Active waist assisting exoskeleton device

Abstract

The invention discloses an active waist assisting exoskeleton device which comprises a trunk assembly, a waist assembly and leg rod assemblies. The trunk assembly is fixedly connected with the waist assembly through a threaded fastener, the leg rod assembly is connected with the waist assembly through a motor, when a human body starts to lift goods from a bending or squatting posture, the motor generates power-assisted torque, and the power-assisted torque is converted into lifting force for lifting the goods through the trunk part and the waist connecting part, so that carrying assistance is achieved. According to the waist assisting exoskeleton, the assisting effect of the waist assisting exoskeleton is improved, and the operation convenience is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of exoskeletons, and in particular relates to an active waist-assisting exoskeleton device. Background Art

[0002] In work scenarios such as construction sites, logistics factories, automobile production workshops, and airplane consignment, workers need to perform various lifting actions for a long time and repeatedly, such as bending over to lift heavy objects, carrying heavy objects and walking. The waist is subjected to a large load, and after years of lifting, many workers will suffer from back injuries. The waist-assisted exoskeleton is a wearable device that drives the worker's back to stand upright through the exoskeleton's power-assist system and transmits part of the load to the legs through a mechanical structure. By wearing a waist-assisted exoskeleton device, workers can effectively reduce the pressure on the spine and reduce damage to the workers' back muscles.

[0003] At present, the design of waist-assisted exoskeleton has achieved initial results, but there are still many problems in the assistance effect. Due to the complex structure of the human body, the waist exoskeleton that cannot be properly adjusted according to the length of the human torso will have great uncertainty in the assistance effect. In addition, the carrying gloves or carrying hooks of the existing active waist-assisted exoskeletons are connected to the shoulder straps through webbing, resulting in the load of the cargo being transferred to the human shoulder through the webbing and shoulder straps, rather than directly to the structural parts of the active waist exoskeleton, resulting in part of the cargo load being transferred from the shoulder to the waist, which greatly reduces the efficiency of the waist exoskeleton assistance. Summary of the invention

[0004] The present invention aims to provide an active waist-assisted exoskeleton device to improve the assisting effect of the waist-assisted exoskeleton and improve the convenience of operation.

[0005] In order to achieve the purpose of the present invention, the present invention provides an active waist-assisted exoskeleton device, including a trunk component, a waist component and a leg rod component; the trunk component is fixedly connected to the waist component through a threaded fastener, and the leg rod assembly is connected to the waist component through a motor.

[0006] The torso component includes a load-bearing rod structure, a back shell structure and a wearing and binding structure; the lower part of the load-bearing rod structure is installed inside the back shell structure, and the upper end is connected to a carrying hook through a webbing, and the load-bearing rod structure has a length adjustment mechanism; the back shell structure is located at the rear of the human body's torso, and its lower part is connected to the waist component; the back of the wearing and binding structure is fixedly connected to the back shell by Velcro and threaded fasteners, and buckles and webbing are provided on the adjustable wearing and binding structure.

[0007] The load-bearing rod structure includes a load-bearing rod connecting block, an upper load-bearing rod, a spring buckle, a locking sleeve, a lower connecting rod, a screw, a webbing, an adjustment buckle, a carrying hook, and a knurled pin; one end of the load-bearing rod connecting block is installed on the upper load-bearing rod through a threaded fastener, and a waist-shaped through hole is opened in the middle of the load-bearing rod connecting block for connecting the webbing; the upper side of the upper load-bearing rod is connected to the load-bearing rod connecting block, and the spring buckle is installed on the lower side; the locking sleeve is installed on the upper side of the lower load-bearing rod by gluing, and a length adjustment hole with a spacing of 15 to 20 mm is opened in the middle of the lower load-bearing rod; the upper and middle parts of the lower load-bearing rod are installed in the clamping groove of the upper skeleton and fastened by screws, and the lower side is installed in the clamping groove on the upper side of the waist connecting arm and fastened by screws; the knurled pin is used for positioning between the lower load-bearing rod and the waist connecting arm; the carrying hook is connected to the load-bearing connecting block through the webbing; an adjustment buckle is installed on the webbing.

[0008] When the locking sleeve is in a locked state, the relative positions of the upper bearing rod and the lower bearing rod remain unchanged and force can be transmitted through the locking sleeve; when the locking sleeve is in a released state, the upper bearing rod can slide up and down relative to the lower bearing rod; when the upper bearing rod is inserted into the hollow hole of the lower bearing rod, the spring buckle is located in different length adjustment holes.

[0009] The back shell structure includes a decorative panel, a back shell cover, a battery assembly, an upper frame, a back shell body, a lower frame, and a controller; the decorative panel is installed on the back shell cover by gluing, the back shell cover is buckled on the back shell body and locked by threaded fasteners; the upper end of the battery assembly is fixed to the upper frame by threaded fasteners, and the lower end is fixed to the lower frame by threaded fasteners; the upper frame is fixed to the upper side of the back shell body by threaded fasteners; the lower frame is fixed to the upper side of the back shell body by threaded fasteners; the controller is installed on the lower frame by threaded fasteners.

[0010] The wearing and binding structure includes shoulder straps, a chest guard, a waist seal and a back shell pad; one end of the shoulder strap is connected to the back shell body by a threaded fastener and Velcro, and the other end is sewn together with the waist seal; the shoulder strap is provided with an adjustment buckle; the two ends of the chest guard are connected to the left and right shoulder straps, and the chest guard is provided with a buckle; the rear side of the waist seal is connected to the waist component by a threaded fastener, and the front side of the waist seal is provided with Velcro; the back shell pad is installed on the back shell body by Velcro.

[0011] The waist assembly includes a connecting arm, a motor, an outer cover of the motor, a knob, a positioning bead, a knob cover, an inner cover of the motor, a waist seal support plate, and a connecting arm cover plate; the upper end of the connecting arm is connected to the lower frame by a threaded fastener so that the left and right connecting arms are coupled into one, and the other end is provided with a motor mounting interface and a leg rod limiting boss, and a wire passing groove is opened in the middle of the connecting arm; the motor connects the connecting arm and the leg rod assembly; the outer cover of the motor is located on the outside of the motor, is fixed to the connecting arm by threaded fasteners and provides a mounting interface for the knob; the knob is installed on the outer cover of the motor by threaded fasteners; the knob cover is connected to the knob by a snap-on structure, and the positioning bead is installed on the knob cover; the inner cover of the motor is connected to the connecting arm by threaded fasteners, and the connecting arm cover plate is installed on the connecting arm by gluing.

[0012] The leg rod assembly includes a leg rod cover, a leg rod connecting seat, a flat-headed grooved pin shaft, a shaft retaining ring, an upper connecting head, a leg rod, a lower connecting head, a ball joint, a locking screw, a locking nut, a leg binding support plate, and a leg binding; the leg rod cover is fixed to the leg rod connecting seat by a threaded fastener; the side surface of the leg rod connecting seat cooperates with the limiting boss of the connecting arm to limit the rotation angle of the leg rod assembly; the upper connecting head is hinged to the lower end of the leg rod connecting seat by the flat-headed grooved pin shaft and the shaft retaining ring; one end of the leg rod is fixedly connected to the upper connecting head by a threaded fastener, and the other end is fixedly connected to the lower connecting head by a threaded fastener; one end of the ball joint is screwed to the stud of the lower connecting head, and the other end is connected to the leg binding support plate by the locking screw and the locking nut; the leg binding is installed on the leg binding support plate.

[0013] Compared with the prior art, the significant improvements of the present invention are as follows: (1) The present invention is provided with a load-bearing rod structure. When workers are carrying goods, the cargo load is directly transferred to the load-bearing rod structure through the carrying hook and the webbing, and then transferred to the human legs through the waist assembly and the leg assembly. The force transmission path is not transmitted to the waist through the shoulder, which effectively improves the power-assisting effect of the waist-assisted exoskeleton; (2) The load-bearing rod structure of the present invention is provided with an upper load-bearing rod, a lower load-bearing rod and a spring buckle. Through the telescopic connection of the upper load-bearing rod and the lower load-bearing rod and the limit of the spring buckle, the length adjustment function of the load-bearing rod structure can be realized, thereby achieving the purpose of adapting to the torso length of different wearers; (3) The left and right knobs are located on the outside of the human hip. The power-assisting mode or the power-assisting gear can be adjusted by rotating the knob. The knob is located close to the hand position when the human arm is naturally drooping. When the power-assisting mode or the power-assisting gear needs to be adjusted, the human arm only needs to be slightly bent to touch the knob without lifting the entire forearm, thereby improving the convenience of operation.

[0014] In order to more clearly illustrate the functional characteristics and structural parameters of the present invention, further description is given below in conjunction with the accompanying drawings and specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0016] Figure 1 is a schematic diagram of the overall structure of the active waist exoskeleton device of the present invention;

[0017] Figure 2 is a schematic structural diagram of a trunk assembly of the present invention;

[0018] Figure 3 It is a structural schematic diagram of the load-bearing rod structure of the present invention;

[0019] Figure 4 is an exploded view of the load-bearing rod structure of the present invention;

[0020] Figure 5 is a schematic structural diagram of the back shell structure of the present invention;

[0021] Figure 6 is an exploded view of the back shell structure of the present invention;

[0022] Figure 7 It is a structural schematic diagram of the wearing and binding structure of the present invention;

[0023] Figure 8 is a schematic structural diagram of a waist component of the present invention;

[0024] Fig. 9 is an exploded view of the waist component of the present invention;

[0025] Fig.10 is a schematic structural diagram of the leg rod assembly of the present invention;

[0026] Fig.11 It is an exploded view of the leg rod assembly of the present invention.

[0027] The accompanying drawings are marked as follows: 1-trunk assembly; 2-waist assembly; 3-leg rod assembly; 110-load-bearing rod structure; 120-back shell structure; 130-wearing binding structure; 111-load-bearing rod connecting block; 112-upper load-bearing rod; 113-spring buckle; 114-locking sleeve; 115-lower connecting rod; 116-screw; 117-length adjustment hole; 118-ribbon; 119-adjustment buckle; 1110-carrying hook; 1111-knurled pin; 121-decorative plate; 122-back shell cover; 123-battery assembly; 124-upper frame; 125-back shell body; 126-lower frame; 127-controller composition; 131-shoulder strap; 132-chest guard; 133-waist seal; 134-back shell pad; 201-connecting arm; 202-motor; 203-motor outer cover; 204-knob; 205-positioning bead; 206-knob cover; 207-machine inner cover; 208-waist seal support plate; 209-connecting arm cover; 301-leg rod cover; 302-leg rod connecting seat; 303-flat head grooved pin shaft; 304-shaft retaining ring; 305-upper connector; 306-leg rod; 307-lower connector; 309-ball joint; 308-locking screws; 312-locking nuts; 310-leg binding support plate; 311-leg binding. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0029] The present invention is an active waist assist exoskeleton device, combined with Figure 1 , comprising a trunk component 1, a waist component 2 and a leg rod component 3;

[0030] The trunk component 1 is fixedly connected to the waist component 2 through a threaded fastener, and the leg rod component 3 is connected to the waist component 2 through a motor. When the human body starts to lift the goods from a bent or squatting position, the motor generates a power-assist torque, and converts the power-assist torque into a lifting force for lifting the goods through the waist component 2 and the trunk component 1, so as to achieve a carrying assist.

[0031] Combination Figure 2The torso component 1 includes a load-bearing rod structure 110, a back shell structure 120 and a wearing and binding structure 130; the lower part of the load-bearing rod structure 110 is installed inside the back shell structure 120, and the upper end is connected to a carrying hook through a webbing. The load-bearing rod structure 110 has a length adjustment mechanism, which can be adjusted in length to adapt to different human torso sizes; the back shell structure 120 is located at the rear of the human torso, and its lower part is connected to the waist component 2; the back of the wearing and binding structure 130 is fixedly connected to the back shell 110 by Velcro and threaded fasteners, and the adjustable wearing and binding structure 130 is provided with buckles and webbing to adapt to different human sizes.

[0032] Combination Figure 3 and 4 The bearing rod structure 110 includes a bearing rod connecting block 111, an upper bearing rod 112, a spring buckle 113, a locking sleeve 114, a lower connecting rod 115, a screw 116, a webbing 118, an adjustment buckle 119, a carrying hook 1110, and a knurled pin 1111; one end of the bearing rod connecting block 111 is installed on the upper bearing rod 112 through a threaded fastener, and a waist-shaped through hole is opened in the middle of the bearing rod connecting block 111 for connecting the webbing 118; the upper side of the upper bearing rod 112 is connected to the bearing rod connecting block 111, and the spring buckle 113 is installed on the lower side; the locking sleeve 114 is installed on the upper side of the lower bearing rod 115 by gluing, and is used to lock and release the upper bearing rod The force rod 112, the middle part of the lower force rod 115 is provided with 6 length adjustment holes 117 with a spacing of 15 to 30 mm; the upper and middle part of the lower force rod 115 is installed in the clamping groove of the upper frame 124 and is fastened by screws 116, and the lower side is installed in the clamping groove on the upper side of the waist connecting arm 201 and is fastened by screws 116; the knurled pin 1111 is used for positioning between the lower force rod 115 and the waist connecting arm 201; the carrying hook 1110 is connected to the force connecting block 111 through the webbing 118; the webbing 118 is provided with an adjustment buckle 119 to realize length adjustment to adapt to the length of different upper limbs of the human body.

[0033] When the locking sleeve 114 is in a locked state, the relative positions of the upper bearing rod 112 and the lower bearing rod 115 remain unchanged and force can be transmitted through the locking sleeve 114; when the locking sleeve 114 is in a released state, the upper bearing rod 112 can slide up and down relative to the lower bearing rod 115 to achieve length adjustment; when the upper bearing rod 112 is inserted into the hollow hole of the lower bearing rod 115, the spring buckle 113 is located in different length adjustment holes 117, and the length of the bearing rod structure 110 can be adjusted in steps to adapt to the torso length of different wearers.

[0034] Combination Figure 5 and 6 The back shell structure 120 includes a decorative plate 121, a back shell cover 122, a battery assembly 123, an upper frame 124, a back shell body 125, a lower frame 126, and a controller 127; the decorative plate 121 is installed on the back shell cover 122 by gluing, and the back shell cover 122 is buckled on the back shell body 125 and locked by threaded fasteners; the upper end of the battery assembly 123 is fixed to the upper frame 124 by threaded fasteners, and the lower end is fixed to the lower frame 126 by threaded fasteners; the upper frame 124 is fixed to the upper side of the back shell body 125 by threaded fasteners; the lower frame 126 is fixed to the upper side of the back shell body 125 by threaded fasteners; the controller 127 is installed on the lower frame 126 by threaded fasteners.

[0035] Combination Figure 7 The wearing and binding structure 130 includes shoulder straps 131, a chest guard 132, a waist seal 133 and a back shell pad 134; one end of the shoulder strap 131 is connected to the back shell body 125 by a threaded fastener and a Velcro, and the other end is sewn together with the waist seal 133; the shoulder strap 131 is provided with an adjustment buckle to adjust the length of the shoulder strap; the two ends of the chest guard 132 are connected to the left and right shoulder straps 131, and the chest guard 132 is provided with a buckle to achieve quick opening and length adjustment; the rear side of the waist seal 133 is connected to the waist component 2 by a threaded fastener, and the front side of the waist seal 133 is provided with Velcro to achieve quick buckling and opening; the back shell pad 134 is installed on the back shell body 125 by Velcro.

[0036] Combination Figure 8 and 9The waist assembly 2 includes a connecting arm 201, a motor 202, a motor outer cover 203, a knob 204, a positioning bead 205, a knob cover 206, a motor inner cover 207, a waist seal support plate 208, and a connecting arm cover plate 209; the upper end of the connecting arm 201 is connected to the lower frame 126 by a threaded fastener so that the left and right connecting arms are coupled into one, and the other end is provided with a motor mounting interface and a leg rod limiting boss, and a wire passing groove is opened in the middle of the connecting arm 201; the motor 202 connects the connecting arm 201 and the leg rod assembly 3, generates torque during the transportation process, and realizes transportation assistance; the outer cover 203 of the motor is positioned On the outside of the motor 202, it is fixed to the connecting arm 201 by threaded fasteners and serves as the mounting interface of the knob 204; the knob 204 is installed on the outer cover 203 of the motor by threaded fasteners, and the knob 204 includes a left knob and a right knob to respectively realize the power-assist mode and the power-assist gear adjustment; the knob cover 206 is connected to the knob 204 by a snap-on structure, and the positioning beads 205 are installed on the knob cover 206 to realize the gear positioning function; the inner cover 207 of the motor is connected to the connecting arm 201 by threaded fasteners, and the connecting arm cover plate 209 is installed on the connecting arm 201 by gluing.

[0037] Combination Fig.10 and 11 The leg rod assembly 3 includes a leg rod cover 301, a leg rod connecting seat 302, a flat head grooved pin shaft 303, a shaft retaining ring 304, an upper connecting head 305, a leg rod 306, a lower connecting head 307, a ball joint 309, a locking screw 308, a locking nut 312, a leg binding support plate 310, and a leg binding 311; the leg rod cover 301 is fixed to the leg rod connecting seat 302 by threaded fasteners; the side of the leg rod connecting seat 302 cooperates with the limiting boss of the connecting arm 201, which can limit the forward rotation angle of the leg rod assembly 3 to less than 135° and the backward rotation angle to less than 15°, so as to ensure that the movement range of the human leg is always within a safe range; the upper connecting head 305 is fixed to the leg rod connecting seat 302 by the flat head grooved pin shaft 303 and the shaft are hinged to the lower end of the leg rod connecting seat 302 with a retaining ring 304, so that the leg rod can rotate around the sagittal axis to release the abduction freedom of the human leg; one end of the leg rod 306 is fixedly connected to the upper connecting head 305 by a threaded fastener, and the other end is fixedly connected to the lower connecting head 307 by a threaded fastener; one end of the spherical joint 309 is screwed on the stud of the lower connecting head 307, and the other end is connected to the leg binding support plate 310 by the locking screw 308 and the locking nut 312. The spherical joint 309 can ensure that the binding support plate 310 and the human thigh always keep matching with each other; the leg binding support plate 310 is installed with the leg binding 311.

[0038] Furthermore, the upper bearing rod 112 is a hollow carbon fiber tube, and the lower bearing rod 115 is a hollow carbon fiber tube.

[0039] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0040] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An active waist-assisting exoskeleton device, characterized in that: It comprises a trunk component (1), a waist component (2) and a leg rod component (3); The trunk component (1) is fixedly connected to the waist component (2) via a threaded fastener, and the leg rod component (3) is connected to the waist component (2) via a motor.

2. The active waist-assisting exoskeleton device according to claim 1, characterized in that: The torso component (1) comprises a load-bearing rod structure (110), a back shell structure (120) and a wearing and binding structure (130); the lower part of the load-bearing rod structure (110) is installed inside the back shell structure (120), and the upper end is connected to a carrying hook through a webbing, and the load-bearing rod structure (110) has a length adjustment mechanism; the back shell structure (120) is located at the rear of the human body trunk, and its lower part is connected to the waist component (2); the back of the wearing and binding structure (130) is fixedly connected to the back shell (110) through Velcro and threaded fasteners, and buckles and webbing are provided on the adjustable wearing and binding structure (130).

3. The active waist-assisting exoskeleton device according to claim 2, characterized in that: The load-bearing rod structure (110) comprises a load-bearing rod connecting block (111), an upper load-bearing rod (112), a spring buckle (113), a locking sleeve (114), a lower connecting rod (115), a screw (116), a webbing (118), an adjusting buckle (119), a carrying hook (1110), and a knurled pin (1111); one end of the load-bearing rod connecting block (111) is mounted on the upper load-bearing rod (112) by means of a threaded fastener, and a waist-shaped through hole is provided in the middle of the load-bearing rod connecting block (111) for connecting the webbing (118); the upper side of the upper load-bearing rod (112) is connected to the load-bearing rod connecting block (111), and the spring buckle (113) is installed on the lower side; the locking sleeve (114) is mounted on the lower connecting rod (115) by means of gluing. On the upper side of the load-bearing rod (115), the middle part of the lower load-bearing rod (115) is provided with (6) length adjustment holes (117) with a spacing of 15 to 20 mm. The upper and middle parts of the lower load-bearing rod (115) are installed in the clamping groove of the upper frame (124) and are fastened by screws (116), and the lower side is installed in the clamping groove on the upper side of the waist connecting arm (201) and is fastened by screws (116); the knurled pin (1111) is used for positioning between the lower load-bearing rod (115) and the waist connecting arm (201); the carrying hook (1110) is connected to the load-bearing connecting block (111) through the webbing (118); and an adjustment buckle (119) is installed on the webbing (118).

4. The active waist-assisting exoskeleton device according to claim 3, characterized in that: When the locking sleeve (114) is in a locked state, the relative positions of the upper bearing rod (112) and the lower bearing rod (115) remain unchanged and force can be transmitted through the locking sleeve (114); when the locking sleeve (114) is in a released state, the upper bearing rod (112) can slide up and down relative to the lower bearing rod (115); when the upper bearing rod (112) is inserted into the hollow hole of the lower bearing rod (115), the spring buckle (113) is located in different length adjustment holes (117).

5. The active waist-assisting exoskeleton device according to claim 2, characterized in that: The back shell structure (120) comprises a decorative plate (121), a back shell cover (122), a battery assembly (123), an upper frame (124), a back shell body (125), a lower frame (126), and a controller (127); the decorative plate (121) is mounted on the back shell cover (122) by gluing, the back shell cover (122) is buckled on the back shell body (125), and is locked by threaded fasteners; the upper end of the battery assembly (123) is fixed to the upper frame (124) by threaded fasteners, and the lower end is fixed to the lower frame (126) by threaded fasteners; the upper frame (124) is fixed to the upper side of the back shell body (125) by threaded fasteners; the lower frame (126) is fixed to the upper side of the back shell body (125) by threaded fasteners; the controller (127) is mounted on the lower frame (126) by threaded fasteners.

6. The active waist-assisting exoskeleton device according to claim 2, characterized in that: The wearing and binding structure (130) comprises shoulder straps (131), a chest guard (132), a waist seal (133) and a back shell pad (134); one end of the shoulder strap (131) is connected to the back shell body (125) by means of a threaded fastener and a Velcro, and the other end is sewn together with the waist seal (133); an adjustment buckle is provided on the shoulder strap (131); both ends of the chest guard (132) are connected to the left and right shoulder straps (131), and a buckle is provided on the chest guard (132); the rear side of the waist seal (133) is connected to the waist component (2) by means of a threaded fastener, and the front side of the waist seal (133) is provided with a Velcro; the back shell pad (134) is installed on the back shell body (125) by means of Velcro.

7. The active waist-assisting exoskeleton device according to claim 1, characterized in that: The waist assembly (2) comprises a connecting arm (201), a motor (202), an outer motor cover (203), a knob (204), a positioning bead (205), a knob cover (206), an inner motor cover (207), a waist seal support plate (208), and a connecting arm cover plate (209); the upper end of the connecting arm (201) is connected to the lower frame (126) by a threaded fastener so that the left and right connecting arms are coupled into one body, and the other end is provided with a motor mounting interface and a leg rod limiting boss, and a wire passing groove is opened in the middle of the connecting arm (201); the motor (202) is connected to the connecting arm (201) and the leg rod assembly (3); The motor outer cover (203) is located on the outside of the motor (202), is fixed to the connecting arm (201) by means of threaded fasteners, and provides a mounting interface for the knob (204); the knob (204) is mounted on the motor outer cover (203) by means of threaded fasteners; the knob cover (206) is connected to the knob (204) by means of a snap-fit ​​structure, and the positioning bead (205) is mounted on the knob cover (206); the motor inner cover (207) is connected to the connecting arm (201) by means of threaded fasteners, and the connecting arm cover plate (209) is mounted on the connecting arm (201) by means of gluing.

8. The active waist-assisting exoskeleton device according to claim 1, characterized in that: The leg rod assembly (3) comprises a leg rod cover (301), a leg rod connecting seat (302), a flat head with a grooved pin shaft (303), a shaft retaining ring (304), an upper connecting head (305), a leg rod (306), a lower connecting head (307), a ball joint (309), a locking screw (308), a locking nut (312), a leg binding support plate (310), and a leg binding (311); the leg rod cover (301) is fixed to the leg rod connecting seat (302) by a threaded fastener; the side surface of the leg rod connecting seat (302) cooperates with the limiting boss of the connecting arm (201) to limit the rotation angle of the leg rod assembly (3); the upper connecting The head (305) is hinged to the lower end of the leg rod connecting seat (302) through the flat-head grooved pin shaft (303) and the shaft retaining ring (304); one end of the leg rod (306) is fixedly connected to the upper connecting head (305) through a threaded fastener, and the other end is fixedly connected to the lower connecting head (307) through a threaded fastener; one end of the spherical joint (309) is screwed to the stud of the lower connecting head (307), and the other end is connected to the leg binding support plate (310) through the locking screw (308) and the locking nut (312); the leg binding (311) is installed on the leg binding support plate (310).

9. The active waist-assisting exoskeleton device according to claim 8, characterized in that: The rotation angle of the leg rod assembly (3) is limited to a forward rotation angle of less than 135° and a backward rotation angle of less than 15°.

10. The active waist-assisting exoskeleton device according to claim 1, characterized in that: The upper load-bearing rod (112) is a hollow carbon fiber tube, and the lower load-bearing rod (115) is a hollow carbon fiber tube.

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