Artificial leg

Abstract

The utility model discloses an artificial leg. The artificial leg comprises a leg part, a knee joint, an ankle joint and a foot part, the knee joints are rotationally connected with the upper ends of the legs; the ankle joint is rotationally connected with the lower end of the leg part; the feet are connected with the ankle joints; the angle detector is arranged at the upper end of the leg part and is used for detecting the rotation angle of the knee joint; the first angle limiter is used for limiting the rotation angle range of the knee joint; the second angle limiter is used for limiting the rotating angle range of the ankle joint; the first angle limiter rotates forwards or backwards relative to the leg so as to adjust the rotation angle range of the knee joint; the second angle limiter rotates forwards or backwards relative to the leg to adjust the rotation angle range of the ankle joint. The angle limiters limit the rotation angle range of the knee joints and the ankle joints, so that the knee joints and the ankle joints are blocked by the angle limiters and cannot rotate excessively, the actions of the feet and the legs are more stable, and the knee joints and the ankle joints are not prone to mistakenly executing other limb actions.

Description

Technical Field

[0001] The utility model relates to the technical field of artificial legs, in particular to an artificial leg. Background Art

[0002] Patients with thigh amputations are equipped with artificial legs to restore their mobility, and the artificial legs include knee joints and ankle joints. In the prior art, in the patent document with publication number CN215503596U, the knee joint and the ankle joint are driven by two driving mechanisms respectively. During the use of the artificial leg, there is a correlation between the rotation of the knee joint and the rotation of the ankle joint. Specifically, under different leg movements, there is a certain correlation between the rotation angle range of the knee joint and the rotation angle range of the ankle joint. However, the rotation angle range of the two cannot be well limited by the driving mechanism alone, and the problem of excessive rotation is prone to occur.

[0003] Therefore, the prior art still needs to be improved and developed. Utility Model Content

[0004] The technical problem to be solved by the present invention is to provide a prosthetic leg in view of the above-mentioned defects of the prior art, aiming to solve the problem that the prior art cannot effectively limit the rotation angle range of the knee joint and the ankle joint only by the driving mechanism, and is prone to excessive rotation.

[0005] The technical solution adopted by the utility model to solve the technical problem is as follows:

[0006] An artificial leg comprises: a leg, a knee joint, an ankle joint and a foot; the knee joint is rotatably connected to the upper end of the leg; the ankle joint is rotatably connected to the lower end of the leg; the foot is connected to the ankle joint; wherein the artificial leg further comprises:

[0007] An angle detector, disposed at the upper end of the leg and used to detect the rotation angle of the knee joint;

[0008] a first angle limiter, electrically connected to the angle detector and used to limit the rotation angle range of the knee joint;

[0009] a second angle limiter, electrically connected to the angle detector and used to limit the rotation angle range of the ankle joint;

[0010] Wherein, the first angle limiter rotates forward or backward relative to the leg to adjust the rotation angle range of the knee joint;

[0011] The second angle limiter rotates forward or backward relative to the leg to adjust the rotation angle range of the ankle joint.

[0012] The artificial leg, wherein the knee joint is provided with at least one first wedge-shaped groove, the first wedge-shaped groove extends along the rotation direction of the knee joint, and the small end of the first wedge-shaped groove is located below the large end of the first wedge-shaped groove;

[0013] The first angle limiter comprises:

[0014] A first rotating member, rotatably connected to the leg;

[0015] at least one first wedge plate, disposed on the first rotating member;

[0016] A first driver, disposed on the leg, electrically connected to the angle detector, and used to drive the first rotating member to rotate;

[0017] Wherein, when the first wedge plate is rotated to different angles, the first wedge plate is inserted into the first wedge groove with different widths.

[0018] The artificial leg, wherein the ankle joint is provided with at least one second wedge-shaped groove, the second wedge-shaped groove extends along the rotation direction of the ankle joint, and the small end of the second wedge-shaped groove is located above the large end of the second wedge-shaped groove;

[0019] The second angle limiter comprises:

[0020] A second rotating member, rotatably connected to the leg;

[0021] at least one second wedge plate, disposed on the second rotating member;

[0022] A second driver, disposed on the leg, electrically connected to the angle detector, and used to drive the second rotating member to rotate;

[0023] Wherein, when the second wedge plate is rotated to different angles, the second wedge plate is inserted into the second wedge groove with different widths.

[0024] In the artificial leg, the rotation direction of the knee joint is opposite to that of the ankle joint, the first angle limiter is located in front of the knee joint, and the second angle limiter is located behind the ankle joint.

[0025] The prosthetic leg, wherein the rotation angle range of the knee joint includes at least one of -5° to 5°, -5° to 65°, -5° to 100°, and -5° to 128°, with rotation toward the rear as a positive angle and rotation toward the front as a negative angle; the rotation angle range of the ankle joint includes at least one of -5° to 5°, -15° to 5°, -20° to 5°, and -25° to 5°.

[0026] The artificial leg, wherein the leg is provided with a controller; the angle detector comprises:

[0027] A sensing structure, disposed at the knee joint;

[0028] The detection structure is arranged on the controller and is used for detecting the rotation angle of the sensing structure.

[0029] The artificial leg, wherein the artificial leg further comprises:

[0030] a first retractable damping member, wherein the upper end of the first retractable damping member is rotatably connected to the knee joint, the lower end of the first retractable damping member is rotatably connected to the leg, and the first retractable damping member is used to drive the knee joint to rotate;

[0031] a second retractable damping member, wherein the upper end of the second retractable damping member is rotatably connected to the leg, the lower end of the second retractable damping member is rotatably connected to the ankle joint, and the second retractable damping member is used to drive the ankle joint to rotate;

[0032] Wherein, the first damping expansion member is electrically connected to the controller, and the damping coefficient of the first damping expansion member is adjustable;

[0033] The second damping expansion member is electrically connected to the controller, and the damping coefficient of the second damping expansion member is adjustable;

[0034] Wherein, the first damping expansion member is electrically connected to the controller, and the damping coefficient of the first damping expansion member is adjustable;

[0035] The second retractable damping member is electrically connected to the controller, and the damping coefficient of the second retractable damping member is adjustable.

[0036] The artificial leg, wherein the damping coefficient of the first retractable damping member is adjusted according to the rotation angle range of the knee joint; the damping coefficient of the second retractable damping member is adjusted according to the rotation angle range of the knee joint.

[0037] The prosthetic leg, wherein the first retractable damping member is located directly above the second retractable damping member; when the first retractable damping member is vertically arranged, the rotation angle of the knee joint is 0°; when the second retractable damping member is vertically arranged, the rotation angle of the ankle joint is 0°.

[0038] The artificial leg, wherein the first retractable damping member is located behind the knee joint, and the second retractable damping member is located in front of the ankle joint.

[0039] Beneficial effect: Since the angle limiter limits the rotation angle range of the knee joint and the ankle joint, the knee joint and the ankle joint are hindered by the angle limiter and cannot rotate excessively, making the foot and leg movements smoother and the knee joint and the ankle joint are not prone to mistakenly perform other limb movements. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a cross-sectional view of an artificial leg in an embodiment of the utility model.

[0041] Figure 2 It is a schematic structural diagram of the knee joint and the leg in an embodiment of the utility model.

[0042] Figure 3 It is a cross-sectional view of a knee joint in an embodiment of the present utility model.

[0043] Figure 4 It is a first structural schematic diagram of the knee joint in an embodiment of the utility model.

[0044] Figure 5 It is a second structural schematic diagram of the knee joint in the embodiment of the utility model.

[0045] Figure 6 It is a first structural schematic diagram of the first angle limiter in an embodiment of the utility model.

[0046] Figure 7 It is a second structural schematic diagram of the first angle limiter in the embodiment of the utility model.

[0047] Description of reference numerals:

[0048] 10. Leg; 20. Knee joint; 21. First wedge-shaped groove; 22. Groove; 23. Limiting structure; 30. Ankle joint; 31. Second wedge-shaped groove; 40. Foot; 50. Angle detector; 51. Sensing structure; 52. Detection structure; 61. First angle limiter; 611. First rotating member; 612. First wedge plate; 62. Second angle limiter; 70. Drive assembly; 71. First damping telescopic member; 72. Second damping telescopic member; 80. Controller. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solution and advantages of the utility model clearer and more specific, the utility model is further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described here are only used to explain the utility model and are not used to limit the utility model.

[0050] Please also see Figure 1-Figure 7 The utility model provides some preferred embodiments of a prosthetic leg.

[0051] like Figure 1-Figure 3As shown, the prosthetic leg comprises:

[0052] Legs 10;

[0053] A knee joint 20, the knee joint 20 being rotatably connected to the upper end of the leg 10;

[0054] An ankle joint 30, the ankle joint 30 is rotatably connected to the lower end of the leg 10;

[0055] A foot 40, wherein the foot 40 is connected to the ankle joint 30;

[0056] An angle detector 50, disposed at the upper end of the leg 10, and used to detect the rotation angle of the knee joint 20;

[0057] A first angle limiter 61 is electrically connected to the angle detector 50 and is used to limit the rotation angle range of the knee joint 20;

[0058] A second angle limiter 62, electrically connected to the angle detector 50, and used to limit the rotation angle range of the ankle joint 30;

[0059] Wherein, the first angle limiter 61 rotates forward or backward relative to the leg 10 to adjust the rotation angle range of the knee joint 20;

[0060] The second angle limiter 62 rotates forward or backward relative to the leg 10 to adjust the rotation angle range of the ankle joint 30 .

[0061] Specifically, in order to achieve the flexibility of the artificial leg, the ankle joint 30 is assembled on the basis of the knee joint 20, and the knee joint 20 and the leg 10 can rotate, and the ankle joint 30 and the leg 10 can rotate. Specifically, the knee joint 20 and the ankle joint 30 rotate in the same plane. The knee joint 20 also plays a connecting role, connecting the leg 10 and the user's severed limb respectively. The leg 10 is in the shape of a calf, and the foot 40 is in the shape of a foot plate, and a cavity with an opening is formed in the leg 10. The angle detector 50 is arranged on the leg 10 or the knee joint 20, and can be specifically arranged in the cavity. The angle detector 50 detects the rotation angle of the knee joint 20 relative to the leg 10 (that is, the rotation angle of the knee joint 20). The angle limiter is used to limit the rotation range (i.e., the rotation angle range) of the knee joint 20 or the ankle joint 30 relative to the leg 10. The rotation angle range limited by the angle limiter is adjustable. The first angle limiter 61 can rotate forward or backward relative to the leg 10 to adjust the rotation angle range of the knee joint 20. The second angle limiter 62 can rotate forward or backward relative to the leg 10 to adjust the rotation angle range of the ankle joint 30. The front is the direction facing the user, and the back is the direction facing away from the user. The first angle limiter 61 and the second angle limiter 62 are electrically connected to the angle detector 50 respectively. Since the angle detector 50 can obtain the rotation angle of the knee joint 20, under the same leg movement, the rotation angle of the knee joint 20 changes little, and the rotation angle of the ankle joint 30 also changes little. The rotation angle range of the knee joint 20 and the ankle joint 30 can be adjusted by the angle limiter, so that the rotation of the knee joint 20 and the ankle joint 30 matches the movement of the foot 40. The knee joint 20 and the ankle joint 30 have higher rotation flexibility within the rotation angle range, which is closer to a real prosthetic leg and convenient for users to use.

[0062] Since the angle limiter limits the rotation angle range of the knee joint 20 and the ankle joint 30, the knee joint 20 and the ankle joint 30 are hindered by the angle limiter and cannot rotate excessively, so that the movement of the foot 40 and the leg 10 is more stable, and the knee joint 20 and the ankle joint 30 are not easy to mistakenly perform other limb movements. Leg movements include: at least one of standing, walking, sitting and squatting. When the thigh and the calf are both in the vertical direction, the angle of the knee joint 20 is 0°, and the backward rotation is a positive angle, and the forward rotation is a negative angle. When standing, the rotation angle of the knee joint 20 and the ankle joint 30 is small, and the rotation angle range is also small, close to 0°. For example, the rotation angle range of the knee joint 20 is -5° to 5°, and the rotation angle range of the ankle joint 30 is -5° to 5°. When walking, the rotation angle of the knee joint 20 and the ankle joint 30 is larger, and the rotation angle range is also larger. The rotation angle range of the knee joint 20 is -5° to 65°, and the rotation angle range of the ankle joint 30 is -15° to 5°. When sitting, the rotation angle of the knee joint 20 and the ankle joint 30 is larger, and the rotation angle range is also larger. The rotation angle range of the knee joint 20 is -5° to 100°, and the rotation angle range of the ankle joint 30 is -20° to 5°. When squatting, the rotation angle of the knee joint 20 and the ankle joint 30 is the largest, and the rotation angle range is also the largest. The rotation angle range of the knee joint 20 is -5° to 128°, and the rotation angle range of the ankle joint 30 is -25° to 5°.

[0063] Due to different leg movements, the rotation angle range of the knee joint 20 is different, and the rotation angle range of the ankle joint 30 is also different, but the rotation angle range of the knee joint 20 and the rotation angle range of the ankle joint 30 change correspondingly. Therefore, the rotation angle of the knee joint 20 can be detected by an angle detector 50, and the rotation angle of the knee joint 20 can be obtained, so as to control the two angle limiters, specifically controlling the first angle limiter 61 to limit the rotation angle range of the knee joint 20, and controlling the second angle limiter 62 to limit the rotation angle range of the ankle joint 30.

[0064] In a preferred embodiment of the present invention, please also refer to Figure 1-Figure 3 The rotation direction of the knee joint 20 is opposite to that of the ankle joint 30 , the first angle limiter 61 is located in front of the knee joint 20 , and the second angle limiter 62 is located behind the ankle joint 30 .

[0065] Specifically, the knee joint 20 mainly rotates backward, and the ankle joint 30 mainly rotates forward, and the rotation directions of the two are opposite. In each leg movement, the rotation direction of the knee joint 20 is also opposite to the rotation direction of the ankle joint 30. The first angle limiter 61 is located in front of the knee joint 20, and the second angle limiter 62 is located behind the ankle joint 30.

[0066] In a preferred embodiment of the present invention, please also refer to Figure 1-Figure 3 The rotation angle range of the knee joint 20 includes at least one of -5° to 5°, -5° to 65°, -5° to 100°, and -5° to 128°.

[0067] Specifically, the rotation angle of the knee joint 20 is configured and adjusted according to needs, and the rotation angle range of the knee joint 20 can usually be configured according to the rotation angle range of the actual knee joint 20 .

[0068] In a preferred embodiment of the present invention, please also refer to Figure 1-Figure 3 The rotation angle range of the ankle joint 30 includes at least one of -5° to 5°, -15° to 5°, -20° to 5°, and -25° to 5°.

[0069] Specifically, the rotation angle of the ankle joint 30 is configured and adjusted according to needs, and the rotation angle range of the ankle joint 30 can usually be configured according to the rotation angle range of the actual ankle joint 30 .

[0070] In a preferred embodiment of the present invention, please also refer to Figure 1-Figure 3 The leg is provided with a controller 80, and the controller 80 is electrically connected to the angle detector 50, the first angle limiter 61 and the second angle limiter 62.

[0071] Specifically, the controller 80 is used to control the angle limiter. The controller 80 can also obtain the rotation angle collected by the angle detector 50, and obtain the rotation angle range according to all the rotation angles within a period of time, so as to control the angle limiter and adjust the rotation angle range limited by the angle limiter to adapt to the rotation of the knee joint 20 and the rotation of the ankle joint 30. When the leg movement remains unchanged, the change of the rotation angle of the knee joint 20 or the ankle joint 30 is generally fixed, and the rotation angle range can be obtained according to the rotation angle within a period of time.

[0072] In a preferred embodiment of the present invention, please also refer to Figure 1-Figure 3 , the artificial leg also includes:

[0073] a first retractable damping member 71, wherein the upper end of the first retractable damping member 71 is rotatably connected to the knee joint 20, and the lower end of the first retractable damping member 71 is rotatably connected to the leg 10, and the first retractable damping member 71 is used to drive the knee joint 20 to rotate;

[0074] A second retractable damping member 72, wherein the upper end of the second retractable damping member 72 is rotatably connected to the leg 10, and the lower end of the second retractable damping member 72 is rotatably connected to the ankle joint 30, and the second retractable damping member 72 is used to drive the ankle joint 30 to rotate;

[0075] The first retractable damping member 71 is electrically connected to the controller 80, and the damping coefficient of the first retractable damping member 71 is adjustable;

[0076] The second retractable damping member 72 is electrically connected to the controller 80 , and the damping coefficient of the second retractable damping member 72 is adjustable.

[0077] Specifically, the first retractable damping member 71 and the second retractable damping member 72 serve as a driving assembly 70, and the driving assembly 70 is arranged in the cavity of the leg 10, and the driving assembly 70 is used to drive the knee joint 20 to rotate relative to the leg 10, and drive the ankle joint 30 to rotate relative to the leg 10. The first retractable damping member 71 and the second retractable damping member 72 are both arranged on the leg 10, and the first retractable damping member 71 and the second retractable damping member 72 can adopt a hydraulic damper, and the damping coefficient of the first retractable damping member 71 can be adjusted, and the damping coefficient of the second retractable damping member 72 can be adjusted, and different damping coefficients are adopted under different leg movements. The first retractable damping member 71 is rotatably connected to the knee joint 20, and is used to drive the knee joint 20 to rotate. The second retractable damping member 72 is rotatably connected to the ankle joint 30, and is used to drive the ankle joint 30 to rotate.

[0078] In a preferred embodiment of the present invention, the damping coefficient of the first retractable damping member 71 is adjusted according to the rotation angle range of the knee joint 20 .

[0079] Specifically, since the leg movements are different and the rotation angle ranges are also different, the rotation angle detected by the angle detector 50 is obtained, and after the rotation angle range of the knee joint 20 is limited by the angle limiter, the leg movement of the artificial leg can be determined, and the damping coefficient of the first damping telescopic member 71 is adjusted under different leg movements. The damping coefficient of the first damping telescopic member 71 is adjusted according to the rotation angle range of the knee joint 20.

[0080] In a preferred embodiment of the present invention, the damping coefficient of the second retractable damping member 72 is adjusted according to the rotation angle range of the knee joint 20 .

[0081] Specifically, after obtaining the rotation angle detected by the angle detector 50 and limiting the rotation angle range of the ankle joint 30 by the angle limiter, the leg motion of the prosthetic leg can be determined, and the damping coefficient of the second damping telescopic member 72 is adjusted under different leg motions. The damping coefficient of the second damping telescopic member 72 is adjusted according to the rotation angle range of the ankle joint 30.

[0082] In a preferred embodiment of the present invention, the first retractable damping member 71 is located directly above the second retractable damping member 72; when the first retractable damping member 71 is vertically arranged, the rotation angle of the knee joint 20 is 0°; when the second retractable damping member 72 is vertically arranged, the rotation angle of the ankle joint 30 is 0°.

[0083] Specifically, the first retractable damping member 71 and the second retractable damping member 72 are both located in the cavity of the leg 10, the first retractable damping member 71 is located directly above the second retractable damping member 72, and the two ends of the first retractable damping member 71 are respectively connected to the knee joint 20 and the leg 10 for rotation. As the first retractable damping member 71 is extended and contracted, the first retractable damping member 71 gradually tilts, and the knee joint 20 rotates accordingly. When the first retractable damping member 71 is vertically set, the rotation angle of the knee joint 20 is 0°. The two ends of the second retractable damping member 72 are respectively connected to the ankle joint 30 and the leg 10 for rotation. As the second retractable damping member 72 is extended and contracted, the second retractable damping member 72 gradually tilts, and the ankle joint 30 rotates accordingly. When the second retractable damping member 72 is vertically set, the rotation angle of the ankle joint 30 is 0°.

[0084] In a preferred embodiment of the present invention, the first retractable damping member 71 is located behind the knee joint 20 , and the second retractable damping member 72 is located in front of the ankle joint 30 .

[0085] Specifically, the first damping retractable member 71 is located behind the knee joint 20, the first angle limiter 61 and the first damping retractable member 71 are respectively located in front and behind the knee joint 20, and the second damping retractable member 72 is located in front of the ankle joint 30, the second damping retractable member 72 and the second angle limiter 62 are respectively located in front and behind the ankle joint 30.

[0086] In a preferred embodiment of the present invention, please also refer to Figure 4-Figure 5 At least one first wedge-shaped groove 21 is provided on the knee joint 20 , and the first wedge-shaped groove 21 extends along the rotation direction of the knee joint 20 , and the small end of the first wedge-shaped groove 21 is located below the large end of the first wedge-shaped groove 21 .

[0087] Specifically, a wedge-shaped groove refers to a groove with a gradually changing width, and the wedge-shaped groove has a large end with a larger width and a small end with a smaller width. The knee joint 20 is provided with a first wedge-shaped groove 21, which is provided around the rotation axis of the knee joint 20, and extends along the rotation direction of the knee joint 20 to form an arc, and the large end of the first wedge-shaped groove 21 is located above the small end of the first wedge-shaped groove 21. As the knee joint 20 rotates, the small end of the first wedge-shaped groove 21 gradually moves upward.

[0088] In a preferred embodiment of the present invention, please also refer to Figure 3 , Figure 6-Figure 7 , the first angle limiter 61 includes:

[0089] A first rotating member 611 is rotatably connected to the leg portion 10;

[0090] At least one first wedge plate 612, disposed on the first rotating member 611;

[0091] A first driver, disposed on the leg 10 and electrically connected to the controller 80, and used to drive the first rotating member 611 to rotate;

[0092] When the first wedge plate 612 rotates to different angles, the first wedge plate 612 is inserted into the first wedge groove 21 with different widths.

[0093] Specifically, the wedge plate refers to a plate body with a gradually changing width, and the wedge plate has a large end with a larger width and a small end with a smaller width. The first driver drives the first rotating member 611 to rotate relative to the leg 10, and the first rotating member 611 is provided with a first wedge plate 612, and the first wedge plate 612 extends along the rotation direction of the first rotating member 611, and the large end of the first wedge plate 612 is located above the small end of the first wedge plate 612. The first wedge plate 612 is inserted into the first wedge groove 21. In the initial position, the small end of the first wedge plate 612 corresponds to the large end of the first wedge groove 21, and the knee joint 20 can rotate freely, and the first wedge plate 612 will not hinder the first wedge groove 21; when the small end of the first wedge groove 21 rotates to the position corresponding to the small end of the first wedge plate 612, the small end of the first wedge plate 612 hinders the small end of the first wedge groove 21, limiting the continued rotation of the knee joint 20, and at this time, the rotation angle range of the knee joint 20 is large. If the first rotating member 611 is controlled to rotate so that the large end of the first wedge plate 612 corresponds to the large end of the first wedge groove 21, when the knee joint 20 starts to rotate, the large end of the first wedge plate 612 has or will block the large end of the first wedge groove 21, and the knee joint 20 cannot rotate or can only rotate a small angle. At this time, the rotation angle range of the knee joint 20 is small. In short, by rotating the first rotating member 611 and adjusting the width of the first wedge plate 612 at the position corresponding to the large end of the first wedge groove 21, the rotation angle range of the knee joint 20 can be adjusted.

[0094] In a preferred embodiment of the present invention, please also refer to Figure 1-Figure 3 At least one second wedge-shaped groove 31 is provided on the ankle joint 30 , and the second wedge-shaped groove 31 extends along the rotation direction of the ankle joint 30 , and the small end of the second wedge-shaped groove 31 is located above the large end of the second wedge-shaped groove 31 .

[0095] Specifically, the ankle joint 30 is provided with a second wedge-shaped groove 31, which is arranged around the rotation axis of the ankle joint 30, extends along the rotation direction of the ankle joint 30, and the large end of the second wedge-shaped groove 31 is located below the small end of the second wedge-shaped groove 31. As the knee joint 20 rotates upward, the small end of the second wedge-shaped groove 31 moves upward.

[0096] In a preferred embodiment of the present invention, please also refer to Figure 1-Figure 3 , the second angle limiter 62 comprises:

[0097] A second rotating member, rotatably connected to the leg portion 10;

[0098] at least one second wedge plate, disposed on the second rotating member;

[0099] A second driver, disposed on the leg 10 and electrically connected to the controller 80, and used for driving the second rotating member to rotate;

[0100] When the second wedge plate is rotated to different angles, the second wedge plate is inserted into the second wedge groove 31 with different widths.

[0101] Specifically, the second driver drives the second rotating member to rotate relative to the leg 10, and the second rotating member is provided with a second wedge plate, which extends along the rotation direction of the second rotating member, and the small end of the second wedge plate is located above the large end of the second wedge plate. The second wedge plate is inserted into the second wedge groove 31. In the initial position, the small end of the second wedge plate corresponds to the large end of the second wedge groove 31, and the ankle joint 30 can rotate freely, and the rotation angle range of the ankle joint 30 is large. If the second rotating member is controlled to rotate so that the large end of the second wedge plate corresponds to the position of the large end of the second wedge groove 31, the ankle joint 30 cannot rotate or rotates at a small angle, and the rotation angle range of the ankle joint 30 is small. In short, by rotating the second rotating member and adjusting the width of the second wedge plate at the position corresponding to the large end of the second wedge groove 31, the rotation angle range of the ankle joint 30 can be adjusted.

[0102] In a preferred embodiment of the present invention, please also refer to Figure 4-Figure 5 The knee joint 20 is provided with a groove 22 , a limiting structure 23 is provided in the groove 22 , and the first wedge-shaped groove 21 is provided in the limiting structure 23 .

[0103] Specifically, a groove 22 is provided on the knee joint 20 for detachably mounting a limiting structure 23, and a first wedge-shaped groove 21 is provided on the limiting structure 23. The limiting structure 23 with different wedge-shaped groove widths can be configured, so that the limiting structure 23 can be replaced and the rotation angle range of the knee joint 20 can be more finely adjusted. The limiting structure 23 can be made of materials such as plastic and rubber.

[0104] In a preferred embodiment of the present invention, please also refer to Figure 1-Figure 3 , the angle detector 50 comprises:

[0105] A sensing structure 51, located in the knee joint;

[0106] The detection structure 52 is disposed on the controller 80 and electrically connected to the controller 80 , and is used to detect the rotation angle of the sensing structure 51 .

[0107] Specifically, the groove 22 is also used to install the sensing structure 51 of the angle detector 50. The detection structure 52 is set in the leg 10 or the controller 80. The position of the sensing structure 51 is set corresponding to the position of the detection structure 52. When the knee joint 20 rotates, the sensing structure 51 rotates accordingly and is detected by the detection structure 52, thereby obtaining the rotation angle of the sensing structure 51, that is, the rotation angle of the knee joint 20. The bottom of the groove 22 is located on a cylinder with the rotation axis of the knee joint 20 as the central axis. The rotation trajectory of the sensing structure 51 is an arc shape and matches the arc shape of the sensing structure 51.

[0108] In a preferred embodiment of the present invention, the artificial leg further comprises:

[0109] The motion sensor is disposed on the leg 10 and is electrically connected to the controller 80 .

[0110] Specifically, in order to further accurately obtain the leg movements of the artificial leg, a motion sensor is configured on the leg 10 , and the motion parameters collected by the motion sensor are transmitted to the controller 80 .

[0111] In a preferred embodiment of the present invention, the motion sensor includes at least one of a gyroscope, a geomagnetic sensor or an accelerometer. The motion sensor may also be an IMU (inertial measurement unit) sensor.

[0112] It should be understood that the application of the present invention is not limited to the above examples. For ordinary technicians in this field, improvements or changes can be made according to the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A prosthetic leg, comprising: A leg, a knee joint, an ankle joint and a foot; the knee joint is rotatably connected to the upper end of the leg; The ankle joint is rotatably connected to the lower end of the leg; The foot is connected to the ankle joint; characterized in that the artificial leg also includes: An angle detector, disposed at the upper end of the leg and used to detect the rotation angle of the knee joint; a first angle limiter, electrically connected to the angle detector and used to limit the rotation angle range of the knee joint; a second angle limiter, electrically connected to the angle detector and used to limit the rotation angle range of the ankle joint; Wherein, the first angle limiter rotates forward or backward relative to the leg to adjust the rotation angle range of the knee joint; The second angle limiter rotates forward or backward relative to the leg to adjust the rotation angle range of the ankle joint.

2. The artificial leg according to claim 1, characterized in that: The knee joint is provided with at least one first wedge-shaped groove, the first wedge-shaped groove extends along the rotation direction of the knee joint, and the small end of the first wedge-shaped groove is located below the large end of the first wedge-shaped groove; The first angle limiter comprises: A first rotating member, rotatably connected to the leg; at least one first wedge plate, disposed on the first rotating member; A first driver, disposed on the leg, electrically connected to the angle detector, and used to drive the first rotating member to rotate; Wherein, when the first wedge plate is rotated to different angles, the first wedge plate is inserted into the first wedge groove with different widths.

3. The artificial leg according to claim 2, characterized in that: At least one second wedge-shaped groove is provided on the ankle joint, the second wedge-shaped groove extends along the rotation direction of the ankle joint, and the small end of the second wedge-shaped groove is located above the large end of the second wedge-shaped groove; The second angle limiter comprises: A second rotating member, rotatably connected to the leg; at least one second wedge plate, disposed on the second rotating member; A second driver, disposed on the leg, electrically connected to the angle detector, and used to drive the second rotating member to rotate; Wherein, when the second wedge plate is rotated to different angles, the second wedge plate is inserted into the second wedge groove with different widths.

4. The artificial leg according to any one of claims 1 to 3, characterized in that: The rotation direction of the knee joint is opposite to that of the ankle joint. The first angle limiter is located in front of the knee joint, and the second angle limiter is located behind the ankle joint.

5. The artificial leg according to claim 4, characterized in that: With backward rotation as a positive angle and forward rotation as a negative angle, the rotation angle range of the knee joint includes at least one of -5°~5°, -5°~65°, -5°~100°, and -5°~128°; the rotation angle range of the ankle joint includes at least one of -5°~5°, -15°~5°, -20°~5°, and -25°~5°.

6. The artificial leg according to claim 5, characterized in that: The leg is provided with a controller; the angle detector comprises: A sensing structure, arranged at the knee joint; The detection structure is arranged on the controller and is used for detecting the rotation angle of the sensing structure.

7. The artificial leg according to claim 6, characterized in that: The prosthetic leg also includes: a first retractable damping member, wherein the upper end of the first retractable damping member is rotatably connected to the knee joint, the lower end of the first retractable damping member is rotatably connected to the leg, and the first retractable damping member is used to drive the knee joint to rotate; a second retractable damping member, wherein the upper end of the second retractable damping member is rotatably connected to the leg, the lower end of the second retractable damping member is rotatably connected to the ankle joint, and the second retractable damping member is used to drive the ankle joint to rotate; Wherein, the first damping expansion member is electrically connected to the controller, and the damping coefficient of the first damping expansion member is adjustable; The second retractable damping member is electrically connected to the controller, and the damping coefficient of the second retractable damping member is adjustable.

8. The artificial leg according to claim 7, characterized in that: The damping coefficient of the first retractable damping member is adjusted according to the rotation angle range of the knee joint; the damping coefficient of the second retractable damping member is adjusted according to the rotation angle range of the knee joint.

9. The artificial leg according to claim 7, characterized in that: The first retractable damping member is located directly above the second retractable damping member; when the first retractable damping member is vertically arranged, the rotation angle of the knee joint is 0°; when the second retractable damping member is vertically arranged, the rotation angle of the ankle joint is 0°.

10. The artificial leg according to claim 7, characterized in that: The first retractable damping member is located behind the knee joint, and the second retractable damping member is located in front of the ankle joint.

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