Robot bionic knee joint mechanism

Abstract

The invention relates to a robot bionic knee joint mechanism, and belongs to the field of robot multi-degree-of-freedom bionic mechanisms. The thigh structural component is vertically arranged; the gear connecting rod component is mounted at the bottom end of the thigh structural component; the driving gear component and the transmission gear connecting rod component take the gear connecting rod component as a shaft; the transmission gear connecting rod component and the driving gear component are meshed and matched with the thigh structure component; the top of the shank structural component is in butt joint with the transmission gear connecting rod component; the transmission gear connecting rod component is meshed with the thigh structural component to rotate to drive the shank structural component to do translational motion relative to the thigh structural component; two ends of the rotary connecting rod component are respectively butted with the middle parts of the driving gear component and the shank structural component; the driving gear component is meshed with the thigh structural component to rotate, and the shank structural component is driven to rotate relative to the thigh structural component through the rotating connecting rod component; the problems that a knee joint bionic mechanism is poor in motion matching, complex in composition, large in size and complex in control are solved.

Description

Technical Field

[0001] The invention belongs to the field of robot multi-degree-of-freedom bionic mechanisms and relates to a robot bionic knee joint mechanism. Background Art

[0002] The multi-degree-of-freedom bionic mechanism of the lower limb robot is inspired by the physiological structure and movement mechanism of the human joints, and imitates the multi-degree-of-freedom coupled movement of the human joints, so that the robot joints have bionic characteristics and achieve stronger movement flexibility and terrain adaptability. The human knee joint is composed of bones, soft tissues, ligaments, muscle tissues, etc., and is the most complex joint in the human body. Through anatomical image analysis, the flexion and extension movement of the knee joint is achieved through the rolling and sliding compound movement of the contact surface between the tibia and the femur, the contact point changes in time sequence, and the instantaneous center trajectory of the movement is similar to a J-shaped curve. As the joint with the largest power output of the human lower limb climbing movement, the knee joint needs to have a load-bearing capacity at the same time. At present, most knee joint mechanisms adopt single pin shaft, four-bar linkage, parallel mechanism, multi-hinge series mechanism and other forms, and still have problems such as poor movement matching, large size, heavy mass, and complex control.

[0003] Chinese patent CN112245081A discloses a knee joint fixation bracket, whose knee joint mechanism adopts a single-degree-of-freedom rotation pair. The instantaneous center of rotation of the moving joint of this type of mechanism is a fixed point, which deviates from the movement of the human body, resulting in a mismatch between human-machine coordinated movement. The additional internal interaction force generated when wearing the bracket for exercise will produce additional pressure on the human joints, increase the degree of joint wear, and pose a risk of joint damage.

[0004] Chinese patent CN112060057A discloses a bionic knee joint mechanism based on a tensegrity structure, which combines the tensegrity structure with a four-bar linkage to achieve bionic joint motion and self-locking functions. However, this joint mechanism is large in size and complex in composition. In addition, the structure requires the addition of multiple sets of springs, and its reliability for long-term operation is insufficient.

[0005] Chinese patent CN115026795A discloses an adaptive variable instantaneous heart exoskeleton robot knee joint that uses a structural bionic curved surface design and uses ropes to constrain the contact motion of the two curved surfaces to achieve rolling and sliding motion of the human knee joint. However, this method requires an additional mechanism for rope storage. In addition, the low stiffness of the rope is not conducive to load transfer, and there are reliability and consistency issues during long-term operation. Summary of the invention

[0006] The technical problem solved by the present invention is: to overcome the deficiencies of the prior art and to propose a robot bionic knee joint mechanism, which overcomes the problems of poor motion matching, complex composition, large volume and complex control of the knee joint bionic mechanism.

[0007] The solution of the present invention is:

[0008] A robot bionic knee joint mechanism comprises a thigh structural component, a gear connecting rod component, a driving gear component, a transmission gear connecting rod component, a rotating connecting rod component and a shank structural component;

[0009] Among them, the thigh structural component is placed vertically; the gear connecting rod component is installed at the bottom end of the thigh structural component; the driving gear component and the transmission gear connecting rod component both use the gear connecting rod component as the axis; the transmission gear connecting rod component is meshed with the thigh structural component; the driving gear component is meshed with the thigh structural component; the top of the calf structural component is connected with the transmission gear connecting rod component; the calf structural component is driven to translate relative to the thigh structural component through the meshing and rotation of the transmission gear connecting rod component and the thigh structural component; one end of the rotating connecting rod component is connected with the driving gear component, and the other end of the rotating connecting rod component is connected with the middle part of the calf structural component; the driving gear component is meshed and rotated with the thigh structural component, and the rotation of the calf structural component relative to the thigh structural component is driven through the rotating connecting rod component.

[0010] In the above-mentioned robot bionic knee joint mechanism, the thigh structural component includes an inner main body structure, an outer gear structure, and a connecting structure;

[0011] Among them, the inner main structure is a vertically arranged plate-like structure; a first stationary gear is arranged at the bottom of the inner main structure; the top end of the connecting structure is installed in the middle part of the inner main structure; a second stationary gear is arranged at the bottom end of the connecting structure; the first stationary gear is coaxial with the second stationary gear.

[0012] In the above-mentioned robot bionic knee joint mechanism, the gear connecting rod component includes an outer connecting rod, an inner connecting rod, and a fixed shaft;

[0013] Among them, the outer connecting rod and the inner connecting rod are arranged in parallel; the fixed shaft is vertically installed between the outer connecting rod and the inner connecting rod, and is located at the outer ends of the outer connecting rod and the inner connecting rod to form a U-shaped structure.

[0014] In the above-mentioned robot bionic knee joint mechanism, the thigh structural component extends into the open end of the U-shaped structure; the inner ends of the outer connecting rod and the inner connecting rod are coaxially connected with the first stationary gear and the second stationary gear; the gear connecting rod component is realized to rotate relative to the thigh structural component with the axis of the first stationary gear as the axis.

[0015] In the above-mentioned robot bionic knee joint mechanism, the driving gear component includes a driving gear component gear and a driving gear component wheel disc;

[0016] Among them, the driving gear component disc is a vertically arranged disc structure; the driving gear component gear coaxially passes through the driving gear component disc; the part of the driving gear component gear located on the outside of the driving gear component disc is the gear structure; the part of the driving gear component gear located on the inside of the driving gear component disc is the rocker arm structure; the gear structure is fixedly connected to the rocker arm structure.

[0017] In the above-mentioned robot bionic knee joint mechanism, the driving gear component is meshed and docked with the first stationary gear through the gear structure of the driving gear component gear; the gear structure drives the rocker arm structure to rotate synchronously.

[0018] In the above-mentioned robot bionic knee joint mechanism, the transmission gear connecting rod component includes a transmission gear connecting rod component gear and a transmission gear connecting rod;

[0019] Among them, one end of the transmission gear connecting rod is sleeved on the fixed shaft; the gear of the transmission gear connecting rod component is fixedly installed on the side wall of the transmission gear connecting rod; the gear of the transmission gear connecting rod component is meshed with the second fixed gear; the transmission gear connecting rod component gear is meshed and rotated, driving the transmission gear connecting rod to rotate; the other end of the transmission gear connecting rod is rotationally connected to the calf structure component.

[0020] In the above-mentioned robot bionic knee joint mechanism, the rotating connecting rod component includes a rotating connecting rod; two docking holes are set at both ends of the rotating connecting rod; one of the docking holes is docked with the rocker arm structure of the gear of the driving gear component; and the other docking hole is docked with the calf structure component.

[0021] In the above-mentioned robot bionic knee joint mechanism, the calf structure component includes a calf structure; a swing connecting shaft and a rotating connecting shaft are designed on the calf structure; the swing connecting shaft is located above the rotating connecting shaft; the swing connecting shaft is docked with the other end of the transmission gear connecting rod; and the rotating connecting shaft is docked with another docking hole of the rotating connecting rod component.

[0022] In the above-mentioned robot bionic knee joint mechanism, the movement process of the knee joint mechanism is:

[0023] The first fixed gear at the bottom of the inner main structure meshes with the gear on the driving gear component gear, and a gear transmission pair is formed through the gear connecting rod component; when the driving gear component wheel disc is driven to rotate externally, the gear connecting rod component rotates around the gear shaft at the joint of the inner main structure and the outer gear structure, the driving gear component gear rotates around the fixed axis, and the rotating axis of the driving gear component gear protruding from the rocker arm structure rotates around the fixed axis;

[0024] When the gear connecting rod component rotates around the gear shaft at the joint between the inner main structure and the outer gear structure, the hole shaft at the other end of the transmission gear connecting rod rotates around the fixed shaft;

[0025] The hole axis at the other end of the transmission gear connecting rod is connected to the swing connecting shaft of the calf structure in a rotation pair, so that when the hole axis at the other end of the transmission gear connecting rod rotates around the fixed axis, the swing connecting shaft of the calf structure component moves in a plane, thereby realizing the translation of the calf structure component relative to the thigh structure component;

[0026] The hole axis at one end of the rotating connecting rod is connected to the rotating shaft of the rocker arm structure protruding from the gear of the driving gear component; the hole axis at the other end of the rotating connecting rod is connected to the rotating connecting shaft of the calf structure, so that when the rotating shaft of the rocker arm structure protruding from the gear of the driving gear component rotates around the fixed axis, the rotating connecting shaft of the calf structure component rotates around the swing connecting shaft of the calf structure component, thereby realizing the rotation of the calf structure component.

[0027] The beneficial effects of the present invention compared with the prior art are:

[0028] (1) The present invention proposes a multi-link double-tooth meshing mechanism configuration, which realizes the decoupling of knee joint rolling and sliding motion through multi-parameter optimization of link size and gear ratio, thereby achieving the purpose of bionic motion.

[0029] (2) The present invention designs two sets of parallel gears to jointly bear torque and pressure loads, thereby achieving high reliability and large load-bearing capacity in a compact space on the basis of achieving motion matching.

[0030] (3) The fusion joint drive connection component of the present invention can be adapted to various drive mode components in a limited space and is easy to control;

[0031] (4) The multi-link double-tooth meshing mechanism proposed in the present invention can achieve high-precision matching between the mechanism and the instantaneous center of motion of the human knee joint by designing the parameters of the gears and connecting rods, with a maximum error of less than 0.7 mm;

[0032] (5) The present invention adopts a gear and connecting rod transmission combination, the degree of freedom of the mechanism is 1, and the movement is stable when driven by external power. The transmission link does not have springs, ropes and other links, and the transmission stiffness is high. The range of motion of the thighs and calves is wide, covering the range of motion of the human body;

[0033] (6) The present invention adopts two sets of gears in parallel, inner and outer, to jointly bear the joint load, which is conducive to reducing the gear module, achieving a compact structure, and can be applied to a variety of application scenarios;

[0034] (7) The present invention integrates an external drive interface structure inside two sets of parallel gears, adapting to multiple drive modes including direct drive and remote drive. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a schematic diagram of the bionic knee joint mechanism of the present invention in the extended position;

[0036] Figure 2It is a schematic diagram of the flexion position of the bionic knee joint mechanism of the present invention;

[0037] Figure 3 This is a schematic diagram of the explosion of the bionic knee joint mechanism of the present invention. DETAILED DESCRIPTION

[0038] The present invention will be further described below in conjunction with the embodiments.

[0039] The invention provides a robot bionic knee joint mechanism, which overcomes the problems of poor motion matching, complex composition, large volume and complex control of the knee joint bionic mechanism.

[0040] Robotic bionic knee joint mechanism, such as Figures 1 to 3 As shown, it specifically includes a thigh structural component 1, a gear connecting rod component 2, a driving gear component 3, a transmission gear connecting rod component 4, a rotating connecting rod component 5 and a shank structural component 6. Among them, the thigh structural component 1 is placed vertically; the gear connecting rod component 2 is installed at the bottom end of the thigh structural component 1; the driving gear component 3 and the transmission gear connecting rod component 4 are both based on the gear connecting rod component 2 as the axis; the transmission gear connecting rod component 4 is meshed with the thigh structural component 1; the driving gear component 3 is meshed with the thigh structural component 1; the top of the shank structural component 6 is connected with the transmission gear connecting rod component 4; the meshing and rotation of the transmission gear connecting rod component 4 and the thigh structural component 1 drives the translational movement of the shank structural component 6 relative to the thigh structural component 1; one end of the rotating connecting rod component 5 is connected with the driving gear component 3, and the other end of the rotating connecting rod component 5 is connected with the middle part of the shank structural component 6; the driving gear component 3 is meshed and rotated with the thigh structural component 1, and the rotation of the shank structural component 6 relative to the thigh structural component 1 is driven by the rotating connecting rod component 5.

[0041] The thigh structure component 1 includes an inner main structure 11, an outer gear structure 12, and a connecting structure 13. The inner main structure 11 is a vertically arranged plate-like structure; a first stationary gear is arranged at the bottom of the inner main structure 11; the top of the connecting structure 13 is installed in the middle of the inner main structure 11; a second stationary gear is arranged at the bottom of the connecting structure 13; the first stationary gear is coaxial with the second stationary gear.

[0042] The thigh structure component 1 mainly includes an inner main structure 11, an outer gear structure 12, and a connecting structure 13. The inner main structure 11 and the outer gear structure 12 are designed with gears with a certain number of teeth at the joint, and the axes of the two gears are coaxial. The inner main structure 11 and the outer gear structure 12 are fixedly connected by the connecting structure 13.

[0043] The gear connecting rod component 2 includes an outer connecting rod 21, an inner connecting rod 22, and a fixed shaft 23. The outer connecting rod 21 and the inner connecting rod 22 are arranged in parallel; the fixed shaft 23 is vertically installed between the outer connecting rod 21 and the inner connecting rod 22, and is located at the outer ends of the outer connecting rod 21 and the inner connecting rod 22, forming a U-shaped structure.

[0044] The thigh structural component 1 extends into the open end of the U-shaped structure; the inner ends of the outer connecting rod 21 and the inner connecting rod 22 are coaxially connected to the first stationary gear and the second stationary gear; the gear connecting rod component 2 rotates relative to the thigh structural component 1 with the axis of the first stationary gear as the axis.

[0045] The driving gear component 3 includes a driving gear component gear 31 and a driving gear component wheel disc 32. The driving gear component wheel disc 32 is a vertically arranged disc structure; the driving gear component gear 31 coaxially passes through the driving gear component wheel disc 32; the portion of the driving gear component gear 31 located outside the driving gear component wheel disc 32 is a gear structure; the portion of the driving gear component gear 31 located inside the driving gear component wheel disc 32 is a rocker arm structure; the gear structure is fixedly connected to the rocker arm structure.

[0046] The driving gear component 3 mainly includes a driving gear component gear 31 and a driving gear component wheel 32. A gear with a certain number of teeth is designed on one side of the driving gear component gear 31, and a protruding rocker arm structure is designed on the other side. The gear axis on the driving gear component gear 31 is coaxial with the wheel axis of the driving gear component wheel 32, and the two parts are fixedly connected.

[0047] The driving gear component 3 is meshed and docked with the first stationary gear through the gear structure of the driving gear component gear 31; the gear structure drives the rocker arm structure to rotate synchronously.

[0048] The transmission gear connecting rod component 4 includes a transmission gear connecting rod component gear 41 and a transmission gear connecting rod 42. Among them, one end of the transmission gear connecting rod 42 is sleeved on the fixed shaft 23; the transmission gear connecting rod component gear 41 is fixedly installed on the side wall of the transmission gear connecting rod 42; the transmission gear connecting rod component gear 41 is meshed with the second fixed gear; the transmission gear connecting rod component gear 41 is meshed and rotated to drive the transmission gear connecting rod 42 to rotate; the other end of the transmission gear connecting rod 42 is rotatably connected to the lower leg structure component 6.

[0049] The rotating connecting rod component 5 includes a rotating connecting rod 51; two docking holes are set at both ends of the rotating connecting rod 51; one of the docking holes is docked with the rocker arm structure of the driving gear component gear 31; and the other docking hole is docked with the calf structure component 6.

[0050] The calf structure component 6 includes a calf structure 61; a swing connection shaft and a rotation connection shaft are designed on the calf structure 61; the swing connection shaft is located above the rotation connection shaft; the swing connection shaft is docked with the other end of the transmission gear connecting rod 42; the rotation connection shaft is docked with another docking hole of the rotation connecting rod component 5.

[0051] The movement process of the knee joint mechanism is:

[0052] The first fixed gear at the bottom of the inner main structure 11 meshes with the gear on the driving gear component gear 31, and a gear transmission pair is formed through the gear connecting rod component 2; when the driving gear component wheel disc 32 is driven to rotate externally, the gear connecting rod component 2 rotates around the gear shaft at the joint of the inner main structure 11 and the outer gear structure 12, and the driving gear component gear 31 rotates around the fixed shaft 23, and the rotating shaft of the driving gear component gear 31 protruding from the rocker arm structure rotates around the fixed shaft 23;

[0053] When the gear connecting rod component 2 rotates around the gear shaft at the joint between the inner main structure 11 and the outer gear structure 12, the hole shaft at the other end of the transmission gear connecting rod 42 rotates around the fixed shaft 23;

[0054] The hole axis at the other end of the transmission gear connecting rod 42 is connected to the swing connecting shaft of the calf structure 61 in a rotation pair, so that when the hole axis at the other end of the transmission gear connecting rod 42 rotates around the fixed axis 23, the swing connecting shaft 61 of the calf structure component moves in a plane, thereby realizing the translation of the calf structure component 6 relative to the thigh structure component 1;

[0055] The hole axis at one end of the rotating connecting rod 51 is rotationally connected to the rotating axis of the protruding rocker arm structure of the driving gear component gear 31; the hole axis at the other end of the rotating connecting rod 51 is rotationally connected to the rotating connecting axis of the calf structure 61, so that when the rotating axis of the protruding rocker arm structure of the driving gear component gear 31 rotates around the fixed axis 23, the rotating connecting axis of the calf structure component 61 rotates around the swing connecting axis of the calf structure component 6, thereby realizing the rotation of the calf structure component 6.

[0056] The multi-link double-tooth meshing mechanism proposed in the present invention can achieve high-precision matching between the mechanism and the instantaneous center of motion of the human knee joint by designing the parameters of gears and connecting rods, with a maximum error of less than 0.7 mm. The present invention adopts a gear and connecting rod transmission combination, and the number of degrees of freedom of the mechanism is 1. When driven by external power, the movement is stable. The transmission link has no links such as springs and ropes, and the transmission stiffness is high. The range of motion of the thighs and calves is wide, covering the range of motion of the human body.

[0057] The present invention adopts two sets of gears in parallel, which share the joint load, and is conducive to reducing the gear module, achieving a compact structure, and can be applied to a variety of application scenarios. The present invention integrates an external drive interface structure inside the two sets of gears in parallel, and is suitable for direct drive and remote drive.

[0058] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. A robot bionic knee joint mechanism, characterized in that: It comprises a thigh structural component (1), a gear connecting rod component (2), a driving gear component (3), a transmission gear connecting rod component (4), a rotating connecting rod component (5) and a calf structural component (6); The thigh structural component (1) is placed vertically; the gear connecting rod component (2) is installed at the bottom end of the thigh structural component (1); the driving gear component (3) and the transmission gear connecting rod component (4) are both axially connected with the gear connecting rod component (2); the transmission gear connecting rod component (4) is meshed with the thigh structural component (1); the driving gear component (3) is meshed with the thigh structural component (1); the top of the calf structural component (6) is connected with the transmission gear connecting rod component (4); the meshing and rotation of the transmission gear connecting rod component (4) and the thigh structural component (1) drives the calf structural component (6) to move in translation relative to the thigh structural component (1); one end of the rotating connecting rod component (5) is connected with the driving gear component (3), and the other end of the rotating connecting rod component (5) is connected with the middle part of the calf structural component (6); the driving gear component (3) is meshed with the thigh structural component (1) and rotates, and the rotation of the calf structural component (6) relative to the thigh structural component (1) is driven by the rotating connecting rod component (5).

2. The robot bionic knee joint mechanism according to claim 1, characterized in that: The thigh structural component (1) comprises an inner main body structure (11), an outer gear structure (12), and a connecting structure (13); The inner main structure (11) is a vertically arranged plate-like structure; a first stationary gear is arranged at the bottom of the inner main structure (11); the top end of the connecting structure (13) is installed in the middle of the inner main structure (11); a second stationary gear is arranged at the bottom end of the connecting structure (13); and the first stationary gear and the second stationary gear are coaxial.

3. The robot bionic knee joint mechanism according to claim 2, characterized in that: The gear connecting rod component (2) comprises an outer connecting rod (21), an inner connecting rod (22), and a fixed shaft (23); The outer connecting rod (21) and the inner connecting rod (22) are arranged in parallel; the fixed shaft (23) is vertically installed between the outer connecting rod (21) and the inner connecting rod (22), and is located at the outer ends of the outer connecting rod (21) and the inner connecting rod (22), forming a U-shaped structure.

4. The robot bionic knee joint mechanism according to claim 3, characterized in that: The thigh structural component (1) extends into the open end of the U-shaped structure; the inner ends of the outer connecting rod (21) and the inner connecting rod (22) are coaxially connected to the first stationary gear and the second stationary gear; the gear connecting rod component (2) is enabled to rotate relative to the thigh structural component (1) with the axis of the first stationary gear as the axis.

5. The robot bionic knee joint mechanism according to claim 3, characterized in that: The driving gear component (3) comprises a driving gear component gear (31) and a driving gear component wheel (32); The drive gear component wheel disc (32) is a vertically arranged disc structure; the drive gear component gear (31) coaxially passes through the drive gear component wheel disc (32); the portion of the drive gear component gear (31) located outside the drive gear component wheel disc (32) is a gear structure; the portion of the drive gear component gear (31) located inside the drive gear component wheel disc (32) is a rocker arm structure; and the gear structure is fixedly connected to the rocker arm structure.

6. The robot bionic knee joint mechanism according to claim 5, characterized in that: The driving gear component (3) is meshed and docked with the first stationary gear through the gear structure of the driving gear component gear (31); the gear structure drives the rocker arm structure to rotate synchronously.

7. The robot bionic knee joint mechanism according to claim 5, characterized in that: The transmission gear connecting rod component (4) comprises a transmission gear connecting rod component gear (41) and a transmission gear connecting rod (42); Among them, one end of the transmission gear connecting rod (42) is sleeved on the fixed shaft (23); the transmission gear connecting rod component gear (41) is fixedly installed on the side wall of the transmission gear connecting rod (42); the transmission gear connecting rod component gear (41) is meshed with the second fixed gear; the transmission gear connecting rod component gear (41) is meshed and rotated, driving the transmission gear connecting rod (42) to rotate; the other end of the transmission gear connecting rod (42) is rotationally connected to the lower leg structure component (6).

8. The robot bionic knee joint mechanism according to claim 7, characterized in that: The rotating connecting rod component (5) comprises a rotating connecting rod (51); two docking holes are arranged at both ends of the rotating connecting rod (51); one of the docking holes is docked with the rocker arm structure of the gear (31) of the driving gear component; and the other docking hole is docked with the calf structure component (6).

9. The robot bionic knee joint mechanism according to claim 8, characterized in that: The calf structure component (6) comprises a calf structure (61); a swing connection shaft and a rotation connection shaft are designed on the calf structure (61); the swing connection shaft is located above the rotation connection shaft; the swing connection shaft is connected to the other end of the transmission gear connecting rod (42); and the rotation connection shaft is connected to another connection hole of the rotation connecting rod component (5).

10. The robot bionic knee joint mechanism according to claim 9, characterized in that: The movement process of the knee joint mechanism is: The first fixed gear at the bottom of the inner main structure (11) meshes with the gear on the driving gear component gear (31), and a gear transmission pair is formed through the gear connecting rod component (2); when the driving gear component wheel disc (32) is driven to rotate externally, the gear connecting rod component (2) rotates around the gear shaft at the joint of the inner main structure (11) and the outer gear structure (12), the driving gear component gear (31) rotates around the fixed shaft (23), and the rotating shaft of the driving gear component gear (31) protruding from the rocker arm structure rotates around the fixed shaft (23); When the gear connecting rod component (2) rotates around the gear shaft at the joint of the inner main body structure (11) and the outer gear structure (12), the hole shaft at the other end of the transmission gear connecting rod (42) rotates around the fixed shaft (23); The hole axis at the other end of the transmission gear connecting rod (42) is connected to the swing connecting shaft of the calf structure (61) in a rotational pair, so that when the hole axis at the other end of the transmission gear connecting rod (42) rotates around the fixed axis (23), the swing connecting shaft (61) of the calf structure component moves in a plane, thereby achieving translation of the calf structure component (6) relative to the thigh structure component (1); The hole axis at one end of the rotating connecting rod (51) is connected to the rotating shaft of the protruding rocker arm structure of the driving gear component gear (31) in a rotating pair; The hole axis at the other end of the rotating connecting rod (51) is rotationally connected to the rotating connecting axis of the calf structure (61), so that when the rotating axis of the protruding rocker structure of the driving gear component gear (31) rotates around the fixed axis (23), the rotating connecting axis of the calf structure component (61) rotates around the swing connecting axis of the calf structure component (6), thereby realizing the rotation of the calf structure component (6).

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