A flexible knee joint device

Abstract

This application provides a flexible knee joint device, including a femoral mechanism and a tibial mechanism, with a knee joint mechanism disposed between them. The knee joint mechanism includes a first connector and a connecting component. The first connector is fixedly connected to the femoral mechanism, and the connecting component is fixedly connected to the tibial mechanism. An elastic component is disposed between the first connector and the connecting component, which is used to flexibly connect the first connector and the connecting component. The device also includes a drive mechanism disposed on the femoral mechanism and transmittedly connected to the tibial mechanism, which is used to drive the tibial mechanism to move relative to the femoral mechanism under the action of the elastic component. By setting a knee joint mechanism between the femoral and tibial mechanisms, the elastic component enables the femoral and tibial mechanisms to achieve a flexible connection. Compared with rigid exoskeleton devices, the flexible knee joint is lighter and softer, more in line with the laws of human movement, and can better simulate the movement state of the human knee joint, providing users with a more comfortable experience.

Description

Technical Field

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

[0002] With the increasing aging population, the number of patients suffering from lower limb motor function impairment due to cerebrovascular diseases such as stroke or accidents is rising. How to restore patients' mobility has become a key research focus. As a branch of rehabilitation robotics, 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 robotics technology and biomedical engineering principles, aiming to help patients restore or improve their mobility and provide them with more comfortable, safer, and more personalized rehabilitation training.

[0003] There are many types of lower limb exoskeletons available, but most of them feature rigid knee joints. While rigid structures provide strong support and drive for the wearer, rigid knee joints struggle to mimic the variable center of motion of the human knee joint during actual movement, resulting in poor human-machine compatibility. Designing flexible knee joints is currently a hot topic in lower limb exoskeleton research. Summary of the Invention

[0004] The purpose of this application is to address the above problems by providing a flexible knee joint device, comprising: The femoral and tibial structures; A knee joint mechanism, connected between the femoral mechanism and the tibial mechanism, includes: A first connector is fixedly connected to the femoral mechanism; A connecting component, which is fixedly connected to the tibial mechanism; An elastic component, wherein both ends of the elastic component are respectively connected to the first connector and the connecting component, for flexibly connecting the first connector and the connecting component; A drive mechanism is provided on the femoral mechanism and is connected to the tibial mechanism in a transmission manner. The drive mechanism is used to drive the tibial mechanism to move relative to the femoral mechanism under the action of the elastic component.

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

[0006] According to the technical solutions provided in certain embodiments of this application, at least one first groove is provided on both the first elastic end and the second elastic end, and a second groove is provided on the elastic portion.

[0007] According to the technical solutions provided in certain embodiments of this application, the elastic part is provided with a plurality of circular holes, and the plurality of circular holes are distributed along the extension direction of the second groove.

[0008] According to the technical solutions provided in certain embodiments of this application, when the elastic component includes a first spring sheet and a second spring sheet, the bending directions of the first spring sheet and the second spring sheet are opposite.

[0009] According to the technical solutions provided in certain embodiments of this application, the connection component includes: A second connector is connected to the elastic component; The third connector is located on the side of the second connector away from the elastic component, with one end connected to the second connector, and the side of the third connector away from the second connector fixed to the tibial mechanism. A support member, the two ends of which are respectively connected to the second connector and the third connector.

[0010] According to the technical solutions provided in certain embodiments of this application, the first connector and the third connector have a first included angle, which is 45°.

[0011] According to the technical solutions provided in certain embodiments of this application, at least one through hole is provided on the first connector, the second connector, the third connector and the support.

[0012] According to the technical solutions provided in certain embodiments of this application, the driving mechanism includes: A driving component is mounted on the femoral mechanism, and a rotating flange is connected to the driving end of the driving component. A first ball head is rotatably located at the end of the rotating flange away from the driving member; The second ball head is rotatably mounted on the tibia mechanism, and a transmission rod is provided between the second ball head and the first ball head.

[0013] According to the technical solutions provided in certain embodiments of this application, the driving mechanism includes: A driving component is disposed on the femoral mechanism, and a first pulley is connected to the driving end of the driving component; The second pulley is rotatably mounted on the tibia mechanism; A traction rope, one end of which is located on the first pulley, and the other end is wrapped around the second pulley and fixed to the tibia mechanism.

[0014] Compared with the prior art, the beneficial effects of this application are as follows: This application provides a flexible knee joint device, including a femoral mechanism and a tibial mechanism, with a knee joint mechanism provided between the femoral mechanism and the tibial mechanism. The knee joint mechanism includes a first connector and a connecting component. The first connector is fixedly connected to the femoral mechanism, and the connecting component is fixedly connected to the tibial mechanism. An elastic component is provided between the first connector and the connecting component, which is used to flexibly connect the first connector and the connecting component. The device also includes a driving mechanism, which is disposed on the femoral mechanism and is transmittedly connected to the tibial mechanism. The driving mechanism is used to drive the tibial mechanism to move relative to the femoral mechanism under the action of the elastic component. By providing a knee joint mechanism between the femoral mechanism and the tibial mechanism, the elastic component of the knee joint mechanism can enable the femoral mechanism and the tibial mechanism to achieve a flexible connection. Compared with rigid exoskeleton devices, the flexible knee joint is lighter and softer, and more in line with the laws of human movement. At the same time, under the drive of the driving mechanism, it can better simulate the natural movement state of the human knee joint, providing users with a more comfortable experience.

[0015] It should be understood that the descriptions of technical features, technical solutions, beneficial effects, or similar language in this application do not imply that all features and advantages can be achieved in any single embodiment. Rather, it is understood that the description of a feature or beneficial effect means that a specific technical feature, technical solution, or beneficial effect is included in at least one embodiment. Therefore, the descriptions of technical features, technical solutions, or beneficial effects in this specification do 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 suitable manner. Those skilled in the art will understand that embodiments can be implemented without one or more specific technical features, technical solutions, or beneficial effects of a particular embodiment. In other embodiments, additional technical features and beneficial effects may be identified in specific embodiments that do not embody all embodiments. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of a flexible knee joint device provided in an embodiment of this application; Figure 2 This is a schematic diagram of the structure of a flexible knee joint device using a ball joint and a transmission rod, as provided in an embodiment of this application. Figure 3 This is a schematic diagram of the structure of a flexible knee joint device using pulleys and traction ropes for transmission, provided in an embodiment of this application. Figure 4 This is a schematic diagram of the structure of a connecting base for a flexible knee joint device provided in an embodiment of this application; Figure 5 A schematic diagram of the structure of a flexible knee joint device provided in this application embodiment, showing the knee joint mechanism with a first and second spring piece; Figure 6 A schematic diagram of the structure of a flexible knee joint device provided in this application embodiment when the knee joint mechanism is not provided with a third connector and a support; Figure 7 Another structural schematic diagram of a flexible knee joint device provided in this application embodiment, when the knee joint mechanism is equipped with a first spring and a second spring; Figure 8 This is a schematic diagram of the structure of a flexible knee joint device provided in this application embodiment when only the first spring is provided; Figure 9 This is a schematic diagram of the structure of a flexible knee joint device provided in this application embodiment when only the second spring is provided.

[0018] The text labels in the image represent: 1. Knee joint mechanism; 2. Femoral mechanism; 3. Tibial mechanism; 4. Drive mechanism; 11. First connector; 12. Second connector; 13. Third connector; 14. Elastic component; 15. Support component; 21. Thigh bar; 22. Connecting base; 31. Lower leg bar; 32. First clamp; 33. Second clamp; 41. Drive component; 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 piece; 102. Second piece; 103. First groove; 104. Second groove; 105. Circular hole; 111. Through hole; 141. First spring piece; 142. Second spring piece; 221. Connecting part; 222. Frame part; 223. Platform part. Detailed Implementation

[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 with reference to the accompanying drawings. The descriptions in this section are merely illustrative and explanatory, and should not be construed as limiting the scope of protection of this application. Specifically, the described embodiments are only some embodiments of this application, not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort should fall within the scope of protection of this invention.

[0020] It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such process, method, product, or apparatus.

[0021] As mentioned in the background section, in order to solve the problems existing in the prior art, this embodiment provides a flexible knee joint device, including: Femoral mechanism 2 and tibial mechanism 3; Knee joint mechanism 1, which connects the femoral mechanism 2 and the tibial mechanism 3, includes: The first connector 11 is fixedly connected to the femoral mechanism 2; A connecting component is fixedly connected to the tibial mechanism 3; The elastic component 14 has two ends connected to the first connector 11 and the connecting component, respectively, for flexibly connecting the first connector 11 and the connecting component. The drive mechanism 4 is located on the femoral mechanism 2 and is connected to the tibial mechanism 3 via transmission. The drive mechanism 4 is used to drive the tibial mechanism 3 to move relative to the femoral mechanism 2 under the action of the elastic component 14.

[0022] like Figure 1-4 As shown, the femoral mechanism 2 includes a thigh rod 21, one end of which is fixed to a connecting base 22. The connecting base 22 includes an integrally formed connecting part 221, a frame part 222, and a platform part 223. The connecting part 221 is used to fix it to the thigh rod 21. The tibial mechanism 3 includes a calf rod 31, one end of which is fixed to a first clamp 32 near the thigh rod 21. The side of the first connector 11 near the femoral mechanism 2 is planar and is fixed to the platform part 223 of the connecting base 22 by countersunk screws. The side of the connecting component near the tibial mechanism 3 is also planar and is fixed to the first clamp 32 by countersunk screws. The knee joint mechanism 1 is made entirely of a resilient material using 3D printing technology. The elastic component 14 includes multiple spring pieces with bending structures, such as polyurethane rubber. The two ends of the spring pieces are connected to the first connector 11 and the connecting component, respectively. Both ends and the middle of the spring pieces have flexible hinges. The drive mechanism 4 is located on the frame part 222 of the connecting base 22 and is connected to the tibia mechanism 3. When the drive mechanism 4 drives the tibia mechanism 3 to move relative to the femoral mechanism 2, the bending of the first connector 11 and the spring pieces, the connecting component and the spring pieces, and the spring pieces themselves all revolve around the flexible hinges at both ends and the middle of the spring pieces. This causes the first connector 11 and the connecting component to generate relative rotation and displacement along the sagittal plane of the human body, so as to simulate the combined rolling and sliding motion between the femur and tibia during the flexion and extension 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 hinge on the spring plate enables the knee joint mechanism 1 to simulate the variable center movement during actual human knee joint movement. The first connecting piece 11 and the connecting assembly generate relative rotation and displacement in the sagittal plane. At the same time, the elastic material of the knee joint mechanism 1 gives it a certain degree of rotational freedom in the coronal and horizontal planes, and it can also be stretched and compressed in the vertical direction, improving the human-machine compatibility of the flexible knee joint device. The use of 3D printing technology avoids complex processing technology and can be widely used in various rehabilitation and sports assistance scenarios.

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

[0025] In a preferred embodiment, the connection component includes: The second connector 12 is connected to the elastic component 14; The third connector 13 is located on the side of the second connector 12 away from the elastic component 14, with one end connected to the second connector 12 and the side of the third connector 13 away from the second connector 12 fixed to the tibial mechanism 3. The support member 15 has two ends connected to the second connector 12 and the third connector 13, respectively.

[0026] In a preferred embodiment, the first connector 11 and the third connector 13 have a first included angle of 45°.

[0027] like Figure 5 As shown, the first connector 11 and the second connector 12 are arranged parallel to each other, and the opening direction of the first included angle between the third connector 13 and the first connector 11 faces the front of the human body. The ends of the second connector 12, the third connector 13 and the support 15 are connected in sequence, so that the three together form a structure that is approximately a triangular prism, and the connection between the three is more stable. By forming a first included angle of 45° between the top plane of the first connector 11 and the bottom plane of the third connector 13, when the lower leg bar 31 rotates in the sagittal plane, it only needs to rotate 45 degrees to each side to meet the 90° range of motion of the knee joint flexion and extension, avoiding excessive rotation angle in one direction, and making the maximum use of the rotational ability of the knee joint mechanism 1.

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

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

[0030] like Figure 5 As shown, both the first spring piece 141 and the second spring piece 142 are elastic bending structures. The first piece 101 has first grooves 103 on both sides of its end away from the elastic part, and the second piece 102 also has first grooves 103 on both sides of its end away from the elastic part. A second groove 104 is also formed on the elastic part, with its opening direction opposite to the bending direction of the spring piece. By forming the first grooves 103 and the second grooves 104 on the spring pieces, the thickness at both ends and the middle of the spring piece is less than in other areas, thus forming the aforementioned flexible hinge at both ends and the middle. This makes the knee joint mechanism 1 a centralized compliant mechanism, with its overall degree of freedom of movement provided by the local deformation of the flexible hinge, and its flexible joint mechanism... The deformation of other parts connected by the hinge is small. Therefore, under the drive of the drive mechanism 4, the movement of the knee joint mechanism 1 mainly revolves around the first elastic end, the second elastic end, and the elastic part of the first elastic piece 141 and / or the second elastic piece 142. No additional constraints are required, which improves the strength and extensibility of the knee joint mechanism 1 and makes the movement of the knee joint mechanism 1 closer to the actual movement of the human knee joint. At the same time, the first elastic piece 141 and / or the second elastic piece 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 risk to the patient, extend the service life of the device, help the patient restore muscle function and mobility, and accelerate the rehabilitation process.

[0031] In a preferred embodiment, the elastic part is provided with a plurality of circular holes 105, which are distributed along the extension direction of the second groove 104.

[0032] like Figure 5 As shown, a plurality of circular holes 105 are formed on the elastic part along the extending direction of the second groove 104. The circular holes 105 are connected to the second groove 104, which can further increase the bending deformation capability of the elastic part.

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

[0034] like Figure 5 and Figure 7As shown, two first spring pieces 141 and two second spring pieces 142 are provided between the first connector 11 and the second connector 12. The two first spring pieces 141 and the two second spring pieces 142 are symmetrically arranged. The opening direction of the second groove 104 on the first spring piece 141 and the opening direction of the second groove 104 on the second spring piece 142 can be towards a side that is far apart from each other, or towards a side that is close to each other. The flexible knee joint device with the above structure can more easily return to its initial state when it moves to the extended state or the 90° bent state along the sagittal plane; furthermore, as Figure 6 As shown, the second connector 12 can also be directly fixed to the tibial mechanism 3. This type of flexible knee joint device is initially in an extended state, which does not affect the degree of freedom and flexibility of the knee joint mechanism 1.

[0035] like Figure 8 As shown, four first spring pieces 141 are provided between the first connector 11 and the second connector 12. All four first spring pieces 141 are bent in the same direction. The flexible knee joint device with the above structure can increase the rebound ability from the straight state to the 90° bent state and reduce the torque required from the 90° bent state to the straight state.

[0036] like Figure 9 As shown, four second spring pieces 142 are provided between the first connector 11 and the second connector 12. All four second spring pieces 142 are bent in the same direction. The flexible knee joint device with the above structure can increase the rebound ability from the 90° bent state to the straight state and reduce the torque required from the straight state to the 90° bent state.

[0037] The knee joint mechanism 1 described above is a modular design, which facilitates the adjustment and replacement of components to adapt to changing user needs and equipment maintenance requirements.

[0038] In a preferred embodiment, at least one through hole 111 is provided on the first connector 11, the second connector 12, the third connector 13 and the support 15.

[0039] like Figure 5 As shown, the first connector 11, the second connector 12, the third connector 13 and the support 15 are all provided with through holes 111 in their center parts, which helps to reduce the weight of the knee joint mechanism 1 and facilitates the setting of internal circuits in the flexible knee joint device.

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

[0041] like Figure 2 As shown, the thigh bar 21 and the lower leg bar 31 can be connected by a transmission rod 45 and a ball head. The drive component 41 adopts a joint motor in the prior art. The drive component 41 is set on the frame part 222 of the connecting base 22 and is fixed to the frame part 222 by countersunk screws. The drive end of the drive component 41 is fixed with a rotating flange 42. The end of the rotating flange 42 away from the drive component 41 has a rotating hole for setting the first ball head 43, so that the first ball head 43 is rotatably connected to the rotating flange 42. The lower leg bar 31 is also fitted with a second clamp 33, located on the side of the first clamp 32 away from the knee joint mechanism 1. The second ball head 44 is rotatably connected to the second clamp 33. The first ball head 43 and the second ball head 44 are respectively fitted on both ends of the transmission rod 45. The drive component 41 drives the rotating flange 42 to rotate, and the rotating flange 42 can drive the lower leg bar 31 to move through the transmission rod 45.

[0042] In a preferred embodiment, the drive mechanism 4 includes: The driving component 41 is mounted on the femoral mechanism 2, and the driving end of the driving component 41 is connected to the first pulley 46. The second pulley 47 is rotatably mounted on the tibia mechanism 3; The traction rope 48 has one end attached to the first pulley 46 and the other end wrapped around the second pulley 47 and fixed to the tibia mechanism 3.

[0043] As shown in Figure 3, the thigh bar 21 and the lower leg bar 31 can also be connected by pulleys and traction ropes 48. In order to make the driving process more stable, this embodiment is provided with two driving components 41. The two driving components 41 are symmetrically arranged on the frame part 222 of the connecting base 22 and are fixed to the frame part 222 by countersunk screws. The driving ends of the two driving components 41 are respectively fixed with first pulleys 46. Two second pulleys 47 are symmetrically arranged on both sides of the first clamp 32 and are rotatably connected to the first clamp 32. Traction ropes 48 are connected to both first pulleys 46. The free end of the traction rope 48 is wrapped around the second pulley 47 and fixed to the second clamp 33. The driving component 41 drives the first pulley 46 to rotate, and the first pulley 46 drives the lower leg bar 31 to move through the traction rope 48.

[0044] The connecting base 22 also includes a limiting part, which is used to limit the rotation angle of the drive member 41 to ensure that the flexion range of the flexible knee joint device does not exceed the user's acceptable range. Furthermore, the connecting base 22 and the rotating flange 42 are also provided with through holes 111 to reduce their own weight and facilitate the setting of internal wiring of the flexible knee joint device.

[0045] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. The above descriptions are only preferred embodiments of this application. It should be noted that due to the limitations of written expression, while there are objectively infinite specific structures, those skilled in the art can make several improvements, modifications, or changes without departing from the principles of this invention, and can also combine the above technical features in an appropriate manner. These improvements, modifications, changes, or combinations, or the direct application of the inventive concept and technical solution to other situations without modification, should all be considered within the scope of protection of this application.

Claims

1. A flexible knee joint device, characterized in that, include: Femoral mechanism (2) and tibial mechanism (3); A knee joint mechanism (1), which is connected between the femoral mechanism (2) and the tibial mechanism (3), includes: The first connector (11) is fixedly connected to the femoral mechanism (2); A connecting component, which is fixedly connected to the tibial mechanism (3); An elastic component (14) is provided, with its two ends connected to the first connector (11) and the connecting component, respectively, for flexibly connecting the first connector (11) and the connecting component. The driving mechanism (4) is located on the femoral mechanism (2) and is connected to the tibial mechanism (3) in a transmission manner. The driving mechanism (4) is used to drive the tibial mechanism (3) to move relative to the femoral mechanism (2) under the action of the elastic component (14). The elastic component (14) includes a first spring sheet (141) and a second spring sheet (142). The bending directions of the first spring sheet (141) and the second spring sheet (142) are opposite. The first spring sheet (141) and the second spring sheet (142) have the same structure, both including: The first piece (101) has a first elastic end and is flexibly connected to the first connector (11) through the first elastic end; The second piece (102) has a second elastic end, and the second piece (102) is flexibly connected to the connecting component through the second elastic end; An elastic portion is provided between the first sheet (101) and the second sheet (102), and the first sheet (101) is flexibly connected to the second sheet (102) through the elastic portion; The sum of the lengths of the first piece (101), the second piece (102) and the elastic part is greater than the distance between the first connector (11) and the connecting assembly; at least one first groove (103) is provided on both the first elastic end and the second elastic end, and a second groove (104) is provided on the elastic part.

2. The flexible knee joint device according to claim 1, characterized in that, The elastic part has a plurality of circular holes (105) and the plurality of circular holes (105) are distributed along the extension direction of the second groove (104).

3. The flexible knee joint device according to claim 1, characterized in that, The connection component includes: The second connector (12) is connected to the elastic component (14); The third connector (13) is located on the side of the second connector (12) away from the elastic component (14), with one end connected to the second connector (12), and the side of the third connector (13) away from the second connector (12) is fixed to the tibial mechanism (3). The support member (15) is connected at both ends to the second connector (12) and the third connector (13), respectively.

4. A flexible knee joint device according to claim 3, characterized in that, The first connector (11) and the third connector (13) have a first included angle of 45°.

5. A flexible knee joint device according to claim 3, characterized in that, The first connector (11), the second connector (12), the third connector (13), and the support member (15) are each provided with at least one through hole.

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

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

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