A waist assist device with a pull belt-type single power module

Abstract

This invention discloses a waist assist device with a pull-belt type single power module. The power module includes two output ends, a motor module, a reduction mechanism, and a power housing. The motor module includes a stator and a rotor. The rotor includes a rotor shaft. The reduction mechanism includes a reducer housing, a reducer input end, and a reducer output end. The reducer housing is driven to the stator, and the reducer input end is driven to the rotor shaft. The output end includes an output disc, a rotating shaft, a pull belt, and a power input shaft. The pull belt is wound on the output disc, and the rotating shaft is located between the output disc and the power input shaft. The pull belts of the two output ends are wound in opposite directions. One power input shaft is driven to the reducer output end. The other power input shaft is fixedly connected to the stator. The other power input shaft, the stator, and the reducer housing are rotatable relative to the power housing as a whole. This invention's device is lightweight, powerful, compact, flexible, low-cost, and highly reliable.

Description

Technical Field

[0001] This invention relates to the field of wearable exoskeleton devices, and more particularly to a waist assist device with a pull-type single power module. Background Technology

[0002] In daily work and life, there is a need for lumbar assistance when bending over to reduce the burden on the lumbar muscles and decrease the risk of lumbar and spinal injuries. Wearable lumbar exoskeletons are devices that meet this need; these devices, known as lumbar assist devices, can help people lift heavier loads and reduce the strain on the lumbar muscles. Existing lumbar assist devices typically have a power module located at the hip joint, and many documents disclose the mechanisms underlying these devices.

[0003] Existing lumbar support devices, which are located at the hip joints, have power modules distributed on both sides of the hip joints. A rigid lumbar support connects the left and right power modules. These devices require a dual-power system, and the rigid lumbar support needs to transmit a large torque. Furthermore, its length needs to be adjustable to fit different users, which increases the complexity and weight of the lumbar support and adds to the manufacturing cost. Moreover, because the left and right power modules are located around the user's waist, these devices are often quite large and difficult to carry.

[0004] In the prior art, there is also a device that uses an elastic element to stretch the back to provide lumbar support. Such devices are very lightweight and low cost, but the elastic element can only provide support at a fixed angle and the support it can provide is small. The lumbar support function it provides is limited and its actual effect is not significant. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a waist assist device that is lightweight, powerful, compact, flexible, low-cost, and highly reliable.

[0006] To achieve the above objectives, embodiments of the present invention are proposed;

[0007] A waist assist device with a pull belt type single power module, wherein the power module includes a power module, the power module including two output ends, a motor module, a reduction mechanism and a power housing;

[0008] The motor module and the reduction mechanism are both housed within the power housing. The motor module includes a stator and a rotor, and the rotor can rotate relative to the stator. The rotor includes a rotor shaft. The reduction mechanism includes a reducer housing, a reducer input end, and a reducer output end. The reducer housing is driven to the stator, and the reducer input end is driven to the rotor shaft.

[0009] Each of the output ends includes an output disc, a rotating shaft, a pull belt, and a power input shaft. The output disc is drivenly connected to the power input shaft. The pull belt is wound around the output disc. The rotating shaft is disposed between the output disc and the power input shaft. The rotating shaft allows the output disc to tilt at different angles when it is driven to rotate by the power input shaft. The winding directions of the pull belts at the two output ends are opposite.

[0010] One of the power input shafts at the output end is connected to the output end of the reducer; the other power input shaft at the output end is fixedly connected to the stator, and the power input shaft at the other output end, the stator, and the reducer housing are as a whole and can rotate relative to the power housing.

[0011] The lumbar assist device provided in this invention has the following advantages: 1. Lightweight, its weight is only about half that of existing lumbar assist devices distributed around the waist and hip joints on both sides; 2. Powerful, the pulling force of the strap is converted into internal force of the device and is no longer applied to the human body, greatly increasing comfort and significantly increasing assist; 3. Compact and close-fitting, its power source 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 of the human body, which does not affect squatting, sitting, running, or jumping, resulting in a good overall experience; 4. Low cost and high reliability, requiring only one power module to work normally, the strap winding is free from twisting or tilting, and has a long lifespan. 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 cross-sectional schematic diagram of an embodiment of the power module of the present invention;

[0014] Figure 2 This is a schematic diagram showing the connection between the power module (without the power housing) and the lower frame section of the present invention.

[0015] Figure 3 This is a rear view schematic diagram of Embodiment 1 of the waist assist device of the present invention;

[0016] Figure 4 This is a side view of the waist assist device of the present invention in a bent-over position according to Embodiment 1;

[0017] Figure 5 This is a side view of the walking posture of Embodiment 1 of the waist assist device of the present invention;

[0018] Figure 6This is a side view of the walking posture of Embodiment 2 of the waist assist device of the present invention.

[0019] The attached figures are labeled as follows:

[0020] 1. Power Module; 11. Output End A; 111. Output Disc A; 112. Disc A Shaft; 113. Belt A; 114. Power Input Shaft A; 12. Output End B; 121. Output Disc B; 122. Disc B Shaft; 123. Belt B; 124. Power Input Shaft B; 13. Motor Module; 131. Stator; 131A. Stator Shaft; 131B. Stator Shaft Hole; 132. Rotor; 132A. Rotor Shaft; 14. Reduction Mechanism; 141. Reducer Housing; 142. Reducer Input End; 143. Reducer Output End; 15. Power Cover; 16. Power Shaft Axis;

[0021] 2. Backrest module; 21. Lower frame section; 211. Power fixing end; 212. Fixed bearing; 22. Frame body; 23. Upper frame section; 24. Waist bar; 241. Top waist block; 25. Waist belt; 26. Shoulder straps;

[0022] 3. Leg module; 31. Leg bar; 32. Leg shell; 33. Leg belt; 34. Leg flexion axis; 35. Leg extension axis;

[0023] 4. Sensor control system; 41. Drive module; 42. Motor encoder; 421. Encoding magnet; 422. Encoding sensing circuit; 43. Main control module; 431. Main control drive cable;

[0024] 5. Battery module; 51. Power cord. Detailed Implementation

[0025] 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.

[0026] 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.

[0027] like Figure 1 and Figure 2As shown, the power module 1 embodiment of the present invention includes two output ends, a motor module 13, a reduction mechanism 14, and a power housing 15. The motor module 13 and the reduction mechanism 14 are both disposed within the power housing 15. The motor module 13 includes a stator 131 and a rotor 132, the rotor 132 being rotatable relative to the stator 131. The rotor 132 includes a rotor shaft 132A. One side of the stator 131 encloses the rotor 132 within it and extends to the outside of the rotor. The other side of the stator 131 has a stator shaft 131A, which is hollow, forming a stator shaft hole 131B. The reduction mechanism 14 includes a reducer housing 141, a reducer input end 142, and a reducer output end 143. The reducer housing 141 is fixedly connected to the stator 131 via the stator shaft 131A. The rotor shaft 132A passes through the stator shaft hole 131B and is drively connected to the reducer input end 142. The reduction mechanism 14 and motor module 13 in the power module 1 have small diameters and both adopt a cylindrical structure layout. The stator shaft 131A connecting the motor module 13 and the reduction mechanism 14 has a smaller diameter than both the reduction mechanism 14 and the motor module 13 to facilitate winding and wiring.

[0028] Each of the output ends includes an output disc, a rotating shaft, a pull belt, and a power input shaft. The output disc is connected to the power input shaft in a driving connection. The pull belt is wound around the output disc. The rotating shaft is disposed between the output disc and the power input shaft. The rotating shaft allows the output disc to tilt at different angles when it is driven to rotate by the power input shaft.

[0029] In this embodiment, one output terminal is A output terminal 11, and the other output terminal is B output terminal 12. A output terminal 11 includes an A output disk 111, an A disk shaft 112, an A pull belt 113, and an A-end power input shaft 114. B output terminal 12 includes a B output disk 121, a B disk shaft 122, a B pull belt 123, and a B-end power input shaft 124. Specifically, for the A output end 11, the A end power input shaft 114 is connected to the reducer output end 143, and the A output disk 111 is connected to the A end power input shaft 114. The rotation of the A end power input shaft 114 will drive the rotation of the A output disk 111. The A pull belt 113 is wound on the A output disk 111. The rotation of the A output disk 111 will cause the A pull belt 113 to be wound in and shortened or wound out and extended. The A disk rotating shaft 112 is disposed between the A output disk 111 and the A end power input shaft 114. There are one or more A disk rotating shafts 112 (e.g., two). It can be a universal joint structure or a single shaft structure. The A disk rotating shaft 112 is perpendicular to the rotation axis of the A end power input shaft 114. The A-disc rotating shaft 112 allows the A-output disc 111 to tilt at different angles when driven to rotate by the A-end power input shaft 114, to match the abduction or adduction movement requirements of the human leg. The structure of the B-output end 12 is similar to that of the A-output end 11, except that the B-pull belt 123 is wound around the B-output disc 121 in the opposite direction to the A-pull belt 113. In addition, the B-end power input shaft 124 is drive-connected to the stator 131. Here, the drive-connection means that the B-end power input shaft 124 does not rotate relative to the stator 131, and the two are fixedly connected. In this way, the B-end power input shaft 124, the stator 131, and the reducer housing 141 can rotate relative to the power cover 15 as a whole.

[0030] Thus, when the motor module 13 rotates, it drives the output end 143 of the reducer to rotate relative to the input end 142 of the reducer. The A output disk 111 and the B output disk 121 rotate relative to each other, thereby causing the A pull belt 113 and the B pull belt 123 wound on it to simultaneously wind in and shorten or wind out and extend, thus realizing the same-direction movement between the A pull belt 113 and the B pull belt 123. When the output end 143 of the reducer is locked relative to the input end 142 of the reducer 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 113 and the B pull belt 123 cannot be wound in and shorten or wind out and extend simultaneously. Only when one winds in and shortens can the other wind out and extend, thus realizing the differential movement between the A pull belt 113 and the B pull belt 123.

[0031] like Figure 3 , Figure 4 and Figure 5As shown, it is a schematic diagram of embodiment 1 of the waist assist device with the aforementioned power module 1. In addition to the power module 1, it also includes a back support module 2, a leg module 3, a sensing control system 4, and a battery module 5.

[0032] The back and waist module 2 is installed on the back of the human body, and the power module 1 is horizontally installed at the lower end of the back and waist module 2 and located near the lower back of the human body, which is compact and close-fitting and improves the user experience; the back and waist module 2 includes a lower frame section 21, a frame body 22, an upper frame section 23, a waist bar 24, a waist belt 25, and a shoulder strap 26. The lower section 21 of the frame extends to the vicinity of the lower back of the human body and is fixed to the human body via the waist belt 25; the upper section 23 of the frame extends to the vicinity of the back of the human body and is fixed to the shoulders and back of the human body via the shoulder straps 26; the frame body 22 is drive-connected to the upper section 23 and the lower section 21 of the frame; the waist bar 24 extends from the lower back of the human body to the hips on both sides and is fixedly connected to the frame body 22 at the lower back; the lower section 21 of the frame has a power fixing end 211 fixedly connected to the power housing 15; the lower section 21 of the frame has a fixed bearing 212, that is, the fixed bearing 212 is set on the power fixing end 211, and two fixed bearings 212 can be set and respectively set on the power input shaft 114 at end A and the power input shaft 124 at end B. The power input shaft 114 at end A and the power input shaft 124 at end B are rotatably connected to the power fixing end 211 and the power housing 15 via the corresponding fixed bearings 212. The power fixed end 211 is rotatably connected to the A output end 11, B output end 12, motor module 13, and reduction mechanism 14 in the power module 1 via a fixed bearing 212, thereby allowing the motor module 13 and reduction mechanism 14 to rotate freely relative to the power housing 15. A top waist block 241 is provided between the frame body 22 and the waist belt 25 to distribute the pressure on the human waist when the waist assist device of the present invention is working, thereby improving wearing comfort.

[0033] The leg module 3 includes a leg rod 31, a leg shell 32, a leg belt 33, a leg flexion axis 34, and a leg extension axis 35. The leg rod 31 is positioned along the outer side of the human thigh, and its upper end is rotatably connected to the waist rod 24 via the leg extension axis 35 and the leg flexion axis 34. The lower end of the leg rod 31 is rigidly connected to the leg shell 32, and the leg belt 33 fixes the leg shell 32 to the human thigh. The leg shell 32 is fixedly connected to the lower ends of the A pull belt 113 and B pull belt 123 in the power module 1. The leg module 3 provides good flexibility, supporting flexible abduction and adduction movements of the human leg. The leg extension axis 35 and the leg flexion axis 34 can be independent shaft components, such as independent ball bearings, eccentric bearings, or joint bearings, which are orthogonal to each other to realize the extension and flexion of the leg, respectively. The leg flexion shaft 34 and the leg adduction shaft 35 can also be combined into a single shaft component, which can be called a leg adduction flexion shaft. This can be achieved by using a ball bearing, an eccentric bearing, or a joint bearing. The effect is the same as if the leg flexion shaft 34 and the leg adduction shaft 35 were implemented separately, and will not be described in detail here.

[0034] The sensing and control system 4 includes a drive module 41, a motor encoder 42, and a main control module 43, all of which are housed within the power housing 15. The drive module 41 is mounted on the stator 131 and located outside the rotor 132. The motor encoder 42 includes an encoding magnet 421 and an encoding sensing circuit 422. The encoding sensing circuit 422 is mounted on the drive module 41, and the encoding magnet 421 is mounted at the end of the rotor shaft 132A and close to the encoding sensing circuit 422. The main control module 43 is mounted on the power housing 15 and is electrically connected to the drive module 41 via the main control drive cable 431. The rotation of the rotor 132 relative to the stator 131 causes the encoding magnet 421 to rotate relative to the encoding sensing circuit 422, which is then sensed by the motor encoder 42. Therefore, the motor encoder 42 senses the rotation angle and / or angular velocity information of the rotor 132 relative to the stator 131. The drive module 41 controls the motor module 13 to rotate or output torque based on the information sensed by the motor encoder 42.

[0035] The drive module 41 is fixed to the stator 131, and the main control module 43 is fixed to the power housing 15. The stator 131 rotates relative to the power housing 15 based on the fixed bearing 212, that is, the drive module 41 rotates relative to the main control module 43. As a result, the main control drive cable 431 will continuously wind up as the stator 131 rotates, which will cause cable reliability problems.

[0036] To address the reliability issues caused by the winding of the main control drive cable 431, such as... Figure 1and Figure 2 As shown, the main control drive cable 431 is wound into a spiral, which is wound around the stator shaft 131A. Specifically, it is led out from the main control module 43, wound around the outside of the stator shaft 131A, and connected to the drive module 41. When the stator 131 rotates, the main control module 43 is fixed, and the drive module 41 rotates accordingly, causing the spiral diameter of the main control drive cable 431 to expand or shrink. The A output disk 111 and B output disk 121 have a relative rotation range when they are working, and the diameter of the spiral of the main control drive cable 431 also has a range of variation. By setting the number of turns and the initial diameter of the spiral of the main control drive cable 431, the maximum diameter of the spiral of the main control drive cable 431 can be accommodated within the power housing 15, and the minimum diameter can be accommodated within the stator shaft 131A, thus solving the reliability problem of the cable winding. The main control drive cable 431 can be a cylindrical cable or a thinner FPC, and the winding principle is similar, so it will not be described in detail here.

[0037] like Figure 2 and Figure 3 As shown, the battery module 5 is mounted on the lower section 21 of the frame and is electrically connected to the main control module 43 via the power line 51. Since there is no relative movement between the lower section 21 of the frame and the main control module 43, the power line 51 can be fixedly mounted, i.e., fixed wiring is used.

[0038] The working principle of the waist assist device of the present invention is as follows:

[0039] When power module 1 is in the locked state, that is, the power input shaft 114 at end A and the power input shaft 124 at end B are relatively locked, the output disk 111 at end A and the output disk 121 at end B can only rotate in the same direction. Because the pull belt 113 at end A and the pull belt 123 at end B are wound in opposite directions, they perform differential motion. Figure 5 As shown, it can meet the need for the human body to swing its legs crosswise when walking, thus supporting the human body to walk freely.

[0040] When the power input shaft 114 at end A and the power input shaft 124 at end B rotate relative to each other under power drive, the output disc 111 at end A and the output disc 121 at end B rotate relative to each other. Because the pull belt 113 at end A and the pull belt 123 are wound in opposite directions, at this time the pull belt 113 at end A and the pull belt 123 move in the same direction, that is, the pull belt 113 at end A and the pull belt 123 simultaneously shorten and lengthen. Figure 4As shown, it can meet the movement needs of the human body when bending over and standing up, with both legs bending and extending in the same direction. If the A-strap 113 and B-strap 123 are rolled up and tightened simultaneously, they will pull the leg shell 32 upward. Since the leg shell 32 and the leg rod 31 are rigidly connected, and the leg flexion axis 34 is a free axis, the upward pulling force applied by the A-strap 113 and B-strap 123 will cause the frame body 22 of the waist and back module 2 to rotate counterclockwise relative to the leg rod 31 based on the leg flexion axis 34. At this time, the upper section 23 of the frame will pull the human body's shoulders and torso upward counterclockwise through the shoulder strap 26, as shown. Figure 4 As shown, an upward lifting force F1 is applied to the shoulders and torso of the human body; the lower section 21 of the frame will press against the lower back and pelvis of the human body counterclockwise through the top waist block 241 and the rear section of the waist belt 25, as... Figure 4 As shown, a downward pressure F2 is applied to the lower back and pelvis; the leg shell 32 will pull the leg strap 33 back taut, as... Figure 4 As shown, the leg strap 33 applies downward pressure F3 to the human thigh; the pulling force F1, pressure F2 and pressure F3 help the human body lift the torso, upper limbs and heavy objects, stretch the waist, reduce the burden on the human waist muscles, and achieve the effect of reducing the burden on the human waist muscles when lifting heavy objects.

[0041] Figure 6 This is a side view of the lumbar support device embodiment 2 of the present invention in a walking state. In this embodiment, the A-band 113 and B-band 123 directly pull the human leg strap 33 downwards, thereby using the human thigh bone to replace the leg bar 31 to offset the pulling force of the A-band 113 and B-band 123. The rotating lever mechanism formed by the human pelvis and thigh bone replaces the rotating lever structure formed by the waist bar 24, leg flexion axis 34, leg extension axis 35 and leg bar 31. When the A-band 113 and B-band 123 tighten upwards at the same time, the function of providing assistance to the human waist is realized. In this embodiment, the pulling force of the A-band 113 and B-band 123 cannot be too large, otherwise it will cause discomfort to the wearer. Therefore, this embodiment is suitable for situations where the lumbar support is relatively small.

[0042] compared to Figure 6 The implementation scheme shown, Figures 3-5The illustrated implementation provides greater assistance and solves the problem of low reliability of the pull strap caused by tilting and twisting when the human body is squatting with legs spread apart. In the device of the present invention, the leg module 3 has a leg rod 31, a leg shell 32, a leg flexion axis 34, and a leg extension axis 35, all of which are rigid structures. The tension of the A pull strap 113 and B pull strap 123 is no longer applied to the human body, but is applied to the leg module 3, becoming the internal force of the device of the present invention. In this way, the wearing comfort can be greatly improved, and the A pull strap 113 and B pull strap 123 can be supported to apply greater tension. Therefore, compared with the prior art, the device of the present invention can provide greater waist assistance to the human body and better meet the needs of helping the human body lift heavy objects.

[0043] Furthermore, compared to existing technologies, the device of the present invention, through a rotating shaft perpendicular to the power input shaft 114 at end A and the power input shaft 124 at end B, allows the A output disk 111 and B output disk 121 in the power module 1 to swing relative to the power axis 16 while providing tension by winding the A pull belt 113 and B pull belt 123. Moreover, the A pull belt 113 and B pull belt 123 do not deviate or tilt relative to the A output disk 111 and B output disk 121 when winding, thereby adapting to the flexible movements of the human thigh abduction and adduction while the device of the present invention is working. Compared to existing technologies, the device of the present invention is more flexible and more reliable. To better achieve the swinging effect without deviation or tilting, the rotating shafts in the device of the present invention preferably adopt universal joints. That is, the use of universal joints for the A disk rotating shaft 112 and the B disk rotating shaft 122 can improve the swinging effect, and the A output disk 111 and the B output disk 121 can swing left and right with the human thigh, so that the A pull strap 113 and the B pull strap 123 are respectively vertically wound around the A output disk 111 and the B output disk 121, thereby better avoiding the twisting, deviation or tilting of the pull straps.

[0044] 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.

[0045] 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 assist device with a pull-belt type single power module, characterized in that, It includes a power module, which includes two output terminals, a motor module, a reduction mechanism, and a power housing; The motor module and the reduction mechanism are both housed within the power housing. The motor module includes a stator and a rotor, and the rotor can rotate relative to the stator. The rotor includes a rotor shaft. The reduction mechanism includes a reducer housing, a reducer input end, and a reducer output end. The reducer housing is driven to the stator, and the reducer input end is driven to the rotor shaft. Each of the output ends includes an output disc, a rotating shaft, a pull belt, and a power input shaft. The output disc is drivenly connected to the power input shaft. The pull belt is wound around the output disc. The rotating shaft is disposed between the output disc and the power input shaft. The rotating shaft allows the output disc to tilt at different angles when it is driven to rotate by the power input shaft. The winding directions of the pull belts at the two output ends are opposite. One of the power input shafts at the output end is connected to the output end of the reducer; the other power input shaft at the output end is fixedly connected to the stator, and the power input shaft at the other output end, the stator, and the reducer housing are as a whole and can rotate relative to the power housing. It also includes a back support module, which includes a lower frame section, a frame body, an upper frame section, and a waist bar; the frame body is drive-connected to the upper frame section and the lower frame section; the waist bar is fixedly connected to the frame body; the lower frame section has a power fixing end fixedly connected to the power housing; the lower frame section has a fixed bearing, which is mounted on the power input shaft, and the power input shaft is rotatably connected to the power fixing end and the power housing through the fixed bearing; It also includes a leg module, which includes a leg rod and a leg shell; the leg rod is set along the human thigh, and the upper end of the leg rod is rotatably connected to the waist rod; the lower end of the leg rod is drive-connected to the leg shell; the leg shell is fixedly connected to the lower end of the pull strap at the output end.

2. The waist support device according to claim 1, characterized in that, Each of the output terminals is provided with one or more rotating shafts, which are universal joint structures or single-axis structures.

3. The waist support device according to claim 2, characterized in that, The rotating shaft is perpendicular to the rotation axis of the corresponding power input shaft.

4. The waist support device according to claim 1, characterized in that, The back support module includes a waist belt and shoulder straps. The lower section of the frame extends to the vicinity of the lower back of the human body and is fixed to the human body by the waist belt. The upper section of the frame extends to the vicinity of the back of the human body and is fixed to the shoulders and back of the human body by the shoulder straps. The waist bar extends from the lower back of the human body to the hips on both sides and is fixed to the main body of the frame at the lower back.

5. The waist support device according to claim 4, characterized in that, The leg module includes a leg strap; the leg strap secures the leg shell to the human thigh.

6. The waist support device according to claim 5, characterized in that, The upper section of the leg bar and the waist bar are rotatably connected to the waist bar through a leg extension and flexion axis, which is a single shaft component; or, the upper section of the leg bar and the waist bar are rotatably connected to the waist bar sequentially through a leg extension and flexion axis and a leg flexion axis, which are each an independent shaft component.

7. The waist support device according to claim 6, characterized in that, The leg rod, leg shell, leg bending axis, and leg retraction axis are all rigid structures.

8. The waist support device according to claim 4, characterized in that, It also includes a sensor control system and a battery module; the sensor control system includes a drive module, a motor encoder, and a main control module. The drive module is mounted on the stator and located outside the rotor; the motor encoder includes an encoding magnet and an encoding sensing circuit. The encoding sensing circuit is mounted on the drive module, and the encoding magnet is mounted at the end of the rotor shaft, close to the encoding sensing circuit; the main control module is mounted on the power housing and electrically connected to the drive module via a main control drive cable; the battery module is mounted on the lower section of the frame and electrically connected to the main control module via a power line, which is fixedly routed.

9. The waist assist device according to claim 8, characterized in that, The stator has a stator shaft, and the reducer housing is connected to the stator via the stator shaft; the main control drive cable is led out from the main control module in the form of a spiral, passes through the stator shaft, and is connected to the drive module.

10. The waist assist device according to claim 9, characterized in that, The main control drive cable is a cylindrical cable or an FPC.

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