A power ankle prosthesis based on adjustable position one-way parallel spring

Abstract

The present application relates to a kind of power ankle prosthesis based on adjustable position one-way parallel spring, mainly by support mechanism, power direct drive mechanism, spring mechanism, adjusting mechanism, toe mechanism composition.Support mechanism is connected with human lower extremity stump, power direct drive mechanism, spring mechanism, adjusting mechanism are fixed on support mechanism, and toe mechanism is hinged with support mechanism.The support mechanism of the present application provides the support of ankle prosthesis, power direct drive mechanism and spring mechanism provide the energy output and support torque required in the walking process of power ankle prosthesis, spring mechanism stores passive energy and releases, compensates motor energy consumption, adjusting mechanism realizes the adaptive adjustment to wearer gait speed in the walking process, and elastic toe mechanism simulates the elastic mechanism of normal human toe in the walking process, provides passive elastic grip for ankle.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of artificial prostheses, and particularly relates to a dynamic ankle joint prosthesis based on an adjustable position one-way parallel spring. BACKGROUND

[0002] Ankle joint prosthesis, as a compensatory tool for ankle joint, is the key to improve the work and life of patients with below-knee amputation, and has important theoretical significance and research value. However, most of the existing ankle joint prostheses are passive structures that use simple profiling mechanisms or only elastic elements to achieve the function. In the process of human movement, the ankle joint is not only the main joint of human movement and balance, but also the main source of energy for human forward movement. The existing passive ankle joint prostheses include Seattle Foot developed by DuPont Company, Flex-Foot-Assure developed by Ossur Company, Pathfinder developed by WillonWood Company, etc. The existing semi-active ankle joint prostheses include Propriofoot developed by Ossur Company, Robert Holgate developed by SpringActive Company, and multifunctional semi-active ankle joint prosthesis developed by Harrisosn L. Bartlett, etc. Research has found that passive ankle joint prostheses and semi-active ankle joint prostheses cannot provide active energy compensation in the dynamic plantar flexion phase of the wearer in the work process, which will cause the wearer to consume more biological energy in the dynamic plantar flexion phase of the gait cycle, and may also cause the wearer to limp due to the asymmetric energy consumption of the two ankle joints, which seriously affects the wearing experience.

[0003] Ordinary direct drive active ankle joint prostheses, such as the robot foot active ankle joint prosthesis proposed by Joseph K. Hitt et al. of Arizona State University in the United States, directly provide all the movement energy and active joint torque for the ankle joint prosthesis by the motor. The advantage of this is that the normal physiological movement properties of the ankle joint prosthesis can be simulated through precise control of the motor speed and torque. However, there are also obvious defects: firstly, the peak power and peak torque of the ankle joint in the normal movement process of the human body require a large output power and torque of the selected motor, and the complete provision of energy and torque for the ankle joint by the motor makes the motor itself too large in size and mass, affecting the overall weight of the dynamic ankle joint prosthesis and increasing the burden on the wearer; secondly, the human ankle joint will generate some negative work during walking. If the energy is provided entirely by the motor without considering the recycling of the human negative work, the energy utilization efficiency of the designed active ankle joint prosthesis in the working process will inevitably be greatly reduced. In addition, such ankle joint prostheses have poor self-adaptability, and usually only have good performance at a single motion state or speed, but cannot make corresponding adaptive adjustments to changes in the motion state. SUMMARY

[0004] In order to overcome the low energy utilization rate, poor self-adaptive ability, excessive weight and poor user wearing experience of the ankle prosthesis, the application provides a power ankle prosthesis based on an adjustable position one-way parallel spring.

[0005] The application solves the technical problems by adopting the technical solutions of:

[0006] The power ankle prosthesis based on the adjustable position one-way parallel spring mainly comprises a supporting mechanism, a power direct drive mechanism, a spring mechanism, an adjusting mechanism and a toe mechanism.

[0007] The power direct drive mechanism, the spring mechanism and the adjusting mechanism are fixed on the supporting mechanism, the toe mechanism is hinged to the supporting mechanism, the power direct drive mechanism is fixedly connected to the spring mechanism, and the adjusting mechanism is hinged to the spring mechanism.

[0008] The supporting mechanism comprises a calf supporting part and an ankle-foot supporting part.

[0009] The calf supporting part is located above the ankle-foot supporting part, and the calf supporting part is hinged to the ankle-foot supporting part.

[0010] The calf supporting part comprises an upper cover plate, calf side plates, a motor seat, a screw rod seat and a shaft one.

[0011] The two calf side plates are respectively located on the two sides of the upper cover plate, and the calf side plates are fixedly connected to the upper cover plate; the motor seat and the screw rod seat are respectively fixedly connected to the inner calf side plate, and the shaft one is located at the lower end of the calf side plate.

[0012] The ankle-foot supporting part comprises a bottom plate, an ankle side plate, a foot side plate and a bearing.

[0013] The ankle side plate and the foot side plate are respectively fixedly connected to the bottom plate, and the bearing is connected to the ankle side plate; the ankle side plate is symmetrically distributed along the center line of the bottom plate.

[0014] The shaft one passes through the bearing to realize the hinge connection of the calf supporting part and the ankle-foot supporting part.

[0015] The power ankle prosthesis comprises a motor, a synchronous pulley, a synchronous belt, a screw rod, a flange, a flange connecting block and a connecting rod one.

[0016] The motor is fixed on the calf side plate through the motor base, two synchronous pulleys are fixed on the upper cover plate, the upper end of the lead screw is fixedly connected with the right synchronous pulley, and the lower end of the lead screw is fixed on the calf side plate through the lead screw base. The motor is fixedly connected with the left synchronous pulley, and the synchronous belt is wrapped on the left and right synchronous pulleys; the flange is connected with the lead screw, the flange connecting block is fixedly connected with the flange; the upper end of the connecting rod is hingedly connected with the flange connecting block, and the lower end is hingedly connected with the foot side plate; the motor drives the synchronous pulley to rotate, and drives the lead screw to rotate in the same direction; the rotation of the lead screw drives the flange to reciprocate up and down along the length direction of the lead screw; the flange connecting block fixedly connected with the flange drives the connecting rod to swing left and right.

[0017] The power direct drive mechanism is a crank slider power direct drive mechanism, and directly drives energy and driving torque for the power ankle prosthesis.

[0018] The power ankle prosthesis, the flange connecting block is in the shape of a spoon, and the head of the spoon is designed as a stepped recess, and the radius of the recess is determined by the outer diameter of the flange. Four threaded holes are symmetrically distributed on the recess ring for fixing the flange. The side of the spoon handle has a through hole to realize the hinging of the flange connecting block and the connecting rod.

[0019] The connecting rod has through holes at both ends and grooves along the center line, and the width of the upper end groove is greater than the width of the spoon handle of the flange connecting block, and the width of the lower end groove is greater than the thickness of the foot side plate. The upper end of the connecting rod is hingedly connected with the flange connecting block, and the lower end is hingedly connected with the foot side plate.

[0020] The power ankle prosthesis, the spring mechanism is composed of a rocker, a connecting rod, a slider guide block, a spring compression block, a compression spring, a shaft and a spring fixing block.

[0021] The rocker and the connecting rod are hingedly connected through the shaft and the bearing, and the connecting rod and the spring compression block are hingedly connected together; the slider guide block restricts the movement of the spring compression block through its own guide groove; the shaft is located in the compression spring, one end is hingedly connected with the spring fixing block, and the other end passes through the hole in the spring compression block and is free; one end of the compression spring is fixed on the spring fixing block, and the other end is connected with the spring compression block. Under the one-way compression of the spring compression block, one-way deformation is realized.

[0022] The rocker is fixedly connected with the calf side plate and hingedly connected with the ankle side plate; the slider guide block is fixedly connected with the bottom plate through threads; the spring fixing block is hingedly connected with the adjusting mechanism.

[0023] The rocker, the connecting rod and the spring compression block constitute a rocker slider mechanism with the ankle side plate, the bottom plate and the slider guide block as a rack; the compression spring is a one-way spring, that is, only one-way compression is borne in the working process without stretching.

[0024] The power ankle prosthesis has the spring compression block one with a "three-way" shape, which contains a circular table with a diameter larger than the outer diameter of the compression spring, so as to ensure that the compression force is applied to the compression spring during the operation.

[0025] The power ankle prosthesis has the adjusting mechanism composed of a rudder seat, a rudder and a swing rod.

[0026] The rudder is fixedly connected with the rudder seat, and the swing rod is fixedly connected with the rudder.

[0027] The rudder seat is fixedly connected with the bottom plate, one end of the swing rod is fixedly connected with the rudder output shaft, and the other end is sleeved on the adjusting shaft in the rudder seat guide groove.

[0028] The power ankle prosthesis has the toe mechanism composed of a spring fixing block two, a spring compression block two and a toe piece.

[0029] The spring fixing block two and the spring compression block two are respectively located at two ends of the compression spring, the compression spring is limited to compress by the spring fixing block two and the spring compression block two, the spring compression block two is hinged with the toe piece, and the spring fixing block two and the toe piece are respectively hinged with the lateral foot plate.

[0030] The power ankle prosthesis has the following beneficial effects:

[0031] The power ankle prosthesis has the following beneficial effects:

[0032] The presented active ankle prosthesis directly supplies active energy to the ankle prosthesis through a direct drive mechanism; a parallel spring mechanism stores passive energy and releases it to compensate for the motor energy consumption and provide ankle support torque; a spring balance position adjustment mechanism realizes adaptive adjustment of the wearer's gait speed during walking; and an elastic toe mechanism simulates the elastic mechanism of the toes during normal human walking to provide passive elastic grip for the ankle.

[0033] Overall, the power ankle prosthesis has the characteristics of low energy consumption, strong environmental adaptability, comfortable wearing, small mass, etc. during use. BRIEF DESCRIPTION OF DRAWINGS

[0034] The application will be further described below in combination with the drawings and examples.

[0035] Figure 1 is a structural schematic diagram of the application;

[0036] Figure 2 is a schematic diagram of the support mechanism;

[0037] Figure 3 is a schematic diagram of the power direct drive mechanism;

[0038] Figure 4 is a schematic diagram of the flange connecting block structure;

[0039] Figure 5 is a schematic diagram of the connecting rod one structure;

[0040] Figure 6 is a front view of the spring mechanism;

[0041] Figure 7 is a structural diagram of the spring mechanism;

[0042] Figure 8 is a schematic diagram of the spring compression block one structure;

[0043] Figure 9 is a schematic diagram of the adjustment mechanism;

[0044] Figure 10 is a schematic diagram of the toe mechanism.

[0045] In the diagram: 1. Support mechanism; 2. Direct drive mechanism; 3. Spring mechanism; 4. Adjustment mechanism; 5. Toe mechanism; 6. Top cover plate; 7. Lower leg side plate; 8. Ankle side plate; 9. Foot side plate; 10. Base plate; 11. Motor mount; 12. Lead screw mount; 13. Shaft 1; 14. Bearing; 15. Motor; 16. Synchronous pulley; 17. Synchronous belt; 18. Lead screw; 19. Flange; 20. Flange connecting block; 21. Link 1; 22. Rocker arm; 23. Link 2; 24. Slider guide block; 25. Spring compression block 1; 26. Compression spring; 27. Shaft 2; 28. Spring fixing block 1; 29. ​​Hole 1; 30. Hole 2; 31. Servo mount; 32. Servo; 33. Rocker arm; 34. Spring fixing block 2; 35. Spring compression block 2; 36. Toe component. Detailed Implementation

[0046] Example

[0047] A dynamic ankle joint prosthesis based on an adjustable position unidirectional parallel spring mainly consists of a support mechanism 1, a power direct drive mechanism 2, a spring mechanism 3, an adjustment mechanism 4, and a toe mechanism 5.

[0048] like Figure 1 As shown, the support mechanism 1 serves as the overall support structure for the ankle prosthesis. The power direct drive mechanism 2, the spring mechanism 3, and the adjustment mechanism 4 are fixed to the support mechanism 1 by threaded connections. The toe mechanism 5 is hinged to the support mechanism 1. The power direct drive mechanism 2 is fixed to the spring mechanism 3 to achieve the transmission of force and energy. The adjustment mechanism 4 is hinged to the spring mechanism 3 to achieve the purpose of adaptive adjustment of gait.

[0049] The support mechanism 1 can be fixed to the human lower limb stump via a connecting device.

[0050] The power direct drive mechanism 2 and the spring mechanism 3 together provide the energy output and support torque required for the walking process of the powered ankle prosthesis. The active energy and active joint torque are provided by the power direct drive mechanism 2, while the spring mechanism 3 stores and releases passive energy through the deformation of the spring during the movement, passively providing part of the ankle joint support torque to compensate for the torque output of the direct drive motor and reduce the required peak torque of the motor.

[0051] Adjustment mechanism 4 is a spring balance position adjustment mechanism. By adjusting the balance position of the spring, it can meet the different requirements of the spring elastic characteristics under different gait or movement speed.

[0052] The toe mechanism 5 is an elastic toe mechanism that provides biomimetic support torque for the toes, which can improve the wearer's comfort.

[0053] The support mechanism 1 includes a lower leg support and an ankle-foot support.

[0054] The calf support is located above the ankle-foot support and is hinged to the ankle-foot support.

[0055] As shown in Figure 2 The calf support includes an upper cover plate 6, a calf side plate 7, a motor seat 11, a screw rod seat 12, and a shaft 1 3.

[0056] The two calf side plates 7 are respectively located on both sides of the upper cover plate 6 and are fixedly connected to the upper cover plate 6. The motor seat 11 and the screw rod seat 12 are respectively fixedly connected to the inner calf side plate 7, and the shaft 1 3 is located at the lower end of the calf side plate 7.

[0057] The ankle-foot support is composed of a bottom plate 10, an ankle side plate 8, a foot side plate 9, and a bearing 14.

[0058] The ankle side plate 8 and the foot side plate 9 are respectively fixedly connected to the bottom plate 10, and the bearing 14 is connected to the ankle side plate 8. The ankle side plate 8 is symmetrically distributed along the center line of the bottom plate 10.

[0059] The shaft 1 3 passes through the bearing 14 to realize the hinge connection of the calf support and the ankle-foot support.

[0060] The support mechanism 1 serves as the overall support structure of the ankle prosthesis and supports the prosthesis. The shape of the support mechanism 1 affects the appearance of the powered ankle prosthesis.

[0061] As shown in Figure 3 The powered direct drive mechanism 2 is composed of a motor 15, a synchronous pulley 16, a synchronous belt 17, a screw rod 18, a flange 19, a flange connecting block 20, and a connecting rod 1 21.

[0062] The motor 15 is fixed on the calf side plate 7 by the motor seat 11. The two synchronous pulleys 16 are fixed on the upper cover plate 6 by bolts. The upper end of the screw rod 18 is fixedly connected to the right synchronous pulley 16, and the lower end is fixed on the calf side plate 7 by the screw rod seat 12. The motor 15 is fixedly connected to the left synchronous pulley 16, and the synchronous belt 17 is wrapped around the left and right synchronous pulleys 16. The screw rod 18 is fixedly connected to the right synchronous pulley 16, and the flange 19 is threadedly connected to the screw rod 18. The flange connecting block 20 is fixedly connected to the flange 19 by bolts. The upper end of the connecting rod 1 21 is hingedly connected to the flange connecting block 20, and the lower end is hingedly connected to the foot side plate 9. The motor 15 drives the synchronous pulley 16 to rotate, and simultaneously drives the screw rod 18 to rotate in the same direction. Due to the threaded connection between the screw rod 18 and the flange 19, the rotation of the screw rod 18 forces the flange 19 to reciprocate up and down along the screw rod 18. The flange connecting block 20 fixedly connected to the flange 19 drives the connecting rod 1 21 to swing left and right, thereby providing the ankle joint with an active joint torque, so as to realize the rotation of the calf support around the ankle joint.

[0063] The structure of the flange connecting block 20 is as shown in Figure 4The whole is spoon-shaped. The "spoon" head is designed as a stepped recess, the radius of which is determined by the outer diameter of the flange 19. Four threaded holes are symmetrically distributed on the recess ring for fixing the flange 19. The "spoon" handle side has a through hole to realize the hinged function of the flange connecting block 20 and the connecting rod 21.

[0064] The connecting rod 21 is structured as shown in Figure 5 The connecting rod 21 has through holes at both ends, and grooves are dug along the center line at both ends. The width of the upper end groove is greater than the width of the "spoon" handle of the flange connecting block 20, and the width of the lower end groove is greater than the thickness of the foot side plate 9. The upper end of the connecting rod 21 is hinged to the flange connecting block 20, and the lower end is hinged to the foot side plate 9.

[0065] The spring mechanism 3 is composed of a rocker 22, a connecting rod 23, a slider guide block 24, a spring compression block 25, a compression spring 26, a shaft 27, and a spring fixing block 28.

[0066] As shown in Figure 6 , Figure 7 The rocker 22 is hinged to the connecting rod 23, and the connecting rod 23 is hinged together with the spring compression block 25. The slider guide block 24 constrains the movement of the spring compression block 25 through its own guide groove. The shaft 27 is located inside the compression spring 26, one end is hinged to the spring fixing block 28, and the other end passes through the hole 30 in the spring compression block 25 to remain free. One end of the compression spring 26 is fixed to the spring fixing block 28, and the other end is connected to the spring compression block 25. Under the one-way compression force of the spring compression block 25, it realizes one-way deformation.

[0067] The rocker 22 is fixed to the calf side plate 7 and hinged to the ankle side plate 8. The slider guide block 24 is fixedly connected to the bottom plate 10 through threads. The spring fixing block 28 is hinged together with the adjusting mechanism 4.

[0068] The structure of the spring compression block 25 is shown in Figure 8 It has a "three-way" shape. It contains a circular table with a diameter greater than the outer diameter of the compression spring 26 to ensure that the compression spring 26 is subjected to compression force during operation. One end of the shaft 27 extends out of the hole 30 in the spring compression block 25 to remain free. The spring compression block 25 is hinged to the slider guide block 24 and the connecting rod 23 through two holes 29.

[0069] The rocker 22, the connecting rod 23, and the spring compression block 25 form a rocker slider mechanism with the ankle side plate 8, the bottom plate 10, and the slider guide block 24 as the frame. The compression spring 26 is a one-way spring, i.e. only subjected to one-way compression and not subjected to stretching during operation.

[0070] The spring mechanism 3 is a one-way parallel spring mechanism, so that the compression spring 26 realizes one-way energy storage and passive release, and the energy collection and release actions are completed in combination with the walking gait, so that the overall energy utilization efficiency of the powered ankle prosthesis is improved. At the same time of energy release, the spring mechanism 3 will provide passive ankle support torque to compensate for the output torque of the motor 15.

[0071] As shown in Figure 9 , the adjusting mechanism 4 is composed of a steering wheel base 31, a steering wheel 32 and a swing rod 33.

[0072] The steering wheel 32 is fixedly connected with the steering wheel base 31, and the swing rod 33 is fixedly connected with the steering wheel 32,

[0073] The steering wheel base 31 is fixedly connected with the bottom plate 10; one end of the swing rod 33 is fixedly connected with the steering wheel output shaft, and the other end is sleeved on the adjusting shaft in the guide groove of the steering wheel base 31, and the adjusting shaft in the guide groove of the steering wheel base 31 is driven by the steering wheel 32 to realize the switching of the balance position of the compression spring 26.

[0074] The adjusting mechanism 4 is a spring balance position adjusting mechanism, which drives the swing rod 33 by the steering wheel 32 to realize the change of the balance position of the parallel compression spring 26, so as to adapt to different motion gaits or speeds and meet different needs of the wearer for the parallel spring characteristics under different motion gaits or speeds.

[0075] The toe mechanism 5 is composed of a spring fixing block two 34, a spring compression block two 35 and a toe piece 36.

[0076] As shown in Figure 10 , the spring fixing block two 34 and the spring compression block two 35 are respectively located at two ends of the compression spring 26, and the compression spring 26 is limited in compression by the spring fixing block two 34 and the spring compression block two 35; the spring compression block two 35 is hingedly connected with the toe piece 36; the spring fixing block two 34 and the toe piece 36 are respectively hingedly connected with the foot side plate 9.

[0077] The toe mechanism 5 is an elastic toe mechanism, which simulates the action mechanism of human toes in the walking process, and assists the rotation of the toe joint of the user in a passive elastic manner, so as to provide a bionic support torque for the toe part and improve the wearing comfort of the wearer.

[0078] The working process of the powered ankle prosthesis is as follows:

[0079] During the working process of the prosthesis, the motor 15 is driven by an external energy source to output torque and energy in a certain pattern. The rotation of the lead screw 18 driven by the motor 15 causes the flange 19 to move up and down along the lead screw 18, and the push-pull of the flange connecting block 20 to the connecting rod 21 generates torque at the ankle joint, so that the ankle joint obtains active joint torque. Since the lead screw 18 does not have a self-locking function, the rotation of the ankle joint in the motor shutdown state will passively rotate the lead screw 18, thereby driving the main shaft of the motor 15 to rotate synchronously. The rotation of the lower leg side plate 7 and the rocker 22 relative to the ankle side plate 8 causes the connecting rod 23 to pull the spring compression block 25 to reciprocate in the guide groove of the sliding block guide 24, thereby achieving one-way compression of the compression spring 26. Firstly, the elastic force of the compression spring 26 indirectly acts on the rocker 22, generating a part of the ankle joint support torque, which compensates for the motor torque output required by the motor 15 when supporting the ankle joint, thereby reducing the peak torque output required by the motor. Secondly, the compression process of the compression spring 26 is a passive energy storage process, and with the arrival of the heel-off action, the energy stored in the compression spring 26 is released to compensate for the energy required for the plantar flexion action, thereby reducing the required external energy and improving the overall energy utilization efficiency of the prosthesis. The steering wheel 32 drives the swing rod 33 to swing, so that the adjusting shaft in the guide groove of the rudder seat 31 switches positions in the "7" shaped guide block of the rudder seat 31, thereby adjusting the balance position of the compression spring 26, so that the prosthesis has the ability to adapt to different movement gaits or speeds. In order to prevent the shaft from being stuck during the switching process, the angle of the "7" shaped guide groove is designed as an 80-degree acute angle. In the toe mechanism, the compression spring 26 stores energy through passive compression of the spring compression block 35 during the dorsiflexion movement after a certain threshold angle, and releases the energy during the toe plantar flexion stage, thereby achieving passive toe support torque while increasing the user's wearing comfort.

Claims

1. A dynamic ankle joint prosthesis based on an adjustable position unidirectional parallel spring, characterized in that, It mainly consists of a support mechanism (1), a power direct drive mechanism (2), a spring mechanism (3), an adjustment mechanism (4), and a toe mechanism (5); The power direct drive mechanism (2), the spring mechanism (3), and the adjustment mechanism (4) are fixed on the support mechanism (1); the toe mechanism (5) is hinged to the support mechanism (1), the power direct drive mechanism (2) is fixed to the spring mechanism (3), and the adjustment mechanism (4) is hinged to the spring mechanism (3); The support mechanism (1) includes a lower leg support and an ankle-foot support; The lower leg support is located above the ankle and foot support, and the lower leg support is hinged to the ankle and foot support; The lower leg support includes an upper cover plate (6), a lower leg side plate (7), a motor base (11), a lead screw base (12), and a shaft (13); Two lower leg side plates (7) are located on both sides of the upper cover plate (6), and the lower leg side plates (7) are fixedly connected to the upper cover plate (6); the motor seat (11) and the lead screw seat (12) are fixedly connected to the inner lower leg side plates (7), and the shaft one (13) is located at the lower end of the lower leg side plates (7); The ankle and foot support consists of a base plate (10), an ankle side plate (8), a foot side plate (9), and a bearing (14); The ankle side plate (8) and the foot side plate (9) are respectively fixed to the base plate (10), and the bearing (14) is connected to the ankle side plate (8); The ankle side plates (8) are symmetrically distributed along the midline of the base plate (10); The shaft (13) passes through the bearing (14) to achieve the hinge connection between the lower leg support and the ankle support; The spring mechanism (3) consists of a rocker arm (22), a connecting rod (23), a slider guide block (24), a spring compression block (25), a compression spring (26), a shaft (27), and a spring fixing block (28). The rocker arm (22) is hinged to the connecting rod two (23), and the connecting rod two (23) is hinged to the spring compression block one (25); the slider guide block (24) constrains the movement of the spring compression block one (25) through its own guide groove; the shaft two (27) is located inside the compression spring (26), one end is hinged to the spring fixing block one (28), and the other end passes through the hole two (30) in the spring compression block one (25) and remains free; one end of the compression spring (26) is fixed on the spring fixing block one (28), and the other end is connected to the spring compression block one (25); unidirectional deformation is achieved under the unidirectional compression of the spring compression block one (25); The rocker arm (22) is fixedly connected to the lower leg side plate (7) and hinged to the ankle side plate (8); the slider guide block (24) is fixedly connected to the base plate (10) by threads; the spring fixing block (28) is hinged to the base plate (10); The frame consists of an ankle side plate (8), a base plate (10), and a slider guide block (24). The rocker slider mechanism is composed of a rocker (22), a second connecting rod (23), and a first spring compression block (25). The compression spring (26) is a one-way spring, which means that it only bears one-way compression and not tension during operation. The adjustment mechanism (4) consists of a servo mount (31), a servo (32), and a lever (33); The servo motor (32) is fixedly connected to the servo motor base (31), and the rocker arm (33) is fixedly connected to the servo motor (32); The servo mount (31) is fixedly connected to the base plate (10); one end of the swing arm (33) is fixedly connected to the servo output shaft, and the other end is sleeved on the adjustment shaft in the guide groove of the servo mount; The toe mechanism (5) consists of a spring fixing block two (34), a spring compression block two (35), and a toe piece (36); The second spring fixing block (34) and the second spring compression block (35) are located at both ends of the compression spring (26), and the compression spring (26) is restricted and compressed by the second spring fixing block (34) and the second spring compression block (35); the second spring compression block (35) is hinged to the toe piece (36); the second spring fixing block (34) and the toe piece (36) are hinged to the foot side plate (9).

2. The dynamic ankle joint prosthesis based on an adjustable position unidirectional parallel spring according to claim 1, characterized in that, The power direct drive mechanism (2) consists of a motor (15), a synchronous pulley (16), a synchronous belt (17), a lead screw (18), a flange (19), a flange connecting block (20), and a connecting rod (21); The motor (15) is fixed to the lower leg side plate (7) via a motor mount (11), and two synchronous pulleys (16) are fixed to the upper cover plate (6). The upper end of the lead screw (18) is fixed to the right synchronous pulley (16), and the lower end of the lead screw (18) is fixed to the lower leg side plate (7) via a lead screw mount (12). The motor (15) is fixed to the left synchronous pulley (16), and the synchronous belt (17) covers the left and right synchronous pulleys (16). The flange (19) is fitted with the lead screw (18). The flange connecting block (20) is fixedly connected to the flange (19); the upper end of the connecting rod (21) is hinged to the flange connecting block (20), and the lower end is hinged to the foot side plate (9); the motor (15) drives the synchronous pulley (16) to rotate, which in turn drives the lead screw (18) to rotate in the same direction; the rotation of the lead screw (18) drives the flange (19) to move up and down along the length of the lead screw (18); the flange connecting block (20) fixedly connected to the flange (19) drives the connecting rod (21) to swing left and right; The power direct drive mechanism (2) is a crank-slider power direct drive mechanism that provides direct drive energy and drive torque for the power ankle joint prosthesis.

3. The dynamic ankle joint prosthesis based on an adjustable position unidirectional parallel spring according to claim 2, characterized in that, The flange connecting block (20) is spoon-shaped in general. The head of the "spoon" is designed as a stepped concave platform. The radius of the concave platform is determined by the outer diameter of the flange (19). Four threaded holes are symmetrically distributed on the concave platform ring to fix the flange (19). There is a through hole on the side of the "spoon" handle to realize the hinge connection between the flange connecting block (20) and the connecting rod (21). The connecting rod (21) has through holes at both ends and grooves at both ends along the center line. The width of the upper groove is greater than the width of the "spoon" handle of the flange connecting block (20), and the width of the lower groove is greater than the thickness of the foot side plate (9). The upper end of the connecting rod (21) is hinged to the flange connecting block (20), and the lower end is hinged to the foot side plate (9).

4. The dynamic ankle joint prosthesis based on an adjustable position unidirectional parallel spring according to claim 1, characterized in that, The spring compression block (25) is shaped like a "tee" and includes a frustum. The diameter of the frustum is larger than the outer diameter of the compression spring (26) to ensure that a compressive force is applied to the compression spring (26) during operation. One end of shaft two (27) extends out from hole two (30) of spring compression block one (25) and remains free; spring compression block one (25) is hinged to slider guide block (24) and connecting rod two (23) through two holes one (29).

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