35 results about "Knee joint structure" patented technology

The invention relates to an individualized design and manufacturing system and an individualized design and manufacturing method for a full knee joint replacing prosthesis. Through three work stations set in different places, doctors, design personnel and engineering personnel are connected, in addition, the image processing technology, the virtual operation planning, the information communication, the individualized interaction design, the product performance fast analysis and the 3D (three-dimensional) printing manufacturing technology are merged, through the system, the doctors can know the design and manufacturing conditions of the knee joint prosthesis at any time, the design personnel can design the personnel applicable prosthesis according to the knee joint form of a patient and can modify the prosthesis design at any time according to the scheme of the doctors, finally, the engineering personnel use the 3D printing technology for manufacturing the designed prosthesis, and the individualized knee joint prosthesis best matched with the knee joint of the patient is produced, so the optimum matching between the prosthesis and the knee joint is ensured on the basis of minimum bone cutting quantity, and the effect optimization is realized. The system and the method have the advantages that the trouble that the existing prosthesis product cannot be better matched with the knee joint structure can be avoided, in addition, the individualized and customized replacing operation scheme for the patient becomes possible, and great significance is realized in the medical field.

The invention discloses an active knee joint structure with a function of load-bearing and self-locking. The active knee joint structure with the function of the load-bearing and the self-locking comprises a connecting rod bandage fixed with a thigh and a crus, a knee joint connecting mechanism, a limit mechanism, a crus connecting mechanism, a motor, a harmonic reducer, a self-locking elastic sheet, an oil pressure buffer and a self-recovery torsional spring. The active knee joint structure with the function of the load-bearing and the self-locking can not only guarantee the balance of a wearer in a standing stage through a locking mechanism, but also have the function of assisting power on the wearer in a swinging stage, improves the service efficiency of energy, and strengthens adaptability of the wearer to different landforms.

The invention relates to a knee joint structure used for a lower limb exoskeleton robot. A shank assembly is connected with a thigh assembly through a four-bar linkage knee joint, and a gas spring is further mounted between the shank assembly and the thigh assembly. One end of the gas spring is connected to the thigh assembly, and the other end of the gas spring is in sliding connection with a gas spring sliding groove mechanism fixed to the shank assembly. By utilizing the gas spring to provide assistance, conversion from standing to sitting and conversion from sitting to standing are realized. When a user normally walks, the slip of the gas spring, caused by the bending of the knee joint, cannot reach the bottom of the gas spring sliding groove mechanism, so that the gas spring is not compressed or stressed, and normal walking is not affected. When the user wants to convert from standing to sitting or convert from sitting to standing, the slip of the gas spring, caused by the bending of the knee joint, can reach the bottom of the gas spring sliding groove mechanism, the gas spring is compressed and stressed, and energy is stored, so that assistance is provided for converting from standing to sitting and converting from sitting to standing.

The invention discloses a smart quadruped robot with a flexible waist. The smart quadruped robot with the flexible waist comprises a front body, a rear body, a waist mechanism, crotch mechanisms and leg mechanisms. The front body and the rear body are connected through a split Hooke joint, so that relative deflection and pitching of the front body and the rear body are realized. The front body and the rear body are respectively provided with two crotch mechanisms, wherein output shafts of the crotch mechanisms are made to face the outer side of the bodies so that the leg mechanisms can be installed; the output shafts are meshed with bevel gears between transmission shafts for transmission, so that the output shafts are driven through rotation. A fixed shaft is fixed to each crotch mechanism, and the fixed shafts are driven to rotate to rotate a gearbox; in this way, the leg mechanisms can swing front and back as well as up and down. Each leg mechanism comprises a thigh part and a calf part, wherein each thigh part and each calf part are connected through a knee joint; transmission of the knee joints is realized through two bevel gears, so that the calf part made to swing front and back relative to the thigh part. The smart quadruped robot with the flexible waist has the advantages that the capability of passing through a mountain environment of the robot can be improved, the turning radius in the advancing process is reduced, rotational inertia of legs of the robot is reduced, and the energy utilization rate is increased.

The invention provides a bionic knee joint which is connected between an artificial thigh and an artificial crus. The bionic knee joint comprises a thighbone connecting part which is connected with the artificial thigh, and a tibia connecting part which is connected with the artificial crus; a femoral condyle positioning block, a pair of femoral condyle and tibia platform bracket mounting seats, two tibia platform brackets, a tibial condylar fixing platform, a damper mounting seat, a cylinder damper, a pair of tibial condylar and joint movement guide blocks, a guide rod and a pair of ligament models are arranged between the thighbone connecting part and the tibia connecting part. According to the bionic knee joint, the knee joint structure is simplified, a guide mechanism is constructed by analyzing the kinematics characteristics of the knee joint, and therefore, the functions of the knee joint are achieved, and the bionic knee joint has the advantages of being pliable, flexible, stable and light.

The invention provides a flexible anti-impact bionic pulled and pressed body knee joint, belonging to the technical field of robots. The flexible anti-impact bionic pulled and pressed body knee jointcomprises pressed bodies (the bionic femur and the bionic tibia) and pulled bodies (the bionic flexible ligaments), wherein the pulled bodies are connected with the pressed bodies, so that a bionic knee joint structure is formed; the prestrain and the material attribute of the pulled bodies are adjustable, so that various speeds and loading states of a bipedal robot can be adapted. The appearancessimulating the human skeleton curve of the bionic femur condyle and the bionic tibia condyle enable the knee joint to be capable of generating the rotation with three degrees of freedom, in the faceof the high speed or large load, the rotation in the frontal plane and the cross section can effectively alleviate the impact of the external force or the moment of force. The pulled bodies and the pressed bodies are connected to form a space three-dimensional topological structure, when disturbance of the external load is applied, the force is transmitted to the other pressed bodies and pulled bodies through the topological structure, finally, a passive self-stabilizing structure without the need of energy input is formed, the multi-dimension mechanical impedance can be resisted, the controlis simplified, and the energy consumption is reduced.

The invention relates to the wheelchair field and discloses an active-passive hybrid driving type intelligent artificial limb knee joint structure for providing required damp and assistance to a user.The active-passive hybrid driving type intelligent artificial limb knee joint structure comprises an artificial limb body, a controller, a bidirectional damping cylinder, a damping adjusting seat, afirst one-way valve, a second one-way valve, a damping adjusting valve, a direct-current servo motor, a four-bar mechanism and a driving mechanism, wherein the controller is mounted in the artificiallimb body; the bidirectional damping cylinder comprises a first chamber and a second chamber which are isolated from each other through a pushing rod; the damping adjusting seat comprises an extensionhydraulic channel and a buckling hydraulic channel which communicate with the first chamber and the second chamber, respectively; the first one-way valve is mounted in the extension hydraulic channel, and the second one-way valve is mounted in the buckling hydraulic channel; the damping adjusting valve is used for changing the flow direction of hydraulic oil; the direct-current servo motor is used for driving the damping adjusting valve to rotate; the four-bar mechanism is located at the top end of the artificial limb body and is used for realizing squatting and stand-up of the user; and thedriving mechanism is mounted on the artificial limb body and is electrically connected with the controller.

A rotating pneumatic knee joint structure is disclosed. The structure comprises a twisting connector module and a pneumatic module. The twisting connector module includes a rotating seat, an adjustable upper seat, adjustable screws, two rotating block modules, bearings, side-arch plate and axle, and screws and a plurality are used to lock all the components of the structure. A socket seat mounted at the thigh and a stop block within the rotating seat cause the lower limb connected to the pneumatic module to swing in a circular direction. Though the adjustable screw, and the spring support to hold the rotating block, the sole of the legs can be swing in a left or right direction so as to hold the weight of the user.

A rotating pneumatic knee joint structure is disclosed. The structure comprises a twisting connector module and a pneumatic module. The twisting connector module includes a rotating seat, an adjustable upper seat, adjustable screws, two rotating block modules, bearings, side-arch plate and axle, and screws and a plurality are used to lock all the components of the structure. A socket seat mounted at the thigh and a stop block within the rotating seat cause the lower limb connected to the pneumatic module to swing in a circular direction. Though the adjustable screw, and the spring support to hold the rotating block, the sole of the legs can be swing in a left or right direction so as to hold the weight of the user.

The invention discloses an exoskeleton power knee joint structure. The exoskeleton power knee joint structure is characterized in that bending and extension motion of a knee joint is achieved througha crank sliding block mechanism principle; a screw rod rotates to drive an elastic sliding block assembly to slide along the screw rod; a sliding block and a knee joint rotating body are in series elastic drive flexible transmission; when being acted by external force, an output end can react in a highly dynamic form, a mechanism is protected, impact of uncertain environments to the mechanism is reduced, and force output of bending and extension motion to human bodies can be accurately controlled; bending and extension motion of the knee joint is achieved through a crank sliding block mechanism, linear springs are adopted in a transmission chain, and the mechanism can perform flexible outward drive; and an elastic body is introduced, and when the mechanism performs bending and extension motion, the springs are compressed and released, so that overload energy can be stored in the springs and is released when the springs return to the initial state, peak power of power drive can be reduced, force output is more smooth, and power assisting efficiency is greatly improved.

The invention relates to a medical auxiliary instrument for adjusting human lower limb force lines, which comprises connecting structures worn on thighs and shanks, the two connecting structures are connected through a knee joint-imitating structure, and an angle adjusting structure is also arranged between the two connecting structures; the angle adjusting structure comprises an obliquely-arranged fixing rod, one end of the fixed rod is connected with one of the connecting structures; the other end of the fixing rod is connected with a fixing block, a guide groove is formed in the fixing block, a pull rod penetrates through the guide groove, a limiting structure I is arranged on the fixing block, one end of the pull rod penetrates out of the guide groove and then is hinged to a connectingrod, and the end, deviating from the pull rod, of the connecting rod is connected with a sleeve which fixedly sleeves the rotating shaft through a bearing. According to the product, by means of the mode that the pressure of the inner side chamber of the knee is reduced, the related muscles of the knee joint part can be trained, and the function of the knee joint is enhanced.

The invention provides a variable-moment flexible knee joint structure for a wearable exoskeleton. The variable-moment flexible knee joint structure comprises at least two hinge structures which are connected in sequence; the hinge structure includes: a connecting sheet assembly, a steel rope pulley and a limiting sheet, wherein the connecting piece assembly comprises a left piece and a right piece, wherein the left piece and the right piece are oppositely arranged, and the bone piece is located between the left piece and the right piece. The bone piece is a rectangular piece; the upper edge of one end forms an upper contact surface; the lower edge forms a lower contact surface, the upper edges of one ends of the left piece and the right piece are arc-shaped faces protruding upwards, the lower edges of one ends of the left piece and the right piece are concave faces which are concave upwards and similar to the arc-shaped faces in shape, the steel rope pulley is connected to the other ends of the left piece and the right piece in a pivoted mode through the limiting piece, and the portions, protruding upwards, of the left piece and the right piece are connected through a positioningpin. The invention provides a variable-moment flexible knee joint structure, which enables the torque of a knee joint to be stable during rotation and reduces the energy loss. The length change of theBowden cable is in linear relation with the angle, and the knee joint angle can be judged according to the length change of the Bowden cable.

The invention discloses a variable instantaneous center bionic lower limb exoskeleton robot based on compliant driving. Drivers in a hip joint structure and a knee joint structure are tandem elastic drivers, each tandem elastic driver comprises a rack, the rack comprises a motor mounting frame and a shell, and the motor mounting frame is fixedly connected with the shell. A frameless direct-current servo motor is arranged in the motor mounting frame, a transmission shaft is arranged in the frameless direct-current servo motor, the output end of the transmission shaft is connected with a harmonic reducer, the harmonic reducer is arranged in the shell, the output end of the harmonic reducer is fixedly connected with an output connecting disc, and an elastic element is arranged on the output connecting disc. The elastic element is used for being connected with a lower-stage mechanism and outputting gentle torque. According to the variable instantaneous center bionic lower limb exoskeleton robot, a flexible direct drive mode is adopted for driving, and in order to improve the man-machine interaction, systematic improvement is carried out on a part of structures with small stress and a mechanism of a man-machine combination part of the lower limb exoskeleton robot.

The invention relates to a shock resistance knee joint structure, which comprises an upper-segment coupling component, a middle-segment coupling component, an axle center shoe block, an upper-segment axle center, a middle-segment axle center, a lower-segment axle center, a lower-segment axle center punch-hole, a lower punch-hole, a pneumatic cylinder subassembly, a pneumatic pull rod, an anti-vibration pad, an anti-vibration block, an oblique punch-hole, a piston and a clearance, wherein, a connector is arranged at the top of the upper-segment coupling component, and an artificial limb huckle can be arranged on the connector; an upper-segment coupling component punch-hole is formed at the lower part of the middle-segment coupling component; the lower-segment axle center punch-hole is formed on a lower-segment pneumatic cylinder housing, and the lower punch-hole is formed on the middle-segment coupling component; the pneumatic cylinder subassembly is arranged inside the lower-segment pneumatic cylinder housing; the upper end of the pneumatic pull rod is connected with the axle center shoe block, and the lower end thereof is connected with the pneumatic cylinder subassembly; the anti-vibration pad is arranged between the upper-segment coupling component and the axle center shoe block; the anti-vibration block is arranged on the middle-segment coupling component; the lower-segment axle center punch-hole and the oblique punch-hole are formed on the lower-segment pneumatic cylinder housing; the piston is arranged at the upper end of the oblique punch-hole, an elastic component is arranged inside the piston, and a plusminus screw is arranged at the lower end of the piston; and the clearance is arranged on the axle center shoe block. When the shock resistance knee joint structure is used under a walking state, the counterforce caused by impact when contacting with the ground is retarded at the moment that a sole contacts with the ground.

The invention relates to a knee joint structure used for a lower limb exoskeleton robot. A shank assembly is connected with a thigh assembly through a four-bar linkage knee joint, and a gas spring is further mounted between the shank assembly and the thigh assembly. One end of the gas spring is connected to the thigh assembly, and the other end of the gas spring is in sliding connection with a gas spring sliding groove mechanism fixed to the shank assembly. By utilizing the gas spring to provide assistance, conversion from standing to sitting and conversion from sitting to standing are realized. When a user normally walks, the slip of the gas spring, caused by the bending of the knee joint, cannot reach the bottom of the gas spring sliding groove mechanism, so that the gas spring is not compressed or stressed, and normal walking is not affected. When the user wants to convert from standing to sitting or convert from sitting to standing, the slip of the gas spring, caused by the bending of the knee joint, can reach the bottom of the gas spring sliding groove mechanism, the gas spring is compressed and stressed, and energy is stored, so that assistance is provided for converting from standing to sitting and converting from sitting to standing.

The invention discloses an accurately moving and anti-impact robot leg device. The accurately moving and anti-impact robot leg device comprises a knee joint structure, a shank structure and an ankle joint structure; the knee joint structure comprises a first motor, a first buffering transmission mechanism and a first joint mechanism; a first motor bracket is connected to the lower end of the firstmotor; the first buffering transmission mechanism comprises a first hollow worm and a first buffering spring component; the first joint mechanism comprises a first joint seat and a first worm wheel;the first worm wheel is connected to the interior of the first joint seat through a shaft pin; first connecting supports are arranged on the left and right sides of the first hollow worm; the upper ends of the first connecting supports are fixedly connected with the first motor bracket; the lower ends of the first connecting supports are rotationally connected to the first joint seat through firstsupporting shafts; the shank structure comprises a second motor, a third motor and two leg side plates; and the ankle joint structure is arranged at the lower end of the shank structure. According tothe accurately moving and anti-impact robot leg device, as the novel knee joint structure and the novel ankle joint structure are arranged, the transmission structure is simple and novel, the buffering effect is good, and the creativity is high.

A prosthetic knee joint structure is provided herein. The knee join mainly contains an upper member for connecting to a prosthetic thigh, a lower member for connecting to prosthetic shin and foot, a linking device for connecting the upper and lower members, a cushion element, and a resilient device. During walking, the resilient device prevents the shin from dangling and the knee joint from sudden bending and kneeling-down. The cushion element absorbs the shock when the prosthetic leg is walking on a flat ground or slope.

The invention relates to a medical auxiliary device for adjusting the line of force of the lower limbs of a human body, which includes a connection structure for wearing on the thigh and a connection structure for wearing on the calf. An angle adjustment structure is also provided; the angle adjustment structure includes a fixed rod arranged obliquely, one end of the fixed rod is connected to one of the connecting structures, the other end of the fixed rod is connected to a fixed block, and a guide groove is provided on the fixed block, and the guide groove is inserted into the A pull rod is set, and a limit structure I is arranged on the fixed block. After one end of the pull rod passes through the guide groove, a connecting rod is hinged. A guiding structure is provided, and the rotating shaft is connected to the guiding structure and can move on the connecting structure through the guiding structure. This device reduces the pressure of the inner chamber of the knee, can exercise the relevant muscles of the knee joint, and enhance the function of the knee joint.

The invention provides a knee joint structure capable of preventing falling. The knee joint structure comprises a knee bearing seat, a main body seat and a connecting portion which are connected with one another; the knee bearing seat comprises a connecting part and two connecting rods and is connected to the position on the main body seat; connecting portion grooves are formed in the positions, corresponding to extension sections of two binding clamps, of one side of the connecting portion and used for containing abutting blocks, and the connecting portion is arranged under the main body seat in a penetrating mode through two fixing bolts to be connected to the position under the main body seat; a shaft core is arranged in the main body seat, two bearings, two one-way bearings, two lining covers and the binding clamps are sequentially arranged from the center of the shaft core to the two ends of the shaft core, the binding clamps are provided with the extension sections for being matched with the abutting blocks to clamp and loosen the shaft core, the shaft core is limited to rotate in one way through the one-way bearings, and then the pivot rotating angel of the shaft core is limited by the connecting part and the connecting rods. According to the knee joint structure capable of preventing falling, falling can be prevented in the walking action, and the purposes of preventing falling and simultaneously improving the overall safety are achieved.

The invention discloses an active knee joint structure with a function of load-bearing and self-locking. The active knee joint structure with the function of the load-bearing and the self-locking comprises a connecting rod bandage fixed with a thigh and a crus, a knee joint connecting mechanism, a limit mechanism, a crus connecting mechanism, a motor, a harmonic reducer, a self-locking elastic sheet, an oil pressure buffer and a self-recovery torsional spring. The active knee joint structure with the function of the load-bearing and the self-locking can not only guarantee the balance of a wearer in a standing stage through a locking mechanism, but also have the function of assisting power on the wearer in a swinging stage, improves the service efficiency of energy, and strengthens adaptability of the wearer to different landforms.

The invention relates to a shock resistance knee joint structure, which comprises an upper-segment coupling component, a middle-segment coupling component, an axle center shoe block, an upper-segment axle center, a middle-segment axle center, a lower-segment axle center, a lower-segment axle center punch-hole, a lower punch-hole, a pneumatic cylinder subassembly, a pneumatic pull rod, an anti-vibration pad, an anti-vibration block, an oblique punch-hole, a piston and a clearance, wherein, a connector is arranged at the top of the upper-segment coupling component, and an artificial limb hucklecan be arranged on the connector; an upper-segment coupling component punch-hole is formed at the lower part of the middle-segment coupling component; the lower-segment axle center punch-hole is formed on a lower-segment pneumatic cylinder housing, and the lower punch-hole is formed on the middle-segment coupling component; the pneumatic cylinder subassembly is arranged inside the lower-segment pneumatic cylinder housing; the upper end of the pneumatic pull rod is connected with the axle center shoe block, and the lower end thereof is connected with the pneumatic cylinder subassembly; the anti-vibration pad is arranged between the upper-segment coupling component and the axle center shoe block; the anti-vibration block is arranged on the middle-segment coupling component; the lower-segment axle center punch-hole and the oblique punch-hole are formed on the lower-segment pneumatic cylinder housing; the piston is arranged at the upper end of the oblique punch-hole, an elastic component is arranged inside the piston, and a plusminus screw is arranged at the lower end of the piston; and the clearance is arranged on the axle center shoe block. When the shock resistance knee joint structure is used under a walking state, the counterforce caused by impact when contacting with the ground is retarded at the moment that a sole contacts with the ground.

The invention discloses a novel human exoskeleton active knee joint structure, comprising a thigh connecting mechanism, an intermediate driving mechanism, a crus connecting mechanism and a limiting straight rod, wherein the intermediate driving mechanism is located between the thigh connecting mechanism and the crus connecting mechanism, the thigh connection mechanism is connected with the crus connecting mechanism through the intermediate driving mechanism, and the limit straight rod is connected with the intermediate driving mechanism through a sliding pair. According to the novel human exoskeleton active knee joint structure, a knee joint bending action is realized through a link structure, the knee joint bending action of a human body can be better simulated, and a movement curve of acrus connector can better fit a crus movement space curve of the human body, the knee joint structure directly connects the thigh and the crus, and active driving is involved; and compared with a traditional manner of longitudinally arranging an active driver, an active driver in the novel human exoskeleton active knee joint structure saves space and widens a knee joint rotation threshold by transversal arrangement, is convenient to assemble and disassemble, and is easy to modularize.

The invention relates to a knee joint structure. The knee joint structure comprises a knee joint head, a knee joint body and at least one arc part, the knee joint head is provided with a reset devicecomposed of a piston, an elastic body and an adjusting cover and a transmission shaft, the transmission shaft is provided with a push rod shaft, the push rod shaft is pivoted with a push rod capable of pushing the piston, and the knee joint body is pivoted with the knee joint head through a connecting rod. When the knee joint is bent, the push rod can push the elastic body to store elastic force,and returns to the original shape through the elastic force of the elastic body when the knee joint reversely pivots. The reset device and the push rod are arranged on the knee joint head. The critical angle of knee joint bending can be larger than the bending angle during walking; normal walking gait can be completed in each step, the defect that in the prior art, the knee joint exceeds a critical angle after being bent, and consequently the knee joint which should be straightened originally continues to be bent unexpectedly and is prone to falling down and being injured is overcome, safety can be improved, and the strength of the elastic body can be adjusted conveniently to be matched with the walking speed of a user.

The invention relates to a multi-knee-bending-angle knee joint finite element model and a preparation method thereof, and belongs to the field of joint anatomy. The model reversely reconstructs the main structure of the knee joint according to MRI data of healthy adults. The model collects and reconstructs a healthy knee joint three-dimensional model when actively bending the knee at 0 degree, 15 degrees, 30 degrees, 45 degrees, 60 degrees, 75 degrees, 90 degrees, 105 degrees and 120 degrees. The model comprises sixteen parts including a femur, a tibia, a fibula, a patella, a femur cartilage, a tibial plateau medial cartilage, a tibial plateau lateral cartilage, a patella cartilage, a medial meniscus, a lateral meniscus, an anterior cruciate ligament, a posterior cruciate ligament, a medial collateral ligament, a lateral collateral ligament, a quadriceps femoris tendon and a patellar tendon. The multi-knee-bending-angle knee joint finite element model is based on a real human knee joint, is complete in structure, is suitable for anatomical learning of the knee joint, and provides a unwonted real knee joint bending and stretching prediction model for simulating the actual condition of the knee joint, researching an injury mechanism, formulating a preoperative plan, clinical teaching and the like.

The invention discloses a bionic knee joint structure based on a tensegrity structure, and a control method design. The bionic knee joint structure based on the tensegrity structure is designed by aiming at the rehabilitation problem of the knee joint of a human body and combining the rigid-flexible coupling characteristic of the tensegrity structure on the basis of the bionics principle. And an anti-noise return-to-zero neural network model is designed as a control method. In the building process of the bionic knee joint structure, the following points are considered: a, according to different functions borne by tissues such as muscles, simplifying ligaments and bones of the knee joint of a human body, the tissues with the same functions into rope and rod structures, so as to simplify the knee joint of the human body; b, analyzing kinematic characteristics of the bionic knee joint structure, and establishing a kinetic model; c, considering the limiting function when the knee joint is straightened, realizing the limiting function of the bionic knee joint structure under the action of external force through a connecting rod structure; and d, considering the human knee joint moment in the dynamic model, and reflecting the influence of knee joint movement on the bionic knee joint structure.

A knee joint structure includes a knee joint head portion, a knee-joint body portion, and at least one curved plate. The knee joint head portion includes a position-returning device made up of a piston, an elastic body, and an adjustment cap and a transmission axle. The transmission axle includes a push-bar axle, which is pivotally coupled to a push bar operable to drive and move the piston. The knee-joint body portion includes a connection rod pivotally connected to the knee joint head portion. The curved plate connects the transmission axle and the knee joint body portion.

The invention discloses an accurately moving and anti-impact robot leg device. The accurately moving and anti-impact robot leg device comprises a knee joint structure, a shank structure and an ankle joint structure; the knee joint structure comprises a first motor, a first buffering transmission mechanism and a first joint mechanism; a first motor bracket is connected to the lower end of the firstmotor; the first buffering transmission mechanism comprises a first hollow worm and a first buffering spring component; the first joint mechanism comprises a first joint seat and a first worm wheel;the first worm wheel is connected to the interior of the first joint seat through a shaft pin; first connecting supports are arranged on the left and right sides of the first hollow worm; the upper ends of the first connecting supports are fixedly connected with the first motor bracket; the lower ends of the first connecting supports are rotationally connected to the first joint seat through firstsupporting shafts; the shank structure comprises a second motor, a third motor and two leg side plates; and the ankle joint structure is arranged at the lower end of the shank structure. According tothe accurately moving and anti-impact robot leg device, as the novel knee joint structure and the novel ankle joint structure are arranged, the transmission structure is simple and novel, the buffering effect is good, and the creativity is high.

The invention provides a flexible anti-impact bionic pulled and pressed body knee joint, belonging to the technical field of robots. The flexible anti-impact bionic pulled and pressed body knee jointcomprises pressed bodies (the bionic femur and the bionic tibia) and pulled bodies (the bionic flexible ligaments), wherein the pulled bodies are connected with the pressed bodies, so that a bionic knee joint structure is formed; the prestrain and the material attribute of the pulled bodies are adjustable, so that various speeds and loading states of a bipedal robot can be adapted. The appearancessimulating the human skeleton curve of the bionic femur condyle and the bionic tibia condyle enable the knee joint to be capable of generating the rotation with three degrees of freedom, in the faceof the high speed or large load, the rotation in the frontal plane and the cross section can effectively alleviate the impact of the external force or the moment of force. The pulled bodies and the pressed bodies are connected to form a space three-dimensional topological structure, when disturbance of the external load is applied, the force is transmitted to the other pressed bodies and pulled bodies through the topological structure, finally, a passive self-stabilizing structure without the need of energy input is formed, the multi-dimension mechanical impedance can be resisted, the controlis simplified, and the energy consumption is reduced.