A control method for stability of lower extremity intelligent prosthesis

Abstract

The present application relates to the technical field of intelligent artificial limb, and particularly relates to a control method for stability of lower limb intelligent artificial limb. The control method comprises a mounting seat, an adjusting mechanism arranged at the lower side of the mounting seat, the adjusting mechanism comprising a foot mold installed at the bottom of the mounting seat, the foot mold being provided with a through groove, and a toe plate elastically hinged in the through groove and provided with a torsional spring A between the through groove and the toe plate. Through the design of the adjusting mechanism, when a wearer walks on a slope, the toe plate or the heel plate is rotated with the connecting part of the foot mold as the center, flexible movement of the ankle joint of the intelligent artificial limb is realized, the body center of gravity of the wearer does not need to be deviated to the intelligent artificial limb, the healthy lower limb of the wearer does not need to be completely lifted, the body stability of the wearer can be ensured, the wearer can walk on the slope at ease, the wearer does not need to worry about falling down, the physical strength of the wearer is effectively saved, and the walking speed of the wearer is improved.

Description

TECHNICAL FIELD

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

[0002] As a product of the integration of modern medical technology and artificial intelligence, intelligent prosthetics realizes natural simulation and precise control of human motion through high-precision sensors, advanced materials science and complex algorithms, allowing wearers to regain the ability to walk.

[0003] Although the current intelligent prosthetics can provide the ability to walk for the wearer, there are still deficiencies in uphill and downhill scenes. In order to provide sufficient support for the wearer during walking, the ankle joint of the intelligent prosthetics will increase resistance through a hydraulic system. Only when the hydraulic system is under great pressure, and even the healthy lower limb of the wearer is completely lifted, the weight of the whole body is applied to the ankle joint of the intelligent prosthetics, the ankle joint of the intelligent prosthetics can move, and the dorsiflexion and plantar flexion movement is very inconvenient. This will result in slow walking speed of the wearer. When the healthy leg of the wearer is completely lifted, if the friction of the slope is insufficient, it is easy to cause the disabled person to fall down. SUMMARY

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

[0005] The technical scheme is: a control method for stability of lower limb intelligent prosthetics, comprising a mounting seat;

[0006] An adjusting mechanism is arranged on the lower side of the mounting seat, and the adjusting mechanism comprises:

[0007] A foot mold is installed at the bottom of the mounting seat, and the foot mold is provided with a through groove;

[0008] A toe plate is elastically hinged in the through groove, and a torsional spring A is arranged between the toe plate and the through groove;

[0009] A top rod A is fixedly installed on the toe plate;

[0010] A micro piston tube A is installed in the through groove, the piston end of the micro piston tube A is used in cooperation with the top rod A, and a compression spring A is arranged between the piston end and the fixed end of the micro piston tube A;

[0011] A heel plate is hinged in the through groove, and a torsional spring B is arranged between the heel plate and the through groove;

[0012] A top rod B is arranged on the heel plate;

[0013] Miniature piston tube B is installed in the through groove, the piston end cooperates with the top rod B, and a compression spring B is arranged between the piston end and the fixed end.

[0014] Further, the adjusting mechanism further comprises a calf bone, the calf bone is elastically hinged in the mounting seat, a cylindrical groove is opened in the calf bone, a locking pin is slidingly installed in the cylindrical groove, a locking groove matched with the locking pin is opened in the mounting seat, a movable block is fixedly installed on the locking pin, a tension spring is arranged between the movable block and the calf bone, a telescopic rod A for driving the movable block is installed in the mounting seat, and a hose A penetrating the foot mold is communicated between the telescopic rod A and the miniature piston tube A.

[0015] Further, the adjusting mechanism further comprises a telescopic rod B installed in the mounting seat for driving the movable block, and a hose B penetrating the foot mold is communicated between the telescopic rod B and the miniature piston tube B.

[0016] Further, a limiting mechanism for limiting the locking pin is further included, the limiting mechanism comprises an elastic locking pin, a guide groove communicated with the cylindrical groove is opened in the calf bone, the elastic locking pin is slidingly installed in the guide groove, and a notch matched with the elastic locking pin is opened at the bottom end of the locking pin.

[0017] Further, the limiting mechanism further comprises a miniature piston tube C, a vertical groove communicated with the through groove is opened in the bottom of the foot mold, the miniature piston tube C is elastically slidingly installed in the vertical groove, a supporting plate is arranged on the miniature piston tube C, a wedge-shaped rod A is installed on one side of the supporting plate, and a wedge-shaped rod B matched with the wedge-shaped rod A is fixedly installed at the piston end of the miniature piston tube A.

[0018] Further, the limiting mechanism further comprises a wedge-shaped rod C, the wedge-shaped rod C is installed on one side of the supporting plate, and a wedge-shaped rod D matched with the wedge-shaped rod C is fixedly installed at the piston end of the miniature piston tube B.

[0019] Further, the limiting mechanism further comprises a pressing plate, the pressing plate is installed on the piston end of the miniature piston tube C, a compression spring C is arranged between the pressing plate and the outer wall of the miniature piston tube C, and the pressing plate is slidingly arranged in the vertical groove of the foot mold, a gas bag is installed in the inner cavity of the miniature piston tube C, a telescopic rod C is installed in the guide groove of the calf bone, and a hose C penetrating the foot mold, the calf bone and the miniature piston tube C is communicated between the gas bag and the outer wall of the telescopic rod C.

[0020] Further, a damping block is further included, the damping block is fixedly installed in the guide groove of the calf bone and abuts against the telescopic end of the telescopic rod C.

[0021] Further, a speed reduction rod is provided, a horizontal slot is formed in the bottom of the through slot of the foot mold for the speed reduction rod to move, the speed reduction rod is elastically and slidably installed in the horizontal slot and cooperates with the support plate.

[0022] Further, a control method for stability of a lower limb intelligent prosthesis is provided, comprising the following steps:

[0023] S1: when the wearer walks on a slope, the toe plate or the heel plate rotates around the connection of the foot mold, so that the lock pin is separated from the lock slot of the mounting seat, and the effect of intelligent prosthesis ankle movement is achieved;

[0024] S2: in order to provide better walking comfort for the wearer, the speed of the support plate is limited by the speed reduction rod during the walking of the wearer on the slope, so that the elastic catch can limit the lock pin, thereby realizing flexible movement of the ankle joint and improving the comfort of the wearer during walking;

[0025] S3: when the wearer walks from the slope to the flat road, the wearer stops in place for a while, so that the gas in the air bag has enough time to enter the telescopic rod C, and then the elastic catch is reset and clamped into the lock slot of the mounting seat.

[0026] Compared with the prior art, the beneficial effects of the present application are:

[0027] 1: by the design of the adjusting mechanism, when the wearer walks on a slope, the toe plate or the heel plate rotates around the connection of the foot mold, so that the intelligent prosthesis ankle joint can move flexibly, the body center of gravity does not need to be deviated to the intelligent prosthesis, and the wearer does not need to completely lift the healthy lower limb, the stability of the wearer's body can be guaranteed, the wearer can walk on the slope without worrying about falling, the physical strength of the wearer is effectively saved, and the walking speed of the wearer is improved.

[0028] 2: by the design of the elastic catch, when the lock pin is separated from the lock slot of the mounting seat, the elastic catch can limit the lock pin, prevent the lock pin from being clamped into the lock slot of the mounting seat after the mounting seat is reset, and further improve the flexibility of the intelligent prosthesis ankle joint, when the wearer walks from the slope to the flat road, the wearer stops in place for a while, so that the lock pin falls and is clamped into the lock slot of the mounting seat. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 It is a structural schematic diagram of the whole application;

[0030] Figure 2 It is a structural schematic diagram of the adjusting mechanism of the application;

[0031] Figure 3 It is an installation schematic diagram of the telescopic rod A.

[0032] Figure 4 The installation schematic diagram of the telescopic rod B of the present application;

[0033] Figure 5 The installation schematic diagram of the elastic pin of the present application;

[0034] Figure 6 The installation schematic diagram of the wedge-shaped rod A of the present application;

[0035] Figure 7 The installation schematic diagram of the speed reducer of the present application;

[0036] Figure 8 The installation schematic diagram of the wedge-shaped rod C of the present application;

[0037] Figure 9 The installation schematic diagram of the air bag of the present application;

[0038] Figure 10 The installation schematic diagram of the damping block of the present application.

[0039] Part names and serial numbers in the figure: 1 - mounting seat, 201 - foot mold, 202 - toe plate, 203 - top rod A, 204 - micro piston tube A, 205 - heel plate, 206 - top rod B, 207 - micro piston tube B, 301 - calf bone, 302 - lock pin, 303 - movable block, 304 - telescopic rod A, 401 - telescopic rod B, 501 - elastic pin, 601 - micro piston tube C, 602 - support plate, 603 - wedge-shaped rod A, 604 - wedge-shaped rod B, 701 - wedge-shaped rod C, 702 - wedge-shaped rod D, 801 - pressing plate, 802 - air bag, 803 - telescopic rod C, 804 - damping block, 901 - speed reducer. DETAILED DESCRIPTION

[0040] The present application is further described in detail below in conjunction with the accompanying drawings and specific embodiments, but the protection scope and application scope of the present application are not limited.

[0041] Example 1

[0042] A control method for the stability of a lower limb intelligent prosthesis, such as Figures 1-3As shown, including the mounting seat 1, the mounting seat 1 lower side is provided with a control mechanism for adjusting the ankle joint of intelligent prosthesis, the adjusting mechanism includes the foot mold 201 fixedly installed on the lower side of the mounting seat 1, the foot mold 201 has the through slot in the front and rear direction, the through slot inner wall front side is hinged with the toe plate 202, the toe plate 202 and the through slot inner wall are provided with torsional spring A, the rear side of the toe plate 202 is fixedly installed with the top rod A203, the through slot inner wall bottom is fixedly installed with the micro piston tube A204, the piston end thereof is used in cooperation with the top rod A203, the piston end and the fixed end of the micro piston tube A204 are provided with compression spring A, the inner wall rear side of the through slot is hinged with the heel plate 205, the heel plate 205 and the through slot inner wall are provided with torsional spring B, the front side of the heel plate 205 is fixedly installed with the top rod B206, the through slot inner wall bottom is fixedly installed with the micro piston tube B207, the piston end thereof is used in cooperation with the top rod B206, the piston end and the fixed end of the micro piston tube B207 are provided with compression spring B.

[0043] As shown in the figure, Figures 2-5 The adjusting mechanism further comprises the lower leg bone 301, the lower leg bone 301 is elastically hinged in the mounting seat 1, the connection of the lower leg bone 301 and the mounting seat 1 forms the ankle joint of intelligent prosthesis, the lower leg bone 301 is provided with a cylindrical slot in the middle, the lock pin 302 is slidably installed in the cylindrical slot, the mounting seat 1 is provided with a lock slot matched with the lock pin 302, when the lock pin 302 is clamped into the lock slot, the ankle joint of intelligent prosthesis is in the locked state, which can prevent the ankle joint of intelligent prosthesis from rotating arbitrarily, causing the wearer to be difficult to keep the body stable when walking, the top end of the lock pin 302 is fixedly installed with the movable block 303, the bottom of the movable block 303 and the lower leg bone 301 are provided with a tension spring, the mounting seat 1 is provided with the telescopic rod A304 for driving the movable block 303 to move in the vertical direction, the telescopic rod A304 and the micro piston tube A204 are communicated with the soft tube A penetrating through the foot mold 201.

[0044] As shown in the figure, Figure 4 And Figure 5 The adjusting mechanism further comprises the telescopic rod B401 installed in the mounting seat 1, the telescopic rod B401 is used for driving the movable block 303 to move in the vertical direction, the telescopic rod B401 and the micro piston tube B207 are communicated with the soft tube B penetrating through the foot mold 201, and the soft tube B is located on the left side of the soft tube A.

[0045] When the wearer stands on the plane, the shape of the foot mold 201, the toe plate 202 and the heel plate 205 is Figure 1As shown, the locking pin 302 is clamped into the locking groove of the mounting seat 1. When the wearer walks on a flat road, the pressure on the toe plate 202 and the heel plate 205 does not cause the toe plate 202 and the heel plate 205 to rotate due to the large elastic force of the torsional spring A and the torsional spring B. When the wearer needs to walk on an uphill road, the calf skeleton 301 is in a vertical state under the control of the intelligent prosthesis, the toe plate 202 is stressed, and the foot mold 201 and the heel plate 205 are in a suspended state. The toe plate 202 is stressed and increases, and rotates upward around the connection of the foot mold 201, driving the top rod A 203 to move. The torsional spring A is stressed and shrinks. The top rod A 203 extrudes the piston end of the micro piston tube A 204, causing the piston end of the micro piston tube A 204 to shrink. The compression spring A is stressed and shrinks. The air in the inner cavity of the micro piston tube A 204 enters the inner cavity of the telescopic rod A 304 through the hose A. The telescopic end of the telescopic rod A 304 extends to push the movable block 303 to move upward. The tension spring is stressed and extended. The movable block 303 drives the locking pin 302 to disengage from the locking groove of the mounting seat 1. At this time, the mounting seat 1 can rotate around the connection of the calf skeleton 301. The foot mold 201 is stressed to make the mounting seat 1 rotate clockwise around the connection of the calf skeleton 301, achieving the effect of the ankle joint movement of the intelligent prosthesis. Subsequently, the foot mold 201 and the heel plate 205 are gradually stressed, and the torsional spring A is gradually released to drive the toe plate 202 to gradually reset. When the intelligent prosthesis is lifted again, the mounting seat 1 drives the foot mold 201 to elastically rotate and reset.

[0046] When the wearer needs to walk on a downhill road, the calf skeleton 301 is in a vertical state under the control of the intelligent prosthesis. The heel plate 205 is stressed first, and the foot mold 201 and the toe plate 202 are in a suspended state. The heel plate 205 is stressed and increases, and rotates upward around the connection of the foot mold 201, driving the top rod B 206 to move. The torsional spring B is stressed and shrinks. The top rod B 206 extrudes the piston end of the micro piston tube B 207, causing the piston end of the micro piston tube B 207 to shrink. The compression spring B is stressed and shrinks. The air in the inner cavity of the micro piston tube B 207 enters the inner cavity of the telescopic rod B 401 through the hose B. The telescopic end of the telescopic rod B 401 extends to push the movable block 303 to move upward. The tension spring is stressed and extended. The movable block 303 drives the locking pin 302 to disengage from the locking groove of the mounting seat 1. At this time, the mounting seat 1 can rotate around the connection of the calf skeleton 301. The foot mold 201 is stressed to make the mounting seat 1 rotate counterclockwise around the connection of the calf skeleton 301, achieving the effect of the ankle joint movement of the intelligent prosthesis. Subsequently, the foot mold 201 and the toe plate 202 are gradually stressed, and the torsional spring B is gradually released to drive the heel plate 205 to gradually reset. When the intelligent prosthesis is lifted again, the mounting seat 1 drives the foot mold 201 to elastically rotate and reset.

[0047] Through the above steps, the wearer's physical strength can be effectively saved, and the wearer's walking speed can be improved. When the wearer walks on a slope, the wearer does not need to shift the body center of gravity to the intelligent prosthesis, and the wearer does not need to completely lift the healthy leg. The body stability of the wearer when walking can be guaranteed, the wearer can walk on the slope without worrying about falling down, and the ankle joint of the intelligent prosthesis can flexibly make the dorsiflexion and plantar flexion actions.

[0048] Embodiment 2

[0049] As Figure 4 With Figure 5 As shown in the figure, the limiting mechanism for limiting the locking pin 302 further comprises an elastic latch 501, the shank bone 301 is internally provided with a guide groove which is perpendicular to the cylindrical groove and communicates with the cylindrical groove, the elastic latch 501 is slidingly installed in the guide groove, the bottom end of the locking pin 302 is provided with a notch which is used in cooperation with the elastic latch 501, and after the locking pin 302 is lifted upward, the elastic latch 501 can limit the locking pin 302.

[0050] As Figures 6-9 As shown in the figure, the limiting mechanism further comprises a micro piston tube C601, the bottom of the foot mold 201 is provided with a vertical groove which communicates with the bottom of the through groove, the micro piston tube C601 is elastically slidingly installed in the vertical groove in the vertical direction, the micro piston tube C601 is provided with a support plate 602, the left side front portion of the support plate 602 is provided with a wedge-shaped rod A603, the piston end of the micro piston tube A204 is fixedly provided with a wedge-shaped rod B604 on the left side, the wedge-shaped rod B604 is used in cooperation with the wedge-shaped rod A603, and when the wedge-shaped rod B604 moves backward, the micro piston tube C601 can slide downward.

[0051] As Figures 6-8 As shown in the figure, the limiting mechanism further comprises a wedge-shaped rod C701, the wedge-shaped rod C701 is fixedly installed on the left side rear portion of the support plate 602, the piston end of the micro piston tube B207 is fixedly provided with a wedge-shaped rod D702 on the left side, the wedge-shaped rod D702 is used in cooperation with the wedge-shaped rod C701, and when the wedge-shaped rod D702 moves forward, the micro piston tube C601 can slide downward.

[0052] As Figures 6-8As shown, the limiting mechanism also includes a pressure plate 801, which is installed on the piston end of the micro piston tube C601. A compression spring C is provided between the pressure plate 801 and the outer wall of the micro piston tube C601 and is slidably disposed in the vertical groove of the foot mold 201. An airbag 802 is installed in the inner cavity of the micro piston tube C601. The diameter of the piston end of the micro piston tube C601 located in the fixed end is smaller than the inner wall diameter of the fixed end. A telescopic rod C803 is installed in the guide groove of the calf bone 301. A flexible tube C that penetrates the foot mold 201, the calf bone 301 and the micro piston tube C601 is connected between the outer wall of the airbag 802 and the telescopic rod C803. The flexible tube C is located on the left side of the flexible tube B.

[0053] like Figure 10 As shown, it also includes a damping block 804, which is fixedly installed in the guide groove of the lower leg bone 301 and fits against the telescopic end of the telescopic rod C803. The damping block 804 can apply unidirectional resistance to the telescopic end of the telescopic rod C803, so that the telescopic end of the telescopic rod C803 extends slowly.

[0054] like Figure 7 and Figure 8 As shown, it also includes a deceleration rod 901. The bottom of the through groove of the foot mold 201 has a horizontal groove for the deceleration rod 901 to move. The deceleration rod 901 is elastically slidably installed in the horizontal groove in the left and right direction. The left end of the deceleration rod 901 near the support plate 602 is composed of a vertical surface and a wedge-shaped surface. The deceleration rod 901 is used in conjunction with the support plate 602.

[0055] At the beginning, the elastic latch 501 is in the retracted state and abuts against the outer wall of the locking pin 302. When the wearer walks on a slope, in order to provide better walking comfort for the wearer, the ankle joint of the intelligent prosthesis needs to constantly and flexibly perform the dorsiflexion and plantarflexion actions, and the locking pin 302 needs to be temporarily prevented from being clamped into the locking groove of the mounting seat 1. When the locking pin 302 is disengaged from the locking groove of the mounting seat 1, the bottom end of the notch of the locking pin 302 is higher than the elastic latch 501, the elastic latch 501 is released and slides, and the bottom end of the notch of the locking pin 302 is in contact with the elastic latch 501, thereby limiting the locking pin 302. At the same time, the elastic latch 501 abuts against the telescopic end of the telescopic rod C803. When the piston end of the micro piston pipe A204 is retracted, the piston end of the micro piston pipe A204 drives the wedge-shaped rod B604 to move backward synchronously. When the wedge-shaped rod B604 moves, it extrudes the inclined surface of the wedge-shaped rod A603. The wedge-shaped rod A603 is forced to drive the micro piston pipe C601 to slide downward through the support plate 602. The piston end of the micro piston pipe C601 drives the pressing plate 801 to move downward, so that the pressing plate 801 slides out of the vertical groove of the foot mold 201. After the support plate 602 moves downward, it passes the left end vertical surface of the deceleration rod 901 and comes into contact with the left end wedge-shaped surface of the deceleration rod 901. The deceleration rod 901 gradually slides to the side close to the support plate 602 as the support plate 602 descends. When the support plate 602 no longer descends, the deceleration rod 901 no longer moves. The top edge of the support plate 602 is still in contact with the left end wedge-shaped surface of the deceleration rod 901. It is worth noting that the compression spring C has a large elastic force. When the pressing plate 801 moves downward, the pressing plate 801 will extrude the shoe. The piston end of the micro piston pipe C601 will not retract. As the wearer walks, the toe plate 202 rotates around the connection between the foot mold 201 as the center and returns to the original position, and drives the top rod A203 to move and return to the original position. The piston end of the micro piston pipe A204 extends to the original position under the action of the compression spring A. The air in the inner cavity of the telescopic rod A304 returns to the inner cavity of the micro piston pipe A204 through the hose A. The telescopic end of the telescopic rod A304 retracts to the original position. The telescopic end of the telescopic rod A304 is no longer in contact with the bottom of the movable block 303. At the same time, the piston end of the micro piston pipe A204 drives the wedge-shaped rod B604 to return to the original position. The wedge-shaped rod B604 no longer extrudes the inclined surface of the wedge-shaped rod A603. Since the elastic force of the deceleration rod 901 is greater than that of the micro piston pipe C601, the micro piston pipe C601 cannot slide back to the original position. As the wearer walks, the pressing plate 801 is driven by the pressure to retract the piston end of the micro piston pipe C601, and the micro piston pipe C601 is pushed upward by the compression spring C. The micro piston pipe C601 drives the support plate 602 to extrude the left end wedge-shaped surface of the deceleration rod 901. The deceleration rod 901 is slowly retracted and slides under the force. At the same time, the piston end of the micro piston pipe C601 extrudes the air bag 802. The gas in the air bag 802 enters the telescopic rod C803 through the hose C. The damping block 804 exerts resistance on the telescopic end of the telescopic rod C803, so that the telescopic rod C803 slowly extends. The telescopic end of the telescopic rod C803 slowly retracts and slides the elastic latch 501.At this time, the air bag 802 is deformed due to the failure of the gas to be discharged in time. When the mounting seat 1 and the calf bone 301 return to the initial state, the calf bone 301 continues to move, thereby realizing flexible movement of the ankle joint and improving the comfort of the wearer during walking. When the wearer continues to walk and the intelligent prosthesis lifts the leg to take a step, the pressure plate 801 is no longer subjected to pressure, the outer wall of the elastic pin 501 is still in contact with the bottom of the notch of the lock pin 302, the compression spring C is released and drives the piston end of the micro piston pipe C601 to retract and reset through the pressure plate 801. The piston end of the micro piston pipe C601 no longer presses the air bag 802, the air bag 802 returns to its original shape, and the inner cavity of the telescopic rod C803 returns to the air bag 802, and at the same time, the speed reducer 901 releases the sliding and is pressed by the wedge surface on the left end of the support plate 602 against the top edge of the support plate 602. The support plate 602 is forced to drive the micro piston pipe C601 to slide downward again. When the wearer continues to walk, the above steps are repeated to achieve the same effect.

[0056] When the piston end of the micro piston pipe B207 retracts, the piston end of the micro piston pipe B207 drives the wedge-shaped rod D702 to move forward synchronously. When the wedge-shaped rod D702 moves, it presses the inclined surface of the wedge-shaped rod C701. The wedge-shaped rod C701 is forced to drive the micro piston pipe C601 to slide downward through the support plate 602 and repeat the above steps. As the wearer walks, the heel plate 205 rotates around the connection between the foot mold 201 and resets, and drives the top rod B206 to move and reset. The piston end of the micro piston pipe B207 extends and resets under the action of the compression spring B. The inner cavity of the telescopic rod B401 returns to the inner cavity of the micro piston pipe B207 through the hose B, so that the telescopic end of the telescopic rod B401 retracts and resets. The telescopic end of the telescopic rod B401 is no longer in contact with the bottom of the movable block 303. At the same time, the piston end of the micro piston pipe B207 drives the wedge-shaped rod D702 to reset, and the wedge-shaped rod D702 no longer presses the inclined surface of the wedge-shaped rod C701. Then repeat the above steps and achieve the same effect.

[0057] When the wearer walks from a slope to a flat road, the wearer stops for a while to allow the gas in the air bag 802 to have enough time to enter the inner cavity of the telescopic rod C803, thereby increasing the extension stroke of the telescopic end of the telescopic rod C803. The elastic pin 501 is pushed to reset by the telescopic end of the telescopic rod C803. After the elastic pin 501 resets, it is no longer in contact with the notch of the lock pin 302. The tension spring retracts and drives the lock pin 302 to fall and reset by the movable block 303 and is locked into the lock groove of the mounting seat 1.

[0058] A control method for the stability of a lower limb intelligent prosthesis, comprising the following steps:

[0059] S1: when the wearer walks on the slope, the toe plate 202 or the heel plate 205 rotates around the connecting part of the foot mold 201, so that the locking pin 302 is separated from the locking groove of the mounting seat 1, and the smart artificial ankle joint is achieved;

[0060] S2: in order to provide better walking comfort for the wearer, during the process of walking on the slope, the movement speed of the support plate 602 is limited by the speed reduction rod 901, so that the elastic latch 501 can limit the locking pin 302, thereby realizing the flexible movement of the ankle joint and improving the comfort of the wearer when walking;

[0061] S3: when the wearer walks from the slope to the flat road, the wearer stops for a while, so that the gas in the air bag 802 has enough time to enter the telescopic rod C803, and then the elastic latch 501 is reset and clamped into the locking groove of the mounting seat 1.

[0062] The above has been described in detail, and the principle and implementation mode of the application are described by applying specific examples; the above examples are only used to help understand the method and its core idea; at the same time, for those skilled in the art, according to the idea of the application, the specific implementation mode and application range will be changed; in view of the above, the content of the specification should not be understood as a limitation of the application.

Claims

1. A lower limb intelligent prosthesis, characterized in that: Including mounting base (1); An adjustment mechanism is disposed on the lower side of the mounting base (1), and the adjustment mechanism includes: Foot mold (201), the foot mold (201) is installed at the bottom of the mounting base (1), and the foot mold (201) has a through groove; Toe plate (202), the toe plate (202) is elastically hinged in the through groove, and a torsion spring A is provided between the toe plate (202) and the through groove; Top rod A (203), which is fixedly installed on the toe plate (202); A miniature piston tube A (204) is installed in a through groove, and its piston end is used in conjunction with the push rod A (203). A compression spring A is provided between its piston end and the fixed end. Heel plate (205), the heel plate (205) is hinged in the through groove, and a torsion spring B is provided between the heel plate (205) and the through groove; Top rod B (206), the top rod B (206) is disposed on the heel plate (205); The miniature piston tube B (207) is installed in the through groove, and its piston end is used in conjunction with the push rod B (206). A compression spring B is provided between its piston end and the fixed end. The adjustment mechanism also includes a calf bone (301), the calf bone (301) is elastically hinged in the mounting base (1), the calf bone (301) has a cylindrical groove, a locking pin (302) is slidably installed in the cylindrical groove, the mounting base (1) has a locking groove that matches the locking pin (302), a movable block (303) is fixedly installed on the locking pin (302), a tension spring is provided between the movable block (303) and the calf bone (301), a telescopic rod A (304) for driving the movable block (303) is installed in the mounting base (1), and a flexible tube A that passes through the foot mold (201) is connected between the telescopic rod A (304) and the micro piston tube A (204); It also includes a limiting mechanism for limiting the locking pin (302), the limiting mechanism including an elastic locking pin (501), a guide groove communicating with the cylindrical groove is opened in the lower leg bone (301), the elastic locking pin (501) is slidably installed in the guide groove, and the bottom end of the locking pin (302) has a notch that cooperates with the elastic locking pin (501).

2. The intelligent lower limb prosthesis according to claim 1, characterized in that: The adjustment mechanism also includes a telescopic rod B (401) installed in the mounting base (1) for driving the movable block (303), and a flexible tube B that passes through the foot mold (201) is connected between the telescopic rod B (401) and the micro piston tube B (207).

3. The intelligent lower limb prosthesis according to claim 2, characterized in that: The limiting mechanism also includes a micro piston tube C (601), the bottom of the foot mold (201) has a vertical groove that communicates with the through groove, the micro piston tube C (601) is elastically slidably installed in the vertical groove, a support plate (602) is provided on the micro piston tube C (601), a wedge rod A (603) is installed on one side of the support plate (602), and a wedge rod B (604) that cooperates with the wedge rod A (603) is fixedly installed at the piston end of the micro piston tube A (204).

4. The intelligent lower limb prosthesis according to claim 3, characterized in that: The limiting mechanism also includes a wedge rod C (701), which is installed on one side of the support plate (602), and a wedge rod D (702) that cooperates with the wedge rod C (701) is fixedly installed on the piston end of the micro piston tube B (207).

5. The intelligent lower limb prosthesis according to claim 4, characterized in that: The limiting mechanism also includes a pressure plate (801), which is installed on the piston end of the micro piston tube C (601). A compression spring C is provided between the pressure plate (801) and the outer wall of the micro piston tube C (601) and is slidably disposed in the vertical groove of the foot mold (201). An airbag (802) is installed in the inner cavity of the micro piston tube C (601). A telescopic rod C (803) is installed in the guide groove of the calf bone (301). A flexible tube C that penetrates the foot mold (201), the calf bone (301) and the micro piston tube C (601) is connected between the outer wall of the airbag (802) and the outer wall of the telescopic rod C (803).

6. The intelligent lower limb prosthesis according to claim 5, characterized in that: It also includes a damping block (804), which is fixedly installed in the guide groove of the lower leg bone (301) and fits against the telescopic end of the telescopic rod C (803).

7. A lower limb intelligent prosthesis according to claim 6, characterized in that: It also includes a deceleration rod (901). The bottom of the through groove of the foot mold (201) has a horizontal groove for the deceleration rod (901) to move. The deceleration rod (901) is elastically slidably installed in the horizontal groove and is used in conjunction with the support plate (602).

8. The method for controlling the stability of a lower limb intelligent prosthesis according to claim 7, characterized in that: Includes the following steps: S1: When the wearer walks on a slope, the toe plate (202) or the heel plate (205) rotates around the connection of the foot mold (201) as the center, so that the locking pin (302) disengages from the locking groove of the mounting base (1), thereby achieving the effect of intelligent prosthetic ankle joint movement. S2: In order to provide the wearer with better walking comfort, the wearer can limit the movement speed of the support plate (602) by the deceleration bar (901) while walking on the slope, so that the elastic pin (501) can keep the locking pin (302) in place, thereby realizing the flexible movement of the ankle joint. The intelligent prosthesis can flexibly perform dorsiflexion and plantarflexion movements, improving the wearer's walking comfort. S3: When the wearer walks from a slope to a flat road, the wearer pauses briefly in place, allowing the gas in the airbag (802) to have enough time to enter the telescopic rod C (803), thereby causing the elastic locking pin 501 to reset and engage in the locking groove of the mounting base (1).

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