Modular intelligent powered lower leg prosthesis

Abstract

This invention relates to the field of prosthetics technology and discloses a modular intelligent powered lower leg prosthesis, including an energy storage foot, an adapter mounting assembly fixedly connected to the top outer wall of the elastic module protective shell via a cable transmission module, a mounting component fixedly connected to the outer wall of the adapter mounting assembly, a drive module fixedly connected to the top outer wall of the mounting component, and a heat dissipation assembly fixedly connected to the side wall of the elastic module protective shell. It adopts a multi-module independently customized and quick-assembly structure, replacing the traditional one-piece structure, improving the adaptability of the prosthesis. Through the double locking cooperation of the insertion component and the positioning component, boltless rapid assembly is achieved, ensuring smooth and non-jamming assembly. After locking, the axial and radial positioning is firm, making it difficult to loosen when subjected to walking impacts. Furthermore, it relies on gait movement to achieve power-free follow-up heat dissipation, driving the heat dissipation assembly to form a suction and delivery airflow cycle, which can automatically expel heat from the closed cavity.

Description

Technical Field

[0001] This invention relates to the field of prosthetics technology, and more particularly to a modular intelligent powered lower leg prosthesis. Background Technology

[0002] In the field of rehabilitation assistance for patients with below-knee amputations, intelligent powered lower leg prostheses are the core equipment to help patients regain normal walking, standing and other motor functions. Currently, most powered lower leg prostheses on the market adopt an integrated structure, and the functional components such as drive motors and reduction mechanisms are mostly fixed integrated designs, which have obvious defects in actual use and maintenance.

[0003] The functional modules of existing prostheses are difficult to disassemble, replace, and combine independently. When a single module malfunctions or is damaged, the entire device needs to be disassembled or even scrapped and replaced. This process is cumbersome, costly, and time-consuming. It is also difficult to personalize the prosthesis according to the height, weight, residual limb length, gait characteristics, and activity intensity of different amputees. The universality and adaptability are poor. At the same time, the modules are mostly connected by rigid connections and bolts, which requires high coaxiality and complex installation positioning. This not only hinders rapid on-site assembly and debugging but also increases the difficulty of mass production and subsequent inspection and maintenance.

[0004] Furthermore, the drive module and other structures of the intelligent powered lower leg prosthesis generate frictional heat during long-term continuous operation. The stable operation of the lower leg prosthesis, in addition to the setting of the power components, also requires information processing and power adjustment by the circuit board. In order to adapt to different situations, such as walking in the rain or stepping in puddles, it is necessary to waterproof the circuit board inside the cavity. Under waterproofing, the original electronic components will generate a lot of heat that is difficult to dissipate. The existing structure generally encloses the above components inside the elastic module protective shell, lacking an active heat dissipation structure linked to gait. Relying solely on the shell for natural heat dissipation is inefficient and easily causes internal heat accumulation, leading to overheating, attenuation, performance degradation, or even failure of core components such as transmission parts. This, in turn, affects the stability of the prosthesis, its service life, and the safety of wearing it. Summary of the Invention

[0005] Given the problems of existing technologies, such as difficulty in disassembling and assembling integrated structures, high maintenance costs, poor adaptability, and insufficient heat dissipation, a modular intelligent powered lower leg prosthesis is proposed.

[0006] Its purpose is to enable rapid assembly and disassembly of modules, reduce maintenance difficulty, improve compatibility and heat dissipation, and ensure safe and stable use.

[0007] The technical solution of the present invention is a modular intelligent power lower leg prosthesis, including an energy storage foot, and also includes an adapter mounting assembly rotatably mounted on an elastic module protective shell via a rope transmission module, an adapter mounting assembly fixedly mounted on the top outer wall of the elastic module protective shell, a mounting component fixedly mounted on the outer wall of the adapter mounting assembly, a drive module fixedly mounted on the top outer wall of the mounting component, and a heat dissipation assembly fixedly mounted on the side wall of the elastic module protective shell. The installation component includes a connecting frame disposed on the inner side wall of the elastic module protective shell, a connecting component fixedly disposed on the top outer wall of the connecting frame, a positioning component slidably disposed on the inner wall of the connecting component, an annular pressure plate fixedly disposed on the bottom outer wall of the connecting component, an internally threaded column fixedly disposed on the inner side wall of the annular pressure plate, and a threaded rod disposed on the inner wall of the internally threaded column, wherein the side wall at the top of the threaded rod is rotatably connected to the inner wall of the connecting frame. The heat dissipation assembly includes an elastic guide plate fixedly disposed on the outer wall of the rope drive module, an exhaust component fixedly disposed on the outer wall of the elastic module protective shell, and a pull rope fixedly disposed on the outer wall of the exhaust component. The end of the pull rope away from the exhaust component is fixedly connected to the inner wall of the energy storage foot. The exhaust component includes a mounting block fixedly disposed on the side wall of the elastic module protective shell, an air inlet groove opened on the inner wall of the mounting block, a vent hole opened on the inner wall of the mounting block, an air guide groove opened on the inner wall of the mounting block, a guide rod fixedly disposed on the inner wall of the mounting block, an anti-detachment spring disposed on the outside of the guide rod, a sliding structure slidably disposed on the inner wall of the mounting block, and a movable structure slidably disposed on the outer wall of the sliding structure.

[0008] Furthermore, the sliding structure includes a sliding tube slidably disposed on the inner wall of the mounting block, a through hole opened on the inner wall of the sliding tube, a connecting groove opened on the outer wall of the middle part of the sliding tube, an exhaust hole opened on the inner wall of the bottom of the sliding tube, a baffle plate fixedly disposed on the top of the sliding tube, and a T-shaped block fixedly disposed on the outer wall of the bottom of the baffle plate. The sliding tube is slidably connected to the outer wall of the guide rod through the through hole.

[0009] Furthermore, the movable structure includes a U-shaped block slidably disposed on the outer wall of the T-shaped block, a first return spring symmetrically fixedly disposed on the inner wall of the U-shaped block, a groove formed on the upper side wall of the U-shaped block, an inner groove formed on the bottom outer wall of the U-shaped block, a slider slidably disposed on the bottom inner side wall of the U-shaped block through the inner groove, a second return spring fixedly disposed on the side wall of the top protrusion of the slider, and an inclined groove formed on the side wall of the slider away from the sliding tube. The outer wall I of the U-shaped block is slidably connected to the outer wall of the baffle plate through the groove, and the end of the first return spring away from the connection point of the U-shaped block is fixedly connected to the side wall of the T-shaped extension of the T-shaped block.

[0010] Furthermore, the air inlet groove is connected to the vent hole, the vent hole is connected to the air guide groove, and the exhaust hole is connected to the connecting groove.

[0011] Furthermore, the connecting component includes a fixed tube fixedly disposed on the top outer wall of the connecting frame, a movable groove opened on the inner wall of the fixed tube, a fixed structure slidably disposed on the inner wall of the fixed tube, a sliding sleeve slidably disposed on the outer wall of the fixed tube, an extrusion groove opened on the inner side wall of the sliding sleeve, and an extension rod symmetrically fixedly disposed on the bottom outer wall of the sliding sleeve, wherein the outer wall of the extension rod is slidably connected to the inner wall of the connecting frame.

[0012] Furthermore, the fixing structure includes a sliding block slidably disposed on the inner wall of the fixing tube, a fixing ring fixedly disposed on the inner wall of the fixing tube through a movable groove, a first tension spring fixedly disposed on the outer wall of the fixing ring, a positioning rod slidably disposed on the inner wall of the sliding block, and a second tension spring fixedly disposed on the outer wall of the positioning rod. The end of the first tension spring away from the fixing ring is fixedly connected to the protruding annular outer wall of the sliding block, and the end of the second tension spring away from the connection point of the positioning rod is fixedly connected to the inner side wall of the sliding block.

[0013] Furthermore, the positioning component includes a connecting rod slidably disposed on the inner wall of the sliding sleeve, a limiting sleeve fixedly disposed on the outer wall of the connecting rod, and an annular groove formed on the side wall of the connecting rod.

[0014] Furthermore, the adapter mounting assembly includes a limiting plate fixedly disposed on the inner side wall of the elastic module protective shell, a compression ring disposed on the top outer wall of the limiting plate, an extension plate disposed on the outer wall of the limiting sleeve through a positioning hole and the positioning hole being opened on the inner wall of the extension plate, a connecting ring fixedly disposed on the outer wall of the extension plate, and an insertion component slidably disposed on the inner wall of the connecting ring.

[0015] Furthermore, the insertion component includes a limiting ring slidably disposed on the inner wall of the connecting ring, a buffer rod fixedly disposed on the bottom outer wall of the limiting ring, an insertion rod fixedly disposed on the inner wall of the buffer rod, and an annular groove formed on the side wall of the insertion rod.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. Relying on gait movement to achieve power-free follow-up heat dissipation, the energy storage foot swing drives the heat dissipation component to form an airflow cycle of suction and delivery, which can automatically dissipate heat from the closed cavity, avoid overheating failure of waterproof electronic components and transmission parts, and improve the operational stability and service life of the power module.

[0017] 2. This invention adopts a multi-module independently customized and quick-assembly structure to replace the traditional one-piece structure, improving the adaptability of the prosthesis. Through the double locking cooperation of the insertion component and the positioning component, and using the step-by-step locking method of first guiding, then retracting, and finally locking, boltless quick assembly is achieved. The assembly is smooth and does not jam. After locking, the axial and radial positioning is firm, making it difficult to loosen when subjected to walking impact, thereby improving the efficiency of disassembly, assembly and maintenance.

[0018] 3. Relying on the continuous compression of the elastic module protective shell, the locking structure is unlikely to come loose accidentally under vibration and gait impact, thereby ensuring the overall connection strength and stability, and thus meeting the safety and reliability requirements for long-term wear and use of prostheses. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the present invention; Figure 2 This is a schematic diagram of a partial internal structure of the present invention; Figure 3 This is a partial structural diagram of the adapter mounting assembly of the present invention; Figure 4 This is a schematic diagram of the overall structure of the adapter mounting assembly and mounting parts of the present invention; Figure 5 This is a schematic diagram of the overall structure of the adapter mounting assembly of the present invention; Figure 6 This is a schematic diagram of the overall structure of the insertion component of the present invention; Figure 7 This is a cross-sectional view of the mounting component of the present invention; Figure 8 For the present invention Figure 7 Enlarged structural diagram at point A in the middle; Figure 9 This is a cross-sectional view of the fixing structure of the present invention; Figure 10 This is a schematic diagram of the overall structure of the heat dissipation component of the present invention; Figure 11 This is a cross-sectional structural schematic diagram of the exhaust component of the present invention; Figure 12 This is a cross-sectional view of the sliding structure of the present invention; Figure 13 This is an exploded structural diagram of the active structure of the present invention.

[0020] In the picture: 1. Energy storage foot; 2. Elastic module protective shell; 3. Adapter mounting assembly; 31. Connecting ring; 32. Extension plate; 33. Positioning hole; 34. Insertion component; 341. Limiting ring; 342. Buffer rod; 343. Insertion rod; 344. Annular groove; 35. Limiting plate; 36. Compression ring; 4. Mounting component; 41. Connecting frame; 42. Connecting component; 421. Sliding sleeve; 422. Compression groove; 423. Extension rod; 424. Fixing tube; 425. Fixing structure; 4251. Sliding block; 4252. Fixing ring; 4253. First tension spring; 4254. Positioning rod; 4255. Second tension spring; 426. Movable groove; 43. Positioning component; 431. Connecting rod; 432. Limiting sleeve; 433. Ring 44. Annular pressure plate; 45. Internally threaded column; 46. Threaded rod; 5. Drive module; 6. Heat dissipation component; 61. Elastic guide plate; 62. Exhaust component; 621. Mounting block; 622. Air inlet slot; 623. Vent hole; 624. Air guide slot; 625. Anti-detachment spring; 626. Guide rod; 627. Sliding structure; 6271. Sliding tube; 6272. Through hole; 6273. Baffle plate; 6274. Connecting slot; 6275. Exhaust hole; 6276. T-block; 628. Movable structure; 6281. U-block; 6282. First return spring; 6283. Slide groove; 6284. Inner groove; 6285. Second return spring; 6286. Slider; 6287. Inclined groove; 63. Pull rope. Detailed Implementation

[0021] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0022] Example 1, referring to Figure 1 - Figure 3 and Figure 10 - Figure 13 The first embodiment of the present invention provides a modular intelligent powered lower leg prosthesis, including an energy storage foot 1, and also includes an adapter mounting assembly 3 rotatably connected to an elastic module protective shell 2 via a rope transmission module, a mounting component 4 fixedly connected to the outer wall of the top of the elastic module protective shell 2, a drive module 5 fixedly connected to the outer wall of the adapter mounting assembly 3, and a heat dissipation assembly 6 fixedly connected to the side wall of the elastic module protective shell 2. Mounting component 4 includes a connecting frame 41 snapped into the inner side wall of the elastic module protective shell 2, a connecting component 42 fixedly connected to the top outer wall of the connecting frame 41, a positioning component 43 slidably connected to the inner wall of the connecting component 42, an annular pressure plate 44 fixedly connected to the bottom outer wall of the connecting component 42, an internally threaded post 45 fixedly connected to the inner side wall of the annular pressure plate 44, and a threaded rod 46 threadedly connected to the inner wall of the internally threaded post 45. The top side wall of the threaded rod 46 is rotatably connected to the inner wall of the connecting frame 41. The heat dissipation assembly 6 includes an elastic guide plate 61 fixedly connected to the outer wall of the rope drive module, an exhaust component 62 fixedly connected to the outer wall of the elastic module protective shell 2, and a pull rope 63 fixedly connected to the outer wall of the exhaust component 62. The end of the pull rope 63 away from the exhaust component 62 is fixedly connected to the inner wall of the energy storage foot 1. The exhaust component 62 includes a mounting block 621 fixedly connected to the side wall of the elastic module protective shell 2, an air inlet groove 622 formed on the inner wall of the mounting block 621, a vent hole 623 formed on the inner wall of the mounting block 621, an air guide groove 624 formed on the inner wall of the mounting block 621, a guide rod 626 fixedly connected to the inner wall of the mounting block 621, an anti-detachment spring 625 sleeved on the outside of the guide rod 626, a sliding structure 627 slidably connected to the inner wall of the mounting block 621, and a movable structure 628 slidably connected to the outer wall of the sliding structure 627.

[0023] Specifically, the overall design adopts a multi-module independent and quick-disassembly structure, mainly divided into an upper power transmission module and a lower adapter support module. The drive module 5, the deceleration mechanism and the rope transmission module are stacked and installed on the mounting component 4 from top to bottom. The standard adapter, the elastic module and the energy storage foot 1 are assembled on the lower part of the adapter mounting component 3 and wrapped between two sets of elastic module protective shells 2.

[0024] Reference Figure 1 - Figure 3 and Figure 12 The sliding structure 627 includes a sliding tube 6271 slidably connected to the inner wall of the mounting block 621, a through hole 6272 opened in the inner wall of the sliding tube 6271, a connecting groove 6274 opened in the middle outer wall of the sliding tube 6271, an exhaust hole 6275 opened in the bottom inner wall of the sliding tube 6271, a baffle plate 6273 fixedly connected to the top of the sliding tube 6271, and a T-shaped block 6276 fixedly connected to the bottom outer wall of the baffle plate 6273. The sliding tube 6271 is slidably connected to the outer wall of the guide rod 626 through the through hole 6272.

[0025] Specifically, since the rope transmission module is enclosed inside the elastic module protective shell 2, frictional heat is continuously generated during the transmission process. At the same time, the circuit control board installed to control the power is waterproofed to ensure stable use. Under the waterproof treatment, the heat dissipation of the circuit board is affected accordingly, and heat is easily accumulated inside the elastic module protective shell 2. In order to ensure the stable use of the circuit board, the heat needs to be discharged. Since the heat accumulation can easily cause the deceleration mechanism and rope transmission components to overheat and be damaged, a follow-up heat dissipation component 6 is set up to actively dissipate heat based on the walking gait of the prosthetic limb. When the user walks with the prosthetic limb, the prosthetic limb imitates the swing of the ankle, which drives the energy storage foot 1 to swing up and down periodically. The energy storage foot 1 pulls down the rope 63. The rope 63 moves downward under the guidance of the elastic guide plate 61, which in turn drives the sliding structure 627 of the exhaust component 62 to move downward. The sliding tube 6271 slides stably along the guide rod 626 through the through hole 6272 and stretches the anti-detachment spring 625.

[0026] Reference Figure 1 - Figure 3 and Figure 13 The movable structure 628 includes a U-shaped block 6281 slidably connected to the outer wall of the T-shaped block 6276, a first return spring 6282 symmetrically fixedly connected to the inner wall of the U-shaped block 6281, a groove 6283 opened on the upper side wall of the U-shaped block 6281, an inner groove 6284 opened on the bottom outer wall of the U-shaped block 6281, a slider 6286 slidably connected to the bottom inner side wall of the U-shaped block 6281 through the inner groove 6284, a second return spring 6285 fixedly connected to the side wall of the top protrusion of the slider 6286, and a sloping groove 6287 opened on the side wall of the slider 6286 away from the sliding tube 6271. The outer wall I of the U-shaped block 6281 is slidably connected to the outer wall of the baffle plate 6273 through the groove 6283. The end of the first return spring 6282 away from the connection of the U-shaped block 6281 is fixedly connected to the side wall of the T-shaped extension of the T-shaped block 6276.

[0027] Specifically, when the pulling rope 63 reaches the maximum displacement position, the connecting groove 6274 and the exhaust hole 6275 on the sliding tube 6271 are connected to the air guide groove 624 in the mounting block 621 to form an exhaust channel. During the downward movement of the sliding tube 6271, the baffle plate 6273 and the T-shaped block 6276 move synchronously. The U-shaped block 6281 moves with the action of the first return spring 6282. The baffle plate 6273 slides in the sliding groove 6283, and the slider 6286 moves along the inclined surface of the inner wall of the mounting block 621. The top protrusion slides in the inner groove 6284. The inclined groove 6287 causes the slider 6286 to move closer to the sliding tube 6271 and stretch the second return spring 6285. At this time, the baffle plate 6273, the U-shaped block 6281 and the slider 6286 together form a closed space, which generates negative pressure inside the mounting block 621, drawing in the hot air inside the elastic module protective shell 2 and discharging it out through the exhaust hole 6275.

[0028] Reference Figure 1 - Figure 3 and Figure 10 - Figure 13 The air inlet slot 622 is connected to the vent 623, the vent 623 is connected to the air guide slot 624, and the exhaust port 6275 is connected to the connecting slot 6274.

[0029] Specifically, when the energy storage foot 1 returns to its original position, the anti-detachment spring 625, the first reset spring 6282, and the second reset spring 6285 drive the sliding structure 627 and the movable structure 628 to reset. The slider 6286 moves upward to compress the internal air, serving as an exhaust position. Since there are multiple vent holes 623, most of the residual hot air is continuously discharged through the air inlet groove 622, the vent holes 623, and the air guide groove 624. As the user walks, the heat dissipation component 6 achieves periodic active heat dissipation with a pumping and releasing action. Without an additional power supply, it can continuously discharge the heat from the closed cavity, ensuring the stable operation of the power module.

[0030] Example 2, refer to Figure 1 - Figure 4 and Figure 7 - Figure 9 This is the second embodiment of the present invention. The difference between this embodiment and the first embodiment is that the connecting component 42 includes a fixed tube 424 fixedly connected to the top outer wall of the connecting frame 41, a movable groove 426 opened in the inner wall of the fixed tube 424, a fixed structure 425 slidably connected to the inner wall of the fixed tube 424, a sliding sleeve 421 slidably connected to the outer wall of the fixed tube 424, a pressing groove 422 opened in the inner side wall of the sliding sleeve 421, and an extension rod 423 symmetrically fixedly connected to the bottom outer wall of the sliding sleeve 421. The outer wall of the extension rod 423 is slidably connected to the inner wall of the connecting frame 41.

[0031] The fixing structure 425 includes a sliding block 4251 slidably connected to the inner wall of the fixing tube 424, a fixing ring 4252 fixedly connected to the inner wall of the fixing tube 424 via a movable groove 426, a first tension spring 4253 fixedly connected to the outer wall of the fixing ring 4252, a positioning rod 4254 slidably connected to the inner wall of the sliding block 4251, and a second tension spring 4255 fixedly connected to the outer wall of the positioning rod 4254. One end of the first tension spring 4253 away from the fixing ring 4252 is fixedly connected to the protruding annular outer wall of the sliding block 4251, and one end of the second tension spring 4255 away from the connection point of the positioning rod 4254 is fixedly connected to the inner side wall of the sliding block 4251. The positioning component 43 includes a connecting rod 431 slidably connected to the inner wall of the sliding sleeve 421, a limiting sleeve 432 fixedly connected to the outer wall of the connecting rod 431, and an annular groove 433 formed on the side wall of the connecting rod 431.

[0032] Specifically, the fixing method of the positioning component 43 is the same as that of the insertion component 34. The positioning hole 33 of the extension plate 32 forms a bidirectional locking with the connecting frame 41. The connecting rod 431 is inserted into the reserved hole. The limiting sleeve 432 reduces the connection wear of the drive module 5, the deceleration mechanism and the rope transmission module. Finally, the connecting rod 431 is fixed by the engagement of the annular groove 433, thereby completing the connection. By rotating the threaded rod 46, the internal threaded column 45 is driven to rise. The internal threaded column 45 pushes the annular pressure plate 44 to push the extension rod 423, so that the sliding sleeve 421 and the fixed structure 425 are kept locked. With the help of the connecting component 42, the connection strength and stability of the mounting component 4 and the adapter mounting assembly 3 are further improved, ensuring that it is difficult to loosen in the state of walking, standing and other movements.

[0033] Reference Figure 1 - Figure 6 The adapter mounting assembly 3 includes a limiting plate 35 fixedly connected to the inner side wall of the elastic module protective shell 2, a compression ring 36 installed on the top outer wall of the limiting plate 35, an extension plate 32 slidably connected to the outer wall of the limiting sleeve 432 through a positioning hole 33 with the positioning hole 33 being opened in the inner wall of the extension plate 32, a connecting ring 31 fixedly connected to the outer wall of the extension plate 32, and an insertion part 34 slidably connected to the inner wall of the connecting ring 31.

[0034] Specifically, during device assembly, the insertion component 34 extends from top to bottom into the connecting ring 31 of the adapter mounting assembly 3. The insertion rod 343 and the buffer rod 342 enter the interior of the connecting ring 31 in sequence until the limiting ring 341 abuts against the top end face of the connecting ring 31, completing the positioning and limiting of the insertion component 34. Then, the two sets of elastic module protective shells 2 are fastened from both sides and fixed to the rope transmission module with bolts. The protrusion on the inner side of the elastic module protective shell 2 presses against the compression ring 36, causing the compression ring 36 to rise upward and drive the extension rod 423 to move upward synchronously. The extension rod 423 pushes the sliding sleeve 421 to slide along the outer wall of the fixed tube 424. The compression groove 422 on the inner wall of the sliding sleeve 421 presses the fixed structure 425 inward.

[0035] Reference Figure 1 - Figure 6 The insertion component 34 includes a limiting ring 341 slidably connected to the inner wall of the connecting ring 31, a buffer rod 342 fixedly connected to the bottom outer wall of the limiting ring 341, an insertion rod 343 fixedly connected to the inner wall of the buffer rod 342, and an annular groove 344 formed on the side wall of the insertion rod 343.

[0036] Specifically, when the fixed structure 425 is subjected to force, the sliding block 4251 retracts into the fixed tube 424, pulling the first tension spring 4253 to store force, preparing for subsequent disassembly and rapid separation. The positioning rod 4254 first contacts the annular groove 344 on the outer wall of the insertion rod 343 and retracts under pressure. Since the fixed ring 4252 is fixed in position, the second tension spring 4255 in the movable groove 426 is stretched at this time. This structure adopts a step-by-step cooperation method of first guiding, then retracting, and then locking, which can prevent the positioning rod 4254 from contacting the insertion rod 343 during the insertion process. The rod 343 experiences rigid impact, jamming, or wear, ensuring smooth and unobstructed insertion, thereby improving the convenience and stability of module assembly. After the sliding block 4251 is fully inserted into the annular groove 344, the positioning rod 4254 automatically extends under the reset force of the second tension spring 4255 and presses against the inner wall of the annular groove 344 to lock. Through continuous contact, a dual fixing effect of radial clamping and axial limiting is formed, making the connection between the adapter mounting assembly 3 and the mounting component 4 more robust and reliable, and able to withstand complex forces such as walking and landing impacts without easily loosening. The elastic module protective shell 2 remains in a locked state and continuously presses against the compression ring 36 through the fixed limiting plate 35, ensuring that the sliding sleeve 421 and the fixed structure 425 are always in a locked position. This prevents the positioning rod 4254 from accidentally coming off due to vibration or impact, further ensuring connection stability. The overall structure replaces the traditional bolt and screw fixing method, allowing for quick assembly and disassembly without tools. The assembly process is smooth and without jamming, and the positioning is reliable after locking. It also facilitates the individual inspection, replacement, and adjustment of core components such as the drive module 5, rope transmission module, and elastic module, thereby improving the modular maintenance efficiency of the prosthesis. The remaining structures are the same as those in Embodiment 1.

[0037] Based on embodiments 1-3, the working principle of the present invention is as follows: The overall structure adopts a multi-module independent and quick disassembly and assembly design, mainly divided into an upper power transmission module and a lower adapter support module. The drive module 5, the deceleration mechanism and the rope transmission module are stacked and installed on the mounting component 4 from top to bottom. The standard adapter, the elastic module and the energy storage foot 1 are assembled on the lower part of the adapter mounting component 3 and wrapped between two sets of elastic module protective shells 2.

[0038] During device assembly, the insertion component 34 extends from top to bottom into the connecting ring 31 of the adapter mounting assembly 3. The insertion rod 343 and the buffer rod 342 enter the interior of the connecting ring 31 in sequence until the limiting ring 341 abuts against the top end face of the connecting ring 31, completing the positioning and limiting of the insertion component 34. Then, the two sets of elastic module protective shells 2 are fastened from both sides and fixed to the rope transmission module with bolts. The protrusion on the inner side of the elastic module protective shell 2 presses against the compression ring 36, causing the compression ring 36 to rise upward and drive the extension rod 423 to move upward synchronously. The extension rod 423 pushes the sliding sleeve 421 to slide along the outer wall of the fixed tube 424. The compression groove 422 on the inner wall of the sliding sleeve 421 presses the fixed structure 425 inward.

[0039] When the fixed structure 425 is subjected to force, the sliding block 4251 retracts into the fixed tube 424, pulling the first tension spring 4253 to store force, preparing for subsequent disassembly and rapid separation. The positioning rod 4254 first contacts the annular groove 344 on the outer wall of the insertion rod 343 and retracts under pressure. Since the fixed ring 4252 is fixed in position, the second tension spring 4255 in the movable groove 426 is stretched at this time. This structure adopts a step-by-step cooperation method of guiding, retracting, and locking, which can prevent the positioning rod 4254 from rigidly hitting, jamming, or wearing with the insertion rod 343 during the insertion of the insertion component 34, ensuring smooth and unrestrained insertion, thereby improving the convenience and stability of module assembly. After the sliding block 4251 is fully inserted into the annular groove 344, the positioning rod 4254 automatically extends and presses against the annular groove under the reset force of the second tension spring 4255. The inner wall of component 344 achieves locking, forming a dual fixing effect of radial clamping and axial limiting through continuous contact, making the connection between the adapter mounting component 3 and the mounting component 4 more robust and reliable, and able to withstand complex forces such as walking and landing impacts without easily loosening. During the disassembly and assembly of this lower leg prosthesis, the drive module 5 of its internal structure is fixed in position through a similar structure. Since the drive module 5 needs to be installed inside the mounting component 4, the reducer part of the drive module 5 needs to contact and be positioned inside the mounting component 4. During disassembly and assembly, the reducer structure is installed through the same disassembly and assembly structure. When fixed, it is pressed by the motor used for driving the lower leg prosthesis at the top, pressing and fixing the reducer structure of the drive module 5. The quick disassembly and assembly setting can assist in the quick inspection of the lower leg prosthesis, and at the same time, it can also speed up the production process.

[0040] The elastic module protective shell 2 remains in a snap-fit ​​state and continuously presses against the compression ring 36 through the fixed limiting plate 35, so that the sliding sleeve 421 and the fixed structure 425 are always in a locked position, preventing the positioning rod 4254 from accidentally coming off due to vibration or impact, and further ensuring connection stability. The overall structure replaces the traditional bolt and screw fixing method, and can be quickly assembled and disassembled without tools. The assembly process is smooth and without jamming, and the positioning is reliable after locking. At the same time, it is convenient to carry out individual inspection, replacement and debugging of core components such as the drive module 5, rope transmission module and elastic module in the later stage, thereby improving the modular maintenance efficiency of prosthesis.

[0041] The fixing method of the positioning component 43 is the same as that of the insertion component 34. It forms a bidirectional locking between the positioning hole 33 of the extension plate 32 and the connecting frame 41. The connecting rod 431 is inserted into the reserved hole. The limiting sleeve 432 reduces the connection wear of the drive module 5, the deceleration mechanism and the rope transmission module. Finally, the connecting rod 431 is fixed by the engagement of the annular groove 433, thus completing the connection. By rotating the threaded rod 46, the internal threaded column 45 is driven to rise. The internal threaded column 45 pushes the annular pressure plate 44 to push the extension rod 423, so that the sliding sleeve 421 and the fixed structure 425 are locked together. With the help of the connecting component 42, the connection strength and stability of the mounting component 4 and the adapter mounting assembly 3 are further improved, ensuring that it is difficult to loosen in the walking, standing and other movement states. The designed quick-release structure is not only used to connect and disconnect the mounting component 4 from the overall frame, but also to connect the output shaft of the reducer below the motor to the rope transmission input wheel. Through the quick-disassembly structure, the combination components of the motor and reducer can be quickly connected and disconnected from the rope transmission device to realize the needs of modular assembly and quick maintenance.

[0042] Since the rope drive module is installed inside the elastic module protective shell 2, frictional heat is continuously generated during the transmission process. At the same time, the circuit control board installed to control the power is waterproofed to ensure stable use. Under the waterproof treatment, the heat dissipation of the circuit board is affected accordingly, and heat is easily accumulated inside the elastic module protective shell 2. In order to ensure the stable use of the circuit board, the heat needs to be discharged. Since the heat accumulation can easily cause the deceleration mechanism and rope drive components to overheat and be damaged, a follow-up heat dissipation component 6 is set up to actively dissipate heat based on the gait of the prosthetic limb. When the user walks with the prosthetic limb, the prosthetic limb imitates the ankle swing to drive the energy storage foot 1 to swing up and down periodically. The energy storage foot 1 pulls down the rope 63. The rope 63 moves downward under the guidance of the elastic guide plate 61, which in turn drives the sliding structure 627 of the exhaust component 62 to move downward. The sliding tube 6271 slides stably along the guide rod 626 through the through hole 6272 and stretches the anti-detachment spring 625.

[0043] When the pulling rope 63 reaches the maximum displacement position, the connecting groove 6274 and the exhaust hole 6275 on the sliding tube 6271 are connected to the air guide groove 624 in the mounting block 621 to form an exhaust channel. During the downward movement of the sliding tube 6271, the baffle plate 6273 and the T-shaped block 6276 move synchronously. The U-shaped block 6281 moves with the action of the first return spring 6282. The baffle plate 6273 slides in the sliding groove 6283. The slider 6286 moves along the inclined surface of the inner wall of the mounting block 621, and the top protrusion slides in the inner groove 6284. The inclined groove 6287 causes the slider 6286 to move closer to the sliding tube 6271 and stretch the second return spring 6285. At this time, the baffle plate 6273, the U-shaped block 6281 and the slider 6286 together form a closed space, which generates negative pressure inside the mounting block 621, drawing in the hot air inside the elastic module protective shell 2 and discharging it out through the exhaust hole 6275.

[0044] When the energy storage foot 1 returns to its original position, the anti-disengagement spring 625, the first reset spring 6282, and the second reset spring 6285 drive the sliding structure 627 and the movable structure 628 to reset. The slider 6286 moves upward to compress the internal air, serving as an exhaust position. Due to the multiple vent holes 623, most of the residual hot air is continuously discharged through the air inlet groove 622, the vent holes 623, and the air guide groove 624. As the user's walking gait cycles, the heat dissipation component 6 achieves periodic active heat dissipation with a pumping and releasing action. Without an additional power supply, it can continuously discharge the heat from the closed cavity, ensuring the stable operation of the power module.

[0045] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A modular intelligent powered lower leg prosthesis, comprising an energy storage foot (1), characterized in that, It also includes an adapter mounting assembly (3) that is rotatably mounted on the elastic module protective shell (2) via a rope drive module, a mounting component (4) that is fixedly mounted on the top outer wall of the elastic module protective shell (2), a drive module (5) that is fixedly mounted on the top outer wall of the mounting component (4), and a heat dissipation assembly (6) that is fixedly mounted on the side wall of the elastic module protective shell (2). The mounting component (4) includes a connecting frame (41) disposed on the inner side wall of the elastic module protective shell (2), a connecting component (42) fixedly disposed on the top outer wall of the connecting frame (41), a positioning component (43) slidably disposed on the inner wall of the connecting component (42), an annular pressure plate (44) fixedly disposed on the bottom outer wall of the connecting component (42), an internal threaded column (45) fixedly disposed on the inner side wall of the annular pressure plate (44), and a threaded rod (46) disposed on the inner wall of the internal threaded column (45). The top side wall of the threaded rod (46) is rotatably connected to the inner wall of the connecting frame (41). The heat dissipation assembly (6) includes an elastic guide plate (61) fixedly disposed on the outer wall of the rope drive module, an exhaust component (62) fixedly disposed on the outer wall of the elastic module protective shell (2), and a pull rope (63) fixedly disposed on the outer wall of the exhaust component (62). The end of the pull rope (63) away from the exhaust component (62) is fixedly connected to the inner wall of the energy storage foot (1). The exhaust component (62) includes a mounting block (621) fixedly disposed on the side wall of the elastic module protective shell (2), an air inlet groove (622) opened on the inner wall of the mounting block (621), a vent hole (623) opened on the inner wall of the mounting block (621), an air guide groove (624) opened on the inner wall of the mounting block (621), a guide rod (626) fixedly disposed on the inner wall of the mounting block (621), an anti-detachment spring (625) disposed on the outside of the guide rod (626), a sliding structure (627) slidably disposed on the inner wall of the mounting block (621), and a movable structure (628) slidably disposed on the outer wall of the sliding structure (627).

2. The modular intelligent powered lower leg prosthesis according to claim 1, characterized in that: The sliding structure (627) includes a sliding tube (6271) slidably disposed on the inner wall of the mounting block (621), a through hole (6272) opened on the inner wall of the sliding tube (6271), a connecting groove (6274) opened on the outer wall of the middle part of the sliding tube (6271), an exhaust hole (6275) opened on the inner wall of the bottom of the sliding tube (6271), a baffle plate (6273) fixedly disposed on the top of the sliding tube (6271), and a T-shaped block (6276) fixedly disposed on the outer wall of the bottom of the baffle plate (6273). The sliding tube (6271) is slidably connected to the outer wall of the guide rod (626) through the through hole (6272).

3. The modular intelligent powered lower leg prosthesis according to claim 2, characterized in that: The movable structure (628) includes a U-shaped block (6281) slidably disposed on the outer wall of the T-shaped block (6276), a first return spring (6282) symmetrically fixed on the inner wall of the U-shaped block (6281), a groove (6283) formed on the upper side wall of the U-shaped block (6281), an inner groove (6284) formed on the bottom outer wall of the U-shaped block (6281), and a slider (6286) slidably disposed on the bottom inner side wall of the U-shaped block (6281) through the inner groove (6284), and a fixed A second return spring (6285) is provided on the side wall of the top protrusion of the slider (6286), and a sloping groove (6287) is provided on the side wall of the slider (6286) away from the sliding tube (6271). The outer wall I of the U-shaped block (6281) is slidably connected to the outer wall of the baffle plate (6273) through the sliding groove (6283). The end of the first return spring (6282) away from the connection of the U-shaped block (6281) is fixedly connected to the side wall of the T-shaped extension of the T-shaped block (6276).

4. A modular intelligent powered lower leg prosthesis according to claim 3, characterized in that: The air inlet slot (622) is connected to the vent (623), the vent (623) is connected to the air guide slot (624), and the exhaust port (6275) is connected to the connecting slot (6274).

5. A modular intelligent powered lower leg prosthesis according to claim 1, characterized in that: The connecting component (42) includes a fixed tube (424) fixedly disposed on the top outer wall of the connecting frame (41), an active groove (426) opened on the inner wall of the fixed tube (424), a fixed structure (425) slidably disposed on the inner wall of the fixed tube (424), a sliding sleeve (421) slidably disposed on the outer wall of the fixed tube (424), an extrusion groove (422) opened on the inner side wall of the sliding sleeve (421), and an extension rod (423) symmetrically fixedly disposed on the bottom outer wall of the sliding sleeve (421). The outer wall of the extension rod (423) is slidably connected to the inner wall of the connecting frame (41).

6. A modular intelligent powered lower leg prosthesis according to claim 5, characterized in that: The fixing structure (425) includes a sliding block (4251) slidably disposed on the inner wall of the fixing tube (424), a fixing ring (4252) fixedly disposed on the inner wall of the fixing tube (424) through a movable groove (426), a first tension spring (4253) fixedly disposed on the outer wall of the fixing ring (4252), a positioning rod (4254) slidably disposed on the inner wall of the sliding block (4251), and a second tension spring (4255) fixedly disposed on the outer wall of the positioning rod (4254). The end of the first tension spring (4253) away from the fixing ring (4252) is fixedly connected to the protruding annular outer wall of the sliding block (4251), and the end of the second tension spring (4255) away from the connection of the positioning rod (4254) is fixedly connected to the inner side wall of the sliding block (4251).

7. A modular intelligent powered lower leg prosthesis according to claim 1, characterized in that: The positioning component (43) includes a connecting rod (431) slidably disposed on the inner wall of the sliding sleeve (421), a limiting sleeve (432) fixedly disposed on the outer wall of the connecting rod (431), and an annular groove (433) formed on the side wall of the connecting rod (431).

8. A modular intelligent powered lower leg prosthesis according to claim 1, characterized in that: The adapter mounting assembly (3) includes a limiting plate (35) fixedly disposed on the inner side wall of the elastic module protective shell (2), a compression ring (36) disposed on the top outer wall of the limiting plate (35), an extension plate (32) disposed on the outer wall of the limiting sleeve (432) through a positioning hole (33) and the positioning hole (33) is opened on the inner wall of the extension plate (32), a connecting ring (31) fixedly disposed on the outer wall of the extension plate (32), and an insertion component (34) slidably disposed on the inner wall of the connecting ring (31).

9. A modular intelligent powered lower leg prosthesis according to claim 8, characterized in that: The insertion component (34) includes a limiting ring (341) slidably disposed on the inner wall of the connecting ring (31), a buffer rod (342) fixedly disposed on the bottom outer wall of the limiting ring (341), an insertion rod (343) fixedly disposed on the inner wall of the buffer rod (342), and an annular groove (344) formed on the side wall of the insertion rod (343).

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