Knee joint mechanism, method and robot based on active and passive combined regulation

Abstract

A knee joint mechanism, method and robot based on active and passive combined adjustment relate to the field of knee joints. The knee joint mechanism based on active and passive combined adjustment includes a first connection mechanism connecting the thigh, a second connection mechanism connecting the calf, at least one connection plate, a flexible transmission mechanism connected to the first connection mechanism and the connection plate, a passive adjustment mechanism connected to the connection plate and the flexible transmission mechanism, and an active adjustment mechanism connected to the second connection mechanism and the flexible transmission mechanism; the flexible transmission mechanism can rotate synchronously when the first connection mechanism rotates relative to the second connection mechanism; the passive adjustment mechanism can adjust the damping force when the first connection mechanism rotates relative to the second connection mechanism; the active adjustment mechanism can drive the flexible transmission mechanism to rotate and adjust the damping force when the first connection mechanism rotates relative to the second connection mechanism. The knee joint mechanism, method and robot based on active and passive combined adjustment can actively and passively adjust the rotational damping force to adapt to usage requirements.

Description

Technical Field

[0001] The present application relates to the field of knee joints, and in particular, to a knee joint mechanism, method and robot based on active and passive combined regulation. Background Art

[0002] A lower limb rehabilitation robot is a robotic device used to assist patients in lower limb rehabilitation training. It can provide targeted rehabilitation training by interacting with the patient's lower limbs, thereby helping the patient restore motor function, improve muscle strength and coordination, and promote the patient's rehabilitation process.

[0003] The knee joint is the most critical component of a lower limb rehabilitation robot. It not only needs to have precise positioning and load, but also needs to have good cushioning and shock absorption performance. With the continuous development of research on the knee joint of lower limb rehabilitation robots, the elastic deformation performance of the knee joint has been further developed. On this basis, a knee joint test prototype with good elasticity, compliance, and active and passive functions has been successfully developed.

[0004] However, the current design of the flexible knee joint in the lower limb rehabilitation robot still has problems such as the structural design being too complex and not tight enough, which results in the mechanism being too large and unable to adjust the damping well. It also cannot meet the needs of the lower limb rehabilitation robot in the forms of walking, squatting, and going up and down stairs. Summary of the invention

[0005] The purpose of the present application is to provide a knee joint mechanism, method and robot based on active and passive combined adjustment, which has a simple and compact structure and can actively and passively adjust the damping force during rotation to meet usage requirements.

[0006] This application is implemented as follows:

[0007] The present application provides a knee joint mechanism based on active and passive combined adjustment, which includes:

[0008] A first connecting mechanism, used for connecting the thigh;

[0009] A second connecting mechanism, used for connecting the lower leg;

[0010] at least one connecting plate;

[0011] A flexible transmission mechanism, connected to the first connecting mechanism and the connecting plate respectively, and configured to rotate synchronously when the first connecting mechanism rotates relative to the second connecting mechanism;

[0012] A passive adjustment mechanism, connected to the connecting plate and the flexible transmission mechanism respectively, for adjusting the magnitude of the damping force when the first connecting mechanism rotates relative to the second connecting mechanism;

[0013] The active adjustment mechanism is connected to the second connection mechanism and the flexible transmission mechanism respectively, and is used to drive the flexible transmission mechanism to rotate so as to adjust the damping force when the first connection mechanism rotates relative to the second connection mechanism.

[0014] In some optional embodiments, the first connecting mechanism includes a first leg connecting piece for connecting the thigh, a first connecting rod connected to the first leg connecting piece, and a second connecting rod arranged perpendicularly and connected to the first connecting rod, and the second connecting rod is connected to the flexible transmission mechanism.

[0015] In some optional embodiments, the connecting plate is provided with an arc-shaped guide groove, and the flexible transmission mechanism includes a connecting shaft with one end slidingly arranged in the guide groove and at least two first rotating members arranged on both sides of the connecting shaft, each first rotating member is connected to a rotatable rotating shaft, and the two rotating shafts are respectively hinged to the connecting shaft through at least one second rotating member, the second connecting rod is connected to the connecting shaft, and the two first rotating members are respectively connected to the passive adjustment mechanism.

[0016] In some optional embodiments, the connecting shaft is connected to a roller that rolls in a guide groove.

[0017] In some optional embodiments, the passive adjustment mechanism includes at least two first springs, and each second rotating member is connected to the connecting plate via at least one first spring.

[0018] In some optional embodiments, the active adjustment mechanism includes a screw, a motor for driving the screw to rotate, a screw sleeve threaded on the screw, and two adjustment rods, one end of the two adjustment rods is hinged to the screw sleeve, and the other end is hinged to the two rotating shafts respectively, and the motor is connected to the connecting plate.

[0019] In some optional embodiments, the second connecting mechanism includes a second leg connecting piece for connecting the calf, a third connecting rod connected to the second leg connecting piece, and a fourth connecting rod arranged perpendicularly and connected to the third connecting rod, and the fourth connecting rod is connected to the connecting plate.

[0020] In some optional embodiments, the fourth connecting rod is connected to the connecting plate through a deflection adjustment mechanism, the deflection adjustment mechanism includes an outer sleeve and a plurality of adjustment plates arranged in the outer sleeve, and the two sides of each adjustment plate are respectively connected to the outer sleeve through at least one second spring; one end of the fourth connecting rod extends into the outer sleeve and connects each adjustment plate, and the outer sleeve is connected to the passive adjustment mechanism.

[0021] The present application also provides a method for joint adjustment of a knee joint mechanism based on active and passive methods, comprising the following steps:

[0022] Connecting the first connecting mechanism and the second connecting mechanism to the thigh and the calf respectively;

[0023] A flexible transmission mechanism is provided which is connected to the first connection mechanism and the connection plate respectively, and when the first connection mechanism rotates relative to the second connection mechanism, the flexible transmission mechanism is driven to rotate synchronously

[0024] Using a passive adjustment mechanism connected to the connecting plate and the flexible transmission mechanism respectively to adjust the damping force when the first connecting mechanism rotates relative to the second connecting mechanism;

[0025] The active adjustment mechanism connected to the second connection mechanism and the flexible transmission mechanism is used to drive the flexible transmission mechanism to rotate, so as to adjust the damping force when the first connection mechanism rotates relative to the second connection mechanism.

[0026] The present application also provides a robot, which includes the above-mentioned knee joint mechanism based on active and passive combined adjustment.

[0027] The beneficial effects of the present application are: the knee joint mechanism, method and robot based on active and passive combined adjustment provided by the present application connect the thigh and the calf respectively using a first connecting mechanism and a second connecting mechanism, and set a flexible transmission mechanism to rotate synchronously when the first connecting mechanism rotates relative to the second connecting mechanism, and use a passive adjustment mechanism to adjust the damping force when the first connecting mechanism rotates relative to the second connecting mechanism, and use an active adjustment mechanism to drive the flexible transmission mechanism to rotate to adjust the damping force when the first connecting mechanism rotates relative to the second connecting mechanism. The purpose of active and passive damping force adjustment is better achieved through a simple and compact mechanism, and can meet the needs of lower limb rehabilitation robots in walking, squatting, and going up and down stairs. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0029] Figure 1 A schematic diagram of the structure of a knee joint mechanism based on active and passive combined adjustment provided in an embodiment of the present application when connected to a thigh and a calf;

[0030] Figure 2 A schematic diagram of the structure of a knee joint mechanism based on active and passive combined regulation provided in an embodiment of the present application;

[0031] Figure 3 A schematic diagram of the structure of the knee joint mechanism based on active and passive combined adjustment provided in an embodiment of the present application when one connecting plate is omitted;

[0032] Figure 4A schematic diagram of the connection of the connecting plate in the knee joint mechanism based on active and passive combined adjustment provided in an embodiment of the present application;

[0033] Figure 5 A schematic diagram of the partial structure of the knee joint mechanism based on active and passive combined adjustment provided in an embodiment of the present application when the first connecting mechanism, the second connecting mechanism and the connecting plate are omitted;

[0034] Figure 6 A schematic cross-sectional view of the deflection adjustment mechanism in the knee joint mechanism based on active and passive combined adjustment provided in an embodiment of the present application;

[0035] Figure 7 A schematic diagram of the partial structure of the deflection adjustment mechanism in the knee joint mechanism based on active and passive combined adjustment provided in an embodiment of the present application, after omitting the outer sleeve, connected with the fourth connecting rod and the screw rod;

[0036] Figure 8 A schematic diagram of force analysis of a variable damping structure based on preload in a knee joint mechanism based on active and passive combined regulation provided in an embodiment of the present application;

[0037] Fig. 9 A schematic diagram of force analysis of a variable damping structure based on a lever structure in a knee joint mechanism based on active and passive combined adjustment provided in an embodiment of the present application.

[0038] In the figure: 100, first connecting mechanism; 110, first leg connecting member; 120, first connecting rod; 130, second connecting rod; 140, thigh; 200, second connecting mechanism; 210, second leg connecting member; 220, third connecting rod; 230, fourth connecting rod; 240, calf; 300, connecting plate; 310, guide groove; 400, flexible transmission mechanism; 410, connecting shaft; 420, first rotating member; 430, rotating shaft; 440, second rotating member; 450, roller; 500, passive adjustment mechanism; 510, first spring; 520, spring seat; 600, active adjustment mechanism; 610, screw rod; 620, motor; 630, screw rod sleeve; 640, adjustment rod; 650, reinforcement rod; 700, deflection adjustment mechanism; 710, outer sleeve; 720, adjustment plate; 730, second spring. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0040] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0041] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0042] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the application is usually placed when in use. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0043] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0044] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0045] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0046] The features and performance of the knee joint mechanism, method and robot based on active and passive combined adjustment of the present application are further described in detail below in conjunction with the embodiments.

[0047] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, the embodiment of the present application provides a knee joint mechanism based on active and passive combined adjustment, which includes a first connection mechanism 100 for connecting the thigh 140, a second connection mechanism 200 for connecting the calf 240, a pair of relatively arranged connection plates 300, a flexible transmission mechanism 400, a passive adjustment mechanism 500, an active adjustment mechanism 600 and a deflection adjustment mechanism 700. The flexible transmission mechanism 400 is used to rotate synchronously when the first connection mechanism 100 rotates relative to the second connection mechanism 200; the passive adjustment mechanism 500 is used to adjust the damping force when the first connection mechanism 100 rotates relative to the second connection mechanism 200; the active adjustment mechanism 600 is used to drive the flexible transmission mechanism 400 to rotate so as to adjust the damping force when the first connection mechanism 100 rotates relative to the second connection mechanism 200. The deflection adjustment mechanism 700 is used to drive the second connection mechanism 200 rotating around the axial direction of the calf 240 to rotate in the opposite direction and reset;

[0048] The first connection mechanism 100 includes a first leg connection member 110 for being mounted on and connected to the thigh 140 , a first connection rod 120 connected to the first leg connection member 110 , and a second connection rod 130 vertically arranged and connected to the first connection rod 120 .

[0049] The two connecting plates 300 are respectively provided with symmetrically arranged arc-shaped guide grooves 310, and the flexible transmission mechanism 400 includes a connecting shaft 410 whose two ends are respectively inserted into the guide grooves 310 on the two connecting plates 300 and two U-shaped first rotating members 420 symmetrically arranged on both sides of the connecting shaft 410. The two ends of the connecting shaft 410 are respectively connected with rotatable rollers 450, and the two rollers 450 are respectively rolled in the two guide grooves 310. The two ends of each first rotating member 420 can be rotatably mounted on a rotating shaft 430. The two rotating shafts 430 are respectively hinged to the connecting shaft 410 through two second rotating members 440, and the second connecting rod 130 is connected to the connecting shaft 410.

[0050] The passive adjustment mechanism 500 includes two first springs 510 . A spring seat 520 is connected to the middle of each second rotating member 440 . One end of the two first springs 510 is connected to the two spring seats 520 , respectively.

[0051] The active adjustment mechanism 600 includes a motor 620 connected to two connecting plates 300 on both sides, a screw rod 610 connected to the output shaft of the motor 620, a screw rod sleeve 630 threadedly mounted on the screw rod 610, and two adjustment rods 640, one end of the two adjustment rods 640 is hinged to the screw rod sleeve 630, and the other end is hinged to the two rotating shafts 430; the motor 620 is connected to a first spring 510.

[0052] The second connection mechanism 200 includes a second leg connection member 210 for being mounted on and connected to the calf 240 , a third connection rod 220 connected to the second leg connection member 210 , and a fourth connection rod 230 vertically arranged and connected to the third connection rod 220 .

[0053] The fourth connecting rod 230 is connected to the connecting plate 300 through a deflection adjustment mechanism 700. The deflection adjustment mechanism 700 includes an outer sleeve 710 connected to two connecting plates 300 on both sides and four adjustment plates 720 arranged in the outer sleeve 710. The two sides of each adjustment plate 720 are connected to the inner wall of the outer sleeve 710 through two second springs 730 respectively; the end of the fourth connecting rod 230 away from the third connecting rod 220 passes through one end of the outer sleeve 710 and is connected to each adjustment plate 720. The four adjustment plates 720 are arranged at intervals along the circumference of the fourth connecting rod 230, and the outer sleeve 710 is connected to another first spring 510; the end of the screw rod 610 away from the motor 620 can rotatably pass through the other end of the outer sleeve 710, and a reinforcing rod 650 arranged parallel to the screw rod 610 is also hinged between the outer sleeve 710 and the motor 620.

[0054] The embodiment of the present application further provides a method for joint adjustment of a knee joint mechanism based on active and passive combination, which is implemented by using the above-mentioned knee joint mechanism based on active and passive combination adjustment, and includes the following steps:

[0055] The first connecting mechanism 100 and the second connecting mechanism 200 are connected to the thigh 140 and the calf 240 of the user respectively; specifically, the second leg connecting member 210 of the second connecting mechanism 200 is sleeved and connected to the calf 240, and the first leg connecting member 110 of the first connecting mechanism 100 is sleeved and connected to the thigh 140, so that the knee joint at the connection between the thigh 140 and the calf 240 is located on the side of the two connecting plates 300;

[0056] When the user stretches the calf 240 to rotate the calf 240 relative to the thigh 140 around the knee joint, the calf 240 drives the second leg connecting member 210, the third connecting rod 220 and the fourth connecting rod 230 to rotate. At this time, since the thigh 140 does not move, the first leg connecting member 110, the first connecting rod 120 and the second connecting rod 130 connected to the thigh 140 remain stationary, so that the fourth connecting rod 230 sequentially drives the outer sleeve 710 in the deflection adjustment mechanism 700, the two connecting plates 300 and the motor 620 in the active adjustment mechanism 600 to rotate relative to the connecting shaft 410 in the flexible transmission mechanism 400 connected to the second connecting rod 130, thereby rotating the outer sleeve The cylinder 710 and the motor 620 squeeze and stretch the corresponding two first springs 510 respectively, and then drive the two ends of the connecting shaft 410 to move along the guide grooves 310 on the two connecting plates 300 respectively through the squeezed and stretched two first springs 510, so that the flexible transmission mechanism 400 can quickly and stably adapt to the extension posture adjustment of the calf 240 and provide feedback, and when the calf 240 rotates relative to the thigh 140 and is closer to the thigh 140, the corresponding squeezing and stretching degree of the two first springs 510 is greater, so that the damping force of the calf 240 when rotating relative to the thigh 140 is passively adjusted through the elastic potential energy of the two first springs 510, to help the user to achieve leg rehabilitation exercises.

[0057] At the same time, the user can also control the motor 620 of the active adjustment mechanism 600 to start and drive the screw rod 610 to rotate, so that the screw rod sleeve 630, which is threadedly sleeved on the screw rod 610, moves along the screw rod 610, and the screw rod sleeve 630 drives the two adjustment rods 640 to move along the screw rod 610. When the two adjustment rods 640 move, they drive the two rotating shafts 430 to move synchronously, so that the two rotating shafts 430 drive the connected second rotating member 440 and the connecting shaft 410 to move, and finally make the connecting shaft 410 move along the two guide grooves 310 to rotate, and respectively drive the corresponding spring seats 520 to rotate through the two first rotating members 420 to compress and stretch the two first springs 510 respectively, so as to adjust the elastic potential energy of the two first springs 510, and change the damping force of the elastic potential energy of the two first springs 510 when the calf 240 rotates relative to the thigh 140.

[0058] Among them, the fourth connecting rod 230 is connected to the connecting plate 300 through the deflection adjustment mechanism 700. When the user rotates the calf 240 around its axis with force, the fourth connecting rod 230 is driven to rotate through the second leg connecting piece 210 and the third connecting rod 220, so that the fourth connecting rod 230 drives each adjustment plate 720 to rotate and compress and stretch the corresponding second springs 730 respectively, thereby avoiding the impact force of the calf 240 rotating when causing damage to the leg, meeting the activity requirements of the human body's calf 240 for inversion at an angle of 0-45° and eversion at an angle of 0-35°, solving the problem of excessive impact force on the knee joint in the flipping plane, and after the user stops rotating the calf with force, the corresponding second springs 730 that are compressed and stretched push each adjustment plate 720 to drive the fourth connecting rod 230 to rotate in the opposite direction and reset, thereby pushing the fourth connecting rod 230, the third connecting rod 220 and the second leg connecting piece 210 to drive the user's calf to move in the opposite direction and reset.

[0059] The embodiment of the present application also provides a robot, which includes the above-mentioned knee joint mechanism based on active and passive combined adjustment and a conventional connection component connected to the knee joint mechanism based on active and passive combined adjustment.

[0060] The knee joint mechanism, method and robot based on active and passive combined adjustment provided in the embodiments of the present application are combined with the following Figure 8 The variable damping structure based on preload as shown and Fig. 9 The variable damping structure based on the lever structure shown in the figure, wherein the variable damping structure based on the preload determines the initial damping by controlling the initial preload of the elastic element in the flexible joint, and on this basis uses a cam or groove structure to convert the rotational angle displacement of the flexible joint into the linear displacement of the elastic element, thereby adjusting the damping of the flexible joint, and has the advantages of compact structure, smaller volume, large output torque, relatively simple torque and position control, easy structure to process and manufacture, easy maintenance, standardization of parts and components, and reduced manufacturing costs; the variable damping structure based on the lever structure adopts a pair of linear springs symmetrically arranged at both ends of the lever structure for adjustment, and adjusts the point of application of external force on the lever structure, thereby realizing the damping adjustment of the flexible joint, so that when the lever length is very short, by adjusting the position of the linear spring, the absolute damping adjustment of the flexible joint can be completed without the help of the elastic element, simplifying the variable damping structure while reducing the weight.

[0061] The knee joint mechanism, method and robot based on active and passive combined adjustment provided in the embodiment of the present application organically combine the passive adjustment mechanism 500, the active adjustment mechanism 600 and the flexible transmission mechanism 400, thereby improving the defects of the variable damping structure based on preload force, such as the small damping adjustment range and low degree of refinement, and overcoming the defects of the variable damping structure based on the lever structure, such as the low tightness and small damping adjustment amplitude. At the same time, a breakthrough is achieved in the difficulty of real-time feedback and dynamic adjustment of the flexible joint, and the mechanism has the advantages of compact structure, small size, light weight, the ability to actively complete the absolute damping adjustment of the flexible joint, and a large damping adjustment range.

[0062] In addition, by combining the equivalent cam mechanism of the flexible transmission mechanism 400 and the active change preload structure of the active adjustment mechanism 600, the active adjustment function can be achieved, and the wear of the cam mechanism and the overturning force in the lever structure in the preload variable damping solution can be effectively solved. Specifically, when the screw sleeve 630 drives the two adjustment rods 640 to move along the screw 610, the first spring 510 can only be stretched and compressed along its axial direction when it is stressed, solving the overturning force problem in the lever structure; in addition, when the connecting shaft 410 drives the two rollers 450 to slide in the guide groove 310, the angle between the force direction of the first spring 510 and the adjustment rod 640 can be changed, and this change is equivalent to the change of the curvature radius of the cam mechanism, thereby solving the wear problem of the cam mechanism.

[0063] The embodiments described above are part of the embodiments of the present application, rather than all of the embodiments. The detailed description of the embodiments of the present application is not intended to limit the scope of the present application for protection, but merely represents the selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

Claims

1. A knee joint mechanism based on active and passive combined regulation, characterized in that: It includes: A first connecting mechanism, used for connecting the thigh; A second connecting mechanism, used for connecting the lower leg; at least one connecting plate; a flexible transmission mechanism, connected to the first connecting mechanism and the connecting plate respectively, and configured to rotate synchronously when the first connecting mechanism rotates relative to the second connecting mechanism; A passive adjustment mechanism, connected to the connecting plate and the flexible transmission mechanism respectively, and used for adjusting the damping force when the first connecting mechanism rotates relative to the second connecting mechanism; an active adjustment mechanism, connected to the second connection mechanism and the flexible transmission mechanism respectively, and used to drive the flexible transmission mechanism to rotate so as to adjust the damping force when the first connection mechanism rotates relative to the second connection mechanism; The first connecting mechanism includes a first leg connecting piece for connecting the thigh, a first connecting rod connected to the first leg connecting piece and a second connecting rod arranged perpendicularly and connected to the first connecting rod, the second connecting rod is connected to the flexible transmission mechanism; the connecting plate is provided with an arc-shaped guide groove, and the flexible transmission mechanism includes a connecting shaft with one end slidingly arranged in the guide groove and at least two first rotating members arranged on both sides of the connecting shaft, each of the first rotating members is connected to a rotatable rotating shaft, and the two rotating shafts are respectively hinged to the connecting shaft through at least one second rotating member, the second connecting rod is connected to the connecting shaft, and the two first rotating members are respectively connected to the passive adjustment mechanism; the passive adjustment mechanism includes at least two first springs, and each of the second rotating members is connected to the connecting plate through at least one first spring.

2. The knee joint mechanism based on active and passive combined adjustment according to claim 1, characterized in that: The connecting shaft is connected with a roller which is rollingly arranged in the guide groove.

3. The knee joint mechanism based on active and passive combined adjustment according to claim 1, characterized in that: The active adjustment mechanism includes a screw, a motor for driving the screw to rotate, a screw sleeve threadedly mounted on the screw, and two adjustment rods, one end of the two adjustment rods is hinged to the screw sleeve, and the other end is respectively hinged to the two rotating shafts, and the motor is connected to the connecting plate.

4. The knee joint mechanism based on active and passive combined adjustment according to claim 1, characterized in that: The second connecting mechanism includes a second leg connecting piece for connecting the calf, a third connecting rod connected to the second leg connecting piece, and a fourth connecting rod arranged vertically and connected to the third connecting rod, wherein the fourth connecting rod is connected to the connecting plate.

5. The knee joint mechanism based on active and passive combined adjustment according to claim 4, characterized in that: The fourth connecting rod is connected to the connecting plate through a deflection adjustment mechanism, and the deflection adjustment mechanism includes an outer sleeve and a plurality of adjustment plates arranged in the outer sleeve, and the two sides of each adjustment plate are respectively connected to the outer sleeve through at least one second spring; one end of the fourth connecting rod extends into the outer sleeve and connects each of the adjustment plates, and the outer sleeve is connected to the passive adjustment mechanism.

6. The method for adjusting the knee joint mechanism based on active and passive combined adjustment according to any one of claims 1 to 5, characterized in that: The following steps are involved: Connecting the first connecting mechanism and the second connecting mechanism to the thigh and the calf respectively; A flexible transmission mechanism is provided which is connected to the first connection mechanism and the connection plate respectively, and when the first connection mechanism rotates relative to the second connection mechanism, the flexible transmission mechanism is driven to rotate synchronously Using a passive adjustment mechanism connected to the connecting plate and the flexible transmission mechanism respectively to adjust the damping force when the first connecting mechanism rotates relative to the second connecting mechanism; The flexible transmission mechanism is driven to rotate by using an active adjustment mechanism connected to the second connection mechanism and the flexible transmission mechanism respectively, so as to adjust the damping force when the first connection mechanism rotates relative to the second connection mechanism.

7. A robot, characterized in that: It comprises a knee joint mechanism based on active and passive combined adjustment as claimed in any one of claims 1 to 5.

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