A bionic joint mechanism based on knee joint motion mechanism

Abstract

The application discloses a kind of based on knee joint motion mechanism's bionic joint mechanism, belong to bionic mechanical technical field.The bionic joint mechanism includes two bars four cable tensioning support units symmetrically arranged on two sides, is set in two bars four cable tensioning support unit between femur contour movement subassembly, with the femur contour movement subassembly and two bars four cable tensioning support unit cooperation setting bilateral linkage mechanism and drum wheel curved surface cooperation mechanism.The application can simulate the motion characteristics in the process of knee joint flexion by setting femur contour movement subassembly, improve the bionics and motion coordination of mechanism;By two bars four cable tensioning support unit and bilateral linkage mechanism, the mechanism has support ability and adaptability in the process of movement, ensure the consistency of two sides movement.The mechanism has the advantages of compact structure, linkage reliable, motion coordination, and can be applied to bionic robot, exoskeleton device and other related bionic mechanical system.

Description

Technical Field

[0001] This invention relates to the field of biomimetic mechanical structure technology, specifically to a biomimetic joint mechanism based on the knee joint movement mechanism. Background Technology

[0002] The knee joint is a key load-bearing and movement joint in the human lower limb musculoskeletal system. During walking, running, jumping, squatting, and landing, it plays a vital role in supporting body weight, transmitting loads, adjusting posture, and absorbing impact. Unlike simple revolute joints, the human knee joint does not rotate along a single fixed axis during flexion and extension. Instead, it exhibits complex motion characteristics involving rolling, sliding, and lever arm changes. Simultaneously, through the synergistic action of ligaments, tendons, cartilage, and surrounding muscle groups, it possesses excellent stability, shock absorption, and adaptive movement capabilities. Therefore, the mechanism of knee joint movement has long been an important research subject in fields such as bionic mechanism design, robotic joint design, exoskeleton assistive devices, and prosthetic joint systems.

[0003] Most existing bionic joint mechanisms or artificial knee joint structures employ single-axis rotation structures, ordinary hinge structures, or simple linkage mechanisms to achieve flexion and extension movements. While these structures are relatively simple to construct and easy to manufacture, their motion trajectories often differ significantly from the actual movement patterns of the human knee joint, making it difficult to simultaneously achieve flexibility, load-bearing stability, and cushioning performance. Under external impacts or cyclic loads, traditional rigid joint structures are also prone to problems such as stiffness, abrupt load transfer, localized stress concentration, and insufficient comfort, thus limiting their further application in bionic robots, rehabilitation aids, and smart wearable devices.

[0004] Furthermore, while some existing joint mechanisms improve mechanical performance by adding elastic elements, damping elements, or auxiliary drive units, they generally suffer from shortcomings such as insufficient matching between the structural mechanism and the characteristics of the human knee joint, unreasonable torque transmission relationships during flexion and extension, limited motion guidance effects, and difficulty in synergistically balancing cushioning and repositioning capabilities. Especially under complex working conditions, how to achieve stable rotation, flexible cushioning, and optimized motion performance similar to a knee joint while ensuring joint structural compactness remains a pressing technical problem to be solved in this field.

[0005] Therefore, it is necessary to provide a bionic joint mechanism based on the knee joint movement mechanism to more closely resemble the movement law and mechanical characteristics of the human knee joint, and to improve the problems of single movement form, insufficient cushioning capacity, poor stability and weak bionicity in the existing technology, thereby improving the application performance of the joint mechanism in robots, exoskeletons, rehabilitation assistive devices and bionic mechanical systems. Summary of the Invention

[0006] This invention addresses the shortcomings of existing joint mechanisms, such as insufficient biomimicry and poor motion coordination, by providing a biomimetic joint mechanism based on the knee joint's motion mechanism. This mechanism features a compact overall structure, with motion patterns more closely resembling the flexion and extension characteristics of the human knee joint. It exhibits good motion stability, mechanical adaptability, and support performance, and can be applied to biomimetic robots, exoskeleton assistive devices, prosthetic joints, and other biomimetic mechanical systems. This will help improve the motion performance and usability of related devices and promote the development of biomimetic joint technology.

[0007] This invention is achieved through the following technical solution: a two-bar, four-cable tensioning support unit arranged on both sides of the femoral contour motion component; a drum wheel curved surface engagement mechanism that cooperates with the femoral contour motion component; and a double-sided linkage mechanism for coordinating the movement states of the two sides. The drum wheel curved surface engagement mechanism rolls along the curved surface of the femoral contour motion component under the action of rope winding and unwinding. During the rolling process, the rotation of the drum wheel achieves a winch-like linkage where one side of the rope is wound up and the other side is released. The double-sided linkage mechanism is used to achieve synchronous linkage between the movement of the drum wheel curved surface engagement mechanism and the configuration changes of the tensioning support units on both sides. This biomimetic joint mechanism mainly includes an arc-shaped support side plate, a straight support side plate, an oblique tension spring, a support side plate hinge pin, an upper support seat, a grooved cylindrical take-up block, an octahedral take-up groove, a central guide body, an upper linkage bracket, a linkage spring, a lower linkage bracket, an anti-detachment end cap, a winding drum wheel, a long rotating shaft of the drum wheel, and a spacer sleeve.

[0008] Furthermore, the two-rod four-cable tensioning support unit includes an arc-shaped support side plate, a straight support side plate, oblique tension springs, and a support side plate hinge pin. The arc-shaped and straight support side plates are arranged alternately, and their ends are connected by four oblique tension springs, forming a two-rod four-cable tensioning structure. The arc-shaped support side plate has a straight groove in its upper middle part, and a through hole below the groove. The straight support side plate has a support side plate hinge pin located off-center, which slidably engages with the straight groove in the arc-shaped support side plate.

[0009] Furthermore, the femoral contour motion assembly includes an upper support, an octahedral take-up groove, a grooved cylindrical take-up block, an anti-dislodgement end cap, and a central guide.

[0010] The central guide body is shaped like a femur contour. The main body is a guide entity with a continuous arc-shaped outer surface. Its outer surface is a continuous and smooth arc-shaped guide surface, which is used to form a rolling fit with external mating components. The end face of the central guide body is provided with several weight-reducing through holes, and both ends are provided with protruding cylindrical mounting parts. The mounting parts have a mounting hole in the center for connecting the double-sided linkage mechanism. The overall shape is approximately a biomimetic femur contour curved surface guide body with a flange at one end.

[0011] The upper support base has a stepped boss structure and is symmetrically installed on the top surface of the central guide body, used to connect the two-rod four-cable tensioning support unit. The octahedral take-up groove is set on both sides of the top end face of the central guide body, symmetrically distributed at both ends, with a total of four regular octahedral deep grooves. Screw holes are opened around the groove openings to fix the grooved cylindrical take-up blocks in multiple angle directions, so as to realize the tensioning and storage of the rope.

[0012] The grooved cylindrical take-up block is cylindrical in shape and has a spiral groove on its surface for winding the rope. One end of the block has a protruding screw hole, which can be used to lock the rope in place by engaging with the screw hole around the octahedral take-up groove.

[0013] Furthermore, the drum wheel curved surface mating mechanism includes a wound drum wheel, a long rotating shaft of the drum wheel, and a spacer sleeve.

[0014] The winding drum is a centrally symmetrical gourd-shaped structure with a through hole at the center of rotation on its side. Two sets of helical grooves are symmetrically arranged on the drum, and two ropes are wound around their respective grooves. The ends of the ropes are secured by an octahedral take-up groove and a grooved cylindrical take-up block on the femoral contour motion component. The symmetrical arrangement of the two ropes balances the torsional force on the winding drum during movement, thus enabling the winding drum to perform a smooth rolling motion along the curved surface of the femoral contour motion component.

[0015] The spacer sleeve is a sleeve structure with a predetermined thickness, used to separate the winding drum from the double-sided linkage mechanism, so as to reduce unnecessary friction between the two during the movement.

[0016] The drum's long rotating shaft is a long straight round rod that passes sequentially through the arc-shaped support side plate of the two-rod four-cable tensioning support unit on one side, the spacer sleeve, the lower linkage bracket of the double-linkage mechanism on the same side, the winding drum, the lower linkage bracket of the double-linkage mechanism on the other side, the spacer sleeve on the other side, and the arc-shaped support side plate of the two-rod four-cable tensioning support unit on the other side, thereby achieving series support and positioning of the above components.

[0017] Furthermore, the dual-side linkage mechanism includes an upper linkage bracket, a lower linkage bracket, and a linkage tension spring.

[0018] The upper linkage bracket has an ear-plate-like structure, with an arc transition at the upper end and a through hole for connecting with the protruding cylindrical mounting part of the central guide body; the lower end has a concave strip groove structure inside.

[0019] The lower linkage bracket is a strip-shaped connector with its main body extending longitudinally and having several protruding strip structures on the outside; its lower end has a hole connection part for the long rotating shaft of the drum wheel of the drum wheel curved surface fitting mechanism to pass through.

[0020] The linkage spring is a metal spring with lugs at both ends, with its two ends connected to the side of the upper linkage bracket and the side of the lower linkage bracket, respectively, and symmetrically arranged on both sides of the upper and lower linkage brackets.

[0021] Because the femoral contour-mimicking motion component has an irregular, femoral contour-like shape, the distance between the center of the winding drum and the protruding cylindrical mounting part of the central guide body changes constantly as the winding drum of the drum-wheel mating mechanism moves along the curved surface of the central guide body. If a rigid component with a fixed length is used, it is difficult to achieve good motion coordination. To address this problem, the upper and lower linkage brackets are connected by a telescopic fit. Under the action of the linkage spring, they can move relative to each other along the connection direction, thereby achieving adaptive elongation or shortening of the overall length of the linkage structure.

[0022] Beneficial Effects: This invention, by setting up a femoral contour-inspired motion component and enabling the winding drum to roll along its curved surface, accurately simulates the motion characteristics during knee flexion and extension, significantly improving the bionic nature and motion coordination of the mechanism. By setting two-bar, four-cable tension support units on both sides of the femoral contour-inspired motion component, the mechanism possesses both support and configurational self-adaptation capabilities during movement, enhancing overall structural stability. The dual-sided linkage mechanism achieves synchronous linkage between the drum's curved surface movement and the configurational changes of the two-bar, four-cable tension support units on both sides, ensuring consistency in movement on both sides. Simultaneously, the upper and lower linkage supports employ a telescopic linkage structure, achieving adaptive changes in overall length under the action of a linkage spring, thereby adapting to the dynamic changes in center distance during the movement of the winding drum along the curved surface of the central guide body, further improving the reliability and compliance of the mechanism. In summary, this invention has the advantages of compact structure, reliable linkage, coordinated motion, stable support, and good bionic nature, and can be applied to bionic robots, exoskeletons, prosthetic joints, and related bionic mechanical systems. Attached Figure Description

[0023] Figure 1 This is a schematic diagram (I) of a bionic joint mechanism based on the knee joint movement mechanism of the present invention;

[0024] Figure 2 This is an exploded view of the overall structure of a bionic joint mechanism based on the knee joint movement mechanism of the present invention.

[0025] Figure 3 This is a partially exploded view of a two-bar, four-cable tension support unit of a bionic joint mechanism based on the knee joint movement mechanism of the present invention.

[0026] Figure 4 This is a partially exploded view of a femoral contour-inspired motion component of a biomimetic joint mechanism based on the knee joint motion mechanism of the present invention.

[0027] Figure 5 This is a partially exploded view of the bilateral linkage mechanism of a bionic joint mechanism based on the knee joint movement mechanism of the present invention.

[0028] Figure 6 This is a partially exploded view of the drum wheel curved surface mating mechanism of a bionic joint mechanism based on the knee joint movement mechanism of the present invention;

[0029] Figure 7 This is an exploded view of a bionic joint mechanism based on the knee joint movement mechanism of the present invention.

[0030] Figure 8 This is a side view of a bionic joint mechanism based on the knee joint movement mechanism of the present invention.

[0031] Figure 9 This is a schematic diagram (II) of a bionic joint mechanism based on the knee joint movement mechanism of the present invention.

[0032] Labeling Explanation: 1. Two-rod four-cable tension support unit; 101. Arc-shaped support side plate; 102. Oblique tension spring; 103. Straight support side plate; 104. Support side plate hinge pin; 2. Femoral contour motion component; 201. Upper support seat; 202. Octahedral take-up groove; 203. Grooved cylindrical take-up block; 204. Central guide body; 205. Anti-detachment end cap; 3. Double-sided linkage mechanism; 301. Upper linkage bracket; 302. Lower linkage bracket; 303. Linkage tension spring; 4. Drum wheel curved surface mating mechanism; 401. Winding drum wheel; 402. Drum wheel long rotating shaft; 403. Spacer sleeve. Detailed Implementation

[0033] The following description, in conjunction with the accompanying drawings, provides a detailed description of specific embodiments of the present invention. It should be noted that the same or similar reference numerals in the drawings correspond to the same or similar structural or functional modules. It should be understood that the specific descriptions provided herein, in conjunction with the accompanying drawings, are merely illustrative and intended to clearly illustrate the technical solutions of the present invention, and do not constitute a limitation on the scope of protection of the present invention.

[0034] It should be noted that the same reference numerals may be used repeatedly in different embodiments of the present invention, or some repetitive elements may be simplified. This is only for the purpose of pursuing conciseness and clarity of expression, and does not imply any specific relationship between the different implementation methods or structures, nor should it be construed as a limitation of the present invention.

[0035] In the description of this invention, it should be understood that the terms "center", "bottom", "inner", "outer", "one end", "one side", etc., indicating the orientation or positional relationship, are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the invention.

[0036] In this invention, unless otherwise explicitly specified and limited, the terms "provided with," "set up," and "connected" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0037] See Figures 1 to 3 and Figures 7 to 9 The present invention provides a bionic joint mechanism based on the knee joint movement mechanism, which mainly includes a two-bar four-cable tension support unit 1 symmetrically arranged on both sides, a femoral contour motion component 2 disposed between the two-bar four-cable tension support unit 1, and a bilateral linkage mechanism 3 and a drum wheel curved surface cooperation mechanism 4 for realizing motion coordination.

[0038] See Figures 1 to 3 The two-rod four-cable tensioning support unit 1 includes an arc-shaped support side plate 101, a straight support side plate 103, oblique tension springs 102, and a support side plate hinge pin 104. The arc-shaped support side plate 101 and the straight support side plate 103 are arranged crosswise, and their ends are connected by four oblique tension springs 102, forming a two-rod four-cable tensioning structure. A straight slot is formed in the upper middle part of the arc-shaped support side plate 101, and a support side plate hinge pin 104 is fixedly provided on one side of the center of the straight support side plate 103. This hinge pin 104 slidably engages with the straight slot in the arc-shaped support side plate 101, thereby realizing relative movement between the two support side plates, i.e., realizing the configuration change of the two-rod four-cable tensioning support unit 1.

[0039] See Figures 1 to 2 and Figure 4 The femoral contour motion component 2 includes an upper support 201, an octahedral take-up groove 202, a grooved cylindrical take-up block 203, a central guide 204, and an anti-dislodgement end cap 205.

[0040] The central guide body 204 is shaped like a femur contour, with its main body being a guide entity with a continuous arc-shaped outer surface. This outer surface is a smooth, continuous arc-shaped guide surface used to form a rolling engagement with the winding drum 401. The end face of the central guide body 204 has several weight-reducing through holes, and both ends have protruding cylindrical mounting portions. Each mounting portion has a mounting hole at its center for connecting the double-sided linkage mechanism 3. The cylindrical mounting portion passes through the upper linkage bracket 301 and is fixed at its end by an anti-detachment end cap 205. The overall shape is approximately a biomimetic femur contour curved surface guide body with a flange at one end.

[0041] The upper support 201 has a stepped boss structure and is symmetrically installed on the top surface of the central guide body 204. It is used to connect the two-rod four-cable tension support unit 1. Specifically, the upper support 201 is directly connected to the straight support side plate 103.

[0042] The octahedral take-up grooves 202 are located on both sides of the top end face of the central guide body 204, and are symmetrically distributed at both ends. There are a total of four octahedral take-up grooves 202. Screw holes are provided around the groove openings to fix the grooved cylindrical take-up blocks 203 in multiple angle directions, so as to realize the tensioning and storage of the rope.

[0043] The grooved cylindrical take-up block 203 is cylindrical with a spiral groove on its side for winding the rope; one end has a protruding screw hole, which can be used to fix the rope after it is tightened by engaging with the screw hole around the groove of the octahedral take-up groove 202.

[0044] See Figures 1 to 3 and Figure 5 The dual-side linkage mechanism 3 includes an upper linkage bracket 301, a lower linkage bracket 302, and a linkage spring 303. The upper linkage bracket 301 has an ear-like structure, with a rounded transition at its upper end and a through hole for connection to the protruding cylindrical mounting part of the central guide body 204; its lower end has an internally recessed groove structure. The lower linkage bracket 302 is a strip-shaped connector, its main body extending longitudinally, with several protruding strip structures on its outer side; its lower end has a hole connection part for the long rotating shaft 402 of the drum wheel of the drum wheel curved surface fitting mechanism 4 to pass through. The linkage spring 303 is a metal spring with lugs at both ends, its two ends connecting to the sides of the upper linkage bracket 301 and the lower linkage bracket 302 respectively, and symmetrically arranged on both sides of the upper and lower linkage brackets.

[0045] Because the central guide body 204 has an irregular, femoral-like contour shape, the distance between the center of the winding drum 401 and the protruding cylindrical mounting part of the central guide body 204 changes constantly when the winding drum 401 of the drum wheel curved surface mating mechanism 4 moves along the curved surface of the guide body. If a rigid component with a fixed length is used, it is difficult to achieve good motion coordination. To address this problem, the upper linkage bracket 301 and the lower linkage bracket 302 adopt a telescopic connection method with a concave-convex embedding. Under the action of the linkage spring 303, the two can move relative to each other along the connection direction, thereby achieving adaptive elongation or shortening of the overall length of the linkage structure.

[0046] See Figures 1 to 3 and Figures 6 to 8The drum wheel curved surface mating mechanism 4 includes a winding drum wheel 401, a long rotating shaft 402, and a spacer sleeve 403. The winding drum wheel 401 has a centrally symmetrical gourd-shaped structure with a through hole at its center of rotation. Two sets of spiral grooves are symmetrically arranged on the drum wheel, and two ropes are wound in the corresponding grooves. The two ends of the ropes are tightened and fixed by the octahedral take-up groove 202 and the grooved cylindrical take-up block 203 of the femoral contour motion component 2. Through the symmetrical arrangement of the two ropes, the torsional force on the winding drum wheel 401 during movement is balanced, thereby realizing a smooth rolling mating movement of the winding drum wheel 401 along the curved surface of the central guide body 204 of the femoral contour motion component 2.

[0047] The spacer sleeve 403 is a sleeve structure with a predetermined thickness, used to separate the winding drum 401 from the double-sided linkage mechanism 3, so as to reduce unnecessary friction between the two during movement. The long rotating shaft 402 of the drum is a long straight round rod, which passes sequentially through the arc-shaped support side plate 101 of the two-rod four-cable tensioning support unit on one side, the spacer sleeve 403, the lower linkage bracket 302 of the double-sided linkage mechanism on the same side, the winding drum 401, the lower linkage bracket 302 of the double-sided linkage mechanism on the other side, the spacer sleeve 403 on the other side, and the arc-shaped support side plate 101 of the two-rod four-cable tensioning support unit on the other side, so as to realize the series support and positioning of the above components.

[0048] See Figure 1 and Figure 9 The drum wheel curved surface engagement mechanism 4, under the action of rope retraction and release, performs rolling engagement movement along the curved surface of the simulated femoral contour motion component 2, realizing the rolling engagement movement process between the femur and tibia during human knee joint movement. During the movement, the bilateral linkage mechanism 3 realizes the synchronous linkage between the movement of the drum wheel curved surface engagement mechanism 4 and the configuration change of the two-bar four-cable tension support unit 1 on both sides. During the configuration change of the two-bar four-cable tension support unit 1 on both sides, the angle between the arc-shaped support side plate 101 and the straight support side plate 103 changes, simulating the angle change between the tibia and femur caused by human knee joint movement.

[0049] This invention, by setting a central guide body 204 that mimics the curved surface contour of the human femur and cooperating with the rolling drum 401 to roll along its curved surface, can accurately simulate the motion trajectory and mechanical characteristics during the flexion and extension of the knee joint, significantly improving the biomimeticity and motion coordination of the mechanism. At the same time, two rods and four cables tension support units 1 are symmetrically arranged on both sides of the femur contour motion component 2, and the oblique tension spring 102 and the hinge pin 104 of the support side plate slide together, so that the mechanism has both stable support capacity and flexible configuration change capacity during the movement, enhancing the rigidity and adaptability of the overall structure.

[0050] Furthermore, the movement of the drum wheel curved surface fitting mechanism 4 and the configuration change of the two-rod four-cable tensioning support unit 1 on both sides are synchronously linked through the double-sided linkage mechanism 3, ensuring the consistency of movement on both sides and avoiding the problems of off-center loading and interference caused by asynchronous movement. In addition, a concave-convex embedded telescopic fitting structure is adopted between the upper linkage bracket 301 and the lower linkage bracket 302. Under the action of the linkage spring 303, the overall length of the double-sided linkage mechanism 3 is adaptively adjusted, effectively solving the problem that rigid components cannot adapt to dynamic distance changes, and improving the fitting accuracy and operational reliability of the mechanism. Finally, the functional units are rationally laid out, the tensioning, guiding, linkage and driving components are highly integrated, and the overall structure is compact, which is conducive to the engineering application in space-constrained bionic mechanical systems such as bionic robots, exoskeletons, and prosthetic joints.

[0051] The above description is merely a specific embodiment of the present invention, used to illustrate the technical solution of the present invention, and is not intended to limit the scope of protection of the present invention. Any non-creative modifications, adaptive adjustments, and reasonable variations made by those skilled in the art based on the principles of the present invention are within the scope of protection of the present invention.

Claims

1. A biomimetic joint mechanism based on the knee joint movement mechanism, characterized in that, include: The system comprises four parts: a two-bar four-cable tensioning support unit (1), a femoral contour motion assembly (2), a bilateral linkage mechanism (3), and a drum wheel curved surface engagement mechanism (4). The two-bar four-cable tensioning support unit (1) consists of two sets, the femoral contour motion assembly (2) consists of one set, and the two-bar four-cable tensioning support unit (1) is symmetrically arranged on both sides of the femoral contour motion assembly (2). The drum wheel curved surface engagement mechanism (4) consists of one set, which, under the action of rope retraction and release, performs rolling motion along the curved surface of the femoral contour motion assembly (2). The bilateral linkage mechanism (3) consists of two sets, respectively placed between the drum wheel curved surface engagement mechanism (4) and the two-bar four-cable tensioning support units (1) on both sides. To achieve synchronous linkage; each set of two-rod four-cable tensioning support units (1) includes an arc-shaped support side plate (101), a straight support side plate (103), an oblique tension spring (102), and a support side plate hinge pin (104); in each set of two-rod four-cable tensioning support units (1), there is one set of arc-shaped support side plate (101), one set of straight support side plate (103), and one set of support side plate hinge pin (104), and four sets of oblique tension springs (102); the arc-shaped support side plate (101) and the straight support side plate (103) are arranged crosswise, and their ends are connected by four oblique tension springs (102) to form a two-rod four-cable tensioning structure; a straight groove is provided in the upper middle part of the arc-shaped support side plate (101). The straight support side plate (103) is fixedly provided with a support side plate hinge pin (104) at a position off-center. The support side plate hinge pin (104) is slidably engaged in the straight slot hole of the arc-shaped support side plate (101) to realize the relative movement between the two support side plates; the femoral contour motion component (2) includes an upper support seat (201) and a central guide body (204). The upper support seat (201) has a stepped boss structure and is symmetrically installed on the top surface of the central guide body (204) for connecting the two-rod four-cable tension support unit (1); each set of the double-sided linkage mechanism (3) includes an upper linkage bracket (301), a lower linkage bracket (302) and a linkage spring (303). 3); The upper linkage bracket (301) and the lower linkage bracket (302) are connected by a telescopic fit with a concave-convex embedding method. Under the action of the linkage tension spring (303), the two can move relative to each other along the connection direction; The drum wheel curved surface fitting mechanism (4) includes a winding drum wheel (401), a drum wheel long rotating shaft (402) and a spacer sleeve (403); The drum wheel long rotating shaft (402) is a long straight round rod, which passes through the arc-shaped support side plate (101), the spacer sleeve (403), the lower linkage bracket (302) on the same side, the winding drum wheel (401), the lower linkage bracket (302) on the other side, the spacer sleeve (403) on the other side and the arc-shaped support side plate (101) on the other side in sequence.

2. The bionic joint mechanism based on the knee joint movement mechanism according to claim 1, characterized in that, The femoral contour motion assembly (2) further includes an octahedral take-up groove (202), a grooved cylindrical take-up block (203), and an anti-dislodgement end cap (205); in the femoral contour motion assembly (2), there is one set of the central guide body (204), two sets each of the upper support seat (201) and the anti-dislodgement end cap (205), and four sets each of the octahedral take-up groove (202) and the grooved cylindrical take-up block (203); the central guide body (204) is generally shaped like a femoral contour, and its outer surface is a continuous smooth arc-shaped guide surface, which forms a rolling motion cooperation with the drum wheel curved surface cooperation mechanism (4); the end face of the central guide body (204) is provided with There are several weight-reducing through holes, and cylindrical mounting parts with protrusions at both ends are provided. The mounting parts have mounting holes in the center. The anti-detachment end cap (205) is set on the outside of the mounting parts at both ends of the central guide body (204) and is used to limit and prevent the double-sided linkage mechanism (3) from detaching. The octahedral take-up groove (202) is set on both sides of the top of the two end faces of the central guide body (204) and is symmetrically arranged along both end faces, with a total of four grooves. Ten symmetrical array screw holes are opened around the groove opening to fix the grooved cylindrical take-up block (203) at five positions to achieve the fixation after the rope is tightened. The grooved cylindrical take-up block (203) is cylindrical and has a spiral groove on its side.

3. The bionic joint mechanism based on the knee joint movement mechanism according to claim 1, characterized in that, In each set of the double-sided linkage mechanism (3), there is one set of upper linkage bracket (301) and one set of lower linkage bracket (302), and two sets of linkage springs (303); the upper linkage bracket (301) is generally in the shape of an ear plate, with a through hole at its upper end and a concave strip groove structure inside its lower end; the lower linkage bracket (302) is generally in the shape of a strip connector, with a connecting hole at its lower end for the drum wheel curved surface fitting mechanism (4) to fit; the two ends of the linkage spring (303) are respectively connected to the side of the upper linkage bracket (301) and the side of the lower linkage bracket (302), and are symmetrically arranged on both sides of the upper and lower linkage brackets.

4. The bionic joint mechanism based on the knee joint movement mechanism according to claim 1, characterized in that, In the drum wheel curved surface mating mechanism (4), there is one set of the winding drum wheel (401) and the long rotating shaft (402) of the drum wheel, and two sets of the spacer sleeve (403); the winding drum wheel (401) is a centrally symmetrical gourd-shaped structure, and a through hole is opened at its rotation center; two sets of spiral grooves are symmetrically arranged on the winding drum wheel (401), and the spacer sleeve (403) is a sleeve structure.

5. A bionic joint mechanism based on the knee joint movement mechanism according to claim 4, characterized in that, Two ropes are symmetrically arranged in the spiral groove of the winding drum (401) to balance the torsional force on the winding drum (401) during its movement along the curved surface of the femoral contour motion component (2), so as to achieve a smooth rolling motion of the winding drum (401) along the curved surface of the femoral contour motion component (2).

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