Flexible knee joint device

Abstract

The invention provides a flexible knee joint device which comprises a femur mechanism and a tibia mechanism, a knee joint mechanism is arranged between the femur mechanism and the tibia mechanism, the knee joint mechanism comprises a first connecting piece and a connecting assembly, the first connecting piece is fixedly connected with the femur mechanism, the connecting assembly is fixedly connected with the tibia mechanism, and an elastic assembly is arranged between the first connecting piece and the connecting assembly. The elastic assembly is used for enabling the first connecting piece to be flexibly connected with the connecting assembly, and the driving mechanism is arranged on the femur mechanism, is in transmission connection with the tibia mechanism and is used for driving the tibia mechanism to move relative to the femur mechanism under the action of the elastic assembly; the knee joint mechanism is arranged between the thighbone mechanism and the tibia mechanism, the flexible connection between the thighbone mechanism and the tibia mechanism can be achieved through the elastic assembly, and compared with rigid exoskeleton equipment, the flexible knee joint is lighter and softer, better conforms to the human motion law and can better simulate the motion state of the human knee joint; and a more comfortable experience is provided for the user.

Description

Technical Field

[0001] This application relates to the field of exoskeleton technology, and particularly to a flexible knee joint device. Background Art

[0002] With the deepening of the aging degree, the number of patients with impaired lower limb motor function due to cardiovascular and cerebrovascular diseases such as stroke or due to accidents is increasing. How to restore the mobility of patients has become the focus of research. As a branch of rehabilitation robots, lower limb rehabilitation robots play an important role in the field of lower limb motor function rehabilitation training. A lower limb rehabilitation robot is a device used to assist patients with lower limb dysfunction in rehabilitation training. It combines robot technology and biomedical engineering principles, aiming to help patients restore or improve their mobility and provide more comfortable, safer, and more personalized rehabilitation training for patients.

[0003] There are various types of existing lower limb exoskeletons, but most of the knee joints of exoskeletons are mainly of rigid structures. Although rigid structures can provide strong support and drive for people wearing exoskeletons, the rigid knee joints are difficult to simulate the variable-center motion during the actual movement of the human knee joint, resulting in poor human-machine compatibility of the exoskeleton. How to design a flexible knee joint is a hot topic in the current research of lower limb exoskeletons. Summary of the Invention

[0004] The purpose of this application is to address the above problems and provide a flexible knee joint device, including: A femur mechanism and a tibia mechanism; A knee joint mechanism, the knee joint mechanism is connected between the femur mechanism and the tibia mechanism, and includes: A first connecting piece, the first connecting piece is fixedly connected to the femur mechanism; A connecting assembly, the connecting assembly is fixedly connected to the tibia mechanism; An elastic assembly, both ends of the elastic assembly are respectively connected to the first connecting piece and the connecting assembly, and are used to flexibly connect the first connecting piece and the connecting assembly; A driving mechanism, the driving mechanism is arranged on the femur mechanism and is in transmission connection with the tibia mechanism, and the driving mechanism is used to drive the tibia mechanism to move relative to the femur mechanism under the action of the elastic assembly.

[0005] According to the technical solutions provided by certain embodiments of this application, the elastic assembly includes a first elastic sheet and / or a second elastic sheet, and the first elastic sheet and the second elastic sheet have the same structure, and both include: A first sheet body, the first sheet body has a first elastic end, and the first sheet body is flexibly connected to the first connecting piece through the first elastic end; A second sheet body, the second sheet body having a second elastic end, and the second sheet body being flexibly connected to the connection assembly through the second elastic end; An elastic part, the elastic part being arranged between the first sheet body and the second sheet body, and the first sheet body being flexibly connected to the second sheet body through the elastic part; The sum of the lengths of the first sheet body, the second sheet body and the elastic part is greater than the distance between the first connecting piece and the connection assembly.

[0006] According to the technical solutions provided by some embodiments of the present application, at least one first groove is formed on both the first elastic end and the second elastic end, and a second groove is formed on the elastic part.

[0007] According to the technical solutions provided by some embodiments of the present application, a plurality of round holes are formed on the elastic part, and the plurality of round holes are distributed along the extending direction of the second groove.

[0008] According to the technical solutions provided by some embodiments of the present application, when the elastic assembly includes a first elastic sheet and a second elastic sheet, the bending directions of the first elastic sheet and the second elastic sheet are opposite.

[0009] According to the technical solutions provided by some embodiments of the present application, the connection assembly includes: A second connecting piece, the second connecting piece being connected to the elastic assembly; A third connecting piece, the third connecting piece being arranged on the side of the second connecting piece away from the elastic assembly, one end of which is connected to the second connecting piece, and the side of the third connecting piece away from the second connecting piece is fixed to the tibia mechanism; A support piece, both ends of the support piece being respectively connected to the second connecting piece and the third connecting piece.

[0010] According to the technical solutions provided by some embodiments of the present application, a first included angle is formed between the first connecting piece and the third connecting piece, and the first included angle is 45°.

[0011] According to the technical solutions provided by some embodiments of the present application, at least one through hole is formed on each of the first connecting piece, the second connecting piece, the third connecting piece and the support piece.

[0012] According to the technical solutions provided by some embodiments of the present application, the driving mechanism includes: A driving piece, the driving piece being arranged on the femur mechanism, and a rotating flange being connected to the driving end of the driving piece; A first ball head, the first ball head being rotatably arranged at the end of the rotating flange away from the driving piece; The second ball head is rotatably arranged on the tibia mechanism, and a transmission rod is arranged between the second ball head and the first ball head.

[0013] According to the technical solutions provided by some embodiments of the present application, the driving mechanism includes: A driving member is arranged on the femur mechanism, and a first pulley is connected to the driving end of the driving member. A second pulley is rotatably arranged on the tibia mechanism. A traction rope, one end of the traction rope is arranged on the first pulley, and the other end is fixed on the tibia mechanism after surrounding the second pulley.

[0014] Compared with the prior art, the beneficial effects of the present application are as follows: The present application provides a flexible knee joint device, including a femur mechanism and a tibia mechanism. A knee joint mechanism is arranged between the femur mechanism and the tibia mechanism. The knee joint mechanism includes a first connecting member and a connecting assembly. The first connecting member is fixedly connected to the femur mechanism, and the connecting assembly is fixedly connected to the tibia mechanism. An elastic assembly is arranged between the first connecting member and the connecting assembly. The elastic assembly is used to flexibly connect the first connecting member and the connecting assembly. It also includes a driving mechanism. The driving mechanism is arranged on the femur mechanism and is in transmission connection with the tibia mechanism. The driving mechanism is used to drive the tibia mechanism to move relative to the femur mechanism under the action of the elastic assembly; by arranging the knee joint mechanism between the femur mechanism and the tibia mechanism, the elastic assembly of the knee joint mechanism can flexibly connect the femur mechanism and the tibia mechanism. Compared with rigid exoskeleton devices, the flexible knee joint is lighter and softer, and more in line with the human movement law. At the same time, it can better simulate the natural movement state of the human knee joint under the drive of the driving mechanism, providing a more comfortable experience for the user.

[0015] It should be understood that the description of technical features, technical solutions, beneficial effects or similar languages in the present application does not imply that all features and advantages can be achieved in any single embodiment. On the contrary, it can be understood that the description of features or beneficial effects means that at least one embodiment includes specific technical features, technical solutions or beneficial effects. Therefore, the description of technical features, technical solutions or beneficial effects in this specification does not necessarily refer to the same embodiment. Furthermore, the technical features, technical solutions and beneficial effects described in this embodiment can be combined in any appropriate manner. Those skilled in the art will understand that an embodiment can be implemented without one or more specific technical features, technical solutions or beneficial effects of a specific embodiment. In other embodiments, additional technical features and beneficial effects can also be identified in specific embodiments that do not embody all embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the accompanying drawings required for the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0017] Figure 1 Structural schematic diagram of a flexible knee joint device provided by an embodiment of the present application; Figure 2 Structural schematic diagram of a flexible knee joint device provided by an embodiment of the present application when a ball head and a transmission rod are used for transmission; Figure 3 Structural schematic diagram of a flexible knee joint device provided by an embodiment of the present application when a pulley and a traction rope are used for transmission; Figure 4 Structural schematic diagram of a connection base of a flexible knee joint device provided by an embodiment of the present application; Figure 5 Structural schematic diagram of a flexible knee joint device provided by an embodiment of the present application when a first elastic piece and a second elastic piece are arranged in the knee joint mechanism; Figure 6 Structural schematic diagram of a flexible knee joint device provided by an embodiment of the present application when a third connecting piece and a support piece are not arranged in the knee joint mechanism; Figure 7 Another structural schematic diagram of a flexible knee joint device provided by an embodiment of the present application when a first elastic piece and a second elastic piece are arranged in the knee joint mechanism; Figure 8 Structural schematic diagram of a flexible knee joint device provided by an embodiment of the present application when only a first elastic piece is arranged in the knee joint mechanism; Figure 9 Structural schematic diagram of a flexible knee joint device provided by an embodiment of the present application when only a second elastic piece is arranged in the knee joint mechanism.

[0018] The text markings in the figure are indicated as: 1. Knee joint mechanism; 2. Femur mechanism; 3. Tibia mechanism; 4. Driving mechanism; 11. First connecting piece; 12. Second connecting piece; 13. Third connecting piece; 14. Elastic component; 15. Support piece; 21. Thigh rod; 22. Connecting base; 31. Calf rod; 32. First hoop; 33. Second hoop; 41. Driving piece; 42. Rotating flange; 43. First ball head; 44. Second ball head; 45. Transmission rod; 46. First pulley; 47. Second pulley; 48. Traction rope; 101. First sheet; 102. Second sheet; 103. First groove; 104. Second groove; 105. Round hole; 111. Through hole; 141. First elastic sheet; 142. Second elastic sheet; 221. Connecting part; 222. Frame part; 223. Platform part. Detailed implementation manners

[0019] To enable those skilled in the art to better understand the technical solutions of this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the accompanying drawings. The description in this part is only exemplary and explanatory, and should not have any restrictive effect on the protection scope of this application. Specifically, the described embodiments are only a part of the embodiments of this application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this invention.

[0020] It should be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily limit to those clearly listed steps or units, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0021] As mentioned in the background art, to solve the problems existing in the prior art, this embodiment provides a flexible knee joint device, including: Femur mechanism 2 and tibia mechanism 3; Knee joint mechanism 1, the knee joint mechanism 1 is connected between the femur mechanism 2 and the tibia mechanism 3, and includes: First connecting piece 11, the first connecting piece 11 is fixedly connected to the femur mechanism 2; Connecting component, the connecting component is fixedly connected to the tibia mechanism 3; Elastic component 14, both ends of the elastic component 14 are respectively connected to the first connecting piece 11 and the connecting component, and are used to flexibly connect the first connecting piece 11 and the connecting component; A drive mechanism 4 is provided on the femur mechanism 2 and is in transmission connection with the tibia mechanism 3. The drive mechanism 4 is used to drive the tibia mechanism 3 to move relative to the femur mechanism 2 under the action of the elastic component 14.

[0022] As Figures 1-4 shown, the femur mechanism 2 includes a thigh rod 21. One end of the thigh rod 21 is fixed with a connection base 22. The connection base 22 includes an integrally formed connection portion 221, a frame portion 222, and a platform portion 223. The connection portion 221 is used to be fixed to the thigh rod 21. The tibia mechanism 3 includes a calf rod 31. One end of the calf rod 31 close to the thigh rod 21 is fixed with a first clamp 32. One side of the first connecting member 11 close to the femur mechanism 2 is a planar structure and is fixed to the platform portion 223 of the connection base 22 by countersunk screws. One side of the connection assembly close to the tibia mechanism 3 is also a planar structure. The connection assembly is fixed to the first clamp 32 by countersunk screws. The whole knee joint mechanism 1 is made of an elastic material with a certain toughness through 3D printing technology, such as polyurethane rubber, etc. The elastic component 14 includes a plurality of elastic sheets with bending structures. The two ends of the elastic sheet are respectively connected to the first connecting member 11 and the connection assembly. Both ends and the middle of the elastic sheet have flexible hinges. The drive mechanism 4 is provided on the frame portion 222 of the connection base 22 and is in transmission connection with the tibia mechanism 3. When the drive mechanism 4 drives the tibia mechanism 3 to move relative to the femur mechanism 2, the bending between the first connecting member 11 and the elastic sheet, between the connection assembly and the elastic sheet, and the bending of the elastic sheet itself all occur around the flexible hinges at both ends and the middle of the elastic sheet, so that a relative rotation and displacement in the sagittal plane of the human body occur between the first connecting member 11 and the connection assembly, so as to simulate the combined movement of rolling and sliding generated between the femur and the tibia during the flexion and extension movement of the human knee joint.

[0023] Initially, the instantaneous center of rotation of the knee joint mechanism 1 corresponds to the center of the human knee joint. The flexible hinges on the elastic sheet enable the knee joint mechanism 1 to simulate the variable-center movement during the actual movement of the human knee joint. The first connecting member 11 and the connection assembly generate relative rotation and displacement in the sagittal plane. At the same time, the knee joint mechanism 1 made of elastic material enables it to have a certain degree of rotational freedom in the coronal plane and the horizontal plane, and can also be stretched and compressed to a certain extent in the vertical direction, improving the human-machine compatibility of the flexible knee joint device. The use of 3D printing technology avoids complex processing techniques and can be widely applied to various different rehabilitation and motion assistance scenarios.

[0024] By arranging the knee joint mechanism 1 between the femur mechanism 2 and the tibia mechanism 3, the elastic component 14 of the knee joint mechanism 1 can enable the femur mechanism 2 and the tibia mechanism 3 to achieve flexible connection. Compared with rigid exoskeleton devices, the flexible knee joint is lighter, softer, and more in line with the human movement law. At the same time, it can better simulate the natural movement state of the human knee joint under the drive of the drive mechanism 4, providing a more comfortable experience for users.

[0025] In a preferred embodiment, the connection component includes: A second connecting piece 12, and the second connecting piece 12 is connected to the elastic component 14; A third connecting piece 13, which is arranged on the side of the second connecting piece 12 away from the elastic component 14. One end of it is connected to the second connecting piece 12, and the side of the third connecting piece 13 away from the second connecting piece 12 is fixed to the tibia mechanism 3; A support piece 15, and both ends of the support piece 15 are respectively connected to the second connecting piece 12 and the third connecting piece 13.

[0026] In a preferred embodiment, there is a first included angle between the first connecting piece 11 and the third connecting piece 13, and the first included angle is 45°.

[0027] As Figure 5 shown, the first connecting piece 11 and the second connecting piece 12 are arranged in parallel with each other. The opening direction of the first included angle between the third connecting piece 13 and the first connecting piece 11 faces the front of the human body. The ends of the second connecting piece 12, the third connecting piece 13, and the support piece 15 are connected in sequence, so that the three enclose to form a structure approximately like a triangular prism, and the connection between the three is more stable; by forming a 45° first included angle between the top plane of the first connecting piece 11 and the bottom plane of the third connecting piece 13, when the calf rod 31 rotates in the sagittal plane, it only needs to rotate 45 degrees to both sides respectively to meet the 90° movement range of knee joint flexion and extension, avoiding excessive rotation angle in a single direction and making the best use of the rotation ability of the knee joint mechanism 1 to the greatest extent.

[0028] In a preferred embodiment, the elastic component 14 includes a first elastic piece 141 and / or a second elastic piece 142. The first elastic piece 141 and the second elastic piece 142 have the same structure, and both include: A first sheet body 101, the first sheet body 101 has a first elastic end, and the first sheet body 101 is flexibly connected to the first connecting piece 11 through the first elastic end; A second sheet body 102, the second sheet body 102 has a second elastic end, and the second sheet body 102 is flexibly connected to the connection component through the second elastic end; An elastic part, which is arranged between the first sheet body 101 and the second sheet body 102, and the first sheet body 101 is flexibly connected to the second sheet body 102 through the elastic part; The sum of the lengths of the first sheet body 101, the second sheet body 102, and the elastic part is greater than the distance between the first connecting piece 11 and the connecting assembly.

[0029] In a preferred embodiment, at least one first groove 103 is provided on each of the first elastic end and the second elastic end, and a second groove 104 is provided on the elastic part.

[0030] As Figure 5 shown, both the first elastic sheet 141 and the second elastic sheet 142 are elastic bending structures. On both sides of the end of the first sheet body 101 away from the elastic part, first grooves 103 are respectively provided. On both sides of the end of the second sheet body 102 away from the elastic part, first grooves 103 are also respectively provided. A second groove 104 is further provided on the elastic part. The opening direction of the second groove 104 is opposite to the bending direction of the elastic sheet. By providing the first groove 103 and the second groove 104 on the elastic sheet, the thicknesses of both ends and the middle part of the elastic sheet are smaller than those of other regions, and thus the above-mentioned flexible hinges are formed at both ends and the middle part thereof, so that the knee joint mechanism 1 as a whole forms a centralized compliant mechanism. The overall degree of freedom of movement thereof is provided by the local deformation of the flexible hinge, and the deformations of other parts connected to the flexible hinge are smaller. Thus, under the drive of the drive mechanism 4, the movement of the knee joint mechanism 1 mainly occurs around the first elastic end, the second elastic end, and the elastic part of the first elastic sheet 141 and / or the second elastic sheet 142, without adding any constraints, improving the strength and extension ability of the knee joint mechanism 1, and making the movement of the knee joint mechanism 1 closer to the real movement of the human knee joint. At the same time, the first elastic sheet 141 and / or the second elastic sheet 142 have high resilience, which can reduce the pressure and friction on the joint and surrounding tissues during use, reduce the potential pain and injury risks of patients, extend the service life of the device, help patients recover muscle function and motor ability, and accelerate the rehabilitation process.

[0031] In a preferred embodiment, a plurality of round holes 105 are provided on the elastic part, and the plurality of round holes 105 are distributed along the extending direction of the second groove 104.

[0032] As Figure 5 shown, the plurality of round holes 105 are provided on the elastic part along the extending direction of the second groove 104, and the round holes 105 are communicated with the second groove 104, which can further increase the bending deformation ability of the elastic part.

[0033] In a preferred embodiment, when the elastic assembly 14 includes the first elastic sheet 141 and the second elastic sheet 142, the bending directions of the first elastic sheet 141 and the second elastic sheet 142 are opposite.

[0034] As Figure 5 and Figure 7As shown, two first elastic pieces 141 and two second elastic pieces 142 are arranged between the first connecting piece 11 and the second connecting piece 12. The two first elastic pieces 141 and the two second elastic pieces 142 are symmetrically arranged. The opening direction of the second groove 104 on the first elastic piece 141 and the opening of the second groove 104 on the second elastic piece 142 can face away from each other or towards each other. When the flexible knee joint device with the above structure moves to the straight state or the 90° bending state along the sagittal plane, it is easier to return to the initial state. Further, as Figure 6 shown, the second connecting piece 12 can also be directly fixed to the tibia mechanism 3. The flexible knee joint device with this structure is in the straight state initially and does not affect the freedom and compliance of the knee joint mechanism 1.

[0035] As Figure 8 shown, four first elastic pieces 141 are arranged between the first connecting piece 11 and the second connecting piece 12. The four first elastic pieces 141 are all bent in the same direction. The flexible knee joint device with the above structure can increase the resilience from the straight state to the 90° bending state and reduce the torque required from the 90° bending state to the straight state.

[0036] As Figure 9 shown, four second elastic pieces 142 are arranged between the first connecting piece 11 and the second connecting piece 12. The four second elastic pieces 142 are all bent in the same direction. The flexible knee joint device with the above structure can increase the resilience from the 90° bending state to the straight state and reduce the torque required from the straight state to the 90° bending state.

[0037] The knee joint mechanism 1 with the above structure is modularly designed, which is convenient for adjusting and replacing components to meet the changing needs of users and the maintenance requirements of the device.

[0038] In a preferred embodiment, at least one through hole 111 is formed on each of the first connecting piece 11, the second connecting piece 12, the third connecting piece 13 and the support piece 15.

[0039] As Figure 5 shown, through holes 111 are formed at the central parts of the first connecting piece 11, the second connecting piece 12, the third connecting piece 13 and the support piece 15, which is beneficial to reducing the weight of the knee joint mechanism 1 and facilitating the arrangement of internal circuits of the flexible knee joint device.

[0040] In a preferred embodiment, the drive mechanism 4 includes: A drive member 41, the drive member 41 is arranged on the femur mechanism 2, and a rotating flange 42 is connected to the drive end of the drive member 41; A first ball head 43, the first ball head 43 is rotatably arranged at one end of the rotating flange 42 away from the drive member 41; The second ball head 44 is rotatably arranged on the tibia mechanism 3, and a transmission rod 45 is arranged between the second ball head 44 and the first ball head 43.

[0041] As Figure 2 shown, a transmission rod 45 and a ball head can be used for transmission between the thigh rod 21 and the calf rod 31. The driving member 41 is a joint motor in the prior art. The driving member 41 is arranged on the frame part 222 of the connecting base 22 and fixed to the frame part 222 by a countersunk head screw. A rotating flange 42 is fixed to the driving end of the driving member 41. A rotating hole is provided at one end of the rotating flange 42 away from the driving member 41 for arranging the first ball head 43, so that the first ball head 43 is rotatably connected to the rotating flange 42. A second hoop 33 is also sleeved on the calf rod 31, on the side of the first hoop 32 away from the knee joint mechanism 1. The second ball head 44 is rotatably connected to the second hoop 33. The first ball head 43 and the second ball head 44 are respectively sleeved on both ends of the transmission rod 45. The driving member 41 drives the rotating flange 42 to rotate, and the rotating flange 42 can drive the calf rod 31 to move through the transmission rod 45.

[0042] In a preferred embodiment, the driving mechanism 4 includes: A driving member 41, the driving member 41 is arranged on the femur mechanism 2, and a first pulley 46 is connected to the driving end of the driving member 41; A second pulley 47, the second pulley 47 is rotatably arranged on the tibia mechanism 3; A traction rope 48, one end of the traction rope 48 is arranged on the first pulley 46, and the other end is fixed to the tibia mechanism 3 after surrounding the second pulley 47.

[0043] As shown in Figure 3, a pulley and a traction rope 48 can also be used for transmission between the thigh rod 21 and the calf rod 31. At the same time, in order to make the driving process more stable, two driving members 41 are provided in this embodiment. The two driving members 41 are symmetrically arranged on the frame part 222 of the connecting base 22 and are also fixed to the frame part 222 by countersunk head screws. First pulleys 46 are respectively fixed to the driving ends of the two driving members 41. The two second pulleys 47 are symmetrically arranged on both sides of the first hoop 32 and are rotatably connected to the first hoop 32. Traction ropes 48 are connected to both of the first pulleys 46. The free ends of the traction ropes 48 are fixed to the second hoop 33 after surrounding the second pulley 47. The driving member 41 drives the first pulley 46 to rotate, and the first pulley 46 drives the calf rod 31 to move through the traction rope 48.

[0044] The connecting base 22 further includes a limiting part, and the limiting part is used for limiting the rotation angle of the driving member 41 to ensure that the flexion amplitude of the flexible knee joint device does not exceed the acceptable range of the user. Further, through holes 111 are also provided on the connecting base 22 and the rotating flange 42 to reduce the self-weight and facilitate the arrangement of the internal lines of the flexible knee joint device.

[0045] In this text, specific examples are used to elaborate on the principles and implementation modes of the present application. The descriptions of the above embodiments are only used to help understand the method and its core idea of the present application. The above is only the preferred implementation mode of the present application. It should be noted that due to the limited nature of literal expression and the objectively infinite specific structures, for those of ordinary skill in the art in this technical field, without departing from the principle of the present invention, several improvements, refinements or changes can be made, or the above technical features can be combined in an appropriate manner; these improvements, refinements, changes or combinations, or directly applying the concept and technical solution of the invention to other occasions without improvement, shall all be regarded as the protection scope of the present application.

Claims

1. A flexible knee joint device, characterized in that, Comprising: A femur mechanism (2) and a tibia mechanism (3); A knee joint mechanism (1), the knee joint mechanism (1) being connected between the femur mechanism (2) and the tibia mechanism (3), comprising: A first connecting member (11), the first connecting member (11) being fixedly connected to the femur mechanism (2); A connecting assembly, the connecting assembly being fixedly connected to the tibia mechanism (3); An elastic assembly (14), both ends of the elastic assembly (14) being respectively connected to the first connecting member (11) and the connecting assembly, for flexibly connecting the first connecting member (11) and the connecting assembly; A driving mechanism (4), the driving mechanism (4) being disposed on the femur mechanism (2) and being in transmission connection with the tibia mechanism (3), the driving mechanism (4) being used for driving the tibia mechanism (3) to move relative to the femur mechanism (2) under the action of the elastic assembly (14).

2. The flexible knee joint device according to claim 1, wherein The elastic assembly (14) includes a first elastic sheet (141) and / or a second elastic sheet (142), the first elastic sheet (141) and the second elastic sheet (142) having the same structure, both including: A first sheet body (101), the first sheet body (101) having a first elastic end, the first sheet body (101) being flexibly connected to the first connecting member (11) through the first elastic end; A second sheet body (102), the second sheet body (102) having a second elastic end, the second sheet body (102) being flexibly connected to the connecting assembly through the second elastic end; An elastic part, the elastic part being disposed between the first sheet body (101) and the second sheet body (102), the first sheet body (101) being flexibly connected to the second sheet body (102) through the elastic part; The sum of the lengths of the first sheet body (101), the second sheet body (102) and the elastic part is greater than the distance between the first connecting member (11) and the connecting assembly.

3. A flexible knee joint device according to claim 2, wherein At least one first groove (103) is formed on both the first elastic end and the second elastic end, and a second groove (104) is formed on the elastic part.

4. A flexible knee joint device according to claim 3, wherein A plurality of round holes (105) are formed on the elastic part, and the plurality of round holes (105) are distributed along the extending direction of the second groove (104).

5. A flexible knee joint device according to claim 2, wherein, When the elastic assembly (14) includes a first elastic sheet (141) and a second elastic sheet (142), the bending directions of the first elastic sheet (141) and the second elastic sheet (142) are opposite.

6. The flexible knee joint device according to claim 1, characterized in that, The connecting assembly includes: A second connecting member (12), the second connecting member (12) being connected to the elastic assembly (14); A third connecting member (13), the third connecting member (13) being disposed on the side of the second connecting member (12) away from the elastic assembly (14), one end of the third connecting member (13) being connected to the second connecting member (12), and the side of the third connecting member (13) away from the second connecting member (12) being fixed to the tibia mechanism (3); A support member (15), both ends of the support member (15) being respectively connected to the second connecting member (12) and the third connecting member (13).

7. The flexible knee joint device according to claim 6, characterized in that, There is a first included angle between the first connecting member (11) and the third connecting member (13), and the first included angle is 45°.

8. A flexible knee joint device according to claim 6, characterized in that, At least one through hole is provided on each of the first connecting member (11), the second connecting member (12), the third connecting member (13) and the support member (15).

9. The flexible knee joint device according to claim 1, characterized in that, The drive mechanism (4) includes: A drive member (41), the drive member (41) is provided on the femur mechanism (2), and a rotating flange (42) is connected to the drive end of the drive member (41); A first ball head (43), the first ball head (43) is rotatably provided at one end of the rotating flange (42) away from the drive member (41); A second ball head (44), the second ball head (44) is rotatably provided on the tibia mechanism (3), and a transmission rod (45) is provided between the second ball head (44) and the first ball head (43).

10. A flexible knee joint device according to claim 1, characterized in that, The drive mechanism (4) includes: A drive member (41), the drive member (41) is provided on the femur mechanism (2), and a first pulley (46) is connected to the drive end of the drive member (41); A second pulley (47), the second pulley (47) is rotatably provided on the tibia mechanism (3); A traction rope (48), one end of the traction rope (48) is provided on the first pulley (46), and the other end is fixed to the tibia mechanism (3) after surrounding the second pulley (47).

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