A smart bionic prosthesis with knee-ankle linkage

Abstract

This invention discloses an intelligent bionic prosthesis with knee-ankle linkage, comprising a prosthesis frame consisting of a fixed part and a swinging part. The swinging part is rotatably connected to the fixed part. A receiving cavity connecting seat is fixed at the center of the upper end face of the fixed part, and a push rod is vertically arranged at the lower end of the swinging part. A torque amplifier is embedded and fixed inside the swinging part. A bevel gear ring is coaxially sleeved on the outside of the torque amplifier. Crank discs coaxial with the transmission shaft of the fixed part are symmetrically arranged on the left and right sides of the swinging part. The bevel gear ring meshes with the two crank discs. A variable diameter crank device is provided on one side of each crank disc. One end of the push rod is connected to the variable diameter crank device, and the other end is rotatably connected to a spring group through a cross-shaft coupling. This invention adopts an active knee-passive ankle linkage structure, with a motor only configured in the knee joint, reducing power consumption. This invention uses a variable diameter crank device and a passive ankle joint, and achieves different state switching and terrain adaptation by dynamically changing the radius and elastic elements.

Description

Technical Field

[0001] This invention belongs to the field of prosthetics technology, specifically a smart bionic prosthesis with knee-ankle linkage. Background Technology

[0002] A complete gait cycle is defined as the period from the heel of one foot striking the ground to the heel of the same foot striking the ground again. This cycle can be clearly divided into two main phases: the stance phase (approximately 60%), which refers to the phase in which the foot contacts the ground and bears the body weight; and the swing phase (approximately 40%), which refers to the phase in which 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 during the stance phase (especially during the weight-bearing phase) to maintain stability, and needs to be flexed to the maximum angle during the swing phase to ensure that the foot is effectively lifted off the ground; the ankle joint undergoes a transition from dorsiflexion to plantarflexion during the stance phase (such as the push-off phase), and needs to be dorsiflexed rapidly at the beginning of the swing phase to ensure that the toes are away from the ground.

[0004] Existing knee-ankle linked intelligent bionic prostheses have the following drawbacks:

[0005] First, the knee and ankle joints are controlled independently, lacking 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 simultaneously, it increases the size and weight of the battery and motor, thereby increasing the wearer's energy consumption.

[0006] Second, terrain adaptability relies on preset mode switching, and dynamic response is delayed, requiring the wearer to actively trigger mode switching.

[0007] Third, because the pre-pressure cannot be adjusted, users of different weights need to have their prostheses customized to match their weight, which significantly increases production costs.

[0008] Therefore, it is necessary to provide a smart bionic prosthesis with knee-ankle linkage to solve the problems mentioned in the background art. Summary of the Invention

[0009] To achieve the above objectives, the present invention provides the following technical solution: a knee-ankle linked intelligent bionic prosthesis, comprising a prosthesis frame, the prosthesis frame being composed of a fixed part and a swinging part, the swinging part being rotatably connected to the fixed part, a receiving cavity connecting seat being fixed at the center of the upper end face of the fixed part, and a push rod being vertically arranged at the lower end of the swinging part; a torque amplifier being embedded and fixed inside the swinging part; a brushless motor being fixed at the middle position of the swinging part, and a harmonic reducer being coaxially arranged between the brushless motor and the torque amplifier;

[0010] The torque amplifier is coaxially fitted with a bevel gear ring; the swing part is symmetrically arranged with crank discs coaxial with the transmission shaft of the fixed part; the bevel gear ring meshes with the two crank discs; each crank disc is provided with a variable diameter crank device on one side; one end of the push rod is connected to the variable diameter crank device, and the other end is rotatably connected to the spring assembly through a cross shaft coupling.

[0011] The lower end of the spring assembly is fixed with a foot plate.

[0012] Furthermore, as a preferred embodiment, the swing section is provided with a battery holder, which has two layers: the lower layer has a battery fixedly installed, and the upper layer has a controller and a control cooler horizontally installed.

[0013] Furthermore, preferably, 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 gear ring is coaxially arranged outside the sun gear, and a bevel gear ring is fixed outside the gear ring. A set of planetary gears is distributed between the gear ring and the sun gear. Each planetary gear meshes with the sun gear and the gear ring. The fixed frame is embedded and fixed inside the swinging part. Each planetary gear has a shaft fixed on it, and the other end of the shaft is rotatably connected to the fixed frame.

[0014] Furthermore, as a preferred embodiment, the variable diameter crank device includes a linear guide rail, a miniature linear motor, and an eccentric block; the linear guide rail is fixed in a fixed groove opened radially along the crank disc; the eccentric block is slidably connected to the linear guide rail, the miniature linear motor is fixed on one side of the linear guide rail, and a transmission screw is provided in the linear guide rail, the eccentric block is slidably connected to the transmission screw; the output shaft of the miniature linear motor is connected to the transmission screw through gear meshing; a hinge ball is fixed on the eccentric block, and a connecting rod is hinged to the end of the hinge ball.

[0015] Furthermore, as a preferred embodiment, a retractable electromagnetic pin is provided at the middle position of the lower end face of the eccentric block; a set of electromagnetic pin holes are equidistantly opened on the upper end face of the linear guide rail; and position sensors are arranged parallel to each electromagnetic pin hole on the linear guide rail.

[0016] Furthermore, preferably, the spring assembly includes a tibial support and a spring fixation seat. The lower end of the tibial support is rotatably connected to the spring fixation seat; and the upper end of the tibial support is fixedly connected to a cross-shaft coupling; the spring fixation seat is fixedly connected to the plantar plate; a plantar flexion spring and a dorsiflexion spring are provided between the tibial support and the spring fixation seat, wherein the plantar flexion spring is hinged to the spring fixation seat and located in the heel area of ​​the plantar plate, and the dorsiflexion spring is hinged to the spring fixation seat and located in the forefoot area of ​​the plantar plate; the tibial support has grooves on both sides corresponding to the plantar flexion spring and the dorsiflexion spring; each groove has a connecting bolt slidably disposed therein, and the other end of the plantar flexion spring and the dorsiflexion spring are respectively connected to the connecting bolt;

[0017] Each of the connecting bolts is threaded with an adjusting nut.

[0018] Furthermore, as a preferred embodiment, a pressure sensor is provided at the bottom of both the plantar flexion spring and the dorsiflexion spring.

[0019] Furthermore, as a preferred embodiment, a plurality of pressure sensors are evenly arranged on the lower end face of the foot plate.

[0020] Furthermore, as a preferred embodiment, a rotary encoder coaxial with the crank disk is vertically arranged outside the fixed part, and the rotary encoder is connected to the crank disk through a transmission shaft.

[0021] Compared with the prior art, the beneficial effects of the present invention are:

[0022] This invention employs an active knee-passive ankle linkage structure. The prosthetic limb and variable-diameter crank device correspond to the knee joint, while the spring assembly and cross-shaft coupling correspond to the ankle joint. Only the knee joint is equipped with a motor, and the knee joint movement is converted into ankle joint movement through the variable-diameter crank device, which reduces power consumption by more than 60% compared to traditional dual active joint prostheses.

[0023] This invention employs a variable-diameter crank device and a passive ankle joint, which achieves different state switching and terrain adaptation by dynamically changing the radius and elastic elements; at the same time, the passive ankle joint uses an adjustable preload spring assembly to accommodate users of different weights. Attached Figure Description

[0024] Figure 1 This is a rear view of the overall structure of the present invention;

[0025] Figure 2 This is a left view of the overall structure of the present invention;

[0026] Figure 3 A schematic diagram of a complete gait cycle;

[0027] Figure 4 This is a schematic diagram of the torque amplifier structure in this invention;

[0028] Figure 5 This is a front view of the variable diameter crank device in this invention;

[0029] Figure 6 This is a schematic diagram of the variable diameter crank device in this invention;

[0030] Figure 7 This is a schematic diagram of the eccentric block structure in this invention;

[0031] Figure 8 This is a schematic diagram of the spring assembly structure in this invention;

[0032] In the diagram: 1. Prosthetic frame; 101. Fixation unit; 102. Swinging unit; 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. Gear ring; 64. Fixing bracket; 7. Bevel gear ring; 8. Crankshaft; 9. Variable diameter crank assembly; 91. Fixing groove; 92. Linear guide; 93. Miniature linear motor; 94. Eccentric block 95. Articulated ball; 96. Connecting rod; 97. Electromagnetic pin hole; 98. Electromagnetic pin; 99. Position sensor; 10. Receiving cavity connecting seat; 11. Drive shaft; 12. Rotary encoder; 13. Push rod; 14. Cross shaft coupling; 15. Foot plate; 16. Spring assembly; 161. Tibial support; 162. Spring fixing seat; 163. Plantar flexion spring; 164. Dorsiflexion spring; 165. Slide groove; 166. Adjusting nut; 167. Drive bolt. Detailed Implementation

[0033] Please see Figures 1-8 In this embodiment of the invention, a smart bionic prosthesis with knee-ankle linkage includes a prosthesis frame 1, which is composed of a fixed part 101 and a swing part 102. The swing part 102 is rotatably connected to the fixed part 101. A receiving cavity connecting seat 10 is fixed at the center of the upper end surface of the fixed part 101, and a push rod 13 is vertically arranged at the lower end of the swing part 102. A torque amplifier 6 is embedded and fixed inside the swing part 102. A brushless motor 4 is fixed at the middle position of the swing part 102. A harmonic reducer 5 is coaxially arranged 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 torque amplifier 6 has an additional gain of 1.8 times.

[0034] A bevel gear ring 7 is coaxially sleeved on the outside of the torque amplifier 6; crank discs 8, coaxial with the transmission shaft 11 of the fixed part 101, are symmetrically arranged on the left and right sides inside the swing part 102; the bevel gear ring 7 meshes with the two crank discs 8; a variable diameter crank device 9 is provided on one side of each crank disc 8; one end of the push rod 13 is connected to the variable diameter crank device 9, and the other end is rotatably connected to the spring assembly 16 through a cross-shaft coupling 14; the change of the inclination angle of the foot plate 15 triggers the fine adjustment of the cross-shaft coupling 14, the adjustment range of the cross-shaft coupling 14 is -3° to 3°, and the cross-shaft coupling 14 does not affect the operation of the spring assembly 16; the brushless motor 4 outputs extension torque by rotating forward and outputs flexion torque by rotating in reverse, which drives the torque amplifier 6 to rotate forward and in reverse through the harmonic reducer 5; the bevel gear ring 7 sleeved on the torque amplifier 6 meshes with the crank disc, thereby realizing the swing of the prosthesis;

[0035] The lower end of the spring assembly 16 is fixed with a foot plate 15.

[0036] In this embodiment, a battery holder 21 is provided inside the swing part 102. The battery holder 21 has two layers, with a battery 2 fixedly installed on the lower layer and a controller 3 and a control cooler 31 horizontally installed on the upper layer. The controller 3 controls the speed and direction of the brushless motor 4, and the control cooler 31 cools the controller 3.

[0037] In a preferred embodiment, the torque amplifier 6 includes a sun gear 61 and a fixed frame 64. The sun gear 61 is fixedly connected to the output end of the harmonic reducer 5. A gear ring 63 is coaxially arranged outside the sun gear 61, and a bevel gear ring 7 is fixed outside the gear ring 63. A set of planetary gears 62 are distributed between the gear ring 63 and the sun gear 61. Each planetary gear 62 meshes with the sun gear 61 and the gear ring 63. The fixed frame 64 is embedded and fixed inside the swing part 102. Each planetary gear 62 is fixed with a shaft, and the other end of the shaft is rotatably connected to the fixed frame 64. The brushless motor 4 transmits torque to the sun gear 61 through the harmonic reducer 5. The sun gear 61 meshes with the planetary gears 62 to increase the torque. The increased torque is transmitted to the crank disc 8 through the bevel gear ring 7.

[0038] In this embodiment, 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 opened radially along the crank disc 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. 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 to the end of the hinge ball 95. The crank disc 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 rail 92.

[0039] In this embodiment, a retractable electromagnetic pin 98 is provided at the middle position of the lower end face of the eccentric block 94; a set of electromagnetic pin holes 97 are equidistantly opened on the upper end face of the linear guide rail 92; a position sensor 99 is arranged parallel to each electromagnetic pin hole 97 on the linear guide rail 92; the three electromagnetic pin holes 97 correspond to three different states of walking, running, and climbing stairs in the radial direction from the inside to the outside; under normal circumstances, the brushless motor 4 outputs a medium speed, the eccentric block 94 is fixed at the electromagnetic pin hole 97 closest to the center, and the variable diameter crank device 9 outputs a low torque, which meets the requirements of the walking state; when running, the brushless motor 4 outputs a high speed, the electromagnetic pin 98 is de-energized and retracts, and the micro linear motor 93 controls the eccentric block 94 to retract. When the eccentric block 94 moves, and the position sensor 99 detects that the eccentric block 94 has reached the electromagnetic pin hole 97 at the middle position, the electromagnetic pin 98 is energized and extends into the electromagnetic pin hole 97 to fix the eccentric block 94. At this time, the variable diameter crank device 9 outputs medium torque to meet the needs of balanced acceleration in running mode. When climbing stairs, the brushless motor 4 outputs low speed, the electromagnetic pin 98 is de-energized and retracts, 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 has reached the electromagnetic pin hole 97 furthest from the center, the electromagnetic pin 98 is energized and extends into the electromagnetic pin hole 97 to fix the eccentric block 94. At this time, the variable diameter crank device 9 outputs high torque to meet the needs of climbing stairs.

[0040] In this embodiment, the spring assembly 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 a cross-shaft coupling 14; the spring fixing seat 162 is fixedly connected to the plantar plate 15; a plantar flexion spring 163 and a dorsiflexion spring 164 are provided between the tibial support 161 and the spring fixing seat 162, wherein the plantar flexion spring 163 is hinged to the spring fixing seat 162 and located in the heel area of ​​the plantar plate 15, and the dorsiflexion spring... 164 is hinged to the spring fixing seat 162 and located in the forefoot area of ​​the plantar plate 15; the tibial support 161 has grooves 165 on both sides corresponding to the plantar flexion spring 163 and the dorsiflexion spring 164; each groove 165 is slidably provided with a connecting bolt 167, and the other end of the plantar flexion spring 163 and the dorsiflexion spring 164 are respectively connected to the connecting bolt 167; the plantar flexion spring 163 is a high-stiffness disc spring for cushioning hard sole surfaces; the dorsiflexion spring 164 is a low-stiffness helical spring for adapting to soft terrain;

[0041] Each connecting bolt 167 is threaded with an adjusting nut 166; the position of the movable connecting bolt 167 on the slide 165 is locked by the adjusting nut 166, so as to change the pre-compression of the plantar flexion spring 163 and the dorsiflexion spring 164 to suit users of the same weight.

[0042] In a preferred embodiment, a pressure sensor is provided at the bottom of both the plantar flexion spring 163 and the dorsiflexion spring 164.

[0043] In this embodiment, multiple pressure sensors are evenly arranged on the lower end face of the foot plate 15.

[0044] In this embodiment, a rotary encoder 12 coaxial with the crank disk 8 is vertically arranged outside the fixing part 101. The rotary encoder 12 is connected to the crank disk 8 through the transmission shaft 11. The rotary encoder 12 is used to detect the angle and angular velocity of the crank disk 8.

[0045] Specifically, working state one: initial support phase (heel touches the ground)

[0046] Knee joint movement: The controller controls the brushless motor to work. The brushless motor outputs extension torque. The extension torque is transmitted to the crank plate through the harmonic reducer and torque amplifier, which drives the crank plate to rotate clockwise. The transmission shaft drives the swing part and the lower part to extend forward.

[0047] Ankle response: The plantar flexion spring is slowly compressed, the dorsiflexion spring is slowly stretched, and the ankle joint is slowly dorsiflexed.

[0048] Working state 2: Mid-support phase (full foot on the ground)

[0049] Terrain Adaptive: When encountering a slope, the change in the inclination angle of the foot plate triggers the fine adjustment of the cross-shaft coupling. The adjustment range of the cross-shaft coupling is -3° to 3°, and the cross-shaft coupling does not affect the operation of the spring assembly.

[0050] The pressure distribution of the spring assembly changes. Pressure sensors are installed at the bottom of both the plantar flexor and dorsiflexor springs. If the pressure ratio between the dorsiflexor and plantar flexor springs is greater than 1.2, it is determined to be an uphill slope. The controller controls the brushless motor to increase its output by 30%, and the knee flexion angle increases by 3° to 5°. If the pressure ratio between the dorsiflexor and plantar flexor springs is less than 0.8, it is determined to be a downhill slope. The controller controls the brushless motor to decrease its output by 30%, and the knee flexion angle decreases by 3° to 5°.

[0051] Working state three: End of the support phase (stepping off)

[0052] Knee joint movement: The controller controls the brushless motor to work in reverse. The brushless motor outputs flexion torque, which is transmitted to the crank plate through the harmonic reducer and torque amplifier, causing the crank plate to rotate counterclockwise. The transmission shaft drives the swing part and the lower part to flex backward.

[0053] Ankle popping sound: The plantar flexion and dorsiflexion springs are released instantly, driving the ankle joint to plantar flex 25°.

[0054] Working state four: Oscillation phase (toes off the ground)

[0055] 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 plate through the harmonic reducer and torque amplifier. The crank plate rotates 70° counterclockwise, and the transmission shaft drives the swing part and the lower part to flex backward.

[0056] Ankle joint reduction: The plantar flexor spring and dorsiflexor spring rebound drive dorsiflexion of 15° to prevent the toes from dragging on the ground.

[0057] When climbing stairs, the peak torque required is 4000 N·m. The brushless motor outputs at low speed, while the variable diameter crank device outputs at high torque. Multiple pressure sensors are evenly arranged on the lower end face of the foot plate 15. When the pressure center is detected to have shifted back by more than 60%, the electromagnetic pin is de-energized and retracts. The micro linear motor controls the eccentric block to move. When the position sensor detects that the eccentric block has reached the electromagnetic pin hole furthest from the center, 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 outputs at low speed and high torque, which meets the requirements for climbing stairs.

[0058] When running, balanced acceleration is required. The brushless motor outputs high speed, the variable diameter crank mechanism outputs medium torque, and the spring compression increases to provide sufficient force to the ankle joint when running forward. When the rotary encoder detects that the knee flexion angular velocity is greater than 200° / s, it is determined to be in running state. The electromagnetic pin retracts when de-energized, and the micro linear motor controls the movement of the eccentric block. When the position sensor detects that the eccentric block has reached the electromagnetic pin hole in the middle position, the electromagnetic pin is energized and extends into the electromagnetic pin hole to fix the eccentric block. At this time, the variable diameter crank mechanism outputs medium speed to meet the need for balanced acceleration in running state.

[0059] Under normal circumstances, the brushless motor outputs medium speed, the variable diameter crank device outputs low torque, and the eccentric block is fixed in the electromagnetic pin hole closest to the center of the circle to meet the requirements of the walking state.

[0060] The pre-compression of the spring assembly within the tibial support is adjustable to accommodate users of different weights.

[0061] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A knee-ankle linked intelligent bionic prosthesis, characterized in that: It includes a prosthetic frame (1), which is composed of a fixed part (101) and a swing part (102). The swing part (102) is rotatably connected to the fixed part (101). A receiving cavity connecting seat (10) is fixed at the center of the upper end face of the fixed part (101), and a push rod (13) is vertically arranged at the lower end of the swing part (102). A torque amplifier (6) is embedded and fixed inside the swing part (102). A brushless motor (4) is fixed at the middle position of the swing part (102), and a harmonic reducer (5) is coaxially arranged between the brushless motor (4) and the torque amplifier (6). The torque amplifier (6) is coaxially fitted with a bevel gear ring (7); the swing part (102) is symmetrically arranged with crank discs (8) coaxial with the transmission shaft (11) of the fixed part (101); the bevel gear ring (7) meshes with the two crank discs (8); each crank disc (8) is provided with a variable diameter crank device (9) on one side; one end of the push rod (13) is connected to the variable diameter crank device (9), and the other end is rotatably connected to the spring assembly (16) through a cross shaft coupling (14); The lower end of the spring assembly (16) is fixed with a foot plate (15). 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) opened radially along the crank disc (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), 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 to the end of the hinge ball (95); A retractable electromagnetic pin (98) is provided at the middle position of the lower end face of the eccentric block (94); a set of electromagnetic pin holes (97) are equidistantly opened on the upper end face of the linear guide (92); a position sensor (99) is arranged parallel to each electromagnetic pin hole (97) on the linear guide (92).

2. The intelligent bionic prosthesis with knee-ankle linkage according to claim 1, characterized in that: The swing part (102) is provided with a battery holder (21), which has two layers: the lower layer is fixedly provided with a battery (2), and the upper layer is horizontally provided with a controller (3) and a control cooler (31).

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

4. The intelligent bionic prosthesis with knee-ankle linkage according to claim 1, characterized in that: The spring assembly (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 a cross-shaft coupling (14); the spring fixing seat (162) is fixedly connected to the plantar plate (15); a plantar flexion spring (163) and a dorsiflexion spring (164) are provided between the tibial support (161) and the spring fixing seat (162), wherein the plantar flexion spring (163) is hinged to the spring. The plantar flexor spring (164) is hinged to the spring fixing seat (162) and located in the heel area of ​​the plantar plate (15); the tibial support (161) has grooves (165) on both sides corresponding to the plantar flexor spring (163) and the dorsiflexor spring (164); each groove (165) is slidably provided with a connecting bolt (167), and the other end of the plantar flexor spring (163) and the dorsiflexor spring (164) are respectively connected to the connecting bolt (167); Each of the connecting bolts (167) is threaded with an adjusting nut (166).

5. The intelligent bionic prosthesis with knee-ankle linkage according to claim 4, characterized in that: Both the plantar flexor spring (163) and the dorsiflex spring (164) are equipped with a pressure sensor at their bottom.

6. The intelligent bionic prosthesis with knee-ankle linkage according to claim 1, characterized in that: Multiple pressure sensors are evenly arranged on the lower end face of the foot plate (15).

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

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