through groove in the front-rear direction. The front side of the inner wall of the through groove is hinged with a toe plate 202. A torsion spring A is provided between the toe plate 202 and the inner wall of the through groove. The rear side of the toe plate 202 is fixedly installed with an ejector rod A203. The bottom of the inner wall of the through groove is fixedly installed with a micro piston tube A204, and its piston end is used in cooperation with the ejector rod A203. A compression spring A is provided between the piston end and the fixed end of the micro piston tube A204. The rear side of the inner wall of the through groove is hinged with a heel plate 205. A torsion spring B is provided between the heel plate 205 and the inner wall of the through groove. The front side of the heel plate 205 is fixedly installed with an ejector rod B206. The bottom of the inner wall of the through groove is fixedly installed with a micro piston tube B207, and its piston end is used in cooperation with the ejector rod B206. A compression spring B is provided between the piston end and the fixed end of the micro piston tube B207.

[0021] As Figures 2 - 5As shown, the adjustment mechanism also includes a calf bone 301, and the calf bone 301 is elastically hinged in the mounting seat 1. The connection between the calf bone 301 and the mounting seat 1 forms an ankle joint of the intelligent prosthesis. A cylindrical groove is opened in the middle part of the calf bone 301, and a locking pin 302 is slidably installed in the cylindrical groove. A locking groove matching the locking pin 302 is opened on the mounting seat 1. When the locking pin 302 is inserted into the locking groove, the ankle joint of the intelligent prosthesis is in a locked state, which can prevent the ankle joint of the intelligent prosthesis from rotating arbitrarily, making it difficult for the wearer to keep the body stable when walking. A movable block 303 is fixedly installed on the top of the locking pin 302, and a tension spring is arranged between the bottom of the movable block 303 and the calf bone 301. A telescopic rod A304 for driving the movable block 303 to move in a vertical direction is installed in the mounting seat 1, and a hose A that runs through the foot mold 201 is connected between the telescopic rod A304 and the micro piston tube A204.

[0022] like Figure 4 and Figure 5 As shown, the adjustment mechanism also includes a telescopic rod B401 installed in the mounting base 1, and the telescopic rod B401 is used to drive the movable block 303 to move in the vertical direction. A hose B that runs through the foot mold 201 is connected between the telescopic rod B401 and the micro piston tube B207, and the hose B is located on the left side of the hose A.

[0023] When the wearer stands on a flat surface, the foot mold 201, the toe plate 202 and the heel plate 205 are in the shape of Figure 1 As shown, the locking pin 302 is inserted into the locking groove of the mounting seat 1. Due to the large elastic force of the torsion spring A and the torsion spring B, when the wearer walks on a flat road, the pressure on the toe plate 202 and the heel plate 205 will not cause the toe plate 202 and the heel plate 205 to rotate. When the wearer needs to walk on an uphill road and the intelligent prosthesis lifts the leg to take a step, the calf bone 301 is in a vertical state under the control of the intelligent prosthesis, the toe plate 202 is stressed, the foot mold 201 and the heel plate 205 are in a suspended state, the toe plate 202 is stressed, and rotates upward with the connection point of the foot mold 201 as the center, and drives the push rod A203 to move, the torsion spring A is stressed and contracts, and the push rod A203 squeezes the piston end of the micro piston tube A204, so that the piston end of the micro piston tube A204 Contraction, the compression spring A contracts under force, the air in the inner cavity of the micro-piston tube A204 enters the inner cavity of the telescopic rod A304 through the hose A, the telescopic end of the telescopic rod A304 extends to push the movable block 303 to move upward, the tension spring extends under force, and the movable block 303 drives the locking pin 302 to disengage from the locking groove of the mounting seat 1. At this time, the mounting seat 1 can rotate with the connection of the calf bone 301 as the center of the circle, and the foot mold 201 is subjected to force to make the mounting seat 1 rotate clockwise with the connection of the calf bone 301 as the center of the circle, so as to achieve the effect of ankle joint movement of the intelligent prosthesis, and then the foot mold 201 and the heel plate 205 are gradually subjected to force, and the torsion spring A is gradually released to drive the toe plate 202 to gradually reset. When the intelligent prosthesis is lifted again, the mounting seat 1 drives the foot mold 201 to reset by elastic rotation.

[0024] When the wearer needs to walk on a downhill slope and the intelligent prosthetic leg lifts the leg to take a step, the calf bone 301 is in a vertical state under the control of the intelligent prosthetic leg. The heel plate 205 is stressed first, and the foot mold 201 and the toe plate 202 are in a suspended state. The force on the heel plate 205 increases, and it rotates upward with the connection point of the foot mold 201 as the center, driving the movement of the push rod B206. The torsion spring B is compressed, and the push rod B206 squeezes the piston end of the micro piston tube B207, causing the piston end of the micro piston tube B207 to contract. The compression spring B is compressed, and the air in the inner cavity of the micro piston tube B207 enters the inner cavity of the telescopic rod B401 through the hose B. The telescopic end of the telescopic rod B401 extends to push the movable block 303 upward, the tension spring is stretched, and the movable block 303 drives the locking pin 302 to disengage from the locking groove of the mounting seat 1. At this time, the mounting seat 1 can rotate with the connection point of the calf bone 301 as the center. The force on the foot mold 201 causes the mounting seat 1 to rotate counterclockwise with the connection point of the calf bone 301 as the center, achieving the effect of the ankle joint movement of the intelligent prosthetic leg. Subsequently, the foot mold 201 and the toe plate 202 are gradually stressed, and the torsion spring B gradually releases to drive the heel plate 205 to gradually reset. When the intelligent prosthetic leg is lifted again, the mounting seat 1 drives the foot mold 201 to reset by elastic rotation.

[0025] Through the above steps, the physical strength of the wearer can be effectively saved, and the walking speed of the wearer can be increased. When the wearer walks on a slope, there is no need to shift the body center of gravity to the intelligent prosthetic leg, and there is no need for the wearer to lift the healthy leg completely. The body stability of the wearer during walking can be guaranteed, and the wearer can walk on the slope with confidence without worrying about falling. The ankle joint of the intelligent prosthetic leg can flexibly perform dorsiflexion and plantar flexion movements.

[0026] Embodiment 2 As Figure 4 shown in Figure 5 the figure, it further includes a limiting mechanism for limiting the locking pin 302. The limiting mechanism includes an elastic pin 501. A guide groove perpendicular to the cylindrical groove and communicating with the cylindrical groove is opened in the calf bone 301. The elastic pin 501 is slidably installed in the guide groove. A notch for cooperating with the elastic pin 501 is opened at the bottom end of the locking pin 302. After the locking pin 302 is lifted upward, the elastic pin 501 can limit the locking pin 302.

[0027] As Figures 6 - 9As shown, the limiting mechanism further includes a micro piston tube C601. A vertical groove communicating with the bottom of the through groove is formed through the bottom of the foot mold 201. The micro piston tube C601 is elastically slidably installed in the vertical groove in the vertical direction. A support plate 602 is provided on the micro piston tube C601. A wedge-shaped rod A603 is installed at the front left of the support plate 602. A wedge-shaped rod B604 is fixedly installed on the left side of the piston end of the micro piston tube A204. The wedge-shaped rod B604 is used in cooperation with the wedge-shaped rod A603. When the wedge-shaped rod B604 moves backward, it can make the micro piston tube C601 slide downward.

[0028] As Figures 6 - 8 shown, the limiting mechanism further includes a wedge-shaped rod C701. The wedge-shaped rod C701 is fixedly installed at the rear left of the support plate 602. A wedge-shaped rod D702 is fixedly installed on the left side of the piston end of the micro piston tube B207. The wedge-shaped rod D702 is used in cooperation with the wedge-shaped rod C701. When the wedge-shaped rod D702 moves forward, it can make the micro piston tube C601 slide downward.

[0029] As Figures 6 - 8 shown, the limiting mechanism further includes a pressing plate 801. The pressing plate 801 is installed on the piston end of the micro piston tube C601. A compression spring C is provided between the pressing plate 801 and the outer wall of the micro piston tube C601 and is slidably arranged in the vertical groove of the foot mold 201. An airbag 802 is installed in the inner cavity of the micro piston tube C601. The diameter of the piston end of the micro piston tube C601 located in the fixed end is smaller than the inner diameter of the fixed end. A telescopic rod C803 is installed in the guide groove of the lower leg bone 301. A hose C penetrating the foot mold 201, the lower leg bone 301 and the micro piston tube C601 is communicated between the airbag 802 and the outer wall of the telescopic rod C803. The hose C is located on the left side of the hose B.

[0030] As Figure 10 shown, it further includes a damping block 804. The damping block 804 is fixedly installed in the guide groove of the lower leg bone 301 and is attached to the telescopic end of the telescopic rod C803. The damping block 804 can apply a one-way resistance to the telescopic end of the telescopic rod C803, making the extension speed of the telescopic end of the telescopic rod C803 slow.

[0031] As Figure 7 With Figure 8 shown, it further includes a deceleration rod 901. A horizontal groove for the deceleration rod 901 to move is formed at the bottom of the through groove of the foot mold 201. The deceleration rod 901 is elastically slidably installed in the horizontal groove in the left-right direction. The left end of the deceleration rod 901 close to the support plate 602 is composed of a vertical surface and a wedge surface. The deceleration rod 901 is used in cooperation with the support plate 602.

[0032] Initially, the elastic detent 501 is in a contracted state and abuts against the outer wall of the locking pin 302. When the wearer walks on a slope, in order to provide the wearer with better walking comfort, the ankle joint of the intelligent prosthetic limb needs to continuously and flexibly perform dorsiflexion and plantar flexion movements, and it is necessary to temporarily prevent the locking pin 302 from engaging with the locking groove of the mounting seat 1. After the locking pin 302 disengages from the locking groove of the mounting seat 1, the bottom end of the notch of the locking pin 302 is higher than the elastic detent 501, and the elastic detent 501 is released to slide and contacts the bottom of the notch of the locking pin 302, thereby limiting the locking pin 302. At the same time, the elastic detent 501 abuts against the telescopic end of the telescopic rod C803. When the piston end of the micro piston tube A204 contracts, the piston end of the micro piston tube A204 drives the wedge rod B604 to move backward synchronously. When the wedge rod B604 moves, it squeezes the inclined surface of the wedge rod A603. The wedge rod A603 is stressed and drives the micro piston tube C601 to slide downward through the support plate 602. The piston end of the micro piston tube C601 drives the pressing plate 801 to move downward, so that the pressing plate 801 slides out of the vertical groove of the foot mold 201. After the support plate 602 moves downward, it crosses the left vertical surface of the deceleration rod 901 and contacts the left wedge surface of the deceleration rod 901. The deceleration rod 901 gradually slides toward the side close to the support plate 602 as the support plate 602 descends until the support plate 602 stops descending and the deceleration rod 901 stops moving. The top edge of the support plate 602 still contacts the left wedge surface of the deceleration rod 901. It should be noted that the elastic force of the compression spring C is relatively large. After the pressing plate 801 moves downward, the pressing plate 801 will squeeze the shoe, and the piston end of the micro piston tube C601 will not contract. As the wearer walks, the toe plate 202 rotates and resets around the connection of the foot mold 201, and drives the ejector rod A203 to move and reset. The piston end of the micro piston tube A204 extends and resets under the action of the compression spring A. The air in the inner cavity of the telescopic rod A304 returns to the inner cavity of the micro piston tube A204 through the hose A. The telescopic end of the telescopic rod A304 contracts and resets, and the telescopic end of the telescopic rod A304 no longer contacts the bottom of the movable block 303. At the same time, the piston end of the micro piston tube A204 drives the wedge rod B604 to reset, and the wedge rod B604 no longer squeezes the inclined surface of the wedge rod A603. Since the elastic force of the deceleration rod 901 is greater than the elastic force of the micro piston tube C601, the micro piston tube C601 cannot slide and reset. As the wearer walks, the pressing plate 801 is pressured to drive the piston end of the micro piston tube C601 to contract, and pushes the micro piston tube C601 upward through the compression spring C. The micro piston tube C601 drives the support plate 602 to squeeze the left wedge surface of the deceleration rod 901. The deceleration rod 901 is stressed and slowly contracts and slides. At the same time, the piston end of the micro piston tube C601 squeezes the airbag 802. The gas in the airbag 802 enters the telescopic rod C803 through the hose C. The damping block 804 applies resistance to the telescopic end of the telescopic rod C803, so that the telescopic rod C803 slowly extends. The telescopic end of the telescopic rod C803 pushes the elastic detent 501 to slowly contract and slide.At this time, the airbag 802 is deformed because the gas cannot be discharged in time. After the mounting seat 1 and the lower leg bone 301 return to the initial state, the lower leg bone 301 continues to move, so as to realize the flexible movement of the ankle joint and improve the comfort of the wearer when walking. When the wearer continues to walk and the intelligent prosthetic leg lifts the leg and takes a step, the pressing plate 801 is no longer under pressure, and the outer wall of the elastic pin 501 still contacts the bottom of the notch of the locking pin 302. The compression spring C is released and drives the piston end of the micro piston tube C601 to contract and reset through the pressing plate 801. The piston end of the micro piston tube C601 no longer squeezes the airbag 802, and the airbag 802 restores its shape. Furthermore, the air in the inner cavity of the telescopic rod C803 returns to the airbag 802. At the same time, the deceleration rod 901 is released to slide, and the left end wedge surface of the deceleration rod 901 squeezes the top edge of the support plate 602. The support plate 602 is stressed to drive the micro piston tube C601 to slide downward again. When the wearer continues to walk, repeating the above steps can achieve the same effect.

[0033] When the piston end of the micro piston tube B207 contracts, the piston end of the micro piston tube B207 drives the wedge rod D702 to move forward synchronously. When the wedge rod D702 moves, it squeezes the inclined surface of the wedge rod C701. The wedge rod C701 is stressed to drive the micro piston tube C601 to slide downward through the support plate 602, and repeat the above steps. As the wearer walks, the heel plate 205 rotates and resets with the connection point of the foot mold 201 as the center, and drives the ejector rod B206 to move and reset. The piston end of the micro piston tube B207 extends and resets under the action of the compression spring B. The air in the inner cavity of the telescopic rod B401 returns to the inner cavity of the micro piston tube B207 through the hose B, so that the telescopic end of the telescopic rod B401 contracts and resets, and the telescopic end of the telescopic rod B401 no longer contacts the bottom of the movable block 303. At the same time, the piston end of the micro piston tube B207 drives the wedge rod D702 to reset, and the wedge rod D702 no longer squeezes the inclined surface of the wedge rod C701, and then repeat the above steps and achieve the same effect.

[0034] When the wearer walks from a slope to a flat road, the wearer stays in place for a while to allow enough time for the gas in the airbag 802 to enter the inner cavity of the telescopic rod C803, so as to increase the extension stroke of the telescopic end of the telescopic rod C803. The elastic pin 501 is pushed by the telescopic end of the telescopic rod C803 to reset. After the elastic pin 501 is reset, it no longer contacts the notch of the locking pin 302. The tension spring contracts and drives the locking pin 302 to drop and snap into the locking groove of the mounting seat 1 to reset.

[0035] A control method for the stability of a lower limb intelligent prosthetic limb includes the following steps: S1: When the wearer walks on a slope, the toe plate 202 or the heel plate 205 rotates with the connection point of the foot mold 201 as the center, so that the locking pin 302 is disengaged from the locking groove of the mounting seat 1, achieving the effect of the intelligent prosthetic ankle joint moving; S2: To provide the wearer with better walking comfort, during the process of the wearer walking on a slope, by restricting the movement speed of the support plate 602 through the speed reduction rod 901, the elastic detent 501 can be maintained to limit the locking pin 302, thereby realizing the flexible movement of the ankle joint and improving the walking comfort of the wearer. S3: When the wearer walks from a slope to a flat road, the wearer stays in place for a while to allow enough time for the gas in the airbag 802 to enter the telescopic rod C803, and then the elastic detent 501 is reset and snapped into the locking groove of the mounting seat 1.

[0036] The above has introduced this application in detail. Specific examples are used in this article to elaborate on the principle and implementation manner of this application. The description of the above embodiments is only used to help understand the method and its core idea of this application; at the same time, for those of ordinary skill in the art, according to the idea of this application, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to this application.

Claims

1. An intelligent lower limb prosthesis, characterized in that: including a mounting base (1); an adjusting mechanism, which is arranged on the lower side of the mounting base (1), and the adjusting mechanism includes: a foot mold (201), the foot mold (201) is installed at the bottom of the mounting base (1), and the foot mold (201) has a through groove; a toe plate (202), the toe plate (202) is elastically hinged in the through groove, and a torsion spring A is arranged between the toe plate (202) and the through groove; a push rod A (203), the push rod A (203) is fixedly installed on the toe plate (202); a micro piston tube A (204), the micro piston tube A (204) is installed in the through groove, its piston end is used in cooperation with the push rod A (203), and a compression spring A is arranged between its piston end and the fixed end; a heel plate (205), the heel plate (205) is hinged in the through groove, and a torsion spring B is arranged between the heel plate (205) and the through groove; a push rod B (206), the push rod B (206) is arranged on the heel plate (205); a micro piston tube B (207), the micro piston tube B (207) is installed in the through groove, its piston end is used in cooperation with the push rod B (206), and a compression spring B is arranged between its piston end and the fixed end.

2. The lower limb intelligent prosthetic limb according to claim 1, characterized in that: The adjusting mechanism further includes a calf bone (301), the calf bone (301) is elastically hinged in the mounting base (1), a cylindrical groove is formed in the calf bone (301), a locking pin (302) is slidably installed in the cylindrical groove, a locking groove matching the locking pin (302) is formed in the mounting base (1), a movable block (303) is fixedly installed on the locking pin (302), a tension spring is arranged between the movable block (303) and the calf bone (301), and a telescopic rod A (304) for driving the movable block (303) is installed in the mounting base (1), and a hose A penetrating through the foot mold (201) is communicated between the telescopic rod A (304) and the micro piston tube A (204).

3. The lower limb intelligent prosthetic limb according to claim 2, characterized in that: The adjusting mechanism further includes a telescopic rod B (401) installed in the mounting base (1) for driving the movable block (303), and a hose B penetrating through the foot mold (201) is communicated between the telescopic rod B (401) and the micro piston tube B (207).

4. The lower limb intelligent prosthetic limb according to claim 3, characterized in that: It further includes a limiting mechanism for limiting the locking pin (302), and the limiting mechanism includes an elastic clamping pin (501), a guide groove communicated with the cylindrical groove is formed in the calf bone (301), the elastic clamping pin (501) is slidably installed in the guide groove, and a notch matching the elastic clamping pin (501) is formed at the bottom end of the locking pin (302).

5. The lower limb intelligent prosthetic limb according to claim 4, characterized in that: The limiting mechanism further includes a micro piston tube C (601). A vertical groove communicating with the through groove is formed through the bottom of the foot mold (201). The micro piston tube C (601) is elastically slidably installed in the vertical groove. A support plate (602) is arranged on the micro piston tube C (601). A wedge-shaped rod A (603) is installed on one side of the support plate (602). A wedge-shaped rod B (604) cooperating with the wedge-shaped rod A (603) is fixedly installed at the piston end of the micro piston tube A (204).

6. The lower limb intelligent prosthetic limb according to claim 5, characterized in that: The limiting mechanism further includes a wedge-shaped rod C (701). The wedge-shaped rod C (701) is installed on one side of the support plate (602). A wedge-shaped rod D (702) cooperating with the wedge-shaped rod C (701) is fixedly installed at the piston end of the micro piston tube B (207).

7. The lower limb intelligent prosthesis according to claim 6, characterized in that: The limiting mechanism further includes a pressure plate (801). The pressure plate (801) is installed at the piston end of the micro piston tube C (601). A compression spring C is arranged between the pressure plate (801) and the outer wall of the micro piston tube C (601), and it is slidably arranged in the vertical groove of the foot mold (201). An airbag (802) is installed in the inner cavity of the micro piston tube C (601). A telescopic rod C (803) is installed in the guide groove of the lower leg bone (301). A hose C passing through the foot mold (201), the lower leg bone (301) and the micro piston tube C (601) is communicated between the airbag (802) and the outer wall of the telescopic rod C (803).

8. The lower limb intelligent prosthetic limb according to claim 7, characterized in that: It further includes a damping block (804). The damping block (804) is fixedly installed in the guide groove of the lower leg bone (301) and is in contact with the telescopic end of the telescopic rod C (803).

9. The lower limb intelligent prosthetic limb according to claim 8, wherein: It further includes a deceleration rod (901). A transverse groove for the deceleration rod (901) to move is formed at the bottom of the through groove of the foot mold (201). The deceleration rod (901) is elastically slidably installed in the transverse groove and cooperates with the support plate (602).

10. A control method for the stability of a lower limb intelligent prosthetic limb according to claim 9, characterized in that: It includes the following steps: S1: When the wearer walks on a slope, the toe plate (202) or the heel plate (205) rotates around the connection of the foot mold (201), so that the locking pin (302) disengages from the locking groove of the mounting seat (1), achieving the effect of the intelligent prosthetic ankle joint moving. S2: In order to provide better walking comfort for the wearer, during the process of the wearer walking on a slope, by restricting the movement speed of the support plate (602) through the deceleration rod (901), the elastic locking pin (501) can keep limiting the locking pin (302), thereby realizing the flexible movement of the ankle joint. The intelligent prosthetic can flexibly perform dorsiflexion and plantar flexion movements, improving the comfort of the wearer when walking. S3: When the wearer walks from the slope to the flat road, the wearer stays in place for a while, so that the gas in the airbag (802) has enough time to enter the telescopic rod C (803), and then the elastic locking pin 501 resets and snaps into the locking groove of the mounting seat (1).

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