A bionic prosthesis with knee-ankle linkage function

Abstract

The present invention relates to the field of active prosthetic technology, and in particular to a bionic prosthesis with a knee-ankle linkage function. It comprises a fixing frame, a receiving cavity connected to the fixing frame, first airbags arranged at intervals on the inner side of the receiving cavity, clamping blocks connected at intervals on the first airbags, an air release valve arranged on the first airbags, and an air supply mechanism arranged on the fixing frame, the air supply mechanism being used to alternately input air into different first airbags. The present invention combines a first airbag with a clamping block with an air supply mechanism, so that multiple first airbags can be alternately inflated and deflated, thereby achieving intermittent fixation and relaxation of the limbs. This dynamic adjustment method effectively avoids the blood circulation disorder caused by long-term continuous compression of traditional rigid or semi-rigid receiving cavities, significantly reduces the probability of complications such as skin irritation, redness and swelling, and even pressure sores, and improves the comfort and safety of wearing.

Description

Technical Field

[0001] The present invention relates to the technical field of active prostheses, and in particular to a bionic prosthesis with a knee-ankle linkage function. Background Art

[0002] With the rapid development of biomedical engineering and robotics, bionic prosthetics have made significant progress in structural design and control strategies, providing lower-limb amputees with a walking experience closer to a natural gait. Among them, bionic prosthetics with knee-ankle linkage, which can simulate the coordinated movement of the lower limb joints, show great potential in improving walking stability, energy efficiency, and the ability to adapt to complex terrain.

[0003] However, in actual application, as a long-term external device worn by the human body, the contact interface between the prosthesis and the residual limb is directly related to the comfort and safety of wearing. Currently, most prostheses use rigid or semi-rigid sockets to wrap the residual limb to achieve a stable connection. However, due to individual differences, muscle atrophy, sweat secretion and other factors, long-term wearing can easily cause uneven local pressure distribution, thereby causing complications such as skin irritation, redness and swelling, 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 prosthesis with knee-ankle linkage function, which can solve the shortcomings of most current prostheses that use rigid or semi-rigid receiving cavities to wrap the residual limb to achieve a stable connection, and that long-term wearing can easily cause uneven local pressure distribution, thereby causing complications such as skin irritation, redness and swelling, and even pressure sores.

[0005] The technical implementation scheme of the present invention is: a bionic prosthesis with knee-ankle linkage function, including a fixed frame, a receiving cavity connected to the fixed frame, first air bags are arranged at intervals on the inner side of the receiving cavity, clamping blocks are connected to the first air bags at intervals, a deflation valve is arranged on the first air bags, an air supply mechanism is arranged on the fixed frame, the air supply mechanism is used to alternately input air into different first air bags, so that different first air bags alternately use clamping blocks to fix the human body's limbs by expanding, a ventilation mechanism is arranged on the receiving cavity, the ventilation mechanism is used to ventilate the receiving cavity, a connecting tube is rotatably connected to the fixed frame, a bionic foot is rotatably arranged on the connecting tube, a knee-ankle control mechanism and a knee-ankle linkage mechanism are arranged on the connecting tube, the knee-ankle control mechanism is used to control the connecting tube and the bionic foot to rotate and adjust, and the knee-ankle linkage mechanism is used to control the knee-ankle control mechanism to start and stop at the appropriate time.

[0006] In a preferred embodiment of the present invention, the gas delivery mechanism includes an air pump, a main pipe, a branch pipe and a first control valve. The air pump is arranged in the fixed frame, the air outlet of the air pump is connected to the main pipe, one end of the branch pipe is connected to the main pipe, and the other end of the branch pipe is connected to the first air bag, and the first control valve is installed on the branch pipe.

[0007] In a preferred embodiment of the present invention, the ventilation mechanism includes a connecting 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 connected to the connecting frame. One end of the air pipe is connected to the main pipe, and the other end of the air pipe is connected to the connecting frame. A second control valve is installed on the air pipe.

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

[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 bottom reaction force sensor and a controller. The inertial measurement unit is installed on the side of the fixed frame, the knee joint angle sensor is provided on the connecting tube, the ankle joint angle sensor is installed on the bionic foot, the bottom reaction force sensor is provided on the bottom of the bionic foot, and the controller is provided in 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. The second airbag is connected to the connecting tube, and the third airbag is connected to the outside of the fixing frame.

[0011] In a preferred embodiment of the present invention, a heater is further included. The heater is installed on the side of the receiving cavity, and the air pipe passes through the heater. 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 also included, which includes a liquid storage barrel, an inlet valve and an outlet valve. The liquid storage barrel is installed on the side of the receiving cavity, the inlet valve is provided on the liquid storage barrel, and the outlet valve is installed between the liquid storage barrel and the connecting frame.

[0013] Compared with the existing technology, the present invention has the following advantages: 1. The present invention combines a first airbag with a clamping block with an air supply mechanism, so that multiple first airbags can be alternately inflated and deflated, thereby achieving intermittent fixation and relaxation of the limbs. This dynamic adjustment method effectively avoids the blood circulation disorder caused by long-term continuous compression of traditional rigid or semi-rigid receiving cavities, significantly reduces the probability of complications such as skin irritation, redness and swelling, and even pressure sores, and improves the comfort and safety of wearing.

[0014] 2. The present invention is equipped with a knee-ankle linkage mechanism, including multiple sensing elements such as an inertial measurement unit, a knee joint angle sensor, an ankle joint angle sensor, and a bottom reaction force sensor. Combined with a controller, it can collect real-time posture information, joint angle changes, and ground reaction force data of the bionic prosthesis in three-dimensional space. Based on this data, the controller intelligently controls the movement of the knee-ankle drive mechanism to achieve coordinated movement between the knee and ankle joints, simulate the natural gait of the human body, and improve walking stability and the ability to adapt to complex terrain.

[0015] 3. The present invention adopts the design of the ventilation mechanism, utilizes the main pipe and trachea to introduce part of the air output by the air pump into the receiving cavity, thereby realizing ventilation inside the receiving cavity. This not only helps to regulate the temperature and humidity in the receiving cavity and reduce the discomfort caused by sweat accumulation, but also reduces the risk of skin problems such as rashes, infections and ulcers, further improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0017] Figure 2 It is a schematic diagram of the three-dimensional structure of the gas transmission mechanism of the present invention.

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

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

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

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

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

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

[0024] Among them, the above-mentioned drawings include the following figure marks: 1. fixing 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. connecting frame, 703. trachea, 704. second control valve, 8. connecting pipe, 9. bionic foot, 1001. fixing frame, 1002. electric push rod, 1003. motor, 1101, inertial measurement unit, 1102, knee joint angle sensor, 1103, ankle joint angle sensor, 1104, bottom reaction force sensor, 1105, controller, 12. second airbag, 13. third airbag, 14. heater, 15. liquid storage barrel, 16. inlet valve, 17. outlet valve. DETAILED DESCRIPTION

[0025] Example: A bionic prosthesis with knee-ankle linkage function, see Figures 1-6 As shown, it includes a fixing frame 1; it also includes a receiving cavity 2, a first airbag 3, a clamping block 4, an air release valve 5, an air supply mechanism, a ventilation mechanism, a connecting tube 8, a bionic foot plate 9, a knee-ankle control mechanism and a knee-ankle linkage mechanism; the top of the fixing frame 1 is connected to the receiving cavity 2, and the inner side of the receiving cavity 2 is used for placing the human body's limbs; the inner side of the receiving cavity 2 is spaced apart with first airbags 3; the first airbags 3 are spaced apart with clamping blocks 4, and the clamping blocks 4 are used to fix the human body's limbs; the first airbags 3 are provided with an air release valve 5, and the air release valve 5 is used to deflate the inside of the first airbag 3; the fixing frame 1 is provided with an air supply mechanism, and the air supply mechanism is used to alternately input air into different first airbags 3, so that different first airbags 3 are alternately fixed to the human body's limbs by expanding with the clamping blocks 4. In this way, different clamping blocks 4 can alternately fix the human body's limbs, thereby achieving limb control. Alternating fixation and relaxation can avoid blood circulation disorders caused by long-term continuous compression, and avoid complications such as skin irritation, redness and swelling, and even pressure sores; a ventilation mechanism is provided on the receiving cavity 2, and the ventilation mechanism is used to ventilate the receiving cavity 2, thereby helping to adjust the temperature and humidity in the receiving cavity 2, reducing overheating or sweating caused by long-term wearing, and thus improving the overall comfort of the wearer, and proper ventilation can reduce the risk of skin problems such as rashes, infections and ulcers; a connecting tube 8 is rotatably connected to the lower side of the fixing frame 1; a bionic foot 9 is rotatably provided on the lower side of the connecting tube 8; a knee-ankle control mechanism and a knee-ankle linkage mechanism are provided on the connecting tube 8, the knee-ankle control mechanism is used to control the connection tube 8 and the bionic foot 9 to rotate and adjust, and the knee-ankle linkage mechanism is used to control the knee-ankle control mechanism to start and stop at the appropriate time, so as to facilitate assisting human walking.

[0026] See Figure 2 and Figure 3As shown, the air delivery mechanism includes an air pump 601, a main pipe 602, a branch pipe 603 and a first control valve 604; the air pump 601 is provided on the inner side of the fixed frame 1; the air outlet of the air pump 601 is connected to the main pipe 602, and the main pipe 602 passes through the outer wall of the fixed frame 1; the number of branch pipes 603 is the same as the number of first airbags 3, one end of the branch pipe 603 is connected to the main pipe 602, and the other end of the branch pipe 603 is connected to the first airbag 3, and the air pump 601 is used to draw air into the first airbag 3 through the main pipe 602 and the branch pipe 603 to inflate the first airbag 3; the first control valve 604 is installed on the branch pipe 603, the top first control valve 604 is marked as one, and then counted one by one from top to bottom, and the odd-numbered and even-numbered first control valves 604 are separated into odd-numbered first control valves 604 and even-numbered first control valves 604.

[0027] See Figure 4 As shown, 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, and the exhaust hole 701 is used to discharge the air inside the receiving cavity 2; the side of the receiving cavity 2 is connected to the connecting frame 702; one end of the air pipe 703 is connected to the main pipe 602, and the other end of the air pipe 703 is connected to the connecting frame 702, and the air pipe 703 is used to introduce the air in the main pipe 602 into the connecting frame 702, so that the connecting 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 the air pipe 703.

[0028] See Figure 5 As shown, the knee-ankle drive mechanism includes a fixed frame 1001, an electric push rod 1002 and a motor 1003; the fixed frame 1001 is installed on the upper side of the connecting tube 8; the electric push rod 1002 is rotatably set 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 shorten, the telescopic rod of the electric push rod 1002 can drive the fixed frame 1001 and the connecting tube 8 to rotate or reverse; the motor 1003 is installed on the bionic foot 9, and the output shaft of the motor 1003 is connected to the connecting tube 8. By starting the motor 1003, the motor 1003 and the bionic foot 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 bottom reaction force sensor 1104 and a controller 1105; an 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 movement of the bionic limb in real time to make it more smooth and natural; a knee joint angle sensor 1102 is provided on the connecting tube 8, and the knee joint angle sensor 1102 is used to detect the bending angle and range of motion of the knee joint. By monitoring these parameters, the motion 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, thereby providing more accurate support and stability; an ankle joint angle sensor is installed on the bionic foot plate 9 1103, the ankle angle sensor 1103 is used to measure the angle change of the ankle, which is very important for maintaining balance, adapting to different terrains and achieving smooth pace 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 user's comfort; a bottom reaction force sensor 1104 is provided at the bottom of the bionic footplate 9, which is used to sense the pressure distribution and size generated when in contact with the ground, which helps to understand the current support state and judge whether it is in standing, walking or other action modes; a controller 1105 is provided on the inside of 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 angle sensor 1102, the ankle angle sensor 1103 and the bottom reaction force sensor 1104 are all electrically connected to the controller 1105.

[0030] During use, the human body places the limb into the receiving cavity 2, and then the controller 1105 controls the air pump 601 to start, so that the air pump 601 draws air into the main pipe 602, and then the controller 1105 controls the odd-numbered first control valve 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 expanding the corresponding first airbag 3, and then the corresponding first airbag 3 drives the clamping block 4 to fit closely to the human body's limb through expansion, thereby fixing the human body's limb. After the human body's limb is fixed, the controller 1 105 will control the odd-numbered first control valve 604 to close, while 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 connecting frame 702 through the air tube 703, so that the connecting 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, and thus improving the overall comfort of the wearer. Proper ventilation can also reduce the risk of skin problems such as rashes, infections, and ulcers.

[0031] Then, 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 human body drives the receiving cavity 2 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 detect the 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 achieving appropriate angle adjustment of the combined knee joint and ankle joint, so that the human body can use the bionic prosthesis to move;

[0032] 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 connecting frame 702 through the trachea 703. At the same time, the controller 1105 will control the even-numbered first control valve 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, and then the corresponding first airbag 3 drives the clamping block 4 to fit closely to the human body's limbs through expansion, thereby fixing the human body's limbs. After the human body's limbs are fixed, the controller 1105 will control the even-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 again, so that the air in the main pipe 602 passes through the trachea 70 3 enters the connecting frame 702, so that the connecting frame 702 introduces air into the receiving cavity 2 again, thereby continuing to ventilate the receiving cavity 2. At the same time, the controller 1105 will also control the deflation valve 5 on the last batch of inflated first airbags 3 to open, so that the last batch of inflated first airbags 3 begin to deflate and shrink and reset, so that the last batch of inflated first airbags 3 drive the clamping blocks 4 to loosen the human body's limbs. After the last batch of inflated first airbags 3 are completely deflated, the controller 1105 will control the corresponding deflation valve 5 to close. This reciprocating process can enable the clamping blocks 4 on different first airbags 3 to alternately fix the human body's limbs, thereby achieving alternating fixation and relaxation of the limbs, avoiding blood circulation disorders caused by long-term continuous compression, and avoiding complications such as skin irritation, redness and swelling, and even pressure sores.

[0033] When not in use, the inertial measurement unit 1101, the knee joint angle sensor 1102, the ankle joint angle sensor 1103 and the bottom reaction force sensor 1104 are closed by the controller 1105, and then the air pump 601 and the second control valve 704 are closed. Thereafter, the controller 1105 controls the deflation valve 5 on the first airbag 3 to open, so that the first airbag 3 begins to deflate, shrink and reset, thereby causing the first airbag 3 to drive the clamping block 4 to loosen the human limb. After the first airbag 3 is completely deflated, the controller 1105 controls the deflation valve 5 on the first airbag 3 to close, and finally the limb can be removed from the receiving cavity 2.

[0034] See Figure 7 As shown, a buffer mechanism is also included, which includes a second airbag 12 and a third airbag 13; the second airbag 12 is connected to the outside of the connecting tube 8, and the third airbag 13 is connected to the side of the fixed frame 1. The second airbag 12 and the third airbag 13 are both used to buffer part of the force during a collision.

[0035] By setting up a buffer mechanism, the second airbag 12 and the third airbag 13 can be filled with air during use. When a human body collides while using the bionic prosthesis, the expanded second airbag 12 and the third airbag 13 can provide additional buffering effect to a certain extent, which helps to absorb the impact force and thus improve the comfort of use for the human body; after use, the second airbag 12 and the third airbag 13 can be deflated.

[0036] See Figure 8 As shown, a heater 14 is also included; a heater 14 is installed on the side of the receiving cavity 2, the heater 14 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.

[0037] 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 trachea 703, thereby allowing the connecting frame 702 to introduce hot air into the receiving cavity 2. In this way, in a cold environment, cold wind can be prevented from being introduced into the receiving cavity 2, thereby further improving the comfort of the human body when wearing it, and it is particularly suitable for use in winter; when the controller 1105 controls the second control valve 704 to close, the controller 1105 controls the heater 14 to close at the same time.

[0038] See Figure 8 As shown, it also includes an antibacterial mechanism, which includes a liquid storage barrel 15, an inlet valve 16 and an outlet valve 17; a liquid storage barrel 15 is installed on the side of the receiving cavity 2, and an inlet valve 16 is provided 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.

[0039] By setting up an antibacterial mechanism, an appropriate amount of antibacterial solution can be added to the liquid storage barrel 15 through the inlet valve 16. Then, while the controller 1105 controls the second control valve 704 to be open, the controller 1105 can intermittently control the outlet valve 17 to be opened 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 airflow blows the antibacterial solution into the receiving cavity 2, thereby effectively inhibiting the growth of bacteria and other microorganisms in the receiving cavity 2, thereby reducing the risk of skin infection; after a period of time, the controller 1105 will control the outlet valve 17 to close, and then reciprocate to automatically introduce the antibacterial solution into the receiving cavity 2.

Claims

1. A bionic prosthesis with knee-ankle linkage function, comprising a fixing frame (1), characterized in that: The fixing frame (1) is connected to a receiving cavity (2), a first airbag (3) is arranged at intervals on the inner side of the receiving cavity (2), a clamping block (4) is connected to the first airbag (3), a deflation valve (5) is arranged on the first airbag (3), an air supply mechanism is arranged on the fixing frame (1), the air supply mechanism is used to alternately input air into different first airbags (3), so that different first airbags (3) alternately expand and fix the limbs of the human body using the clamping block (4), a ventilation mechanism is arranged on the receiving cavity (2), the ventilation mechanism is used to ventilate the receiving cavity (2), a connecting tube (8) is rotatably connected to the fixing frame (1), a bionic footplate (9) is rotatably arranged on the connecting tube (8), a knee-ankle control mechanism and a knee-ankle linkage mechanism are arranged on the connecting tube (8), the knee-ankle control mechanism is used to control the connecting tube (8) and the bionic footplate (9) to rotate and adjust, and the knee-ankle linkage mechanism is used to control the knee-ankle control mechanism to start and stop at an appropriate time; The gas transmission mechanism includes an air pump (601), a main pipe (602), a branch pipe (603) and a first control valve (604). The air pump (601) is arranged in the fixed frame (1). The air outlet of the air pump (601) is connected to the main pipe (602). One end of the branch pipe (603) is connected to the main pipe (602). The other end of the branch pipe (603) is connected to the first air bag (3). The first control valve (604) is installed on the branch pipe (603). The ventilation mechanism includes a connecting frame (702), an air pipe (703) and a second control valve (704); an exhaust hole (701) is provided on the side of the receiving cavity (2); the side of the receiving cavity (2) is connected to the connecting frame (702); one end of the air pipe (703) is connected to the main pipe (602); the other end of the air pipe (703) is connected to the connecting frame (702); and the second control valve (704) is installed on the air pipe (703); The knee-ankle drive mechanism comprises a fixing frame (1001), an electric push rod (1002) and a motor (1003); the fixing frame (1001) is mounted on the connecting tube (8); the electric push rod (1002) is rotatably mounted on the fixing frame (1001); the telescopic rod of the electric push rod (1002) is rotatably connected to the fixing frame (1); the motor (1003) is mounted on the bionic foot plate (9); and the output shaft of the motor (1003) is connected to the connecting tube (8); The knee-ankle linkage mechanism comprises an inertial measurement unit (1101), a knee joint angle sensor (1102), an ankle joint angle sensor (1103), a bottom surface reaction force sensor (1104) and a controller (1105). The inertial measurement unit (1101) is installed on the side of the fixed frame (1), the knee joint angle sensor (1102) is provided on the connecting tube (8), the ankle joint angle sensor (1103) is installed on the bionic footboard (9), the bottom surface reaction force sensor (1104) is provided on the bottom of the bionic footboard (9), and the controller (1105) is provided in the fixed frame (1).

2. A bionic prosthesis with knee-ankle linkage function according to claim 1, characterized in that: It also 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 fixing frame (1).

3. A bionic prosthesis with knee-ankle linkage function according to claim 1, characterized in that: A heater (14) is also included. The heater (14) is installed on the side of the receiving cavity (2). The air pipe (703) passes through the heater (14). The heater (14) is used to heat the air in the air pipe (703).

4. A bionic prosthesis with knee-ankle linkage function according to claim 1, characterized in that: The device 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 provided on the liquid storage barrel (15), and the outlet valve (17) is installed between the liquid storage barrel (15) and the connecting frame (702).

Images