A wearable, tension-integrated bionic lower limb device

Abstract

The present invention provides a wearable tensegrity bionic lower limb device, belonging to the field of robot manufacturing technology; it includes a three-dimensional tensegrity mechanism and a knee joint component, the three-dimensional tensegrity mechanism is used to imitate foot movements; a centripetal joint bearing is mounted on the lower bottom surface of the top block assembly and is mounted on the base plate through the bearing connector; the top block assembly is mounted on the base plate through the top block connector, and the top block connector is used to imitate the twisting and lifting of the ankle joint of the foot; the base plate is provided with a bionic arch for cushioning the impact on the base plate; the knee joint component includes a bionic thigh component and a bionic calf component, and a flexible knee joint tension member is provided at the hinge of the bionic thigh component and the bionic calf component; the present invention restores the movement form of the human lower limb to the greatest extent, can achieve multiple equilibrium states, and has a wide range of applications. It can be used as a wearable bionic structure and can also be directly applied to the lower limbs of robots. It has both impact resistance and load-bearing capacity, high material utilization rate, light weight, and is easy to assemble.

Description

Technical Field

[0001] This invention relates to the field of robot manufacturing technology, and in particular to a wearable, tension-integrated bionic lower limb device. Background Technology

[0002] The human musculoskeletal system is often described as a hybrid of rigidity and flexibility, with the skeleton determining the overall structure and numerous muscles and fibers working together to achieve human movement. However, existing humanoid structures mostly rely on rigid joints, resulting in poor impact resistance and compromised adaptability and stability. Furthermore, rigid joints in current technologies lead to incomplete balance in humanoid structures, limiting the range of human postures that can be simulated and their applicability. Fully rigid joints not only offer limited freedom of movement and unnatural motion but also result in greater mass, more complex installation, and lower material utilization. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a wearable tension-integrated bionic lower limb device to solve the technical problems of poor impact resistance, adaptability and stability of existing bionic lower limbs.

[0004] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0005] A wearable, tension-integrated bionic lower limb device includes a three-dimensional tension-integrated mechanism and a knee joint component, wherein the knee joint component is disposed on the three-dimensional tension-integrated mechanism, and the three-dimensional tension-integrated mechanism is used to mimic foot movements;

[0006] The three-dimensional tensioning integral mechanism includes a base plate, a radial joint bearing, a top block assembly, a bearing connector, and a top block connector.

[0007] The radial joint bearing is mounted on the bottom surface of the top block assembly, and the radial joint bearing is mounted on the base plate via the bearing connector;

[0008] The top block assembly is mounted on the base plate via the top block connector, which is used to mimic the twisting and lifting of the ankle joint of the foot;

[0009] The top block connector includes a telescopic rod and a first elastic element. The two ends of the telescopic rod are respectively connected to the top block assembly and the bottom plate. The two ends of the first elastic element are respectively connected to the bottom plate and the top block assembly. The first elastic element and the telescopic rod cooperate to cause the bottom plate to twist and / or lift relative to the top block assembly.

[0010] The base plate is provided with a bionic foot arch, which includes a first flexible pressure-bearing component, a slider, and at least two hinge plates. Each hinge plate is equipped with at least one slider and one first flexible pressure-bearing component. The side walls of the two hinge plates are hinged together. The two ends of the first flexible pressure-bearing component are respectively connected to the corresponding slider and the base plate groove. The slider is connected to the hinge plate through a hinge rod. The slider is slidably connected to the groove on the base plate. When the hinge plate is subjected to force and moves, the hinge plate and the first flexible pressure-bearing component drive the slider to slide in the groove. The hinge plate and the first flexible pressure-bearing component are used to buffer the impact on the base plate.

[0011] The knee joint component includes a flexible knee joint tension member, a bionic thigh component, and a bionic calf component. The bionic thigh component and the bionic calf component are hinged together by a hinge shaft, and the flexible knee joint tension member is provided at the hinge point of the bionic thigh component and the bionic calf component.

[0012] Preferably, the top block assembly includes an upper top block, a lower top block, and a second elastic member. The upper top block is mounted on the lower top block via the second elastic member and is positioned above the lower top block. A through groove is formed in the axial direction of the top block assembly, and the through groove passes through the upper top block, the second elastic member, and the lower top block.

[0013] Preferably, the inner wall of the upper top block and the outer wall of the lower top block are slidably connected by the second elastic member, and when the second elastic member is compressed to its limit, the upper top block and the lower top block are rigidly connected.

[0014] Preferably, the telescopic rod includes two inner connecting members, one end of the two inner connecting members is elastically connected by a tension member, the other end of one inner connecting member is connected to the base plate, and the other end of the other inner connecting member is connected to the bottom surface of the lower top block.

[0015] Preferably, the outer wall of the radial spherical bearing is connected to the lower bottom surface of the top block assembly via a bearing flange, and the inner wall of the radial spherical bearing is connected to the base plate via the bearing connector.

[0016] Preferably, there are at least two sets of telescopic rods, at least two sets of the first elastic element, and at least two sets of bearing connectors.

[0017] Preferably, in the three-dimensional tensioning integral mechanism, the telescopic rods on the same side form a group, and the three-dimensional tensioning integral mechanism includes at least two groups of telescopic rods, with the initial length of the telescopic rods in each group being equal.

[0018] Preferably, when the tension member is stretched, the upper top block and the lower top block gradually approach each other; when the tension member is compressed, the upper top block and the lower top block gradually move away from each other.

[0019] Preferably, the bionic thigh component and the bionic calf component are both provided with the straps. The bionic thigh component and the bionic calf component have two hinge points. Each hinge point is hinged by at least four hinge axes. The flexible knee joint tension member is connected between the four hinge axes at each hinge point. The hinge axes and the flexible knee joint tension member are connected to form an X-shaped tension structure.

[0020] Compared with the prior art, the present invention has at least the following beneficial effects:

[0021] In the above-described design, the wearable, tension-integrated bionic lower limb device can more accurately replicate the diverse movement patterns of the human lower limbs (knee, ankle, and arch). The structural drive includes flexible tension components that mimic the actuation of human muscles through their extension and contraction. By setting parameters, their range of motion is made essentially consistent with that of the human body. The remaining flexible components coordinate to produce corresponding movements, thus more realistically and easily replicating the human geometric model.

[0022] This bionic lower limb device can achieve different equilibrium states by adjusting the pre-stretching / compression state of the flexible components. The transition between these states is mainly achieved by changing the axial stiffness and initial length of the flexible components. The device is defined as being in equilibrium when its upper and lower base surfaces are parallel. Its equilibrium height is a dependent variable of the relevant flexible component parameters, and the solution is not unique. This expands the application space of this structure in engineering practice, making it suitable for humanoid robots of different types and sizes.

[0023] This bionic lower limb device, with its hollow design, can be used as a wearable bionic device or directly applied to the lower limbs of robots. The X-shaped structure at the knee joint provides one degree of rotational freedom, while the radial joint bearings provide three degrees of rotational freedom for the foot. Considering the gaps in human joints, flexible pressure-bearing components simulate the local movement freedom of these gaps. The structure maintains rigidity while exhibiting flexibility, thus possessing both impact resistance and load-bearing capacity, conforming to human characteristics. It also demonstrates high material utilization, lightweight, and ease of assembly, making it suitable for bipedal robot designs with high requirements for deformation and load-bearing capacity. Attached Figure Description

[0024] The accompanying drawings, which are incorporated herein and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, further serve to explain the principles of the present disclosure and to enable one skilled in the relevant art to make and use the present disclosure.

[0025] Figure 1 This is a schematic diagram of the structure of a wearable tension-integrated bionic lower limb device according to an embodiment of the present invention;

[0026] Figure 2This is a schematic diagram of the movement of the knee joint component of a wearable tension-integrated bionic lower limb device according to an embodiment of the present invention;

[0027] Figure 3 This is a schematic diagram of a three-dimensional tensioning integral mechanism of a wearable tensioning integral bionic lower limb device according to an embodiment of the present invention;

[0028] Figure 4 This is a side view of a three-dimensional tensioning integral mechanism of a wearable tensioning integral bionic lower limb device according to an embodiment of the present invention;

[0029] Figure 5 This is a motion diagram of the three-dimensional tensioning integral mechanism of a wearable tensioning integral bionic lower limb device according to an embodiment of the present invention;

[0030] Figure 6 A top view of the base plate of a three-dimensional tensioning integral mechanism of a wearable tensioning integral bionic lower limb device according to an embodiment of the present invention;

[0031] Figure 7 This is a cross-sectional view of the top block assembly of a three-dimensional tensioning integral mechanism of a wearable tensioning integral bionic lower limb device according to an embodiment of the present invention.

[0032] [reference numerals]

[0033] 1. Strap; 2. Bionic thigh component; 3. Knee joint component; 4. Bionic lower leg component; 5. Three-dimensional tension structure; 6. Flexible knee joint tension component; 7. Hinge shaft; 8. Upper block; 9. Lower block; 10. Radial joint bearing; 11. Bearing connector; 12. Inner connector; 13. Tension component; 15. First elastic component; 16. Base plate; 17. Second elastic component; 18. Bionic arch; 19. First flexible pressure component; 20. Slider; 21. Hinge plate.

[0034] As shown in the figure, in order to clearly implement the structure of the embodiment of the present invention, specific structures and devices are marked in the figure, but this is only for illustrative purposes and is not intended to limit the present invention to the specific structure, device and environment. According to specific needs, ordinary technicians in this field can adjust or modify these devices and environments, and the adjustments or modifications made are still included in the scope of the appended claims. Detailed Implementation

[0035] The wearable, tension-integrated bionic lower limb device provided by the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, to make the embodiments more detailed, the following embodiments are the best and preferred embodiments; those skilled in the art can also use other alternative methods to implement some known technologies; and the accompanying drawings are only for more specific description of the embodiments and are not intended to specifically limit the present invention.

[0036] It should be noted that the use of terms such as "an embodiment," "an embodiment," "an exemplary embodiment," and "some embodiments" in the specification indicates that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments (whether explicitly described or not) should be within the knowledge of those skilled in the art.

[0037] In general, terms can be understood, at least in part, from their use in context. For example, depending at least in part on the context, the term "one or more" as used herein can be used to describe any feature, structure, or characteristic in the singular sense, or can be used to describe a combination of features, structures, or characteristics in the plural sense. Additionally, the term "based on" can be understood as not necessarily intended to convey an exclusive set of factors, but can instead, depending at least in part on the context, allow for the presence of other factors that are not necessarily explicitly described.

[0038] It will be understood that the meanings of “on,” “over,” and “above” in this disclosure should be interpreted in the broadest manner, such that “on” means not only “directly on” something, but also includes being “on” something with intervening features or layers, and “on” or “over” means not only “on” or “above” something, but also includes being “on” or “above” something with no intervening features or layers.

[0039] Additionally, spatially relative terms such as "below," "beneath," "lower," "above," and "upper" may be used herein for descriptive convenience to describe the relationship of one element or feature to another element or features, as illustrated in the accompanying drawings. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the accompanying drawings. The device may be oriented in other ways, and the spatially relative descriptors used herein should be similarly interpreted accordingly.

[0040] like Figures 1-7As shown, this application provides a wearable tension-integrated bionic lower limb device, including a three-dimensional tension-integrated mechanism 5 and a knee joint component 3. The knee joint component 3 is disposed on the three-dimensional tension-integrated mechanism 5. The three-dimensional tension-integrated mechanism 5 is used to imitate the movement of the ankle joint of the foot, and the knee joint component 3 is used to imitate the movement of the human knee joint.

[0041] like Figures 3-6 As shown, the three-dimensional tensioning mechanism includes a base plate 16, a radial joint bearing 10, a top block assembly, a bearing connector 11, and a top block connector. The radial joint bearing 10 is mounted on the lower surface of the top block assembly and is mounted on the base plate 16 via the bearing connector 11. There are at least two sets of bearing connectors 11; preferably, in this embodiment, there are two sets. One end of each bearing connector 11 is connected to the center of the edge of the base plate 16, and the other end is connected to the inner wall of the radial joint bearing 10. The radial joint bearing 10 has a through groove in its center for the output end of a power device or a severed limb to pass through, facilitating its wear.

[0042] The top block assembly is mounted on the base plate 16 via the top block connector. The top block connector is used to mimic the twisting and lifting of the ankle joint and to maintain the structural balance of the device. The top block connector includes a telescopic rod and a first elastic element 15. The two ends of the telescopic rod are respectively connected to the top block assembly and the base plate 16. There are at least two sets of telescopic rods, and in this embodiment, four sets of telescopic rods are preferred. The two sets of telescopic rods on the same side form one large set, and the initial lengths of the telescopic rods in each large set are equal. That is, the two telescopic rods on the front side are of equal length, the two telescopic rods on the rear side are of equal length, and the front and rear telescopic rods are of unequal length.

[0043] The first elastic element 15 is connected to the base plate 16 and the top block assembly at both ends, respectively. There are at least two sets of the first elastic elements, and in this embodiment, four sets of the first elastic elements 15 are preferred. The first elastic element 15 cooperates with the telescopic rod to cause the base plate 16 to twist and / or lift relative to the top block assembly, thereby mimicking the twisting and lifting of the ankle joint.

[0044] like Figure 7 As shown, the top block assembly includes an upper top block 8, a lower top block 9, and a second elastic member 17. The upper top block 8 is mounted on the lower top block 9 via the second elastic member 17 and is positioned above the lower top block 9. A through groove is formed in the axial direction of the top block assembly, and the through groove passes through the upper top block 8, the second elastic member 17, and the lower top block 9. The second elastic member 17 is a pressure-bearing member, preferably a spring.

[0045] like Figures 3-7As shown, the inner wall of the upper top block 8 and the outer wall of the lower top block 9 are slidably connected by the second elastic member 17. The bottom edge of the upper top block 8 and the top edge of the upper top surface of the lower top block 9 are provided with interlocking structures that can interlock with each other. When the edges of the upper top block 8 and the lower top block 9 are in contact, the upper top block 8 and the lower top block 9 interlock to form an integral rigid structure. That is, when the second elastic member 17 is compressed to the limit, the upper top block 8 and the lower top block 9 are rigidly connected.

[0046] like Figure 3-Figure 5 As shown, the telescopic rod includes two inner connecting members 12. One end of each inner connecting member 12 is elastically connected via a tension member 13. The sliding surfaces of the two inner connecting members 12 are arranged opposite each other. The other end of one inner connecting member 12 is connected to the base plate 16, and the other end of the other inner connecting member 12 is connected to the lower bottom surface of the lower top block 9. When the wearable tension-integrated bionic lower limb device of this application wants to mimic the lifting and lowering of the ankle joint, the output end of the power device or the severed human limb is inserted into the through slot of the top block assembly. The power device or the severed human limb provides force, causing the tension member 13 to undergo elastic change. When the provided force is downward, the tension member 13 is compressed, and the telescopic rod extends. The upper top block 8 and the lower top block 9 gradually move away from each other, realizing the downward or falling action of the base plate 16, thereby mimicking the downward or falling action of the ankle joint. When the applied force is directed upward, the tension member 13 stretches, and the telescopic rod is compressed. The upper top block 8 and the lower top block 9 gradually approach each other until they form an integral rigid structure, thereby realizing the lifting action of the base plate 16, which imitates the lifting action of the ankle joint of the foot.

[0047] One end of the first elastic element 15 is connected to the base plate 16, and the other end is connected to the side wall of the upper top block 8. The first elastic element 15 is preferably a torsion spring. The lower bottom surface of the lower top block 9 is connected to the outer wall of the radial joint bearing 10 through a bearing flange. The power device or the severed limb provides torsional force to the top block assembly through the radial joint bearing 10. When the power device or the severed limb provides torsional force to the base plate 16, the first elastic element 15 twists accordingly, realizing the torsion of the top block assembly relative to the base plate 16, thereby mimicking the torsion of the ankle joint. At the same time, by applying different forces to the wall plate 16, and coordinating with the compression or stretching of different first elastic elements 15 in different directions, the base plate can complete a lateral lifting action, thereby mimicking the lateral lifting action of the ankle joint. The first elastic element 15 can offset part of the internal force when the top block assembly is compressed, thus playing a buffering role.

[0048] like Figure 6As shown, the base plate 16 is provided with a bionic foot arch 18, which includes a first flexible pressure-bearing member 19, a slider 20, and at least two hinge plates 21. In this embodiment, two hinge plates 21 are preferred, and each hinge plate 21 is provided with at least one slider 20 and one first flexible pressure-bearing member 19. In this embodiment, each hinge plate 21 is provided with two sliders 20 and two first flexible pressure-bearing members 19. The two outer corners of the hinge plate 21 are respectively connected to a first flexible pressure-bearing member 19. The two ends of the first flexible pressure-bearing member 19 are respectively connected to the corresponding slider 20 and the groove of the base plate 16. The slider 20 is connected to the hinge plate 21 through a hinge rod. The two hinge plates 21 are hinged together on their sidewalls. The slider 20 is slidably connected to the groove on the base plate 16. The first flexible pressure-bearing member 19 is located in the groove. When the power device output or a human limb provides force to the hinge plate 21, the hinge plate 21 moves under force (the hinge point on the hinged side moves downward, and the non-hinged side moves to both sides). The hinge plate 21 and the first flexible pressure-bearing member 19 drive the slider 20 to slide in the groove. The hinge plate 21 and the first flexible pressure-bearing member 19 are used to buffer the impact on the base plate 16, mimicking the function of the arch of the foot in the human foot. It can passively adapt to different weights and arch sizes to meet a wider range of needs. Moreover, the bending curvature of the bionic arch 18 varies depending on the magnitude of the force provided. The first flexible pressure-bearing member 19 is preferably a compression spring.

[0049] like Figure 1-Figure 2 As shown, the knee joint component 3 includes a flexible knee joint tension member 6, a bionic thigh component 2, and a bionic lower leg component 4. The bionic thigh component 2 and the bionic lower leg component 4 are hinged together by hinge shafts 7. Both the bionic thigh component 2 and the bionic lower leg component 4 are provided with the straps 1 to simplify the fixation of the knee joint component to the human body. The bionic thigh component 4 and the bionic lower leg component 2 have two hinge points, located on opposite sides of the bionic thigh component 4 and the bionic lower leg component 2, respectively. Each hinge point is hinged by at least four hinge shafts 7. In this embodiment, four hinge shafts 7 are preferred. Each lower leg component 4 is provided with two hinge shafts 7. The four hinge shafts at each hinge point of the bionic thigh component 2 and the bionic lower leg component 4 are distributed to form a quadrilateral. The flexible knee joint tension member 6 is connected between the four hinge shafts 7 at each hinge point. The flexible knee joint tension member 6 forms a quadrilateral, and the four hinge shafts 7 are the four vertices of the quadrilateral. The diagonal lines connecting the four hinge shafts 7 form an X-shape. The connection between the hinge shafts 7 and the flexible knee joint tension member 6 forms an X-shaped tension structure. The expansion and contraction of the X-shaped tension structure can achieve better tension, rebound, flexion and extension of the knee joint component 3. The X-shaped tension structure is existing technology and will not be described in detail here. Preferably, a rotating shaft is installed at the center of the diagonal of the quadrilateral formed by the four hinge shafts 7. The rotating shaft rotatably connects the bionic thigh component 2 and the bionic lower leg component 4.

[0050] The bottom surface of the bionic lower leg component 4 is connected to the top surface of the three-dimensional tensioning mechanism 5. The axial stiffness and initial length of the first elastic element 15 and the telescopic rod are adjusted according to the geometric characteristics (asymmetry) of the human lower limb. When the bionic lower limb device is in its initial state, the top and bottom surfaces are parallel. At this time, the first elastic element 15 is in a pre-stretched and pre-compressed state, and the prestress of the first elastic element 15 in this state is related to the axial stiffness and initial length. When its corresponding parameters change, the structural equilibrium state is broken, producing a movement form similar to that of the human lower limb. The materials of the base plate 16, the upper block 8, the lower block 9, and the radial joint bearing 10 are preferably lightweight, high-strength, buffer-absorbing materials, such as 3D printing resin and high-performance plastics, which have good detail expression; the flexible parts are made of common spring steel; and lubricant is added to the hinges between the components.

[0051] The flexible tension member is a series connection of a spring and a non-extensible cable. When the axial stiffness is fixed, the initial length is adjustable, and changes in stiffness can be achieved by replacing the spring. The axial stiffness and initial length of the flexible knee joint tension member 6, the first flexible compression member 19, and the second elastic member 17 are adjusted according to the geometric characteristics (asymmetry) of the human lower limb. The movement of the ankle joint in this bionic lower limb device mainly relies on the radial joint bearing 10, introducing a degree of freedom to simulate bone gaps. As the gap decreases, the connection changes from flexible to rigid, effectively enhancing the load-bearing capacity without affecting deformation capacity. Driven by the telescopic rod and the first elastic member 15, movements such as adduction and abduction, internal and external rotation, and plantar flexion and dorsiflexion of the bionic ankle joint can be achieved. The joint interior combines rigid connections (between the base plate 16 and the lower top block 9) and flexible connections (top block assembly). The presence of the compression member allows for switching between rigid and flexible states, cooperating with the tension member to balance impact resistance and load-bearing capacity.

[0052] The device in this embodiment can actively or passively deform under displacement or force-driven conditions, mimicking the movements of the human lower limbs. It features a simple structure, light weight, good impact resistance, and high material utilization. The above describes the deformation of the bionic lower limb under active driving. When in a passive deformation state, i.e., when a symmetrical / asymmetrical load acts on the top surface, the bionic lower limb can passively deform to adapt to external loads, leveraging the overall adaptive and self-balancing structural advantages of tension. Therefore, this design can serve as a reference in the design of both active and passive bipedal robots.

[0053] Specifically, when applied to the design of passive bipedal robots, hollow-designed wearable / exoskeleton robots can be utilized. In this application, both the knee joint component 3 and the three-dimensional tensioning mechanism 5 can be configured as active or passive, allowing users to choose whether to actively move them during use. When passive, the knee joint component 3 and the three-dimensional tensioning mechanism 5 only play an auxiliary role. In this embodiment, they can be used in conjunction with a motor or human residual limbs. The motor or human body is inserted into the through slots of the top block assembly and the radial joint bearing 10 to provide power to the entire device, mimicking the movements of the human knee and ankle joints through the extension and retraction of the flexible tension and compression components of the device.

[0054] The technical advantage of this invention is that the wearable, tension-integrated bionic lower limb device can more accurately reproduce the diverse movement patterns of the human lower limbs (knee, ankle, and arch). The structural drive includes flexible tension components that mimic the actuation of human muscles through their extension and contraction. By setting parameters, their range of motion is made essentially consistent with that of the human body. The remaining flexible components coordinate to produce corresponding movements, thus more realistically and easily reproducing the human geometric model.

[0055] This bionic lower limb device can achieve different equilibrium states by adjusting the pre-stretching / compression state of the flexible components. The transition between these states is mainly achieved by changing the axial stiffness and initial length of the flexible components. The device is defined as being in equilibrium when its upper and lower base surfaces are parallel. Its equilibrium height is a dependent variable of the relevant flexible component parameters, and the solution is not unique. This expands the application space of this structure in engineering practice, making it suitable for humanoid robots of different types and sizes.

[0056] This bionic lower limb device, with its hollow design, can be used as a wearable bionic device or directly applied to the lower limbs of robots. The X-shaped structure at the knee joint provides one degree of rotational freedom, while the radial joint bearings provide three degrees of rotational freedom for the foot. Considering the gaps in human joints, flexible pressure-bearing components simulate the local movement freedom of these gaps. The structure maintains rigidity while exhibiting flexibility, thus possessing both impact resistance and load-bearing capacity, conforming to human characteristics. It also demonstrates high material utilization, lightweight, and ease of assembly, making it suitable for bipedal robot designs with high requirements for deformation and load-bearing capacity.

[0057] This invention encompasses any substitutions, modifications, equivalent methods, and solutions made within the spirit and scope of this invention. To provide the public with a thorough understanding of this invention, specific details are described in detail in the following preferred embodiments; however, those skilled in the art will fully understand the invention even without these details. Furthermore, to avoid unnecessary confusion regarding the nature of the invention, well-known methods, processes, procedures, components, and circuits are not described in detail.

[0058] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A wearable, tension-integrated bionic lower limb device, characterized in that, It includes a three-dimensional tensioning mechanism and a knee joint component, the knee joint component being disposed on the three-dimensional tensioning mechanism, the three-dimensional tensioning mechanism being used to mimic foot movements; The three-dimensional tensioning integral mechanism includes a base plate, a radial joint bearing, a top block assembly, a bearing connector, and a top block connector. The radial joint bearing is mounted on the bottom surface of the top block assembly, and the radial joint bearing is mounted on the base plate via the bearing connector; The top block assembly is mounted on the base plate via the top block connector, which is used to mimic the twisting and lifting of the ankle joint of the foot; The top block connector includes a telescopic rod and a first elastic element. The two ends of the telescopic rod are respectively connected to the top block assembly and the bottom plate. The two ends of the first elastic element are respectively connected to the bottom plate and the top block assembly. The first elastic element and the telescopic rod cooperate to cause the bottom plate to twist and / or lift relative to the top block assembly. The base plate is provided with a bionic foot arch, which includes a first flexible pressure-bearing component, a slider, and at least two hinge plates. Each hinge plate is equipped with at least one slider and one first flexible pressure-bearing component. The side walls of the two hinge plates are hinged together. The two ends of the first flexible pressure-bearing component are respectively connected to the corresponding slider and the base plate groove. The slider is connected to the hinge plate through a hinge rod. The slider is slidably connected to the groove on the base plate. When the hinge plate is subjected to force and moves, the hinge plate and the first flexible pressure-bearing component drive the slider to slide in the groove. The hinge plate and the first flexible pressure-bearing component are used to buffer the impact on the base plate. The knee joint component includes a flexible knee joint tension member, a bionic thigh component, and a bionic calf component. The bionic thigh component and the bionic calf component are hinged together by a hinge shaft, and the flexible knee joint tension member is provided at the hinge point of the bionic thigh component and the bionic calf component.

2. The wearable, tension-integrated bionic lower limb device according to claim 1, characterized in that, The top block assembly includes an upper top block, a lower top block, and a second elastic member. The upper top block is mounted on the lower top block via the second elastic member and is positioned above the lower top block. A through groove is formed in the axial direction of the top block assembly, and the through groove passes through the upper top block, the second elastic member, and the lower top block.

3. The wearable tension-integrated bionic lower limb device according to claim 2, characterized in that, The inner wall of the upper top block and the outer wall of the lower top block are slidably connected by the second elastic element. When the second elastic element is compressed to its limit, the upper top block and the lower top block are rigidly connected.

4. The wearable tension-integrated bionic lower limb device according to claim 3, characterized in that, The telescopic rod includes two inner connecting parts, one end of which is elastically connected by a tension member. The other end of one inner connecting part is connected to the base plate, and the other end of the other inner connecting part is connected to the bottom surface of the lower top block.

5. The wearable tension-integrated bionic lower limb device according to claim 1, characterized in that, The outer wall of the radial spherical bearing is connected to the lower bottom surface of the top block assembly via a bearing flange, and the inner wall of the radial spherical bearing is connected to the base plate via the bearing connector.

6. The wearable, tension-integrated bionic lower limb device according to claim 1, characterized in that, The telescopic rods are in at least two sets, the first elastic element is in at least two sets, and the bearing connectors are in at least two sets.

7. The wearable tension-integrated bionic lower limb device according to claim 1, characterized in that, In the three-dimensional tensioning integral mechanism, the telescopic rods on the same side form a group, and the three-dimensional tensioning integral mechanism includes at least two groups of telescopic rods, with the initial length of the telescopic rods in each group being equal.

8. The wearable tension-integrated bionic lower limb device according to claim 4, characterized in that, When the tension member is stretched, the upper and lower top blocks gradually approach each other; when the tension member is compressed, the upper and lower top blocks gradually move away from each other.

9. The wearable, tension-integrated bionic lower limb device according to claim 1, characterized in that, Both the bionic thigh component and the bionic calf component are equipped with straps. The bionic thigh component and the bionic calf component have two hinge points, and each hinge point is hinged by at least four hinge axes.

10. The wearable tension-integrated bionic lower limb device according to claim 9, characterized in that, The four hinge axes at each hinge point of the bionic thigh component and the bionic calf component are arranged to form a quadrilateral. The flexible knee joint tension member is connected between the four hinge axes at each hinge point. The flexible knee joint tension member forms a quadrilateral, and the four hinge axes are the four vertices of the quadrilateral. The diagonal lines connecting the four hinge axes form an X-shape. The hinge axes are connected to the flexible knee joint tension member to obtain an X-shaped tension structure.

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