Hip-knee joint integrated structure for powered prosthesis

Abstract

The application discloses a hip-knee joint integrated structure for a power prosthesis, characterized in that the hip-knee joint integrated structure comprises a prosthesis hip joint (1), a power transmission system (2) and a prosthesis knee joint (3); the prosthesis hip joint (1) is fixedly connected with the prosthesis knee joint (3), and the power transmission system (2) is fixedly connected with the prosthesis hip joint (1); the power transmission system (2) simultaneously transmits power to the prosthesis hip joint (1) and the prosthesis knee joint (3) in two directions, drives the prosthesis hip joint (1) to complete a hip flexion action, and drives the prosthesis knee joint (3) to complete a knee flexion action. The hip-knee joint integrated structure can improve the joint motion coordination ability and improve the gait of an amputee, and a set of power system can be used to improve the energy utilization rate. The hip-knee joint integrated structure can also simulate the pulling effect of leg joint muscles on the joint, and meanwhile, the jerk feeling that may exist in the periodic motion process of rigid transmission is avoided.

Description

Technical Field

[0001] This invention relates to the field of prosthetics, and more particularly to an integrated hip and knee joint structure for a powered prosthesis. Background Technology

[0002] With societal development and technological advancements, amputees yearn to integrate into normal life and engage in legitimate social activities. Therefore, technological breakthroughs in bionic prostheses are essential. Hip disarticulation prostheses, being the most challenging type of lower limb prosthesis to control, currently lack a dedicated intelligent prosthesis for hip disarticulation patients. Traditional prostheses, lacking power support, rely on inertia to propel themselves forward, a walking method that not only consumes significant energy but also increases the risk of other health problems due to long-term gait deformities. Intelligent prostheses can compensate for the energy expenditure during walking, and intelligent power assistance makes prosthesis control easier, shortening the adaptation time and helping patients return to normal life more quickly and effectively. While some research has explored the feasibility of powered hip joint prostheses, they still adhere to traditional independent joint designs. This is not conducive to the overall adjustment of the prosthesis and will be a key factor limiting the development of intelligent hip disarticulation prostheses.

[0003] Therefore, those skilled in the art are dedicated to developing an integrated hip and knee joint mechanism for powered prostheses, which transmits power periodically to the hip and knee joints separately via gears to simulate the movement patterns of the hip and knee joints during normal human walking, in order to solve the aforementioned problems. Summary of the Invention

[0004] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is that: the hip and knee joints of traditional hip disarticulation prostheses are mostly passive prostheses and adopt independent structural designs, with no coordination between joints, which makes it difficult for traditional prostheses to imitate the gait pattern of normal lower limbs.

[0005] To achieve the above objectives, the present invention provides an integrated hip and knee joint structure for a powered prosthesis, characterized in that it includes a prosthetic hip joint (1), a power transmission system (2), and a prosthetic knee joint (3); the prosthetic hip joint (1) is fixedly connected to the prosthetic knee joint (3), and the power transmission system (2) is fixedly connected to the prosthetic hip joint (1); the power transmission system (2) transmits power to the prosthetic hip joint (1) and the prosthetic knee joint (3) simultaneously in two directions, driving the prosthetic hip joint (1) to complete the hip flexion movement and driving the prosthetic knee joint (3) to complete the knee flexion movement.

[0006] Further, the prosthetic hip joint (1) includes a connector (101), a support plate (102), a connecting plate (103), a Y-shaped connecting plate (104), an auxiliary rod (105), a power rod (106), and a leg bone (107); the connector (101) is fixedly connected to the support plate (102) by bolts; the connecting plate (103) and the Y-shaped connecting plate (104) are respectively connected to the connector (101) by shafts; the connecting plate (105) 03) The free ends are connected to the auxiliary rod (105) and the power rod (106) respectively via shafts; the middle part of the auxiliary rod (105) is connected to the Y-shaped connecting plate (104) via shafts; the end of the auxiliary rod (105) is connected to the leg bone (107) via shafts; the connecting plate (103) and the Y-shaped connecting plate (104) are in a parallel position relationship, and the auxiliary rod (105) and the power rod (106) are also in a parallel position relationship.

[0007] Furthermore, the leg bone (107) has a battery slot (107-1) and a motor receiving cavity (107-2) of equal size and symmetrically distributed in the middle position, and a knee joint receiving cavity (107-3) at the bottom; this structure not only solves the problem of battery placement, but also can offset the effect of uneven distribution of the center of gravity caused by the bias of the power motor (205) by the weight of the battery itself.

[0008] Furthermore, the power transmission system (2) includes a raised block (201), a flexible gear (202), a hip joint secondary reduction gear (203), a hip joint primary reduction gear (204), a power motor (205), a drive gear (206), a drive pulley (207), a driven pulley (208), a pressure frame (209), a knee joint primary reduction gear (210), a knee joint secondary reduction gear (211), a support seat (212), a bearing (213), a synchronous belt (214), and a power shaft (215); the pressure frame (209) is fixedly connected to the leg bone (107) through the raised block (201); the pressure frame (209) is provided with bearing holes, which are respectively connected to the power shaft (215). The hip joint secondary reduction gear (203), the hip joint primary reduction gear (204), the knee joint primary reduction gear (210), and the knee joint secondary reduction gear (211) cooperate to enhance the stability of each gear in the power transmission process. The power motor (205) cooperates with the motor receiving cavity (107-2) and is fixedly connected to the leg bone (107) by screws. The output shaft of the power motor (205) is provided with the drive gear (206). The drive gear (206) meshes with the hip joint primary reduction gear (204) and the knee joint primary reduction gear (210) to transmit power to the prosthetic knee joint (3) and the prosthetic hip joint (1), respectively.

[0009] Further, the flexible gear (202) includes a power coil spring (202-1), a power coil spring receiving cavity (202-2), adjusting teeth (202-3), and a flexible gear base wheel (202-4); the power coil spring (202-1) is embedded in the power coil spring receiving cavity (202-2) and fixed to the flexible gear (202) as a whole; the bottom of the power coil spring receiving cavity (202-2) is provided with four evenly distributed adjusting teeth (202-3), which are fixedly connected to the flexible gear base wheel (202-4) by screws; the power shaft (215) One end is provided with a rectangular groove (215-1) and an external thread (215-2), and the other end is provided with a keyway (215-3); the rectangular groove (215-1) is connected to the free end inside the power coil spring (202-1); the power shaft (215) is connected to the end of the power rod (106) by a key through the keyway (215-3); two sets of thrust bearings are placed inside and outside the small end opening of the flexible gear (202), and the flexible gear (202) is fixed on the leg bone (107) and can rotate by cooperating with the external thread (215-2) through a thin nut.

[0010] Furthermore, the power coil spring (202-1) is made of elastic material, which can store and release energy during periodic rotational motion to simulate the pulling effect of leg joint muscles on the joint, while also avoiding the jerking sensation that may exist in rigid transmission during periodic motion; the initial tightening state of the power coil spring (202-1) is adjustable to simulate different joint muscle forces, and can also be freely adjusted according to user habits to overcome the influence of the prosthesis's own weight.

[0011] Furthermore, it also includes an end cap, which is embedded in the large opening end face of the flexible gear (202) to seal the internal flexible structure of the flexible gear (202).

[0012] Further, the prosthetic knee joint (3) includes a knee joint connector (301), a knee joint auxiliary link (302), a knee joint moving part (303), an angle sensor (304), a knee joint power link (305), an angle sensor mounting base (306), an adjusting ball (307), an adjusting rod (308), and a knee joint damping adjusting housing (309); the knee joint secondary reduction gear (211) is connected to an electromagnetic clutch and the output end of the electromagnetic clutch is fixedly connected to the driving pulley (207), the driving pulley (207) and the driven pulley (208) are connected through the synchronous belt (214), and the driven pulley (208) is connected to the knee joint power link (304). 5) Fixed connection: The driven pulley (208) can drive the knee joint power link (305) to rotate and complete the knee joint flexion and extension movements with the cooperation of the knee joint auxiliary link (302); The knee joint connector (301) is provided with a knee joint power link hole (301-1), a semi-I-shaped connector (301-2) and a knee joint auxiliary link hole (301-3); The semi-I-shaped connector (301-2) can be embedded in the leg bone (107) and fixedly connected by screws; The knee joint moving part (303) is connected to the knee joint power link (305) and the knee joint auxiliary link (302) through a shaft, and together with the knee joint connector (301), it forms a four-bar structure of the knee joint.

[0013] Furthermore, the deceleration stages of the prosthetic hip joint (1) and the prosthetic knee joint (2) should be consistent to avoid the problem that the movement direction of the prosthetic hip and knee joints is inconsistent with the combined movement direction of the normal lower limb hip and knee joints.

[0014] Furthermore, the overall deceleration ratio i1 of the prosthetic knee joint (3) and the overall deceleration ratio i2 of the prosthetic hip joint (1) satisfy the condition: 1:3≤i1:i2≤2:3, so as to restore the general motion law of the lower limb hip and knee joints.

[0015] Compared with traditional methods and apparatus, the present invention has the following advantages:

[0016] It can improve inter-joint motor coordination and gait in amputees; using a single power system improves energy efficiency. It can simulate the pulling effect of leg joint muscles on the joints, while avoiding the jerking sensation that may occur during periodic movements in rigid transmissions. It can also simulate different joint muscle forces and can be freely adjusted to overcome the influence of the prosthesis's own weight according to the user's habits in the initial state. The power motor is set off from the center line of the leg bone, forming a triangular area with the installation positions of the hip joint secondary reduction gear and the knee joint secondary reduction gear to shorten the overall length of the leg bone. The leg bone has battery slots that are the same size as the motor slot and symmetrically distributed. This structure not only solves the battery placement problem, but more importantly, it uses the weight of the battery to offset the uneven distribution of the center of gravity caused by the offset of the power motor.

[0017] The following will further explain the concept, specific structure, and technical effects of the present invention in conjunction with the accompanying drawings, so as to fully understand the purpose, features, and effects of the present invention. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the integrated hip and knee joint module of a prosthesis according to a preferred embodiment of the present invention;

[0019] Figure 2 This is a schematic diagram of an integrated structure of a prosthetic hip and knee joint according to a preferred embodiment of the present invention;

[0020] Figure 3 This is a frontal view of a preferred embodiment of the prosthetic hip and knee joint integrated structure of the present invention;

[0021] Figure 4 This is a schematic diagram of key features of a flexible gear according to a preferred embodiment of the present invention;

[0022] Figure 5 This is a schematic diagram of the power shaft joint features of a preferred embodiment of the present invention;

[0023] Figure 6 This is a schematic diagram of key features of the prosthetic leg bone according to a preferred embodiment of the present invention;

[0024] Figure 7 This is a schematic diagram of the features of a prosthetic knee joint connector according to a preferred embodiment of the present invention.

[0025] Among them, 1-prosthetic hip joint, 101-connector, 102-support plate, 103-connecting plate, 104-Y-type connecting plate, 105-auxiliary rod, 106-power rod, 107-leg bone, 107-1-battery slot, 107-2-motor receiving cavity, 107-3-knee joint receiving cavity, 2-power transmission system, 201-elevating block, 202-flexible gear, 202-1-power coil spring, 202-2-power coil spring storage cavity, 202-3-adjusting tooth, 202-4-flexible gear base wheel, 203-hip joint secondary reduction gear, 204-hip joint primary reduction gear, 205-power motor, 205-1-power interface, 206-drive gear, 207-drive pulley, 208 - Driven pulley, 209- Pressure frame, 210- Knee joint first-stage reduction gear, 211- Knee joint second-stage reduction gear, 212- Support seat, 213- Bearing, 214- Synchronous belt, 215- Drive shaft, 215-1- Rectangular groove, 215-2- External thread, 215-3- Keyway, 3- Prosthetic knee joint, 301- Knee joint connector, 301-1- Knee joint drive rod hole, 301-2- Half-I-shaped connector, 301-3- Knee joint auxiliary rod hole, 302- Knee joint auxiliary link, 303- Knee joint moving part, 304- Angle sensor, 305- Knee joint drive link, 306- Angle sensor mounting base, 307- Adjusting ball, 308- Adjusting rod, 309- Knee joint damping adjustment housing. Detailed Implementation

[0026] The following description, with reference to the accompanying drawings, illustrates several preferred embodiments of the present invention to make its technical content clearer and easier to understand. The present invention can be embodied in many different forms, and the scope of protection of the present invention is not limited to the embodiments mentioned herein.

[0027] In the accompanying drawings, components with the same structure are indicated by the same numerical designation, and components with similar structures or functions are indicated by similar numerical designations. The dimensions and thicknesses of each component shown in the drawings are arbitrary, and the present invention does not limit the dimensions and thicknesses of each component. To make the illustrations clearer, the thickness of some components has been appropriately exaggerated in the drawings.

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] In the description of this invention, it should be noted that the terms "middle", "upper", "lower", "left", "right", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0030] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0031] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to embodiments.

[0032] like Figures 1 to 7As shown, the present invention provides an integrated hip and knee joint structure for a powered prosthesis, comprising a prosthetic hip joint 1, a power transmission system 2, and a prosthetic knee joint 3. The prosthetic hip joint 1 includes: a connector 101, a support plate 102, a connecting plate 103, a Y-shaped connecting plate 104, an auxiliary rod 105, a power rod 106, and a leg bone 107. The leg bone 107 has three features: a battery compartment 107-1, a motor receiving cavity 107-2, and a knee joint receiving cavity 107-3. The power transmission system 2 includes: a raised block 201, a flexible gear 202, a hip joint secondary reduction gear 203, a hip joint primary reduction gear 204, a power motor 205, a drive gear 206, a drive pulley 207, a driven pulley 208, a pressure frame 209, a knee joint primary reduction gear 210, a knee joint secondary reduction gear 211, a support seat 212, a bearing 213, a synchronous belt 214, and a power shaft 215. The flexible gear 202 has a power coil spring 202-1, a power coil spring storage cavity 202-2, and an adjustment mechanism. Dental plate 202-3, flexible gear base wheel 202-4; power motor 205 is provided with power interface 205-1); power shaft 215 is provided with rectangular groove 215-1, external thread 215-2, keyway 215-3; prosthetic knee joint 3 includes: knee joint connector 301, knee joint auxiliary link 302, knee joint moving part 303, angle sensor 304, knee joint power link 305, angle sensor mounting base 306, adjusting ball 307, adjusting rod 308, knee joint damping adjusting shell 309; knee joint connector 301 is provided with knee joint power rod hole 301-1, semi-I-shaped connector 301-2, knee joint auxiliary rod hole 301-3.

[0033] The hip joint connector 101 is fixedly connected to the support plate 102 by bolts. Connecting plate 103 and Y-shaped connecting plate 104 are connected to connector 101 via shafts. The free end of connecting plate 103 is shaft-connected to auxiliary rod 105 and power rod 106 respectively. The middle part of auxiliary rod 105 is shaft-connected to Y-shaped connecting plate 104, and the end of auxiliary rod 105 is shaft-connected to leg bone 107. The bottom of leg bone 107 has a knee joint receiving cavity 107-3, and the middle position has equally sized and symmetrically distributed motor receiving cavities 107-2 and battery slots 107-1. Connecting plate 103 and Y-shaped connecting plate 104 are in a parallel position, as are auxiliary rod 105 and power rod 106. The end of power rod 106 is keyed to power shaft 215. One end of power shaft 215 has a rectangular groove 215-1 and an external thread 215-2. The rectangular groove 215-1 is connected to the free end of power coil spring 202-1. The power coil spring 202-1 is embedded in the power coil spring receiving cavity 202-2 located on the flexible gear 202, and is fixed to the flexible gear 202 as a whole. The bottom of the power coil spring receiving cavity 202-2 has four evenly distributed adjusting teeth 202-3, which are fixedly connected to the flexible gear base wheel 202-4 by screws. An end cap is embedded in the large opening end face of the flexible gear 202 to seal the internal flexible structure of the flexible gear 202. Two sets of thrust bearings are placed inside and outside the small end opening of the flexible gear 202, and are fixed to the leg bone 107 and rotatable by engaging with the external thread 215-2 on the power shaft 215 through a thin nut. The pressure frame 209 is fixedly connected to the leg bone 107 through a shim block 201. The pressure frame 209 is provided with bearing holes, which respectively engage with the power shaft 215, the hip joint secondary reduction gear 203, the hip joint primary reduction gear 204, the knee joint primary reduction gear 210, and the knee joint secondary reduction gear 211. Its main purpose is to enhance the stability of each gear stage during power transmission. The power motor 205 engages with the motor receiving cavity 107-2 located on the leg bone 107 and is fixedly connected to the leg bone 107 with screws. The output shaft of the power motor 205 is provided with a drive gear 206, which meshes with both the hip joint primary reduction gear 204 and the knee joint primary reduction gear 210, respectively transmitting power to the prosthetic knee joint 3 and the prosthetic hip joint 1. The knee joint secondary reduction gear 211 is connected to the electromagnetic clutch, and the output end of the electromagnetic clutch is fixedly connected to the driving pulley 207. The driving pulley 207 and the driven pulley 208 are connected by a synchronous belt 214. The driven pulley 208 is fixedly connected to the knee joint power link 305. The driven pulley 208 can drive the knee joint power link 305 to rotate, and complete the knee flexion and extension movements with the cooperation of the knee joint auxiliary link 302. The knee joint connector 301 is provided with a semi-I-shaped connector 301-2, which can be embedded in the leg bone 107 and fixedly connected by screws.The knee joint moving component 303 is axially connected to the knee joint power link 305 and the knee joint auxiliary link 302, and together with the knee joint connector 301, it forms a four-bar structure for the knee joint.

[0034] When the user is performing obstacle crossing, hill climbing, or stair climbing tasks, they can select the high-performance mode of the prosthesis. The power motor 205 will operate at its rated maximum output power, and the electromagnetic clutch will engage to transmit torque. The power motor 205 transmits power simultaneously in two directions via the drive gear 205 mounted on the output shaft. In the direction of the prosthetic hip joint 1, the motor power is transmitted along the hip joint's primary reduction gear 204 and secondary reduction gear 203 to the flexible gear 202. The flexible gear 202 transmits torque to the prosthetic hip joint 1 via a power coil spring 202-1 located inside the gear, and the power shaft 215 drives the hip joint structure to complete the hip flexion movement. In the direction of the prosthetic knee joint 3, the motor power is transmitted along the knee joint's primary reduction gear 210 and secondary reduction gear 211 to the electromagnetic clutch. The energized electromagnetic clutch transmits power to the prosthetic knee joint 3 via a pulley assembly to complete the knee flexion movement. Furthermore, during the swing phase of the prosthesis, the knee joint needs to complete both flexion and extension movements simultaneously. Therefore, at the midpoint, the electromagnetic clutch will disengage, and the knee joint will rely on the weight and inertia of the lower leg to complete the extension movement. The electromagnetic clutch will re-engage to enter the next cycle after the intention to lift the prosthesis is detected again.

[0035] This prosthesis simultaneously replicates the kinematic structure of the hip and knee joints of the lower limb. Through a single-bar, double parallelogram structure, it successfully restores the rotation center of the prosthetic hip joint to the amputee's stump, thus restoring the physiological leg length. Furthermore, the four-bar design of the knee joint successfully replicates the basic laws of multi-center rotational motion of the knee joint. According to the kinematic laws of the lower limb hip and knee joints, the overall deceleration ratio i1 of the prosthetic knee joint 3 and the overall deceleration ratio i2 of the prosthetic hip joint 1 should satisfy: 1:3 ≤ i1:i2 ≤ 2:3. In the example, the condition is: i1:i2 = 1:2. In addition, in the example, both the prosthetic hip joint 1 and the prosthetic knee joint 3 have two deceleration stages. This is to ensure that the hip flexes while the knee flexes when the direction of rotation of the drive motor 205 is unique. Therefore, the deceleration stages of the prosthetic hip joint 1 and the prosthetic knee joint 3 should be consistent in the design to avoid the problem of the movement direction of the prosthetic hip joint 1 and the prosthetic knee joint 3 being inconsistent with the combined movement direction of the normal lower limb hip and knee joints.

[0036] When the user is walking or walking on a normal flat surface, they can select the prosthesis's assist mode. In this mode, the electromagnetic clutch is disengaged, and there is no coordinated movement between the knee and hip joints. The knee joint relies on inertia to complete flexion and extension movements. The power motor 205 only provides power to the prosthesis's hip joint 1, and the power provided is only used to overcome the gravitational torque generated by the prosthesis's own weight. The power transmission path of the prosthesis's hip joint 1 is the same as in the performance mode. The power transmission path of the prosthesis's knee joint 3 is interrupted by the electromagnetic clutch. In this mode, there is no load on the prosthesis's knee joint 3. Therefore, this mode only provides general assistance to the prosthesis, which helps increase the overall endurance of the prosthesis while reducing the user's physical exertion.

[0037] When the power motor fails or the power is depleted, the electromagnetic clutch is de-energized and disengaged. At this time, the prosthesis loses external power, and the user can use it as a traditional passive prosthesis. The difference from a traditional prosthesis is that the elastic element located in the hip joint continues to function normally. The power coil spring 202-1, located inside the flexible gear 202, compresses and accumulates some energy during hip extension and releases it during hip flexion, providing some assistance for hip flexion. After hip flexion is completed, the prosthesis completes the hip extension under the influence of gravity.

[0038] This invention is not limited to the above-described embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of this invention shall be considered equivalent substitutions, including but not limited to changes in name, changes in part model and size, adjustments to the installation position or angle of the mechanism, overall or partial enlargement or reduction, and adjustments to the relative positions of parts. All of these are included within the scope of protection of this invention.

[0039] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. An integrated hip and knee joint structure for a powered prosthesis, characterized in that, It includes a prosthetic hip joint (1), a power transmission system (2), and a prosthetic knee joint (3); the power transmission system (2) transmits power to the prosthetic hip joint (1) and the prosthetic knee joint (3) simultaneously in two directions, driving the prosthetic hip joint (1) to complete hip flexion and the prosthetic knee joint (3) to complete knee flexion. The prosthetic hip joint (1) includes a connector (101), a support plate (102), a connecting plate (103), a Y-shaped connecting plate (104), an auxiliary rod (105), a power rod (106), and a leg bone (107). The leg bone (107) has a battery compartment (107-1) and a motor receiving cavity (107-2) of equal size and symmetrical distribution in the middle position, and a knee joint receiving cavity (107-3) at the bottom; the power transmission system (2) includes a raised block (201), a flexible gear (202), a hip joint secondary reduction gear (203), a hip joint primary reduction gear (204), a power motor (205), a drive gear (206), a drive pulley (207), a driven pulley (208), a pressure frame (209), and a knee joint primary reduction gear (210). The system includes a knee joint secondary reduction gear (211), a support seat (212), a bearing (213), a timing belt (214), and a drive shaft (215); the pressure frame (209) is fixedly connected to the leg bone (107) via the elevation block (201); the pressure frame (209) is provided with bearing holes, which are respectively connected to the drive shaft (215), the hip joint secondary reduction gear (203), the hip joint primary reduction gear (204), the knee joint primary reduction gear (210), and the knee joint secondary reduction gear (215). 11) The main purpose of this is to enhance the stability of each gear in the power transmission process; the power motor (205) cooperates with the motor receiving cavity (107-2) and is fixedly connected to the leg bone (107) by screws. The output shaft of the power motor (205) is provided with the active gear (206). The active gear (206) meshes with the first-stage reduction gear (204) of the hip joint and the first-stage reduction gear (210) of the knee joint, respectively transmitting power to the prosthetic knee joint (3) and the prosthetic hip joint (1).

2. The integrated hip and knee joint structure for a powered prosthesis as described in claim 1, characterized in that, The connector (101) is fixedly connected to the support plate (102) by bolts; the connecting plate (103) and the Y-shaped connecting plate (104) are respectively connected to the connector (101) by shafts; the free end of the connecting plate (103) is respectively connected to the auxiliary rod (105) and the power rod (106) by shafts; the middle part of the auxiliary rod (105) is connected to the Y-shaped connecting plate (104) by shafts; the end of the auxiliary rod (105) is connected to the leg bone (107) by shafts; the connecting plate (103) and the Y-shaped connecting plate (104) are in a parallel position relationship, and the auxiliary rod (105) and the power rod (106) are also in a parallel position relationship.

3. The integrated hip and knee joint structure for a powered prosthesis as described in claim 1, characterized in that, The flexible gear (202) includes a power coil spring (202-1), a power coil spring receiving cavity (202-2), adjusting teeth (202-3), and a flexible gear base wheel (202-4); the power coil spring (202-1) is embedded in the power coil spring receiving cavity (202-2) and fixed to the flexible gear (202) as a whole; the bottom of the power coil spring receiving cavity (202-2) is provided with four evenly distributed adjusting teeth (202-3), which are fixedly connected to the flexible gear base wheel (202-4) by screws; one end of the power shaft (215) The device has a rectangular groove (215-1) and an external thread (215-2), and a keyway (215-3) at the other end. The rectangular groove (215-1) is connected to the free end inside the power coil spring (202-1). The power shaft (215) is connected to the end of the power rod (106) via the keyway (215-3). Two sets of thrust bearings are placed inside and outside the small end opening of the flexible gear (202), and the flexible gear (202) is fixed on the leg bone (107) and can rotate by cooperating with the external thread (215-2) through a thin nut.

4. The integrated hip and knee joint structure for a powered prosthesis as described in claim 3, characterized in that, The power coil spring (202-1) is made of elastic material and can store and release energy during periodic rotational motion to simulate the pulling effect of leg joint muscles on the joint, while also avoiding the jerking sensation that may exist in rigid transmission during periodic motion; the initial tightening state of the power coil spring (202-1) is adjustable to simulate different joint muscle forces.

5. The integrated hip and knee joint structure for a powered prosthesis as described in claim 4, characterized in that, It also includes an end cap, which is embedded in the large opening end face of the flexible gear (202) to seal the internal flexible structure of the flexible gear (202).

6. The integrated hip and knee joint structure for a powered prosthesis as described in claim 5, characterized in that, The prosthetic knee joint (3) includes a knee joint connector (301), a knee joint auxiliary link (302), a knee joint moving part (303), an angle sensor (304), a knee joint power link (305), an angle sensor mounting base (306), an adjusting ball (307), an adjusting rod (308), and a knee joint damping adjusting housing (309); the knee joint secondary reduction gear (211) is connected to an electromagnetic clutch, and the output end of the electromagnetic clutch is fixedly connected to the driving pulley (207). The driving pulley (207) and the driven pulley (208) are connected through the synchronous belt (214), and the driven pulley (208) is fixedly connected to the knee joint power link (305). The driven pulley (208) can drive the knee joint power link (305) to rotate and complete the knee joint flexion and extension movements with the cooperation of the knee joint auxiliary link (302); the knee joint connector (301) is provided with a knee joint power link hole (301-1), a semi-I-shaped connector (301-2) and a knee joint auxiliary link hole (301-3); the semi-I-shaped connector (301-2) can be embedded in the leg bone (107) and fixedly connected by screws; the knee joint moving part (303) is connected to the knee joint power link (305) and the knee joint auxiliary link (302) through a shaft, and together with the knee joint connector (301), it forms a four-bar structure of the knee joint.

7. The integrated hip and knee joint structure for a powered prosthesis as described in claim 1, characterized in that, The deceleration levels of the prosthetic hip joint (1) and the prosthetic knee joint (3) should be consistent to avoid the problem that the movement direction of the prosthetic hip joint and knee joint is inconsistent with the joint movement direction of the normal lower limb hip and knee joint.

8. The integrated hip and knee joint structure for a powered prosthesis as described in claim 7, characterized in that, The overall deceleration ratio i1 of the prosthetic knee joint (3) and the overall deceleration ratio i2 of the prosthetic hip joint (1) satisfy the condition: 1:3≤i1:i2≤2:3, so as to restore the general motion law of the lower limb hip and knee joint.

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