Axially damped knee-ankle prosthesis

Abstract

This invention belongs to the field of medical device technology, and specifically relates to an axially damping knee and ankle prosthesis, including a knee joint and an ankle joint, and a leg sleeve and footplate respectively installed on the knee and ankle joints. A guide post is fixedly connected to the lower side of the knee joint, and a support cylinder is slidably connected to the guide post. A piston seat, slidably connected to the support cylinder, is fixedly connected to the lower end of the guide post. An axial damping component is provided between the piston seat and the support cylinder. This invention, through the cooperation of the axial damping component and the rebound suppression component, can buffer and dampen the axial impact force generated during walking. Furthermore, through the provision of a horizontal torsional buffer component, it can buffer the horizontal torque generated during walking. Additionally, through the cooperation of a heat dissipation component and an energy storage control component, it can automatically collect air for cooling and intermittently spray air into the leg sleeve for active heat dissipation as the prosthesis walks, thereby improving the heat dissipation effect of the leg sleeve.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology, and in particular relates to a knee and ankle prosthesis with axial shock absorption. Background Technology

[0002] Knee and ankle prostheses are important assistive devices that help lower limb amputees regain their walking function. They are mainly composed of leg sleeves, knee joints, ankle joints, and foot plates. By simulating the movement trajectory of the human lower limb joints, they assist patients in completing basic movements such as standing and walking, thereby improving their self-care ability and mobility.

[0003] Currently, traditional knee and ankle prostheses often use fixed rods to achieve a rigid connection between the knee and ankle joints. When users go up or down slopes or walk on uneven ground, the vertical impact and horizontal torque on the foot are directly transmitted to the knee joint and residual limb, affecting wearing comfort and gait stability. At the same time, traditional prosthetic leg sleeves mostly rely on opening ventilation holes for passive heat dissipation, which has poor heat dissipation effect.

[0004] Therefore, we propose an axially damping knee and ankle prosthesis to address the aforementioned problems. Summary of the Invention

[0005] The purpose of this invention is to address the above-mentioned problems by providing an axially damping knee and ankle prosthesis.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: an axially damped knee and ankle prosthesis, comprising a knee joint and an ankle joint, and a leg sleeve and a foot plate respectively mounted on the knee joint and the ankle joint. A guide post is fixedly connected to the lower side of the knee joint, and a support cylinder is slidably connected to the guide post. A piston seat that is slidably connected to the support cylinder is fixedly connected to the lower end of the guide post. An axial damping component is provided between the piston seat and the support cylinder, and a rebound suppression component is provided on the lower side of the piston seat. An energy storage control component that cooperates with the rebound suppression component is provided on the support cylinder. A heat dissipation component that cooperates with the energy storage control component is provided between the support cylinder and the leg sleeve. A horizontal torsional buffer component is provided between the support cylinder and the ankle joint.

[0007] In the aforementioned axially damped knee and ankle prosthesis, the axial damping assembly includes multiple sliding sleeves and multiple sliding rods. The sliding rods are slidably connected to the corresponding sliding sleeves, and the sliding rods and sliding sleeves are fixedly connected by damping springs. The sliding sleeves are fixedly installed in the support cylinder, and the end of the sliding rod away from the sliding sleeve is fixedly connected to the piston seat.

[0008] In the aforementioned axially damped knee and ankle prosthesis, the rebound suppression assembly includes two fixed frames and two rubber wheels. The two fixed frames are fixedly mounted on the lower side of the piston seat, and the two rubber wheels are rotatably connected to their respective fixed frames. The rubber wheels are in contact with the inner wall of the support cylinder.

[0009] In the aforementioned knee and ankle prosthesis with axial shock absorption, a one-way clutch that is connected to the rubber wheel drive is fixedly installed on the fixing frame, and the one-way clutch can control the rubber wheel to roll in one direction.

[0010] In the aforementioned axially damping knee and ankle prosthesis, the energy storage control component includes multiple ceramic piezoelectric sheets, an energy storage unit, and a PLC controller. Each ceramic piezoelectric sheet is fixedly embedded in the inner wall of the support cylinder, and the ceramic piezoelectric sheets are distributed along the longitudinal movement path of the rubber wheel. The energy storage unit and the PLC controller are fixedly installed on the lower side of the support cylinder. Each ceramic piezoelectric sheet is connected in parallel and in series with the energy storage unit, and the energy storage unit is electrically connected to the PLC controller.

[0011] In the aforementioned axially damped knee and ankle prosthesis, the energy storage unit consists of a rectifier, a supercapacitor, and a battery. The ceramic piezoelectric element is electrically connected to the rectifier, the rectifier is electrically connected to the supercapacitor, the supercapacitor is electrically connected to the battery, and the battery is electrically connected to the PLC controller.

[0012] In the aforementioned axially damped knee and ankle prosthesis, the heat dissipation assembly includes an annular air chamber, a telescopic hose, and multiple semiconductor cooling rods. The annular air chamber is located on the lower side of the leg sleeve and has multiple air holes. The annular air chamber is connected to a support cylinder via the telescopic hose, which is equipped with a solenoid valve. The upper side of the support cylinder is fixedly connected to two air inlet pipes, each equipped with a one-way valve. Each semiconductor cooling rod is fixedly mounted on the support cylinder, with its cooling end extending into the support cylinder. A pressure sensor electrically connected to a PLC controller is fixedly mounted on the upper side of the piston seat, and both the solenoid valve and the semiconductor cooling rod are electrically connected to the PLC controller.

[0013] In the aforementioned axially damped knee and ankle prosthesis, the horizontal torsional cushioning assembly includes a cushioning box and a support shaft. The cushioning box is fixedly disposed on the lower side of the support cylinder, and the support shaft is rotatably connected to the cushioning box. An annular groove is formed on the inner bottom surface of the cushioning box. A fixing block is fixedly disposed in the annular groove, and two sliders are slidably connected in the annular groove. The support shaft is fixedly connected to the corresponding sliders through a connecting rod, and both sliders are fixedly connected to the fixing block through a telescopic spring. Multiple damping plates that cooperate with the sliders are fixedly embedded on the inner bottom surface of the annular groove. One end of the support shaft extends to the outside of the cushioning box and is fixedly connected to the ankle joint.

[0014] Compared to existing technologies, the advantages of an axially damped knee and ankle prosthesis are: 1. Through the cooperation of the axial shock absorption component and the rebound suppression component, the axial impact force when the foot plate lands can be effectively absorbed, and the vibration is blocked from being transmitted to the residual limb. When the shock absorption spring rebounds, the one-way clutch in the rebound suppression component can control the rubber wheel to lock, increase the friction between the rubber wheel and the inner wall of the support cylinder, effectively slow down the rebound speed, and avoid the problem of the prosthesis bouncing and shaking.

[0015] 2. Through the energy storage control components, the mechanical energy can be converted into electrical energy by the movement and compression of the ceramic piezoelectric sheet and the rubber wheel, so as to automatically recharge the battery and extend the battery's range. In addition, through the cooperation of the heat dissipation components, air pressure sensor and PLC controller, the system can automatically collect air for cooling and intermittently spray air into the leg sleeve for active heat dissipation as the prosthesis walks, so as to improve the heat dissipation effect of the leg sleeve.

[0016] 3. The horizontal torsion buffer component can effectively buffer the horizontal torsion torque transmitted by the ankle joint when walking on uneven surfaces or going up and down slopes. It adapts to the forward and reverse torque impact generated by the foot. It relies on the deformation of the telescopic spring to absorb energy and the damping plate to suppress rebound, thereby reducing the impact of horizontal torque on the knee joint and residual limb to ensure the stability of the user's walking. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of an axially damping knee and ankle prosthesis provided by the present invention; Figure 2 This is a frontal perspective view of the axially damping knee and ankle prosthesis provided by the present invention. Figure 3 This is a frontal perspective schematic diagram of the leg sleeve of an axially shock-absorbing knee and ankle prosthesis provided by the present invention; Figure 4 This is a frontal perspective schematic diagram of the support cylinder of an axially damping knee and ankle prosthesis provided by the present invention; Figure 5 This is a top-view perspective structural diagram of the interaction between the buffer box and the support shaft of an axially damping knee and ankle prosthesis provided by the present invention. Figure 6 This is a frontal perspective schematic diagram of the sliding sleeve and sliding rod of an axially damping knee and ankle prosthesis provided by the present invention.

[0018] In the diagram: 1 Knee joint, 2 Ankle joint, 3 Leg sleeve, 4 Foot plate, 5 Guide column, 6 Support cylinder, 7 Piston seat, 8 Axial damping assembly, 81 Sliding sleeve, 82 Sliding rod, 9 Rebound suppression assembly, 91 Fixing frame, 92 Rubber wheel, 10 Energy storage control assembly, 101 Ceramic piezoelectric sheet, 102 Energy storage unit, 1021 Rectifier, 1022 Supercapacitor, 1023 Battery, 103 PLC controller, 11 Heat dissipation assembly, 111 Annular air chamber, 112 Telescopic hose, 113 Semiconductor cooling rod, 12 Horizontal torsion buffer assembly, 121 Buffer box, 122 Support shaft, 13 Damping spring, 14 One-way clutch, 15 Air hole, 16 Solenoid valve, 17 Inlet pipe, 18 One-way valve, 19 Air pressure sensor, 20 Annular groove, 21 Fixing block, 22 Slider, 23 Connecting rod, 24 Telescopic spring, 25 Damping plate. Detailed Implementation

[0019] Specific embodiments of the present invention will now be described in detail. It should be noted that the embodiments described herein are for illustrative purposes only and are not intended to limit the invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the invention. However, it will be apparent to those skilled in the art that these specific details are not necessary to practice the invention. In other instances, well-known circuits, software, or methods have not been specifically described to avoid obscuring the invention.

[0020] Throughout this specification, references to "an embodiment," "an embodiment," "an example," or "an example" mean that a particular feature, structure, or characteristic described in connection with that embodiment or example is included in at least one embodiment of the invention. Therefore, the phrases "in an embodiment," "in an embodiment," "an example," or "an example" appearing in various places throughout the specification do not necessarily refer to the same embodiment or example. Furthermore, specific features, structures, or characteristics can be combined in one or more embodiments or examples in any suitable combination and / or sub-combination. Moreover, those skilled in the art will understand that the illustrations provided herein are for illustrative purposes and are not necessarily drawn to scale.

[0021] like Figures 1-6As shown, an axially damped knee and ankle prosthesis includes a knee joint 1 and an ankle joint 2, as well as a leg sleeve 3 and a foot plate 4 respectively installed on the knee joint 1 and the ankle joint 2. The knee joint 1 is used to realize the flexion and extension swing of the lower limb and also has a standing weight-bearing locking function to ensure the upright support, walking and knee flexion of the prosthesis. The ankle joint 2 is used to adapt to the landing posture of the foot plate 4 and adjust the walking angle of the foot. This is the prior art and will not be described in detail. The leg sleeve 3 has multiple heat dissipation holes and multiple elastic pads are fixedly installed in the leg sleeve 3 to support the user's leg and facilitate heat dissipation. A guide post 5 is fixedly connected to the lower side of the knee joint 1. The guide post 5 is slidably connected to a support cylinder 6. The guide post 5 and the support cylinder 6 are sealed and slidably connected. The lower end of the guide post 5 is fixedly connected to a piston seat 7 that is slidably connected to the support cylinder 6. An axial damping component 8 is provided between the piston seat 7 and the support cylinder 6, and a rebound suppression component 9 is provided on the lower side of the piston seat 7.

[0022] The axial damping assembly 8 includes multiple sliding sleeves 81 and multiple sliding rods 82. The sliding rods 82 are slidably connected to the corresponding sliding sleeves 81, and the sliding rods 82 and sliding sleeves 81 are fixedly connected by damping springs 13. The sliding sleeves 81 are fixedly installed in the support cylinder 6, and the end of the sliding rod 82 away from the sliding sleeve 81 is fixedly connected to the piston seat 7. Through the cooperation of the sliding rods 82 and sliding sleeves 81, the piston seat 7 can be limited to prevent the piston seat 7 from rotating. The damping springs 13 can buffer and dampen axial vibration.

[0023] The rebound suppression component 9 includes two fixed brackets 91 and two rubber wheels 92. The two fixed brackets 91 are fixedly installed on the lower side of the piston seat 7, and the two rubber wheels 92 are rotatably connected to the corresponding fixed brackets 91. The rubber wheels 92 are in contact with the inner wall of the support cylinder 6. A one-way clutch 14 is fixedly installed on the fixed bracket 91 and is connected to the rubber wheel 92 in a transmission. The one-way clutch 14 can control the rubber wheel 92 to roll in one direction. By using the one-way clutch 14, the rubber wheel 92 can be prevented from rolling when it moves upward with the piston seat 7, thereby increasing the friction between it and the inner wall of the support cylinder 6 and better suppressing the rebound of the shock absorber spring 13.

[0024] The support cylinder 6 is equipped with an energy storage control component 10 that cooperates with the rebound suppression component 9. The energy storage control component 10 includes multiple ceramic piezoelectric sheets 101, an energy storage unit 102, and a PLC controller 103. Each ceramic piezoelectric sheet 101 is fixedly embedded in the inner wall of the support cylinder 6 and is distributed along the longitudinal movement path of the rubber wheel 92. The energy storage unit 102 and the PLC controller 103 are fixedly installed on the lower side of the support cylinder 6. Each ceramic piezoelectric sheet 101 is connected in parallel and in series with the energy storage unit 102. The energy storage unit 102 is electrically connected to the PLC controller 103. Through the ceramic piezoelectric sheets 101, the movement and compression of the rubber wheel 92 can generate electricity to replenish the energy storage unit 102 and improve the driving time.

[0025] The energy storage unit 102 consists of a rectifier 1021, a supercapacitor 1022, and a battery 1023. The ceramic piezoelectric element 101 is electrically connected to the rectifier 1021, and the rectifier 1021 is electrically connected to the supercapacitor 1022. The supercapacitor 1022 is electrically connected to the battery 1023. The supercapacitor 1022 and the battery 1023 are connected in a one-way electrical connection to prevent backflow. The battery 1023 is electrically connected to the PLC controller 103. Through the cooperation of the rectifier 1021 and the supercapacitor 1022, the current generated by the ceramic piezoelectric element 101 can be stably conducted to the battery 1023 for storage. The battery 1023 supports external charging. With the power supplemented by the ceramic piezoelectric element 101, the battery life of the battery 1023 can be improved.

[0026] A heat dissipation assembly 11, which cooperates with the energy storage control component 10, is provided between the support cylinder 6 and the leg sleeve 3. The heat dissipation assembly 11 includes an annular air chamber 111, a telescopic hose 112, and multiple semiconductor cooling rods 113. The annular air chamber 111 is located on the lower side of the leg sleeve 3, and multiple air holes 15 are provided on the annular air chamber 111. The annular air chamber 111 is connected to the support cylinder 6 through the telescopic hose 112, and a solenoid valve 16 is provided on the telescopic hose 112. Two air inlet pipes 17 are fixedly connected to the upper side of the support cylinder 6, and a one-way valve 18 is provided on each of the two air inlet pipes 17. The air holes 15 and the air inlet pipes 17 are each equipped with a one-way valve 18. Equipped with a dustproof net, each semiconductor cooling rod 113 is fixedly mounted on the support cylinder 6, and the cooling end of the semiconductor cooling rod 113 extends into the support cylinder 6. A pressure sensor 19 electrically connected to the PLC controller 103 is fixedly mounted on the upper side of the piston seat 7. The solenoid valve 16 and the semiconductor cooling rod 113 are also electrically connected to the PLC controller 103. Through the cooperation of the pressure sensor 19, the PLC controller 103, the semiconductor cooling rod 113, and the one-way valve 18, the system can automatically collect air for cooling while walking and intermittently spray air to the leg sleeve 3 for heat dissipation, which improves wearing comfort and avoids energy waste.

[0027] A horizontal torsion buffer assembly 12 is provided between the support cylinder 6 and the ankle joint 2. The horizontal torsion buffer assembly 12 includes a buffer box 121 and a support shaft 122. The buffer box 121 is fixedly disposed on the lower side of the support cylinder 6, and the support shaft 122 is rotatably connected to the buffer box 121. An annular groove 20 is provided on the inner bottom surface of the buffer box 121. A fixing block 21 is fixedly disposed in the annular groove 20, and two sliders 22 are slidably connected in the annular groove 20. The support shaft 122 is fixedly connected to the corresponding slider 22 through a connecting rod 23. Both sliders 22 are fixedly connected to the fixed block 21 by telescopic springs 24. Multiple damping plates 25 that cooperate with the sliders 22 are fixedly embedded on the inner bottom surface of the annular groove 20. The damping plates 25 can suppress the rebound of the telescopic springs 24. One end of the support shaft 122 extends to the outside of the buffer box 121 and is fixedly connected to the ankle joint 2. By cooperating with the telescopic springs 24, sliders 22, damping plates 25, and annular groove 20, the horizontal torsional torque transmitted by the ankle joint 2 can be effectively buffered, thereby improving the stability of the walking gait.

[0028] The operating principle of the present invention is now described as follows: After the user wears the leg sleeve 3, they walk with the help of the knee and ankle prosthesis. When the foot 4 lands, the vertical impact of the ground and the weight of the human body cause the piston seat 7 to move downward relative to the support cylinder 6, which stretches the shock-absorbing spring 13 in the axial shock-absorbing component 8. The deformation of the shock-absorbing spring 13 absorbs and disperses the axial impact force generated by the landing, and blocks the transmission of vibration to the residual limb, thus achieving axial buffering and shock absorption. After the foot is lifted, the external pressure is released, and the shock-absorbing spring 13 will drive the piston seat 7 to rebound upward. The rebound suppression component 9 can effectively slow down the rebound speed and avoid the problem of the prosthesis bouncing and shaking. The rebound suppression component 9 moves up and down synchronously with the piston seat 7. Under the control of the one-way clutch 14, its rubber wheel 92 can roll freely along the inner wall of the support cylinder 6 when the piston seat 7 moves down to reduce motion damping and ensure that the shock absorber spring 13 stretches smoothly to absorb energy. When the shock absorber spring 13 drives the piston seat 7 to move up and rebound, the one-way clutch 14 will lock the rubber wheel 92 to increase the friction between the rubber wheel 92 and the inner wall of the support cylinder 6, thereby strengthening the rebound suppression effect. During the movement, the rubber wheel 92 moves up and down with the piston seat 7, which continuously squeezes the ceramic piezoelectric sheet 101 on the inner wall of the support cylinder 6 to generate current. After being processed by the rectifier 1021 and the supercapacitor 1022 in the energy storage control component 10, the current is stored in the battery 1023, completing the automatic replenishment of the battery 1023 and effectively extending the battery 1023's range.

[0029] When the piston seat 7 moves down, it draws in fresh air from the outside through the air inlet pipe 17. Under the action of the one-way valve 18, the air is stored in the space above the piston seat 7. As the air pressure in the space continues to rise, it can work with the rebound suppression component 9 to further enhance the rebound suppression effect. When the air pressure reaches the set threshold, the air pressure sensor 19 sends an electrical signal to the PLC controller 103. The PLC controller 103 then activates the semiconductor cooling rod 113 and the solenoid valve 16. The semiconductor cooling rod 113 cools the stored air. After the solenoid valve 16 is opened, the cooling gas is delivered to the annular air chamber 111 through the telescopic hose 112 and then sprayed out through the air hole 15 to actively dissipate heat for the leg sleeve 3. After the air pressure drops to the set value, the PLC controller 103 closes the semiconductor cooling rod 113 and the solenoid valve 16. The piston seat 7 continues to move and accumulate gas, achieving intermittent heat dissipation in a cycle. This not only improves the wearing comfort of the leg sleeve 3 but also avoids energy waste and excessive heat dissipation. When a user walks on uneven surfaces or uphill / downhill, the footplate 4 generates a horizontal torque due to the ground action. The support shaft 122 of the horizontal torsion buffer assembly 12 will rotate, causing the slider 22 to slide within the annular groove 20. The telescopic spring 24 between the slider 22 and the fixed block 21 will deform to buffer the horizontal torque. The two telescopic springs 24 can adapt to the torque impact of forward and reverse rotation. Together with the damping plate 25, the horizontal torque buffering effect is further improved, ensuring gait stability during walking.

[0030] To verify the actual performance and application effect of the technical solution of this invention, and based on multiple rounds of specialized testing and optimization verification during actual research and development, the actual performance indicators, optimization effects, and reliability of each functional module of this invention are as follows: Test Example 1: Axial damping performance The buffering effect of the axial shock absorption component 8 of this invention has been verified by multi-condition experiments. With the parameter scheme of shock absorption spring 13 stiffness of 18-20N / mm and guide column 5 stroke of 32-35mm, under the walking conditions of 70-90kg load and 1.0-1.5Hz step frequency, the peak impact of foot plate 4 landing is reduced by 28%-31% compared with traditional rigid connection prostheses, thereby reducing the transmission of vibration to knee joint 1 and residual limb.

[0031] The piston seat 7, with a 0.15mm clearance, and the hard anodized guide post 5 and support cylinder 6, exhibit a maximum lateral sway of no more than 0.8mm during movement. The slide rod 82 and slide sleeve 81 have not experienced any jamming after 3000 consecutive cycles. After 10,000 long-cycle gait impact durability tests, the peak buffer performance retention rate is 92%, and no structural cracks have been observed, indicating that the axial damping structure has good stability and durability.

[0032] In a further preferred embodiment, by adding a wear-resistant coating to the inner wall of the support cylinder 6 and setting a dustproof sealing ring, the friction fluctuation after 3000 cycles is reduced from ±18% to ±6%, thereby improving the smoothness of sliding of the piston seat 7 and the slide rod 82 and the service life of the components.

[0033] Test Example 2: Rebound Suppression Performance The damping control effect of the rebound suppression component 9 has been specifically verified. It adopts a scheme with a rubber wheel 92 with a diameter of 18mm and a one-way clutch 14 with a locking torque of 1.6N·m. The fixed frame 91 carries the rubber wheel 92 and the one-way clutch 14, which move synchronously with the piston seat 7. Under the working condition of 75kg load and 30mm rebound stroke, the rebound speed is reduced by 36% compared with the structure without suppression. The locking direction of the one-way clutch 14 can meet the rebound suppression requirements, and no slippage occurs between the rubber wheel 92 and the inner wall of the support cylinder 6.

[0034] In a further preferred embodiment, by increasing the locking torque of the one-way clutch 14 and optimizing the material of the rubber wheel 92, the rebound speed of the piston seat 7 is reduced from 0.42m / s to 0.27m / s, thereby reducing the bouncing and swaying during the prosthetic walking process and improving gait stability.

[0035] Test Example 3: Horizontal Torsional Cushioning Performance The torque absorption and reset performance of the horizontal torsion buffer assembly 12 was tested and verified. The assembly used parameters including a 28mm radius annular groove 20 inside the buffer box 121, a 12N / mm stiffness telescopic spring 24, and a 0.35 coefficient of friction for the damping plate 25. The support shaft 122 drives the slider 22 to slide along the annular groove 20 via the connecting rod 23. Under ±8° torsion and 15N·m torque conditions, the forward and reverse reset deviation was no greater than 1.2°, and the peak torque was reduced by 24%.

[0036] Through simulated tests on uneven surfaces such as an 8° slope and a gravel road, the torque fluctuation at the knee end transmitted from the ankle joint 2 to the support cylinder 6 was reduced by 21%, indicating that the horizontal torsion buffer component 12 can reduce torque impact under complex road surfaces and improve walking gait stability.

[0037] In a further preferred embodiment, by optimizing the chamfer of the slider 22 and replacing the composite damping sheet 25, the number of abnormal noises during the horizontal torsional reset process is reduced by 80%, and the torsional reset deviation is controlled within 1°, thereby further improving the smoothness of the torsional reset process.

[0038] Test Example 4: Piezoelectric Energy Storage Performance The power supply stability and energy replenishment efficiency of the self-generated energy replenishment system of the energy storage control component 10 were tested and verified. Under normal walking conditions with a load of 75kg and a step frequency of 1.2Hz, the rubber wheel 92 moves back and forth with the piston seat 7 and continuously squeezes the ceramic piezoelectric sheet 101 set on the inner wall of the support cylinder 6. The cumulative energy replenishment is about 120mWh in 30 minutes, and the voltage output remains stable.

[0039] In a further preferred embodiment, by adding a rectifier filter and a supercapacitor 1022 buffer circuit to the energy storage unit 102, the power supply voltage fluctuation of the PLC controller 103 is reduced from ±0.6V to ±0.15V. Combined with the three-level energy storage architecture formed by the rectifier 1021, the supercapacitor 1022 and the battery 1023, automatic energy replenishment can be achieved during walking, thereby extending the battery 1023's runtime. After the circuit is potted and protected, the operational reliability of the energy storage control component 10 is further improved.

[0040] Test Example 5: Active Cooling Performance The cooling effect of the intermittent jet cooling system of the heat dissipation component 11 was tested and verified. Under the condition of an ambient temperature of 30℃ and continuous walking for 40 minutes, using the control parameters of a valve opening threshold of 45kPa for the air pressure sensor 19 and a cooling duty cycle of 30% for the semiconductor cooling rod 113, the piston seat 7 reciprocates and collects air through the air inlet pipe 17 with a one-way valve 18. After the gas is cooled by the semiconductor cooling rod 113, the solenoid valve 16 opens and delivers the cold air through the telescopic hose 112 to the annular air chamber 111 of the leg sleeve 3, and finally sprays it out through the air hole 15. The test results show that the inner surface temperature of the leg sleeve 3 is reduced by 2.8℃, and the user's feeling of damp heat is reduced.

[0041] After overall durability testing, the temperature rise of the leg sleeve 3 in this solution is about 2.5℃ lower than that of traditional passively cooled prostheses. The ventilation of the dustproof mesh at the air vent 15 and air inlet pipe 17 is good, indicating that the heat dissipation component 11 can achieve active heat dissipation function relatively stably, thereby improving the comfort of wearing for a long time.

[0042] Test Example 6: Overall Reliability and Wearability After comprehensive testing of the entire machine, no early structural failures were found in the prototype of this invention during continuous loading and preliminary durability verification under multiple working conditions.

[0043] After 20,000 steps of continuous loading simulation durability test, the damping performance of the axial damping component 8 was maintained at 90%, and the torsional reset performance of the horizontal torsion buffer component 12 remained good, with no structural failures.

[0044] Wearability tests were conducted on users of different weight ranges and on slopes of 0°-10°. The user's subjective comfort score improved, and the peak impact was reduced by 31% compared to a rigid connection prosthesis. The energy storage control component 10 and the heat dissipation component 11 remained stable without any serious malfunctions, indicating that the present invention can adapt to the walking needs of users of different weights and on complex terrains.

[0045] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered within the scope of the claims and specification of the present invention.

Claims

1. An axially damping knee-ankle prosthesis, comprising a knee joint (1) and an ankle joint (2), and a leg sleeve (3) and a footplate (4) respectively mounted on the knee joint (1) and the ankle joint (2), characterized in that, A guide post (5) is fixedly connected to the lower side of the knee joint (1). A support cylinder (6) is slidably connected to the guide post (5). A piston seat (7) is fixedly connected to the lower end of the guide post (5) and slidably connected to the support cylinder (6). An axial damping component (8) is provided between the piston seat (7) and the support cylinder (6). A rebound suppression component (9) is provided on the lower side of the piston seat (7). An energy storage control component (10) that cooperates with the rebound suppression component (9) is provided on the support cylinder (6). A heat dissipation component (11) that cooperates with the energy storage control component (10) is provided between the support cylinder (6) and the leg sleeve (3). A horizontal torsion buffer component (12) is provided between the support cylinder (6) and the ankle joint (2).

2. The knee and ankle prosthesis with axial shock absorption according to claim 1, characterized in that, The axial damping assembly (8) includes multiple sliding sleeves (81) and multiple sliding rods (82). The sliding rods (82) are slidably connected to the corresponding sliding sleeves (81), and the sliding rods (82) and the sliding sleeves (81) are fixedly connected by damping springs (13). The sliding sleeves (81) are fixedly installed in the support cylinder (6), and the end of the sliding rod (82) away from the sliding sleeve (81) is fixedly connected to the piston seat (7).

3. The knee and ankle prosthesis with axial shock absorption according to claim 1, characterized in that, The rebound suppression component (9) includes two fixed brackets (91) and two rubber wheels (92). The two fixed brackets (91) are fixedly installed on the lower side of the piston seat (7), and the two rubber wheels (92) are rotatably connected to the corresponding fixed brackets (91). The rubber wheels (92) are in contact with the inner wall of the support cylinder (6).

4. The knee and ankle prosthesis with axial shock absorption according to claim 3, characterized in that, A one-way clutch (14) is fixedly installed on the fixed frame (91) and is connected to the rubber wheel (92) for transmission. The one-way clutch (14) can control the rubber wheel (92) to roll in one direction.

5. The knee and ankle prosthesis with axial shock absorption according to claim 3, characterized in that, The energy storage control component (10) includes multiple ceramic piezoelectric sheets (101), an energy storage unit (102), and a PLC controller (103). Each ceramic piezoelectric sheet (101) is fixedly embedded in the inner wall of the support cylinder (6), and each ceramic piezoelectric sheet (101) is distributed along the longitudinal movement path of the rubber wheel (92). The energy storage unit (102) and the PLC controller (103) are fixedly installed on the lower side of the support cylinder (6). Each ceramic piezoelectric sheet (101) is connected in parallel and in series with the energy storage unit (102), and the energy storage unit (102) is electrically connected to the PLC controller (103).

6. The knee and ankle prosthesis with axial shock absorption according to claim 5, characterized in that, The energy storage unit (102) consists of a rectifier (1021), a supercapacitor (1022), and a battery (1023). The ceramic piezoelectric sheet (101) is electrically connected to the rectifier (1021), and the rectifier (1021) is electrically connected to the supercapacitor (1022). The supercapacitor (1022) is electrically connected to the battery (1023), and the battery (1023) is electrically connected to the PLC controller (103).

7. The knee and ankle prosthesis with axial shock absorption according to claim 5, characterized in that, The heat dissipation assembly (11) includes an annular air chamber (111), a telescopic hose (112), and multiple semiconductor cooling rods (113). The annular air chamber (111) is located on the lower side of the leg sleeve (3), and multiple air holes (15) are provided on the annular air chamber (111). The annular air chamber (111) is connected to the support cylinder (6) through the telescopic hose (112), and a solenoid valve (16) is provided on the telescopic hose (112). Two air inlets are fixedly connected to the upper side of the support cylinder (6). The pipe (17) is provided with a one-way valve (18) on each of the two air inlet pipes (17). Each of the semiconductor cooling rods (113) is fixedly installed on the support cylinder (6), and the cooling end of the semiconductor cooling rod (113) extends into the support cylinder (6). A pressure sensor (19) electrically connected to the PLC controller (103) is fixedly installed on the upper side of the piston seat (7). The solenoid valve (16) and the semiconductor cooling rod (113) are both electrically connected to the PLC controller (103).

8. The knee and ankle prosthesis with axial shock absorption according to claim 1, characterized in that, The horizontal torsion buffer assembly (12) includes a buffer box (121) and a support shaft (122). The buffer box (121) is fixedly installed on the lower side of the support cylinder (6), and the support shaft (122) is rotatably connected to the buffer box (121). An annular groove (20) is provided on the inner bottom surface of the buffer box (121). A fixing block (21) is fixedly installed in the annular groove (20), and two sliders (22) are slidably connected in the annular groove (20). The support shaft (122) is fixedly connected to the corresponding slider (22) through a connecting rod (23), and both sliders (22) are fixedly connected to the fixing block (21) through a telescopic spring (24). Multiple damping plates (25) that cooperate with the sliders (22) are fixedly embedded on the inner bottom surface of the annular groove (20). One end of the support shaft (122) extends to the outside of the buffer box (121) and is fixedly connected to the ankle joint (2).

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