A wearable active and passive hybrid assistive mechanism and assistive method

Abstract

The present invention relates to a wearable active-passive hybrid assistance mechanism and an assistance method, belonging to the technical field of assistance mechanisms, and solves the problem that the existing assistance mechanisms have a single assistance form and cannot provide assistance to the upper limb arms. The wearable active-passive hybrid assistance mechanism of the present invention includes a back frame, an upper limb assistance component and a waist assistance component, and the upper limb assistance component and the waist assistance component are fixed on the back frame; the upper limb assistance component includes a rotating shaft, a clockwork spring and a Bowden cable, one end of the Bowden cable is connected to the clockwork spring through the rotating shaft, and the other end is connected to an end effector for carrying items; the waist assistance component includes a thigh support rod, a chest support rod and a driving unit, and the thigh support rod is connected to the output shaft of the reducer of the driving unit. The present invention combines active waist assistance with passive upper limb assistance, and can provide assistance to the waist and upper limbs simultaneously.

Description

Technical Field

[0001] The present invention relates to the technical field of assisting mechanisms, and particularly to a wearable active-passive hybrid assisting mechanism and an assisting method. Background Art

[0002] In scenarios such as logistics sorting, goods palletizing, and unloading and loading, where manual material handling is required, short-distance and repetitive handling operations are likely to cause muscle fatigue in the waist and arms of workers. Long-term labor can lead to musculoskeletal injuries such as lumbar muscle strain, ligament strain, and fatigue fractures, affecting the physical health of workers.

[0003] Wearable exoskeletons can help provide assistance to the human body during the handling process. A common form of handling assistance is to apply an additional torque to the hip joint through active or passive torque input during the process of the human body getting up in the later stage of handling, thereby reducing the exertion of the lumbar muscles and achieving a labor-saving effect. Among them, passive lumbar assisting mechanisms usually use torsion springs to provide torque input, but the human body needs to do work on the torsion spring to store energy during the bending process and then release the energy during the process of lifting heavy objects in the later stage, resulting in low assisting efficiency; active lumbar assisting mechanisms usually use motors to provide torque input, collect human motion signals through sensors and feedback them to the control unit, and then the power execution unit completes corresponding actions. Its advantage is relatively high assisting efficiency, but the assisting form is single, and the problem of muscle fatigue in the upper arm has not been solved. Summary of the Invention

[0004] In view of the above analysis, the present invention aims to provide a wearable active-passive hybrid assisting mechanism and an assisting method to solve the problems of single assisting form of the existing assisting mechanism and inability to provide assistance to the upper arm.

[0005] The object of the present invention is mainly achieved through the following technical solutions:

[0006] A wearable active-passive hybrid assisting mechanism includes a back frame, an upper limb assisting component, and a lumbar assisting component, and the upper limb assisting component and the lumbar assisting component are fixed on the back frame;

[0007] The upper limb assisting component includes a rotating shaft, a clockwork spring, and a Bowden cable. One end of the Bowden cable is connected to the clockwork spring through the rotating shaft, and the other end is connected to an end effector for handling items;

[0008] The lumbar assisting component includes a thigh support rod, a chest support rod, and a driving unit, and the thigh support rod is connected to the output shaft of the speed reducer of the driving unit.

[0009] Further, the upper limb assisting component further includes a support body, which includes a first side plate, a second side plate and a third side plate. The first side plate is parallel to the second side plate, and through holes are provided at corresponding positions on the first side plate and the second side plate.

[0010] Further, the upper limb assisting mechanism further includes a wire winding wheel, which is located between the first side plate and the second side plate. The rotating shaft sequentially passes through the first side plate, the wire winding wheel and the second side plate and is fixedly connected to the wire winding wheel. One end of the Bowden cable is fixed to the wire winding wheel, and the other end passes through the support body and extends to the end effector.

[0011] Further, a limiting device is provided at one end of the rotating shaft close to the first side plate, and one end of the clockwork spring is fixed and the other end is connected to the rotating shaft.

[0012] Further, the upper limb assisting component further includes a first end cap and a first outer shell. The first end cap is fixed on the first side plate, and the first outer shell is fixedly connected to the support body.

[0013] Further, the upper limb assisting component further includes a connecting plate, and the upper limb assisting component is connected to the back frame through the connecting plate.

[0014] Further, the waist assisting component further includes a hip side bracket, one end of which is fixed on the back plate and the other end extends to the front of the back plate, and the driving unit is fixed on the hip side bracket.

[0015] Further, the waist assisting component further includes a limiting disc, which is fixed on the outer shell of the driving unit.

[0016] Further, the chest support rod is sleeved on the limiting disc, and the chest support rod can rotate around the limiting disc.

[0017] Further, the limiting disc is provided with a limiting block to limit the rotation angle of the thigh support rod.

[0018] Further, the waist assisting component further includes a spring pin, which can lock the chest support rod.

[0019] Further, the waist assisting component further includes an angle sensor, which can identify the angle change of the upper body of the human body.

[0020] A method for assisting with the wearable active-passive hybrid assisting mechanism described in the above technical solution includes the following steps:

[0021] Step 1: Pre-tighten the clockwork spring of the upper limb assisting component to the angle at which a constant torque starts to be output;

[0022] Step 2: The user wears the assisting mechanism;

[0023] Step 3: The upper limb assistance component and the waist assistance component provide assistance to the user during the handling process.

[0024] The present invention can at least achieve one of the following beneficial effects:

[0025] (1) The wearable active-passive hybrid assistance mechanism of the present invention combines active waist assistance with passive upper limb assistance, and can provide assistance to both the waist and the upper limbs simultaneously, which is beneficial to enhancing the human handling ability and improving the operation efficiency.

[0026] (2) The upper limb assistance component of the wearable active-passive hybrid assistance mechanism of the present invention uses a clockwork spring to provide torque, has a simple structure, and can provide stable torque output within a certain stroke, and can effectively relieve the fatigue of the upper limb muscles during repetitive handling operations.

[0027] (3) The chest support rod of the waist assistance component of the wearable active-passive hybrid assistance mechanism of the present invention can rotate around the limit disc, which is convenient for wearing. After wearing, the chest support rod can be fixed to provide a support point for the waist assistance component.

[0028] In the present invention, the above technical solutions can also be combined with each other to achieve more preferred combination schemes. Other features and advantages of the present invention will be described in the subsequent specification, and some advantages can be made obvious from the specification, or can be understood by implementing the present invention. The purpose and other advantages of the present invention can be realized and obtained from the content specifically pointed out in the specification and the drawings. Description of the Drawings

[0029] The drawings are only for the purpose of showing specific embodiments, and are not considered as a limitation to the present invention. Throughout the drawings, the same reference signs denote the same components.

[0030] Figure 1 Schematic diagram of the wearable active-passive hybrid assistance mechanism according to an embodiment of the present invention;

[0031] Figure 2 Schematic diagram of the upper limb assistance component according to an embodiment of the present invention;

[0032] Figure 3 Exploded view of the upper limb assistance component according to an embodiment of the present invention;

[0033] Figure 4 Exploded view of the waist assistance component according to an embodiment of the present invention.

[0034] Reference Signs:

[0035] 1 - Back frame, 2 - Upper limb assisting component, 21 - First end cover, 22 - Bracket body, 221 - First side plate, 222 - Second side plate, 223 - Third side plate, 23 - Rotating shaft, 24 - Wire winding wheel, 25 - First outer shell, 26 - Connecting plate, 3 - Waist assisting component, 31 - Second end cover, 32 - Thigh support rod, 33 - Limiting disc, 34 - Chest support rod, 35 - Hip side bracket, 36 - Driving unit, 37 - Second outer shell, 38 - Spring pin. Detailed implementation manner

[0036] The following combines the accompanying drawings to specifically describe the preferred embodiments of the present invention. Among them, the accompanying drawings form a part of the present invention and are used together with the embodiments of the present invention to explain the principle of the present invention, and are not used to limit the scope of the present invention.

[0037] In the description of the embodiments of the present invention, it should be noted that unless otherwise clearly specified and limited, the term "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection or an integral connection, it can be a mechanical connection, it can be an electrical connection, it can be directly connected, or it can be indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meaning of the above terms in the present invention can be understood according to specific circumstances.

[0038] For the convenience of description, it is set that the side of the back frame 1 in contact with the human body is the front, and the opposite side is the back; after the human body wears the assisting mechanism, the direction towards the human body is inwards, and the direction away from the human body is outwards.

[0039] Embodiment 1

[0040] An embodiment of the present invention, as Figures 1 to 4 shown, discloses a wearable active and passive hybrid assisting mechanism, including a back frame 1, an upper limb assisting component 2 and a waist assisting component 3. Among them, the upper limb assisting component 2 uses a clockwork spring as an energy storage and release element, and then transmits the power of the upper limb assisting component 2 to the load through a Bowden cable; the waist assisting component 3 is driven by a motor and realizes torque input to the waist through a joint direct drive and a force transmission structure.

[0041] Specifically, the overall structure of the back frame 1 fits the curve of the human back, which is used to provide a stable fulcrum for the assisting mechanism. At the same time, in order to reduce the weight of the back frame 1 and the burden on the user, the back frame 1 adopts a frame structure. The back frame 1 is also provided with an installation interface for a shoulder strap (not shown in the figure) for installing the shoulder strap to conveniently fix the entire assisting mechanism on the user's back.

[0042] The upper limb assisting component 2 includes two symmetric left and right parts, and each part includes a support body 22, a rotating shaft 23, a wire winding wheel 24 and a connecting plate 26. The rotating shaft 23 and the wire winding wheel 24 are installed on the support body 22, and the support body 22 is installed above the back plate 1 near the human shoulder position through the connecting plate 26. The support body 22 includes a first side plate 221, a second side plate 222 and a third side plate 223. The first side plate 221 is parallel to the second side plate 222, and through holes are provided at corresponding positions on the first side plate 221 and the second side plate 222 for installing the rotating shaft 23. An installation interface for Bowden cable is provided on the third side plate 223.

[0043] The rotating shaft 23 is installed in the through holes of the first side plate 221 and the second side plate 222 of the support body 22 through bearings. After installation, the rotating shaft 23 can rotate around its own axis. A limiting device is provided at one end of the rotating shaft 23 to prevent the rotating shaft 23 from completely passing through the support body 22. A clockwork spring is installed at the end of the rotating shaft 23 provided with the limiting device. The clockwork spring can continuously provide a large torque, and the torque provided remains unchanged within the working stroke. At the same time, during the return stroke, its torque can also help the Bowden cable to wind around the wire winding wheel.

[0044] The wire winding wheel 24 is fixedly connected to the other side of the rotating shaft 23. During installation, first place the wire winding wheel 24 between the first side plate 221 and the second side plate 222, and then insert the rotating shaft 23 from the outside of the first side plate. The rotating shaft 23 passes through the first side plate 221, the wire winding wheel 24 and the second side plate 222 in sequence. The limiting device of the rotating shaft 23 is located outside the first side plate 221 to prevent the rotating shaft 23 from completely passing through the support body 22. The wire winding wheel 24 is fixedly connected to the rotating shaft 23. After installation, the wire winding wheel 24 can rotate around the axis of the rotating shaft 24 together with the rotating shaft 23.

[0045] Further, the upper limb assisting component 2 of this embodiment further includes a first end cover 21. The first end cover 21 is installed on the outside of the first side plate 221, and its shape is adapted to that of the first side plate 221. Setting the first end cover 21 can, on the one hand, limit the axial displacement of the rotating shaft 23, and on the other hand, limit the clockwork spring within the first side plate 221 of the support body 22 to prevent the clockwork spring from being exposed and damaged, affecting the use performance.

[0046] Further, the upper limb assisting component 2 of this embodiment further includes a first outer shell 25. The shape of the first outer shell 25 corresponds to that of the support body 22, and the first outer shell 25 is fixedly connected to the support body 22. After the first outer shell 25 is installed, the rotating shaft 23 and the wire winding wheel 24 are enclosed within the support body 22. On the one hand, it protects the components inside the support body 22, and on the other hand, it increases the aesthetics. The two parts of the assembled upper limb assisting component 2 are respectively fixed at the shoulder positions on the back of the back frame 1 through two connecting plates 26.

[0047] The winding wheel 24 is provided with an installation interface for the Bowden cable. One end of the Bowden cable is fixed to the winding wheel, and the other end passes through the Bowden cable installation interface on the third side surface 223, and then extends to the front side of the human body through an anchor point (not shown in the figure) on the shoulder strap and is fixed to the end effector. For different items to be carried, the assisting mechanism of this embodiment can be equipped with different end effectors, such as hooks, gloves, grippers, etc. A limiting device is provided at one end of the Bowden cable connected to the end effector to prevent the Bowden cable from retracting through the anchor point to the upper limb assisting assembly 2.

[0048] When the upper limb assisting assembly is installed, the Bowden cable passes through the winding wheel 24, the support body 22, and the anchor point on the shoulder strap in sequence, and then the clockwork spring is pre-tightened to an angle at which it starts to output a constant torque, so that the clockwork spring always maintains the same torque output within the use stroke of the Bowden cable. During use, the human hand holds the end effector, or connects the end effector to the human wrist through gloves, wrist straps, etc. Subsequently, during the process of the human hand stretching the end effector to the state where the arm is extended, the Bowden cable drives the winding wheel 24 and the rotating shaft 23 to rotate, so that the clockwork spring can continuously provide a certain torque output. By adjusting the initial pre-tightening torque of the clockwork spring and the length of the Bowden cable, a certain tension is maintained on the human arm when reaching for a heavy object. At this time, the clockwork spring is in the energy storage stage; when the end effector of the Bowden cable is connected to the item to be carried, during the process of the human body getting up, the resilience of the clockwork spring drives the item to be carried to be lifted towards the human body. At this time, the clockwork spring is in the energy release stage, thereby reducing the muscle force exerted by the human arm; further, during the process of walking while carrying the item, the clockwork spring always maintains a certain torsional moment, thereby transferring a part of the weight of the item to be carried to the back plate 1 and improving the stress state of the human arm during the carrying process.

[0049] The waist assisting assembly 3 includes two symmetrically arranged parts on the left and right. Each part includes a thigh support rod 32, a limiting disc 33, a chest support rod 34, a hip side bracket 35, a driving unit 36, and a power supply unit (not shown in the figure). The hip side bracket 35 is an L-shaped bracket. One end of the hip side bracket 35 is fixed to the back plate 1, and the other end extends to the front of the back plate 1 and is provided with a through hole, providing an installation platform for the waist assisting assembly 3. The driving unit 36 includes a motor, a reducer, an encoder, and a driving controller. During use, the rotation axis of the output of the reducer coincides with the rotation axis of the human hip joint. The driving unit 36 is fixed to the hip side bracket 35. The power supply unit is installed on the back frame 1. Preferably, the power supply unit of this embodiment uses a battery.

[0050] The limit disk 33 is a disk-shaped structure with a hole in the middle and is fixed on the housing of the drive unit 36. One end of the limit disk 33 is provided with a mounting interface for the chest support rod 34. The chest support rod 34 can rotate around the limit disk 33. When wearing the power assist mechanism of this embodiment, the chest support rod 34 can be rotated away from the backrest 1 to facilitate the wearing of the power assist mechanism. After wearing, the chest support rod 34 is rotated towards the human body and pressed against the chest of the user to provide a force support point for the waist power assist component. The other end of the limit disk 33 is provided with a limit block for restricting the rotation angle of the thigh support rod 32. On the one hand, it prevents the thigh support rod 32 from pressing too tightly against the human thigh when rotating inward, causing harm to the human body. On the other hand, it prevents the rotation angle of the thigh support rod 32 from being too large when rotating outward and interfering with the item being carried or the chest support rod 34, etc. One end of the chest support rod 34 is sleeved on the limit disk 33, and the other end extends upward and is pressed against the user's chest after wearing. The chest support rod 34 can rotate around the limit disk 33. The upper end of the thigh support rod 32 is connected to the output end of the reducer, and the lower end is shaped to fit the shape of the human thigh. During use, the position of the lower end of the thigh support rod 32 is located on the front side of the user's thigh. During the process of lifting and carrying, the thigh support rod 32 applies pressure to the human thigh, thereby providing torque for the hip joint, and the chest support rod 34 provides a fulcrum for the torque action on the upper body.

[0051] Furthermore, the waist power assist component 3 is also provided with a spring pin 38. After the waist power assist component 3 is worn, the spring pin 38 locks the chest support rod 34, so that the chest support rod 34 can provide a stable force support point for the waist power assist component 3. At this time, except for the thigh support rod 32 that can rotate with the output end of the reducer of the drive unit 36, the other components of the waist power assist component 3 are relatively fixed.

[0052] Furthermore, the waist power assist component 3 also includes a second end cover 31 and a second housing 37. The shape of the second housing 37 is adapted to the shapes of the hip side bracket 35 and the drive unit 36 and is used to protect the drive unit. Together, the second end cover 31 and the second housing 37 fix the various components of the waist power assist component 3 together to form an integral body, protecting the internal components of the waist power assist component on the one hand and increasing the aesthetics on the other hand.

[0053] Furthermore, the waist power assist component 3 also includes an angle sensor (not shown in the figure). The angle sensor is installed at the waist position of the backrest 1. The angle sensor can identify the angle change of the human upper body, then judge the phase during the process of the human body lifting a heavy object through a recognition algorithm, and then control the motor to output corresponding torque through the driver of the drive unit 36, so as to achieve active assistance.

[0054] During use, first rotate the chest support rod 34 outward to facilitate wearing. After wearing, rotate the chest support rod 34 inward to press against the user's chest, and then use the spring pin 38 to fix the chest support rod 34. During the process of a human body getting up while carrying a heavy object, the angle sensor detects the angle change of the upper body of the human body, drives the motor to generate a corresponding torque, and transmits the power to the human body through the chest support rod 34 and the thigh support rod 32, providing a part of the torque input to the human hip joint, thereby achieving the effect of reducing the exertion of the lumbar muscles.

[0055] Embodiment 2

[0056] An embodiment of the present invention discloses a boosting method for a wearable active-passive hybrid boosting mechanism. Using the wearable active-passive hybrid boosting mechanism of Embodiment 1, it includes the following steps:

[0057] Step 1: Pre-tighten the clockwork spring of the upper limb boosting component 2 to the angle at which it starts to output a constant torque:

[0058] Fix one end of the clockwork spring, and connect the other end to the rotating shaft 23. Fix one end of the Bowden cable to the winding wheel 24, and pass the other end through the anchor point on the shoulder strap. Then pre-tighten the clockwork spring to the angle at which it starts to output a constant torque, so that the clockwork spring always maintains the same torque output within the working stroke of the Bowden cable.

[0059] Step 2: The user wears the boosting mechanism:

[0060] Rotate the chest support rod 34 of the waist boosting component 3 outward. After wearing, rotate the chest support rod 34 inward and press it against the user's chest, and then lock the chest support rod 34 with the spring pin 38.

[0061] Step 3: The upper limb boosting component 2 and the waist boosting component 3 provide assistance to the user during the handling process:

[0062] The user's hand drives the end effector of the Bowden cable of the upper limb boosting component 2 to reach for the item to be carried. When the end effector is connected to the item to be carried, during the process of the human body getting up, the resilience of the clockwork spring drives the item to be carried to be lifted towards the human body. At this time, the clockwork spring is in the energy release stage, thereby reducing the required exertion of the human arm muscles and achieving the purpose of assistance. At the same time, during the process of the human body getting up while carrying, the angle sensor of the waist boosting component 3 detects the angle change of the upper body of the human body, drives the motor to generate a corresponding torque, and transmits the power to the human body through the chest support rod 34 and the thigh support rod 32, providing a part of the torque input to the human hip joint, thereby reducing the exertion of the lumbar muscles and achieving the purpose of assistance.

[0063] When the user is walking while carrying an object, the upper limb assisting component 2 continuously outputs torque to offset part of the gravity of the carried object. At the same time, the waist assisting component 3 continuously provides torque input to the human hip joint, reducing the exertion of the waist muscles during the carrying process, so as to achieve the purpose of providing assistance to both the upper limb and the waist simultaneously.

[0064] In summary, for a wearable active-passive hybrid assisting mechanism and an assisting method provided by an embodiment of the present invention, the waist assisting component adopts an active assisting mode, and the upper limb assisting component adopts a passive assisting mode. By combining the active waist assistance with the passive upper limb assistance, it can provide assistance to both the waist and the upper limb simultaneously, which is beneficial to enhancing the human carrying ability and improving the operation efficiency.

[0065] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A boosting method for a wearable active-passive hybrid boosting mechanism, characterized in that, it includes the following steps: Step 1: Pre-tighten the clockwork spring of the upper limb boosting component (2) to the angle at which it starts to output a constant torque; Specifically: Fix one end of the clockwork spring, connect the other end to the rotating shaft (23), fix one end of the Bowden cable on the winding wheel (24), and pass the other end through the anchor point on the shoulder strap. Pre-tighten the clockwork spring to the angle at which it starts to output a constant torque; Step 2: The user wears the boosting mechanism; Specifically: Rotate the chest support rod (34) of the waist boosting component (3) outwards. After wearing, rotate the chest support rod (34) inwards and press it against the user's chest. Use the spring pin (38) to lock the chest support rod (34); Step 3: The upper limb boosting component (2) and the waist boosting component (3) provide assistance to the user during the handling process; Among them, the upper limb boosting component (2) provides assistance to the user during the handling process. Specifically: The user's hand drives the end effector connected to the Bowden cable to reach for the item to be handled. When the end effector is connected to the item to be handled, during the process of the human body getting up, the resilience of the clockwork spring drives the item to be handled to be lifted towards the human body; The waist boosting component (3) provides assistance to the user during the handling process. Specifically: During the process of the human body getting up during handling, the angle sensor of the waist boosting component (3) detects the angle change of the upper body of the human body, and the driving unit (36) generates a corresponding torque, and transmits the power to the human body through the chest support rod (34) and the thigh support rod (32), providing a part of the torque input to the human hip joint; Among them, the wearable active-passive hybrid boosting mechanism includes a back frame (1), the upper limb boosting component (2) and the waist boosting component (3), and the upper limb boosting component (2) and the waist boosting component (3) are fixed on the back frame (1); The back frame (1) adopts a frame structure, and the overall structure of the back frame (1) fits the curve of the human back, and is used to provide a stable fulcrum for the boosting mechanism; The upper limb boosting component (2) includes a rotating shaft (23), a clockwork spring and a Bowden cable. One end of the Bowden cable is connected to the clockwork spring through the rotating shaft (23), and the other end is connected to the end effector, and the end effector is used to handle items; The waist boosting component (3) includes a thigh support rod (32), a chest support rod (34) and a driving unit (36). The thigh support rod (32) is connected to the output shaft of the reducer of the driving unit (36); the lower end shape of the thigh support rod (32) fits the shape of the human thigh; The waist boosting component (3) further includes a hip side bracket (35). One end of the hip side bracket (35) is fixed on the back frame (1), and the other end extends to the front of the back frame (1). The driving unit (36) is fixed on the hip side bracket (35); the rotation axis of the output shaft of the reducer coincides with the rotation axis of the human hip joint; The upper limb assisting component (2) further includes a support body (22), and the support body (22) includes a first side plate (221), a second side plate (222) and a third side plate (223). The first side plate (221) is parallel to the second side plate (222), and through holes are provided at corresponding positions on the first side plate (221) and the second side plate (222); the support body (22) is installed above the backrest (1) near the human shoulder position; The upper limb assisting component further includes a wire winding wheel (24), and the wire winding wheel (24) is located between the first side plate (221) and the second side plate (222). The rotating shaft (23) sequentially passes through the first side plate (221), the wire winding wheel (24) and the second side plate (222) and is fixedly connected to the wire winding wheel (24). One end of the Bowden cable is fixed to the wire winding wheel (24), and the other end passes through the support body (22) and extends to the end effector; The wearable active and passive hybrid assisting mechanism further includes a shoulder strap, and the shoulder strap is installed on a shoulder strap installation interface on the backrest (1), and an anchor point is provided on the shoulder strap; the Bowden cable sequentially passes through the wire winding wheel (24), the support body (22) and the anchor point on the shoulder strap to pre-tighten the clockwork spring to an angle at which a constant torque starts to be output; The waist assisting component (3) further includes a limiting disc (33), and the limiting disc (33) is fixed on the outer shell of the driving unit (36); One end of the limiting disc (33) is provided with an installation interface for the chest support rod (34); one end of the chest support rod (34) is sleeved on the installation interface, and the chest support rod (34) can rotate around the limiting disc (33), and the other end extends upward and presses against the user's chest after wearing; a limiting block is provided at the other end of the limiting disc (33), and the limiting block is used to limit the rotation angle of the thigh support rod (32); The waist assisting component (3) further includes a second end cover (31) and a second outer shell (37), and the second end cover (31) and the second outer shell (37) fix the thigh support rod (32), the chest support rod (34), the driving unit (36), the hip side bracket (35) and the limiting disc (33) of the waist assisting component (3) together to form an integral body.

2. The assisting method according to claim 1, characterized in that, A limiting device is provided at one end of the rotating shaft (23) close to the first side plate (221), and one end of the clockwork spring is fixed and the other end is connected to the rotating shaft (23).

3. The assisting method according to claim 2, characterized in that, The upper limb assisting component further includes a first end cover (21) and a first outer shell (25), the first end cover (21) is fixed on the first side plate (221), and the first outer shell (25) is fixedly connected to the support body (22).

4. The assisting method according to any one of claims 1-3, characterized in that, The upper limb assisting component (2) further includes a connecting plate (26), and the upper limb assisting component (2) is connected to the backrest (1) through the connecting plate (26).

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