Bionic ankle joint and artificial limb

Abstract

The invention discloses a bionic ankle joint and an artificial limb. The bionic ankle joint comprises an ankle joint base, a sole component and a damper, and the ankle joint base is used for being connected with a leg component; the sole component is rotationally connected with the ankle joint base; the damper is arranged between the ankle joint base and the sole component and comprises a damping body and a piston rod capable of stretching out and drawing back relative to the damping body, the damping body is hinged to the ankle joint base, and the piston rod is hinged to the sole component and used for stretching out and drawing back relative to the damping body when the sole component is stressed. And a damping effect is generated on the rotation of the sole component. By means of the dynamic damping effect of the damper, the buffering effect can be adjusted in real time according to the stress and rotating speed of the foot sole, compared with a traditional elastic element structure, different exercise intensities, ground conditions and user body weight differences can be better adapted, the stability in the exercise process is greatly improved, meanwhile, unnecessary energy loss is reduced, and the user experience is improved. And the motion characteristic of the bionic ankle joint is closer to the natural state of a human body.

Description

Technical Field

[0001] The present invention relates to the technical field of prostheses, and in particular to a bionic ankle joint and a prosthesis. Background Art

[0002] In the field of rehabilitation assistive devices and bionic robotics, bionic ankle design is crucial for matching devices with human motion characteristics and improving stability and flexibility. As the crucial link between the lower leg and foot, the ankle joint not only bears the body's weight but also rotates at multiple angles during various motions, such as walking, running, and jumping. Its biomechanical properties also provide appropriate cushioning to reduce damage to the limbs from ground impact forces while ensuring a natural and smooth gait.

[0003] Existing bionic ankle joint designs often utilize a simple hinge connection combined with elastic elements (such as springs) to achieve both rotation and cushioning. However, these designs have significant limitations: the cushioning effect of these elastic elements is often difficult to dynamically adjust to varying exercise intensity, surface conditions, or user weight. This results in poor adaptability in complex scenarios, and can easily lead to excessive energy loss and instability during exercise. Summary of the Invention

[0004] The main purpose of the present invention is to propose a bionic ankle joint and prosthesis, aiming to solve the technical problems of existing bionic ankle joints, which have poor adaptability, high energy consumption or insufficient stability due to the inability to dynamically adjust the buffering effect of elastic elements.

[0005] To achieve the above objectives, the present invention provides a bionic ankle joint, comprising: An ankle joint base, the ankle joint base is used to connect with the leg member; a sole member, the sole member being rotatably connected to the ankle joint base; The damper is arranged between the ankle joint base and the sole member. The damper includes a damping body and a piston rod that can be extended and retracted relative to the damping body. The damping body is hinged to the ankle joint base, and the piston rod is hinged to the sole member. It is used to extend and retract relative to the damping body when the sole member is subjected to force, so as to produce a damping effect on the rotation of the sole member.

[0006] In some embodiments, the hinge point between the damping body and the ankle joint base is a first hinge point, the hinge point between the piston rod and the sole member is a second hinge point, and the rotational connection point between the sole member and the ankle joint base is a rotation center; The rotation center is located at a connecting edge of the ankle joint base and the sole member, the first hinge point is located on a side of the ankle joint base away from the rotation center, the second hinge point is located on a side of the sole member away from the rotation center, and a line connecting the first hinge point, the second hinge point and the rotation center forms a triangular structure.

[0007] In some embodiments, the damping body is hinged to the ankle joint base through a first rotation shaft, and the piston rod is hinged to the sole member through a second rotation shaft. The first rotation shaft and the second rotation shaft are arranged in parallel, and the axis directions of the first rotation shaft and the second rotation shaft are both perpendicular to the rotation plane of the sole member.

[0008] In some embodiments, the sole member is hinged to the ankle joint base through a third rotation shaft, and the third rotation shaft is arranged in parallel with the first rotation shaft and the second rotation shaft.

[0009] In some embodiments, one end of the ankle joint base is provided with a ball head for connecting the leg member, and the first rotation shaft is located between the ball head and the third rotation shaft.

[0010] In some embodiments, the damper is a hydraulic damper, the damping body is provided with a hydraulic cavity, the hydraulic cavity is filled with hydraulic oil, the damping body is provided with a damping valve, the damping valve is in transmission connection with a motor, and the motor is used to drive the damping valve to act to change the flow passage section of the hydraulic oil.

[0011] In some embodiments, the sole member is provided with a gyroscope, the gyroscope is used to detect the rotation angular velocity of the sole member, the gyroscope is in electrical connection with a control unit of the motor, and the control unit is used to control the operation state of the motor according to the detection information fed back by the gyroscope; and / or, The sole member is provided with an accelerometer, the accelerometer is used to detect the motion acceleration of the sole member, the accelerometer is in electrical connection with a control unit of the motor, and the control unit is used to control the operation state of the motor according to the detection information fed back by the accelerometer.

[0012] In some embodiments, the outer side surface of the ankle joint base is provided with a limiting groove, the limiting groove is provided with a limiting stop surface on a track of the sole member relative to the ankle joint base, and the limiting stop surface is used to abut against the sole member when the sole member rotates relative to the ankle joint base to a preset angle.

[0013] In some embodiments, the sole component is hollow and forms a first accommodating cavity, the ankle joint base is provided with a second accommodating cavity, the first accommodating cavity is connected to the second accommodating cavity, the damper is partially located in the first accommodating cavity, and the other part is located in the second accommodating cavity.

[0014] The present application also provides a prosthesis, comprising a leg component and a bionic ankle joint, wherein the leg component is connected to one end of the ankle joint base away from the sole component.

[0015] The bionic ankle joint provided by this application is connected to the leg member via an ankle joint base, and the sole member is rotationally connected to the ankle joint base. When the sole member is subjected to force and rotates, the piston rod in the damper located between the two produces a telescopic motion relative to the damping body. The damping force generated by this telescopic process effectively hinders and cushions the rotation of the sole member. By leveraging the dynamic damping effect of the damper, this application can adjust the cushioning effect in real time based on the force applied to the sole and the rotation speed. Compared with traditional elastic element structures, it can better adapt to different exercise intensities, ground conditions, and user weight differences, greatly improving stability during exercise while reducing unnecessary energy loss, making the movement characteristics of the bionic ankle joint closer to the natural state of the human body. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic structural diagram of an embodiment of a bionic ankle joint of the present invention; Figure 2 is a schematic cross-sectional view of an embodiment of a bionic ankle joint of the present invention; Figure 3 This is a disassembled schematic diagram of an embodiment of a bionic ankle joint according to the present invention.

[0017] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0018] The following will be combined with the accompanying drawings to clearly and completely describe the solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0019] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0020] It should also be noted that when an element is referred to as being "fixed on" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element.

[0021] In addition, the descriptions of "first", "second", etc. in the present invention are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0022] Please refer to Figure 1 and Figure 2 In one embodiment of the present application, a bionic ankle joint 100 is proposed, comprising an ankle base 10, a sole component 20 and a damper 30. The ankle base 10 is used to connect with the leg component; the sole component 20 is rotatably connected to the ankle base 10; the damper 30 is arranged between the ankle base 10 and the sole component 20, and the damper 30 comprises a damping body 31 and a piston rod 32 that can be extended and retracted relative to the damping body 31. The damping body 31 is hinged to the ankle base 10, and the piston rod 32 is hinged to the sole component 20, and is used to extend and retract relative to the damping body 31 when the sole component 20 is subjected to force, so as to produce a damping effect on the rotation of the sole component 20.

[0023] The ankle base 10 serves as the core support and connection component of the bionic ankle joint 100. Its function is to achieve a stable connection with the leg members. Through bolt connections, snap connections, or customized adaptable structures, it ensures that there is no relative looseness between the bionic ankle joint 100 and the leg members, providing a reliable installation foundation for the entire bionic ankle joint 100 and ensuring effective force transmission during exercise. At the same time, the ankle base 10 provides a mounting base for the sole member 20 and the damper 30. Through pre-set hinge holes and mounting slots, it achieves a rotational connection with the sole member 20 and an articulated connection with the damper body 31, ensuring assembly precision and motion coordination of all components.

[0024] The sole component 20 is a component that is in direct contact with the ground. Its appearance is designed to mimic the contour of the human foot. It can stably bear the reaction force of the ground and the pressure of the lower limbs of the human body, and transmit the force to the rotation connection point with the ankle joint base 10, and then convert it into rotational movement relative to the ankle joint base 10, simulating the basic movements of the human foot around the ankle joint, such as plantar flexion and dorsiflexion, and providing basic rotational freedom for lower limb movement.

[0025] The damper 30 consists of a damping body 31 and a retractable piston rod 32. When the sole member 20 is rotated under force, the piston rod 32 expands and contracts relative to the damping body 31 in response to the movement of the sole member 20. The damping structure within the damping body 31 (such as a hydraulic valve, damping plate, etc.) regulates the expansion and contraction speed of the piston rod 32 by changing the flow resistance or friction resistance of the damping medium, thereby generating an adaptive damping force for the rotation of the sole member 20. For example, during high-intensity exercise (such as running and jumping), the damping force increases, slowing the rotation of the sole and avoiding excessive impact. During low-intensity exercise (such as slow walking), the damping force decreases to ensure a smooth gait.

[0026] The damper 30 is hinged to the ankle joint base 10 and the sole component 20 at both ends, constructing a force transmission path between the two, and dispersing the impact load borne by the sole component 20 to the ankle joint base 10 through the damping effect, and then transmitting it to the leg component, avoiding damage to local components due to concentrated force; at the same time, the damping effect of the damper 30 can balance the inertial force during the rotation of the sole component 20, reduce shaking during movement, and improve the movement stability of the bionic ankle joint 100.

[0027] The bionic ankle joint 100 provided in this application is connected to the leg member via the ankle joint base 10, and the sole member 20 is rotationally connected to the ankle joint base 10. When the sole member 20 is subjected to force and rotates, the piston rod 32 in the damper 30 disposed between the two produces a telescopic motion relative to the damping body 31. The damping force generated by this telescopic process effectively hinders and cushions the rotation of the sole member 20. By leveraging the dynamic damping effect of the damper 30, the present application can adjust the cushioning effect in real time according to the force applied to the sole and the rotation speed. Compared with traditional elastic element structures, it can better adapt to different exercise intensities, ground conditions, and user weight differences, greatly improving stability during exercise while reducing unnecessary energy loss, making the movement characteristics of the bionic ankle joint 100 closer to the natural state of the human body.

[0028] In some embodiments, the hinge point between the damping body 31 and the ankle joint base 10 is the first hinge point, the hinge point between the piston rod 32 and the sole member 20 is the second hinge point, and the rotational connection point between the sole member 20 and the ankle joint base 10 is the rotation center; Among them, the rotation center is located at the connecting edge of the ankle joint base 10 and the sole component 20, the first hinge point is located on the side of the ankle joint base 10 away from the rotation center, the second hinge point is located on the side of the sole component 20 away from the rotation center, and the line connecting the first hinge point, the second hinge point and the rotation center forms a triangular structure.

[0029] In this embodiment, the ankle joint base 10 utilizes a pre-set first hinge point installation position, precisely securing the first hinge point away from the center of rotation. Together with the second hinge point and the center of rotation on the sole member 20, this creates a triangular structure. This positioning design provides stable moment arm support for the damper 30, enabling the damper 30 to leverage the geometric stability of the triangle when transmitting damping force, avoiding moment arm variations caused by hinge point positional offsets and ensuring a consistent damping force transmission path. It also establishes a stable force boundary for the rotation of the sole member 20, preventing deflection of the sole member 20 due to uneven force application, further strengthening the ankle joint base 10's support and motion-guiding role for the overall structure.

[0030] The second hinge point on the sole component 20 is set on the side away from the rotation center. On the one hand, through the triangular layout with the first hinge point and the rotation center, it adapts to the installation and movement requirements of the damper 30, ensuring that the piston rod 32 can smoothly extend and retract with the rotation of the sole of the foot; on the other hand, this position design uses the lever principle to amplify the rotational displacement of the sole component 20 around the rotation center into the extension and retraction displacement of the piston rod 32. Even if the sole of the foot only produces a small rotation (such as slight plantar flexion when walking slowly), it can drive the piston rod 32 to produce sufficient extension and retraction, so that the damping medium inside the damper 30 can flow fully, thereby generating a stable damping force, avoiding the problem of insufficient response of the damper 30 due to the small rotation of the sole of the foot, and improving the sensitivity of the damping adjustment.

[0031] The damping body 31 and the piston rod 32 of the damper 30 are connected to the ankle joint base 10 and the sole member 20 through the first hinge point and the second hinge point respectively, precisely adapting to the triangular structural layout. Under this structure, the damper 30 can not only expand and contract as the sole rotates, but also optimize the damping force efficiency based on the geometric characteristics of the triangle. Specifically, the fixed side length ratio of the triangle ensures that the expansion and contraction direction of the damper 30 and the rotation direction of the sole always maintain a preset angle, ensuring that the damping force can act perpendicularly to the tangential direction of the sole rotation, maximizing the adjustment efficiency of the damping force; at the same time, the stability of the triangular structure can prevent the damper 30 from lateral displacement or distortion during expansion and contraction, reduce the wear of the damper 30 components caused by deviation in the force direction, extend the service life of the damper 30, and ensure the stability of the damping performance during long-term use.

[0032] This embodiment is based on the triangular structure of the first hinge point, the second hinge point and the rotation center. The rotation of the sole member 20 can be amplified into the telescopic stroke of the piston rod 32 through the lever effect. Even a slight rotation of the sole can trigger an obvious response of the damper 30, which solves the problem that the damper 30 is not obvious to small movements when the traditional hinge point is close to the rotation center.

[0033] Further, the triangular structure makes the force distribution between the ankle joint base 10, the sole member 20 and the damper 30 more uniform: the damping reaction force borne by the ankle joint base 10 through the first hinge point can be dispersed to the entire base by relying on the triangular structure, avoiding local stress concentration; the force borne by the second hinge point of the sole member 20 can also be transmitted to the rotation center through the triangular path, reducing the local load pressure of the sole; and the damper 30 is stable in the direction of force, avoiding internal component wear caused by lateral force. The overall structure is more reasonable in force distribution, the wear rate of each component is slowed down, the overall service life of the bionic ankle joint 100 is prolonged, and the subsequent maintenance frequency and cost of the user are reduced.

[0034] In actual application, the size ratio of the triangular structure can be flexibly adjusted according to different application scenarios. By changing the distances between the first hinge point, the second hinge point and the rotation center, the ankle joint base 10 and the sole member 20 of different sizes (such as children's prostheses and large robot ankles) can be adapted, and the extension stroke and the force arm ratio of the damper 30 are adjusted to meet the use requirements of different weights and different motion intensities.

[0035] Please refer to Figure 2 and Figure 3 In some embodiments, the damping body 31 is hinged to the ankle joint base 10 through the first rotating shaft 311, and the piston rod 32 is hinged to the sole member 20 through the second rotating shaft 321. Among them, the first rotating shaft 311 and the second rotating shaft 321 are arranged in parallel, and the axis directions of the first rotating shaft 311 and the second rotating shaft 321 are both perpendicular to the rotation plane of the sole member 20.

[0036] In this embodiment, the ankle joint base 10 is pre-provided with a mounting hole adapted to the first rotating shaft 311 at the first hinge point, and the axis direction of the mounting hole is strictly perpendicular to the rotation plane of the sole member 20, ensuring that the first rotating shaft 311 is accurately fixed and maintained in the preset direction. The directional installation design cooperates with the parallel layout of the second rotating shaft 321 to build a plane constraint for the movement of the damper 30, limiting the damping body 31 to rotate only around the first rotating shaft 311 in the rotation plane of the sole member 20, avoiding the damping body 31 from shaking vertically to the rotation plane, and further strengthening the guiding effect of the ankle joint base 10 on the overall movement direction.

[0037] The sole member 20 is provided with a connecting structure (such as a sleeve or retaining spring) at the second hinge point that matches the second rotating shaft 321, ensuring that the axis of the second rotating shaft 321 is parallel to the first rotating shaft 311 and perpendicular to the rotation plane of the sole member 20. This adaptive design ensures that when the piston rod 32 rotates with the sole member 20, its rotation direction around the second rotating shaft 321 is completely consistent with the rotation direction of the damping body 31 around the first rotating shaft 311. The motion trajectories of the two always remain in the same plane, avoiding the piston rod 32 and the damping body 31 from getting stuck due to misalignment of the rotating shaft directions. At the same time, the directional installation of the second rotating shaft 321 can accurately convert the rotation of the sole member 20 into the telescopic movement of the piston rod 32, without any unnecessary lateral movement components, ensuring that each rotational displacement of the sole can be efficiently converted into the damping adjustment action of the damper 30, thereby improving movement coordination.

[0038] The design of the first and second rotating axes 311, 321, being parallel and perpendicular to the rotational plane of the foot ensures that the movement of the damper 30 and the rotation of the foot member 20 are completely in the same plane, eliminating conflicting motion directions. This avoids misalignment and jamming between the piston rod 32 and the damper body 31 caused by misaligned rotation axes. Even during high-intensity, high-frequency exercise (such as running and jumping), the damper 30 continues to expand and contract smoothly with the foot's rotation, preventing interruptions or failures in damping adjustment and improving the reliability of the bionic ankle joint 100.

[0039] In some embodiments, the sole member 20 is hinged to the ankle joint base 10 via a third rotation shaft 21 , and the third rotation shaft 21 is arranged parallel to the first rotation shaft 311 and the second rotation shaft 321 .

[0040] Among them, the ankle joint base 10 is preset with a third rotating shaft 21 mounting structure (such as a bearing seat, a positioning slot) at the connection edge with the sole component 20 (i.e., the center of rotation), and the axial direction of the mounting structure is strictly parallel to the first rotating shaft 311 and the second rotating shaft 321, ensuring that the third rotating shaft 21 is accurately fixed and maintains a parallel relationship with the other two rotating shafts.

[0041] When the sole component 20 is subjected to force and rotates, it moves around the third rotation axis 21 in a preset rotation plane. Since the third rotation axis 21 is parallel to the first rotation axis 311 and the second rotation axis 321 and the axes are perpendicular to the rotation plane, the three together construct a motion frame that rotates parallel to the plane: the damping body 31 rotates around the first rotation axis 311, the piston rod 32 rotates around the second rotation axis 321, and the sole component 20 rotates around the third rotation axis 21. The axial directions of the three rotation actions are completely consistent, ensuring that the telescopic movement of the damper 30 and the rotational movement of the sole component 20 are always in the same plane, and there is no cross-interference in the movement trajectories of each component.

[0042] The structural design of this embodiment makes the rotation of the sole member 20 more directional, and even when subjected to dynamic loads (such as continuous pushing off the ground and landing during walking), it can avoid multi-directional deviation caused by inconsistent rotation axis directions. At the same time, the damper 30 can output damping force more accurately following the rotation rhythm of the sole through the coordinated action of three parallel rotation axes, further improving synchronization, ensuring the continuity and stability of force transmission during movement, and avoiding movement blockage problems caused by misalignment of the rotation axis.

[0043] In some embodiments, a ball head 14 for connecting to a leg member is provided at one end of the ankle joint base 10 , and the first rotation shaft 311 is located between the ball head 14 and the third rotation shaft 21 .

[0044] The ball head 14 at one end of the ankle joint base 10 forms a multi-angle, flexible fit with the leg member, compensating for minor posture deviations during movement. Furthermore, the first rotation axis 311 is located between the ball head 14 and the third rotation axis 21, forming a linear force transmission path between the ball head 14, the first rotation axis 311, and the third rotation axis 21. After the leg load is input through the ball head 14, it is transmitted to the damper 30 through the first rotation axis 311 and then to the foot member 20 through the third rotation axis 21. The damper 30, positioned in the middle, effectively buffers the upward and downward forces, preventing force transfer deviation or excessive impact, and ensuring that the overall movement better aligns with the natural laws of the human body.

[0045] In this embodiment, the ankle joint base 10 realizes flexible connection and force transmission guidance through the ball head 14. Its linear layout of force points is combined with the reinforcement rib design to disperse the load and balance the center of gravity; the leg component is adapted to the ball head 14 with the help of the ball socket to provide stable power input for the ankle joint; the damper 30 relies on the middle position of the first rotating shaft 311 to accurately bear the leg load and the ground reaction force, and enhance the buffering effect. The three together ensure the directionality of movement and the stability of force transmission, and avoid force concentration on components or movement jamming.

[0046] In some embodiments, the damper 30 is a hydraulic damper 30, a hydraulic chamber is provided in the damping body 31, the hydraulic chamber is filled with hydraulic oil, a damping valve is provided on the damping body 31, and the damping valve is connected to a motor 312 for transmission. The motor 312 is used to drive the damping valve to change the flow cross-section of the hydraulic oil.

[0047] The hydraulic chamber within the damping body 31 provides a sealed space for the hydraulic oil. As a damping medium, the hydraulic oil exhibits high viscosity stability and compression resistance. It generates a basic damping force through viscous friction when the piston rod 32 extends and retracts. Its flow characteristics can also be precisely controlled by the damping valve. When the piston rod 32 extends, the hydraulic oil is pressed into one side of the hydraulic chamber, where it must overcome the flow resistance of the damping valve to flow. When the piston rod 32 retracts, the hydraulic oil reverses flow, also regulated by the damping valve. Together, these two elements form the foundation of hydraulic damping, providing the medium for subsequent active adjustment of the motor 312.

[0048] The damping valve is arranged on the hydraulic oil flow path of the damping body 31 (such as the hydraulic chamber inlet and outlet, the internal oil passage intersection), and the valve core structure (such as a conical valve core or a sliding valve core) can change the cross-sectional area of the flow passage by displacement or rotation. When the motor 312 is not driven, the damping valve can maintain a preset flow cross section to provide a basic damping force; when the motor 312 is driven, the valve core acts in real time to adjust the flow cross section, directly controls the flow resistance of the hydraulic oil, and then changes the output damping force of the damper 30, realizes continuous adjustment of the damping force from low resistance to high resistance, and adapts to the buffering requirements under different motion intensities.

[0049] The motor 312 (such as a micro-servo motor 312 or a stepping motor 312) is connected with the damping valve through gear transmission or screw transmission, can output accurate torque according to external signals (such as motion speed detected by a sensor, a ground pressure signal, or a user preset instruction), and drive the damping valve core to act according to a preset stroke. The motor 312 has the characteristics of fast response speed and high control precision, can capture motion state changes in real time, quickly adjust the flow cross section of the damping valve, ensure that the damping force adjustment is synchronized with the rotation of the foot, and avoid motion discomfort caused by adjustment lag; at the same time, the motor 312 can be compatible with multiple control modes (such as an automatic adaptation mode and a manual setting mode), and provide flexible damping adjustment schemes for different use scenarios.

[0050] Compared with the traditional passive hydraulic damper 30 or spring buffering structure, the motor 312 drives the damping valve to realize active adjustment of the damping force in the embodiment of the application, so that the damping force can match the motion requirements in real time, effectively avoids the problems of adjustment lag existing in the traditional fixed damping or passive self-adaptive damping, further improves the adaptability of the bionic ankle joint 100 to complex motion scenarios, and realizes intelligent control effect.

[0051] In some embodiments, a gyroscope is arranged in the foot member 20, the gyroscope is used for detecting the rotation angular velocity of the foot member 20, the gyroscope is electrically connected with the control unit of the motor 312, and the control unit is used for controlling the running state of the motor 312 according to the detection information fed back by the gyroscope; and / or, An accelerometer is arranged in the foot member 20, the accelerometer is used for detecting the motion acceleration of the foot member 20, the accelerometer is electrically connected with the control unit of the motor 312, and the control unit is used for controlling the running state of the motor 312 according to the detection information fed back by the accelerometer.

[0052] When a gyroscope is integrated into the sole member 20, it can detect the angular velocity of the sole member 20 about the third rotation axis 21 in real time. The angular velocity of the sole of the foot varies significantly in different exercise scenarios (e.g., slow walking results in gentle rotation with low angular velocity, while running results in rapid rotation with high angular velocity). The gyroscope transmits the detected angular velocity signal in real time to the control unit of the motor 312, which analyzes and processes the signal to determine the current exercise intensity. If the detected angular velocity is low, indicating low-intensity exercise (e.g., slow walking), the motor 312 is controlled to drive the damping valve to increase the hydraulic oil flow area, reducing the damping force to ensure a smooth gait. If the detected angular velocity is high, indicating high-intensity exercise (e.g., running or jumping), the motor 312 is controlled to drive the damping valve to decrease the hydraulic oil flow area, increasing the damping force and enhancing the cushioning effect.

[0053] This embodiment is based on the detection and control logic of rotational angular velocity, so that the damping adjustment is more in line with the dynamic characteristics of the foot rotation, further improving the response accuracy of the detection, control, and adjustment closed-loop system, and avoiding the judgment deviation that may occur when relying solely on pressure or angle detection.

[0054] When both a gyroscope and an accelerometer are integrated into the foot member 20, they complement each other in detecting the foot's movements. The gyroscope accurately captures angular velocity, determining the speed and direction of the foot's rotation. The accelerometer simultaneously detects acceleration, determining the foot's current motion phase (landing, pushing off, or maintaining a constant speed) and any abnormalities. The signals from both are simultaneously transmitted to the control unit, which integrates and analyzes them for a more comprehensive and accurate assessment of the current motion scenario.

[0055] For example, when the gyroscope detects a large rotational angular velocity and the accelerometer detects an increase in vertical impact acceleration, it can be accurately determined as a running and landing scene, and the control unit quickly controls the motor 312 to increase the damping force; when the gyroscope detects a small rotational angular velocity and the accelerometer detects a stable horizontal acceleration, it is determined as a slow walking forward scene, and the control unit maintains a small damping force.

[0056] Of course, an accelerometer can also be set up separately to detect motion acceleration to determine the motion stage of the sole of the foot (landing, pushing off the ground, constant speed) and whether there is an abnormal state. This embodiment of the present application does not limit this.

[0057] The collaborative detection mechanism of this embodiment greatly reduces the limitations of single sensor detection, provides more sufficient basis for the judgment of damping adjustment, and further improves the reliability and accuracy of intelligent control.

[0058] In some embodiments, a limit groove 11 is provided on the outer side of the ankle joint base 10, and a limit stop surface 12 is provided on the trajectory of the sole component 20 rotating relative to the ankle joint base 10. The limit stop surface 12 is used to abut against the sole component 20 when the sole component 20 rotates to a preset angle relative to the ankle joint base 10.

[0059] The structure of the limiting groove 11 is adapted to the rotational trajectory of the sole member 20, ensuring that the sole member 20 can smoothly enter the groove range during rotation without generating additional friction with the groove wall. The limiting stop surface 12 can form a stable surface contact with the sole member 20, avoiding local stress concentration caused by point contact. The number of limiting stop surfaces 12 can be set according to the rotation direction (e.g., two limiting stop surfaces 12 are set for plantar flexion and dorsiflexion). The position of each limiting stop surface 12 corresponds to a rotation limit angle of the sole member 20. This physical stop directly limits the rotation range of the sole member 20 without relying on other auxiliary components, achieving passive angle protection. Even if the intelligent control system fails, the angle limiting function can still be utilized to ensure basic sports safety.

[0060] Compared with the angle limitation method that relies on electronic control (such as motor 312 stalling and sensor alarm), the mechanical limiting structure of the limit slot 11 and the limit stop surface 12 does not require electric drive and is not affected by electronic component failure. Even in extreme cases where the intelligent control system fails (such as motor 312 damage and line failure), it can still limit the rotation angle of the foot through physical blocking to avoid damage to the ankle joint structure caused by excessive rotation (such as shaft breakage, damper 30 oil leakage) or the user losing balance and falling.

[0061] In some embodiments, the sole component 20 is hollow and forms a first accommodating cavity 22, a second accommodating cavity 13 is provided in the ankle joint base 10, the first accommodating cavity 22 is connected to the second accommodating cavity 13, and the damper 30 is partially located in the first accommodating cavity 22 and the other part is located in the second accommodating cavity 13.

[0062] The opening of the first accommodating chamber 22 corresponds to the opening of the second accommodating chamber 13 of the ankle joint base 10, ensuring connectivity between the two chambers and providing continuous space for the expansion and contraction of the damper 30. The split placement of the damper 30, with part of it located in the first accommodating chamber 22 and the rest in the second accommodating chamber 13, allows it to flexibly adjust its position as the sole member 20 and the ankle joint base 10 rotate relative to each other, avoiding the movement restriction caused by the fixed structure of the damper 30. The expansion and contraction paths of the damper body 31 and piston rod 32 are defined by the two chambers, ensuring that the expansion and contraction direction always aligns with the rotation direction of the sole of the foot, without lateral offset, further improving the accuracy of damping force transmission.

[0063] In this embodiment, the communication design between the first accommodating chamber 22 and the second accommodating chamber 13 realizes the internal storage of core components such as the damper 30, the motor 312, and the sensor, thereby avoiding the structural dispersion and bulkiness caused by the external placement of the components.

[0064] The connected first accommodating chamber 22 and the second accommodating chamber 13 can also form a relatively closed space, providing protection for the damper 30 (especially the hydraulic chamber of the hydraulic damper 30, the motor 312 and other components), avoiding the intrusion of impurities such as dust and water stains, and ensuring the long-term stable operation of the damper 30.

[0065] The present application also provides a prosthesis comprising a leg member and the bionic ankle joint 100 described above, wherein the leg member is connected to the end of the ankle joint base 10 remote from the sole member 20. Because the prosthesis utilizes all the technical solutions of all the aforementioned embodiments of the bionic ankle joint 100, the prosthesis of the present invention also possesses at least all the beneficial effects brought about by the technical solutions of the aforementioned embodiments, which will not be detailed here.

[0066] The above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. Those skilled in the art will appreciate that other variations or modifications based on the above description are possible. It is not possible to enumerate all embodiments here. Any obvious variations or modifications arising from the technical solutions of the present invention remain within the scope of protection of the present invention.

Claims

1. A bionic ankle joint, characterized in that: include: An ankle joint base, the ankle joint base is used to connect with the leg member; a sole member, the sole member being rotatably connected to the ankle joint base; The damper is arranged between the ankle joint base and the sole member. The damper includes a damping body and a piston rod that can be extended and retracted relative to the damping body. The damping body is hinged to the ankle joint base, and the piston rod is hinged to the sole member. It is used to extend and retract relative to the damping body when the sole member is subjected to force, so as to produce a damping effect on the rotation of the sole member.

2. The bionic ankle joint according to claim 1, characterized in that: The hinge point between the damping body and the ankle joint base is a first hinge point, the hinge point between the piston rod and the sole member is a second hinge point, and the rotation connection point between the sole member and the ankle joint base is a rotation center; In which, the rotation center is located at the connecting edge of the ankle joint base and the sole component, the first hinge point is located on the side of the ankle joint base away from the rotation center, the second hinge point is located on the side of the sole component away from the rotation center, and the line connecting the first hinge point, the second hinge point and the rotation center forms a triangular structure.

3. The bionic ankle joint according to claim 2, characterized in that: The damping body is hinged to the ankle joint base via a first rotating shaft, and the piston rod is hinged to the sole member via a second rotating shaft; The first rotating shaft and the second rotating shaft are arranged in parallel, and the axial directions of the first rotating shaft and the second rotating shaft are both perpendicular to the rotation plane of the sole component.

4. The bionic ankle joint according to claim 3, characterized in that: The sole component is hinged to the ankle joint base via a third rotating shaft, and the third rotating shaft is respectively arranged parallel to the first rotating shaft and the second rotating shaft.

5. The bionic ankle joint according to claim 4, characterized in that: One end of the ankle joint base is provided with a ball head for connecting the leg component, and the first rotating shaft is located between the ball head and the third rotating shaft.

6. The bionic ankle joint according to any one of claims 1 to 5, characterized in that: The damper is a hydraulic damper. A hydraulic cavity is provided in the damping body, and the hydraulic cavity is filled with hydraulic oil. A damping valve is provided on the damping body, and the damping valve is connected to a motor. The motor is used to drive the damping valve to change the flow cross-section of the hydraulic oil.

7. The bionic ankle joint according to claim 6, characterized in that: A gyroscope is provided in the sole member, and is used to detect the rotational angular velocity of the sole member. The gyroscope is electrically connected to the control unit of the motor, and the control unit is used to control the operating state of the motor according to the detection information fed back by the gyroscope; and / or, An accelerometer is provided in the sole member, and the accelerometer is used to detect the movement acceleration of the sole member. The accelerometer is electrically connected to the control unit of the motor, and the control unit is used to control the operating state of the motor according to the detection information fed back by the accelerometer.

8. The bionic ankle joint according to any one of claims 1 to 5, characterized in that: The outer side surface of the ankle joint base is provided with a limit groove, and the limit groove is located on the trajectory of the rotation of the sole component relative to the ankle joint base and is provided with a limit stop surface. The limit stop surface is used to abut against the sole component when the sole component rotates to a preset angle relative to the ankle joint base.

9. The bionic ankle joint according to any one of claims 1 to 5, characterized in that: The sole component is hollow and forms a first accommodating cavity. The ankle joint base is provided with a second accommodating cavity. The first accommodating cavity is connected to the second accommodating cavity. The damper is partially located in the first accommodating cavity and the other part is located in the second accommodating cavity.

10. A prosthesis, characterized in that: The bionic ankle joint comprises a leg member and the bionic ankle joint according to any one of claims 1 to 9, wherein the leg member is connected to an end of the ankle joint base away from the sole member.

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