Active and passive intelligent artificial limb knee joint based on variable transmission ratio mechanism

Abstract

The invention provides an active and passive intelligent artificial limb knee joint based on a variable transmission ratio mechanism, which is characterized by comprising a rack module, the joint rotating module is arranged on the rack module and used for driving the knee joint to rotate; the gear transmission module is arranged on the rack module and used for driving the joint rotating module; the hydraulic damping module is arranged on the rack module, the hydraulic damping module comprises a damping motor, a hydraulic cylinder, a hydraulic rod, a hydraulic rod connecting device, a first incomplete gear and a second incomplete gear, a rotary valve is arranged at the bottom of the hydraulic cylinder, and the damping motor drives the first incomplete gear so as to drive the second incomplete gear to rotate; the second incomplete gear is fixed to the rotary valve through a jackscrew and used for controlling the damping effect of the hydraulic cylinder, a hydraulic rod is connected to the upper portion of the hydraulic cylinder, a hydraulic rod connecting device is arranged on the top of the hydraulic rod, and the hydraulic rod is connected with the joint rotating module through the hydraulic rod connecting device so as to control the knee joint to rotate.

Description

Technical Field

[0001] The present invention relates to the technical field of human body rehabilitation assistive devices, and in particular to an active and passive intelligent prosthetic knee joint based on a variable transmission ratio mechanism. Background Art

[0002] With the increase in lower limb amputees and the continuous development of microelectronics, control and other technologies, intelligent lower limb prostheses have gradually become a research hotspot in the field of rehabilitation robots. As the core component of the lower limb prosthesis system, the design of high-performance knee joint prostheses is still the main technical difficulty in current prosthetic design.

[0003] Currently, existing intelligent prosthetic knee joints can be divided into passive and active types according to the joint drive method. Among them, the passive prosthetic knee joint adjusts the knee joint damping torque according to changes in external conditions to achieve gait adjustment when walking, but because it does not provide active torque, it cannot assist patients in climbing stairs; the active prosthetic knee joint can replace the leg muscles to provide torque, so that the wearer can better complete walking modes that require active torque, such as climbing stairs, but generally lacks a clutch mechanism. The drive motor and transmission mechanism are always connected to the knee joint rotation axis. The motor needs to frequently rotate forward and reverse in any gait phase, resulting in a short battery life of the knee prosthesis.

[0004] In the prior art, the control of drive and damping size is mainly achieved through hydraulic pumps and damping adjustment valves, and the four-bar linkage is directly controlled by a motor. However, since the four-bar linkage has a multi-axis rotation center, the loss is large during the driving process of the active torque. In addition, the self-locking torque of the stepper motor itself requires a magnetic powder clutch to ensure that the torque does not affect the passive control stage when the stepper motor is powered off. The motor is also placed close to the human body, which is not conducive to human safety. Summary of the invention

[0005] The present invention is made to solve the above-mentioned problems, and aims to provide an active and passive intelligent prosthetic knee joint based on a variable transmission ratio mechanism.

[0006] The present invention provides an active and passive intelligent prosthetic knee joint based on a variable transmission ratio mechanism, which has the following characteristics, including: a frame module; a joint rotation module, which is arranged on the frame module and is used to drive the knee joint to rotate; a gear transmission module, which is arranged on the frame module and is used to drive the joint rotation module; and a hydraulic damping module, which is arranged on the frame module, wherein the hydraulic damping module includes a damping motor, a hydraulic cylinder with a rotating valve at the bottom, a hydraulic rod, a hydraulic rod connecting device, a first incomplete gear and a second incomplete gear, the damping motor drives the first incomplete gear to drive the second incomplete gear to rotate, the second incomplete gear is fixed to the rotating valve by a top screw, and is used to control the damping effect of the hydraulic cylinder, a hydraulic rod is connected above the hydraulic cylinder, a hydraulic rod connecting device is provided on the top of the hydraulic rod, and the hydraulic rod is connected to the joint rotation module through the hydraulic rod connecting device, thereby controlling the rotation of the knee joint.

[0007] In an active and passive intelligent prosthetic knee joint based on a variable transmission ratio mechanism provided by the present invention, it can also have the following characteristics: wherein, the hydraulic rod connecting device includes a convex connecting part, a piston rotating shaft, a piston fisheye hole and an L-shaped connecting piece, the protruding part of the convex connecting part is provided with a penetrating fisheye hole, the piston rotating shaft passes through the fisheye hole and is connected to one end of the L-shaped connecting piece, and the other end of the L-shaped connecting piece is fixedly connected to the joint rotation module.

[0008] In an active and passive intelligent prosthetic knee joint based on a variable transmission ratio mechanism provided by the present invention, it can also have the following characteristics: a hydraulic cylinder fixing seat is arranged at the bottom of the hydraulic cylinder, a fixing piece is sleeved on the outer side of the hydraulic cylinder fixing seat, the fixing piece is used to connect the hydraulic cylinder fixing seat and the frame module, and a damping motor fixing seat is arranged at the bottom of the damping motor, the damping motor fixing seat is used to connect the damping motor and the hydraulic cylinder fixing seat.

[0009] In the active and passive intelligent prosthetic knee joint based on a variable transmission ratio mechanism provided by the present invention, it can also have the following characteristics: wherein, the joint rotation module includes a small quadrangular pyramid, an upper rotating part, a left rotating part, a right rotating part and a joint rotation shaft with a spline sleeve, and the other end of the L-shaped connecting part is fixedly connected to the right rotating part.

[0010] In an active and passive intelligent prosthetic knee joint based on a variable transmission ratio mechanism provided by the present invention, it can also have the following characteristics: wherein, the upper rotating part is connected to the small quadrangular pyramid at the top, the lower left side of the upper rotating part is connected to the left rotating part, and the right side is connected to the right rotating part, the joint rotation axis is used to drive the left rotating part and the right rotating part to rotate, and the upper rotating part, the left rotating part and the right rotating part are used to drive the knee joint to rotate.

[0011] In an active and passive intelligent prosthetic knee joint based on a variable transmission ratio mechanism provided by the present invention, it can also have the following characteristics: wherein, the gear transmission module includes a drive motor, a bevel gear transmission system, a three-stage gear transmission system and a worm gear transmission assembly, and the drive motor drives the bevel gear transmission system or the three-stage gear transmission system to drive the joint rotation axis to rotate.

[0012] In an active and passive intelligent prosthetic knee joint based on a variable transmission ratio mechanism provided by the present invention, it can also have the following characteristics: wherein, the three-stage gear transmission system includes a first gear, a second gear, a third gear, a fourth gear and a fifth gear, the first gear is meshed with the second gear for transmission, the second gear is meshed with the third gear for transmission, the third gear and the fourth gear share a third D-shaped shaft to achieve synchronous transmission, the fourth gear is meshed with the fifth gear to transmit the torque to the fifth gear, and the fifth gear is equipped with a bearing and cooperates with the joint rotation axis.

[0013] In an active and passive intelligent prosthetic knee joint based on a variable transmission ratio mechanism provided by the present invention, it can also have the following characteristics: wherein, the bevel gear transmission system includes a first bevel gear, a second bevel gear, a third bevel gear and a fourth bevel gear, the worm transmission assembly includes a worm and a worm wheel, the output shaft of the drive motor is fixed to the first bevel gear through a fifth D-shaped shaft, the first bevel gear and the second bevel gear are meshed for transmission, the second bevel gear and the first gear share the first D-shaped shaft to achieve synchronous rotation, the second gear cooperates with the second D-shaped shaft on the worm to achieve synchronous rotation, the worm and the worm wheel are meshed for transmission, the worm wheel and the third bevel gear share the fourth D-shaped shaft to achieve synchronous rotation, the third bevel gear and the fourth bevel gear are meshed for transmission to transmit torque to the fourth bevel gear, and the fourth bevel gear is equipped with a bearing and cooperates with the joint rotation shaft.

[0014] In an active and passive intelligent prosthetic knee joint based on a variable transmission ratio mechanism provided by the present invention, it can also have the following characteristics: it also includes a switching module, which is arranged on the frame module and is used to switch the bevel gear transmission system and the three-stage gear transmission system by driving the spline sleeve to slide, including a switching motor and a switching module transmission assembly, the switching module transmission assembly is sleeved on the spline sleeve, and the switching motor drives the switching module transmission assembly to slide, thereby driving the spline sleeve to slide.

[0015] In an active and passive intelligent prosthetic knee joint based on a variable transmission ratio mechanism provided by the present invention, it can also have the following characteristics: wherein, the switching module transmission assembly includes a motor fixing seat, a switching motor gear, a switching motor rack, a rack slide rail, and a shift fork. The motor fixing seat is arranged above the switching motor and fixed on the rack module. The switching motor gear is fixed to the motor shaft of the switching motor. The switching motor gear is meshed with the switching motor rack. The switching motor rack and the rack slide rail are clearance-matched. One end of the shift fork is fixed to the switching motor rack, and the other end is sleeved on the spline sleeve, which is used to drive the spline sleeve to slide on the joint rotation shaft, thereby driving the spline sleeve to engage with the gear transmission module.

[0016] Functions and Effects of the Invention

[0017] According to the active and passive intelligent prosthetic knee joint based on a variable transmission ratio mechanism involved in the present invention, the present invention can change the knee joint prosthesis from an active type to a passive type, and with a hydraulic damper, when the patient needs the knee joint to provide a passive torque such as walking on flat ground and going down stairs, the stability of the knee joint is improved, and the flexion and extension of the knee joint rotating parts are smoother, thereby better adapting to road conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a front perspective view of an adjustment mechanism in an embodiment of the present invention;

[0019] Figure 2 is a rear perspective view of the adjustment mechanism in an embodiment of the present invention;

[0020] Figure 3 is an exploded view of the adjustment mechanism in an embodiment of the present invention;

[0021] Figure 4 is an exploded view of a joint rotation module in an embodiment of the present invention;

[0022] Figure 5 is a rear perspective view of a gear transmission module in an embodiment of the present invention;

[0023] Figure 6 is a front view stereogram of a gear transmission module in an embodiment of the present invention;

[0024] Figure 7 is a structural schematic diagram of the fifth gear in the gear transmission module in an embodiment of the present invention;

[0025] Figure 8 is a schematic structural diagram of a fourth bevel gear in a gear transmission module in an embodiment of the present invention;

[0026] Fig. 9 is a schematic structural diagram of a gear transmission module in a disconnected state in an embodiment of the present invention;

[0027] Fig.10 is a schematic diagram of a structure in which a gear transmission module is connected to a high transmission ratio in an embodiment of the present invention;

[0028] Fig.11 is a schematic diagram of a structure in which a gear transmission module is connected to a low transmission ratio in an embodiment of the present invention;

[0029] Fig.12 is a schematic diagram of the structure of a switching module in an embodiment of the present invention;

[0030] Fig.13 is an exploded diagram of a switching module in an embodiment of the present invention; and

[0031] Fig.14 Schematic diagram of the structure of the hydraulic damping module in an embodiment of the present invention. DETAILED DESCRIPTION

[0032] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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, an electrical connection, or mutual communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between 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.

[0033] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the following embodiments and the accompanying drawings specifically illustrate an active and passive intelligent prosthetic knee joint based on a variable transmission ratio mechanism of the present invention.

[0034] Figure 1 It is a front perspective view of the adjustment mechanism in the embodiment of the present invention. Figure 2 It is a rear perspective view of the adjustment mechanism in the embodiment of the present invention. Figure 3 An exploded view of the adjustment mechanism in an embodiment of the present invention.

[0035] like Figure 1-3 As shown, the transmission ratio adaptive adjustment mechanism 100 for a lightweight knee joint prosthesis in this embodiment includes a frame module 10 , a joint rotation module 20 , a gear transmission module 40 , a switching module 30 and a hydraulic damping module 70 .

[0036] The rack module 10 is used to fix the joint rotation module 20, the gear transmission module 40, the switching module 30 and the hydraulic damping module 70. The bottom of the rack module 10 is connected to a calf tube connector 11 for connecting the calf tube prosthesis below (not shown in the figure).

[0037] Figure 4 is an exploded view of the joint rotation module in an embodiment of the present invention.

[0038] like Figure 4 As shown, the joint rotation module 20 is used to drive the knee joint to rotate, including a small quadrangular platform 21, an upper rotating member 22, a left rotating member 23, a right rotating member 24 and a joint rotating shaft 25 with a spline sleeve 26, and the rotating member is used to drive the knee joint to rotate.

[0039] The small tetrahedron 21 is arranged above the upper rotating member 22 and is fixed to the upper rotating member 22 by screws. The upper part of the upper rotating member 22 is connected to the small tetrahedron 21, and the lower part of the upper rotating member 22 is fixed to the left rotating member 23 and the right rotating member 24 by positioning blocks and screws. Specifically, the left side of the upper rotating member 22 is connected to the left rotating member 23, and the right side is connected to the right rotating member 24. The joint rotating shaft 25 with the spline sleeve 26 cooperates with the D-shaped holes of the left rotating member 23 and the right rotating member 24, and the joint rotating shaft 25 is used to drive the left rotating member 23 and the right rotating member 24 to rotate.

[0040] Figure 5 It is a rear perspective view of the gear transmission module in the embodiment of the present invention. Figure 6 It is a front view stereogram of the gear transmission module in the embodiment of the present invention. Figure 7 Schematic diagram of the structure of the fifth gear in the gear transmission module in an embodiment of the present invention. Figure 8 It is a schematic structural diagram of the fourth bevel gear in the gear transmission module in an embodiment of the present invention. Fig. 9 It is a structural schematic diagram of the gear transmission module in the disconnected state in an embodiment of the present invention. Fig.10 It is a schematic diagram of the structure of the gear transmission module connected to a high transmission ratio in an embodiment of the present invention. Fig.11 It is a schematic diagram of the structure of the gear transmission module connected to a low transmission ratio in an embodiment of the present invention.

[0041] like Figure 5-11 As shown, the gear transmission module 40 is used to drive the joint rotation module 20, including a drive motor 41, a bevel gear transmission system 59, a three-stage gear transmission system 60 and a worm gear transmission assembly. The drive motor 41 drives the bevel gear transmission system 59 or the three-stage gear transmission system 60, thereby driving the joint rotation axis 25 to rotate.

[0042] The three-stage gear transmission system 60 includes a first gear 42, a second gear 43, a third gear 44, a fourth gear 45 and a fifth gear 46. The first gear 42 is meshed with the second gear 43 for transmission, the second gear 43 is meshed with the third gear 44 for transmission, the third gear 44 and the fourth gear 45 share a third D-shaped shaft 53 to achieve synchronous transmission, the fourth gear 45 is meshed with the fifth gear 46 to transfer the torque to the fifth gear 46, and the fifth gear 46 is equipped with a bearing 57 and cooperates with the joint rotation shaft 25.

[0043] The bevel gear transmission system 59 includes a first bevel gear 47, a second bevel gear 48, a third bevel gear 49 and a fourth bevel gear 50. The worm 58 transmission assembly includes a worm 58 and a worm wheel 56. The output shaft of the drive motor 41 is fixed to the first bevel gear 47 by screws and a fifth D-shaped shaft 55. The first bevel gear 47 is meshed with the second bevel gear 48 for transmission. The second bevel gear 48 and the first gear 42 share the first D-shaped shaft 51 to form a shaft-hole match to achieve synchronous rotation. The second gear 43 cooperates with the second D-shaped shaft 52 on the worm 58 to achieve synchronous rotation. The worm 58 is meshed with the worm wheel 56 for transmission. The worm wheel 56 and the third bevel gear 49 share the fourth D-shaped shaft 54 ​​to form a shaft-hole match to achieve synchronous rotation. The third bevel gear 49 is meshed with the fourth bevel gear 50 for transmission to transmit the torque to the fourth bevel gear 50. The fourth bevel gear 50 is equipped with a bearing 57 and cooperates with the joint rotation shaft 25.

[0044] The torque of the fourth bevel gear 50 and the fifth gear 46 is not directly transmitted to the joint shaft. The fourth bevel gear 50 and the fifth gear 46 have meshing teeth that can mesh with the spline sleeve 26. The torque obtained by the joint shaft depends on the torque of the fourth bevel gear 50 or the fifth gear 46 that the spline sleeve 26 selects to mesh with.

[0045] Fig.12 It is a schematic diagram of the structure of the switching module in an embodiment of the present invention. Fig.13 is an exploded diagram of a switching module in an embodiment of the present invention.

[0046] like Figure 12-13 As shown, the switching module 30 is used to switch the bevel gear transmission system 59 and the three-stage gear transmission system 60 by driving the spline sleeve 26 to slide, and includes a switching motor 31 and a switching module 30 transmission assembly. The switching module 30 transmission assembly is sleeved on the spline sleeve 26. The switching motor 31 drives the switching module 30 transmission assembly to slide, thereby driving the spline sleeve 26 to slide.

[0047] The teeth at both ends of the spline sleeve 26 are chamfered, and the contact ends of the fourth bevel gear 50 and the fifth gear 46 with the spline sleeve 26 are provided with chamfers matching the spline sleeve 26, so as to ensure the consistent meshing direction.

[0048] The transmission assembly of the switching module 30 includes a motor fixing seat 32, a switching motor gear 33, a switching motor rack 34, a rack slide 36, and a shift fork 35. The motor fixing seat 32 is arranged above the switching motor 31 and fixed on the rack module 10. The switching motor gear 33 is fixed to the motor shaft of the switching motor 31. The switching motor gear 33 is meshed with the switching motor rack 34. The switching motor rack 34 is clearance-matched with the rack slide 36. One end of the shift fork 35 is fixed to the switching motor rack 34 by screws, and the other end is sleeved on the spline sleeve 26 to drive the spline sleeve 26 to slide on the joint rotation shaft 25.

[0049] The switching motor 31 drives the switching motor gear 33 to rotate, and the motor gear engages with the switching motor rack 34, so that the switching motor rack 34 and the shift fork 35 move linearly on the slide rail, and finally drives the spline sleeve 26 to engage with the left and right fourth bevel gears 50 or the fifth gear 46, thereby realizing the switching of the motion mode.

[0050] Fig.14 Schematic diagram of the structure of the hydraulic damping module in an embodiment of the present invention.

[0051] like Fig.14 As shown, the hydraulic damping module 70 includes a damping motor 72, a damping motor fixing seat 73, a hydraulic cylinder 71 with a rotary valve (not shown in the figure) at the bottom, a hydraulic rod 81, a hydraulic rod connecting device 78, a first incomplete gear 74, a second incomplete gear 75, a hydraulic cylinder fixing seat 77 and a fixing member 76.

[0052] The first incomplete gear 74 is meshed with the gear portion of the second incomplete gear 75. The damping motor 72 drives the first incomplete gear 74 to drive the second incomplete gear 75 to rotate. The second incomplete gear 75 is fixed to a rotary valve (not shown in the figure) through a top screw (not shown in the figure), thereby achieving the damping effect of controlling the hydraulic cylinder 71. A hydraulic rod 81 is connected to the top of the hydraulic cylinder 71, and a hydraulic rod connecting device 78 is provided on the top of the hydraulic rod 81. The hydraulic rod 81 is connected to the joint rotation module 20 through the hydraulic rod connecting device 78, thereby controlling the rotation of the knee joint.

[0053] A hydraulic cylinder fixing seat 77 is provided at the bottom of the hydraulic cylinder 71, and a fixing piece 76 is sleeved on the outer side of the hydraulic cylinder fixing seat 77. The fixing piece 76 is used to connect the hydraulic cylinder fixing seat 77 and the rack module 10. A damping motor fixing seat 73 is provided at the bottom of the damping motor 72. The damping motor fixing seat 73 is used to connect the damping motor 72 and the hydraulic cylinder fixing seat 77.

[0054] The hydraulic rod connecting device 78 includes a convex connecting part 80, a piston rotating shaft 79, a piston fisheye hole 84 and an L-shaped connecting member 82. One end of the L-shaped connecting member 82 is provided with a first hole 83, and the other end is fixedly connected to the right rotating member 24 by bolts. The right rotating member 24 extends outwardly through a circular plate 27 with a second hole 28, and the position of the second hole 28 corresponds to the first hole 83. The protruding part of the convex connecting part 80 is provided with a penetrating piston fisheye hole 84. The piston rotating shaft 79 passes through the fisheye hole and is connected to the first hole 83 and the second hole respectively, so that the hydraulic damping module 70 is connected to the joint rotation module 20.

[0055] Active stage of the knee joint: the driving motor 41 transmits the torque to the fourth bevel gear 50 and meshes with the fifth gear 46 through the gear transmission module 40, and the switching motor 31 transmits the torque to the joint rotation module 20 through the switching module 30, so as to provide suitable active torque for the knee joint movement in situations where active torque is required, such as crossing obstacles or climbing stairs, so as to realize flexion and extension of the knee joint.

[0056] Passive stage of the knee joint: the switching motor 31 places the spline sleeve 26 in the middle position, so that the knee joint shaft is disconnected from the gear transmission module 40 and the drive motor 41, thereby enhancing the reverse driving ability of the knee joint and being able to adapt well to the needs of walking on flat ground.

[0057] Two transmission ratios are set inside the prosthesis, one is a high transmission ratio path with a worm gear assembly, and the other is a low transmission ratio path with a three-stage gear transmission. The two transmission paths branch at the second gear 43. The maximum continuous output torque of the DJI M3508 motor used is 2.8N·M, and the maximum speed at this torque is 469rpm.

[0058] High transmission ratio path: the number of teeth of the worm 58 is 2, the number of teeth of the worm wheel 56 is 27, the module is 2, the transmission ratio is 13.5, and the transmission ratio is 36.5, which can provide a torque of 106.4 N·M for the knee joint, and the rotation speed of the joint shaft is 74° per second, meeting the torque and speed requirements of most knee amputees for alternating stair climbing.

[0059] Low transmission ratio path: The transmission ratio is 6, which can provide 16.8N·M of torque to the knee joint. The joint axis can reach the joint limit within 0.2S, meeting the obstacle crossing needs of amputees when walking on flat ground.

[0060] like Figure 10-12 As shown, there are three working states of the transmission ratio adaptive adjustment mechanism 100.

[0061] in, Fig.10 Indicates the working state of the knee joint in the passive phase. Fig.11Indicates the working state of the knee joint in the active phase when the high transmission ratio path is connected. Fig.12 It indicates the working state of the knee joint in the active phase when the low transmission ratio path is engaged.

[0062] Functions and Effects of the Embodiments

[0063] According to the active and passive intelligent prosthetic knee joint based on a variable transmission ratio mechanism involved in the present invention, the present invention can change the knee joint prosthesis from an active type to a passive type, and with a hydraulic damper, when the patient needs the knee joint to provide a passive torque such as walking on flat ground and going down stairs, the stability of the knee joint is improved, and the flexion and extension of the knee joint rotating parts are smoother, thereby better adapting to road conditions.

[0064] By setting the switching module, a reasonable active torque can be provided to the knee joint in situations such as when the patient crosses obstacles or climbs stairs. The joint rotation axis can be disconnected from the drive motor when the patient needs the knee joint to provide passive torque such as walking on flat ground or going down stairs. At the same time, the switching mechanism in the variable transmission ratio mechanism can act as a clutch. The drive motor does not need to be constantly reversed during the gait cycle of walking on flat ground. It only needs to deal with situations where the knee joint needs to provide active torque, greatly improving the endurance of the knee prosthesis.

[0065] The present invention sets two transmission ratios and uses a worm gear assembly on the transmission path with a high transmission ratio. The worm gear assembly is characterized by a compact mechanical structure and provides a larger transmission ratio. It can adapt well to the narrow space inside the knee joint prosthesis, and can be matched with other reduction gears to amplify the motor torque to the required range.

[0066] Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An active and passive intelligent prosthetic knee joint based on a variable transmission ratio mechanism, characterized in that: include: Rack modules; A joint rotation module, disposed on the frame module, and used to drive the knee joint to rotate; a gear transmission module, disposed on the frame module, for driving the joint rotation module; and A hydraulic damping module is arranged on the frame module, and includes a damping motor, a hydraulic cylinder with a rotating valve at the bottom, a hydraulic rod, a hydraulic rod connecting device, a first incomplete gear and a second incomplete gear. The damping motor drives the first incomplete gear to drive the second incomplete gear to rotate. The second incomplete gear is fixed to the rotating valve by a top screw and is used to control the damping effect of the hydraulic cylinder. A hydraulic rod is connected to the top of the hydraulic cylinder, and the hydraulic rod connecting device is provided on the top of the hydraulic rod. The hydraulic rod is connected to the joint rotation module through the hydraulic rod connecting device to control the rotation of the knee joint.

2. The active and passive intelligent prosthetic knee joint based on a variable transmission ratio mechanism according to claim 1, characterized in that: in, The hydraulic rod connecting device includes a convex connecting part, a piston rotating shaft, a piston fisheye hole and an L-shaped connecting piece. The protruding part of the convex connecting part is provided with a penetrating fisheye hole. The piston rotating shaft passes through the fisheye hole and is connected to one end of the L-shaped connecting piece. The other end of the L-shaped connecting piece is fixedly connected to the joint rotation module.

3. The active and passive intelligent prosthetic knee joint based on a variable transmission ratio mechanism according to claim 1, characterized in that: in, A hydraulic cylinder fixing seat is arranged at the bottom of the hydraulic cylinder, a fixing piece is sleeved on the outer side of the hydraulic cylinder fixing seat, and the fixing piece is used to connect the hydraulic cylinder fixing seat and the rack module; a damping motor fixing seat is arranged at the bottom of the damping motor, and the damping motor fixing seat is used to connect the damping motor and the hydraulic cylinder fixing seat.

4. The active and passive intelligent prosthetic knee joint based on a variable transmission ratio mechanism according to claim 1, characterized in that: in, The joint rotation module comprises a small quadrangular platform, an upper rotating member, a left rotating member, a right rotating member and a joint rotating shaft with a spline sleeve, and the other end of the L-shaped connecting member is fixedly connected to the right rotating member.

5. The active and passive intelligent prosthetic knee joint based on a variable transmission ratio mechanism according to claim 4, characterized in that: in, The upper part of the upper rotating part is connected to the small tetrahedron, the lower left side of the upper rotating part is connected to the left rotating part, and the right side is connected to the right rotating part. The joint rotating shaft is used to drive the left rotating part and the right rotating part to rotate, and the upper rotating part, the left rotating part and the right rotating part are used to drive the knee joint to rotate.

6. The active and passive intelligent prosthetic knee joint based on a variable transmission ratio mechanism according to claim 4, characterized in that: in, The gear transmission module includes a drive motor, a bevel gear transmission system, a three-stage gear transmission system and a worm gear transmission assembly. The drive motor drives the bevel gear transmission system or the three-stage gear transmission system to drive the joint rotation axis to rotate.

7. The active and passive intelligent prosthetic knee joint based on a variable transmission ratio mechanism according to claim 6, characterized in that: in, The three-stage gear transmission system includes a first gear, a second gear, a third gear, a fourth gear and a fifth gear. The first gear meshes with the second gear for transmission, the second gear meshes with the third gear for transmission, the third gear and the fourth gear share a third D-shaped shaft to achieve synchronous transmission, the fourth gear meshes with the fifth gear to transfer torque to the fifth gear, and the fifth gear is equipped with a bearing and cooperates with the joint rotation shaft.

8. The active and passive intelligent prosthetic knee joint based on a variable transmission ratio mechanism according to claim 6, characterized in that: in, The bevel gear transmission system includes a first bevel gear, a second bevel gear, a third bevel gear and a fourth bevel gear, the worm transmission assembly includes a worm and a worm wheel, the output shaft of the drive motor is fixed to the first bevel gear through a fifth D-shaped shaft, the first bevel gear is meshed with the second bevel gear for transmission, the second bevel gear and the first gear share a first D-shaped shaft to achieve synchronous rotation, the second gear cooperates with the second D-shaped shaft on the worm to achieve synchronous rotation, the worm is meshed with the worm wheel for transmission, the worm wheel and the third bevel gear share a fourth D-shaped shaft to achieve synchronous rotation, the third bevel gear is meshed with the fourth bevel gear for transmission, and the torque is transmitted to the fourth bevel gear, and the fourth bevel gear is equipped with a bearing and cooperates with the joint rotation shaft.

9. The active and passive intelligent prosthetic knee joint based on a variable transmission ratio mechanism according to claim 6, characterized in that: in, It also includes a switching module, which is arranged on the frame module and is used to switch the bevel gear transmission system and the three-stage gear transmission system by driving the spline sleeve to slide. It includes a switching motor and a switching module transmission assembly. The switching module transmission assembly is sleeved on the spline sleeve. The switching motor drives the switching module transmission assembly to slide, thereby driving the spline sleeve to slide.

10. The active and passive intelligent prosthetic knee joint based on a variable transmission ratio mechanism according to claim 9, characterized in that: in, The switching module transmission assembly includes a motor fixing seat, a switching motor gear, a switching motor rack, a rack slide rail, and a shift fork. The motor fixing seat is arranged above the switching motor and fixed on the rack module. The switching motor gear is fixed to the motor shaft of the switching motor. The switching motor gear is meshed with the switching motor rack. The switching motor rack is clearance-matched with the rack slide rail. One end of the shift fork is fixed to the switching motor rack, and the other end is sleeved on the spline sleeve, which is used to drive the spline sleeve to slide on the joint rotation shaft, thereby driving the spline sleeve to engage with the gear transmission module.

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