A waist support device with a cylindrical differential mechanism

Abstract

The waist support device with a cylindrical differential mechanism comprises a cylindrical differential mechanism, a waist and back module and a leg module. The cylindrical differential mechanism comprises an A output end, a B output end and a power module. The power module comprises a main body output end and a power output end. The main body output end is rotatable or lockable relative to the power output end. The A output end comprises an A output disc and an A pull belt. The B output end comprises a B output disc and a B pull belt. The A pull belt and the B pull belt are wound in opposite directions on the A output disc and the B output disc respectively. One end of the A pull belt and the B pull belt is fixed to the A output disc and the B output disc respectively. The other end of the A pull belt and the B pull belt is fixedly connected to the leg module. The A output disc and the B output disc are transmissionally connected to the power output end and the main body output end respectively. The A output disc and the B output disc are rotatable or lockable relative to each other. The cylindrical differential mechanism is rotationally connected to the lower end of the waist and back module through a differential fixing shaft. The present application has the advantages of light weight, small storage volume, low cost and compactness.

Description

Technical Field

[0001] This invention relates to the field of wearable exoskeleton devices, and more particularly to a lumbar support device with a cylindrical differential mechanism. Background Technology

[0002] In daily work and life, people often encounter situations where they need lumbar support when bending over to reduce the burden on the lumbar muscles and minimize the risk of injury to the lumbar muscles and spine. Wearable lumbar exoskeletons are devices that meet this need. These devices can help people lift heavier loads and reduce the burden on the lumbar muscles. Existing technologies disclose lumbar support exoskeletons with a power module located at the hip joint, and also disclose the implementation mechanism of such devices.

[0003] Existing hip-supported lumbar exoskeletons have their power modules distributed on both sides of the hip joint, with a rigid lumbar support connecting the power modules on both sides. Because these devices employ a dual-power design, and the rigid lumbar support needs to transmit significant torque and its length needs to be adjustable to fit different users, this increases the complexity of the support and raises manufacturing costs, making it difficult to further reduce the weight of such devices. Furthermore, because the power modules on both sides surround the user's waist, these devices are often quite large, posing a problem of portability.

[0004] Therefore, how to further reduce the size, weight, and manufacturing cost of lumbar support devices while providing effective lumbar support is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a lumbar support device with a cylindrical differential mechanism, which aims to solve the problems of large size, heavy weight, high cost and non-compactness of existing lumbar support devices.

[0006] To achieve the above objectives, this invention provides a lumbar support device with a cylindrical differential mechanism, comprising a cylindrical differential mechanism, a back support module, and a leg support module.

[0007] The cylindrical differential mechanism is horizontally positioned near the lower back of the human body. The main body of the cylindrical differential mechanism has a cylindrical structure, and its central axis is horizontally positioned and parallel to the coronal plane of the human body. The cylindrical differential mechanism has an A output end and a B output end at its two ends, and a power module is provided between the A output end and the B output end. The power module includes a main output end and a power output end. The main output end can rotate or lock relative to the power output end under drive.

[0008] The A output end includes an A output disc and an A pull belt, and the B output end includes a B output disc and a B pull belt. The A pull belt and the B pull belt are wound around the A output disc and the B output disc in opposite directions. One end of the A pull belt and the B pull belt are fixed to the A output disc and the B output disc, respectively. The A output disc and the B output disc are respectively connected to the power output end and the main body output end for transmission, so that the A output disc and the B output disc can rotate relative to each other or be locked under drive.

[0009] The lower end of the back support module is equipped with a differential fixing shaft, the central axis of which coincides with the central axis of the cylindrical differential mechanism, and the cylindrical differential mechanism is rotatably connected to the lower end of the back support module through the differential fixing shaft.

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

[0011] The lumbar support device provided in this invention has the following advantages: 1. Lightweight: its weight is less than half that of existing lumbar support devices distributed around the waist and hip joints on both sides; 2. Small storage volume: it eliminates the hip power module and the rigid ring-shaped waist bar connecting the left and right sides, greatly reducing the storage volume; 3. Low cost: it only requires one power module to work normally; 4. Compact and close-fitting: its power module is located near the lower back, with a small power diameter, and there are no protruding rigid structures on the front, left and right sides, and legs, so it does not affect squatting, sitting, running, jumping, or flexible movements during work, resulting in a good overall experience. Attached Figure Description

[0012] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This is a front view schematic diagram of an embodiment 1 of the lumbar support device with a cylindrical differential mechanism according to the present invention;

[0014] Figure 2 This is a schematic diagram of the cylindrical differential mechanism in Embodiment 1 of the lumbar support device with a cylindrical differential mechanism according to the present invention;

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

[0016] Figure 4 This is a schematic diagram of a waist support device with a cylindrical differential mechanism according to Embodiment 1 of the present invention when bending over;

[0017] Figure 5 This is a schematic cross-sectional view of the power module of Embodiment 1 of the lumbar support device with cylindrical differential mechanism of the present invention;

[0018] Figure 6 This is a schematic diagram of the cylindrical differential mechanism in Embodiment 2 of the lumbar support device with a cylindrical differential mechanism according to the present invention;

[0019] Figure 7 This is a side view of a lumbar support device with a cylindrical differential mechanism according to Embodiment 3 of the present invention during walking.

[0020] The attached figures are labeled as follows:

[0021] 1. Cylindrical differential mechanism; 11. Output end A; 111. Output disc A; 112. Belt A; 12. Output end B; 121. Output disc B; 122. Belt B; 13. Power module; 131. Motor module; 1311. Stator; 1311A. Stator shaft; 1311B. Stator shaft hole; 1312. Rotor; 1312A. Rotor shaft; 132. Reduction mechanism; 1321. Reducer housing; 1322. Reducer input end; 1323. Reducer output end; 133. Main body output end; 134. Power output end; 14. Elastic module; 15. Central axis;

[0022] 2. Backrest module; 21. Back frame; 211. Lower end of frame; 212. Differential fixing shaft; 212A. Fixing 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 mounting block; 42. Motor encoder; 421. Encoding magnet; 422. Encoding sensing circuit; 43. Inclinometer;

[0025] 5. Battery module; 51. Power cord. Detailed Implementation

[0026] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Similar component reference numerals in the drawings represent similar components. Obviously, the embodiments described below are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort 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 "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0028] It should also be understood that the terminology used in this specification of embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to limit the embodiments of the invention. As used in this specification of embodiments of the invention and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0029] Please see Figure 1 , Figure 1 This is a front view schematic diagram of an embodiment 1 of the lumbar support device with a cylindrical differential mechanism according to the present invention. The lumbar support device includes a cylindrical differential mechanism 1, a back and waist module 2, and a leg module 3.

[0030] The cylindrical differential mechanism 1 is horizontally positioned near the lower back of the human body. The main body of the cylindrical differential mechanism 1 has a cylindrical structure. The central axis 15 of the cylindrical differential mechanism 1 is horizontally positioned and parallel to the coronal plane of the human body. The cylindrical differential mechanism 1 has an A output end 11 and a B output end 12 at both ends.

[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 output terminal 133 and a power output terminal 134. The main output terminal 133 can rotate or lock relative to the power output terminal 134 under drive.

[0032] The A output end 11 includes an A output disc 111 and an A pull strap 112, and the B output end 12 includes a B output disc 121 and a B pull strap 122. The A pull strap 112 and the B pull strap 122 are wound around the A output disc 111 and the B output disc 121 in opposite directions. One end (head end) of the A pull strap 112 and the B pull strap 122 is fixed to the A output disc 111 and the B output disc 121, respectively. The A output disc 111 and the B output disc 121 are connected to the power output end 134 and the main body output end 133, respectively, so that the A output disc 111 and the B output disc 121 can rotate relative to each other or be locked under drive. The other end (lower end) of the A pull strap 112 and the B pull strap 122 is fixedly connected to the leg module 3 of the human body's two legs, respectively. When the main 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 pull belt 112 and the B pull belt 122 wound on them simultaneously wound in to shorten or wound out to extend, thereby realizing the same-direction movement between the A pull belt 112 and the B pull belt 122; when the main output end 133 and the power output end 134 are locked relative to each other under the drive, the A output disk 111 and the B output disk 121 are locked relative to each other. At this time, the A output disk 111 and the B output disk are rigidly connected, and the A pull belt 112 and the B pull belt 122 cannot be wound in to shorten or wound out to extend simultaneously. Only when one is wound in to shorten can the other be wound out to extend, thereby realizing the differential movement between the A pull belt 112 and the B pull belt 122.

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

[0034] Combination Figure 2 The lower end of the back support module 2 is equipped with a differential fixing shaft 212. The central axis of the differential fixing shaft 212 coincides with the central axis 15 of the cylindrical differential mechanism 1. The cylindrical differential mechanism 1 is rotatably connected to the lower end of the back support module 2 through the differential fixing shaft 212. The cylindrical differential mechanism 1 is located at the lower end of the back support module 2, and the lower end of the back support module 2 is equipped with the differential fixing shaft 212. Thus, the A output disk 111 and the B output disk can rotate relative to each other, and also relative to the lower end of the back support module 2.

[0035] Specifically, the back support module 2 includes a back frame 21, a waist belt 22, and shoulder straps 23. The back frame 21 is set on the back of the human body and is made of a rigid or elastic material. The lower end 211 of the back frame 21 extends to the vicinity of the lower back of the human body and is fixed to the waist of the human body through the waist belt 22. To improve wearing comfort, a waist pad 223 is provided between the waist belt 22 and the lower end 211 of the back frame 21. The 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 straps 23. The cylindrical differential mechanism 1 is set on the lower end 211 of the back frame 21, so that the cylindrical differential mechanism 1 is rotatably connected to the back frame 21 through the differential fixing 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 has a sliding pad 222. The A pull strap 112 and the B pull strap 122 slide on the sliding pad 222. The sliding pad 222 can be made of a lubricating material or equipped with rollers, thereby reducing the friction when the A pull strap 112 and the B pull strap 122 slide up and down.

[0037] The working principle of the lumbar support device in Embodiment 1 is as follows: When the power module 13 is in the locked state, the main 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, the A output disk 111 and the B output disk rotate in the same direction. Because the A pull strap 112 and the B pull strap 122 are wound in opposite directions, the A pull strap 112 and the B pull strap 122 perform differential motion at this time. Figure 3 As shown, this satisfies the need for the legs to swing crosswise when the human body walks; when the power module 13 is in the unlocked state, when the main output end 133 and the power output end 134 rotate relative to each other under the drive of the power module 13, 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 opposite directions, at this time the A pull belt 112 and the B pull belt 122 move in the same direction, as shown. Figure 4As shown, this design meets the movement requirements of bending and straightening both legs in the same direction when the human body bends over and stands up. Simultaneously, if the A-strap 112 and B-strap 122 are rolled up and tightened at the same time, they will apply downward tension to the cylindrical differential mechanism 1. The cylindrical differential mechanism 1 is located at the upper end 213 of the back frame 21 and is fixed to the human body via 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 B-strap 122, the upper end 213 of the back frame 21 will tilt upwards, tightening the shoulder straps 23, thereby lifting the human shoulders, helping the human body extend its waist, and reducing the burden on the waist muscles. At the same time, the A-strap 112 and B-strap 122 will squeeze the buttock sliding pad 222, thereby squeezing the human buttocks, helping the human waist extend, and reducing 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. The motor module 131 includes a stator 1311 and a rotor 1312. The reduction mechanism 132 includes a reducer housing 1321, a reducer input end 1322, and a reducer output end 1323. The reducer input end 1322 is close to the stator 1311, and the reducer output end 1323 is located on the side away from the motor module 131 and is connected to the power output end 1312. 4. Transmission connection; The rotor 1312 has a rotor shaft 1312A, 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 transmissionally connected to the input end 1322 of the reducer; the reducer housing 1321 is transmissionally connected to the stator 1311, and the stator 1311 spans the rotor 1312 and is transmissionally connected to the main output end 133.

[0039] The working principle of the power module 13 in Embodiment 1 of the waist support device is as follows: the reducer housing 1321 and the stator 1311 are connected together in a transmission manner, and the rotor 1312 is connected to the reducer input end 1322 in a transmission manner 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, thereby the power output end 134, which is connected to the reducer output end 1323 in a transmission manner, will rotate relative to the stator 1311. Since the stator 1311, the main output end 133 and the reducer housing 1321 are connected together, the power output end 134 will actually rotate relative to the main 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 output end 133.

[0040] The stator 1311 has a stator shaft 1311A on the side near the reduction mechanism 132. The reducer housing 1321 is fixedly connected to the stator 1311 via the stator shaft 1311A. The differential fixed shaft 212 has a fixed shaft hole 212A. The stator shaft 1311A passes through the fixed shaft hole 212A and engages with it. Based on the stator shaft 1311A and the fixed shaft hole 212A, the cylindrical differential mechanism 1 is rotatably connected to the lower end of the backrest module 2. Thus, when the power module 13 is in the locked state, the main output end 133 and the power output end 134 are relatively fixed, and the entire cylindrical differential mechanism 1 is rigid. The cylindrical differential mechanism 1 can rotate relative to the backrest frame 21 based on the stator shaft 1311A and the fixed shaft hole 212A.

[0041] Please continue reading. Figure 5 The lumbar support 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] The motor encoder 42 includes an encoding magnet 421 and an encoding sensing circuit 422. The encoding sensing circuit 422 is disposed on the main output terminal 133 and near the center of the outer side of the rotor 1312. The encoding magnet 421 is disposed on the shaft end of the rotor shaft 1312A and near the encoding sensing circuit 422. The rotation of the rotor 1312 relative to the stator 1311 will cause the encoding magnet 421 to rotate relative to the encoding 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 drive module 41 is disposed on the main output terminal 133 and is electrically connected to the motor encoder 42 and the motor module 131. The drive module 41 can control the motor module 131 to rotate or output torque according to the information sensed by the motor encoder 42.

[0044] Combination Figure 2 , Figure 5 As shown, in order to make the waist support device embodiment 1 of the present invention thinner and more body-fitting, the power module 13 is smaller in size and has limited space. The drive module 41 is arranged parallel to the rotation plane of the motor module 131 and fixed on the main body output end 133, close to the rotor 1312. The encoding sensing circuit 422 is arranged on it, so that the device of the present invention is more compact and thinner.

[0045] Combination Figure 5 The lumbar support device also includes a battery module 5, which is disposed on the lumbar support module 2, specifically on the back frame 21, and is electrically connected to the drive module 41.

[0046] The battery module 5 has a power cord 51, which is electrically connected to the drive module 41. Since the power module 13 (including the motor module 131, the reduction mechanism 132, and the drive module 41 fixed thereto) rotates relative to the back frame 21, and the battery module 5 is fixed to the back frame 21, the power cord 51 needs to be constantly bent during the operation of the device to accommodate the relative rotation between the power module 13 and the back frame 21. This reduces the service life of the power cord 51. To solve this 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; 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. This spiral winding scheme improves the power cord's lifespan and reliability.

[0047] In this embodiment, the power module 13 is located near the lower back of the user. To ensure a compact and comfortable fit and improve the user experience, the power module 13 (including the reduction mechanism 132 and the motor module 131) has a small 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 both the reduction mechanism 132 and the motor module 131, so that the power line 51 can be spirally wound around it.

[0048] Figure 6This is a schematic diagram of the cylindrical differential mechanism in Embodiment 2 of the lumbar support device 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. Thus, the main output end 133 and the power output end 134 have a certain rigidity, allowing them to rotate in the same direction to achieve differential movement between the A-belt 112 and the B-belt 122. When the human body simultaneously pulls the A-belt 112 and the B-belt 122 downwards, the elastic module 14 will be pulled to continue tightening. At this time, the main output end 133 and the power output end 134 rotate relative to each other to support the simultaneous extension of the A-belt 112 and the B-belt 122. Simultaneously, the torsional torque of the elastic module 14 will tighten the A-belt 112 and the B-belt 122 to achieve the back frame 21 applying a waist-stretching torque to the human body, helping the user to stretch their waist. Compared to the power module of the aforementioned embodiment 1, the elastic module 14 of this embodiment 2 is suitable for scenarios where the required assistive force is not high and the assistive angle is limited.

[0049] Figure 7 This is a side view schematic diagram of Embodiment 3 of the lumbar support device with a cylindrical differential mechanism according to the present invention. Compared with Embodiment 1, the back frame 21 in this embodiment is generally bent, with its middle part bent forward in the sagittal plane and extending to the vicinity of both sides of the waist. The upper end 213 of the frame is downward and extends forward in the sagittal plane to the side of the waist, and the lower end 211 of the frame is upward and extends forward in the sagittal plane to the side of the waist. It is connected to the upper end 213 of the frame at the frame waist belt fixing point 214. 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. In this embodiment 3, the above-described solution is adopted. The back frame 21 uses the frame waist belt fixing point 214 as the fulcrum. When the A pull strap 112 and / or the B pull strap 122 are tightened, the upper end 213 of the frame will be pulled backward to tighten the human shoulder, providing assistance to lift the waist. The back frame 21 adopts a bent shape, which is conducive to increasing the assist arm length of the A pull strap 112 and / or the B pull strap, thereby making the waist assistance generated by the A pull strap 112 and / or the B pull strap greater, especially when bending over at a small angle, it can increase more assistance.

[0050] like Figure 7In the illustrated embodiment 3, the leg module 3 is augmented with a foot strap 32. The lower end of the foot strap 32 is fixed to the human foot, and its upper end 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 lower leg. The leg strap 31 is wrapped around the human lower leg, with its lower front end fixed to the foot strap 32 and a pull strap fixing point 311 on its rear side, which is fixed to the lower end of pull strap A 112 and / or pull strap B. When pull strap A 112 and / or pull strap B 122 are tightened, they will pull the leg strap 31 upwards, 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 lower leg, a certain knee extension torque will be generated when pull strap A 112 and / or pull strap B are tightened, helping the human to straighten the leg.

[0051] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Since these modifications and variations fall within the scope of the claims and their equivalents, this invention also intends to include these modifications and variations.

[0052] The above description describes specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A waist support device with a cylindrical differential mechanism, characterized by, The waist support device comprises a cylindrical differential mechanism, a waist and back module and a leg module. The cylindrical differential mechanism is horizontally arranged near the waist of the human body, the main part of the cylindrical differential mechanism is in a cylindrical structure, 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, a power module is arranged between the A output end and the B output end, the power module comprises a main body output end and a power output end, the main body output end can rotate or be locked relative to the power output end under driving. The A output end comprises an A output disc and an A pull belt, the B output end comprises a B output disc and a B pull belt, the A pull belt and the B pull belt are wound in opposite directions on the A output disc and the B output disc respectively, one end of the A pull belt and the B pull belt is fixed with the A output disc and the B output disc respectively, the A output disc and the B output disc are transmissionally coupled with the power output end and the main body output end respectively, so that the A output disc and the B output disc can rotate or be locked relative to each other 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, the cylindrical differential mechanism is rotationally coupled with the lower end of the waist and back module through the differential fixed shaft. The other end of the A pull belt and the B pull belt is fixedly connected with the leg module of the human body. The power module comprises a motor module and a speed reducer mechanism, both of which are in a cylindrical structure, the motor module comprises a stator and a rotor, the speed reducer mechanism comprises a speed reducer housing, a speed reducer input end and a speed reducer output end, the rotor is provided with a rotor shaft, the rotor rotates relative to the stator based on the rotor shaft, the rotor shaft extends into the speed reducer mechanism and is transmissionally coupled with the speed reducer input end, the speed reducer housing is transmissionally coupled with the stator, and the stator is transmissionally coupled with the main body output end.

2. The waist support device according to claim 1, characterized by The waist and back module comprises a back frame, a waist belt and a shoulder belt, the back frame is arranged on the back of the human body, the lower end of the back frame extends to the vicinity of the waist of the human body and is fixed with the waist of the human body through the waist belt, the upper end of the back frame extends to the vicinity of the heart of the human body and is fixed with the shoulder and back of the human body through the shoulder belt, and the cylindrical differential mechanism is arranged on the lower end of the back frame.

3. The waist support device according to claim 2, characterized by The middle part of the back frame is bent forward in the sagittal plane direction and extends to the vicinity of the two sides of the waist of the human body and is fixed with the waist of the human body through the waist belt.

4. The waist support device according to claim 2, wherein A waist pad block is arranged between the waist belt and the lower end of the back frame.

5. The waist support device of claim 2, wherein The waist belt is provided with a hip pad, the hip pad is provided with a sliding pad block, and the A pull belt and the B pull belt slide on the sliding pad block.

6. The waist support device of claim 1, wherein The leg module comprises a leg belt, each leg belt is fixed at the thigh, calf, foot or knee joint of the human body, the leg belt is provided with a pull belt fixing point, and the other end of the A pull belt and the B pull belt is fixedly connected with two pull belt fixing points respectively.

7. The waist support device of claim 6, wherein The leg module is further provided with a foot belt, the foot belt is fixed with the foot of the human body, the leg belt is arranged around the calf of the human body, and the upper end of the foot belt is fixed with the leg belt.

8. The waist support device according to any one of claims 1 to 7, characterized in that, The reducer input end is close to the stator, the reducer output end is arranged on the side far from the motor module, and is in transmission connection with the reducer input end and the power output end; the rotor shaft penetrates through the stator and extends into the reducer mechanism; the stator is in transmission connection with the main body output end across the rotor.

9. The guard device of claim 8, wherein, The stator is provided with a stator shaft on the side close to the reducer mechanism, the reducer shell is fixedly connected with the stator through the stator shaft; the differential fixed shaft is provided with a fixed shaft hole, the stator shaft penetrates through the fixed shaft hole, and based on the stator shaft and the fixed shaft hole, the cylindrical differential mechanism is in rotary connection with the lower end of the waist and back module.

10. The waist support device of claim 9, wherein The waist support device further comprises a sensing control system; the sensing control system comprises a driving module and a motor encoder. The motor encoder comprises an encoding magnetic steel and an encoding induction circuit, the encoding induction circuit is arranged on the main body output end and close to the center of the outer side of the rotor, and the encoding magnetic steel is arranged on the shaft end of the rotor shaft and close to the encoding induction circuit; The driving module is arranged on the main body output end and electrically connected with the motor encoder and the motor module, the driving module can control the rotation or torque output of the motor module according to the information sensed by the motor encoder.

11. The waist support device of claim 10, wherein The waist support device further comprises a battery module, the battery module is arranged on the waist and back module and electrically connected with the driving module; The battery module is provided with a power line, one end of the power line is connected with the battery module, the other end of the power line is spirally wound through the stator shaft, fixedly connected with the stator and electrically connected with the driving module.

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