Bionic artificial limb with knee-ankle linkage function

Abstract

The invention relates to the technical field of active artificial limbs, in particular to a bionic artificial limb with a knee-ankle linkage function. Comprising a fixing frame, a receiving cavity is connected to the fixing frame, first air bags are arranged on the inner side of the receiving cavity at intervals, clamping blocks are connected to the first air bags at intervals, air escape valves are arranged on the first air bags, an air conveying mechanism is arranged on the fixing frame, and the air conveying mechanism is used for alternately conveying air into the different first air bags. The first air bags with the clamping blocks are combined with the air conveying mechanism, so that the first air bags can be alternately expanded and deflated, intermittent fixation and relaxation of limbs are achieved, blood circulation disorder caused by long-time continuous compression of a traditional rigid or semi-rigid receiving cavity is effectively avoided through the dynamic adjusting mode, and the medical treatment effect is improved. The probability of occurrence of complications such as skin irritation, redness and swelling and even pressure sores is remarkably reduced, and the wearing comfort and safety are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of active prosthetics, and particularly to a bionic prosthetic limb with a knee-ankle linkage function. Background Art

[0002] With the rapid development of biomedical engineering and robotics technology, significant progress has been made in the structural design and control strategies of bionic prosthetics, providing a walking experience closer to natural gait for lower limb amputees. Among them, bionic prosthetics with knee-ankle linkage function have shown great potential in improving walking stability, energy efficiency, and the ability to adapt to complex terrains because they can simulate the coordinated movement between the lower limb joints of the human body.

[0003] However, in the actual application process, as a long-term worn external device of the human body, the contact interface between the prosthetic limb and the residual limb is directly related to the comfort and safety of wearing. Currently, most prosthetic limbs use rigid or semi-rigid sockets to wrap the residual limb for stable connection. However, due to factors such as individual differences, muscle atrophy, and sweat secretion, uneven local pressure distribution is likely to occur during long-term wearing, which may lead to complications such as skin irritation, redness, and even pressure sores. These problems not only reduce the user's compliance but may also cause further damage to health. Summary of the Invention

[0004] In view of this, the present invention provides a bionic prosthetic limb with a knee-ankle linkage function, which can solve the disadvantages that most current prosthetic limbs use rigid or semi-rigid sockets to wrap the residual limb for stable connection, and uneven local pressure distribution is likely to occur during long-term wearing, which may lead to complications such as skin irritation, redness, and even pressure sores.

[0005] The technical implementation solution of the present invention is as follows: A bionic prosthetic limb with a knee-ankle linkage function includes a fixed frame, a socket is connected to the fixed frame. A first airbag is spaced inside the socket, a clamping block is spaced and connected to the first airbag, a deflation valve is arranged on the first airbag, an air delivery mechanism is arranged on the fixed frame, and the air delivery mechanism is used to alternately input air into different first airbags, so that different first airbags alternately expand to fix the human limb by using the clamping block. A ventilation mechanism is arranged on the socket, and the ventilation mechanism is used to ventilate the inside of the socket. A connecting pipe is rotatably connected to the fixed frame, a bionic foot plate is rotatably arranged on the connecting pipe, a knee-ankle control mechanism and a knee-ankle linkage mechanism are arranged on the connecting pipe. The knee-ankle control mechanism is used to control the rotation adjustment of the connecting pipe and the bionic foot plate, and the knee-ankle linkage mechanism is used to control the start and stop of the knee-ankle control mechanism at an appropriate time.

[0006] In a preferred embodiment of the present invention, the air delivery mechanism includes an air pump, a main pipe, a branch pipe, and a first control valve. An air pump is arranged inside the fixed frame. The air outlet of the air pump is communicated with the main pipe. One end of the branch pipe is communicated with the main pipe, and the other end of the branch pipe is communicated with the first airbag. A first control valve is installed on the branch pipe.

[0007] In a preferred embodiment of the present invention, the air ventilation mechanism includes a connection frame, an air pipe, and a second control valve. An exhaust hole is opened on the side of the receiving cavity. The side of the receiving cavity is communicated with the connection frame. One end of the air pipe is communicated with the main pipe, and the other end of the air pipe is communicated with the connection frame. A second control valve is installed on the air pipe.

[0008] In a preferred embodiment of the present invention, the knee-ankle driving mechanism includes a fixed frame, an electric push rod, and a motor. A fixed frame is installed on the connecting pipe. An electric push rod is rotatably arranged on the fixed frame. The telescopic rod of the electric push rod is rotatably connected to the fixed frame. A motor is installed on the bionic foot plate, and the output shaft of the motor is connected to the connecting pipe.

[0009] In a preferred embodiment of the present invention, the knee-ankle linkage mechanism includes an inertial measurement unit, a knee joint angle sensor, an ankle joint angle sensor, a ground reaction force sensor, and a controller. An inertial measurement unit is installed on the side of the fixed frame. A knee joint angle sensor is arranged on the connecting pipe. An ankle joint angle sensor is installed on the bionic foot plate. A ground reaction force sensor is arranged at the bottom of the bionic foot plate. A controller is arranged inside the fixed frame.

[0010] In a preferred embodiment of the present invention, a buffer mechanism is further included. The buffer mechanism includes a second airbag and a third airbag. A second airbag is connected to the connecting pipe, and a third airbag is connected to the outside of the fixed frame.

[0011] In a preferred embodiment of the present invention, a heater is further included. A heater is installed on the side of the receiving cavity. The air pipe passes through the heater, and the heater is used to heat the air in the air pipe.

[0012] In a preferred embodiment of the present invention, an antibacterial mechanism is further included. The antibacterial mechanism includes a liquid storage bucket, an inlet valve, and an outlet valve. A liquid storage bucket is installed on the side of the receiving cavity. An inlet valve is arranged on the liquid storage bucket. An outlet valve is installed between the liquid storage bucket and the connection frame.

[0013] Compared with the prior art, the present invention has the following advantages: 1. By combining the first airbag with a clamping block and the air delivery mechanism, multiple first airbags can alternately expand and deflate, thereby realizing the intermittent fixation and relaxation of the limb. This dynamic adjustment method effectively avoids the blood circulation disorder caused by long-term continuous compression of the traditional rigid or semi-rigid receiving cavity, significantly reduces the occurrence probability of complications such as skin irritation, redness, and even pressure sores, and improves the comfort and safety of wearing.

[0014] 2. The present invention is configured with a knee-ankle linkage mechanism, including a variety of sensing elements such as an inertial measurement unit, a knee joint angle sensor, an ankle joint angle sensor, and a ground reaction force sensor. In combination with a controller, it can collect in real time the attitude information of the bionic prosthetic limb in three-dimensional space, the changes in joint angles, and the ground reaction force data. Based on these data, the controller intelligently controls the actions of the knee-ankle drive mechanism to achieve coordinated movement of the linkage between the knee joint and the ankle joint, simulate the natural gait of the human body, and improve the walking stability and the ability to adapt to complex terrains.

[0015] 3. Through the design of the ventilation mechanism, the present invention introduces part of the air output by the air pump into the receiving cavity by using the main pipe and the trachea, realizing ventilation and air exchange inside the receiving cavity. This not only helps to regulate the temperature and humidity inside the receiving cavity, reduce the discomfort caused by sweat accumulation, but also can reduce the risks of skin problems such as rashes, infections, and ulcers, and further enhance the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic three-dimensional structure diagram of the present invention.

[0017] Figure 2 is a schematic three-dimensional structure diagram of the air delivery mechanism of the present invention.

[0018] Figure 3 is a schematic three-dimensional structure diagram of the first airbag, the clamping block, and the air release valve of the present invention.

[0019] Figure 4 is a schematic three-dimensional structure diagram of the ventilation mechanism of the present invention.

[0020] Figure 5 is a schematic three-dimensional structure diagram of the knee-ankle control mechanism and the knee-ankle linkage mechanism of the present invention.

[0021] Figure 6 is a schematic three-dimensional structure diagram of the fixing bracket, the electric push rod, and the controller of the present invention.

[0022] Figure 7 is a schematic three-dimensional structure diagram of the buffer mechanism of the present invention.

[0023] Figure 8 is a schematic three-dimensional structure diagram of the heater and the antibacterial mechanism of the present invention.

[0024] Among them, the above-mentioned drawings include the following reference numerals: 1. Fixed frame, 2. Receiving cavity, 3. First airbag, 4. Clamping block, 5. Air release valve, 601. Air pump, 602. Main pipe, 603. Branch pipe, 604. First control valve, 701. Exhaust hole, 702. Connection frame, 703. Air pipe, 704. Second control valve, 8. Connecting pipe, 9. Bionic foot plate, 1001. Fixed frame, 1002. Electric push rod, 1003. Motor, 1101. Inertial measurement unit, 1102. Knee joint angle sensor, 1103. Ankle joint angle sensor, 1104. Ground reaction force sensor, 1105. Controller, 12. Second airbag, 13. Third airbag, 14. Heater, 15. Liquid storage bucket, 16. Inlet valve, 17. Outlet valve. Detailed implementation mode

[0025] Example: A bionic prosthetic limb with knee-ankle linkage function, see Figures 1-6 As shown in the figure, it includes a fixed frame 1; it also includes a receiving cavity 2, a first airbag 3, a clamping block 4, an air release valve 5, an air delivery mechanism, a ventilation mechanism, a connecting pipe 8, a bionic foot plate 9, a knee-ankle control mechanism and a knee-ankle linkage mechanism; the top of the fixed frame 1 is connected with a receiving cavity 2, and the inner side of the receiving cavity 2 is used for putting the human limb into it; the first airbags 3 are arranged at intervals on the inner side of the receiving cavity 2; the clamping blocks 4 are connected at intervals on the first airbags 3, and the clamping blocks 4 are used to tightly adhere to the human limb for fixation; the air release valve 5 is arranged on the first airbag 3, and the air release valve 5 is used for exhausting the air inside the first airbag 3; an air delivery mechanism is arranged on the fixed frame 1, and the air delivery mechanism is used to alternately input air into different first airbags 3, so that different first airbags 3 alternately expand to fix the human limb by using the clamping blocks 4. In this way, different clamping blocks 4 can alternately fix the human limb, realizing the alternate fixation and relaxation of the limb, avoiding blood circulation disorders caused by long-term continuous compression, and avoiding complications such as skin irritation, swelling and even pressure sores; a ventilation mechanism is arranged on the receiving cavity 2, and the ventilation mechanism is used to ventilate the inside of the receiving cavity 2, so as to help regulate the temperature and humidity inside the receiving cavity 2, reduce the phenomenon of overheating or sweating caused by long-term wearing, and then improve the overall comfort of the wearer. And proper ventilation can reduce the risk of skin problems such as rashes, infections and ulcers; the connecting pipe 8 is rotatably connected to the lower side inside the fixed frame 1; the bionic foot plate 9 is rotatably arranged on the lower side of the connecting pipe 8; the knee-ankle control mechanism and the knee-ankle linkage mechanism are arranged on the connecting pipe 8, and the knee-ankle control mechanism is used to control the rotation and adjustment of the connecting pipe 8 and the bionic foot plate 9, while the knee-ankle linkage mechanism is used to control the start and stop of the knee-ankle control mechanism at the appropriate time to facilitate assisting the human body to walk.

[0026] See Figure 2 And Figure 3As shown in the figure, the air delivery mechanism includes an air pump 601, a main pipe 602, branch pipes 603, and a first control valve 604; an air pump 601 is arranged inside the fixed frame 1; the air outlet of the air pump 601 is connected to a main pipe 602, and the main pipe 602 penetrates through the outer wall of the fixed frame 1; the number of branch pipes 603 is the same as the number of the first air bags 3, one end of each branch pipe 603 is connected to the main pipe 602, and the other end of each branch pipe 603 is connected to a first air bag 3. The air pump 601 is used to pump air into the first air bag 3 through the main pipe 602 and the branch pipes 603, so that the first air bag 3 expands; a first control valve 604 is installed on each branch pipe 603. Denote the topmost first control valve 604 as one, and then count one by one from top to bottom, and separate the first control valves 604 marked as odd and even into odd first control valves 604 and even first control valves 604.

[0027] See Figure 4 As shown in the figure, the ventilation mechanism includes a connection frame 702, air pipes 703, and a second control valve 704; exhaust holes 701 are formed on the side of the receiving cavity 2, and the exhaust holes 701 are used to exhaust the air inside the receiving cavity 2; a connection frame 702 is connected to the side of the receiving cavity 2; one end of each air pipe 703 is connected to the main pipe 602, and the other end of each air pipe 703 is connected to the connection frame 702. The air pipes 703 are used to introduce the air in the main pipe 602 into the connection frame 702, so that the connection frame 702 introduces the air into the inside of the receiving cavity 2, thereby ventilating the inside of the receiving cavity 2; a second control valve 704 is installed on each air pipe 703.

[0028] See Figure 5 As shown in the figure, the knee-ankle drive mechanism includes a fixed frame 1001, an electric push rod 1002, and a motor 1003; a fixed frame 1001 is installed above the connecting pipe 8; an electric push rod 1002 is rotatably arranged on the fixed frame 1001, and the telescopic rod of the electric push rod 1002 is rotatably connected to the fixed frame 1. By controlling the telescopic rod of the electric push rod 1002 to extend or retract, the telescopic rod of the electric push rod 1002 can drive the fixed frame 1001 and the connecting pipe 8 to rotate or reverse; a motor 1003 is installed on the bionic foot plate 9, and the output shaft of the motor 1003 is connected to the connecting pipe 8. By starting the motor 1003, the motor 1003 and the bionic foot plate 9 can be rotated.

[0029] See Figure 5 and Figure 6As shown, the knee-ankle linkage mechanism includes an inertial measurement unit 1101, a knee joint angle sensor 1102, an ankle joint angle sensor 1103, a ground reaction force sensor 1104, and a controller 1105; the inertial measurement unit 1101 is installed on the side of the fixed frame 1, and the inertial measurement unit 1101 is used to measure the acceleration, angular velocity, and direction of the bionic limb in three-dimensional space. These data are crucial for understanding the position, movement speed, and direction of the bionic limb, and help to adjust the actions of the bionic limb in real time to make them more smooth and natural; the knee joint angle sensor 1102 is arranged on the connecting pipe 8, and the knee joint angle sensor 1102 is used to detect the bending angle and movement range of the knee joint. By monitoring these parameters, the movement characteristics of the real knee can be better simulated, such as the dynamic response when walking, going up and down stairs, or standing up from a sitting position, so as to provide more accurate support and stability; the ankle joint angle sensor 1103 is installed on the bionic foot plate 9, and the ankle joint angle sensor 1103 is used to measure the angle change of the ankle part. This is very important for maintaining balance, adapting to different terrains, and achieving smooth step transitions. Accurate ankle joint information can help the bionic limb automatically adjust its posture according to the ground conditions, reduce the risk of falling, and improve the comfort of the user; the ground reaction force sensor 1104 is arranged at the bottom of the bionic foot plate 9, and is used to sense the pressure distribution and magnitude generated when contacting the ground. This helps to understand the current support state and judge whether it is in a standing, walking, or other action modes; the controller 1105 is arranged inside the fixed frame 1, and the air pump 601, the first control valve 604, the second control valve 704, the air release valve 5, the electric push rod 1002, the motor 1003, the inertial measurement unit 1101, the knee joint angle sensor 1102, the ankle joint angle sensor 1103, and the ground reaction force sensor 1104 are all electrically connected to the controller 1105.

[0030] When in use, the human body places the limb into the receiving cavity 2, and then controls the air pump 601 to start through the controller 1105, so that the air pump 601 draws air into the main pipe 602, and then controls the odd-numbered first control valve 604 to open through the controller 1105, so that the air in the main pipe 602 enters the corresponding first airbag 3 through the corresponding branch pipe 603, so that the corresponding first airbag 3 expands, and then the corresponding first airbag 3 drives the clamping block 4 to fit the human body's limbs through expansion, so as to fix the human body's limbs. After the human body's limbs are fixed, the controller 1 105 will control the odd-numbered first control valve 604 to close, and at the same time the controller 1105 will control the second control valve 704 to open for a period of time, so that the air in the main tube 602 enters the connection frame 702 through the air tube 703, so that the connection frame 702 introduces air into the receiving cavity 2, thereby ventilating the receiving cavity 2, thereby helping to regulate the temperature and humidity in the receiving cavity 2, reducing overheating or sweating caused by long-term wearing, thereby improving the overall comfort of the wearer, and proper ventilation can reduce the risk of skin problems, such as rashes, infections and ulcers; Subsequently, the controller 1105 controls the inertial measurement unit 1101, the knee joint angle sensor 1102, the ankle joint angle sensor 1103 and the bottom surface reaction force sensor 1104 to start, and the receiving cavity 2 is driven by the human body to move, thereby driving the bionic prosthesis to move. When the bionic prosthesis moves, the inertial measurement unit 1101, the knee joint angle sensor 1102, the ankle joint angle sensor 1103 and the bottom surface reaction force sensor 1104 will all detect corresponding data, and send the detected data to the controller 1105, and then the controller 1105 controls the electric push rod 1002 and the motor 1003 to start and shut down according to the detected data. When the controller 1105 controls the electric push rod 1002 to start, the controller 1105 can control the electric push rod 1002 to start. The telescopic rod is extended and retracted to drive the connecting tube 8 and the knee joint angle sensor 1102 to rotate or reverse, thereby adjusting the angle of the connecting tube 8 (similar to the angle adjustment of the human knee joint). When the controller 1105 controls the motor 1003 to start, the motor 1003 can drive the bionic foot plate 9 and the ankle joint angle sensor 1103 to rotate or reverse, thereby adjusting the angle of the bionic foot plate 9 (similar to the angle adjustment of the human ankle joint). In this way, through the detection of the inertial measurement unit 1101, the knee joint angle sensor 1102, the ankle joint angle sensor 1103 and the bottom surface reaction force sensor 1104, the angle of the connecting tube 8 and the bionic foot plate 9 can be automatically adjusted appropriately, thereby realizing the appropriate angle adjustment of the combined knee joint and ankle joint, so that the human body can use the bionic prosthesis to move; After a period of time, the controller 1105 will control the second control valve 704 to close, so that the air in the main pipe 602 stops entering the connection frame 702 through the air pipe 703. At the same time, the controller 1105 will control the even-numbered first control valves 604 to open, so that the air in the main pipe 602 enters the corresponding first airbag 3 through the corresponding branch pipe 603, thereby causing the corresponding first airbag 3 to expand. Furthermore, the corresponding first airbag 3 drives the clamping block 4 to closely adhere to the human limb through expansion, so as to fix the human limb. After the human limb is fixed, the controller 1105 will control the even-numbered first control valves 604 to close. At the same time, the controller 1105 will control the second control valve 704 to open again for a period of time, so that the air in the main pipe 602 enters the connection frame 702 through the air pipe 703 again, thereby enabling the connection frame 702 to introduce air into the receiving cavity 2 again to continue ventilating the receiving cavity 2. At the same time, the controller 1105 will also control the air release valves 5 on the previously expanded first airbags 3 to open, so that the previously expanded first airbags 3 start to deflate and contract to reset, thereby causing the previously expanded first airbags 3 to drive the clamping blocks 4 to loosen the human limb. After the previously expanded first airbags 3 complete deflation, the controller 1105 will control the corresponding air release valves 5 to close. In this way, the clamping blocks 4 on different first airbags 3 can alternately fix the human limb, realizing the alternate fixation and relaxation of the limb, avoiding blood circulation disorders caused by long-term continuous compression, and avoiding complications such as skin irritation, redness, and even pressure sores; When not in use, the controller 1105 is used to control the inertial measurement unit 1101, the knee joint angle sensor 1102, the ankle joint angle sensor 1103, and the ground reaction force sensor 1104 to close. Then, the air pump 601 and the second control valve 704 are controlled to close. After that, the controller 1105 is used to control the air release valve 5 on the first airbag 3 to open, so that the first airbag 3 starts to deflate and contract to reset, thereby causing the first airbag 3 to drive the clamping block 4 to loosen the human limb. After the first airbag 3 completes deflation, the controller 1105 is used to control the air release valve 5 on the first airbag 3 to close. Finally, the limb can be taken out of the receiving cavity 2.

[0031] See Figure 7 As shown, it further includes a buffer mechanism. The buffer mechanism includes a second airbag 12 and a third airbag 13; the second airbag 12 is connected to the outside of the connecting pipe 8, and the third airbag 13 is connected to the side of the fixed frame 1. Both the second airbag 12 and the third airbag 13 are used to buffer part of the force during a collision.

[0032] By setting up a buffer mechanism, during use, the second airbag 12 and the third airbag 13 can be inflated. When the human body collides during the use of this bionic prosthetic limb, the inflated second airbag 12 and third airbag 13 can provide additional buffering effects to a certain extent, helping to absorb the impact force, thereby improving the comfort of the human body during use. After use, the second airbag 12 and the third airbag 13 can be deflated.

[0033] See Figure 8 As shown, it also includes a heater 14. The heater 14 is installed on the side of the socket 2 and is electrically connected to the controller 1105. The air pipe 703 passes through the heater 14, and the heater 14 is used to heat the air in the air pipe 703.

[0034] By setting up the heater 14, when the controller 1105 controls the second control valve 704 to open, the controller 1105 can simultaneously control the heater 14 to open, so that the heater 14 heats the air in the air pipe 703, and then the connecting frame 702 introduces the hot air into the socket 2. In this way, in a cold environment, cold air can be prevented from being introduced into the socket 2, thereby further enhancing the comfort of the human body during wearing, which is especially suitable for use in winter. When the controller 1105 controls the second control valve 704 to close, the controller 1105 simultaneously controls the heater 14 to close.

[0035] See Figure 8 As shown, it also includes an antibacterial mechanism. The antibacterial mechanism includes a liquid storage barrel 15, an inlet valve 16, and an outlet valve 17. The liquid storage barrel 15 is installed on the side of the socket 2. The inlet valve 16 is arranged on the liquid storage barrel 15. An outlet valve 17 is installed between the liquid storage barrel 15 and the connecting frame 702, and the outlet valve 17 is electrically connected to the controller 1105.

[0036] By setting up the antibacterial mechanism, an appropriate amount of antibacterial solution can be added into the liquid storage barrel 15 through the inlet valve 16. Then, during the period when the controller 1105 controls the second control valve 704 to open, the controller 1105 can intermittently control the outlet valve 17 to open for a period of time, so that the antibacterial solution in the liquid storage barrel 15 falls into the connecting frame 702 through the outlet valve 17, and then the antibacterial solution is blown into the socket 2 by the air flow, thereby effectively inhibiting the growth of bacteria and other microorganisms in the socket 2, and further reducing the risk of skin infection. After a period of time, the controller 1105 will control the outlet valve 17 to close, and then repeat the operation to automatically introduce the antibacterial solution into the socket 2 repeatedly.

Claims

1. A bionic prosthetic limb with knee-ankle linkage function, comprising a fixed frame (1), characterized in that, A receiving cavity (2) is connected to the fixed frame (1). A first airbag (3) is arranged at intervals on the inner side of the receiving cavity (2). Clamping blocks (4) are connected at intervals on the first airbag (3). An air release valve (5) is arranged on the first airbag (3). An air delivery mechanism is arranged on the fixed frame (1). The air delivery mechanism is used to alternately input air into different first airbags (3), so that different first airbags (3) alternately expand to fix the human limb by using the clamping blocks (4). A ventilation mechanism is arranged on the receiving cavity (2). The ventilation mechanism is used to ventilate the inside of the receiving cavity (2). A connecting pipe (8) is rotatably connected to the fixed frame (1). A bionic foot plate (9) is rotatably arranged on the connecting pipe (8). A knee-ankle control mechanism and a knee-ankle linkage mechanism are arranged on the connecting pipe (8). The knee-ankle control mechanism is used to control the rotation and adjustment of the connecting pipe (8) and the bionic foot plate (9), and the knee-ankle linkage mechanism is used to control the start and stop of the knee-ankle control mechanism at an appropriate time.

2. A bionic prosthetic limb with knee-ankle linkage function according to claim 1, characterized in that, The air delivery mechanism includes an air pump (601), a main pipe (602), branch pipes (603) and a first control valve (604). An air pump (601) is arranged inside the fixed frame (1). The air outlet of the air pump (601) is communicated with the main pipe (602). One end of the branch pipe (603) is communicated with the main pipe (602), and the other end of the branch pipe (603) is communicated with the first airbag (3). A first control valve (604) is installed on the branch pipe (603).

3. A bionic prosthetic limb with knee-ankle linkage function according to claim 2, characterized in that, The ventilation mechanism includes a connecting frame (702), an air pipe (703) and a second control valve (704). An exhaust hole (701) is opened on the side of the receiving cavity (2). The side of the receiving cavity (2) is communicated with the connecting frame (702). One end of the air pipe (703) is communicated with the main pipe (602), and the other end of the air pipe (703) is communicated with the connecting frame (702). A second control valve (704) is installed on the air pipe (703).

4. A bionic prosthetic limb with a knee-ankle linkage function according to claim 1, characterized in that, The knee-ankle driving mechanism includes a fixed frame (1001), an electric push rod (1002) and a motor (1003). A fixed frame (1001) is installed on the connecting pipe (8). An electric push rod (1002) is rotatably arranged on the fixed frame (1001). The telescopic rod of the electric push rod (1002) is rotatably connected to the fixed frame (1). A motor (1003) is installed on the bionic foot plate (9), and the output shaft of the motor (1003) is connected to the connecting pipe (8).

5. A bionic prosthetic limb with a knee-ankle linkage function according to claim 1, characterized in that, The knee-ankle linkage mechanism includes an inertial measurement unit (1101), a knee joint angle sensor (1102), an ankle joint angle sensor (1103), a ground reaction force sensor (1104) and a controller (1105). An inertial measurement unit (1101) is installed on the side of the fixed frame (1). A knee joint angle sensor (1102) is arranged on the connecting pipe (8). An ankle joint angle sensor (1103) is installed on the bionic foot plate (9). A ground reaction force sensor (1104) is arranged at the bottom of the bionic foot plate (9). A controller (1105) is arranged inside the fixed frame (1).

6. A bionic prosthetic limb with a knee-ankle linkage function according to claim 1, characterized in that, It further includes a buffer mechanism, which includes a second airbag (12) and a third airbag (13). The second airbag (12) is connected to the connecting pipe (8), and the third airbag (13) is connected to the outside of the fixed frame (1).

7. A bionic prosthetic limb with knee-ankle linkage function according to claim 3, characterized in that, It further includes a heater (14). The heater (14) is installed on the side of the receiving cavity (2). The trachea (703) passes through the heater (14), and the heater (14) is used to heat the air in the trachea (703).

8. A bionic prosthetic limb with knee-ankle linkage function according to claim 3, characterized in that, It further includes an antibacterial mechanism, which includes a liquid storage barrel (15), an inlet valve (16) and an outlet valve (17). The liquid storage barrel (15) is installed on the side of the receiving cavity (2). The inlet valve (16) is arranged on the liquid storage barrel (15), and the outlet valve (17) is installed between the liquid storage barrel (15) and the connecting frame (702).

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