Knee-ankle linkage intelligent bionic artificial limb

Abstract

The knee-ankle linkage intelligent bionic artificial limb comprises an artificial limb support, the artificial limb support is composed of a fixed part and a swing part, the swing part is rotationally connected with the fixed part, a receiving cavity connecting base is fixed to the center of the upper end face of the fixed part, and a push rod is vertically arranged at the lower end of the swing part; a torque amplifier is fixedly embedded into the swinging part; the torque amplifier is coaxially sleeved with a bevel gear ring. Crank discs which are coaxial with the transmission shaft of the fixed part are arranged in the swinging part in a bilateral symmetry manner; the bevel gear ring is meshed with the two crank discs; a variable-diameter crank device is arranged on one side of each crank disc; one end of the push rod is connected with the variable-diameter crank device, and the other end is rotationally connected with the spring group through the cross shaft type coupler; an active knee-passive ankle linkage structure is adopted, only knee joints are provided with motors, and power consumption is reduced; the variable-diameter crank device and the passive ankle joint are adopted, and switching of different states and terrain self-adaption are achieved by dynamically changing the radius and an elastic element.

Description

Technical Field

[0001] The present invention belongs to the technical field of prostheses, and in particular is an intelligent bionic prosthesis with knee-ankle linkage. Background Art

[0002] A complete gait cycle is defined as the period from heel strike to re-strike on the same side. This cycle can be clearly divided into two main phases: the stance phase (approximately 60%), when the foot contacts the ground and bears the body's weight; and the swing phase (approximately 40%), when the foot leaves the ground and swings forward.

[0003] During the gait cycle, the movement patterns of the knee and ankle joints follow specific rules: the knee joint needs to maintain slight flexion in the stance phase (especially during the weight-bearing period) to maintain stability, and needs to be greatly flexed to the maximum angle when entering the swing phase to ensure that the foot is effectively lifted off the ground; the ankle joint undergoes a transition from dorsiflexion to plantar flexion in the stance phase (such as the push-off phase), and needs to dorsiflex rapidly in the early swing phase to ensure that the toes are away from the ground.

[0004] Existing knee-ankle linkage intelligent bionic prostheses have the following pain points: 1. The knee and ankle joints are independently controlled and lack biomechanical linkage, resulting in insufficient coordination between ankle extension and knee flexion during the gait cycle. At the same time, since the knee and ankle joints provide power output at the same time, the volume and weight of the battery and motor will increase, thereby increasing the wearer's energy consumption.

[0005] 2. Terrain adaptability relies on preset mode switching, dynamic response delay, and requires the wearer to actively trigger mode conversion.

[0006] Third, since the pre-pressure cannot be adjusted, users of different weights need to customize prostheses to match their weight, which significantly increases production costs.

[0007] Therefore, it is necessary to provide an intelligent bionic prosthesis with knee-ankle linkage to solve the problems raised in the above background technology. Summary of the Invention

[0008] To achieve the above objectives, the present invention provides the following technical solutions: a knee-ankle linkage intelligent bionic prosthesis, comprising a prosthetic frame, the prosthetic frame consisting of a fixed portion and a swinging portion, the swinging portion being rotatably connected to the fixed portion, a receiving cavity connection seat being fixed at the center of the upper end surface of the fixed portion, and a push rod being vertically provided at the lower end of the swinging portion; a torque amplifier being embedded and fixed in the interior of the swinging portion; a brushless motor being fixed in the middle of the swinging portion, and a harmonic reducer being coaxially provided between the brushless motor and the torque amplifier; A bevel gear ring is coaxially sleeved outside the torque amplifier; crank disks coaxial with the transmission shaft of the fixed portion are symmetrically arranged inside the swing portion; the bevel gear ring is meshed with the two crank disks; a variable-diameter crank device is provided on one side of each crank disk; one end of the push rod is connected to the variable-diameter crank device, and the other end is rotationally connected to the spring assembly via a cross-axis coupling; A foot sole plate is fixed at the lower end of the spring group.

[0009] Furthermore, preferably, a battery seat is provided in the swinging part, and the battery seat has two layers, the lower layer of which is fixed with batteries, and the upper layer of which is horizontally provided with a controller and a control cooler.

[0010] Further, as a preference, the torque amplifier includes a sun gear and a fixed frame, the sun gear is fixedly connected to the output end of the harmonic reducer; a ring gear is coaxially provided outside the sun gear, the bevel gear ring is fixed outside the ring gear, and a group of planetary gears are distributed between the ring gear and the sun gear; each of the planetary gears is meshed with the sun gear and the ring gear; the fixed frame is embedded and fixed inside the swinging part, and a shaft is fixed on each planetary gear, and the other end of the shaft is rotatably connected to the fixed frame.

[0011] Further, as a preference, the variable diameter crank device includes a linear guide rail, a micro linear motor and an eccentric block; the linear guide rail is fixed in a fixed groove opened along the radial direction of the crank disk; the eccentric block is slidingly connected to the linear guide rail, the micro linear motor is fixed on one side of the linear guide rail, and a transmission screw is provided in the linear guide rail, and the eccentric block is slidingly connected to the transmission screw; the output shaft of the micro linear motor is connected to the transmission screw for transmission through gear meshing; a hinge ball is fixed on the eccentric block, and the end of the hinge ball is hinged with a connecting rod.

[0012] Furthermore, preferably, a retractable electromagnetic pin is provided in the middle of the lower end face of the eccentric block; a group of electromagnetic pin holes are equidistantly provided on the upper end face of the linear guide rail; and position sensors are provided on the linear guide rail in parallel at each electromagnetic pin hole.

[0013] Further, as a preference, the spring group includes a tibial support and a spring fixing seat, the lower end of the tibial support is rotatably connected to the spring fixing seat; and the upper end of the tibial support is fixedly connected to the cross-axis coupling; the spring fixing seat is fixedly connected to the plantar plate; a plantar flexion spring and a dorsiflexion spring are arranged between the tibial support and the spring fixing seat, wherein the plantar flexion spring is hinged on the spring fixing seat and is located in the heel area of ​​the plantar plate, and the dorsiflexion spring is hinged on the spring fixing seat and is located in the forefoot area of ​​the plantar plate; sliding grooves corresponding to the plantar flexion spring and the dorsiflexion spring are opened on both sides of the tibial support; a connecting bolt is slidably provided in each of the sliding grooves, and the other ends of the plantar flexion spring and the dorsiflexion spring are respectively connected to the connecting bolts; An adjusting nut is threadedly connected to each connecting bolt.

[0014] Furthermore, preferably, a pressure sensor 1 is provided at the bottom of each of the plantar flexion spring and the dorsiflexion spring.

[0015] Furthermore, preferably, a plurality of pressure sensors 2 are evenly arranged on the lower end surface of the sole plate.

[0016] Furthermore, preferably, a rotary encoder coaxial with the crank disk is vertically provided outside the fixing portion, and the rotary encoder is connected to the crank disk via a transmission shaft.

[0017] Compared with the prior art, the present invention has the following beneficial effects: The present invention adopts an active knee-passive ankle linkage structure. The prosthetic limb and the variable-diameter crank device are equivalent to the knee joint, and the spring assembly and cross-axis coupling are equivalent to the ankle joint. Only the knee joint is equipped with a motor, and the variable-diameter crank device converts knee joint movement into ankle joint movement, reducing power consumption by more than 60% compared to traditional dual-active joint prostheses. The present invention adopts a variable-diameter crank device and a passive ankle joint to achieve different state switching and terrain adaptation by dynamically changing the radius and elastic elements; at the same time, the passive ankle joint adopts a spring group with adjustable pre-pressure to adapt to users of different weights. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a rear view of the overall structure of the present invention; Figure 2 It is a left view of the overall structure of the present invention; Figure 3 A complete gait cycle diagram; Figure 4 Schematic diagram of the torque amplifier structure of the present invention; Figure 5 This is a front view of the variable diameter crank device of the present invention; Figure 6 Schematic diagram of the structure of the variable diameter crank device in the present invention; Figure 7 Schematic diagram of the eccentric block structure in the present invention; Figure 8 Schematic diagram of the spring assembly structure in the present invention; Figure: 1, prosthetic frame; 101, fixed part; 102, swing part; 2, battery; 21, battery holder; 3, controller; 31, control cooler; 4, brushless motor; 5, harmonic reducer; 6, torque amplifier; 61, sun gear; 62, planetary gear; 63, ring gear; 64, fixed frame; 7, bevel gear ring; 8, crank plate; 9, variable diameter crank device; 91, fixed groove; 92, linear guide; 93, micro linear motor; 94, eccentric block ;95. Articulated ball;96. Connecting rod;97. Electromagnetic pin hole;98. Electromagnetic pin;99. Position sensor;10. Receptacle connector;11. Drive shaft;12. Rotary encoder;13. Push rod;14. Cross-axis coupling;15. Plantar plate;16. Spring assembly;161. Tibial support;162. Spring fixing seat;163. Plantar flexion spring;164. Dorsiflexion spring;165. Slide;166. Adjusting nut;167. Drive bolt. DETAILED DESCRIPTION

[0019] See also Figures 1-8 In an embodiment of the present invention, a knee-ankle linkage intelligent bionic prosthesis is provided, which includes a prosthetic frame 1, which consists of a fixed portion 101 and a swinging portion 102. The swinging portion 102 is rotatably connected to the fixed portion 101. A receiving cavity connection seat 10 is fixed at the center of the upper end surface of the fixed portion 101, and a push rod 13 is vertically provided at the lower end of the swinging portion 102; a torque amplifier 6 is embedded and fixed inside the swinging portion 102; a brushless motor 4 is fixed in the middle position of the swinging portion 102, and a harmonic reducer 5 is coaxially provided between the brushless motor 4 and the torque amplifier 6; the peak torque of the brushless motor 4 is 25 N·m, the reduction ratio of the harmonic reducer 5 is 1:100, and the additional gain of the torque amplifier 6 is 1.8 times; A bevel gear ring 7 is provided on the outer coaxial sleeve of the torque amplifier 6; a crank disk 8 coaxial with the transmission shaft 11 of the fixed part 101 is symmetrically provided in the left and right sides of the swinging part 102; the bevel gear ring 7 is meshed with the two crank disks 8; a reducing crank device 9 is provided on one side of each crank disk 8; one end of the push rod 13 is connected to the reducing crank device 9, and the other end thereof is rotatably connected to the spring group 16 through a cross-axis coupling 14; the inclination angle change of the plantar plate 15 triggers the fine adjustment of the cross-axis coupling 14, the adjustment range of the cross-axis coupling 14 is from -3° to 3°, and the cross-axis coupling 14 does not affect the operation of the spring group 16; the brushless motor 4 outputs extension torque by forward rotation and outputs flexion torque by reverse rotation, and drives the torque amplifier 6 forward and reverse through the harmonic reducer 5, and the bevel gear ring 7 arranged on the outer surface of the torque amplifier 6 is meshed with the crank disk, thereby realizing the swing of the prosthesis; A foot plate 15 is fixed to the lower end of the spring assembly 16 .

[0020] In this embodiment, a battery holder 21 is provided in the swinging part 102. The battery holder 21 consists of two layers, the lower layer of which is fixed with a battery 2, and the upper layer of which is horizontally provided with a controller 3 and a control cooler 31; the controller 3 controls the speed and direction of the brushless motor 4, and the control cooler 31 cools the controller 3.

[0021] As a preferred embodiment, the torque amplifier 6 includes a sun gear 61 and a fixed frame 64, and the sun gear 61 is fixedly connected to the output end of the harmonic reducer 5; a ring gear 63 is coaxially provided outside the sun gear 61, and a bevel gear ring 7 is fixed outside the ring gear 63, and a group of planetary gears 62 are distributed between the ring gear 63 and the sun gear 61; each planetary gear 62 is meshed with the sun gear 61 and the ring gear 63; the fixed frame 64 is embedded and fixed inside the swinging part 102, and a shaft is fixed on each planetary gear 62, and the other end of the shaft is rotatably connected to the fixed frame 64; the brushless motor 4 transmits the torque to the sun gear 61 through the harmonic reducer 5, and the sun gear 61 is meshed with the planetary gears 62 to increase the torque, and the amplified torque is transmitted to the crank disk 8 through the bevel gear ring 7.

[0022] In this embodiment, the variable diameter crank device 9 includes a linear guide 92, a micro linear motor 93 and an eccentric block 94; the linear guide 92 is fixed in a fixed groove 91 opened along the radial direction of the crank disk 8; the eccentric block 94 is slidingly connected to the linear guide 92, the micro linear motor 93 is fixed on one side of the linear guide 92, and a transmission screw is provided in the linear guide 92, and the eccentric block 94 is slidingly connected to the transmission screw; the output shaft of the micro linear motor 93 is connected to the transmission screw through gear meshing; a hinge ball 95 is fixed on the eccentric block 94, and the end of the hinge ball 95 is hinged with a connecting rod 96; the crank disk 8 drives the variable diameter crank device 9 to rotate, thereby driving the push rod 13 to move up and down; the output shaft of the micro linear motor 93 drives the transmission screw to move through gear meshing, and the transmission screw drives the eccentric block 94 to move on the linear guide 92.

[0023] In this embodiment, a retractable electromagnetic pin 98 is provided in the middle position of the lower end surface of the eccentric block 94; a group of electromagnetic pin holes 97 are equidistantly provided on the upper end surface of the linear guide 92; a position sensor 99 is provided in parallel at each electromagnetic pin hole 97 on the linear guide 92; the three electromagnetic pin holes 97 correspond to the three different states of walking, running and climbing stairs in the radial direction from the inside to the outside; under normal circumstances, the output characteristic of the brushless motor 4 is a medium speed, and the eccentric block 94 is fixed at the electromagnetic pin hole 97 closest to the center of the circle. At this time, the output characteristic of the variable diameter crank device 9 is low torque, which meets the walking state requirements; when running, the output characteristic of the brushless motor 4 is high speed, the electromagnetic pin 98 is de-energized and retracted, and the micro linear motor 93 controls the eccentric block 94 to move in a short time. The eccentric block 94 moves. When the position sensor 99 detects that the eccentric block 94 reaches the electromagnetic pin hole 97 at the middle position, the electromagnetic pin 98 is energized and extends into the electromagnetic pin hole 97 to complete the fixation of the eccentric block 94. At this time, the output characteristic of the variable-diameter crank device 9 is medium torque, which meets the requirements of balanced acceleration in the running state; when climbing stairs, the output characteristic of the brushless motor 4 is low speed, the electromagnetic pin 98 is de-energized and retracted, and the micro linear motor 93 controls the movement of the eccentric block 94. When the position sensor 99 detects that the eccentric block 94 reaches the electromagnetic pin hole 97 farthest from the center of the circle, the electromagnetic pin 98 is energized and extends into the electromagnetic pin hole 97 to complete the fixation of the eccentric block 94. At this time, the output characteristic of the variable-diameter crank device 9 is high torque, which meets the requirements of climbing stairs.

[0024] In this embodiment, the spring group 16 includes a tibial support 161 and a spring fixing seat 162, the lower end of the tibial support 161 is rotatably connected to the spring fixing seat 162; and the upper end of the tibial support 161 is fixedly connected to the cross-axis coupling 14; the spring fixing seat 162 is fixedly connected to the sole plate 15; a plantar flexion spring 163 and a dorsiflexion spring 164 are arranged between the tibial support 161 and the spring fixing seat 162, wherein the plantar flexion spring 163 is hinged on the spring fixing seat 162 and is located in the heel area of ​​the sole plate 15, and the dorsiflexion spring 164 is arranged between the tibial support 161 and the spring fixing seat 162. 164 is hinged to the spring fixing seat 162 and is located in the forefoot area of ​​the plantar plate 15. Slide grooves 165 corresponding to the plantar flexion spring 163 and the dorsiflexion spring 164 are provided on both sides of the tibial support 161. Connecting bolts 167 are slidably provided in each slide groove 165, and the other ends of the plantar flexion spring 163 and the dorsiflexion spring 164 are respectively connected to the connecting bolts 167. The plantar flexion spring 163 is a high-rigidity disc spring for cushioning hard bottom surfaces; the dorsiflexion spring 164 is a low-rigidity coil spring for adapting to soft terrain. The connecting bolts 167 are threadedly connected with an adjusting nut 166; the position of the connecting bolts 167 on the slide groove 165 is moved and locked by the adjusting nut 166 to change the pre-compression amount of the plantar flexion spring 163 and the dorsiflexion spring 164 to adapt to users of the same weight.

[0025] As a preferred embodiment, a pressure sensor 1 is provided at the bottom of each of the plantar flexion spring 163 and the dorsiflexion spring 164 .

[0026] In this embodiment, a plurality of pressure sensors 2 are evenly arranged on the lower end surface of the sole plate 15 .

[0027] In this embodiment, a rotary encoder 12 coaxial with the crank disk 8 is vertically arranged outside the fixing portion 101 . The rotary encoder 12 is connected to the crank disk 8 via a transmission shaft 11 . The rotary encoder 12 is used to detect the angle and angular velocity of the crank disk 8 .

[0028] Specifically, working state 1: initial support phase (heel strike) Knee joint movement: The controller controls the brushless motor to work, and the brushless motor outputs extension torque. The extension torque is transmitted to the crank disk through the harmonic reducer and torque amplifier, driving the crank disk to rotate clockwise. The drive shaft drives the swing part and the following parts to extend forward; Ankle joint response: plantar flexion spring slowly compresses, dorsiflexion spring slowly stretches, and ankle joint slowly dorsiflexes.

[0029] Working state 2: mid-stance phase (full foot on the ground) Terrain Adaptation: If encountering a slope, the change in the inclination angle of the soleplate triggers fine-tuning of the cross-axis coupling. The adjustment range of the cross-axis coupling is -3° to 3°, and the cross-axis coupling does not affect the operation of the spring group. The pressure distribution of the spring group changes. Pressure sensors are installed at the bottom of the plantar flexion spring and the dorsiflexion spring. If the pressure ratio of the dorsiflexion spring to the plantar flexion spring is greater than 1.2, it is judged as an uphill slope. The controller controls the brushless motor to increase the output by 30%, and the knee flexion angle increases by 3° to 5°. If the pressure ratio of the dorsiflexion spring to the plantar flexion spring is less than 0.8, it is judged as a downhill slope. The controller controls the brushless motor to reduce the output by 30%, and the knee flexion angle decreases by 3° to 5°. Working state three: end of the support phase (push-off phase) Knee joint movement: The controller controls the brushless motor to work in reverse, and the brushless motor outputs flexion torque. The flexion torque is transmitted to the crank disk through the harmonic reducer and torque amplifier, driving the crank disk to rotate counterclockwise, and the drive shaft drives the swing part and the following parts to flex backward; Ankle joint snap: The plantar flexion spring and dorsiflexion spring are released instantly, driving the ankle joint to plantar flex 25°.

[0030] Working state 4: Swing phase (toes off the ground) Knee joint movement: The controller controls the brushless motor to work in reverse at high speed. The brushless motor outputs flexion torque, which is transmitted to the crank disk through the harmonic reducer and torque amplifier, driving the crank disk to rotate 70° counterclockwise. The drive shaft drives the swing part and the following parts to flex backward. Ankle joint reduction: plantar flexion spring and dorsiflexion spring rebound drive dorsiflexion 15 degrees to prevent the toes from dragging on the ground.

[0031] When climbing stairs, the peak torque required is 4000 N·m. The brushless motor output characteristic is low speed, and the variable diameter crank device output characteristic is high torque. Multiple pressure sensors are evenly arranged on the lower end surface of the foot plate 15. When the pressure center is detected to have shifted back more than 60%, the electromagnetic pin is de-energized and retracted, and the micro linear motor controls the movement of the eccentric block. When the position sensor detects that the eccentricity has reached the electromagnetic pin hole farthest from the center of the circle, the electromagnetic pin is energized and extends into the electromagnetic pin hole to fix the eccentric block. At this time, the variable diameter crank device output characteristics are low speed and high torque, which meet the requirements of stair climbing. When running, balanced acceleration is required. The brushless motor output characteristic is high speed, and the variable diameter crank device output characteristic is medium torque. The spring group compression amount increases, providing sufficient force for the ankle joint when running forward. When the rotary encoder detects that the knee joint flexion angular velocity is greater than 200° / s, it is determined to be in the running state. The electromagnetic pin is de-energized and retracted, and the micro linear motor controls the movement of the eccentric weight. When the position sensor detects that the eccentric weight reaches the electromagnetic pin hole in the middle position, the electromagnetic pin is energized and extends into the electromagnetic pin hole to complete the fixation of the eccentric weight. At this time, the variable diameter crank device output characteristic is medium speed, which meets the requirements of balanced acceleration in the running state. Generally speaking, the output characteristic of the brushless motor is medium speed, the output characteristic of the variable diameter crank device is low torque, and the eccentric block is fixed to the electromagnetic pin hole closest to the center of the circle to meet the walking state requirements; The pre-compression of the spring group in the tibial support is adjustable to accommodate users of different weights.

[0032] The above is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with this technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solutions and inventive concepts of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A knee-ankle linkage intelligent bionic prosthesis, characterized by: The invention comprises a prosthetic limb support (1), wherein the prosthetic limb support (1) is composed of a fixed part (101) and a swinging part (102), wherein the swinging part (102) is rotatably connected to the fixed part (101), a receiving cavity connection seat (10) is fixed at the center of the upper end surface of the fixed part (101), and a push rod (13) is vertically provided at the lower end of the swinging part (102); a torque amplifier (6) is embedded and fixed inside the swinging part (102); a brushless motor (4) is fixed at the middle position of the swinging part (102), and a harmonic reducer (5) is coaxially provided between the brushless motor (4) and the torque amplifier (6); The torque amplifier (6) is provided with a bevel gear ring (7) on the outer coaxial sleeve; a crank disk (8) coaxial with the transmission shaft (11) of the fixed part (101) is symmetrically provided inside the swinging part (102); the bevel gear ring (7) is meshed with the two crank disks (8); a variable-diameter crank device (9) is provided on one side of each crank disk (8); one end of the push rod (13) is connected to the variable-diameter crank device (9), and the other end thereof is rotationally connected to the spring group (16) through a cross-axis coupling (14); A foot plate (15) is fixed to the lower end of the spring group (16).

2. The knee-ankle linkage intelligent bionic prosthesis according to claim 1, characterized in that: A battery seat (21) is provided in the swing portion (102). The battery seat (21) comprises two layers, the lower layer having a battery (2) fixedly provided thereon, and the upper layer having a controller (3) and a control cooler (31) horizontally provided thereon.

3. The knee-ankle linkage intelligent bionic prosthesis according to claim 1, characterized in that: The torque amplifier (6) includes a sun gear (61) and a fixed frame (64), wherein the sun gear (61) is fixedly connected to the output end of the harmonic reducer (5); a ring gear (63) is coaxially arranged outside the sun gear (61), the bevel gear ring (7) is fixed outside the ring gear (63), and a group of planetary gears (62) are distributed between the ring gear (63) and the sun gear (61); each of the planetary gears (62) is meshed with the sun gear (61) and the ring gear (63); the fixed frame (64) is embedded and fixed inside the swinging part (102), and a shaft is fixed on each planetary gear (62), and the other end of the shaft is rotatably connected to the fixed frame (64).

4. The knee-ankle linkage intelligent bionic prosthesis according to claim 1, characterized in that: The variable diameter crank device (9) includes a linear guide rail (92), a micro linear motor (93) and an eccentric block (94); the linear guide rail (92) is fixed in a fixed groove (91) radially opened on the crank disk (8); the eccentric block (94) is slidably connected to the linear guide rail (92), the micro linear motor (93) is fixed on one side of the linear guide rail (92), and a transmission screw is provided in the linear guide rail (92), and the eccentric block (94) is slidably connected to the transmission screw; the output shaft of the micro linear motor (93) is connected to the transmission screw through gear meshing; a hinge ball (95) is fixed on the eccentric block (94), and a connecting rod (96) is hinged at the end of the hinge ball (95).

5. The knee-ankle linkage intelligent bionic prosthesis according to claim 4, characterized in that: A retractable electromagnetic pin (98) is provided at the middle position of the lower end surface of the eccentric block (94); a group of electromagnetic pin holes (97) are equidistantly provided on the upper end surface of the linear guide rail (92); and position sensors (99) are provided on the linear guide rail (92) in parallel at each electromagnetic pin hole (97).

6. The knee-ankle linkage intelligent bionic prosthesis according to claim 1, characterized in that: The spring group (16) includes a tibial support (161) and a spring fixing seat (162), wherein the lower end of the tibial support (161) is rotatably connected to the spring fixing seat (162); and the upper end of the tibial support (161) is fixedly connected to the cross-axis coupling (14); the spring fixing seat (162) is fixedly connected to the sole plate (15); a plantar flexion spring (163) and a dorsiflexion spring (164) are arranged between the tibial support (161) and the spring fixing seat (162), wherein the plantar flexion spring (163) is hinged to the spring fixing seat (164). The spring fixing seat (162) is located on the heel area of ​​the plantar plate (15), and the dorsiflexion spring (164) is hinged on the spring fixing seat (162) and is located in the forefoot area of ​​the plantar plate (15); the tibial support (161) is provided with a sliding groove (165) corresponding to the plantar flexion spring (163) and the dorsiflexion spring (164) on both sides; a connecting bolt (167) is slidably provided in each of the sliding grooves (165), and the other ends of the plantar flexion spring (163) and the dorsiflexion spring (164) are respectively connected to the connecting bolt (167); An adjusting nut (166) is threadedly connected to each connecting bolt (167).

7. The knee-ankle linkage intelligent bionic prosthesis according to claim 6, characterized in that: A pressure sensor is provided at the bottom of each of the plantar flexion spring (163) and the dorsiflexion spring (164).

8. The knee-ankle linkage intelligent bionic prosthesis according to claim 6, characterized in that: The lower end surface of the sole plate (15) is evenly provided with a plurality of pressure sensors 2.

9. The knee-ankle linkage intelligent bionic prosthesis according to claim 1, characterized in that: A rotary encoder (12) coaxial with the crank disk (8) is vertically arranged outside the fixing portion (101), and the rotary encoder (12) is connected to the crank disk (8) via a transmission shaft (11).

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