Waist support device with cylindrical differential mechanism

Abstract

The invention discloses a waist protection device with a cylindrical differential mechanism. The waist protection device comprises the cylindrical differential mechanism, a waist and back module and a leg module. The cylindrical differential mechanism comprises an output end A, an output end B and a power module, the power module comprises a main body output end and a power output end, and the main body output end can rotate or be locked relative to the power output end; the output end A comprises an output disc A and a drawstring A, the output end B comprises an output disc B and a drawstring B, the drawstring A and the drawstring B are respectively wound on the output disc A and the output disc B in opposite directions, one ends of the drawstring A and the drawstring B are respectively fixed with the output disc A and the output disc B, and the other ends of the drawstring A and the drawstring B are fixedly connected with the leg module; the output disc A and the output disc B are in transmission connection with the power output end and the main body output end respectively, and the output disc A and the output disc B can rotate relatively or be locked; and the cylindrical differential mechanism is rotationally connected with the lower end of the waist-back module through a differential fixed shaft. The invention has the advantages of light weight, small storage volume, low cost, compactness, close fitting and the like.

Description

Technical Field

[0001] The present invention relates to the field of wearable exoskeleton devices, and in particular to a waist protection device with a cylindrical differential mechanism. Background Art

[0002] In daily work and life, people often want to provide waist assistance when bending down to reduce the burden on waist muscles and reduce waist muscle and spinal injuries. Wearable waist exoskeleton devices are devices that meet this demand. Such devices can help people lift heavier loads and reduce the burden on waist muscles. The prior art discloses a waist assistance exoskeleton device with a power module set at the hip joint, and the prior art also discloses the implementation mechanism of such a device.

[0003] The existing waist-assisted exoskeleton device set at the hip joint has power modules distributed at the hip joints on both sides of the human body, and a rigid waist bar is set at the waist to connect the power modules on the left and right sides. Since this type of device adopts a dual-power design, and the rigid waist bar needs to transmit a large torque, its length needs to be adjustable to match different users, which will increase the complexity of the waist bar and have a high manufacturing cost. It is also difficult to further reduce the weight of this type of device; moreover, because the power modules on the left and right sides of this type of device are around the user's waist, its volume is often relatively large, which is difficult to carry.

[0004] Therefore, how to further reduce the volume, weight and manufacturing cost of the lumbar assist device and provide an effective lumbar assist function is a technical problem that technical personnel in this field urgently need to solve. Summary of the invention

[0005] The purpose of the present invention is to overcome the defects of the prior art and provide a waist protection device with a cylindrical differential mechanism, aiming to solve the problems of the existing waist protection device being large in size, heavy in weight, high in cost and not compact.

[0006] To achieve the above-mentioned purpose, an embodiment of the present invention provides a waist protection device with a cylindrical differential mechanism, comprising a cylindrical differential mechanism, a waist and back module, and a leg module;

[0007] The cylindrical differential mechanism is horizontally arranged near the back waist of the human body, the main body of the cylindrical differential mechanism is a cylindrical structure, and the central axis of the cylindrical differential mechanism is horizontally arranged and parallel to the coronal plane of the human body; the two ends of the cylindrical differential mechanism are respectively provided with an A output end and a B output end, and a power module is arranged between the A output end and the B output end, and the power module includes a main body output end and a power output end, and the main body output end can be rotated or locked relative to the power output end under driving;

[0008] The A output end includes an A output disk and an A pull belt, and the B output end includes a B output disk and a B pull belt, the A pull belt and the B pull belt are respectively wound on the A output disk and the B output disk in opposite directions, one end of the A pull belt and the B pull belt are respectively fixed to the A output disk and the B output disk, and the A output disk and the B output disk are respectively connected to the power output end and the main body output end, so that the A output disk and the B output disk can be relatively rotated or locked under driving;

[0009] The lower end of the waist and back module is provided with a differential fixed shaft, the central axis of the differential fixed shaft coincides with the central axis of the cylindrical differential mechanism, and the cylindrical differential mechanism is rotatably connected to the lower end of the waist and back module through the differential fixed shaft;

[0010] The other ends of the A drawstring and the B drawstring are respectively fixedly connected to the leg modules of the human body's legs.

[0011] The waist protection device provided by the embodiment of the present invention has the following advantages: 1. It is light in weight, and its weight is only less than half of the existing waist support device distributed on the human waist and the hip joints on both sides; 2. It has a small storage volume, and it eliminates the hip power module and the rigid annular waist bar connecting the left and right sides, which greatly reduces the storage volume; 3. It is low in cost, and it only needs one power module to work normally; 4. It is compact and close-fitting, and its power module is arranged near the back waist of the human body, with a small power diameter, and there is no protruding rigid structure on the front, left and right sides and legs of the human body, which does not affect the human body's squatting, running and jumping, and does not affect the flexible movements during work, and the overall experience is good. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0013] Figure 1 It is a front view schematic diagram of a waist protection device with a cylindrical differential mechanism according to Embodiment 1 of the present invention;

[0014] Figure 2 This is a schematic diagram of a cylindrical differential mechanism of Embodiment 1 of a waist protection device with a cylindrical differential mechanism of the present invention;

[0015] Figure 3 This is a schematic diagram of a waist protection device with a cylindrical differential mechanism according to Embodiment 1 of the present invention when walking;

[0016] Figure 4 This is a schematic diagram of a waist protection device with a cylindrical differential mechanism in Example 1 of the present invention when bending over;

[0017] Figure 5 It is a cross-sectional schematic diagram of a power module of Embodiment 1 of a waist protection device with a cylindrical differential mechanism of the present invention;

[0018] Figure 6 This is a schematic diagram of a cylindrical differential mechanism of Embodiment 2 of a waist protection device with a cylindrical differential mechanism of the present invention;

[0019] Figure 7 This is a side view schematic diagram of Example 3 of a waist protection device with a cylindrical differential mechanism of the present invention when walking.

[0020] The reference numerals are as follows:

[0021] 1. Cylindrical differential mechanism; 11. A output end; 111. A output disk; 112. A pull belt; 12. B output end; 121. B output disk; 122. B pull belt; 13. Power module; 131. Motor module; 1311. Stator; 1311A. Stator shaft; 1311B. Stator shaft hole; 1312. Rotor; 1312A. Rotor shaft; 132. Speed ​​reduction mechanism; 1321. Speed ​​reducer housing; 1322. Speed ​​reducer input end; 1323. Speed ​​reducer output end; 133. Main body output end; 134. Power output end; 14. Elastic module; 15. Central axis;

[0022] 2. Waist and back module; 21. Back frame; 211. Lower end of frame; 212. Differential fixed shaft; 212A. Fixed shaft hole; 213. Upper end of frame; 214. Frame waist belt fixing point; 22. Waist belt; 221. Hip pad; 222. Sliding pad; 223. Waist pad; 23. Shoulder strap;

[0023] 3. Leg module; 31. Leg strap; 311. Strap fixing point; 32. Foot strap;

[0024] 4. Sensor control system; 41. Drive module; 411. Drive module fixing block; 42. Motor encoder; 421. Encoding magnetic steel; 422. Encoding sensing circuit; 43. Inclinometer;

[0025] 5. Battery module; 51. Power cord. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Similar component numbers in the drawings represent similar components. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0028] It should also be understood that the terms used in this description of the embodiments of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the embodiments of the present invention. As used in the description of the embodiments of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms of "a", "an" and "the" are intended to include plural forms.

[0029] See also Figure 1 , Figure 1 It is a front view schematic diagram of a waist protection device with a cylindrical differential mechanism according to an embodiment 1 of the present invention. The waist protection device comprises a cylindrical differential mechanism 1, a waist and back module 2, and a leg module 3.

[0030] The cylindrical differential mechanism 1 is horizontally arranged near the lower back of the human body. The main part of the cylindrical differential mechanism 1 is a cylindrical structure. The central axis 15 of the cylindrical differential mechanism 1 is horizontally arranged and parallel to the coronal plane of the human body. The two ends of the cylindrical differential mechanism 1 are respectively provided with an A output end 11 and a B output end 12.

[0031] Combination Figure 2 A power module 13 is provided between the A output terminal 11 and the B output terminal 12. The power module 13 is also cylindrical. The power module 13 includes a main body output terminal 133 and a power output terminal 134. The main body output terminal 133 can be rotated or locked relative to the power output terminal 134 under driving.

[0032] The A output end 11 includes an A output disk 111 and an A drawstring 112, and the B output end 12 includes a B output disk 121 and a B drawstring 122. The A drawstring 112 and the B drawstring 122 are respectively wound on the A output disk 111 and the B output disk 121 in opposite directions. One end (head end) of the A drawstring 112 and the B drawstring 122 are respectively fixed to the A output disk 111 and the B output disk 121. The A output disk 111 and the B output disk 121 are respectively transmission-connected to the power output end 134 and the main body output end 133, so that the A output disk 111 and the B output disk 121 can rotate or lock relative to each other under driving, and the other ends (lower ends) of the A drawstring 112 and the B drawstring 122 are respectively fixed to the leg modules 3 of the human body's legs. When the main body output end 133 and the power output end 134 rotate relative to each other, the A output disk 111 and the B output disk 121 rotate relative to each other, so that the A belt 112 and the B belt 122 wound thereon are simultaneously rolled in and shortened or rolled out and extended, thereby realizing the same-direction movement between the A belt 112 and the B belt 122; when the main body output end 133 and the power output end 134 are relatively locked under drive, the A output disk 111 and the B output disk 121 are relatively locked, and at this time, the A output disk 111 and the B output disk are rigidly connected, and the A belt 112 and the B belt 122 cannot be rolled in and shortened or rolled out and extended at the same time, and can only be rolled out and extended while one is rolled in and shortened, thereby realizing the differential movement between the A belt 112 and the B belt 122.

[0033] The leg module 3 includes a leg strap 31, which is fixed on the human thigh, calf, foot or knee joint. The leg strap 31 has a drawstring fixing point 311. The lower ends of the A drawstring 112 and the B drawstring 122 are respectively fixedly connected to the two drawstring fixing points 311. When the A drawstring 112 or the B drawstring 122 is rolled up, it will be tightened, and when rolled down, it will be loosened.

[0034] Combination Figure 2 The lower end of the waist-back module 2 is provided with a differential fixed shaft 212, the central axis of the differential fixed shaft 212 coincides with the central axis 15 of the cylindrical differential mechanism 1, and the cylindrical differential mechanism 1 is rotatably connected to the lower end of the waist-back module 2 through the differential fixed shaft 212. The cylindrical differential mechanism 1 is arranged at the lower end of the waist-back module 2, and the lower end of the waist-back module 2 is provided with a differential fixed shaft 212, so that the A output disk 111 and the B output disk can rotate relative to each other and relative to the lower end of the waist-back module 2.

[0035] Specifically, the waist-back module 2 includes a back frame 21, a waist belt 22 and a shoulder belt 23. The back frame 21 is arranged on the back of a human body. The back frame 21 is made of a rigid material or a material with a certain elasticity. The frame lower end 211 of the back frame 21 extends to the vicinity of the back waist of the human body and is fixed to the waist of the human body through the waist belt 22. In order to improve the wearing comfort, a waist pad 223 is arranged between the waist belt 22 and the frame lower end 211 of the back frame 21. The frame upper end 213 of the back frame 21 extends to the vicinity of the back of the human body and is fixed to the shoulders and back of the human body through the shoulder belt 23; the cylindrical differential mechanism 1 is arranged on the frame lower end 211 of the back frame 21, so that the cylindrical differential mechanism 1 is rotationally connected to the back frame 21 through the differential fixed shaft 212, that is, the A output disk 111 and the B output disk can rotate relative to the back frame 21.

[0036] Combination Figure 3 The waist belt 22 is provided with a hip pad 221, and the hip pad 221 is provided with a sliding pad 222, and the A drawstring 112 and the B drawstring 122 slide on the sliding pad 222. The sliding pad 222 can be made of lubricating material or provided with rollers, so as to reduce the friction force when the A drawstring 112 and the B drawstring 122 slide up and down.

[0037] The working principle of the waist protection device embodiment 1 is as follows: when the power module 13 is in a locked state, the main body output end 133 and the power output end 134 are relatively fixed, and the entire cylindrical differential mechanism 1 is rigid. When the cylindrical differential mechanism 1 rotates relative to the back frame 21 as a whole, the A output disk 111 and the B output disk rotate in the same direction. Since the A pull belt 112 and the B pull belt 122 are wound in opposite directions, the A pull belt 112 and the B pull belt 122 perform differential motion at this time, such as Figure 3 As shown, the requirement of the human body to cross the legs and swing when walking is met; when the power module 13 is in the unlocked state, the main body output end 133 and the power output end 134 rotate relative to each other under the drive of the power module 13, and the A output disk 111 and the B output disk 121 rotate relative to each other. Because the A pull belt 112 and the B pull belt 122 are wound in the opposite direction, the A pull belt 112 and the B pull belt 122 move in the same direction at this time, as shown in FIG. Figure 4As shown, the movement requirements of the legs to bend and stretch in the same direction when the human body bends and stands up are met. At the same time, if the A strap 112 and the B strap 122 are rolled up and tensioned at the same time, a pulling force will be applied downward to the cylindrical differential mechanism 1. The cylindrical differential mechanism 1 is arranged at the frame upper end 213 of the back frame 21 and is fixed to the human body through the waist belt 22. It forms a fulcrum with the human waist through the waist pad 223. Under the tension of the A strap 112 and the B strap 122, the frame upper end 213 of the back frame 21 will be tilted upward, tighten the shoulder strap 23, and then pull up the human shoulders, help the human body stretch the waist, and reduce the burden on the waist muscles; at the same time, the A strap 112 and the B strap 122 will squeeze the hip sliding pad 222, and then squeeze the human buttocks, help the human waist stretch, and reduce the burden on the waist muscles.

[0038] Combination Figure 5 As shown, the power module 13 includes a motor module 131 and a reduction mechanism 132, both of which are cylindrical structures. The motor module 131 includes a stator 1311 and a rotor 1312. The reduction mechanism 132 includes a reduction gear housing 1321, a reduction gear input end 1322, and a reduction gear output end 1323; the reduction gear input end 1322 is close to the stator 1311, and the reduction gear output end 1323 is arranged on a side away from the motor module 131 and connected to the power output end 13 4 transmission connection; the rotor 1312 has a rotor shaft 1312A, and the rotor 1312 rotates relative to the stator 1311 based on the rotor shaft 1312A. The rotor shaft 1312A passes through the stator 1311 and extends into the reduction mechanism 132, and is transmission-connected to the reduction machine input end 1322; the reduction machine housing 1321 is transmission-connected to the stator 1311, and the stator 1311 crosses the rotor 1312 and is transmission-connected to the main body output end 133.

[0039] The working principle of the power module 13 in the waist protection device embodiment 1 is as follows: the reducer housing 1321 and the stator 1311 are transmission-connected together, and the rotor 1312 is transmission-connected to the reducer input end 1322 through the rotor shaft 1312A; when the rotor 1312 rotates relative to the stator 1311, it will drive the reducer input end 1322 to rotate, and the reducer output end 1323 will also rotate, and then the power output end 134 transmission-connected to the reducer output end 1323 will rotate relative to the stator 1311, because the stator 1311, the main body output end 133 and the reducer housing 1321 are connected together, which will actually drive the power output end 134 to rotate relative to the main body output end 133; that is, the rotation of the rotor 1312 in the motor module 131 will drive the power output end 134 to rotate relative to the main body output end 133.

[0040] The stator 1311 has a stator shaft 1311A on one side close to the speed reduction mechanism 132, and the speed reduction mechanism housing 1321 is fixedly connected to the stator 1311 through the stator shaft 1311A; the differential fixed shaft 212 has a fixed shaft hole 212A, and the stator shaft 1311A passes through the fixed shaft hole 212A and cooperates with the fixed shaft hole 212A. Based on the stator shaft 1311A and the fixed shaft hole 212A, the cylindrical differential mechanism 1 forms a rotation connection with the lower end of the waist and back module 2. In this way, when the power module 13 is in a locked state, the main body output end 133 and the power output end 134 are relatively fixed, and the entire cylindrical differential mechanism 1 presents rigidity. The cylindrical differential mechanism 1 can rotate relative to the back frame 21 as a whole based on the stator shaft 1311A and the fixed shaft hole 212A.

[0041] Please continue reading Figure 5 The waist protection device also includes a sensor control system 4, which is used to sense human body movements and control the motor module 131 to rotate or output torque; the sensor control system 4 specifically includes a drive module 41 and a motor encoder 42.

[0042] Among them, the motor encoder 42 includes a coding magnet 421 and a coding sensing circuit 422, the coding sensing circuit 422 is arranged on the main body output end 133 and close to the center of the outer side of the rotor 1312, and the coding magnet 421 is arranged at the axial end of the rotor shaft 1312A, close to the coding sensing circuit 422; the rotation of the rotor 1312 relative to the stator 1311 will cause the relative rotation of the coding magnet 421 relative to the coding sensing circuit 422, which will be sensed by the motor encoder 42; therefore, the motor encoder 42 senses the rotation angle and / or angular velocity information of the rotor 1312 relative to the stator 1311.

[0043] The driving module 41 is disposed on the main body output terminal 133 and is electrically connected to the motor encoder 42 and the motor module 131 . The driving module 41 can control the motor module 131 to rotate or output torque according to information sensed by the motor encoder 42 .

[0044] Combination Figure 2 , Figure 5 As shown, in order to make the waist protection device embodiment 1 of the present invention thinner and closer to the body, the power module 13 is small in size and has limited space, the driving module 41 is arranged parallel to the rotation plane of the motor module 131, fixed on the main body output end 133, close to the rotor 1312, and the encoding sensing circuit 422 is arranged thereon, so as to make the device of the present invention more compact and thin.

[0045] Combination Figure 5 The waist protection device also includes a battery module 5, which is arranged on the waist and back module 2, specifically on the back frame 21, and is electrically connected to the driving module 41.

[0046] The battery module 5 has a power cord 51, which is electrically connected to the drive module 41 through the power cord 51. Since the power module 13 (including the motor module 131, the speed reduction mechanism 132 together with the drive module 41 fixed thereon) rotates relative to the back frame 21, the battery module 5 is fixed on the back frame 21. In order to meet the relative rotation between the power module 13 and the back frame 21, the power cord 51 needs to be bent continuously during the operation of the device of the present invention, which will reduce the working life of the power cord 51. To solve the above problem, this embodiment adopts the following configuration: one end of the power cord 51 is connected to the battery module 5, extends to the vicinity of the lower end 211 of the frame and is fixed thereto, and the other end of the power cord 51 is spirally wound around the stator shaft 1311A (specifically, it can be wound around the outside of the stator shaft 1311A) and then fixed to the stator 1311, and electrically connected to the drive module 41. The above spiral winding scheme can improve the life and reliability of the power cord.

[0047] In this embodiment, the power module 13 is arranged near the lower back of the human body. In order to be compact and close-fitting and to improve the user experience, the power module 13 (including the reduction mechanism 132 and the motor module 131) has a smaller diameter and adopts a cylindrical structure layout; in addition, the stator shaft 1311A connecting the motor module 131 and the reduction mechanism 132 has a smaller diameter than the reduction mechanism 132 and the motor module 131, so that the power cord 51 can be spirally wound thereon.

[0048] Figure 6This is a schematic diagram of a cylindrical differential mechanism of Embodiment 2 of a waist protection device with a cylindrical differential mechanism of the present invention. Compared with Embodiment 1, the power module adopts an elastic module 14, which can be specifically designed as a torsion spring. One end of the elastic module 14 is fixedly connected to the power output end 134, and the other end is fixedly connected to the main body output end 133; the elastic module 14 has a pre-tightening structure, so that the elastic module 14 is in a tightened state. In this way, the main body output end 133 and the power output end 134 have a certain rigidity, and can rotate in the same direction to realize the differential movement between the A strap 112 and the B strap 122; when the human body pulls the A strap 112 and the B strap 122 downward at the same time, it will pull the elastic module 14 to continue to tighten. At this time, the main body output end 133 and the power output end 134 rotate relative to each other to support the simultaneous extension of the A strap 112 and the B strap 122. At the same time, the torsional torque of the elastic module 14 will tighten the A strap 112 and the B strap 122 to realize the back frame 21 applying a waist extension torque to the human body to help the user stretch his waist. Compared with the power module of the aforementioned embodiment 1, the elastic module 14 of this embodiment 2 is suitable for scenes with low requirements for the power assistance and limited power assistance angle.

[0049] Figure 7 The figure is a side view of a waist protection device with a cylindrical differential mechanism according to the present invention. Compared with the embodiment 1, the back frame 21 in the embodiment is bent as a whole, the middle part of which is bent forward in the sagittal plane direction and extends to the vicinity of both sides of the human waist, the upper end 213 of the frame extends downward and forward in the sagittal plane to the side of the human waist, the lower end 211 of the frame extends upward and forward in the sagittal plane to the side of the human waist, and is connected to the upper end 213 of the frame at the frame waist belt fixing point 214, and the frame waist belt fixing point 214 is fixedly connected to the waist belt 22; the battery module 5 is fixed on the waist belt 22. The present embodiment 3 adopts the above scheme, the back frame 21 uses the frame waist belt fixing point 214 as a fulcrum, when the A strap 112 and / or the B strap 122 are tightened, the frame upper end 213 will be pulled backward to tighten the human body's shoulders, providing assistance for lifting the waist; the back frame 21 adopts a bent shape, which is conducive to increasing the assistance arm length of the A strap 112 and / or the B strap, so that the waist assistance generated by the A strap 112 and / or the B strap is greater, especially when bending at a small angle, more assistance can be added.

[0050] like Figure 7In the illustrated embodiment 3, the leg module 3 adds a foot strap 32, the lower end of the foot strap 32 is fixed to the human foot, and the upper end thereof is fixed to the leg strap 31; in this embodiment 3, the foot strap 32 is fixed to the leg strap 31 on the front side of the human calf, the leg strap 31 is arranged around the human calf, the front lower end thereof is fixed to the foot strap 32, and the rear side thereof is provided with a strap fixing point 311, which is fixed to the lower end of the A strap 112 and / or the B strap; when the A strap 112 and / or the B strap 122 are tightened, the leg strap 31 will be tightened upward, thereby tensioning the foot strap 32; because the upper end of the foot strap 32 is fixed to the leg strap 31 on the front side of the human calf, when the A strap 112 and / or the B strap are tightened, a certain knee extension torque will be generated to help the human body straighten its legs.

[0051] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

[0052] The above is a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A waist protection device with a cylindrical differential mechanism, characterized in that: The waist protection device includes a cylindrical differential mechanism, a waist and back module, and a leg module; The cylindrical differential mechanism is horizontally arranged near the back waist of the human body, the main body of the cylindrical differential mechanism is a cylindrical structure, and the central axis of the cylindrical differential mechanism is horizontally arranged and parallel to the coronal plane of the human body; the two ends of the cylindrical differential mechanism are respectively provided with an A output end and a B output end, and a power module is arranged between the A output end and the B output end, and the power module includes a main body output end and a power output end, and the main body output end can be rotated or locked relative to the power output end under driving; The A output end includes an A output disk and an A pull belt, and the B output end includes a B output disk and a B pull belt, the A pull belt and the B pull belt are respectively wound on the A output disk and the B output disk in opposite directions, one end of the A pull belt and the B pull belt are respectively fixed to the A output disk and the B output disk, and the A output disk and the B output disk are respectively connected to the power output end and the main body output end, so that the A output disk and the B output disk can be relatively rotated or locked under driving; The lower end of the waist and back module is provided with a differential fixed shaft, the central axis of the differential fixed shaft coincides with the central axis of the cylindrical differential mechanism, and the cylindrical differential mechanism is rotatably connected to the lower end of the waist and back module through the differential fixed shaft; The other ends of the A drawstring and the B drawstring are respectively fixedly connected to the leg modules of the human body's legs.

2. The waist protection device according to claim 1, characterized in that: The waist and back module includes a back frame, a waist belt and a shoulder strap. The back frame is arranged on the back of a human body. The lower end of the back frame extends to the vicinity of the back waist of the human body and is fixed to the waist of the human body through the waist belt. The upper end of the back frame extends to the vicinity of the back center of the human body and is fixed to the shoulders and back of the human body through the shoulder strap. The cylindrical differential mechanism is arranged on the lower end of the back frame.

3. The waist protection device according to claim 2, characterized in that: The middle part of the back frame is bent forward in the sagittal plane direction and extends to the vicinity of both sides of the human waist and is fixed to the human waist through the waist belt.

4. The waist protection device according to claim 2, characterized in that: A waist pad is arranged between the waist belt and the lower end of the back frame.

5. The waist protection device according to claim 2, characterized in that: The waist belt is provided with a hip pad, and the hip pad is provided with a sliding pad, and the A drawstring and the B drawstring slide on the sliding pad.

6. The waist protection device according to claim 1, characterized in that: The leg module includes a leg strap, each of which is fixed on the thigh, calf, foot or knee joint of the human body. The leg strap has a drawstring fixing point, and the other ends of the A drawstring and the B drawstring are respectively fixedly connected to the two drawstring fixing points.

7. The leg module according to claim 6, characterized in that: The leg module also has a foot strap, which is fixed to the human foot. The leg strap is arranged around the human calf, and the upper end of the foot strap is fixed to the leg strap.

8. The waist protection device according to any one of claims 1 to 7, characterized in that: The power module includes a motor module and a reduction mechanism, both of which are cylindrical structures. The motor module includes a stator and a rotor. The reduction mechanism includes a reduction gear housing, a reduction gear input end, and a reduction gear output end. The reduction gear input end is close to the stator, and the reduction gear output end is arranged on a side away from the motor module, and is transmission-connected with the reduction gear input end and the power output end. The rotor has a rotor shaft, and the rotor rotates relative to the stator based on the rotor shaft. The rotor shaft passes through the stator and extends into the reduction mechanism, and is transmission-connected with the reduction gear input end. The reduction gear housing is transmission-connected with the stator, and the stator spans over the rotor and is transmission-connected with the main body output end.

9. The waist protection device according to claim 8, characterized in that: The stator has a stator shaft on one side close to the reduction mechanism, and the reduction gear housing is fixedly connected to the stator through the stator shaft; the differential fixed shaft has a fixed shaft hole, and the stator shaft passes through the fixed shaft hole. Based on the stator shaft and the fixed shaft hole, the cylindrical differential mechanism forms a rotational connection with the lower end of the waist and back module.

10. The waist support device according to claim 8, characterized in that: The waist protection device also includes a sensor control system; the sensor control system includes a drive module and a motor encoder; The motor encoder comprises a coding magnetic steel and a coding induction circuit, wherein the coding induction circuit is arranged on the output end of the main body and close to the center of the outer side of the rotor, and the coding magnetic steel is arranged on the shaft end of the rotor shaft and close to the coding induction circuit; The driving module is arranged on the output end of the main body and is electrically connected to the motor encoder and the motor module. The driving module can control the motor module to rotate or output torque according to information sensed by the motor encoder.

11. The waist support device according to claim 10, characterized in that: The waist protection device further comprises a battery module, which is arranged on the waist and back module and is electrically connected to the driving module; The battery module is provided with a power line, one end of which is connected to the battery module, and the other end of which is spirally wound around the stator shaft and then fixed to the stator, and is electrically connected to the drive module.

12. The waist support device according to claim 1, characterized in that: The power module is an elastic module, one end of which is fixedly connected to the power output end, and the other end of which is fixedly connected to the main body output end; the elastic module has a pre-tightening structure, so that the elastic module is in a tightened state.

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