A bending and carrying assisting robot

Abstract

The present invention provides a bending and carrying assistance robot in accordance with the kinematic and dynamic characteristics of a healthy human body in bending and leaning, based on the principles of ergonomics. The robot can provide bending assistance for workers who are engaged in load-bearing bending operations or users with hip joint movement disorders in the process of carrying heavy objects, and can also provide hip and knee joint assistance for walking through functional adjustment. The assistance is provided by the motor pull wire to reduce the waist load and relieve the burden on the hip joint and lumbar spine. It can also be converted into a non-powered source assistance function to provide leg lifting and knee flexion assistance for users when walking with loads, thereby reducing the burden on the hip and knee joints during walking. It not only reduces the damage to human joints during long-term load-bearing operations, but also increases the load-bearing capacity and extends the working life. The robot has a simple design structure, low cost, and is easy to use. It is of great significance in both the technical field and market demand.

Description

Technical Field

[0001] The invention relates to the field of human motion assisting robots, in particular to a bending and carrying assisting robot. Background Art

[0002] The aging problem in my country is becoming increasingly serious. It is easy for the elderly to injure their spine and lumbar muscles when bending over to carry items. In addition, people who have been engaged in physical labor such as carrying and loading goods for a long time should also protect their lower limb joints and spine from excessive injuries during the handling process to prevent overload of joints and lumbar muscles, thereby reducing occupational diseases caused by weight-bearing during work. Domestic bending and carrying assistive robots are mostly seen in the field of auxiliary sports equipment, or have poor human-computer interaction experience, insufficient bionic functions, or high costs and complex structures, or complex control methods and single functions, which seriously hinder the popularization of assistive robots in load-bearing conditions or daily activities of the elderly. For example, the patent with application number 201910632695.8 discloses a lower limb exoskeleton assistive device that can achieve multiple degrees of freedom of movement, with four sets of motors providing tension, adjusting the waist position through a waist strap fixing frame, and implementing assistance through servo motor control, but the control system of the device is complex, the volume is large, and the motor mass is large, which is not conducive to flexible use by users. The invention patent with application number 201911024006.3 discloses a lower limb knee joint power-assist robot, which provides power for the thigh and calf to flex their knees through a joint power-assist device. It has a simple structure, but a single function and few working conditions. Therefore, according to the kinematic characteristics of each limb of the human body in the carrying action of a healthy human body, and based on the principles of dynamics and ergonomics, it is of great significance in both the technical field and market demand to design a simple mechanical structure, low cost, easy to use, and lightweight carrying power-assist robot. Summary of the invention

[0003] The purpose of the present invention is to provide a bending and carrying assistance robot designed based on the human body dynamics principle during the carrying process, which can provide bending assistance for users when carrying heavy objects, and can also provide hip and knee joint assistance for users when walking through functional adjustment.

[0004] In order to achieve the above object, the present invention is implemented through the following technical solutions:

[0005] The bending and carrying assisting robot is composed of a hardware and software control system, wherein the hardware includes an upper body support plate mechanism 1, a pelvic device 2, a hip joint power device 3, and a knee joint assisting device 4. The lower end of the upper body support plate mechanism 1 is fixedly connected to the corresponding position of the pelvic device 2, and the left and right hip joint power devices 3 are inserted upward into the corresponding positions of the pelvic device 2 to form a revolute pair. The hip joint power device 3 is driven by a power source in the pelvic device 2, and the lower ends of the two hip joint power devices 3 are respectively fixedly connected to the knee joint assisting devices 4 to provide assistance for the knee joint movement.

[0006] The upper body support plate mechanism 1 includes an attitude angle sensor 101, a first main support plate 102, a first restraint belt 103, a rotating shaft cover 104, a second main support plate 105, and a second restraint belt 106. The lower end circular axis of the first main support plate 102 is inserted upward into the shaft groove opened at the lower end of the second main support plate 105, and then is integrally placed in the rotating shaft cover 104 and packaged and fixed to form a rotating pair. The two attitude angle sensors 101 are respectively fixed to the corresponding positions of the upper ends of the first main support plate 102 and the second main support plate 105, the first restraint belt 103 is fixed to the corresponding position of the first main support plate 102, and the second restraint belt 106 is fixed to the corresponding position of the second main support plate 105, and the adjacent ends of the first restraint belt 103 and the second restraint belt 106 can be clamped and fixed, so that the upper body support plate mechanism 1 can be tightly worn on the user's upper body.

[0007] The pelvic device 2 includes a waist support plate 201, a first support frame 202, a hip guard plate 203, a winding motor 204, a central control module 205, a fastening screw 206, a second support frame 207, and a third restraint belt 208. The hip guard plate 203 is fixedly connected to the lower surface of the waist support plate 201. The upper ends of the first support frame 202 and the second support frame 207 are fixed to the corresponding positions on the left and right ends of the waist support plate 201 through cylindrical through holes. The lower ends of the first support frame 202 and the second support frame 207 are fixedly connected to the corresponding positions of the hip guard plate 203, forming a stable surrounding structure for the user's buttocks; the winding motor 204 is placed inside the groove on the back of the hip guard plate 203, the central control module 205 is buckled on the groove of the hip guard plate 203, and is encapsulated and fixed into an integral structure by the two fastening screws 206. The two ends of the third restraint belt 208 are respectively fixed to the two ends of the waist guard plate 201, so as to wear the pelvic device 2 tightly on the user's pelvis.

[0008] The hip joint power device 3 includes a pull wire 301, a support tube frame 302, a packaging base 303, a bearing 304, an encoder 305, a flange 306, an angular velocity sensor 307, a fixed pulley set 308, a steering wire 309, a spring baffle 310, an energy storage spring 311, a permanent magnet sheet 312, an electromagnetic sheet 313, a spring cover sheet 314, and a packaging cover plate 315. The lower ends of the two pull wires 301 are respectively inserted into the corresponding slotted positions on the lower part of the inner wall of the packaging cover plate 315 and fixed, and the other ends are wound around the annular groove on the left side wall of the packaging cover plate 315, and then pass upward through the two through holes opened on the packaging base 303, and then pass through the hollow through hole of the support tube frame 302 from bottom to top. The hole is led out from the upper port of the support pipe frame 302 and is wound upward at the corresponding winding position of the winding motor 204. The package cover plate 315 is driven to rotate. The inner ring of the bearing 304 is wrapped around the central axis of the package base 303 and has an interference fit. The encoder 305 shell is inserted into the central circular groove of the central axis of the package base 303 to the left and fixed. The output shaft of the encoder 305 is inserted into the central hole on the left side of the flange 306 and fixed. The package cover plate 315 is buckled into the package base 303 to the left for assembly. During assembly, ensure that the inner diameter of the shaft hole on the left side of the package cover plate 315 forms an interference fit with the outer diameter of the bearing 304, so that the package base 303 and the package cover plate 315 can form an interference fit under the drive of the packaged bearing 304. The package base 303 and the package cover 315 can be flexibly rotated, and the inner wall of the package cover 315 is concentrically fixedly connected with the base on the right side of the flange 306 to ensure that when the package base 303 and the package cover 315 rotate relative to each other, the internally packaged encoder 305 can detect the rotation angle in real time. The angular velocity sensor 307 is fixedly connected to the corresponding position of the inner wall of the square piece below the package cover 315, and the fixed pulley group 308 is fixed to the corresponding position inside the cylindrical structure of the package cover 315. The starting end of the steering wire 309 is fixedly connected to the raised position of the right side wall of the package base 303, and then the steering wire 309 is placed in the corresponding arc groove of the package cover 315, and then passes through the clamping center of the fixed pulley group 308, and is positioned by the clamping of the fixed pulley group 308. The direction of the straight line is adjusted to the arc, and finally the terminal is welded and fixed at the center position of the lower surface of the spring baffle 310. The upper surface of the spring baffle 310 is welded and fixedly connected with the lower end of the energy storage spring 311. After the lower surface of the permanent magnet sheet 312 is welded and fixedly connected with the upper end of the energy storage spring 311 downward, it is integrally placed in the cylindrical tube structure of the side wall of the packaging cover plate 315. The electromagnetic sheet 313 is fitted and fixed to the inner wall of the spring cover plate 314. The magnetization and demagnetization are achieved by controlling the power on and off of the electromagnetic sheet 313, and the permanent magnet sheet 312 is magnetically attracted and disconnected, thereby controlling the tension and relaxation state of the energy storage spring 311. The spring cover plate 314 is packaged and fixed downward on the cylindrical tube structure port of the outer wall of the packaging cover plate 315.

[0009] The knee joint assist device 4 includes a thigh support plate 401, a fourth restraint belt 402, an upper joint guard plate 403, a torsion spring 404, a cylindrical shaft 405, a lower joint guard plate 406, and a fifth restraint belt 407. The lower end of the thigh support plate 401 is fixedly connected to the upper end of the upper joint guard plate 403. After a group of torsion springs 404 are respectively placed in the corresponding positions of the lower ends of the upper joint guard plate 403, the lower joint guard plate 406 is aligned upward with the upper guard plate 403 through corresponding through holes and is installed and fixed through the through holes with the cylindrical shaft 405 to form a rotating sub-mechanism with a damping effect of the torsion spring 404. The fourth restraint belt 402 is fixedly connected to the corresponding position of the upper joint guard plate 403, and the fifth restraint belt 407 is fixedly connected to the corresponding position of the lower joint guard plate 406, providing a binding and fixing function for the user.

[0010] The software control system of the bending and carrying assisting robot provides a function switching control method, which consists of two parts: power source assisting control and non-power source assisting control. The use function is determined by the angle value detected by the posture angle sensor 101, and it is judged that the upper body of the human body is critical to the state of bending over to carry heavy objects, that is, when the angle value is greater than 5 degrees, the winding motor 204 is prepared to start the power source bending assisting function. In order to enhance the accuracy of the judgment of the posture of the human body bending over to carry heavy objects and avoid unsafe assistance to the user due to misoperation, a secondary judgment is performed at the same time, that is, whether the left and right encoders 305 change synchronously and at the same speed. When they change synchronously and at the same speed, the left and right electromagnetic sheets 313 are started, and the corresponding permanent magnet sheets 312 are removed by electromagnetic repulsion, and the energy storage springs on the left and right are attracted and fixed. 311 is in a non-working state at the beginning, and the winding motor 204 transmits power downward by driving the pull wire 301, and finally pulls the packaging cover plate 315 to rotate, thereby providing a rotational torque for the user's hip joint, and realizing the assistance required in the process of upper body extension after lifting heavy objects. When the above judgment result is no, it is judged that the user is in a non-bending assistance state, and another judgment is made. When the left and right angular velocity sensors 307 are in a periodic mirror change state, the power-assisted function without power source is started, and the power supply of the winding motor 204 is turned off, and the power supply of the left and right electromagnetic sheets 313 is turned off at the same time. At this time, the permanent magnetic force is used to tightly attract and fix them with the corresponding permanent magnetic sheets 312, and the energy storage spring 311 starts to work. Then, when the user is walking, the periodic charging and releasing of the energy storage spring 311 can realize the power-assisted function of gait walking without power source.

[0011] The beneficial effects of the present invention are: based on the principles of human dynamics and kinematics, a bending assistance function is provided for workers who are engaged in long-term weight-bending operations or users with hip joint movement disorders. The motor cable transmission provides assistance to users in the process of bending over to lift heavy objects, reduces the waist load, and relieves the burden on the hip joint and lumbar spine. It can also be converted into a power-free assistance function through functional adjustment, providing thigh lifting and knee flexion assistance for users in the process of weight-bearing walking, thereby reducing the burden on the hip and knee joints during walking, which not only reduces the damage to human joints during long-term weight-bearing operations, but also increases the load-bearing capacity and prolongs the working life. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The drawings described herein are used to provide further understanding of the present invention and constitute a part of this application. The illustrative examples of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0013] Figure 1 A front axonometric view of a bending and carrying assisting robot of the present invention.

[0014] Figure 2 A rear axonometric view of a bending and carrying assisting robot according to the present invention.

[0015] Figure 3 An exploded view of the structure of the upper body support plate mechanism of the present invention from a rear view perspective.

[0016] Figure 4 An exploded view of the structure of the pelvic device of the present invention from a top view.

[0017] Figure 5 Structural explosion diagram of the hip joint power device of the present invention.

[0018] Figure 6 Structural explosion diagram of the knee joint assisting device of the present invention.

[0019] Figure 7 Flowchart of the control method of the present invention. DETAILED DESCRIPTION

[0020] The details of the present invention and its specific implementation methods are further described below in conjunction with the accompanying drawings.

[0021] Reference Figure 1 and Figure 2As a preferred example, a bending and carrying assistance robot described in the present invention is composed of a hardware and software control system, wherein the hardware includes an upper body support plate mechanism 1, a pelvic device 2, a hip joint power device 3, and a knee joint assisting device 4. The lower end of the upper body support plate mechanism 1 is fixedly connected to the corresponding position of the pelvic device 2, and the left and right hip joint power devices 3 are inserted upward into the corresponding positions of the pelvic device 2 to form a revolute pair. The hip joint power device 3 is driven by the power source in the pelvic device 2, and the lower ends of the two hip joint power devices 3 are respectively fixedly connected to the knee joint assisting devices 4 to provide assistance for the knee joint movement.

[0022] Reference Figure 3 The upper body support plate mechanism 1 described in the present invention includes an attitude angle sensor 101, a first main support plate 102, a first restraint belt 103, a rotating shaft cover 104, a second main support plate 105, and a second restraint belt 106. The lower end circular axis of the first main support plate 102 is inserted upward into the shaft groove opened at the lower end of the second main support plate 105, and then is integrally placed in the rotating shaft cover 104 and packaged and fixed to form a rotating pair. The two attitude angle sensors 101 are respectively fixed to the corresponding positions of the upper ends of the first main support plate 102 and the second main support plate 105, the first restraint belt 103 is fixed to the corresponding position of the first main support plate 102, and the second restraint belt 106 is fixed to the corresponding position of the second main support plate 105, and the adjacent ends of the first restraint belt 103 and the second restraint belt 106 can be clamped and fixed, so that the upper body support plate mechanism 1 can be tightly worn on the user's upper body.

[0023] Reference Figure 4 The pelvic device 2 of the present invention comprises a waist support plate 201, a first support frame 202, a hip guard plate 203, a winding motor 204, a central control module 205, a fastening screw 206, a second support frame 207, and a third restraint belt 208. The hip guard plate 203 is fixed to the lower surface of the waist support plate 201, and the upper ends of the first support frame 202 and the second support frame 207 are fixed to the corresponding positions on the left and right ends of the waist support plate 201 through cylindrical through holes. The first support frame 202 The lower end of the second support frame 207 is fixedly connected to the corresponding position of the hip guard plate 203, forming a stable surrounding structure for the user's buttocks; the winding motor 204 is placed inside the groove on the back of the hip guard plate 203, the central control module 205 is buckled on the groove of the hip guard plate 203, and is encapsulated and fixed into an integral structure by the two fastening screws 206, and the two ends of the third restraint belt 208 are respectively fixed to the two ends of the waist guard plate 201, so as to firmly wear the pelvic device 2 on the user's pelvis.

[0024] Reference Figure 5The hip joint power device 3 described in the present invention includes a pull wire 301, a support tube frame 302, a packaging base 303, a bearing 304, an encoder 305, a flange 306, an angular velocity sensor 307, a fixed pulley set 308, a steering wire 309, a spring baffle 310, an energy storage spring 311, a permanent magnet sheet 312, an electromagnetic sheet 313, a spring cover sheet 314, and a packaging cover plate 315. The lower ends of the two pull wires 301 are respectively inserted into the corresponding slot positions on the lower part of the inner wall of the packaging cover plate 315 and fixed, and the other ends are wound around the annular groove on the left side wall of the packaging cover plate 315, and then pass through the two through holes opened on the packaging base 303 upward, and then pass through the support tube frame 302 from bottom to top. The hollow through hole is led out from the upper port of the support tube frame 302 and is wound upwardly at the corresponding winding position of the winding motor 204, and receives the transmission to drive the packaging cover plate 315 to rotate. The inner ring of the bearing 304 is wrapped around the central axis of the packaging base 303 and has an interference fit. The encoder 305 shell is inserted to the left into the central circular groove of the central axis of the packaging base 303 and is fixed. The encoder 305 output shaft is inserted into the left central hole of the flange 306 and is fixed. The packaging cover plate 315 is buckled into the packaging base 303 to be assembled. During assembly, ensure that the inner diameter of the shaft hole on the left side of the packaging cover plate 315 forms an interference fit with the outer diameter of the bearing 304, so that the packaging base 303 and the packaging cover plate 315 can be driven by the encapsulated bearing 304. Flexible rotation is formed, and at the same time, the inner wall of the packaging cover plate 315 is concentrically fixedly connected to the base on the right side of the flange 306, ensuring that when the packaging base 303 and the packaging cover plate 315 rotate relative to each other, the internally packaged encoder 305 can detect the rotation angle in real time, the angular velocity sensor 307 is fixedly connected to the corresponding position of the inner wall of the square piece part below the packaging cover plate 315, the fixed pulley group 308 is fixed to the corresponding position inside the cylindrical structure of the packaging cover plate 315, the starting end of the steering wire 309 is fixedly connected to the raised position of the right side wall of the packaging base 303, and then the steering wire 309 is placed in the corresponding arc groove of the packaging cover plate 315, and then passes through the clamping center of the fixed pulley group 308, and is clamped and positioned by the fixed pulley group 308. To achieve direction adjustment from a straight line to an arc, the terminal is finally welded and fixed at the center position of the lower surface of the spring baffle 310, and the upper surface of the spring baffle 310 is welded and fixedly connected to the lower end of the energy storage spring 311. After the lower surface of the permanent magnet sheet 312 is welded and fixedly connected to the upper end of the energy storage spring 311 downward, it is integrally placed in the cylindrical tube structure of the side wall of the packaging cover plate 315, and the electromagnetic sheet 313 is fitted and fixed to the inner wall of the spring cover plate 314. By controlling the power on and off of the electromagnetic sheet 313, magnetization and demagnetization are achieved, and the permanent magnet sheet 312 is magnetically attracted and disconnected, thereby controlling the tension and relaxation state of the energy storage spring 311. The spring cover plate 314 is packaged and fixed downward on the cylindrical tube structure port of the outer wall of the packaging cover plate 315.

[0025] Reference Figure 6The knee joint assist device 4 described in the present invention includes a thigh support plate 401, a fourth restraint belt 402, an upper joint guard plate 403, a torsion spring 404, a cylindrical shaft 405, a lower joint guard plate 406, and a fifth restraint belt 407. The lower end of the thigh support plate 401 is fixedly connected to the upper end of the upper joint guard plate 403. After a group of torsion springs 404 are respectively placed in the corresponding positions of the lower end of the upper joint guard plate 403, the lower joint guard plate 406 is aligned upward with the upper guard plate 403 through the corresponding through holes and is installed and fixed through the through holes with the cylindrical shaft 405 to form a rotating sub-mechanism with the damping effect of the torsion spring 404. The fourth restraint belt 402 is fixedly connected to the corresponding position of the upper joint guard plate 403, and the fifth restraint belt 407 is fixedly connected to the corresponding position of the lower joint guard plate 406, providing a binding and fixing function for the user.

[0026] Reference Figure 7 The software control system of a bending and carrying assisting robot described in the present invention provides a function switching control method, which consists of two parts: a power source assisting control and a non-power source assisting control. The use function is determined by the angle value detected by the posture angle sensor 101, and it is judged that the upper body of the human body is critical to the state of bending over to carry heavy objects, that is, when the angle value is greater than 5 degrees, the winding motor 204 is prepared to start the power source bending assisting function. In order to enhance the accuracy of the judgment of the posture of the human body bending over to carry heavy objects and avoid unsafe assistance to the user due to misoperation, a secondary judgment is performed at the same time, that is, whether the left and right encoders 305 change synchronously and at the same speed. When they change synchronously and at the same speed, the left and right electromagnetic sheets 313 are started, and the corresponding permanent magnet sheets 312 are removed by electromagnetic repulsion, and the energy storage sheets on the left and right are attracted and fixedly connected. The spring 311 is initially in a non-working state, and the winding motor 204 drives the pull wire 301 to transmit power downward, and finally pulls the packaging cover plate 315 to rotate, thereby providing a rotational torque for the user's hip joint, and realizing the assistance required in the process of upper body extension after lifting heavy objects. When the above judgment result is no, it is determined that the user is in a non-bending assistance state, and another judgment is made. When the left and right angular velocity sensors 307 are in a periodic mirror change state, the power-assisted function without a power source is started, and the power supply of the winding motor 204 is turned off, and the power supply of the left and right electromagnetic sheets 313 is turned off at the same time. At this time, the permanent magnetic force is used to tightly attract and fix the corresponding permanent magnetic sheets 312, and the energy storage spring 311 starts to work. When the user is walking, the periodic charging and releasing of the energy storage spring 311 realizes the power-assisted function of gait walking without a power source.

[0027] As a preferred example, when using the present invention for assisting bending and carrying, first put on the upper body, unfold the first main support plate 102 in the upper body support plate mechanism 1 outward, and after the arm on this side is put on, unfold the second main support plate 105 on the other side to put on the other arm. After putting on is completed, the adjacent positions of the first restraint belt 103 and the second restraint belt 106 are clamped and fixed. Then, the human waist enters through the opening of the pelvic device 2 and fits the waist support plate 201, and is then wrapped and fixed with the third restraint belt 208. Finally, the knee joint assist device 4 is fit at the corresponding position of the leg, and is tied and fixed with the fourth restraint belt 402 and the fifth restraint belt 407, thereby completing the preparation work for wearing the bending and carrying assist robot. The user can turn on the machine and use it while maintaining an upright posture with a stable center of gravity, so that it can provide assistance to the user in the process of lifting heavy objects.

[0028] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made to the present invention shall be included in the protection scope of the present invention.

Claims

1. A bending and carrying assisting robot, characterized in that: The invention is composed of a hardware and software control system, wherein the hardware includes an upper body support plate mechanism (1), a pelvic device (2), a hip joint power device (3), and a knee joint assisting device (4); the lower end of the upper body support plate mechanism (1) is fixedly connected to a corresponding position of the pelvic device (2); the left and right hip joint power devices (3) are inserted upward into corresponding positions of the pelvic device (2) to form a revolute pair; the hip joint power device (3) is driven by a power source in the pelvic device (2); the lower ends of the two hip joint power devices (3) are respectively fixedly connected to the knee joint assisting device (4) to provide assistance for knee joint movement; the hip joint power device (3) includes a pull wire (301), a support pipe frame (302), a packaging base (303), a bearing (304), an encoder ( 305), a flange (306), an angular velocity sensor (307), a fixed pulley block (308), a steering wire (309), a spring baffle (310), an energy storage spring (311), a permanent magnet sheet (312), an electromagnetic sheet (313), a spring cover sheet (314), and a packaging cover plate (315), wherein the lower ends of the two pull wires (301) are respectively inserted into corresponding slotted positions on the lower portion of the inner wall of the packaging cover plate (315) and fixed, and the other ends are wound around the annular groove on the left side wall of the packaging cover plate (315), and then upwardly pass through two through holes opened on the packaging base (303), and then pass through the hollow through hole of the support pipe frame (302) from bottom to top, and then are led out from the upper port of the support pipe frame (302) and upwardly wound around the phase of the winding motor (204). The package cover plate (315) is driven to rotate by the transmission, the inner ring of the bearing (304) is wrapped around the center axis of the package base (303) and has an interference fit, the encoder (305) housing is inserted into the center circular groove of the center axis of the package base (303) to the left and fixed, the encoder (305) output shaft is inserted into the center hole on the left side of the flange (306) and fixed, and the package cover plate (315) is buckled into the package base (303) to the left for assembly. During assembly, ensure that the inner diameter of the shaft hole on the left side of the package cover plate (315) forms an interference fit with the outer diameter of the bearing (304), so that the package base (303) and the package cover plate (315) can form a flexible rotation under the drive of the packaged bearing (304), and at the same time, the inner wall of the package cover plate (315) and the flange ( The right side base (306) is concentrically connected to ensure that when the packaging base (303) and the packaging cover (315) rotate relative to each other, the internally packaged encoder (305) can detect the rotation angle in real time. The angular velocity sensor (307) is fixedly connected to the corresponding position of the inner wall of the square piece portion below the packaging cover (315). The fixed pulley group (308) is fixed to the corresponding position inside the cylindrical tube structure of the packaging cover (315). The starting end of the steering wire (309) is fixedly connected to the protruding position of the right side wall of the packaging base (303). Then, the steering wire (309) is placed in the corresponding arc groove of the packaging cover (315), and then passes through the clamping center of the fixed pulley group (308). Through the clamping positioning of the fixed pulley group (308), the direction adjustment from straight line to arc is realized.Finally, the terminal is welded and fixed at the center position of the lower surface of the spring baffle (310), and the upper surface of the spring baffle (310) is welded and fixedly connected to the lower end of the energy storage spring (311). After the lower surface of the permanent magnet sheet (312) is welded and fixedly connected to the upper end of the energy storage spring (311) downward, it is integrally placed inside the cylindrical tube structure of the side wall of the packaging cover plate (315). The electromagnetic sheet (313) is fitted and fixed to the inner wall of the spring cover plate (314). By controlling the power on and off of the electromagnetic sheet (313), magnetization and demagnetization are achieved, and the permanent magnet sheet (312) is magnetically attracted and disconnected, thereby controlling the tension and relaxation state of the energy storage spring (311). The spring cover sheet (314) is packaged and fixed downward on the cylindrical tube structure port of the outer wall of the packaging cover plate (315). The upper body support plate mechanism (1 ) comprises an attitude angle sensor (101), a first main support plate (102), a first restraining belt (103), a rotating shaft cover (104), a second main support plate (105), and a second restraining belt (106); the lower end circular axis of the first main support plate (102) is inserted upward into an axis groove opened at the lower end of the second main support plate (105), and then is integrally placed in the rotating shaft cover (104) and packaged and fixed to form a rotating pair; the two attitude angle sensors (101) are respectively fixed to corresponding positions of the upper ends of the first main support plate (102) and the second main support plate (105); the first restraining belt (103) is fixed to corresponding positions of the first main support plate (102); the second restraining belt (106) is fixed to corresponding positions of the second main support plate (105); and the first restraining belt ( 103) and the adjacent end of the second restraint belt (106) can be snap-connected and fixed, so that the upper body support plate mechanism (1) can be tightly worn on the upper body of the user. The software control system includes a software control system for a bending and carrying assistance robot. The system provides a function switching control method, which consists of two parts: a power source assistance control and a non-power source assistance control. The use function is determined by the angle value detected by the posture angle sensor (101), and it is judged that the upper body of the human body is in a critical state of bending over to carry heavy objects. That is, when the angle value is greater than 5 degrees, the winding motor (204) is ready to start the power source bending assistance function. In order to enhance the accuracy of the judgment of the posture of the human body bending over to carry heavy objects and avoid unsafe assistance to the user due to misoperation, a secondary judgment is performed at the same time. That is, it is determined whether the left and right encoders (305) change synchronously and at the same speed. When they do, the left and right electromagnetic sheets (313) are started, and the corresponding permanent magnet sheets (312) are removed and fixedly connected by electromagnetic repulsion. Then, the left and right energy storage springs (311) are in a non-working state, and the winding motor (204) drives the pull wire (301) to transmit power downward, and finally pulls the packaging cover plate (315) to rotate, thereby providing a rotational torque for the user's hip joint, and realizing the assistance required in the process of upper body extension after lifting heavy objects. When the above judgment result is no, it is determined that the user is in a non-bending assistance state, and a judgment is made again. When the left and right angular velocity sensors (307) are in a periodic mirror change state,The power-assist function without power source is activated, the power supply of the winding motor (204) is turned off, and the power supply of the left and right electromagnetic sheets (313) is turned off at the same time. At this time, the corresponding permanent magnetic sheets (312) are tightly attracted and fixedly connected by the permanent magnetic force, and the energy storage spring (311) starts to work. When the user is walking, the power-assist function without power source is realized through the periodic charging and releasing of the energy storage spring (311).

2. The bending and carrying assisting robot according to claim 1, characterized in that: The pelvic device (2) comprises a waist support plate (201), a first support frame (202), a hip guard plate (203), a winding motor (204), a central control module (205), a fastening screw (206), a second support frame (207), and a third restraining belt (208), wherein the hip guard plate (203) is fixedly connected to the lower surface of the waist support plate (201), and the upper ends of the first support frame (202) and the second support frame (207) are fixed to corresponding positions on the left and right ends of the waist support plate (201) through cylindrical through holes, and the first support frame (202) is fixedly connected to the lower surface of the waist support plate (201). ) and the lower end of the second support frame (207) are fixedly connected to the corresponding position of the hip guard plate (203), forming a stable surrounding structure for the user's buttocks; the winding motor (204) is placed inside the groove on the back of the hip guard plate (203), the central control module (205) is buckled on the groove of the hip guard plate (203), and is encapsulated and fixed to an integral structure by the two fastening screws (206), and the two ends of the third restraint belt (208) are respectively fixed to the two ends of the waist support plate (201), so as to be used for wearing the pelvic device (2) firmly on the user's pelvis.

3. The bending and carrying assisting robot according to claim 1, characterized in that: The knee joint assist device (4) comprises a thigh support plate (401), a fourth binding belt (402), an upper joint guard plate (403), a torsion spring (404), a cylindrical rotating shaft (405), a lower joint guard plate (406), and a fifth binding belt (407). The lower end of the thigh support plate (401) is fixedly connected to the upper end of the upper joint guard plate (403). After a group of torsion springs (404) are respectively placed in corresponding positions of the lower end of the upper joint guard plate (403), the lower joint guard plate (406) is aligned upward with the upper guard plate (403) through corresponding through holes and is installed and fixed with the cylindrical rotating shaft (405) passing through the through holes, thereby forming a rotational pair mechanism with a damping effect of the torsion spring (404). The fourth binding belt (402) is fixedly connected to the corresponding position of the upper joint guard plate (403), and the fifth binding belt (407) is fixedly connected to the corresponding position of the lower joint guard plate (406), thereby providing a binding and fixing function for the user.

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