An integrated upper limb and waist passive assistive exoskeleton

Abstract

The present invention discloses an integrated upper limb and waist passive assistive exoskeleton, which includes a waist binding, a waist assist module, a back binding, a back binding anchor point, a back module, an upper limb assist adjustment pin, an upper limb assist module, a waist rod, an upper waist rod quick-release pin, a lower waist rod quick-release pin, and a leg module. A pair of waist assist modules are provided on the symmetric outer sides of the waist binding. The waist binding is matched with a back binding. A back binding anchor point is horizontally arranged on the back binding, and the back binding anchor point is installed with a back module. Through the above method, the present invention provides an integrated upper limb and waist passive assistive exoskeleton, which has a high degree of modularization, a simple structure, and is convenient for disassembly and assembly; has high adaptability to height or body fat and thinness, simple size adjustment, and can be adaptively adjusted steplessly; the binding system has strong conformability; has the functions of waist assistance, waist protection, and upper limb assistance; and the working state can be switched simply.

Description

Technical Field

[0001] The present invention relates to the field of wearable exoskeletons, and in particular to an integrated upper limb and waist passive assistance exoskeleton. Background Art

[0002] An exoskeleton originally referred to a hard external structure in biology that protects the soft internal organs of an organism. Now, an exoskeleton robot refers to a mechanical device that mimics the human motion state, enhances the human motion ability, integrates bionics and ergonomics, and is worn on the outside of the human limb, which can improve people's abilities in specific aspects such as walking durability and load-bearing capacity.

[0003] Its application fields are very extensive. In the military field, it can improve the movement flexibility, mobility, load-bearing capacity, etc. of soldiers; in the medical field, it can help lower limb muscle weakness or other disabled patients with rehabilitation training; in the civilian field, it can help the wearer improve the ability to carry heavy objects and improve walking durability, etc.

[0004] Existing waist assistance exoskeletons can be divided into two categories: active assistance and passive assistance according to the assistance method.

[0005] For active assistance, as in CN201810357972.4, pneumatic assistance is used, and its pneumatic components are heavy and the structure is complex, resulting in the overall equipment being heavy. When the wearer uses it, they need to bear the weight of the equipment all the time. Another example is CN201911255477.3, where one motor is used on each side of the hip joint for hip joint assistance, and it is difficult to recognize the intention of the exerciser; when it is in a non-working state, the mode switching of the equipment is relatively complex; due to the complexity of the motor and the electrical system, the overall weight is heavy, and the wearer will feel uncomfortable when wearing it for a long time.

[0006] For passive assistance, as in CN201710763193.X, it relies on an energy storage element, such as a spring as the energy storage element, to provide a certain amount of waist assistance for the wearer, but it can only provide a single waist and hip joint assistance for the wearer, without other functions, and the function is single.

[0007] The defects of the existing technologies include:

[0008] 1) The modularity is not high, the structure is complex, and it is inconvenient to disassemble, assemble, transport;

[0009] 2) The adaptability to height or body fatness is not high, the size adjustment is complex or cannot be adjusted, it is difficult to adapt and there is no stepless adjustment;

[0010] 3) The binding system is simple and the wearing is not fitting;

[0011] 4) Existing waist assistance exoskeletons have a single function and no arm assistance;

[0012] 5) The existing powered exoskeletons are difficult to switch to the non-operating state. Summary of the Invention

[0013] The main technical problem to be solved by the present invention is to provide an integrated upper limb and waist passive powered exoskeleton, which belongs to a passive waist-powered exoskeleton. It is lighter in mass than the active type and has the function of assisting the upper limb. It has various characteristics, such as: high modularity, simple structure, convenient disassembly and assembly; high adaptability to height or body fat, simple size adjustment, and self-adaptive stepless adjustment; strong conformability of the binding system; having the functions of waist assistance, waist protection, and upper limb assistance; and simple switching of the working state.

[0014] To solve the above technical problems, a technical solution adopted by the present invention is: to provide an integrated upper limb and waist passive powered exoskeleton, including a waist binding, a waist assistance module, a back binding, a back binding anchor point, a back module, an upper limb assistance adjustment pin, an upper limb assistance module, a waist rod, an upper waist rod quick-release pin, a lower waist rod quick-release pin, and a leg module. A pair of waist assistance modules are arranged on the symmetric outer sides of the waist binding. The waist binding is matched with a back binding. A back binding anchor point is horizontally arranged on the back binding. The back binding anchor point is installed with a back module. The back module is connected to an upper limb assistance module through an upper limb assistance adjustment pin. The upper and lower ends of a pair of waist rods are respectively provided with an upper waist rod quick-release pin and a lower waist rod quick-release pin. The waist rod is connected to the back module through the upper waist rod quick-release pin, and the waist rod is connected to the waist assistance module through the lower waist rod quick-release pin. The lower end of the waist assistance module is connected to the leg module.

[0015] In a preferred embodiment of the present invention, the upper limb assistance module is composed of an L-shaped support rod, an upper limb assistance sling, and a clamping hook. The L-shaped support rod is arranged at the bilateral shoulder positions of the back binding. One end of the L-shaped support rod is locked and connected by the upper limb assistance adjustment pin. The other end of the L-shaped support rod is connected with a pair of upper limb assistance slings arranged at the bilateral front chest positions of the back binding. The end of the upper limb assistance sling is provided with a clamping hook.

[0016] In a preferred embodiment of the present invention, the back module is composed of a Y-shaped support rod, an upper waist rod joint, and an upper size adaptation rotating shaft. The Y-shaped support rod is longitudinally arranged and symmetrically fixed on both sides of the back binding anchor point. The upper limb assistance adjustment pin is locked in the Y-shaped support rod. The upper waist rod joint is transferred under the Y-shaped support rod through the upper size adaptation rotating shaft on both sides of the back binding anchor point. The upper waist rod joint is locked and connected by the upper waist rod quick-release pin.

[0017] In a preferred embodiment of the present invention, the waist assistance module is composed of a flexion and extension rotating shaft, a wire pulley, a mode switching switch, a mode switching seat, a non-working state rotating shaft, a lower size adaptation rotating shaft, a lower waist rod joint, an assistance chamber, a compression spring, a guide rod, and a rope. The flexion and extension rotating shaft is connected to the wire pulley above. The wire pulley internally houses the mode switching switch. The mode switching switch is cooperatively connected with the mode switching seat and is timely clamped and transmitted. The non-working state rotating shaft is directly connected to the mode switching seat all the time. The mode switching seat is connected to the lower waist rod joint above through the lower size adaptation rotating shaft. The lower waist rod joint is locked and connected by the lower waist rod quick-release pin. The assistance chamber is arranged below the flexion and extension rotating shaft. The compression spring is clamped in the assistance chamber. The lower end of the compression spring is connected to the guide rod. The guide rod is suspended at the axis of the compression spring through the rope connected above. The rope is connected to the wire pulley through the flexion and extension rotating shaft.

[0018] In a preferred embodiment of the present invention, a pair of anti-displacement straps are symmetrically arranged on both sides of the inner circumference of the waist binding. Each anti-displacement strap is respectively fixed on the inner side of each assistance chamber. The anti-displacement straps are equipped with anti-displacement buckles that are inserted into each other.

[0019] In a preferred embodiment of the present invention, the leg module is composed of a leg rod, a thigh baffle, a leg circumference adjustment strap, and a leg buckle. The upper end of the leg rod is connected to the waist assistance module. The lower end of the leg rod is connected to the thigh baffle. The thigh baffle is provided with a leg circumference adjustment strap. The leg circumference adjustment strap is equipped with leg buckles that are inserted into each other.

[0020] The beneficial effects of the present invention are as follows: An integrated upper limb and waist passive assistance exoskeleton provided by the present invention belongs to a passive waist assistance exoskeleton. It is lighter in mass than the active type and also has the function of upper limb assistance. It has various characteristics, such as: high modularity, simple structure, convenient disassembly and assembly; high adaptability to height or body build, simple size adjustment, and can be adaptively adjusted steplessly; strong conformability of the binding system; having the functions of waist assistance, waist protection, and upper limb assistance; and simple switching of the working state. Description of the Drawings

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to these drawings, where:

[0022] Figure 1 It is a front axonometric view of the overall structure of the exoskeleton of the present invention;

[0023] Figure 2 It is a reverse axonometric view of the overall structure of the exoskeleton of the present invention;

[0024] Figure 3 This is a schematic side view of the overall structure of the exoskeleton of the present invention;

[0025] Figure 4 This is a schematic diagram of the waist assist module structure of the exoskeleton of the present invention;

[0026] Description of reference numerals: 1. Upper limb assist module; 2. Back module; 3. Waist assist module; 4. Leg module; 5. Back strap; 6. Waist strap; 7. L-shaped strut; 8. Clamping hook; 9. Y-shaped strut; 10. Back strap anchor point; 11. Upper limb assist adjustment pin; 12. On the size adaptation rotating shaft; 13. Upper joint of the waist rod; 14. On the quick-release pin of the waist rod; 15. Waist rod; 16. Lower joint of the waist rod; 17. Lower quick-release pin of the waist rod; 18. Lower size adaptation rotating shaft; 19. Mode switching seat; 20. Non-working state rotating shaft; 21. Cable pulley; 22. Mode switching switch; 23. Leg rod; 24. Thigh baffle; 25. Upper limb assist sling; 26. Waist buckle; 27. Anti-creeper strap; 28. Anti-creeper buckle; 29. Leg buckle; 30. Leg circumference adjustment strap; 31. Flexion and extension rotating shaft; 32. Rope; 33. Guide rod; 34. Compression spring; 35. Base; 36. Connection hole; 37. Back push force. Detailed implementation manners

[0027] Next, the technical solutions in the embodiments of the present invention will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0028] As Figures 1-4 shown, the embodiments of the present invention include:

[0029] An integrated upper limb and waist passive assist exoskeleton, including a waist strap 6, a waist assist module 3, a back strap 5, a back strap anchor point 10, a back module 2, an upper limb assist adjustment pin 11, an upper limb assist module 1, a waist rod 15, a quick-release pin of the upper waist rod 14, a quick-release pin of the lower waist rod 17, and a leg module 4. A pair of waist assist modules 3 are provided on the two outer symmetrical sides of the waist strap 6. The waist strap 6 is matched with a back strap 5. A back strap anchor point 10 is horizontally arranged on the back strap 5. The back strap anchor point 10 is installed with a back module 2. The back module 2 is connected to an upper limb assist module 1 through an upper limb assist adjustment pin 11. Quick-release pins of the upper and lower waist rods 14 and 17 are respectively arranged at the upper and lower ends of a pair of waist rods 15. The waist rod 15 is connected to the back module 2 through the quick-release pin of the upper waist rod 14. The waist rod 15 is connected to the waist assist module 3 through the quick-release pin of the lower waist rod 17. The lower end of the waist assist module 3 is connected to the leg module 4.

[0030] Among them, the upper limb assistance module 1 is composed of an L-shaped strut 7, an upper limb assistance sling 25, and a clamping hook 8. The L-shaped strut 7 is arranged at the bilateral shoulder positions of the back strap 5. One end of the L-shaped strut 7 is locked and connected by the upper limb assistance adjustment pin 11. The other end of the L-shaped strut 7 is connected to a pair of upper limb assistance slings 25 arranged at the bilateral front chest positions of the back strap 5. The end of the upper limb assistance sling 25 is provided with a clamping hook 8.

[0031] Further, the back module 2 is composed of a Y-shaped strut 9, a waist rod upper joint 13, and a dimension adaptation rotating shaft upper 12. The Y-shaped strut 9 is arranged longitudinally and symmetrically fixed on both sides of the back strap anchor point 10. The upper limb assistance adjustment pin 11 is locked inside the Y-shaped strut 9. The waist rod upper joint 13 is transferred through the dimension adaptation rotating shaft upper 12 to both sides of the back strap anchor point 10 below the Y-shaped strut 9. The waist rod upper joint 13 is locked and connected by the waist rod quick release pin upper 14.

[0032] Further, the waist assistance module 3 is composed of a flexion and extension rotating shaft 31, a wire pulley 21, a mode switching switch 22, a mode switching seat 19, a non-working state rotating shaft 20, a dimension adaptation rotating shaft lower 18, a waist rod lower joint 16, a power assistance bin 39, a compression spring 34, a guide rod 33, and a rope 32. The flexion and extension rotating shaft 31 is connected to the wire pulley 21 above. The wire pulley 21 internally contains the mode switching switch 22. The mode switching switch 22 is cooperatively connected with the mode switching seat 19 and is clamped and driven in a timely manner. The mode switching seat 19 is directly connected to the non-working state rotating shaft 20 all the time. The mode switching seat 19 is connected to the waist rod lower joint 16 above through the dimension adaptation rotating shaft lower 18. The waist rod lower joint 16 is locked and connected by the waist rod quick release pin lower 17. A power assistance bin 39 is arranged below the flexion and extension rotating shaft 31. A compression spring 34 is clamped inside the power assistance bin 39. The lower end of the compression spring 34 is connected to the guide rod 33. The guide rod 33 is suspended at the axis of the compression spring 34 through the rope 32 connected above. The rope 32 is connected to the wire pulley 21 through the flexion and extension rotating shaft 31.

[0033] Further, a pair of anti-displacement straps 27 are symmetrically arranged on both sides of the inner circumference of the waist strap 6. Each anti-displacement strap 27 is respectively fixed on the inner side of each power assistance bin 39. The anti-displacement strap 27 is equipped with anti-displacement snap fasteners 28 that are inserted into each other. The anti-displacement strap 27 and the anti-displacement snap fastener 28 can effectively prevent the overall device (especially the waist assistance module 3 and the leg module 4) from moving upward on the wearer when the wearer bends down. When moving upward, the strap will catch the inner thigh, effectively preventing this phenomenon.

[0034] Further, the leg module 4 is composed of a leg rod 23, a thigh baffle 24, a leg circumference adjusting belt 30, and a leg buckle 29. The upper end of the leg rod 23 is connected to the waist assisting module 3, the lower end of the leg rod 23 is connected to the thigh baffle 24, the thigh baffle 24 is provided with a leg circumference adjusting belt 30, and the leg circumference adjusting belt 30 is equipped with leg buckles 29 that are inserted into each other.

[0035] Specifically:

[0036] As Figure 1 shown, it is the front axonometric view of the overall structure of the exoskeleton of the present invention.

[0037] The exoskeleton of the present invention mainly consists of an upper limb assisting module 1, a back module 2, a waist assisting module 3, and a leg module 4. Among them, the back strap 5 belongs to the back module 2, and the waist strap 6 belongs to the waist assisting module 3.

[0038] As Figure 2 shown, it is the reverse axonometric view of the overall structure of the exoskeleton of the present invention.

[0039] Among them, the upper limb assisting module consists of an L-shaped strut, a clamping hook 8, and an upper limb assisting sling 25. The back module 2 mainly consists of a Y-shaped strut 9, an upper joint of the waist rod 11, a waist rod 15, and a back strap 5.

[0040] As Figure 4 shown, it is the structural schematic diagram of the waist assisting module of the exoskeleton of the present invention.

[0041] The waist assisting module 3 mainly consists of a lower joint of the waist rod 16, a mode switching seat 19, a wire pulley 21, a rope 32, a guide rod 33, and a spring 34. The leg module 4 mainly consists of a leg rod 23, a thigh baffle 24, leg buckles 29, a leg circumference adjusting belt 30, etc.

[0042] First, the fitting binding system and the adaptive size adjustment function of the present exoskeleton will be described as follows:

[0043] As Figure 1 , the back strap 5 of the present exoskeleton can be used as a vest and worn on the upper body of the human body; the waist strap 6, through a waist buckle 26 at the front and back respectively, can be tied to the position of the human waist belt. By adjusting the lengths of the cloth belts on both sides of the waist buckle 26, the position of the exoskeleton on the human body can be adjusted to ensure that the flexion and extension rotating shaft 31 in Figure 4 is basically aligned with the center of the trochanter of the human hip joint.

[0044] After the back strap 5 and the waist strap 6 are worn, pass through the inner thigh, fasten the left and right anti-slip straps 27, and connect the anti-slip buckle 28. The anti-slip strap 27 and the anti-slip buckle 28 can effectively prevent the overall device (especially the waist assistance module 3 and the leg module 4) from slipping upwards on the wearer when the wearer bends down. When slipping upwards, the strap will catch the inner thigh, effectively preventing this phenomenon.

[0045] The leg module 4 is mainly composed of a leg rod 23, a thigh baffle 24, a leg buckle 29, a leg circumference adjustment strap 30, etc. When wearing, unfasten the leg buckle 29, adjust the leg circumference adjustment strap 30 to the longest, insert the thigh, and then insert the leg buckle 29. At the same time, according to the wearer's preference, the leg circumference adjustment strap 30 can be adjusted.

[0046] The overall binding of this exoskeleton device has the characteristics of strong conformability and high adjustability, and can effectively prevent the problem of the device body slipping on the wearer.

[0047] When wearing the waist strap 6, to adapt to wearers with different waist circumferences, in terms of structure, such as Figure 2 In it, there is a size adaptation rotating shaft upper 12 and a size adaptation rotating shaft lower 18. When the waist circumference is different, the waist rod 15, the upper waist rod joint 13, and the lower waist rod joint 16 can rotate around the size adaptation rotating shaft upper 12; at the same time, the mode switching seat 19 and all structures below it can rotate around the size adaptation rotating shaft lower 18. In this way, the waist circumference can be adaptively adjusted in the width direction to ensure the conformability of the waist strap to the waists of various wearers. This way of waist width adjustment does not require manual operation of buttons or other methods for adjustment, and can be adaptively adjusted just by putting it on, with strong inclusiveness for different body shapes and heights.

[0048] The modular functions of the exoskeleton structure are described below:

[0049] Such as Figure 2 , which is the reverse axonometric view of the overall structure of the exoskeleton of the present invention. The L-shaped strut 7 can slide in the chute of the Y-shaped strut 9. At the same time, there are multiple holes on the chute of the Y-shaped strut 9, and the upper limb assistance adjustment pin 11 can be inserted into any hole to realize the connection between the L-shaped strut 7 and the Y-shaped strut 9; the upper waist rod joint 13 and the waist rod 15 are connected by the upper waist rod quick-release pin 14, and the lower waist rod joint 16 and the waist rod 15 are connected by the lower waist rod quick-release pin 17. When storing this exoskeleton, any one of the upper limb assistance adjustment pin 11, the upper waist rod quick-release pin 14, and the lower waist rod quick-release pin 17 can be optionally removed to realize the quick disassembly of the exoskeleton between the upper limb assistance module 1, the back module 2, and the waist assistance module 3. When assembling, insert the corresponding quick-release pin. In summary, this exoskeleton has a high degree of modularity and is convenient for storage.

[0050] The upper limb and waist assistance principles of the exoskeleton of the present invention are described below:

[0051] like Figure 3 and Figure 4 , which is a schematic side view of the overall structure of the exoskeleton of the present invention and a schematic diagram of the structure of the waist assist module;

[0052] The wearer holds the clamping hook 8 with his hand, and the clamping hook 8 can hook the heavy object to be carried. The clamping hook is only one embodiment, and different styles can be replaced for different loads. The upper limb assisting sling 25 is a connecting belt between the clamping hook 8 and the L-shaped support rod 7, and the length can be adjusted. However, the length from the clamping hook 8 to the shoulder must be slightly shorter than the length of the wearer's entire arm. When the heavy object is mounted, the upper limb assisting sling 25 is always in a straight state.

[0053] There is a mode switching switch 22 on the pull wheel 19. When the wearer wants to lift heavy objects or maintain the action (working state), the switch is pushed forward. When the wearer wants to leave the working state, the switch is pushed back to enter the non-working state.

[0054] When in working state, the mode switching switch 22 is inserted into the mode switching seat 19, so that the mode switching seat 19 and the pull wire wheel 21 become an integrated part. When lifting up to assist, the human thigh and leg module 4 can be regarded as stationary, and the pull wire wheel 21 can rotate around the flexion and extension axis 31, that is, the human waist and above can bend around the center of the greater trochanter of the human joint.

[0055] In order to make the exoskeleton principle of the present invention more clearly explained, the following is divided into two working states for the analysis of the power-assisting principle.

[0056] First, the principle of arm assistance + waist assistance when bending over to lift is analyzed:

[0057] When the pulley 21 rotates forward, it will drive the rope 32 integrated with it, and the rope is connected to the upper end of the lower guide rod 33, and the lower end of the guide rod 33 will shorten the compression spring 34. At this time, the force of the spring is partially offset by the gravity of the weight itself through the waist bar 15, Y-shaped support rod 9, L-shaped support rod 7, upper limb assist sling 25, and clamping hook 8. At this time, as mentioned above, the upper limb assist sling 25 is straightened, and the length of the clamping hook 8 to the human shoulder is slightly shorter than the length of the human arm. The arm can reduce part of the gravity of the weight, greatly reducing the energy consumption and muscle fatigue of the arm, especially the elbow joint. The offsetting force generated by the spring is transmitted to the waist binding 6 and the leg module 4 through the structure. This is the principle of arm assist when bending over to lift.

[0058] At the same time, through the binding anchor hole 10 and the back binding 5, the spring force will also generate a pulling force on the shoulders of the human body. This pulling force can offset part of the weight of the upper body and part of the body, thereby protecting the wearer's waist erector spinae muscles. This is the principle of waist assistance when bending over to lift.

[0059] Secondly, the principle analysis of arm assistance after standing straight with a heavy object in hand:

[0060] As Figure 3 , after lifting the heavy object, the wearer stands straight. At this time, the clamping hook 8 hangs the heavy object, and the wearer's hand can be completely separated from the clamping hook 8. Since the waist binding 6 is tied to the human waist and the back binding 5 is tied to the human back, the gravity of the heavy object is completely transmitted to the waist binding 6 and the back binding 5 through the clamping hook 8, the upper limb assistance sling 25, the L-shaped support rod 7, the Y-shaped support rod 9, and the waist rod 15. At this time, a back-pushing force 37 will be generated, and the arm does not need to exert any force at all. This working state is the scenario where the arm assistance effect is most obvious.

[0061] In the non-working state, the mode switching seat 19 is separated from the wire pulley 21. At this time, the mode switching seat can rotate freely around the non-working state rotating shaft 20 without obstruction. When the wearer walks or bends down to rest, since there are two degrees of freedom of flexion and extension, namely the non-working state rotating shaft 20 and the flexion and extension rotating shaft 31, in the waist assistance module 3, and there is always a spring tension as a resistance corresponding to the flexion and extension rotating shaft 31, but there is no rotational resistance for the non-working state rotating shaft 20. Therefore, the waist rod 15 and the structures above it will preferentially rotate around the non-working state rotating shaft 20. At this time, the wearer can walk or bend down to rest without resistance.

[0062] In summary, the present invention provides an integrated upper limb and waist passive assistance exoskeleton, which belongs to a passive waist assistance exoskeleton. It is lighter in mass than an active one and has the function of upper limb assistance. It has various characteristics, such as: high modularity, simple structure, convenient disassembly and assembly; high adaptability to height or body build, simple size adjustment, and can be adaptively adjusted steplessly; strong conformability of the binding system; having the functions of waist assistance, waist protection, and upper limb assistance; and simple switching of the working state.

[0063] The above are only the embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification of the present invention, or directly or indirectly applied in other related technical fields, shall be similarly included in the patent protection scope of the present invention.

Claims

1. An integrated upper limb and waist passive assistance exoskeleton, characterized in that, it includes a waist strap, a waist assistance module, a back strap, a back strap anchor point, a back module, an upper limb assistance adjustment pin, an upper limb assistance module, a waist rod, an upper waist rod quick-release pin, a lower waist rod quick-release pin, and a leg module. A pair of waist assistance modules are provided on the symmetric outer sides of the waist strap. The waist strap matches a back strap. A back strap anchor point is horizontally arranged on the back strap. The back strap anchor point is equipped with a back module. The back module is connected to an upper limb assistance module through an upper limb assistance adjustment pin. The upper and lower ends of a pair of waist rods are respectively provided with an upper waist rod quick-release pin and a lower waist rod quick-release pin. The waist rod is connected to the back module through the upper waist rod quick-release pin, and the waist rod is connected to the waist assistance module through the lower waist rod quick-release pin. The lower end of the waist assistance module is connected to the leg module; The waist assistance module is composed of a flexion and extension rotating shaft, a wire pulley, a mode switching switch, a mode switching seat, a non-working state rotating shaft, a lower size adaptation rotating shaft, a lower waist rod joint, a power assistance chamber, a compression spring, a guide rod, and a rope. The flexion and extension rotating shaft is connected to the wire pulley above. The wire pulley internally contains a mode switching switch. The mode switching switch is cooperatively connected with the mode switching seat and is timely clamped and transmitted. The mode switching seat is directly connected to a non-working state rotating shaft all the time. The mode switching seat is connected to the lower waist rod joint through the lower size adaptation rotating shaft. The lower waist rod joint is locked and connected by the lower waist rod quick-release pin. A power assistance chamber is arranged under the flexion and extension rotating shaft. A compression spring is clamped in the power assistance chamber. The lower end of the compression spring is connected to the guide rod. The guide rod is suspended in the axis of the compression spring through the connected rope above. The rope is connected to the wire pulley through the flexion and extension rotating shaft.

2. The integrated upper limb and waist passive assistance exoskeleton according to claim 1, characterized in that, the upper limb assistance module is composed of an L-shaped support rod, an upper limb assistance sling, and a clamping hook. The L-shaped support rod is arranged at the bilateral shoulder positions of the back strap. One end of the L-shaped support rod is locked and connected by the upper limb assistance adjustment pin. The other end of the L-shaped support rod is connected to a pair of upper limb assistance slings arranged at the bilateral front chest positions of the back strap. The end of the upper limb assistance sling is provided with a clamping hook.

3. The integrated upper limb and waist passive assistance exoskeleton according to claim 1, characterized in that, the back module is composed of a Y-shaped support rod, an upper waist rod joint, and an upper size adaptation rotating shaft. The Y-shaped support rod is longitudinally arranged and symmetrically fixed on both sides of the back strap anchor point. The upper limb assistance adjustment pin is locked in the Y-shaped support rod. The upper waist rod joint is transferred through the upper size adaptation rotating shaft on both sides of the back strap anchor point below the Y-shaped support rod. The upper waist rod joint is locked and connected by the upper waist rod quick-release pin.

4. The integrated upper limb and waist passive assistance exoskeleton according to claim 1, characterized in that, a pair of anti-displacement straps are symmetrically arranged on both sides of the inner circumference of the waist strap. Each anti-displacement strap is respectively fixed on the inner side of each power assistance chamber. The anti-displacement straps are equipped with anti-displacement buckles that are inserted into each other.

5. The integrated upper limb and waist passive assistance exoskeleton according to claim 1, characterized in that, the leg module is composed of a leg rod, a thigh baffle, a leg circumference adjustment belt, and a leg buckle. The upper end of the leg rod is connected to the waist assistance module, the lower end of the leg rod is connected to the thigh baffle, the thigh baffle is provided with a leg circumference adjustment belt, and the leg circumference adjustment belt is equipped with leg buckles that are inserted into each other.

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