Multi-degree-of-freedom waist movement auxiliary device

Abstract

The invention relates to the technical field of auxiliary movement, in particular to a multi-degree-of-freedom waist movement auxiliary device which comprises a frame body, an auxiliary mechanism, a rotation driving mechanism, a lateral flexion driving mechanism and a front-back flexion and extension driving mechanism, the output end of the rotation driving mechanism is connected with a spine chassis, and adjacent joints of the auxiliary mechanism are elastically connected; a first stress plate is arranged at the rear end of the spine middle joint, a connecting plate is arranged at the rear end of the first stress plate, the front-back bending and stretching driving mechanism is arranged on the connecting plate, the spine bottom joint and the spine top joint are each provided with a back fixing assembly, and the upper end and the lower end of a first electric push rod of the lateral bending driving mechanism are connected with the two back fixing assemblies respectively. The multi-degree-of-freedom driving mechanism is combined with a rigid-flexible coupling joint connection mode, the problem of man-machine mismatching caused by motion coupling in a traditional device is effectively avoided, motion naturalness and man-machine collaboration are remarkably improved, and the robot is compact in overall layout, light in weight and suitable for various scenes.

Description

Technical Field

[0001] This invention relates to the field of assistive movement technology, and in particular to a multi-degree-of-freedom waist movement assistive device. Background Technology

[0002] The waist, as the core hub of the human torso, bears the important functions of supporting the weight of the upper body, transmitting kinetic energy, and enabling multi-dimensional complex movements such as flexion, extension, lateral bending, and rotation. In rehabilitation training, occupational safety, or assistive settings for the elderly, there is an urgent need for a waist movement assistive device that can actively provide assistance and precisely match the kinematic characteristics of the human body.

[0003] Currently, passive assistive devices can only provide limited support or guidance, and cannot actively output driving force. Users still need to rely on their own muscles to complete most movements, which is difficult to meet the needs of people with severe muscle weakness or those recovering from surgery. While existing active lumbar assistive devices have introduced driving components such as motors or push rods, most active mechanisms use single-degree-of-freedom hinges or fixed-size designs, which cannot simultaneously achieve coordinated assistance for multi-dimensional movements such as forward and backward flexion and extension, left and right lateral bending, and horizontal rotation. This leads to a mismatch between human and machine movement, easily causing movement interference or additional constraints, and limiting the user's natural movement. Secondly, to ensure structural strength, existing devices generally use fully rigid connections. Although they have a certain support capacity, they are difficult to conform to the physiological curves of the waist of users of different body types. Wearing them for a long time can easily cause local pressure, obstructed blood circulation, poor comfort, and low user compliance. Conversely, if a purely flexible structure is used, it cannot effectively transmit assistance due to insufficient rigidity, leading to support failure. Summary of the Invention

[0004] The present invention aims to at least solve the technical problems existing in the prior art. To this end, the present invention proposes a multi-degree-of-freedom lumbar movement assist device, which can realize a multi-degree-of-freedom independent, decoupled, and actively driven lumbar movement assist mechanism, ensuring sufficient support rigidity while taking into account wearing comfort.

[0005] According to some embodiments of the present invention, a multi-degree-of-freedom lumbar movement assistive device includes a frame, an auxiliary mechanism, a rotation drive mechanism, a lateral flexion drive mechanism, and an anterior-posterior flexion-extension drive mechanism. A connecting frame is provided on the frame, and the rotation drive mechanism is disposed on the connecting frame. The output end of the rotation drive mechanism is connected to a spinal chassis. The auxiliary mechanism includes a spinal chassis, a spinal base joint, a spinal mid-joint, a spinal top joint, and a back fixation component. The spinal base joint is disposed on the spinal chassis, and the spinal base joint, spinal mid-joint, and spinal top joint are arranged sequentially from top to bottom. The spinal base joint and the spinal mid-joint are connected to each other. Several spinal joints are provided between the middle joints of the spine and between the top joints of the spine. Adjacent joints are elastically connected. A first force plate is provided at the rear end of the middle joint of the spine. A connecting plate is provided at the rear end of the first force plate. The forward and backward flexion-extension driving mechanism is provided on the connecting plate. The output end of the forward and backward flexion-extension mechanism is connected to an auxiliary mechanism. Back fixation components are provided at the front end of the bottom joints of the spine and the front end of the top joints of the spine. The lateral flexion driving mechanism includes two first electric push rods. The upper and lower ends of the first electric push rods are respectively connected to the two back fixation components. The two first electric push rods are located at the two ends of the back fixation components.

[0006] A multi-degree-of-freedom waist movement assistive device according to some embodiments of the present invention has at least the following beneficial effects: This invention features independent rotational, lateral flexion, and forward / backward flexion / extension mechanisms. The spinal base, mid-spine, and top joints are elastically connected, forming a rigid-flexible coupling structure. The multi-degree-of-freedom drive mechanism, combined with this rigid-flexible joint connection, enables the lumbar support mechanism to perform horizontal rotation, lateral bending, and forward / backward flexion / extension movements. This effectively avoids the human-machine mismatch problem caused by motion coupling in traditional devices, significantly improving the naturalness of movement and human-machine coordination. While ensuring overall longitudinal support rigidity, it better conforms to the lumbar physiological curves of different users, dispersing local pressure, reducing pressure sensation, and improving comfort and user compliance during extended wear. The frame integrates the connecting frame and drive mechanism, resulting in a compact and lightweight design suitable for various scenarios. It requires no fixed installation and offers excellent portability and practicality.

[0007] According to some embodiments of the present invention, a multi-degree-of-freedom lumbar movement assist device includes a flexion-extension drive mechanism comprising a second electric push rod and a third electric push rod. One end of the second electric push rod is hinged to the spinal chassis, and the other end of the second electric push rod is connected to the connecting plate. One end of the third electric push rod is hinged to the connecting plate, and the other end of the third electric push rod is connected to the top joint of the spine.

[0008] According to some embodiments of the present invention, a multi-degree-of-freedom lumbar movement assistive device is provided with positioning grooves at the upper end of the spinal base joint, the upper and lower ends of the spinal middle joint, the upper and lower ends of the spinal joint, and the lower end of the spinal top joint. A spring is provided between every two opposing positioning grooves, and adjacent joints are elastically connected by the springs.

[0009] According to some embodiments of the present invention, a multi-degree-of-freedom waist movement assist device is provided on the frame, the connecting frame is connected to the output end of the height adjustment mechanism, the height adjustment mechanism includes a drive motor, a screw and a first slider, the drive motor is disposed on the frame, the screw is disposed on the output end of the drive motor, the first slider is screwed to the screw, and the front end of the first slider is connected to the connecting frame.

[0010] According to some embodiments of the present invention, a multi-degree-of-freedom waist movement assist device is provided with two circular guide rails arranged vertically on the frame, the two circular guide rails being arranged on both sides of the screw, and second sliders being provided at both ends of the rear side of the connecting frame, the two second sliders being slidably connected to the two circular guide rails respectively.

[0011] According to some embodiments of the present invention, a multi-degree-of-freedom lumbar movement assist device includes a rotary drive mechanism comprising a rotary motor and a rotary housing. The rotary motor is disposed within the rotary housing, and its output end is connected to the spinal chassis. A first bearing is disposed on the top of the rotary housing, and the spinal chassis is connected to the inner ring of the first bearing. The rotary housing is connected to the outer side of the spinal chassis.

[0012] According to some embodiments of the present invention, a multi-degree-of-freedom lumbar movement assistive device is provided with a second force plate at the rear end of the top joint of the spine, and the other end of the second electric push rod is connected to the second force plate. The first force plate and the second force plate are arranged in a vertical direction, and the connecting plate is arranged in a horizontal direction. A second bearing is provided on both the first force plate and the second force plate. The middle joint of the spine and the top joint of the spine are respectively connected to the inner rings of the two second bearings, and the first force plate and the second force plate are respectively connected to the outer rings of the two second bearings.

[0013] According to some embodiments of the present invention, a multi-degree-of-freedom waist movement assist device is provided at the bottom of the first electric push rod, the first spherical sub-assembly is connected to the back fixing assembly located at the bottom, and the output end of the first electric push rod is provided with a second spherical sub-assembly, the second spherical sub-assembly is connected to the back fixing assembly located at the top.

[0014] According to some embodiments of the present invention, a multi-degree-of-freedom waist movement assist device is provided at the lower end of the frame, and two leg straps are provided on the crossbar, and multiple casters are provided at the bottom of the frame.

[0015] According to some embodiments of the present invention, a multi-degree-of-freedom lumbar movement assist device includes a backrest panel and a strap. The front ends of the backrest panel are provided with connecting buckles on both sides. The straps are connected to the connecting buckles. The two backrest panels are respectively connected to the front end of the spinal base joint 8 and the front end of the spinal top joint.

[0016] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0017] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the structure of an embodiment of the present invention.

[0018] Figure 2 This is a schematic diagram of the structure after the frame is hidden in an embodiment of the present invention.

[0019] Figure 3 This is a cross-sectional view of the auxiliary mechanism and the rotary drive mechanism according to an embodiment of the present invention.

[0020] Figure 4 This is a schematic diagram of the leg strap structure according to an embodiment of the present invention.

[0021] Reference numerals: 1. Frame; 2. Auxiliary mechanism; 3. Rotation drive mechanism; 4. Lateral flexion drive mechanism; 5. Forward and backward flexion drive mechanism; 6. Connecting frame; 7. Spine chassis; 8. Spine base joint; 9. Spine middle joint; 10. Spine top joint; 12. Back fixation assembly; 13. First force plate; 14. Connecting plate; 15. First electric actuator; 16. Second electric actuator; 17. Third electric actuator; 18. Spine joint; 19. Fixed 20. Groove; 21. Spring; 22. Height adjustment mechanism; 23. Screw; 24. First slider; 25. Circular guide rail; 26. Second slider; 27. Rotary motor; 28. Rotating housing; 29. ​​First bearing; 30. Second bearing plate; 31. Second bearing; 32. First spherical sub-assembly; 33. Second spherical sub-assembly; 34. Backrest panel; 35. Straps; 36. Connecting buckle; 37. Crossbar; 38. Leg straps; 39. Casters. Detailed Implementation

[0022] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0023] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, left, right, front, and back, are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the module or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0024] In the description of this invention, the use of "first" and "second" is for the purpose of distinguishing technical features only, and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or the order of the technical features indicated.

[0025] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0026] like Figures 1-4 As shown, this embodiment of the invention provides a multi-degree-of-freedom waist movement assist device.

[0027] A multi-degree-of-freedom lumbar movement assistive device includes a frame 1, an auxiliary mechanism 2, a rotation drive mechanism 3, a lateral flexion drive mechanism 4, and a forward and backward flexion-extension drive mechanism 5. A connecting frame 6 is provided on the frame 1, and the rotation drive mechanism 3 is mounted on the connecting frame 6. The output end of the rotation drive mechanism 3 is connected to a spinal chassis 7. The auxiliary mechanism 2 includes a spinal chassis 7, a spinal base joint 8, a spinal mid-joint 9, a spinal top joint 10, and a back fixation component 12. The spinal base joint 8 is mounted on the spinal chassis 7. The spinal base joint 8, the spinal mid-joint 9, and the spinal top joint 10 are arranged sequentially from top to bottom, with adjacent joints... The two structures are elastically connected. The rear end of the middle joint 9 of the spine is provided with a first force plate 13, and the rear end of the first force plate 13 is provided with a connecting plate 14. The forward and backward flexion and extension drive mechanism 5 is provided on the connecting plate 14. The output end of the forward and backward flexion and extension mechanism 5 is connected to the auxiliary mechanism 2. The front end of the bottom joint 8 of the spine and the front end of the top joint 10 of the spine are both provided with the back fixation component 12. The lateral flexion drive mechanism 4 includes two first electric push rods 15. The upper and lower ends of the first electric push rods 15 are respectively connected to the two back fixation components 12. The two first electric push rods 15 are respectively located at the two ends of the back fixation component 12.

[0028] This invention features an independent rotation drive mechanism 3, a lateral flexion drive mechanism 4, and a forward and backward flexion drive mechanism 5. The spinal base joint 8, spinal mid-joint 9, and spinal top joint 10 are elastically connected, forming a rigid-flexible coupling structure. The multi-degree-of-freedom drive mechanism, combined with the rigid-flexible coupling joint connection, enables the lumbar support mechanism to perform horizontal rotation, left and right lateral bending, and forward and backward flexion movements. This effectively avoids the human-machine mismatch problem caused by motion coupling in traditional devices, significantly improving the naturalness of movement and human-machine coordination. While ensuring overall longitudinal support rigidity, it better conforms to the lumbar physiological curves of different users, dispersing local pressure, reducing pressure, and improving comfort and user compliance during long-term wear. The frame 1 integrates the connecting frame 6 and the drive mechanism, resulting in a compact overall layout, lightweight design, suitability for various scenarios, no need for fixed installation, and excellent portability and practicality.

[0029] This embodiment describes a multi-degree-of-freedom lumbar movement assistive device. The forward and backward flexion-extension drive mechanism 11 includes a second electric push rod 16 and a third electric push rod 17. One end of the second electric push rod 16 is hinged to the spinal chassis 7, and the other end is connected to the connecting plate 14. One end of the third electric push rod 17 is hinged to the connecting plate 14, and the other end is connected to the spinal apex joint 10. Specifically, by setting the second electric push rod 16 to connect the spinal chassis 7 and the connecting plate 14, and the third electric push rod 17 to connect the connecting plate 14 and the spinal apex joint 10, a vertically distributed double push rod drive layout is formed, constituting a stable triangular mechanical support structure. This not only increases the assist lever arm and improves the output torque of the pitching motion, but also enhances the structural stability during forward and backward flexion-extension, effectively suppressing swaying and achieving a wide range and high precision posture adjustment.

[0030] The multi-degree-of-freedom lumbar movement assistive device described in this embodiment includes several spinal joints 18 arranged between the base joint 8 and the middle joint 9, and between the middle joint 9 and the top joint 10. Specifically, the addition of several spinal joints 18 between the base joint 8 and the middle joint 9, and between the middle joint 9 and the top joint 10, increases the number of joints in the lumbar support chain, enabling the entire assistive mechanism to more precisely simulate the continuous bending characteristics of the human lumbar spine, improving movement flexibility and trajectory fitting, and further enhancing its adaptability to complex flexion and extension movements.

[0031] This embodiment describes a multi-degree-of-freedom lumbar movement assistive device. Positioning grooves 19 are provided at the upper end of the spinal base joint 8, the upper and lower ends of the spinal middle joint 9, the upper and lower ends of the spinal joint 18, and the lower end of the spinal top joint 10. A spring 20 is provided between every two opposing positioning grooves 19, and adjacent joints are elastically connected by the springs 20. Specifically, by providing positioning grooves 19 and embedding springs 20 on the end faces of adjacent joints for elastic connection, not only is the stability and reset capability of the relative movement between joints ensured, but the back flexion and extension movements are also made smoother and gentler, avoiding abrupt impacts and enhancing safety and comfort.

[0032] This embodiment describes a multi-degree-of-freedom lumbar movement assistive device. The frame 1 is equipped with a height adjustment mechanism 21. The connecting frame 6 is connected to the output end of the height adjustment mechanism 21. The height adjustment mechanism 21 includes a drive motor (not shown), a screw 23, and a first slider 24. The drive motor is mounted on the frame 1, the screw 23 is located at the output end of the drive motor, and the first slider 24 is screwed to the screw 23. The front end of the first slider 24 is connected to the connecting frame 6. Specifically, the height adjustment mechanism 21, composed of the drive motor, screw 23, and first slider 24, on the frame 1 can drive the connecting frame 6 and the entire assistive mechanism to rise and fall vertically. This allows for flexible adjustment of the lumbar support position according to the user's height, ensuring that the assist line is aligned with the center of the lumbar spine, expanding the applicable population range of the device, and improving assist efficiency and safety.

[0033] This embodiment describes a multi-degree-of-freedom waist movement assist device. Two circular guide rails 25 are vertically arranged on the frame 1, with the two guide rails 25 positioned on both sides of the screw 23. Second sliders 26 are located at both ends of the rear side of the connecting frame 6, and the two second sliders 26 are slidably connected to the two circular guide rails 25 respectively. Specifically, two circular guide rails 25 are symmetrically arranged on both sides of the screw 23, and the connecting frame 6 is slidably connected to the circular guide rails 25 via the second sliders 26. This provides high-rigidity guidance for the height adjustment process, effectively preventing the connecting frame 6 from swaying or jamming during lifting, ensuring smooth and precise overall movement, and improving structural reliability and service life.

[0034] This embodiment describes a multi-degree-of-freedom lumbar movement assistive device. The rotary drive mechanism 3 includes a rotary motor 27 and a rotary housing 28. The rotary motor 27 is disposed within the rotary housing 28, and its output end is connected to the spinal chassis 7. A first bearing 29 is disposed on the top of the rotary housing 28, and the spinal chassis 7 is connected to the inner ring of the first bearing 29. The rotary housing 28 is connected to the outer side of the spinal chassis 7. Specifically, the rotary drive mechanism 3 uses a rotary motor 27 built into the rotary housing 28, and connects the spinal chassis 7 to the housing through the first bearing 29. This allows the spinal chassis 7 to rotate smoothly around a vertical axis under the drive of the motor. At the same time, the bearing structure isolates the friction between the rotating components and the stationary components, reducing energy consumption, improving rotational response accuracy, and ensuring that the left and right rotational movements do not interfere with other degrees of freedom.

[0035] This embodiment describes a multi-degree-of-freedom lumbar movement assistive device. The flexion-extension drive mechanism 5 includes a second electric push rod 16 and a third electric push rod 17. One end of the second electric push rod 16 is hinged to the spinal chassis 7, and the other end is connected to the connecting plate 14. One end of the third electric push rod 17 is hinged to the connecting plate 14, and the other end is connected to the spinal apex joint 10. Specifically, this forms a two-stage linkage push rod system, which, compared to a single push rod structure, can achieve a wider range of flexion and extension movements, and has a more reasonable force transmission path and more even force distribution.

[0036] This embodiment describes a multi-degree-of-freedom lumbar movement assistive device. A second force plate 30 is provided at the rear end of the spinal apex joint 10. The other end of the third electric push rod 17 is connected to the second force plate 30. The first force plate 13 and the second force plate 30 are arranged vertically, and the connecting plate 14 is arranged horizontally. A second bearing 31 is provided on both the first force plate 13 and the second force plate 30. The spinal mid-joint 9 and the spinal apex joint 10 are respectively connected to the inner rings of the two second bearings 31, and the first force plate 13 and the second force plate 30 are respectively connected to the outer rings of the two second bearings 31. Specifically, by adding a second force plate 30 at the rear end of the spinal apex joint 10, and arranging the first force plate 13 and the second force plate 30 vertically and the connecting plate 14 horizontally, the force transmission path is optimized, enabling the pushing and pulling actions of the two electric push rods to be efficiently converted into forward and backward extension movements of the spinal structure, improving driving efficiency and action response accuracy.

[0037] This embodiment describes a multi-degree-of-freedom lumbar movement assistive device. The bottom of each of the first electric push rods 15 is provided with a first spherical sub-assembly 32, which is connected to the back fixation assembly 12 located at the bottom. The output end of the first electric push rod 15 is provided with a second spherical sub-assembly 33, which is connected to the back fixation assembly 12 located at the top. Specifically, both ends of the first electric push rod 15 are connected to the upper and lower back fixation assemblies 12 via the first spherical sub-assembly 32 and the second spherical sub-assembly 33, respectively. The spherical sub-assemblies allow the push rod to automatically adjust its angle during lateral bending, adapting to changes in the spatial posture of the back fixation assembly 12, avoiding stress concentration or movement jamming caused by rigid connections, ensuring smooth and natural lateral bending movements, and improving the reliability and comfort of the lateral bending drive.

[0038] This embodiment describes a multi-degree-of-freedom lumbar movement assistive device. The back fixation component 12 includes a backrest plate 34 and straps 35. Each of the front ends of the backrest plate 34 has connecting buckles 36 on both sides. The straps 35 are connected to the connecting buckles 36. The two backrest plates 34 are respectively connected to the front ends of the base of the spine joint 8 and the top of the spine joint 10. The backrest plate 34 has an arc-shaped contour that matches the physiological curve of the human back. Specifically, two backrest plates 34 with straps 35 are respectively connected to the front ends of the base of the spine joint 8 and the top of the spine joint 10, forming a two-point fixation structure. This securely and comfortably binds the user's back to the device, preventing slippage or misalignment during movement and improving the stability and effectiveness of the assisted movement. Specifically, the two straps 35 are respectively tied under the armpits and waist, or to the shoulders and waist.

[0039] This embodiment describes a multi-degree-of-freedom lumbar movement assistive device. The flexion-extension drive mechanism 5 includes two second electric push rods 16 and two third electric push rods 17. One end of each of the two second electric push rods 16 is hinged to the top left and right sides of the spinal chassis 7, and the other end is hinged to the bottom left and right sides of the connecting plate 14. One end of each of the two third electric push rods 17 is hinged to the top left and right sides of the connecting plate 14, and the other end is hinged to the top left and right sides of the spinal apex joint 10. Specifically, the use of symmetrically arranged double second electric push rods 16 and double third electric push rods 17 forms a dual-sided synchronous drive structure, which not only improves the balance of driving force and the torsional stiffness of the structure, but also effectively prevents deviation or jamming caused by unilateral force during movement, ensuring smooth, symmetrical, and reliable flexion-extension movements.

[0040] This embodiment describes a multi-degree-of-freedom waist movement assistive device. The lower end of the frame 1 is provided with a crossbar 37, and two leg straps 38 are mounted on the crossbar 37. The bottom of the frame 1 is provided with multiple casters 39. Specifically, the leg straps 38 can secure the user, ensuring smooth movement, while the casters 39 allow for flexible use without the need for additional securing.

[0041] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A multi-degree-of-freedom lumbar motion assist device, characterized by: The utility model provides a kind of spinal column simulation device, including frame body, auxiliary mechanism, rotary drive mechanism, side bending drive mechanism and front and rear flexion and extension drive mechanism, connection frame is provided on the frame body, the rotary drive mechanism is arranged on the connection frame, the auxiliary mechanism includes spinal column chassis, spinal column bottom joint, spinal column middle joint, spinal column top joint and back fixing component, the output end of the rotary drive mechanism is connected with spinal column chassis, the spinal column bottom joint is arranged on the spinal column chassis, the spinal column bottom joint, the spinal column middle joint and the spinal column top joint are sequentially arranged from top to bottom, a plurality of spinal column joints are arranged between the spinal column bottom joint and the spinal column middle joint and between the spinal column middle joint and the spinal column top joint, and the adjacent joints are elastically connected, the rear end of the spinal column middle joint is provided with a first stress plate, the rear end of the first stress plate is provided with a connecting plate, the front and rear flexion and extension drive mechanism is arranged on the connecting plate, the output end of the front and rear flexion and extension mechanism is connected with auxiliary mechanism, the front end of the spinal column bottom joint and the front end of the spinal column top joint are provided with back fixing component, the side bending drive mechanism includes two first electric push rods, the upper and lower ends of the first electric push rod are connected with two back fixing components respectively, and two first electric push rods are located at the two ends of the back fixing component respectively.

2. A multi-degree of freedom lumbar motion assist device according to claim 1, characterized by: The front and rear flexion and extension drive mechanism includes a second electric push rod and a third electric push rod, one end of the second electric push rod is hinged with the spinal column chassis, the other end of the second electric push rod is connected with the connecting plate, one end of the third electric push rod is hinged with the connecting plate, and the other end of the third electric push rod is connected with the spinal column top joint.

3. The multi-degree-of-freedom lumbar motion assist device according to claim 1, characterized by: The upper end of the spinal column bottom joint, the upper and lower ends of the spinal column middle joint, the upper and lower ends of the spinal column joint and the lower end of the spinal column top joint are provided with positioning grooves, and springs are arranged between every two opposite positioning grooves, and the adjacent joints are elastically connected through the springs.

4. The multi-degree-of-freedom lumbar motion assist device according to claim 1, characterized by: The frame body is provided with a height adjusting mechanism, the connecting frame is connected with the output end of the height adjusting mechanism, the height adjusting mechanism includes a drive motor, a screw rod and a first sliding block, the drive motor is arranged on the frame body, the screw rod is arranged on the output end of the drive motor, the first sliding block is screwed with the screw rod, and the front end of the first sliding block is connected with the connecting frame.

5. A multi-degree-of-freedom lumbar motion assist device according to claim 4, characterized by: Two circular guide rails are arranged on the frame body in vertical direction, the two circular guide rails are arranged on the two sides of the screw rod, the rear sides of the two ends of the connecting frame are provided with second sliding blocks, and the two second sliding blocks are slidably connected with the two circular guide rails respectively.

6. The multi-degree-of-freedom lumbar motion assist device according to claim 1, characterized by: The rotary drive mechanism includes a rotary motor and a rotary shell, the rotary motor is arranged in the rotary shell, the output end of the rotary motor is connected with the spinal column chassis, the top of the rotary shell is provided with a first bearing, the inner ring of the first bearing is connected with the spinal column chassis, and the outer side of the rotary shell is connected with the spinal column chassis.

7. The multi-degree-of-freedom lumbar motion assist device according to claim 2, characterized by: The rear end of the top spine joint is provided with a second force plate, the other end of the second electric push rod is connected with the second force plate, the first force plate and the second force plate are arranged along the vertical direction, the connecting plate is arranged along the horizontal direction, the first force plate and the second force plate are both provided with a second bearing, the middle spine joint and the top spine joint are respectively connected with the inner ring of the two second bearings, and the first force plate and the second force plate are respectively connected with the outer ring of the two second bearings.

8. The multi-degree-of-freedom lumbar motion assist device according to claim 1, characterized by: The bottom of the first electric push rod is provided with a first spherical pair assembly, the first spherical pair assembly is connected with a back fixing assembly located at the bottom, and the output end of the first electric push rod is provided with a second spherical pair assembly, the second spherical pair assembly is connected with a back fixing assembly located at the top.

9. The multi-degree-of-freedom lumbar motion assist device according to claim 1, characterized by: The lower end of the frame body is provided with a cross bar, two leg buckles are arranged on the cross bar, and the bottom of the frame body is provided with a plurality of universal wheels.

10. The multi-degree-of-freedom lumbar motion assist device according to claim 1, characterized by: The back fixing assembly comprises backrest plates and a bandage, the front end of each of the backrest plates is provided with a connecting buckle, the bandage is connected with the connecting buckles, and the two backrest plates are connected with the front end of the bottom spine joint and the front end of the top spine joint respectively.

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