Prosthetic knee joint mechanism and lower limb prosthesis comprising same

Abstract

The utility model provides an artificial limb knee joint mechanism and an artificial lower limb comprising the same. The knee joint mechanism comprises an upper revolving bed and a lower revolving bed, the rear end of the top of the front rotating arm is pivotally connected to the middle position of the upper rotating seat through a first connecting shaft; the top of the rear fork frame is pivotally connected to the rear end of the bottom of the upper rotary seat through a second connecting shaft; the front end of the top of the lower fixing seat is pivotally connected to the bottom of the front rotating arm through a third connecting shaft, and the rear end of the top of the lower fixing seat is pivotally connected to the rotating frame through a fourth connecting shaft; the top end of a piston rod of the supporting hydraulic cylinder and the bottom of the rear fork frame are both pivotally connected to the rotating frame through a fifth connecting shaft, and the bottom of the supporting hydraulic cylinder is pivotally connected to the lower portion of the lower fixing base. The top end of a piston rod of the damping hydraulic cylinder is pivotally connected to the upper rotary seat, and the bottom of the damping hydraulic cylinder is pivotally connected to the lower fixed seat. According to the knee joint mechanism provided by the utility model, better stability and flexibility can be provided.

Description

Technical Field

[0001] The utility model relates to the technical field of prostheses, in particular to a prosthetic knee joint mechanism and a lower limb prosthesis comprising the same. Background Art

[0002] Prosthesis is an artificial prosthesis specially designed, manufactured and assembled by means and methods of engineering technology to compensate for the limbs of amputees or incomplete limb defects, also known as "prosthetic limbs". Its main function is to replace some of the functions of the lost limbs, so that amputees can restore a certain degree of self-care and work ability. It is suitable for amputees due to diseases, traffic accidents, industrial accidents, sports injuries and other reasons. Prostheses are divided into upper limb prostheses and lower limb prostheses according to the amputation site. Lower limb prostheses are the only means for lower limb amputees to restore walking function, and lower limb prostheses can basically compensate for the normal life functions of the missing limbs of lower limb amputees.

[0003] Among them, the knee joint is one of the core components of lower limb prostheses, and its performance plays a decisive role in the patient's gait and comfort.

[0004] In the process of implementing the present utility model, the inventors found that there are at least the following problems in the prior art:

[0005] At present, most domestic knee joint products have a simple four-bar mechanical structure and only have one hydraulic cylinder to achieve extension and flexion. The stability and flexibility of use still need to be improved to improve comfort.

[0006] Therefore, there is a need for a prosthetic knee joint mechanism and a lower limb prosthesis including the same to at least partially solve the above technical problems. Utility Model Content

[0007] The embodiment of the utility model provides a prosthetic knee joint mechanism and a lower limb prosthesis comprising the same, wherein the prosthetic knee joint mechanism can provide better stability and flexibility.

[0008] In a first aspect, the utility model provides a prosthetic knee joint mechanism, the prosthetic knee joint mechanism comprising:

[0009] Upper back swivel seat;

[0010] A front rotating arm with a U-shaped cross section, the top rear end of the front rotating arm being pivotally connected to the middle position of the upper rotating seat via a horizontal first connecting shaft;

[0011] A rear fork frame, the top of which is pivotally connected to the bottom rear end of the upper swivel seat via a horizontal second connecting shaft; wherein the second connecting shaft is located at a rear and lower position of the first connecting shaft;

[0012] A lower fixed seat, wherein the top front end of the lower fixed seat is pivotally connected to the bottom of the front rotating arm via a horizontal third connecting shaft, and the top rear end of the lower fixed seat is pivotally connected to the rotating frame via a horizontal fourth connecting shaft; wherein the fourth connecting shaft is located at a rear and lower position of the third connecting shaft;

[0013] A supporting hydraulic cylinder with a piston rod having a rebound spring built in the cylinder body and capable of automatically extending, the top end of the piston rod of the supporting hydraulic cylinder and the bottom of the rear fork frame are pivotally connected to the rotating frame via a horizontal fifth connecting shaft, and the bottom of the supporting hydraulic cylinder is pivotally connected to the lower position of the lower fixed seat; wherein the fifth connecting shaft of the knee joint mechanism in a straight state is located above the fourth connecting shaft; and

[0014] A damping hydraulic cylinder, the top end of the piston rod of the damping hydraulic cylinder is pivotally connected to the upper swivel seat at a position between the first connecting shaft and the second connecting shaft, and the bottom end of the damping hydraulic cylinder is pivotally connected to the lower fixed seat at a position between the third connecting shaft and the fourth connecting shaft.

[0015] According to the prosthetic knee joint mechanism of the utility model, compared with the existing four-bar structure, it adopts the form of an upper swivel seat, a front rotating arm, a rear fork frame and a lower fixed seat, and has better structural stability. At the same time, the mechanism also adopts a supporting hydraulic cylinder, a damping hydraulic cylinder and a rotating frame, which is more in line with the movement characteristics of the human knee joint, better simulates the natural gait characteristics of the human body, and makes the mechanism have better flexibility.

[0016] Optionally, the top of the upper swivel seat can be detachably connected to a thigh connection block; wherein the thigh connection block is used to connect to the prosthetic thigh. And / or

[0017] The bottom of the lower fixing seat is also connected to a calf connecting block for connecting the calf of the artificial limb.

[0018] According to this solution, the thigh connecting block is detachably connected to the upper swivel seat, which facilitates the disassembly, assembly and replacement of the thigh connecting block.

[0019] Optionally, the thigh connecting block is provided with bolt holes penetrating in the vertical direction, and a matching bolt hole is arranged in the upper swivel seat, and the thigh connecting block is connected to the top of the upper swivel seat via bolts locked in the bolt holes.

[0020] According to this scheme, the bolt connection method is simple and quick.

[0021] Optionally, the rear fork frame is constructed as an H-shaped plate structure, including an upper fork portion, a lower fork portion and a connecting portion located between the upper fork portion and the lower fork portion, the top ends of both sides of the upper fork portion are pivotally mounted on the second connecting shaft, and the bottom ends of both sides of the lower fork portion are pivotally mounted on the fifth connecting shaft.

[0022] Optionally, the connecting portion of the rear fork frame is further provided with an opening.

[0023] According to the present solution, the opening is provided to reduce the weight of the rear fork frame and the materials used for manufacturing the rear fork frame.

[0024] Optionally, the lower fixing seat is constructed as a shell structure with an opening at the top and at least the upper part having a storage space for placing the supporting hydraulic cylinder, and the rear part of the shell of the lower fixing seat is also an open structure connected to the outside.

[0025] Optionally, the rotating frame includes a horizontal portion and extending portions located on both sides of the horizontal portion and extending upward, the top ends of the extending portions are pivotally mounted on the fifth connecting shaft, and the bottom ends of the extending portions are pivotally mounted on the fourth connecting shaft.

[0026] Optionally, the distance between the first connecting axis and the second connecting axis is 26 mm, the distance between the first connecting axis and the third connecting axis is 88 mm, the distance between the second connecting axis and the fourth connecting axis is 76 mm, and the distance between the third connecting axis and the fourth connecting axis is 38 mm.

[0027] According to this solution, by limiting the relative positions of the first connecting axis, the second connecting axis, the third connecting axis and the fourth connecting axis, the stability and flexibility of the mechanism can be further improved.

[0028] Optionally, the bottom of the supporting hydraulic cylinder is pivotally connected to the lower position of the lower fixing seat via a horizontal sixth connecting axis, and the distance between the sixth connecting axis and the fourth connecting axis is 68.8 mm.

[0029] In a second aspect, the utility model also provides a lower limb prosthesis including a prosthetic knee joint mechanism of the above technical solution.

[0030] By utilizing the technical solution according to the embodiment of the utility model, the beneficial effects that can be obtained are at least:

[0031] 1. The prosthetic knee joint mechanism of the embodiment of the utility model adopts the form of an upper swivel seat, a front rotating arm, a rear fork frame and a lower fixed seat. At the same time, the mechanism also adopts a supporting hydraulic cylinder, a damping hydraulic cylinder and a rotating frame, which can better simulate the natural gait characteristics of the human body, so that the mechanism has better stability and flexibility;

[0032] 2. In the prosthetic knee joint mechanism of the embodiment of the utility model, the thigh connecting block is designed to be detachably connected to the upper swivel seat, which is convenient for disassembly, assembly and replacement.

[0033] Additional advantages, purposes, and features of the present invention will be partially described in the following description, and will become partially apparent to those skilled in the art after studying the following, or may be learned from the practice of the present invention. The purposes and other advantages of the present invention can be achieved and obtained by the structures specifically pointed out in the specification and the drawings.

[0034] Those skilled in the art will understand that the purposes and advantages that can be achieved by the present invention are not limited to the above specific description, and the above and other purposes that can be achieved by the present invention will be more clearly understood based on the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The drawings described herein are used to provide a further understanding of the present invention, constitute a part of the present invention, and do not constitute a limitation of the present invention. The components in the drawings are not drawn to scale, but are only for the purpose of illustrating the principles of the present invention. In order to facilitate the illustration and description of some parts of the present invention, the corresponding parts in the drawings may be enlarged, that is, they may become larger relative to other components in the exemplary device actually manufactured according to the present invention. In the drawings:

[0036] Figure 1 A schematic side view of a prosthetic knee joint mechanism according to an embodiment of the utility model;

[0037] Figure 2 is another side view of a prosthetic knee joint mechanism according to an embodiment of the utility model; and

[0038] Figure 3 FIG. 4 is a schematic top view of a prosthetic knee joint mechanism according to an embodiment of the utility model.

[0039] Description of reference numerals:

[0040] 100. Knee joint mechanism;

[0041] 110, upper turntable;

[0042] 120, front swing arm;

[0043] 130, rear fork frame; 131, upper fork portion; 132, connecting portion; 133, lower fork portion; 134, opening;

[0044] 140, lower fixing seat;

[0045] 150. Support hydraulic cylinder;

[0046] 160, rotating frame; 161, horizontal portion; 162, extension portion;

[0047] 170. Damping hydraulic cylinder;

[0048] 181. Thigh connecting block; 182. Calf connecting block; 183. Bolt;

[0049] 191, the first connecting axis; 192, the second connecting axis; 193, the third connecting axis; 194, the fourth connecting axis; 195, the fifth connecting axis; 196, the sixth connecting axis. DETAILED DESCRIPTION

[0050] By referring to the exemplary embodiments, the purposes and functions of the present invention and the methods for achieving these purposes and functions will be explained. However, the present invention is not limited to the exemplary embodiments disclosed below; it can be implemented in different forms. The essence of the description is only to help technicians in the relevant field to comprehensively understand the specific details of the present invention.

[0051] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the utility model. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0052] Ordinal numbers such as "first" and "second" cited in the present invention are merely identifiers and do not have any other meanings, such as a specific order, etc. Moreover, for example, the term "first component" itself does not imply the existence of the "second component", and the term "second component" itself does not imply the existence of the "first component".

[0053] It should be noted that the terms "upper", "lower", "front", "back", "left", "right", "inside", "outside" and similar expressions used in this document are for illustrative purposes only and are not limiting.

[0054] The utility model provides a prosthetic knee joint mechanism 100. The knee joint mechanism 100 can be applied to the field of prosthetic technology, such as lower limb prosthesis, to solve the problems of stability and flexibility of existing knee joint mechanisms.

[0055] The utility model provides a prosthetic knee joint mechanism 100. In a preferred embodiment, as Figure 1 and Figure 2As shown, the knee joint mechanism 100 includes an upper swivel seat 110, a front rotating arm 120, a rear fork frame 130, a lower fixed seat 140, a supporting hydraulic cylinder 150 and a damping hydraulic cylinder 170. The upper swivel seat 110, as a component of the knee joint mechanism 100, is used to connect the front rotating arm 120, the rear fork frame 130 and the thigh connecting block 181. The front rotating arm 120, as another component of the knee joint mechanism 100, is used to rotatably connect the upper swivel seat 110 and the lower fixed seat 140. Similarly, the rear fork frame 130 is used to rotatably connect the upper swivel seat 110 and the rotating frame 160. The lower fixed seat 140 is used to connect the rotating frame 160 and the shank connecting block 182. The two ends of the supporting hydraulic cylinder 150 are respectively used to rotatably connect the lower fixed seat 140 and the rotating frame 160. The two ends of the damping hydraulic cylinder 170 are respectively used to rotatably connect the upper swivel seat 110 and the lower fixed seat 140.

[0056] Specifically, refer to Figure 1 and Figure 2 ,in Figure 1 1 is a side view of a prosthetic knee joint mechanism 100 according to an embodiment of the present invention. Figure 2 FIG. 1 is a schematic side view of the prosthetic knee joint mechanism 100 from another angle according to an embodiment of the present invention. Figure 1 The side facing the observer is defined as the left side, and the side facing away from the observer is defined as the right side. Figure 1 Based on the orientation shown, the length (i.e., vertical direction) of the knee joint mechanism 100 may be 113 mm, the width (i.e., left-right direction) of the knee joint mechanism 100 may be 36 mm, and the thickness (i.e., front-back direction) of the knee joint mechanism 100 may be 48 mm.

[0057] In the illustrated embodiment, the upper swivel seat 110 is a three-dimensional block structure as a whole. The upper swivel seat 110 can be a solid structure, a hollow structure or a partially hollow structure. The top of the upper swivel seat 110 can be connected to the thigh connection block 181. The thigh connection block 181 is used to connect to the prosthetic thigh.

[0058] The front rotating arm 120 has a U-shaped cross section, and its concave side faces the upper rotating seat 110. The front rotating arm 120 is a U-shaped groove plate structure with a certain length as a whole, and it can have a certain bending angle. The top rear end of the front rotating arm 120 is pivotally connected to the middle position of the upper rotating seat 110 via a horizontal first connecting shaft 191, that is, the front rotating arm 120 and the upper rotating seat 110 can rotate relative to each other around the first connecting shaft 191.

[0059] The rear fork frame 130 can be a plate-like structure as a whole. In addition, the rear fork frame 130 can have a certain bending angle. The top of the rear fork frame 130 is pivotally connected to the bottom rear end of the upper swivel seat 110 via a horizontal second connecting shaft 192, that is, the rear fork frame 130 and the upper swivel seat 110 can rotate relative to each other around the second connecting shaft 192. The second connecting shaft 192 is located at a rear lower position of the first connecting shaft 191.

[0060] Further, refer to Figure 2 In order to reduce the weight of the rear fork frame 130, the rear fork frame 130 may be an H-shaped plate-like structure. The rear fork frame 130 may include an upper fork portion 131, a lower fork portion 133, and a connecting portion 132 located between the upper fork portion 131 and the lower fork portion 133. The top ends of both sides of the upper fork portion 131 are pivotally mounted on the second connecting shaft 192. The bottom ends of both sides of the lower fork portion 133 are pivotally mounted on the fifth connecting shaft 195 (to be described below). In addition, the connecting portion 132 of the rear fork frame 130 may also be provided with an opening 134 to further reduce the weight of the rear fork frame 130.

[0061] The top front end of the lower fixing seat 140 is pivotally connected to the bottom of the front rotating arm 120 via a horizontal third connecting shaft 193, that is, the lower fixing seat 140 and the front rotating arm 120 can rotate relative to each other around the third connecting shaft 193. The top rear end of the lower fixing seat 140 is pivotally connected to the rotating frame 160 via a horizontal fourth connecting shaft 194, that is, the lower fixing seat 140 and the rotating frame 160 can rotate relative to each other around the fourth connecting shaft 194. The fourth connecting shaft 194 is located at a rear lower position of the third connecting shaft 193. The bottom of the lower fixing seat 140 can be connected to a calf connecting block 182 for connecting a prosthetic calf.

[0062] The supporting hydraulic cylinder 150 is a hydraulic cylinder with a piston rod that can automatically extend and a rebound spring (not shown) built into the cylinder body. The top of the piston rod of the supporting hydraulic cylinder 150 and the bottom of the rear fork frame 130 are pivotally connected to the rotating frame 160 via a horizontal fifth connecting shaft 195. That is, the top of the piston rod of the supporting hydraulic cylinder 150, the bottom of the rear fork frame 130 and the rotating frame 160 can rotate relative to each other around the fifth connecting shaft 195. The bottom of the supporting hydraulic cylinder 150 is pivotally connected to the lower position of the lower fixed seat 140. The knee joint mechanism 100 in the straight state (for example, refer to Figure 1 The fifth connecting shaft 195 of the knee joint mechanism 100 is located above the fourth connecting shaft 194. The supporting hydraulic cylinder 150 with a piston rod that can automatically extend and has a rebound spring built into the cylinder body is a prior art device in the art, for example, see the Chinese invention patent application No.: 2016107121542, title: A hydraulic spring device for prosthetic joint motion adjustment, etc., which will not be repeated here.

[0063] Continue to refer Figure 2 In order to properly place the supporting hydraulic cylinder 150, the lower fixed seat 140 may be a shell structure with an opening at the top and at least an upper portion having a housing space for placing the supporting hydraulic cylinder 150. For example, the lower fixed seat 140 as a whole may be a shell structure with an opening at the top and a hollow interior, or the lower fixed seat 140 may be a shell structure with an opening at the top and an upper portion having a housing space for placing the supporting hydraulic cylinder 150 but a solid structure at the lower portion. In addition, the rear portion of the shell of the lower fixed seat 140 may also be an open structure connected to the outside to facilitate the movement of the rotating frame 160 and the supporting hydraulic cylinder 150.

[0064] The top end of the piston rod of the damping hydraulic cylinder 170 is pivotally connected to the upper swivel seat 110 at a position between the first connecting shaft 191 and the second connecting shaft 192. For example, the position where the top end of the piston rod of the damping hydraulic cylinder 170 is connected to the upper swivel seat 110 is located in the middle of the line between the first connecting shaft 191 and the second connecting shaft 192. The bottom of the damping hydraulic cylinder 170 is pivotally connected to the lower fixed seat 140 at a position between the third connecting shaft 193 and the fourth connecting shaft 194. Since the two ends of the damping hydraulic cylinder 170 are respectively connected to the upper swivel seat 110 and the lower fixed seat 140 in a pivoting manner, the damping hydraulic cylinder 170 is only subjected to axial force, which reduces the occurrence of oil leakage and makes the product performance more stable.

[0065] In addition, the damping hydraulic cylinder 170 can be a hydraulic cylinder that can adjust the damping size to control the swing speed of the prosthetic shank. The damping hydraulic cylinder 170 can adopt the existing technical device in the field, for example, see the Chinese invention patent application No.: 2016107121665, title: A swing speed adjustment device for a prosthetic joint, etc., which will not be repeated here.

[0066] It can be understood that the specific forms of the first to fifth connecting shafts 195 are not limited, and they can be, for example, connecting rods, connecting pins or connecting bolts.

[0067] When in use, the upper swivel seat 110 is driven by the prosthetic thigh of the human body to rotate, and the entire mechanism will bend at the connection point (third connecting shaft 193) between the front rotating arm 120 and the lower fixed seat 140 under the action of the gravity of the prosthetic calf. When the human body lifts the leg, the damping hydraulic cylinder 170 will play a boosting role, helping the user to straighten the prosthetic leg and take a step. After the user's footsteps touch the ground, the supporting hydraulic cylinder 150 plays a supporting and buffering role, so that the mechanism moves downward after being subjected to the downward force. When the external force is removed, it can automatically rebound a certain distance, so that the user's gait is close to or consistent with the normal gait of the human body, and the user will feel very comfortable.

[0068] According to the prosthetic knee joint mechanism 100 of the utility model, compared with the existing four-bar structure, the upper swivel seat 110, the front rotating arm 120, the rear fork frame 130 and the lower fixed seat 140 are adopted, and the structural stability is better. At the same time, the mechanism also adopts a supporting hydraulic cylinder 150, a damping hydraulic cylinder 170 and a rotating frame 160, which is more in line with the movement characteristics of the human knee joint, better simulates the natural gait characteristics of the human body, and makes the mechanism have better flexibility.

[0069] In a preferred embodiment, the thigh connection block 181 can be detachably connected to the top of the upper swivel seat 110 to facilitate the disassembly and replacement of the thigh connection block 181. There is no limitation on the detachable connection between the thigh connection block 181 and the upper swivel seat 110. For example, referring to Figure 2 The thigh connection block 181 is provided with bolt holes (not shown) in the vertical direction. The upper swivel seat 110 is provided with matching bolt holes. The thigh connection block 181 is connected to the top of the upper swivel seat 110 via bolts 183 locked in the bolt holes of the thigh connection block 181 and the upper swivel seat 110.

[0070] refer to Figure 2 The rotating frame 160 may include a horizontal portion 161 and extending portions 162 extending upwardly from both sides of the horizontal portion 161. The top end of the extending portion 162 is pivotally mounted on the fifth connecting shaft 195. The bottom end of the extending portion 162 is pivotally mounted on the fourth connecting shaft 194.

[0071] Continue to refer Figure 1 , the distance between the first connecting shaft 191 and the second connecting shaft 192 (i.e., AB) can be 26 mm. The distance between the first connecting shaft 191 and the third connecting shaft 193 (i.e., AC) can be 88 mm. The distance between the second connecting shaft 192 and the fourth connecting shaft 194 (i.e., BD) can be 76 mm. The distance between the third connecting shaft 193 and the fourth connecting shaft 194 (i.e., CD) can be 38 mm. In addition, the bottom of the supporting hydraulic cylinder 150 is pivotally connected to the lower position of the lower fixing seat 140 via the horizontal sixth connecting shaft 196. The distance between the sixth connecting shaft 196 and the fourth connecting shaft 194 (i.e., DE) can be 68.8 mm.

[0072] During use, the human prosthetic thigh is connected to the thigh connection block 181, and the prosthetic shank is connected to the shank connection block 182. The maximum bending angle of the knee joint mechanism 100 can reach more than 150 degrees, so the user can squat and go to the toilet conveniently.

[0073] In summary, the prosthetic knee joint mechanism 100 of the utility model adopts the form of an upper swivel seat 110, a front rotating arm 120, a rear fork frame 130 and a lower fixed seat 140, and the mechanism also adopts a supporting hydraulic cylinder 150, a damping hydraulic cylinder 170 and a rotating frame 160, which can better simulate the natural gait characteristics of the human body, so that the mechanism has better stability and flexibility. In addition, the thigh connecting block 181 is designed to be detachably connected to the upper swivel seat 110, which is convenient for disassembly and replacement.

[0074] In a second aspect, the present invention further provides a lower limb prosthesis (not shown), comprising the knee joint mechanism 100 of the above embodiment. Therefore, the lower limb prosthesis according to the present invention includes all the features and effects of the knee joint mechanism 100 according to the present invention, which will not be described in detail here.

[0075] In combination with the description and practice of the utility model disclosed herein, other embodiments of the utility model are easy to think of and understand for those skilled in the art. The description and embodiments are considered to be exemplary only, and the true scope and spirit of the utility model are defined by the claims.

Claims

1. A prosthetic knee joint mechanism, characterized in that: The knee joint mechanism comprises: Upper back swivel seat; A front rotating arm with a U-shaped cross section, the top rear end of the front rotating arm being pivotally connected to the middle position of the upper rotating seat via a horizontal first connecting shaft; A rear fork frame, the top of which is pivotally connected to the bottom rear end of the upper swivel seat via a horizontal second connecting shaft; wherein the second connecting shaft is located at a rear and lower position of the first connecting shaft; A lower fixed seat, wherein the top front end of the lower fixed seat is pivotally connected to the bottom of the front rotating arm via a horizontal third connecting shaft, and the top rear end of the lower fixed seat is pivotally connected to the rotating frame via a horizontal fourth connecting shaft; wherein the fourth connecting shaft is located at a rear and lower position of the third connecting shaft; A supporting hydraulic cylinder with a piston rod having a rebound spring built in the cylinder body and capable of automatically extending, the top end of the piston rod of the supporting hydraulic cylinder and the bottom of the rear fork frame are pivotally connected to the rotating frame via a horizontal fifth connecting shaft, and the bottom of the supporting hydraulic cylinder is pivotally connected to the lower position of the lower fixed seat; wherein the fifth connecting shaft of the knee joint mechanism in a straight state is located above the fourth connecting shaft; and A damping hydraulic cylinder, the top end of the piston rod of the damping hydraulic cylinder is pivotally connected to the upper swivel seat at a position between the first connecting shaft and the second connecting shaft, and the bottom end of the damping hydraulic cylinder is pivotally connected to the lower fixed seat at a position between the third connecting shaft and the fourth connecting shaft.

2. The knee joint mechanism according to claim 1, characterized in that: The top of the upper swivel seat can also be detachably connected to a thigh connection block; wherein the thigh connection block is used to connect to the prosthetic thigh; and / or The bottom of the lower fixing seat is also connected to a calf connecting block for connecting the calf of the artificial limb.

3. The knee joint mechanism according to claim 2, characterized in that: The thigh connection block is provided with bolt holes penetrating along the vertical direction, and the upper swivel seat is provided with matching bolt holes. The thigh connection block is connected to the top of the upper swivel seat via bolts locked in the bolt holes.

4. The knee joint mechanism according to claim 1, characterized in that: The rear fork frame is constructed as an H-shaped plate structure, including an upper fork portion, a lower fork portion and a connecting portion located between the upper fork portion and the lower fork portion, the top ends of both sides of the upper fork portion are pivotally mounted on the second connecting shaft, and the bottom ends of both sides of the lower fork portion are pivotally mounted on the fifth connecting shaft.

5. The knee joint mechanism according to claim 4, characterized in that: The connecting portion of the rear fork frame is also provided with an opening.

6. The knee joint mechanism according to claim 1, characterized in that: The lower fixing seat is constructed as a shell structure with an opening at the top and at least an upper portion having a storage space for placing the supporting hydraulic cylinder. The rear portion of the shell of the lower fixing seat is also an opening structure connected to the outside.

7. The knee joint mechanism according to any one of claims 1 to 6, characterized in that: The rotating frame includes a horizontal portion and extending portions located on both sides of the horizontal portion and extending upward, the top ends of the extending portions are pivotally mounted on the fifth connecting shaft, and the bottom ends of the extending portions are pivotally mounted on the fourth connecting shaft.

8. The knee joint mechanism according to claim 1, characterized in that: The distance between the first connecting axis and the second connecting axis is 26 mm, the distance between the first connecting axis and the third connecting axis is 88 mm, the distance between the second connecting axis and the fourth connecting axis is 76 mm, and the distance between the third connecting axis and the fourth connecting axis is 38 mm.

9. The knee joint mechanism according to claim 8, characterized in that: The bottom of the supporting hydraulic cylinder is pivotally connected to the lower position of the lower fixing seat via a horizontal sixth connecting axis, and the distance between the sixth connecting axis and the fourth connecting axis is 68.8 mm.

10. A lower limb prosthesis, characterized in that: Comprising the knee joint mechanism as claimed in any one of claims 1 to 9.

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