Fall-preventing mechanical lower limbs

Abstract

This invention relates to a fall-prevention mechanical lower limb, belonging to the field of mechanical lower limb technology. It includes two hip connectors, each with a mechanical lower limb arm hinged to one side. Supporting foot shells are fixedly installed at the bottom of both mechanical lower limb arms. The two hip connectors are connected by bolts. Deployment components are provided on the upper surface of each hip connector. An acceleration sensor is fixedly installed on the surface of one hip connector, and vortex air pumps are fixedly installed on the surfaces of both hip connectors above the acceleration sensor. This invention utilizes the eccentric state generated before a fall occurs, using the acceleration sensor to activate the deployment components to protect the user. The device first provides wrap-around protection to the user's upper body using an integrated elastic frame airbag, while the lower body uses adsorption fixation and extended support to prevent the entire device from falling over.

Description

Technical Field

[0001] This invention relates to the field of mechanical lower limb technology, specifically to a fall-prevention mechanical lower limb. Background Technology

[0002] Mechanical lower limbs are a type of lower limb assistive and replacement device that integrates bionic mechanical design, sensing and detection, and intelligent control technologies. They are mainly aimed at people with lower limb dysfunction, the elderly, and rehabilitation training scenarios. Their core functions are to assist walking, correct gait, and support the body. They can also be adapted to diverse needs such as rehabilitation training, daily commuting, and special operations.

[0003] Traditional robotic lower limbs have poor fall protection during use, which affects their safety. Even though existing patents offer some fall protection, certain problems still arise during use. For example, CN115056205B discloses a fall-prevention robotic lower limb. While this device has fall protection, its overall structure significantly reduces ease of use, and it lacks adequate protection in case the user falls. CN109730903B discloses a fall protection device for lower limb exoskeleton robots. Although this device offers fall protection, it primarily relies on a momentary bounce structure, which may cause secondary injuries to the user.

[0004] To ensure the anti-fall effect of the mechanical lower limbs during use and to better protect the user, we propose an anti-fall mechanical lower limb. Summary of the Invention

[0005] To achieve the above objectives, the present invention provides the following technical solution: a fall-prevention mechanical lower limb, comprising two hip connectors, each hip connector having a mechanical lower limb arm hinged to one side, both mechanical lower limb arms having a support foot shell fixedly installed at their bottoms, and the two hip connectors being fixedly connected by bolts, and both hip connectors having an unfolding component on their upper surfaces.

[0006] An acceleration sensor is fixedly mounted on the surface of one of the hip connectors, and a vortex air pump is fixedly mounted on the surface of both hip connectors above the acceleration sensor. An air delivery pipe is fixedly mounted on the outlet end of the vortex air pump, and an air intake pipe is fixedly mounted on the suction end of the vortex air pump. A partition plate is fixedly mounted on the inner wall of both support foot shells, and two suction pulling components are provided on the surface of each of the two partition plates.

[0007] Furthermore, the suction pulling assembly includes a connecting cylinder fixedly installed on the surface of the partition plate, and a misalignment cavity is formed on the lower side of the inner wall of the support foot shell. A pulling groove cylinder is movably installed on the inner wall of the connecting cylinder, and three air intake ports are formed on the periphery of the inner wall of the pulling groove cylinder and on the side of the inner wall of the connecting cylinder near the air intake pipe. A communication port is formed on the upper and lower sides of the inner wall of the misalignment cavity. Two L-shaped connecting plates are fixedly installed on the surface of the pulling groove cylinder. A pulling port is formed on the top surface of the misalignment cavity on one side of the two L-shaped connecting plates, and the bottom of the two L-shaped connecting plates extends into the interior of the misalignment cavity through the inner wall of the pulling port. A porous barrier plate is fixedly installed on the bottom of the four corresponding L-shaped connecting plates. Several pushing damping springs are fixedly installed on the surface of the porous barrier plate on the side near the air intake pipe, and support assemblies are provided on the opposite sides of the surface of the support foot shell.

[0008] Furthermore, the support assembly includes an unfolding groove formed on one side of the surface of the support foot shell, and an unfolding plate is rotatably mounted on one side of the inner wall of the unfolding groove. Two rotary springs are provided at the rotation position of the unfolding plate. A rotating baffle is fixedly installed on the side of the inner wall of the unfolding groove away from the rotary springs, and a limit block is fixedly installed on the side of the surface of the support foot shell close to the rotary springs. A snap-fit ​​assembly is provided on the top surface of the unfolding plate above the limit block.

[0009] Furthermore, the snap-fit ​​assembly includes a snap-fit ​​groove formed on the top surface of the unfolding plate. The inner wall of the unfolding groove is provided with a telescopic groove on the upper side of the snap-fit ​​groove. A pushing block is slidably installed in the inner wall of the telescopic groove. An arc-shaped block is fixedly installed on the bottom surface of the pushing block, and a magnetic block is fixedly installed on the top surface of the pushing block. An electromagnet for attracting the magnetic block is fixedly installed on the top surface of the telescopic groove. An infrared start switch is embedded in the front and rear sides of the inner wall of the misalignment cavity on one side of the porous barrier plate.

[0010] Furthermore, the deployment assembly includes a waist telescopic airbag fixedly installed on the upper side of the hip connector surface, and a neck protection airbag is installed on the side of the waist telescopic airbag away from the hip connector. Deployment airbags are installed on both sides of the neck protection airbag away from the hip connector, and the two deployment airbags are symmetrically arranged with respect to the center position of the neck protection airbag.

[0011] Furthermore, the waist telescopic airbag, neck protective airbag, and deployment airbag are all airbag structures with integrated elastic skeletons.

[0012] Furthermore, the upper end of the air delivery pipe is fixedly connected to the surface of the waist telescopic airbag, and an electromagnetic relief valve is provided on the side of the air delivery pipe wall near the acceleration sensor. Two positioning blocks are fixedly installed on the surface of the air intake pipe, and the surfaces of the two positioning blocks are fixedly connected to the surface of the corresponding mechanical lower limb arm. The lower end of the air intake pipe extends through into the interior of the support foot shell.

[0013] Furthermore, the three air intakes are distributed in a ring at equal intervals. The upper connecting port is a straight port, while the lower connecting port is an enlarged frustum-shaped port. The larger end of the connecting port is located at the bottom of the support foot shell. During the movement, the air intake on the pulling groove cylinder will eventually coincide with the air intake on the connecting cylinder.

[0014] Furthermore, the air intake on the connecting cylinder is located on one side of the partition plate, the aperture of the porous barrier plate is the same as the aperture of the upper connecting port, and the ends of several of the jacking damping springs are fixedly connected to one side of the misaligned cavity inner wall.

[0015] Furthermore, the opposite ends of the two rotary springs are fixedly connected to the opposite sides of the inner wall of the expansion groove, and the opposite sides of the top surface of the push block are fixedly connected to the reset damping springs, and the ends of the reset damping springs are fixedly connected to the inner wall of the expansion groove.

[0016] Compared with the prior art, the present invention provides a fall-prevention mechanical lower limb, which has the following beneficial effects:

[0017] 1. The device utilizes the eccentric state generated before the tipping occurs and uses an acceleration sensor to activate the deployment components to protect the user. The device first wraps around the user's upper body with an airbag with an integrated elastic frame, while the lower body of the device uses adsorption fixation and extended support to prevent the entire device from tipping over.

[0018] 2. The device utilizes a vortex air pump to ensure that it can quickly generate blowing and suction forces after being powered on, ensuring the deployment effect of the airbag structure inside the device, thereby protecting the user. In addition, it provides strong suction output while blowing air, ensuring that the whole device is adsorbed on the ground. Furthermore, the environment used in this application is generally a hospital or a relatively smooth surface, which ensures that the device is adsorbed and fixed.

[0019] 3. The device uses the suction force generated by the vortex air pump to activate the unfolding plate, increasing the contact area at the bottom of the device, assisting in overall support, and further enhancing the device's anti-fall effect.

[0020] 4. The eccentric setting of the partition plate of this device provides sufficient space for the porous barrier plate to move, and the infrared start switch can pop out the unfolding plate the moment the suction is generated, ensuring the instantaneous operation of the overall structure. Attached Figure Description

[0021] Figure 1 This is a frontal perspective view of the entire invention;

[0022] Figure 2 This is a rear perspective view of the entire invention;

[0023] Figure 3 for Figure 2 Enlarged structural diagram of section A in the middle;

[0024] Figure 4 This is a perspective view of the unfolded components of the present invention.

[0025] Figure 5 This is a three-dimensional view of the entire invention.

[0026] Figure 6 This is a cross-sectional perspective view of the support foot shell of the present invention;

[0027] Figure 7 for Figure 6 Enlarged structural diagram of section B in the middle;

[0028] Figure 8 for Figure 6 Enlarged structural diagram of section C;

[0029] Figure 9 for Figure 6 Enlarged structural diagram of section D in the middle;

[0030] Figure 10 This is a vertical sectional perspective view of the support foot shell of the present invention;

[0031] Figure 11 for Figure 10 Enlarged structural diagram of section E in the middle;

[0032] Figure 12 This is a cross-sectional view of the support foot shell of the present invention;

[0033] Figure 13 for Figure 12 Enlarged structural diagram of the middle F section.

[0034] In the image: 1. Hip connector; 2. Mechanical lower limb arm; 3. Supporting foot shell;

[0035] 4. Deployment components; 401. Waist telescopic airbag; 402. Neck protection airbag; 403. Deployment airbag;

[0036] 5. Accelerometer; 6. Vortex air pump; 7. Air delivery pipe; 701. Electromagnetic relief valve; 8. Suction pipe; 801. Positioning block; 9. Divider plate;

[0037] 10. Suction-pulling assembly; 1001. Connecting cylinder; 1002. Misaligned cavity; 1003. Pulling groove cylinder; 1004. Air intake port; 1005. Connecting port; 1006. L-shaped connecting plate; 1007. Porous barrier plate; 1008. Pushing damping spring; 1009. Pulling port;

[0038] 11. Support assembly; 1101. Expansion slot; 1102. Expansion plate; 1103. Rotation spring; 1104. Rotating baffle; 1105. Limiting block;

[0039] 12. Snap-fit ​​assembly; 1201. Snap-fit ​​groove; 1202. Telescopic groove; 1203. Push block; 1204. Arc head block; 1205. Magnetic block; 1206. Electromagnet; 1207. Infrared start switch; 1208. Reset damping spring. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] Please see Figures 1 to 13 This embodiment of a fall-prevention mechanical lower limb includes two hip connectors 1, each hip connector 1 having a mechanical lower limb arm 2 hinged to one side. The mechanical lower limb arm 2 of this device has the operating effect of a mechanical arm, can rotate flexibly, and provides a better operating environment for users. The bottom of each mechanical lower limb arm 2 is fixedly installed with a support foot shell 3, and the two hip connectors 1 are fixedly connected by bolts. The upper side of the surface of each hip connector 1 is provided with a deployment component 4. The deployment component 4 includes a waist telescopic airbag 401 fixedly installed on the upper side of the surface of the hip connector 1, and a neck protection airbag 402 is installed on the side of the waist telescopic airbag 401 away from the hip connector 1. Deployment airbags 403 are installed on both sides of the neck protection airbag 402 away from the hip connector 1, and the two deployment airbags 403 are symmetrically arranged with the center position of the neck protection airbag 402. The waist telescopic airbag 401, the neck protection airbag 402, and the deployment airbag 403 are all airbag structures with integrated elastic skeletons.

[0042] An accelerometer 5 is fixedly mounted on the surface of one of the hip connectors 1, and a vortex air pump 6 is fixedly mounted on the surface of both hip connectors 1 above the accelerometer 5. An air supply pipe 7 is fixedly mounted on the air outlet end of the vortex air pump 6, and an air suction pipe 8 is fixedly mounted on the air suction end of the vortex air pump 6. A partition plate 9 is fixedly mounted on the inner wall of both support foot shells 3. Two suction pulling components 10 are provided on the surface of each partition plate 9. The linkage control of the accelerometer 5 and the vortex air pump 6 realizes rapid negative pressure adsorption and deployment of the support components 11. Compared with traditional mechanical anti-fall devices, the success rate of anti-fall is improved. The dual stabilization mechanism can effectively deal with wet and uneven ground, avoid foot slippage and side tilting. Moreover, the control and start-up methods in the device are all existing mature technologies, which will not be described in detail in this application.

[0043] The upper end of the air supply pipe 7 is fixedly connected to the surface of the waist telescopic airbag 401, and an electromagnetic relief valve 701 is provided on the side of the air supply pipe 7 near the acceleration sensor 5. Two positioning blocks 801 are fixedly installed on the surface of the air inhalation pipe 8, and the surfaces of the two positioning blocks 801 are fixedly connected to the surface of the corresponding mechanical lower limb arm 2. The lower end of the air inhalation pipe 8 extends through to the interior of the support foot shell 3. The partition plate 9 is installed on the inner wall of the shell on the side where the air inhalation pipe 8 is located. The distance between the partition plate 9 and the inner wall of the side of the air inhalation pipe 8 is positioned as a, and the distance between the partition plate 9 and the inner wall on the side away from the air inhalation pipe 8 is positioned as b, specifically a < b. The pressure relief and emptying function of the electromagnetic relief valve 701 not only prevents the waist telescopic airbag 401, the neck protection airbag 402, and the deployment airbag 403 from over-inflation and rupture, but also ensures that the equipment can be quickly reset. The airbag structure with integrated elastic skeleton is stable after inflation, has high buffering energy absorption efficiency, and can reduce the impact acceleration when the human body falls, avoiding injuries to key parts such as the head, neck, and hip.

[0044] The suction-pulling assembly 10 includes a connecting cylinder 1001 fixedly installed on the surface of the partition plate 9, and a misalignment cavity 1002 is provided on the lower side of the inner wall of the support foot shell 3. A pulling groove cylinder 1003 is movably installed on the inner wall of the connecting cylinder 1001. Three air intake ports 1004 are provided on the periphery of the inner wall of the pulling groove cylinder 1003 and on the side of the inner wall of the connecting cylinder 1001 near the air intake pipe 8. Connecting ports 1005 are provided on the upper and lower sides of the inner wall of the misalignment cavity 1002. Two L-shaped connecting plates 1 are fixedly installed on the surface of the pulling groove cylinder 1003. 006, the top surface of the misaligned cavity 1002 is provided with a pull port 1009 on one side of the two L-shaped connecting plates 1006, and the bottom of the two L-shaped connecting plates 1006 extends into the interior of the misaligned cavity 1002 through the inner wall of the pull port 1009. The bottom of the four corresponding L-shaped connecting plates 1006 is fixedly installed with a porous barrier plate 1007. Several jacking damping springs 1008 are fixedly installed on the side of the porous barrier plate 1007 near the air intake pipe 8, while support components 11 are provided on the opposite sides of the surface of the support foot shell 3.

[0045] When the equipment is not started, the pull groove cylinder 1003 is in the misaligned state of the air intake 1004 under the pre-tightening force of the top damping spring 1008. The unfolding plate 1102 is locked in the unfolding groove 1101 by the snap-fit ​​component 12. The rotary spring 1103 is in the pre-compressed state. The waist telescopic airbag 401, the neck protection airbag 402, and the unfolding airbag 403 are in the fully folded and stored state. The electromagnetic relief valve 701 is in the normally closed state. If the ground contacted by the bottom of the support foot shell 3 is a porous and loose material such as carpet, and cannot form an effective negative pressure, the unfolding plate 1102 is used to expand the support area to compensate for the lack of negative pressure. The application environment is generally an environment that can be adsorbed.

[0046] The three air intake ports 1004 are distributed in a ring at equal intervals. The upper connecting port 1005 is a straight port, while the lower connecting port 1005 is an enlarged frustum-shaped port. The larger end of the connecting port 1005 is located at the bottom of the support foot shell 3. When the air intake port 1004 on the pull groove cylinder 1003 moves, it will eventually coincide with the air intake port 1004 on the connecting cylinder 1001. The air intake port 1004 on the connecting cylinder 1001 is located on one side of the partition plate 9. The aperture of the porous barrier plate 1007 is the same as the aperture of the upper connecting port 1005. The ends of several jacking damping springs 1008 are all fixedly connected to one side of the inner wall of the misaligned cavity 1002.

[0047] The support assembly 11 includes an unfolding groove 1101 formed on one side of the surface of the support foot shell 3. An unfolding plate 1102 is rotatably mounted on one side of the inner wall of the unfolding groove 1101. Two rotary springs 1103 are provided at the rotation position of the unfolding plate 1102. A rotating baffle 1104 is fixedly installed on the side of the inner wall of the unfolding groove 1101 away from the rotary springs 1103. A limit block 1105 is fixedly installed on the side of the surface of the support foot shell 3 close to the rotary springs 1103. A snap-fit ​​assembly 12 is provided on the top surface of the unfolding plate 1102 above the limit block 1105.

[0048] The snap-fit ​​assembly 12 includes a snap-fit ​​groove 1201 on the top surface of the unfolding plate 1102. The inner wall of the unfolding groove 1101 is provided with a telescopic groove 1202 on the upper side of the snap-fit ​​groove 1201. A push block 1203 is slidably installed in the inner wall of the telescopic groove 1202. An arc head block 1204 is fixedly installed on the bottom surface of the push block 1203. A magnetic block 1205 is fixedly installed on the top surface of the push block 1203. An electromagnet 1206 for adsorbing the magnetic block 1205 is fixedly installed on the top surface of the telescopic groove 1202. An infrared start switch 1207 is embedded in the front and rear sides of the inner wall of the misalignment cavity 1002 on one side of the porous barrier plate 1007.

[0049] The opposite ends of the two rotary springs 1103 are fixedly connected to the opposite side of the inner wall of the expansion groove 1101, and the opposite sides of the top surface of the push block 1203 are fixedly connected to the reset damping springs 1208, and the ends of the reset damping springs 1208 are fixedly connected to the inner wall of the telescopic groove 1202.

[0050] The working principle of the above embodiments is as follows:

[0051] When the device is in use, the acceleration sensor 5 installed on the hip connector 1 monitors the user's posture and acceleration changes in real time. When an abnormality is detected in the body, such as tilting or sudden acceleration, the acceleration sensor 5 sends a trigger signal. The trigger signal first controls the two vortex air pumps 6 to start. After the vortex air pumps 6 start, both the inhalation end and the outlet end begin to work.

[0052] The vortex air pump 6 draws air from inside the support foot shell 3 through the air intake pipe 8, generating negative pressure suction at the end of the air intake pipe 8 and in the area of ​​the suction pulling component 10 connected thereto. In the initial state of the suction pulling component 10, the air intake 1004 on the pulling groove cylinder 1003 is misaligned with the air intake 1004 on the connecting cylinder 1001, and the airflow channel is blocked. The resulting suction acts on the pulling groove cylinder 1003, and the pulling groove cylinder 1003 will move towards the air intake pipe 8. The pulling groove cylinder 1003 drives the porous baffle plate 1007 to move synchronously in the misaligned cavity 1002 through the L-shaped connecting plate 1006, compressing the top damping spring 1008.

[0053] After the groove cylinder 1003 is moved, its air intake 1004 gradually aligns with the air intake 1004 on the connecting cylinder 1001, opening an effective airflow channel from the bottom of the support foot shell 3 to the air intake pipe 8. At this time, the cavity formed between the bottom of the support foot shell 3 and the ground is continuously pumped out, generating a strong vacuum suction force, which sucks the support foot shell 3 onto the ground, preventing the feet from slipping and ensuring that the user will not fall.

[0054] The movement of the porous barrier plate 1007 will trigger the operation of the structure in the support assembly 11, increasing the support area. The unfolding plate 1102 in the support assembly 11 has a tendency to unfold outward under the preload of the rotary spring 1103, but is usually locked in the retracted state by the snap-fit ​​assembly 12, that is, stored in the unfolding slot 1101.

[0055] When the suction pull component 10 is working, the movement of the porous barrier plate 1007 triggers the infrared start switch 1207. It can also directly power the electromagnet 1206 when the anti-fall mode is detected. After the electromagnet 1206 is powered on, it generates an attraction force on the magnetic block 1205, which can overcome the elastic force of the reset damping spring 1208 and push the block 1203 together with the arc head block 1204 at its bottom to move upward, so that the arc head block 1204 is removed from the snap-fit ​​groove 1201, releasing the lock on the unfolding plate 1102. The unfolding plate 1102 is driven by the rotation spring 1103 to quickly rotate outward and unfold until it is limited by the rotating baffle 1104. This increases the contact area between the foot and the ground and improves the support stability.

[0056] If the user inevitably falls further, the support foot 3 may lift off the ground or the user's center of gravity may be extremely low, potentially causing the user to bump into something. During the startup of the vortex air pump 6, air begins to flow from its outlet. Simultaneously, the electromagnetic relief valve 701 causes airflow to enter the waist telescopic airbag 401, neck protection airbag 402, and deployment airbag 403, rapidly deploying them. High-pressure airflow quickly fills the waist telescopic airbag 401, neck protection airbag 402, and deployment airbag 403 of the deployment assembly 4 through the air supply pipe 7. In step 03, the waist telescopic airbag 401 first inflates and expands to surround and protect the user's waist and hips. The airflow continues to inflate the neck protective airbag 402. After the neck protective airbag 402 expands, it is located behind and to the side of the user's head and neck, providing critical support and protection. Finally, the airflow inflates the two deployable airbags 403, causing the deployable airbags 403 to expand outward and upward from both sides of the neck protective airbag 402, forming a wing-like shape. This creates an expanded buffer zone on the side and in front of the body, used to absorb energy when colliding with obstacles such as the ground and furniture.

[0057] Since all airbags are integrated elastic skeleton airbag structures, they can quickly shape and maintain a certain shape strength, providing effective cushioning. During inflation, after the airbags are fully inflated, excess gas is discharged through the electromagnetic relief valve 701, ensuring that the airbags are not over-inflated and damaged during use. After use, the electromagnetic relief valve 701 can also completely release the gas in the airbags until they return to their original state for the next use. After being protected by the above structure, the user only needs to turn off the vortex air pump 6. The push damping spring 1008 will reset the porous barrier plate 1007 to prevent dust and impurities from entering the support foot shell 3. The reset damping spring 1208 can make the arc head block 1204 re-expand, ensuring the subsequent locking of the unfolding plate 1102. This restores the device to its initial state of use, ensuring normal use next time.

[0058] The installation, connection, or setting methods disclosed in this embodiment are all common mechanical connection methods. Any method that can achieve its beneficial effect can be implemented. In addition, the electrical components in this embodiment are all electrically connected to the main controller and the power supply. The main controller can be a conventional known device such as a computer that plays a control role. Those skilled in the art can control the electrical components through simple programming. Moreover, the existing disclosed power connection technology is also common knowledge in the field. Therefore, the specific structural composition and working principle will not be described in detail in this embodiment.

Claims

1. A fall-prevention mechanical lower limb, comprising two hip connectors (1), each hip connector (1) having a mechanical lower limb arm (2) hinged to one side, characterized in that: The bottom of each of the two mechanical lower limb arms (2) is fixedly installed with a support foot shell (3), and the two hip connectors (1) are fixedly connected by bolts. The upper side of the surface of each of the two hip connectors (1) is provided with an unfolding component (4). An accelerometer (5) is fixedly mounted on the surface of one of the hip connectors (1), and a vortex air pump (6) is fixedly mounted on the surface of both hip connectors (1) above the accelerometer (5). An air supply pipe (7) is fixedly mounted on the outlet end of the vortex air pump (6), and an air intake pipe (8) is fixedly mounted on the intake end of the vortex air pump (6). A partition plate (9) is fixedly mounted on the inner wall of both support foot shells (3). Two suction pulling components (10) are provided on the surface of both partition plates (9). The suction pulling component (10) includes a connecting cylinder (1001) fixedly mounted on the surface of the partition plate (9), and a misalignment cavity (1002) is opened on the lower side of the inner wall of the support foot shell (3). A pulling groove cylinder (1003) is movably mounted on the inner wall of the connecting cylinder (1001), and the periphery of the inner wall of the pulling groove cylinder (1003) and the connecting cylinder (1001) are also connected. Three air inlets (1004) are provided on the side of the inner wall near the air inlet pipe (8). Connecting ports (1005) are provided on the upper and lower sides of the inner wall of the misaligned cavity (1002). Two L-shaped connecting plates (1006) are fixedly installed on the surface of the pull groove cylinder (1003). Pulling ports (1009) are provided on the top surface of the misaligned cavity (1002) on one side of the two L-shaped connecting plates (1006). The bottom of the two L-shaped connecting plates (1006) extends into the interior of the misaligned cavity (1002) through the inner wall of the pulling ports (1009). A porous barrier plate (1007) is fixedly installed on the bottom of the four corresponding L-shaped connecting plates (1006). Several jacking damping springs (1008) are fixedly installed on the side of the porous barrier plate (1007) near the air inlet pipe (8). Support components (11) are provided on the opposite sides of the surface of the support foot shell (3).

2. The anti-fall mechanical lower limb according to claim 1, characterized in that: The support assembly (11) includes an expansion groove (1101) formed on one side of the surface of the support foot shell (3), and an expansion plate (1102) is rotatably mounted on one side of the inner wall of the expansion groove (1101). The expansion plate (1102) is provided with two rotary springs (1103) at the rotation position. A rotating baffle (1104) is fixedly installed on the side of the inner wall of the expansion groove (1101) away from the rotary springs (1103). A limit block (1105) is fixedly installed on the side of the surface of the support foot shell (3) close to the rotary springs (1103). A snap-fit ​​assembly (12) is provided on the top surface of the expansion plate (1102) above the limit block (1105).

3. The anti-fall mechanical lower limb according to claim 2, characterized in that: The snap-fit ​​assembly (12) includes a snap-fit ​​groove (1201) on the top surface of the unfolding plate (1102). The inner wall of the unfolding groove (1101) is provided with a telescopic groove (1202) on the upper side of the snap-fit ​​groove (1201). A push block (1203) is slidably installed in the inner wall of the telescopic groove (1202). An arc head block (1204) is fixedly installed on the bottom surface of the push block (1203). A magnetic block (1205) is fixedly installed on the top surface of the push block (1203). An electromagnet (1206) for adsorbing the magnetic block (1205) is fixedly installed on the top surface of the telescopic groove (1202). An infrared start switch (1207) is embedded in the front and rear sides of the inner wall of the misaligned cavity (1002) on one side of the porous barrier plate (1007).

4. The anti-fall mechanical lower limb according to claim 1, characterized in that: The deployment assembly (4) includes a waist telescopic airbag (401) fixedly installed on the upper side of the surface of the hip connector (1), and a neck protection airbag (402) is installed on the side of the waist telescopic airbag (401) away from the hip connector (1). Deployment airbags (403) are installed on both sides of the neck protection airbag (402) away from the hip connector (1), and the two deployment airbags (403) are symmetrically arranged with respect to the center position of the neck protection airbag (402).

5. The anti-fall mechanical lower limb according to claim 4, characterized in that: The waist telescopic airbag (401), neck protective airbag (402), and deployment airbag (403) are all airbag structures with integrated elastic skeletons.

6. The anti-fall mechanical lower limb according to claim 4, characterized in that: The upper end of the air supply pipe (7) is fixedly connected to the surface of the waist telescopic airbag (401), and an electromagnetic relief valve (701) is provided on the side of the air supply pipe (7) near the acceleration sensor (5). Two positioning blocks (801) are fixedly installed on the surface of the air inhalation pipe (8), and the surfaces of the two positioning blocks (801) are fixedly connected to the surface of the corresponding mechanical lower limb arm (2). The lower end of the air inhalation pipe (8) extends through to the interior of the support foot shell (3).

7. The anti-fall mechanical lower limb according to claim 1, characterized in that: The three air intakes (1004) are distributed in a ring at equal intervals. The upper connecting port (1005) is a straight port, while the lower connecting port (1005) is an enlarged frustum-shaped port. The larger end of the connecting port (1005) is located at the bottom of the support foot shell (3). During the movement, the air intake (1004) on the pulling groove cylinder (1003) will eventually coincide with the air intake (1004) on the connecting cylinder (1001).

8. The anti-fall mechanical lower limb according to claim 1, characterized in that: The air intake (1004) on the connecting cylinder (1001) is located on one side of the partition plate (9). The aperture of the porous barrier plate (1007) is the same as that of the upper connecting port (1005). The ends of several of the jacking damping springs (1008) are fixedly connected to one side of the inner wall of the misaligned cavity (1002).

9. The anti-fall mechanical lower limb according to claim 3, characterized in that: The opposite ends of the two rotary springs (1103) are fixedly connected to the opposite side of the inner wall of the expansion groove (1101), and the opposite sides of the top surface of the push block (1203) are fixedly connected to the reset damping springs (1208), and the ends of the reset damping springs (1208) are fixedly connected to the inner wall of the telescopic groove (1202).

Images