Bionic foot and artificial limb

Abstract

The utility model discloses a bionic foot and artificial limb, bionic foot includes ankle joint base and sole mechanism, and ankle joint base is used for connecting with leg member, and sole mechanism is rotatably connected with ankle joint base, and sole mechanism includes foot plate member and casing, and casing is connected with foot plate member and is enclosed and forms the accommodation cavity, wherein, the cavity wall of casing is equipped with the weight reduction structure, and the weight reduction structure includes: at least one recess that is arranged in the cavity wall of accommodation cavity, and / or, at least one hollow hole that is through the inner surface and the outer surface of the cavity wall of accommodation cavity. The overall weight of sole mechanism is reduced, the energy consumption in the movement process is reduced, the movement flexibility and the endurance of bionic foot are improved in one aspect of the application, on the other hand, through the optimization cavity wall structure, the over occupation of the traditional closed or semi-closed solid cavity wall to the internal space is avoided, and more sufficient space is provided for the reasonable arrangement of functional components, and it is favorable to integrate more kinds and quantity of functional components.

Description

Technical Field

[0001] This utility model relates to the field of prosthetics technology, and in particular to a bionic foot and prosthesis. Background Technology

[0002] In fields such as rehabilitation medicine, walking robots, and bionic robots, the bionic foot, as a key component connecting the leg and foot, directly affects the device's mobility, load-bearing capacity, and wearing comfort. As a crucial part of the bionic foot, the structural design of the foot mechanism is particularly critical, as its internal spatial layout and shell performance directly influence the overall functionality of the bionic foot.

[0003] However, existing foot mechanisms have shortcomings in the utilization of internal space. In order to ensure strength, their shell structure often adopts a closed or semi-closed solid cavity wall design, which not only increases unnecessary weight, but may also limit the integration and arrangement of internal sensors, drive components and other functional components, which is not conducive to the development of bionic feet towards intelligence and multi-functionality. Utility Model Content

[0004] The main purpose of this utility model is to propose a bionic foot and prosthesis, which aims to solve the technical problems of existing bionic feet, such as increased weight and insufficient internal space due to the design of the foot mechanism shell, which restricts the integration of functional components and the development of intelligence and multi-functionality.

[0005] To achieve the above objectives, this utility model proposes a bionic foot, comprising: Ankle joint base for connection to leg components; A foot mechanism, which is rotatably connected to the ankle joint base, includes a foot plate component and a housing, the housing being connected to the foot plate component and enclosing it to form a receiving cavity; The cavity wall of the shell is provided with a weight-reduction structure, which includes: At least one groove provided in the wall of the receiving cavity; and / or, At least one perforated hole penetrating the inner and outer surfaces of the cavity wall.

[0006] In some embodiments, the housing includes a first sidewall, a second sidewall, and a third sidewall, the first sidewall and the second sidewall being spaced apart and opposite to each other, the third sidewall being connected to one side of the first sidewall and the second sidewall, and the first sidewall, the second sidewall, the third sidewall, and the foot plate member together enclosing the receiving cavity; The weight-reducing structure is disposed on the cavity wall of the first sidewall, the second sidewall, and / or the third sidewall.

[0007] In some embodiments, one side of the first sidewall, the second sidewall, and the third sidewall forms a first opening communicating with the receiving cavity, the housing is sleeved on the outside of the ankle joint base through the first opening, and the inner walls of the first sidewall and the second sidewall are respectively rotatably connected to the ankle joint base.

[0008] In some embodiments, the other side of the first sidewall, the second sidewall, and the third sidewall forms a second opening communicating with the receiving cavity; The foot plate component includes a forefoot portion and a rearfoot portion. The rearfoot portion is connected to the other side of the first sidewall and the second sidewall. One end of the forefoot portion extends into the receiving cavity through the second opening. The forefoot portion is rotatably connected to the side of the first sidewall and the second sidewall away from the first opening. An elastic element is connected between the forefoot portion and the rearfoot portion. The elastic element is used to provide elastic restoring force to the forefoot portion.

[0009] In some embodiments, the rear foot portion has a boss on the end face facing the housing, the boss has a first storage groove, the forefoot portion has a second storage groove communicating with the first storage groove, one end of the elastic member is accommodated in the first storage groove and connected to the rear foot portion, and the other end is accommodated in the second storage groove and connected to the forefoot portion.

[0010] In some embodiments, the bionic foot further includes a damper, the damper being partially disposed within the receiving cavity. The damper includes a damping body and a piston rod that can extend and retract relative to the damping body. The damping body is hinged to the ankle joint base, and the piston rod is hinged to the foot mechanism, for extending and retracting relative to the damping body when the foot mechanism is subjected to force, so as to generate a damping effect on the rotation of the foot mechanism.

[0011] In some embodiments, the hinge point between the damping body and the ankle joint base is the first hinge point, the hinge point between the piston rod and the foot mechanism is the second hinge point, and the rotational connection point between the foot mechanism and the ankle joint base is the rotation center. The rotation center is located at the connection edge between the ankle joint base and the foot mechanism. The first hinge point is located on the side of the ankle joint base away from the rotation center, and the second hinge point is located on the side of the foot mechanism away from the rotation center. The lines connecting the first hinge point, the second hinge point, and the rotation center form a triangular structure.

[0012] In some embodiments, the ankle joint base has a mounting cavity communicating with the receiving cavity, and the damper is partially located in the receiving cavity and partially located in the mounting cavity.

[0013] In some embodiments, the outer side of the ankle joint base is provided with a limiting groove, and the limiting groove is provided with a limiting stop surface on the trajectory of the foot mechanism rotating relative to the ankle joint base. The limiting stop surface is used to abut against the housing when the foot mechanism rotates relative to the ankle joint base to a preset angle.

[0014] This application also provides a prosthesis including a leg component and a bionic foot, wherein the leg component is connected to the end of the ankle joint base away from the foot mechanism.

[0015] In the bionic foot mechanism provided in this application, the cavity formed by the shell and foot plate components provides installation space for the integration of functional components such as sensors and drive elements. The weight-reducing structure set in the shell cavity wall effectively removes unnecessary solid parts on the cavity wall while ensuring the structural strength of the shell. On the one hand, it reduces the overall weight of the foot mechanism, reduces energy consumption during movement, and improves the movement flexibility and endurance of the bionic foot. On the other hand, by optimizing the cavity wall structure, it avoids the excessive occupation of internal space by traditional closed or semi-closed solid cavity walls, providing more space for the rational arrangement of functional components. This is conducive to the integration of more types and numbers of functional components, thereby promoting the development of bionic feet towards intelligence and multi-functionality, and meeting the usage needs in complex scenarios. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of one embodiment of the bionic foot of this utility model; Figure 2 This is a schematic diagram of the structure of one embodiment of the housing of this utility model; Figure 3 This is a schematic diagram of the structure of one embodiment of the bionic foot of this utility model; Figure 4 This is a disassembly diagram of an embodiment of the bionic foot of this utility model; Figure 5 This is a cross-sectional schematic diagram of an embodiment of the bionic foot of this utility model.

[0017] Explanation of icon numbers: The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0018] The solutions in the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this utility model.

[0019] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0020] It should also be noted that when a component is described as "fixed to" or "set on" another component, it can be directly on the other component or there may be an intervening component present. When a component is described as "connected to" another component, it can be directly connected to the other component or there may be an intervening component present.

[0021] Furthermore, the use of terms such as "first" and "second" in this utility model is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this utility model.

[0022] Please refer to Figure 1 This application proposes a bionic foot 100, including an ankle joint base 10 and a foot mechanism 20. The ankle joint base 10 is used to connect with a leg component. The foot mechanism 20 is rotatably connected to the ankle joint base 10. The foot mechanism 20 includes a foot plate component 21 and a shell 22. The shell 22 is connected to the foot plate component 21 and surrounds it to form a receiving cavity 201. The cavity wall of the housing 22 is provided with a weight-reducing structure 30, which includes: At least one groove provided in the cavity wall of the receiving cavity 201; and / or, At least one perforated hole 31 penetrating the inner and outer surfaces of the cavity wall 201.

[0023] Among them, the ankle joint base 10 serves as the connection hub with the leg components, providing a stable installation foundation and force support for the entire bionic foot 100; the foot mechanism 20, through its rotational connection with the ankle joint base 10, replicates the basic movement trajectory of the human ankle joint, such as flexion and extension, to meet the needs of rehabilitation medicine, walking assistance robots and other scenarios for movement flexibility.

[0024] As a component that directly contacts the ground, the foot plate component 21 is shaped to mimic the outline of a human foot, increasing the contact area with the ground to improve movement stability. At the same time, its material can be a polymer material or composite material with a certain degree of elasticity, which absorbs impact energy when in contact with the ground and reduces the impact of ground reaction force on the ankle joint and leg components. The foot plate component 21 is fixedly connected to the shell 22, providing bottom support for the shell 22, ensuring the structural integrity of the cavity 201 formed by the shell 22, avoiding deformation of the cavity 201 due to force, and ensuring the safety of the internal components.

[0025] The grooves provided in the cavity wall of the housing 22 reduce unnecessary material usage by partially hollowing out the inner or outer surface of the cavity wall of the receiving cavity 201; the hollow holes 31 further reduce material consumption by penetrating the inner and outer surfaces of the cavity wall. Both structures have been optimized by mechanical simulation, ensuring the load-bearing strength of the cavity wall while reducing weight, avoiding structural fragility of the housing 22 due to weight reduction, and ensuring the overall mechanical performance of the foot mechanism 20.

[0026] In the foot mechanism 20 of the bionic foot 100 provided in this application embodiment, the cavity 201 formed by the housing 22 and the foot plate component 21 provides installation space for the integration of functional components such as sensors and driving elements. The weight-reducing structure 30 set on the cavity wall of the housing 22 effectively removes unnecessary solid parts on the cavity wall while ensuring the structural strength of the housing 22. On the one hand, it reduces the overall weight of the foot mechanism 20, reduces energy consumption during movement, and improves the movement flexibility and endurance of the bionic foot 100. On the other hand, by optimizing the cavity wall structure, it avoids the excessive occupation of internal space by traditional closed or semi-closed solid cavity walls, providing more space for the rational arrangement of functional components. This is conducive to the integration of more types and numbers of functional components, thereby promoting the development of the bionic foot 100 towards intelligence and multi-functionality, and meeting the usage needs in complex scenarios.

[0027] In this embodiment, the weight-reducing structure 30 of the housing 22 can be implemented in several ways: at least one groove can be provided on the cavity wall of the receiving cavity 201, and by changing the local structural shape of the housing 22, the material distribution can be reduced to achieve weight reduction without affecting the strength of the key load-bearing parts; at least one hollow hole 31 penetrating the inner and outer surfaces of the cavity wall can be provided to directly remove the solid part of the material, and at the same time, the convection channel formed by it can be used to assist the heat dissipation of the built-in electronic components; the groove and the hollow hole 31 can also be used in combination, the former optimizing stress distribution and assisting assembly, and the latter significantly reducing weight and enhancing breathability. Through complementary advantages, the lightweight, structural stability and functionality of the housing 22 can be further improved to meet the requirements of prosthetic users for mobility and comfort.

[0028] Please refer to Figure 2 In some embodiments, the housing 22 includes a first sidewall 221, a second sidewall 222 and a third sidewall 223. The first sidewall 221 and the second sidewall 222 are spaced apart and opposite to each other. The third sidewall 223 connects one side of the first sidewall 221 and the second sidewall 222. The first sidewall 221, the second sidewall 222, the third sidewall 223 and the foot plate member 21 together enclose and form a receiving cavity 201. The weight reduction structure 30 is disposed on the cavity wall of the first sidewall 221, the second sidewall 222 and / or the third sidewall 223.

[0029] In this embodiment, the structural design of the foot mechanism 20 housing 22 is divided into a collaborative structure of a first side wall 221, a second side wall 222, and a third side wall 223. The first side wall 221 and the second side wall 222 are arranged at intervals relative to each other, and the third side wall 223 connects the two on one side, thus constructing a frame-type cavity wall structure with double-sided support and single-sided connection. This structure is then enclosed with the foot plate component 21 to form a receiving cavity 201.

[0030] The first and second sidewalls 221 and 222, spaced apart, evenly distribute the external ground reaction force and the weight of internal components to both sides, avoiding structural deformation caused by concentrated stress at a single point. The third sidewall 223 connects only one side of the first and second sidewalls 222, simplifying the overall structure of the shell 22 and reserving an open expansion space on one side for the receiving cavity 201 (to accommodate internal components of different sizes). Meanwhile, weight-reducing structures 30 (grooves / holes 31) are specifically designed on the cavity walls of the first, second, and third sidewalls 221 and 222. The position and size of the weight-reducing structures 30 are optimized based on the stress differences of each sidewall. For example, a larger area of ​​the hole 31 can be set in the third sidewall 223 where the stress is less, while a local groove design is used in the first and second sidewalls 221 and 222 where the stress is mainly concentrated, achieving a balance between precise weight reduction and strength assurance, further adapting to the differentiated arrangement requirements of internal functional components.

[0031] In some embodiments, one side of the first sidewall 221, the second sidewall 222 and the third sidewall 223 forms a first opening 224 that communicates with the receiving cavity 201. The housing 22 is sleeved on the outside of the ankle joint base 10 through the first opening 224, and the inner walls of the first sidewall 221 and the second sidewall 222 are rotatably connected to the ankle joint base 10.

[0032] As a connection reference between the housing 22 and the ankle joint base 10, the size and shape of the first opening 224 precisely match the outer contour of the ankle joint base 10, allowing the housing 22 to be fitted onto the outside of the ankle joint base 10 through the opening, achieving a tight assembly between the two. This avoids the gaps that exist in traditional split connections, which can cause movement deviation. Moreover, the contour of the first opening 224 restricts the displacement direction of the housing 22 during the fitting process, ensuring that the inner walls of the first side wall 221 and the second side wall 222 can accurately fit with the rotation mating surface of the ankle joint base 10, reducing assembly difficulty and improving consistency during mass production.

[0033] Furthermore, the design of the first opening 224 connecting to the receiving cavity 201 allows the ankle joint base 10 to partially extend into the receiving cavity 201, shortening the overall axial length of the shell 22 and the ankle joint base 10, and reducing the volume of the bionic foot 100. Moreover, when the ankle joint base 10 and the side wall of the shell 22 rotate relative to each other, the first opening 224 provides clearance space for the movement of the ankle joint base 10, avoiding structural interference between the two during rotation and ensuring smooth movement.

[0034] Please refer to Figures 2 to 4 In some embodiments, the other side of the first sidewall 221, the second sidewall 222, and the third sidewall 223 forms a second opening 225 that communicates with the receiving cavity 201; The foot plate component 21 includes a forefoot portion 211 and a rearfoot portion 212. The rearfoot portion 212 is connected to the other side of the first sidewall 221 and the second sidewall 222. One end of the forefoot portion 211 extends into the receiving cavity 201 through the second opening 225. The forefoot portion 211 is rotatably connected to the side of the first sidewall 221 and the second sidewall 222 away from the first opening 224. An elastic member 213 is connected between the forefoot portion 211 and the rearfoot portion 212. The elastic member 213 is used to provide elastic restoring force to the forefoot portion 211.

[0035] The second opening 225 serves as a channel for the forefoot portion 211 to extend into the receiving cavity 201. Its size is precisely matched with the shape of the forefoot portion 211, ensuring that the forefoot portion 211 can be smoothly inserted and form a rotational connection with the first side wall 221 and the second side wall 222. At the same time, it restricts the radial displacement of the forefoot portion 211 and avoids lateral deviation during movement.

[0036] When the front end of the bionic foot 100 rotates, the second opening 225 provides ample space for the rotation of the forefoot 211, avoiding structural interference between the forefoot 211 and the side wall of the shell 22. Especially when the forefoot 211 rotates downward to contact the ground during walking, it can achieve large-angle rotation through the second opening 225, ensuring the flexibility of movement.

[0037] The forefoot portion 211 is rotatably connected to the side of the first sidewall 221 and the second sidewall 222 away from the first opening 224, which can realize independent rotation around the transverse axis, simulating the flipping action of the human forefoot when walking and going up and down stairs, and improving the adaptability of the bionic foot 100 to complex scenarios; the rearfoot portion 212 is fixedly connected to the other side of the first sidewall 221 and the second sidewall 222, providing rear end support for the shell 22, and forming a front-to-back coordinated foot plate structure with the forefoot portion 211, ensuring the structural stability of the entire foot mechanism 20 under force, and preventing the shell 22 from deforming due to the front end rotation.

[0038] In this embodiment, the elastic element 213 has elastic recovery function, impact buffering function, and motion damping adjustment function. Specifically, the elastic element 213 deforms and stores energy when the forefoot 211 rotates, and releases the energy after the rotation ends, driving the forefoot 211 back to its initial position. Reset can be achieved without additional driving components, simplifying structural design and reducing energy consumption. At the moment of initial foot strike, the elastic element 213 absorbs impact energy through its own deformation, reducing the impact of ground reaction force on the forefoot 211, sidewalls, and internal components, protecting the structure and improving wearing comfort. By selecting elastic elements 213 with different elastic coefficients, the rotation resistance and reset speed of the forefoot 211 can be adjusted to adapt to different usage scenarios (such as slow buffering in rehabilitation training and rapid reset in robotic walking) and the usage needs of different groups of people.

[0039] The elastic element 213 can be made of alloy spring with a high elastic coefficient, silicone material or memory foam component. When the forefoot 211 is compressed and rotated, it absorbs the impact energy of the ground through its own deformation, reduces the transmission of the impact force to the leg, and reduces the damage to the user's limbs. It is especially suitable for users with weak lower limb function in rehabilitation assistive device scenarios.

[0040] Unlike traditional one-piece foot designs that suffer from energy dissipation issues, the elastic element 213 stores the energy absorbed during the landing phase as elastic potential energy and actively releases it during the push-off phase. This provides restoring force to the forefoot section 211, reducing energy consumption in the leg drive mechanism and increasing push-off force, making the gait closer to the natural movement of the human body. When the foot contacts an inclined surface, the relative rotation angle between the forefoot section 211 and the heel section 212 changes, and the deformation degree of the elastic element 213 adjusts accordingly. Through differentiated elastic restoring force, it corrects the foot posture in real time, ensuring that the foot always maintains stable contact with the ground and improving the equipment's ability to traverse unstructured environments such as sloping surfaces and gravel roads.

[0041] In some embodiments, the rear foot portion 212 has a boss 2121 on the end face facing the housing 22, the boss 2121 has a first storage groove 2122, the forefoot portion 211 has a second storage groove 2111 communicating with the first storage groove 2122, one end of the elastic member 213 is accommodated in the first storage groove 2122 and connected to the rear foot portion 212, and the other end is accommodated in the second storage groove 2111 and connected to the forefoot portion 211.

[0042] In this embodiment, the boss 2121 provides an installation carrier for the first storage groove 2122, so that the first storage groove 2122 and the second storage groove 2111 of the forefoot part 211 can form an aligned receiving space, ensuring that both ends of the elastic member 213 can be accurately embedded and fixed, avoiding lateral displacement or falling off of the elastic member 213 during the deformation process under force, and limiting unnecessary deformation, reducing the ineffective loss of the elastic member 213.

[0043] Furthermore, the first storage groove 2122 and the second storage groove 2111 enclose the elastic element 213, which restricts the deformation direction of the elastic element 213, so that it only stretches and contracts along the axis corresponding to the rotation trajectory of the forefoot 211. This ensures that the elastic restoring force can be accurately applied to the reset direction of the forefoot 211. At the same time, the structural design of the boss 2121 and the first storage groove 2122 and the second storage groove 2111 can physically isolate the elastic element 213 from other components in the receiving cavity 201, reducing the impact of the external environment and internal components on the elastic element 213, extending the service life of the elastic element 213, and without affecting the function of the original weight reduction structure 30 and the second opening 225 of the shell 22.

[0044] Please refer to Figures 3 to 5In some embodiments, the bionic foot 100 also includes a damper 40, which is partially disposed in the receiving cavity 201. The damper 40 includes a damping body 41 and a piston rod 42 that can extend and retract relative to the damping body 41. The damping body 41 is hinged to the ankle joint base 10, and the piston rod 42 is hinged to the foot mechanism 20. It is used to extend and retract relative to the damping body 41 when the foot mechanism 20 is subjected to force, so as to generate a damping effect on the rotation of the foot mechanism 20.

[0045] In this embodiment, the damping body 41 has a sealed chamber inside to contain the damping medium. When the piston rod 42 extends or retracts relative to it, the damping medium generates viscous resistance or pressure difference through the internal flow channel, providing a stable damping force for the rotation of the foot mechanism 20. Furthermore, the damping requirements of different scenarios can be adapted by adjusting the viscosity of the damping medium or the flow channel size.

[0046] One end of the piston rod 42 is hinged to the foot mechanism 20 and moves synchronously with the rotation of the foot mechanism 20, causing it to extend and retract relative to the damping body 41, triggering the resistance generation mechanism inside the damper 40, converting the rotational motion of the foot mechanism 20 into the extension and retraction motion of the damper 40, and achieving precise triggering of the damping effect.

[0047] When the foot mechanism 20 rotates due to ground reaction force or external load, it will drive the piston rod 42 to extend and retract relative to the damping body 41. The damping medium inside the damper 40 (such as hydraulic oil, viscous material, etc.) generates resistance due to the movement of the piston rod 42. This resistance is converted into a damping effect on the rotation of the foot mechanism 20, which can slow down the rotation speed of the foot mechanism 20 and avoid impact or loss of posture caused by excessive rotation.

[0048] The damper 40 in this embodiment dampens the rotation of the foot mechanism 20, effectively slowing down the rotational speed of the foot mechanism 20 during landing, standing up, and other actions. This avoids rigid impact caused by excessively rapid movement, reduces the instantaneous impact force on the patient's joints, and lowers the risk of sports injuries. Moreover, by adjusting the damping coefficient of the damper 40, it can be adapted to different ground environments (such as smooth or soft ground) and different exercise needs (such as slow rehabilitation training or fast walking). For example, when walking on uneven ground, a larger damping force can prevent the foot mechanism 20 from rapidly flipping due to ground protrusions, maintaining overall posture stability. In rehabilitation training, a smaller damping force can help patients easily complete gait exercises, improving the flexibility of scene adaptation.

[0049] Please continue to refer to this. Figure 3 In some embodiments, the hinge point between the damping body 41 and the ankle base 10 is the first hinge point 101, the hinge point between the piston rod 42 and the foot mechanism 20 is the second hinge point 102, and the rotation connection point between the foot mechanism 20 and the ankle base 10 is the rotation center 103. The rotation center 103 is located at the connection edge between the ankle joint base 10 and the foot mechanism 20. The first hinge point 101 is located on the side of the ankle joint base 10 away from the rotation center 103, and the second hinge point 102 is located on the side of the foot mechanism 20 away from the rotation center 103. The lines connecting the first hinge point 101, the second hinge point 102 and the rotation center 103 form a triangular structure.

[0050] In this embodiment, the rotation center 103 is located at the connection edge between the ankle joint base 10 and the foot mechanism 20, providing a reference for the rotation of the foot mechanism 20; the first hinge point 101 is located on the side of the ankle joint base 10 away from the rotation center 103, and the second hinge point 102 is located on the side of the foot mechanism 20 away from the rotation center 103. The triangular structure formed by connecting the three ensures that the damper 40 can always transmit damping force with the optimal lever arm length during the rotation of the foot mechanism 20.

[0051] When the foot mechanism 20 rotates around the rotation center 103, the extension and retraction direction of the piston rod 42 relative to the damping body 41 coordinates with the changing trend of the side length of the triangle. This ensures that when the damping force is applied to the foot mechanism 20 through the second hinge point 102, the lever arm remains stable and sufficiently long, preventing the damping effect from weakening or failing due to an excessively short lever arm. Simultaneously, the geometric stability of the triangular structure limits the additional lateral displacement of the foot mechanism 20 during rotation. In conjunction with the elastic element 213, boss 2121, and other structures within the receiving cavity 201, this further enhances the accuracy and stability of the overall movement, better conforming to the force transmission patterns of the human ankle joint.

[0052] In some embodiments, the ankle base 10 has a mounting cavity 11 that communicates with the receiving cavity 201, and the damper 40 is partially located in the receiving cavity 201 and partially located in the mounting cavity 11.

[0053] In this embodiment, the damper 40 is partially placed in the receiving cavity 201 of the foot mechanism 20, and the other part is embedded in the mounting cavity 11 of the ankle joint base 10. This can accommodate dampers 40 with longer strokes or larger volumes, while avoiding the damper 40 occupying the space of the receiving cavity 201 and causing other components (such as elastic members 213 and bosses 2121) to be crowded.

[0054] Furthermore, the connection between the mounting cavity 11 and the receiving cavity 201 corresponds to the first hinge point 101 (the hinge point between the damping body 41 and the ankle joint base 10), allowing the damping body 41 to be stably fixed in the mounting cavity 11. The piston rod 42 extends from the mounting cavity 11 to the receiving cavity 201 and connects with the second hinge point 102 of the foot mechanism 20, ensuring that the extension and retraction direction of the damper 40 is consistent with the force arm transmission path of the triangular hinge structure, without affecting the efficient transmission of damping force. At the same time, the enveloping protection of the damping body 41 by the mounting cavity 11 can further isolate the influence of the external environment and improve the working stability of the damper 40.

[0055] In some embodiments, the outer side of the ankle base 10 is provided with a limiting groove 12, and the limiting groove 12 is provided with a limiting stop surface 13 on the trajectory of the foot mechanism 20 rotating relative to the ankle base 10. The limiting stop surface 13 is used to abut against the housing 22 when the foot mechanism 20 rotates relative to the ankle base 10 to a preset angle.

[0056] The limiting groove 12 is sized and shaped to match the movement trajectory of the edge of the housing 22, providing space for the edge of the housing 22 during rotation and preventing the edge of the housing 22 from directly colliding with the outer surface of the ankle joint base 10 and causing wear. Simultaneously, the groove depth design ensures that the edge of the housing 22 has sufficient movement margin before abutting the limiting stop 13, without affecting the flexibility of movement within the normal rotation range. When the foot mechanism 20 rotates to a preset angle, the limiting stop 13 can rigidly abut against it to prevent the housing 22 from continuing to move, precisely limiting the maximum rotation angle. Furthermore, the installation position of the limiting stop 13 within the limiting groove 12 can be adjusted to accommodate preset angle requirements in different scenarios.

[0057] When the foot mechanism 20 rotates around the rotation center 103 relative to the ankle base 10, the housing 22 moves synchronously with the foot mechanism 20, and its edge gradually approaches the limiting stop surface 13 in the limiting groove 12. When the rotation angle reaches the preset value (such as the maximum angle of natural flexion and extension of the human ankle joint), the edge of the housing 22 directly abuts against the limiting stop surface 13. The limiting stop surface 13 restricts the housing 22 from continuing to move through mechanical blocking, thereby preventing the foot mechanism 20 from rotating further, avoiding damage to internal components (such as excessive stretching of the elastic element 213 and overtravel of the damper 40) or injury to the wearer's joints due to excessive rotation angle.

[0058] Furthermore, the groove structure of the limiting groove 12 can accommodate the movement of the edge of the housing 22, avoiding additional interference between the limiting structure and the housing 22. The position and angle design of the limiting stop surface 13 are adapted to the movement trajectory of the triangular hinge structure, ensuring that the damper 40 and the elastic element 213 are not affected while realizing the limiting function.

[0059] This application also provides a prosthesis, including a leg component and a bionic foot 100 as described above. The leg component is connected to the end of the ankle joint base 10 away from the foot mechanism 20. Since the prosthesis adopts all the technical solutions of all the above-described embodiments of the bionic foot 100, the prosthesis of this utility model also has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0060] The above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make other variations or modifications based on the above description. It is impossible to exhaustively list all possible implementations here. All obvious variations or modifications derived from the technical solutions of this utility model are still within the protection scope of this utility model.

Claims

1. A bionic foot, characterized in that, include: Ankle joint base for connection to leg components; A foot mechanism, which is rotatably connected to the ankle joint base, includes a foot plate component and a housing, the housing being connected to the foot plate component and enclosing it to form a receiving cavity; The cavity wall of the shell is provided with a weight-reduction structure, which includes: At least one groove provided in the wall of the receiving cavity; and / or, At least one perforated hole penetrating the inner and outer surfaces of the cavity wall.

2. The bionic foot according to claim 1, characterized in that, The housing includes a first sidewall, a second sidewall, and a third sidewall. The first sidewall and the second sidewall are spaced apart and opposite to each other. The third sidewall connects one side of the first sidewall and the second sidewall. The first sidewall, the second sidewall, the third sidewall, and the foot plate component together enclose the receiving cavity. The weight-reducing structure is disposed on the cavity wall of the first sidewall, the second sidewall, and / or the third sidewall.

3. The bionic foot according to claim 2, characterized in that, One side of the first sidewall, the second sidewall, and the third sidewall forms a first opening that communicates with the receiving cavity. The housing is sleeved on the outside of the ankle joint base through the first opening, and the inner walls of the first sidewall and the second sidewall are rotatably connected to the ankle joint base, respectively.

4. The bionic foot according to claim 2, characterized in that, The other side of the first sidewall, the second sidewall, and the third sidewall forms a second opening that communicates with the receiving cavity; The foot plate component includes a forefoot portion and a rearfoot portion. The rearfoot portion is connected to the other side of the first sidewall and the second sidewall. One end of the forefoot portion extends into the receiving cavity through the second opening. The forefoot portion is rotatably connected to the side of the first sidewall and the second sidewall away from the first opening. An elastic element is connected between the forefoot portion and the rearfoot portion. The elastic element is used to provide elastic restoring force to the forefoot portion.

5. The bionic foot according to claim 4, characterized in that, The rear foot portion has a protrusion on the end face facing the housing, and the protrusion has a first storage groove. The forefoot portion has a second storage groove that connects to the first storage groove. One end of the elastic member is housed in the first storage groove and connected to the rear foot portion, and the other end is housed in the second storage groove and connected to the forefoot portion.

6. The bionic foot according to any one of claims 1 to 5, characterized in that, The bionic foot also includes a damper, which is partially disposed within the receiving cavity. The damper includes a damping body and a piston rod that can extend and retract relative to the damping body. The damping body is hinged to the ankle joint base, and the piston rod is hinged to the foot mechanism. The piston rod is used to extend and retract relative to the damping body when the foot mechanism is subjected to force, so as to generate a damping effect on the rotation of the foot mechanism.

7. The bionic foot according to claim 6, characterized in that, The hinge point between the damping body and the ankle joint base is the first hinge point, the hinge point between the piston rod and the foot mechanism is the second hinge point, and the rotation connection point between the foot mechanism and the ankle joint base is the rotation center. The rotation center is located at the connection edge between the ankle joint base and the foot mechanism. The first hinge point is located on the side of the ankle joint base away from the rotation center, and the second hinge point is located on the side of the foot mechanism away from the rotation center. The lines connecting the first hinge point, the second hinge point, and the rotation center form a triangular structure.

8. The bionic foot according to claim 6, characterized in that, The ankle joint base has a mounting cavity that communicates with the receiving cavity. Part of the damper is located in the receiving cavity, and another part is located in the mounting cavity.

9. The bionic foot according to claim 6, characterized in that, The outer side of the ankle joint base is provided with a limiting groove, and the limiting groove is provided with a limiting stop surface on the trajectory of the foot mechanism rotating relative to the ankle joint base. The limiting stop surface is used to abut against the shell when the foot mechanism rotates relative to the ankle joint base to a preset angle.

10. A prosthesis, characterized in that, It includes a leg component and a bionic foot as described in any one of claims 1 to 9, wherein the leg component is connected to the end of the ankle joint base away from the foot mechanism.

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