Bionic ankle joint and prosthesis

Abstract

The application discloses a bionic ankle joint and a prosthesis. The bionic ankle joint comprises an ankle joint base, a sole member and a damper. The ankle joint base is used for being connected with a leg member. The sole member is rotationally connected with the ankle joint base. The damper is arranged between the ankle joint base and the sole member. The damper comprises a damping main body and a piston rod which can be telescopically relative to the damping main body. The damping main body is hinged with the ankle joint base. The piston rod is hinged with the sole member. When the sole member is stressed, the piston rod is telescopically relative to the damping main body, so as to generate a damping effect on the rotation of the sole member. With the dynamic damping effect of the damper, the buffering effect can be adjusted in real time according to the stress and the rotation speed of the sole. Compared with a traditional elastic element structure, the bionic ankle joint can better adapt to different motion intensities, ground conditions and user weight differences, greatly improves the stability in the motion process, reduces unnecessary energy loss, and makes the motion characteristics of the bionic ankle joint closer to the natural state of the human body.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of artificial limbs, in particular to a bionic ankle joint and artificial limb. BACKGROUND

[0002] In the field of rehabilitation aids and bionic machines, the bionic design of the ankle joint is a key link to realize the matching of the device and the human motion characteristics, and to improve the stability and flexibility of the motion. The human ankle joint, as an important hub connecting the lower leg and the foot, not only needs to bear the weight load of the body, but also needs to realize multi-angle rotation in various motion states such as walking, running and jumping, and provide appropriate buffering through its biomechanical characteristics to reduce the damage of ground impact force to the limbs, while ensuring the natural fluency of gait.

[0003] In the prior art, the structural design of the bionic ankle joint usually adopts a simple hinge connection combined with elastic elements (such as springs) to realize the rotation and buffering functions. However, this kind of design has obvious limitations: the buffering effect of the elastic element is often difficult to dynamically adjust according to different motion intensity, ground conditions or user weight, resulting in poor adaptability in complex scenarios, and easy to cause excessive energy loss or insufficient stability during motion. SUMMARY

[0004] The main purpose of the present application is to provide a bionic ankle joint and artificial limb, which aims to solve the technical problems of poor adaptability, high energy consumption or insufficient stability caused by the inability of the existing bionic ankle joint to dynamically adjust the buffering effect of the elastic element.

[0005] To achieve the above-mentioned purpose, the present application provides a bionic ankle joint, comprising:

[0006] An ankle joint base, which is used to connect with a leg member;

[0007] A foot sole member, which is rotationally connected with the ankle joint base;

[0008] A damper, which is arranged between the ankle joint base and the foot sole member, the damper comprising a damping body and a piston rod capable of extending and contracting relative to the damping body, the damping body being hinged to the ankle joint base, the piston rod being hinged to the foot sole member, and being used to extend and contract relative to the damping body when the foot sole member is stressed, so as to generate a damping effect on the rotation of the foot sole member.

[0009] In some embodiments, the hinge point of the damping body and the ankle joint base is a first hinge point, the hinge point of the piston rod and the foot sole member is a second hinge point, and the rotation connection point of the foot sole member and the ankle joint base is a rotation center;

[0010] 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.

[0011] 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.

[0012] 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.

[0013] 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.

[0014] 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.

[0015] 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 section of the hydraulic oil.

[0016] 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,

[0017] 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.

[0018] 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.

[0019] In some embodiments, the instep member is hollow and formed with a first accommodating cavity, the ankle base is internally provided with a second accommodating cavity, the first accommodating cavity and the second accommodating cavity are in communication, the damper is partially located in the first accommodating cavity and the other part is located in the second accommodating cavity.

[0020] The application also provides a prosthesis, which comprises a leg member and a bionic ankle joint, and the leg member is connected to one end of the ankle base away from the instep member.

[0021] The bionic ankle joint provided by the application is connected to the leg member through the ankle base, and the instep member is rotationally connected to the ankle base. When the instep member is forced to rotate, the piston rod in the damper between the instep member and the ankle base is subjected to extension and contraction relative to the damper main body, and the damping force generated by the extension and contraction process effectively hinders and buffers the rotation of the instep member. With the dynamic damping effect of the damper, the buffering effect can be adjusted in real time according to the force and rotation speed of the instep, and compared with the traditional elastic element structure, the bionic ankle joint can better adapt to different motion intensities, ground conditions and user weight differences, greatly improves the stability during motion, and reduces unnecessary energy loss, so that the motion characteristics of the bionic ankle joint are closer to the natural state of the human body. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 FIG. 1 is a structural schematic view of an embodiment of the bionic ankle joint of the application;

[0023] Figure 2 FIG. 2 is a cross-sectional schematic view of an embodiment of the bionic ankle joint of the application;

[0024] Figure 3 FIG. 3 is an exploded schematic view of an embodiment of the bionic ankle joint of the application.

[0025] The implementation, functional features and advantages of the application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0026] The schemes in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only some of the embodiments of the application, rather than all the embodiments. Based on the embodiments of the application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the application.

[0027] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the application are only used to explain the relative positional relationship, motion condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly.

[0028] It is also needed to state that when an element is referred to as "fixed" or "disposed" on another element, it can be directly on the other element or a middle element can exist simultaneously. When an element is referred to as "connected" to another element, it can be directly connected to the other element or a middle element can exist simultaneously.

[0029] In addition, the description involving "first", "second" and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of various embodiments can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor within the protection scope required by the present application.

[0030] Please refer to Figure 1 and Figure 2 , an embodiment of the present application provides a bionic ankle joint 100, which comprises an ankle joint base 10, a sole member 20 and a damper 30, the ankle joint base 10 is used for being connected with a leg member; the sole member 20 is rotationally connected with the ankle joint base 10; the damper 30 is arranged between the ankle joint base 10 and the sole member 20, the damper 30 comprises a damping main body 31 and a piston rod 32 which can be extended and retracted relative to the damping main body 31, the damping main body 31 is hinged with the ankle joint base 10, the piston rod 32 is hinged with the sole member 20, and is used for being extended and retracted relative to the damping main body 31 when the sole member 20 is stressed, so as to generate a damping effect on the rotation of the sole member 20.

[0031] Among them, the ankle joint base 10 is the core support and connecting component of the bionic ankle joint 100, its function is to realize stable connection with the leg member, through bolt connection, buckle connection or customized adaptive structure, ensure that there is no relative looseness between the bionic ankle joint 100 and the leg member, provide a reliable installation basis for the whole bionic ankle joint 100, and guarantee the effective transmission of force during movement. At the same time, the ankle joint base 10 provides an installation reference for the sole member 20 and the damper 30, realizes the rotational connection with the sole member 20 and the hinge with the damping main body 31 through the pre-set hinge hole, installation slot and other structures, and ensures the assembly accuracy and motion cooperativity of each component.

[0032] The sole member 20 is directly contacted with the ground, and its shape is designed according to the contour of the human foot, so as to stably receive the ground reaction force and the pressure of the lower limbs of the human body, and transmit the force to the rotating connection point of the ankle joint base 10, and then convert it into the rotating movement relative to the ankle joint base 10, so as to simulate the basic movement of the human foot around the ankle joint, such as plantar flexion and dorsiflexion, and provide the basic rotating degree of freedom for the movement of the lower limbs.

[0033] The damper 30 is composed of a damping body 31 and a telescopic piston rod 32. When the sole member 20 is rotated under force, the piston rod 32 is telescoped relative to the damping body 31 with the movement of the sole member 20, and the damping structure (such as a hydraulic valve and a damping sheet) in the damping body 31 adjusts the telescoping speed of the piston rod 32 by changing the flow resistance or friction resistance of the damping medium, and then forms the self-adaptive damping force for the rotation of the sole member 20. For example, when the movement intensity is large (such as running and jumping), the damping force is increased to slow down the rotation speed of the sole, so as to avoid excessive impact; when the movement intensity is small (such as slow walking), the damping force is reduced to ensure the fluency of the gait.

[0034] The damper 30 is hinged at both ends to the ankle joint base 10 and the sole member 20, respectively, to build the force transmission path between the two, so as to disperse the impact load borne by the sole member 20 to the ankle joint base 10 through the damping action, and then transmit it to the leg member, so as to avoid damage to the local components due to force concentration; at the same time, the damping action of the damper 30 can balance the inertial force in the rotation process of the sole member 20, reduce the shaking in the movement process, and improve the movement stability of the bionic ankle joint 100.

[0035] The bionic ankle joint 100 provided in the application is connected with the leg member through the ankle joint base 10, and the sole member 20 is rotationally connected with the ankle joint base 10. When the sole member 20 is rotated under force, the piston rod 32 in the damper 30 arranged between the two is telescoped relative to the damping body 31, and the damping force generated in this telescoping process effectively hinders and buffers the rotation of the sole member 20. With the help of the dynamic damping action of the damper 30, the buffering effect can be adjusted in real time according to the force borne by the sole and the rotation speed, and compared with the traditional elastic element structure, it can better adapt to different movement intensities, ground conditions and user weight differences, greatly improves the stability in the movement process, and reduces unnecessary energy loss, so that the movement characteristics of the bionic ankle joint 100 are closer to the natural state of the human body.

[0036] In some embodiments, the hinge point of the damping body 31 and the ankle joint base 10 is a first hinge point, the hinge point of the piston rod 32 and the sole member 20 is a second hinge point, and the rotation connection point of the sole member 20 and the ankle joint base 10 is a rotation center.

[0037] The rotation center is located at the connecting edge of the ankle joint base 10 and the instep member 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 instep member 20 away from the rotation center, and the line connecting the first hinge point and the second hinge point and the rotation center forms a triangular structure.

[0038] In this embodiment, the ankle joint base 10 is precisely fixed to the side away from the rotation center through the preset first hinge point mounting position, and the first hinge point, the second hinge point on the instep member 20, and the rotation center together form a triangular structure. This positioning design provides stable force arm support for the damper 30, so that the damper 30 can rely on the geometric stability of the triangle to avoid changes in the force arm caused by the displacement of the hinge point position when transmitting damping force, ensure the consistency of the damping force transmission path, and at the same time, define a stable stress boundary for the rotation of the instep member 20 to prevent the instep member 20 from tilting due to uneven stress, further strengthening the support and movement guiding effect of the ankle joint base 10 on the overall structure.

[0039] The second hinge point on the instep member 20 is located on the side away from the rotation center. On the one hand, through the triangular layout of the first hinge point, the rotation center, and the second hinge point, the installation and movement requirements of the damper 30 are adapted to ensure that the piston rod 32 can smoothly extend and retract with the rotation of the instep; on the other hand, this position design uses the principle of leverage to amplify the rotation displacement of the instep member 20 around the rotation center to the extension and retraction displacement of the piston rod 32, so that even if the instep only produces a small amplitude of rotation (such as slight plantar flexion during slow walking), the piston rod 32 can also produce sufficient extension and retraction, so that the damping medium inside the damper 30 can flow fully, thereby generating stable damping force, avoiding the problem of insufficient response of the damper 30 due to small instep rotation amplitude, and improving the sensitivity of damping adjustment.

[0040] The damping body 31 and the piston rod 32 of the damper 30 are connected to the ankle joint base 10 and the instep member 20 through the first hinge point and the second hinge point, respectively, and precisely adapt to the triangular structure layout. Under this structure, the damper 30 not only can extend and retract with the rotation of the instep, but also can rely on the geometric characteristics of the triangle to optimize the damping force effect. Specifically, the fixed side length ratio of the triangle ensures that the extension direction of the damper 30 and the rotation direction of the instep always maintain a preset included angle, ensuring that the damping force can act perpendicularly to the tangent direction of the instep rotation, maximizing the adjustment efficiency of the damping force; at the same time, the stability of the triangular structure can avoid the horizontal deviation or distortion of the damper 30 during extension and retraction, reduce the component wear of the damper 30 caused by the deviation of the stress direction, prolong the service life of the damper 30, and ensure the stability of the damping performance in long-term use.

[0041] The rotation of the instep member 20 can be amplified by a lever effect into the extension and retraction stroke of the piston rod 32 based on the triangular structure of the first articulation point, the second articulation point and the rotation center, so that even a slight rotation of the instep can trigger a significant response of the damper 30, solving the problem that the damper 30 is not obvious to small movements when the traditional articulation point is close to the rotation center.

[0042] Further, the triangular structure makes the force distribution between the ankle joint base 10, the instep member 20 and the damper 30 more uniform: the damping reaction force borne by the ankle joint base 10 through the first articulation point can be dispersed to the whole base relying on the triangular structure, avoiding local stress concentration; the force on the second articulation point of the instep member 20 can also be transmitted to the rotation center through the triangular path, reducing the local load pressure of the instep; and the damper 30 is stable in force direction, avoiding internal component wear caused by lateral force. The overall structure is more reasonable in force, 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.

[0043] In actual application, the size ratio of the triangular structure can be flexibly adjusted according to different application scenarios: by changing the distance between the first articulation point, the second articulation point and the rotation center, the ankle joint base 10 and the instep member 20 of different sizes (such as children's prostheses and large robot ankles) can be adapted, and the extension and retraction stroke and the force arm ratio of the damper 30 can be adjusted to meet the use requirements of different weights and different motion intensities.

[0044] Please refer to Figure 2 and Figure 3 In some embodiments, the damping body 31 is articulated with the ankle joint base 10 through the first rotation shaft 311, and the piston rod 32 is articulated with the instep member 20 through the second rotation shaft 321.

[0045] Among them, the first rotation shaft 311 and the second rotation shaft 321 are arranged in parallel, and the axis directions of the first rotation shaft 311 and the second rotation shaft 321 are both perpendicular to the rotation plane of the instep member 20.

[0046] In this embodiment, the ankle joint base 10 is provided with a mounting hole at the first articulation point, which is adapted to the first rotation shaft 311, and the axis direction of the mounting hole is strictly perpendicular to the rotation plane of the instep member 20, ensuring that the first rotation shaft 311 is accurately fixed and maintained in the preset direction. The directional installation design cooperates with the parallel layout of the second rotation 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 rotation shaft 311 in the rotation plane of the instep 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.

[0047] The sole member 20 is provided with a connecting structure (such as a shaft sleeve, a circlip positioning) matched with the second rotating shaft 321 at the second hinge point, which ensures that the axis of the second rotating shaft 321 is parallel to the first rotating shaft 311 and perpendicular to the rotating plane of the sole member 20. This adaptive design ensures that when the piston rod 32 rotates with the sole member 20, the rotating direction of the piston rod 32 around the second rotating shaft 321 is completely consistent with the rotating direction of the damping body 31 around the first rotating shaft 311, and the motion trajectories of the two are always in the same plane, avoiding the jamming of the piston rod 32 and the damping body 31 due to the misalignment of the rotating shaft direction; 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 extension and contraction movement of the piston rod 32, without any transverse movement component, ensuring that every bit of rotation displacement of the sole can be efficiently converted into the damping adjustment action of the damper 30, improving the motion coordination.

[0048] The design of the first rotating shaft 311 and the second rotating shaft 321 parallel to the sole rotating plane ensures that the motion of the damper 30 and the rotation of the sole member 20 are completely in the same plane, and there is no conflict in the motion direction, avoiding the misalignment jamming problem of the piston rod 32 and the damping body 31 due to the deviation of the rotating shaft direction. Even in high-intensity and high-frequency motion scenarios (such as running and jumping), the damper 30 can still smoothly extend and contract with the rotation of the sole, avoiding the interruption or failure of damping adjustment, and improving the motion reliability of the bionic ankle joint 100.

[0049] In some embodiments, the sole member 20 is hinged to the ankle joint base 10 through a third rotating shaft 21, and the third rotating shaft 21 is arranged parallel to the first rotating shaft 311 and the second rotating shaft 321.

[0050] The ankle joint base 10 is provided with a third rotating shaft 21 installation structure (such as a bearing seat, a positioning card slot) at the connecting edge (i.e. the rotation center position) with the sole member 20, and the axis direction of the installation 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.

[0051] When the sole member 20 is forced to rotate, it moves in the preset rotating plane around the third rotating shaft 21. Since the third rotating shaft 21 is parallel to the first rotating shaft 311 and the second rotating shaft 321, and the axes are all perpendicular to the rotating plane, the three rotating shafts together form a motion frame for parallel rotation in the plane: the damping body 31 rotates around the first rotating shaft 311, the piston rod 32 rotates around the second rotating shaft 321, and the sole member 20 rotates around the third rotating shaft 21. The axis directions of the three rotating actions are completely consistent, ensuring that the extension and contraction movement of the damper 30 and the rotation movement of the sole member 20 are always in the same plane, and the motion trajectories of the components do not interfere with each other.

[0052] The structural design of the embodiment makes the rotation of the sole member 20 more directional, avoiding multidirectional deviation caused by inconsistent rotation axis direction even under dynamic load (such as continuous foot pushing during walking, landing), while the damper 30 can more accurately follow the rotation rhythm of the sole to output damping force through the coordinated action of the three parallel rotation axes, further improving the synchronization and ensuring the continuity and stability of force transmission during movement, avoiding movement retardation caused by rotation axis misalignment.

[0053] In some embodiments, one end of the ankle joint base 10 is provided with a ball head 14 for connecting the leg member, and the first rotation axis 311 is located between the ball head 14 and the third rotation axis 21.

[0054] The ball head 14 at one end of the ankle joint base 10 forms a multi-angle flexible fit with the leg member, which can compensate for small attitude deviations during movement, and the first rotation axis 311 is located between the ball head 14 and the third rotation axis 21, forming a linear force transmission path of 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 sequentially transmitted to the damper 30 through the first rotation axis 311 and to the sole member 20 through the third rotation axis 21. The damper 30 efficiently buffers the upward and downward forces at the intermediate position, avoiding force transmission deviation or excessive impact, making the overall movement more in line with the natural laws of the human body.

[0055] In the embodiment, the ankle joint base 10 realizes flexible connection and force transmission guidance through the ball head 14, and the linear layout of the stress points cooperates with the rib design to disperse the load and balance the center of gravity; the leg member is adapted to the ball head 14 through the ball socket to provide stable power input for the ankle joint; the damper 30 relies on the intermediate position of the first rotation axis 311 to accurately receive the leg load and the ground reaction force, and to strengthen the buffering effect, all of which together ensure the movement directionality and force transmission stability, avoiding stress concentration or movement jamming of the components.

[0056] In some embodiments, the damper 30 is a hydraulic damper 30, the damper body 31 is provided with a hydraulic cavity, the hydraulic cavity is filled with hydraulic oil, and the damper body 31 is provided with a damping valve, the damping valve is in transmission connection with a motor 312, and the motor 312 is used to drive the damping valve to act to change the flow section of the hydraulic oil.

[0057] The hydraulic cavity inside the damper body 31 provides a sealed accommodation space for the hydraulic oil, and the hydraulic oil, as a damping medium, has high viscosity stability and compression resistance, and can generate a basic damping force through viscous friction when the piston rod 32 extends and retracts. At the same time, its flow characteristics can be accurately regulated by the damping valve. When the piston rod 32 extends, the hydraulic oil is pressed into one side of the hydraulic cavity and needs to overcome the flow resistance of the damping valve to flow; when the piston rod 32 retracts, the hydraulic oil flows in the opposite direction and is also adjusted by the damping valve. Both of them together constitute the basis of hydraulic damping, providing a medium basis for subsequent active adjustment by the motor 312.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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 operation state of the motor 312 according to the detection information fed back by the gyroscope; and / or,

[0062] 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 operation state of the motor 312 according to the detection information fed back by the accelerometer.

[0063] When the gyroscope is integrated in the instep member 20, the gyroscope can detect the rotation angular velocity of the instep member 20 around the third rotation shaft 21 in real time. In different motion scenarios, the instep rotation angular velocity is obviously different (for example, the rotation is gentle and the angular velocity is small when walking slowly, and the rotation is rapid and the angular velocity is large when running). The gyroscope transmits the detected rotation angular velocity signal to the control unit of the motor 312 in real time, the control unit analyzes and processes the signal, and judges the current motion intensity: if a small rotation angular velocity is detected, it is determined that the motion intensity is low (for example, slow walking), and the motor 312 is controlled to drive the damping valve to increase the hydraulic oil flow passage section and reduce the damping force, to ensure smooth gait; if a large rotation angular velocity is detected, it is determined that the motion intensity is high (for example, running or jumping), and the motor 312 is controlled to drive the damping valve to reduce the hydraulic oil flow passage section and increase the damping force, to strengthen the buffering effect.

[0064] The detection and control logic based on the rotation angular velocity in the embodiment makes the damping adjustment more in line with the dynamic characteristics of the instep rotation, further improves the response accuracy of the detection, control, and closed-loop system, and avoids the judgment deviation that may occur only by relying on pressure or angle detection.

[0065] When the instep member 20 is integrated with the gyroscope and the accelerometer at the same time, the two can form complementary detection: the gyroscope accurately captures the rotation angular velocity and clearly determines the speed and trend of the instep rotation; the accelerometer synchronously detects the motion acceleration and judges the motion phase (landing, pedaling, constant speed) of the instep and whether there is an abnormal state. The detection signals of the two are transmitted to the control unit at the same time, and the control unit analyzes the signals to more comprehensively and accurately judge the current motion scenario.

[0066] For example, when the gyroscope detects a large rotation angular velocity and the accelerometer detects an increase in the vertical direction impact acceleration, it can be accurately determined that it is a running landing scenario, and the control unit quickly controls the motor 312 to increase the damping force; when the gyroscope detects a small rotation angular velocity and the accelerometer detects a stable horizontal direction acceleration, it is determined that it is a slow walking forward scenario, and the control unit maintains a small damping force.

[0067] Of course, the accelerometer can also be separately arranged to detect the motion acceleration to judge the motion phase (landing, pedaling, constant speed) of the instep and whether there is an abnormal state, which is not limited in the embodiment of the application.

[0068] The cooperative detection mechanism of the embodiment greatly reduces the limitations of single sensor detection, makes the judgment basis of damping adjustment more sufficient, and further improves the reliability and accuracy of intelligent control.

[0069] In some embodiments, the lateral side of the ankle joint base 10 is provided with a limiting groove 11, and the limiting groove 11 is provided with a limiting stop surface 12 on the track of the relative rotation of the instep member 20 relative to the ankle joint base 10, and the limiting stop surface 12 is used to abut the instep member 20 when the instep member 20 rotates relative to the ankle joint base 10 to a preset angle.

[0070] Wherein, the groove structure of the limiting groove 11 is matched with the rotation track of the instep member 20, ensuring that the instep member 20 can smoothly enter the groove range when rotating and not generating additional friction with the groove wall; the limiting stop surface 12 can form stable surface contact with the instep 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 (such as two limiting stop surfaces 12 for the two directions of plantar flexion and dorsiflexion), and the position of each limiting stop surface 12 corresponds to one rotation limit angle of the instep member 20. The rotation range of the instep member 20 is directly limited by physical stop, without relying on other auxiliary components, realizing passive angle protection. Even if the intelligent control system fails, it can still play a role in angle limiting, ensuring basic motion safety.

[0071] Compared with the angle limiting mode relying on electronic control (such as motor 312 blockage and sensor alarm), the mechanical limiting structure of the limiting groove 11 and the limiting stop surface 12 does not need to be driven by electricity and is not affected by electronic element failure. Even in the extreme case of intelligent control system failure (such as motor 312 damage and line failure), the rotation angle of the instep can still be limited by physical stop to avoid damage to the ankle joint structure (such as shaft fracture and damper 30 oil leakage) or user imbalance and fall caused by excessive rotation.

[0072] In some embodiments, the instep member 20 is hollow and formed with a first accommodating cavity 22, the ankle joint base 10 is provided with a second accommodating cavity 13, the first accommodating cavity 22 and the second accommodating cavity 13 are communicatively arranged, and the damper 30 is partially located in the first accommodating cavity 22 and partially located in the second accommodating cavity 13.

[0073] Wherein, the opening of the first accommodating cavity 22 corresponds to the opening of the second accommodating cavity 13 of the ankle joint base 10, ensuring the communication of the two cavities and providing continuous space for the extension and retraction of the damper 30. The partial placement of the damper 30 in the first accommodating cavity 22 and the second accommodating cavity 13 allows it to adjust its position flexibly with the relative rotation of the instep member 20 and the ankle joint base 10, avoiding the limitation of motion caused by the overall fixation of the damper 30; the extension and retraction path of the damper body 31 and the piston rod 32 is limited by the two cavities, ensuring that the extension and retraction direction always coincides with the rotation direction of the instep, without lateral deviation, further improving the accuracy of the damping force transmission.

[0074] In the embodiment, the communication design of the first accommodating cavity 22 and the second accommodating cavity 13 realizes the internal accommodation of the core components such as the damper 30, the motor 312 and the sensor, and avoids the structural dispersion and large volume caused by the external components.

[0075] The communicated first accommodating cavity 22 and the second accommodating cavity 13 can also form a relatively closed space, provide protection for the damper 30 (especially the hydraulic cavity of the hydraulic damper 30, the motor 312 and other components), avoid the invasion of impurities such as dust and water stains, and ensure the long-term stable work of the damper 30.

[0076] The embodiment of the application also provides a prosthesis, which comprises a leg member and the bionic ankle joint 100 as described above, and the leg member is connected with the end of the ankle joint base 10 away from the instep member 20. Since the prosthesis adopts all the technical solutions of all the embodiments of the bionic ankle joint 100 described above, the prosthesis of the application also has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be repeated here.

[0077] The above embodiments of the application are only examples for clearly illustrating the application, and are not intended to limit the implementation modes of the application. Based on the above description, other different forms of changes or variations can also be made by those skilled in the art. It is impossible to enumerate all the implementation modes here. Any obvious changes or variations derived from the technical solutions of the application are still within the protection scope of the application.

Claims

1. A bionic ankle joint, characterized in that, The application relates to a damping device for a prosthetic foot, comprising: an ankle base for connecting with a leg member; a sole member rotatably connected with the ankle base; a damper arranged between the ankle base and the sole member, the damper comprising a damping body and a piston rod capable of extending and retracting relative to the damping body, the damping body being hinged to the ankle base, the piston rod being hinged to the sole member, and the piston rod being capable of extending and retracting relative to the damping body when the sole member is subjected to a force, so as to damp the rotation of the sole member; the hinge point of the damping body to the ankle base is a first hinge point, the hinge point of the piston rod to the sole member is a second hinge point, and the rotation connection point of the sole member to the ankle base is a rotation center; wherein the rotation center is located at the connecting edge of the ankle base and the sole member, and is located below the damper, the first hinge point is located on the side of the ankle base away from the rotation center, the second hinge point is located on the side of the sole member 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.

2. The bionic ankle joint according to claim 1, characterized in that, the damping body is hinged to the ankle base through a first rotation shaft, and the piston rod is hinged to the sole member through a second rotation shaft; wherein 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.

3. The bionic ankle joint according to claim 2, characterized in that, the sole member is hinged to the ankle 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.

4. The bionic ankle joint according to claim 3, characterized in that, one end of the ankle base is provided with a ball head for connecting with the leg member, and the first rotation shaft is located between the ball head and the third rotation shaft.

5. The bionic ankle joint according to any one of claims 1 to 4, characterized in that, the damper is a hydraulic damper, a hydraulic cavity is arranged in the damping body, the hydraulic cavity is filled with hydraulic oil, a damping valve is arranged on the damping body, the damping valve is in transmission connection with a motor, and the motor is used for driving the damping valve to act so as to change the flow section of the hydraulic oil.

6. The bionic ankle joint according to claim 5, characterized in that, a gyroscope is arranged in the sole member, the gyroscope is used for detecting 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 for controlling the operation state of the motor according to the detection information fed back by the gyroscope; and / or, an accelerometer is arranged in the sole member, the accelerometer is used for detecting the motion acceleration of the sole member, the accelerometer is in electrical connection with the control unit of the motor, and the control unit is used for controlling the operation state of the motor according to the detection information fed back by the accelerometer.

7. The bionic ankle joint according to any one of claims 1 to 4, characterized in that, the outer side surface of the ankle base is provided with a limiting groove, a limiting stop surface is arranged on the track of the rotation of the sole member relative to the ankle base, and the limiting stop surface is used for abutting against the sole member when the sole member is rotated to a preset angle relative to the ankle base.

8. The bionic ankle joint according to any one of claims 1 to 4, characterized in that, The sole member is hollow and has a first accommodating cavity, the ankle joint base has a second accommodating cavity, the first accommodating cavity and the second accommodating cavity are in communication, the damper is partially located in the first accommodating cavity and partially located in the second accommodating cavity.

9. A prosthesis, characterized in that The bionic ankle joint comprises a leg member and the bionic ankle joint as claimed in any one of claims 1 to 8, and the leg member is connected to the ankle joint base away from the sole member.

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