Segmented assisted motion bionic spine lumbar carrying exoskeleton device

Abstract

The application discloses a segmented assistance bionic spine waist carrying exoskeleton device. The device comprises a belt, a driving mechanism, a shoulder rope group, a back rope group, a control box, and a back upper segment support plate, a middle segment bionic spine unit, a back middle segment support plate, a middle segment bionic spine unit, two end segment bionic spine units and a waist support plate which are sequentially connected in rotation limiting mode from top to bottom. The driving mechanism comprises a first driving mechanism and a second driving mechanism which are symmetrically distributed about a central axis and are arranged on the waist support plate. Each driving mechanism comprises two winding wheels with opposite rotation directions. The two winding wheels are respectively wound around one end of the shoulder rope and the back rope. The other end of the shoulder rope is connected with the back upper segment support plate and is used for applying a pulling force to the human shoulder. The other end of the back rope is connected with the back middle segment support plate and is used for applying a pulling force to the middle segment of the human back. The application realizes segmented assistance, improves the stress uniformity of a wearing base body and improves wearing comfort.

Description

Technical Field

[0001] This invention belongs to the field of bionic exoskeletons, specifically relating to a segmented assisted bionic spinal and lumbar transport exoskeleton device. Background Technology

[0002] Manual handling is widespread in aerospace manufacturing, logistics and transportation, construction, agricultural production, medical care, and food processing. Frequent trunk flexion and extension and load transfer during these operations significantly increase compressive and shear forces in the lumbosacral region, especially the L5 / S1 area. Long-term accumulation of these forces can easily induce intervertebral disc degeneration, chronic low back pain, and even a decline in work capacity. To address the problem of excessive biomechanical load on the lumbar region during handling, using wearable exoskeletons to provide timely assistance or torque, reducing the load on the lumbosacral joints and the stress on the back muscles, has become an important technical approach to improve occupational ergonomics and reduce the risk of lumbar injuries.

[0003] Existing back-assisted transport exoskeletons mainly fall into two categories: passive and active. Passive back exoskeletons rely on unpowered mechanical components to provide assistance. Their principle is that when the wearer squats or bends, energy is stored through the deformation of elastic elements, and released during the standing phase to provide assistance. These exoskeletons are characterized by simple structure and low mass, making them particularly suitable for tasks with minimal dynamic movement. However, their assist torque is significantly affected by the characteristics of the elastic elements and the wearer's posture, making it difficult to actively adjust the magnitude and timing of assistance, and they can also restrict the natural range of motion of the human body. Active exoskeletons rely on drive units such as motors to output controllable assist torque, offering better assist adjustment capabilities. However, most current systems still employ a single-degree-of-freedom rigid configuration centered on lumbar flexion and extension, severely limiting the multi-plane movement capabilities of the trunk and making it difficult to fully adapt to the complex movements of the human spine involving multiple segments, such as flexion, extension, lateral bending, and rotation. The mismatch between a single rotation center and the continuous movement trajectory of the human spine can cause additional constraint forces, interface slippage, and local load concentration, while excessively increasing mechanical degrees of freedom can lead to structural complexity, increased mass, and drive redundancy. Meanwhile, most existing back-support exoskeletons use elastic straps to connect with the body for assist transmission. When the assistance demand is too high or the body's movement is large, the straps are prone to slippage, deformation, and force direction deviation, resulting in loss of effective travel and attenuation of actual assist torque. Concentrating assistance on the shoulders may increase the load on the shoulders while reducing the load on the lower back, and may also apply axial load to the spine, causing discomfort. Therefore, how to construct a bionic mechanism with good motion compatibility based on the multi-segment, multi-degree-of-freedom motion characteristics of the human spine, rationally select the assistance position, improve the load-bearing strength, anti-slip capability, and force uniformity of the wearable substrate, and combine the perception of the body's motion state and intention to achieve reasonable adjustment of the assist torque are key research contents for improving the comfort, mobility, and assist effectiveness of back exoskeletons.

[0004] For example, Chinese patent application No. 202510521601.5 discloses a biomimetic spinal exoskeleton device, which consists of a fixing component, a spinal mechanism, and a driving mechanism. Although it has a certain degree of biomimicry and can provide spinal support in various scenarios, its support position is relatively concentrated, and the force distribution on the human body is poor. Summary of the Invention

[0005] The purpose of this invention is to provide a segmented-assist bionic spinal and lumbar transport exoskeleton device. By adopting a novel drive device to achieve dual-drive in one machine, it provides segmented assistance to the lumbar and back, solving the problems that the straps may slip, deform, and deflect the force transmission direction when the assistance demand is too large or the range of human movement is large. It also addresses the issues that the assistance concentrated on the shoulders will increase the load on the shoulders and may apply axial load to the spine. The invention improves the uniformity of force distribution on the wearable base and enhances the comfort of wearing the exoskeleton.

[0006] The technical solution to achieve the purpose of this invention is as follows: a segmented assisted bionic spinal and lumbar transport exoskeleton device, comprising straps, a drive mechanism, shoulder rope assembly, back rope assembly, and a control box, and sequentially rotating and limitingly connected upper back support plate, middle bionic spinal unit, middle back support plate, middle bionic spinal unit, two distal bionic spinal units, and lumbar support plate from top to bottom.

[0007] The straps are used to fix the exoskeleton device to the human body. The drive mechanism includes a first drive mechanism and a second drive mechanism that are set on the waist support plate and symmetrically distributed about the central axis of the exoskeleton device. Each drive mechanism includes two winding wheels that rotate in opposite directions. The two winding wheels are respectively wound around one end of the shoulder rope and the back rope. The other end of the shoulder rope is connected to the upper back support plate and is used to apply tension to the human shoulder. The other end of the back rope is connected to the middle back support plate and is used to apply tension to the middle back of the human body.

[0008] Furthermore, the straps include shoulder straps, upper abdominal straps, and waist straps.

[0009] The upper back support plate is connected to the upper back via shoulder straps, the middle back support plate is connected to the middle back via upper abdominal straps, and the lumbar support plate is connected to the lumbar region via lumbar straps.

[0010] Furthermore, the upper back support plate, the middle section of the bionic spine unit, the middle back support plate, the middle section of the bionic spine unit, and the two terminal bionic spine units are all T-shaped plates, and the size of the middle section of the bionic spine unit is larger than that of the terminal bionic spine unit.

[0011] Furthermore, the upper back support plate panel has a reinforcing rib in the middle and a bottom platform at the bottom. The bottom platform has a ball head and a hanging groove. The panel panel has weight reduction holes, strap holes and symmetrically arranged anchor points for connecting the shoulder rope assembly.

[0012] The back support plate panel has a reinforcing rib in the middle and also includes a top platform and a bottom platform. The top platform has a ball socket and the bottom platform has a ball head. Both the top platform and the bottom platform have hanging grooves. The panel body has weight reduction holes, strap holes and symmetrically arranged anchor points for connecting the back rope.

[0013] The middle section of the bionic spine unit and the end section of the bionic spine unit have the same structure. The main body of the panel has a reinforcing rib in the middle, and also includes a top platform and a bottom platform. The top platform has a ball socket, the bottom platform has a ball head, and both the top platform and the bottom platform have hanging grooves. The top platform also has a guide hole for ropes to pass through. The main body of the panel has weight reduction holes.

[0014] The upper back support plate, the middle section of the bionic spine unit, the middle back support plate, the middle section of the bionic spine unit, the two end section bionic spine units, and the lumbar support plate are all hinged by ball joints and ball sockets, and are symmetrically provided with hanging springs about the axis. The two ends of the hanging springs are connected to the hanging grooves of the support plate or the bionic spine unit, thereby realizing the rotation limit connection.

[0015] Furthermore, the spring constant decreases from bottom to top, with a maximum of no more than 35 N / m and a minimum of no less than 5 N / m.

[0016] Furthermore, an inertial measurement unit I is provided on the upper back support plate, and an inertial measurement unit II is provided on the middle back support plate, which are used to detect the relative positions of the upper back support plate and the middle back support plate, respectively.

[0017] Furthermore, the first drive mechanism and the second drive mechanism have the same structure. The first drive mechanism includes a drive motor, a driving gear, a damping shaft, a forward winding wheel, three planetary gears, and a driven gear.

[0018] The driving gear and the output shaft of the drive motor are fixedly connected. The driving gear is connected to one end of the damping shaft through a pin, a pin hole, and the other end of the damping shaft is connected to the driven gear through a pin, a pin hole, and the three planetary gears are connected to the inner ring of the forward winding wheel through a pin. The outer ring of the forward winding wheel is provided with a winding groove. The driven gear is integrally provided with a reverse winding wheel. The outer ring of the reverse winding wheel is provided with a winding groove. The driving gear meshes with the three planetary gears, and the three planetary gears mesh with the driven gear.

[0019] Furthermore, a shoulder rope is wound on the forward winding reel, and a back rope is wound on the reverse winding reel;

[0020] The other end of the shoulder rope passes through the guide holes of a mid-section bionic spine unit, a mid-section back support plate, and another mid-section bionic spine unit in sequence, and then connects to the anchor point on the upper back support plate.

[0021] The other end of the back rope passes through guide holes on two terminal bionic spinal units and one mid-section bionic spinal unit in sequence, and then connects to the anchor point on the mid-section back support plate.

[0022] The guide hole for the back rope is located inside the guide hole for the shoulder rope.

[0023] Furthermore, one end of the damping shaft contains an adjusting nut for adjusting the torque threshold.

[0024] A method for segmented assistance using the aforementioned biomimetic spinal lumbar transport exoskeleton device, wherein the exoskeleton device has two working modes: a sensorless mode and an assisted mode, including:

[0025] Based on the angle between the two inertial measurement units and the vertical direction , And the difference between the two To determine this, two thresholds a and b are set. When >a and When >b, the assist mode is triggered, at which point the drive mechanism begins to work. When the value is 0, the sensorless mode is triggered, at which point the drive mechanism stops working.

[0026] When the assist mode is activated, the drive motor drives the active gear to rotate, which in turn drives the damping shaft to rotate. When the output torque is less than the torque threshold of the damping shaft, the two ends of the damping shaft are considered as one. At this time, the forward winding wheel rotates forward, tightening the shoulder rope assembly and providing tension to the shoulders. The reverse winding wheel on the driven gear follows the forward rotation, loosening the back rope assembly. At this time, the back rope assembly does not provide assistance. When the shoulder rope assembly is fully tightened, the forward winding wheel can no longer rotate and its position is fixed. At the same time, the output torque is greater than the threshold of the damping shaft, which is equivalent to the two ends of the damping shaft separating and being able to rotate relative to each other. At this time, the output torque of the drive motor 10 is transmitted to the reverse winding wheel on the driven gear through three planetary gears. The reverse winding wheel starts to rotate in reverse, tightening the back rope assembly and providing assistance to the back until the system is determined to enter the imperceptible mode, at which point the assistance stops.

[0027] Compared with the prior art, the significant advantages of this invention are:

[0028] This invention utilizes the transmission characteristics of the damping shaft in the drive assembly, sets the working mode switching threshold and the torque threshold of the damping shaft, and pulls the shoulder rope group and the back rope group in sequence to achieve dual drive in one machine. It provides segmented assistance to the human shoulder and back, solving the problems that the straps may slip, deform and deflect the force transmission direction when the assistance demand is too large or the range of human movement is large. It also addresses the problem that when the assistance is concentrated on the shoulder, it will increase the load on the shoulder and may apply axial load to the spine. This invention improves the uniformity of force distribution on the wearable base and enhances the comfort of wearing the exoskeleton.

[0029] The advantage of this invention is that it enables a single drive motor to provide segmented assistance to the human shoulder and mid-back through a drive component, thereby improving the uniformity of force distribution on the wearable base and enhancing the comfort of wearing the exoskeleton. At the same time, this invention has the advantages of simple structure and easy size adjustment according to the user's body shape. Attached Figure Description

[0030] Figure 1 This is an assembly diagram of the present invention.

[0031] Figure 2 This is a schematic diagram of the biomimetic spine unit structure of the present invention.

[0032] Figure 3 This is a schematic diagram of the upper back support plate structure of the present invention.

[0033] Figure 4 This is a schematic diagram of the back mid-section support plate structure of the present invention.

[0034] Figure 5 This is a schematic diagram of the drive mechanism structure of the present invention.

[0035] Figure 6 This is a schematic diagram of the drive component structure of the present invention.

[0036] Figure 7 This is a schematic diagram of the damping shaft structure in the drive assembly of the present invention.

[0037] Explanation of reference numerals in the attached figures:

[0038] 1-Upper back support plate, 2-Middle back support plate, 3-Lumbar support plate, 4-Bionic spine, 5-Shoulder straps, 6-Upper abdominal straps, 7-Shoulder rope assembly, 8-Back rope assembly, 9-Drive assembly, 10-Drive motor, 11-Control box, 1-1-Inertial measurement unit I, 2-1-Inertial measurement unit II, 4-1-Middle section bionic spine unit, 4-2-End section bionic spine unit, 4-3-Hanging spring, 9-1-Driving gear, 9-2-Damping shaft, 9-3-Forward winding wheel, 9-4-Planetary gear, 9-5-Driven gear, 9-6-Pin I, 9-7-Pin II, 9-201-Lower end of damping shaft, 9-202-Upper end of damping shaft, 9-203-Adjusting nut, 9-204-Through hole I, 9-205-Through hole II. Detailed Implementation

[0039] To more clearly describe the objectives, technical solutions, and advantages of this invention, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0040] like Figure 1 As shown, a segmented, assisted bionic spinal and lumbar transport exoskeleton device includes an upper back support plate 1, a middle back support plate 2, a lumbar support plate 3, a bionic spine 4, shoulder straps 5, an upper abdominal strap 6, shoulder rope assemblies 7, back rope assemblies 8, a drive assembly 9, a drive motor 10, a control box 11, and an inertial measurement unit I1-1. The upper back support plate 1 is connected to the upper back via the shoulder straps 5, and the middle back support plate 2 is connected to the middle back via the upper abdominal straps 6.

[0041] like Figure 2 As shown, the bionic spine 4 includes an inertial measurement unit II 2-1, a mid-section bionic spine unit 4-1, a terminal bionic spine unit 4-2, and a hanging spring 4-3. The main body of the bionic spine unit is a small T-shaped panel with a reinforcing rib in the middle, which is used to connect and support the top and bottom platforms. The top platform is designed with a ball socket, and the bottom platform is designed with a ball head. Hanging grooves are designed on both platforms. Weight reduction holes are symmetrically arranged on both sides of the reinforcing rib on the panel.

[0042] like Figure 3 As shown, the upper back support plate 1 has a large T-shaped panel as its main body. There is a reinforcing rib in the middle to connect and support the bottom platform. The bottom platform is designed with ball heads and hanging grooves. Weight reduction holes, strap holes and anchor points for connecting ropes are symmetrically arranged on both sides of the reinforcing rib.

[0043] like Figure 4 As shown, the main body of the back mid-section support plate 2 is a small T-shaped panel with a reinforcing rib in the middle, which is used to connect the top and bottom platforms. The top platform is designed with a ball socket, and the bottom platform is designed with a ball head. Hanging grooves are designed on both platforms. Weight reduction holes, strap holes and anchor points for connecting ropes are symmetrically arranged on both sides of the reinforcing rib.

[0044] The upper back support plate 1, the middle back support plate 2, the lumbar support plate 3, and the bionic spine 4 are connected by ball joints by installing ball heads in corresponding ball sockets, and by hanging springs 4-3 in corresponding hanging slots to limit the relative movement of the connecting components and pre-tighten and reset the bionic spine unit.

[0045] Select different springs 4-3 with different stiffness coefficients according to different connection positions. The stiffness coefficient of springs 4-3 decreases from bottom to top, with a maximum of no more than 35 N / m and a minimum of no less than 5 N / m.

[0046] like Figure 5 As shown, the drive assembly 9 is connected to the output shaft of the drive motor 10 via a transmission connection.

[0047] like Figure 6 As shown, the drive assembly 9 includes a drive gear 9-1, a damping shaft 9-2, a forward winding wheel 9-3, a planetary gear 9-4, a driven gear 9-5, and pins 9-6 and 9-7. The drive gear 9-1 has a threaded end, which can be mounted on the output shaft surface of the drive motor 10.

[0048] like Figure 7 As shown, the damping shaft 9-2 is divided into a lower damping shaft 9-201 and an upper damping shaft 9-202. The two ends of the damping shaft 9-2 are respectively machined with through holes I 9-204 and through holes II 9-205. Inside the upper end 9-202, there is an adjusting nut 9-203 that can be used to adjust the torque threshold.

[0049] The lower end 9-201 of the damping shaft is connected to the driving gear 9-1 through through hole II 9-205 and pin I 9-6. The upper end 9-202 of the damping shaft is connected to the driven gear 9-5 through through hole I 9-204 and pin I 9-6. The driving gear 9-1 meshes with three planetary gears 9-4 for transmission. Three pins II 9-7 are evenly fixed inside the forward winding wheel 9-3. The three planetary gears 9-4 are connected to the forward winding wheel 9-3 through pins II 9-7. The tail end of pins II 9-7 is equipped with a cylindrical limiting boss, the outer diameter of which is slightly larger than the pin shaft diameter, so as to limit the three planetary gears 9-4. By forming a planetary gear set, the driving gear 9-1 drives the three planetary gears 9-4 and the forward winding wheel 9-3 to rotate.

[0050] When the torque is less than the torque threshold of the damping shaft 9-2, the lower end 9-201 and the upper end 9-202 are connected and can rotate in the same direction at the same time. When the torque is greater than the torque threshold of the damping shaft 9-2, the lower end 9-201 and the upper end 9-202 are separated and can rotate in opposite directions.

[0051] One end of the shoulder rope assembly 7 is fixed in the groove of the forward winding wheel 9-3 and wound around the forward winding wheel 9-3. It passes through the guide holes on the middle section bionic spine unit 4-1 and the middle back support plate 2, and is connected to the anchor point on the upper back support plate 1. One end of the back rope assembly 8 is fixed in the groove of the reverse winding wheel on the driven gear 9-5 and wound around the reverse winding wheel. It passes through the guide holes on the end section bionic spine unit 4-2 and the middle section bionic spine unit 4-1, and is connected to the anchor point on the middle back support plate 2.

[0052] A segmented, assisted bionic spinal and lumbar transport exoskeleton device has two operating modes: a non-invasive mode and an assisted mode. These two modes are based on the angles between two inertial measurement units and the vertical direction. , And the difference between the two To determine this, two thresholds a and b are set. When >a and When >b, the assist mode is triggered, at which point the drive mechanism begins to work. When the threshold value is 0, the non-sensory mode is triggered. At this time, the drive mechanism stops working and does not interfere with human movements. The threshold values ​​a and b can be adjusted according to the specific circumstances of the user.

[0053] The workflow of a segmented assisted bionic spinal and lumbar transport exoskeleton device: When the assisted mode is activated, the drive motor 10 starts rotating the active gear 9-1, which in turn drives the damping shaft 9-2 to rotate. When the output torque is less than the torque threshold of the damping shaft 9-2, the lower and upper ends 9-202 of the damping shaft 9-2 can be considered as one unit. At this time, the forward winding wheel 9-3 rotates forward, tightening the shoulder rope assembly 7 and providing tension to the shoulders. The reverse winding wheel on the driven gear 9-5 also rotates forward, relaxing the back rope assembly 8. At this time, the back rope assembly 8 does not... When the shoulder rope assembly 7 is fully tightened, the forward winding wheel 9-3 can no longer rotate and is fixed in position. At the same time, the output torque is greater than the threshold of the damping shaft 9-2, which is equivalent to the lower end 9-201 and the upper end 9-202 of the damping shaft 9-2 separating and being able to rotate relative to each other. At this time, the output torque of the drive motor 10 can be transmitted to the reverse winding wheel on the driven gear 9-5 through the three planetary gears 9-4. At this time, the reverse winding wheel starts to reverse and tightens the back rope assembly 8 to provide assistance to the back until the controller determines that it has entered the imperceptible mode and the assistance stops.

Claims

1. A segmented, assisted bionic spinal and lumbar transport exoskeleton device, characterized in that, It includes straps, a drive mechanism, shoulder cable assemblies, back cable assemblies, and a control box, as well as, from top to bottom, a rotating and limiting connection consisting of an upper back support plate, a middle bionic spinal unit, a mid-back support plate, a middle bionic spinal unit, two distal bionic spinal units, and a lumbar support plate. The straps are used to fix the exoskeleton device to the human body. The drive mechanism includes a first drive mechanism and a second drive mechanism that are set on the waist support plate and symmetrically distributed about the central axis of the exoskeleton device. Each drive mechanism includes two winding wheels that rotate in opposite directions. The two winding wheels are respectively wound around one end of the shoulder rope and the back rope. The other end of the shoulder rope is connected to the upper back support plate and is used to apply tension to the human shoulder. The other end of the back rope is connected to the middle back support plate and is used to apply tension to the middle back of the human body.

2. The bionic spinal lumbar transport exoskeleton device according to claim 1, characterized in that, The straps include shoulder straps (5), upper abdominal straps (6), and waist straps. The upper back support plate (1) is connected to the upper back via shoulder straps (5), the middle back support plate (2) is connected to the middle back via upper abdominal straps (6), and the waist support plate (3) is connected to the waist via waist straps.

3. The bionic spinal lumbar transport exoskeleton device according to claim 1, characterized in that, The upper back support plate, the middle section of the bionic spine unit, the middle back support plate, the middle section of the bionic spine unit, and the two terminal bionic spine units are all T-shaped plates, and the size of the middle section of the bionic spine unit is larger than that of the terminal bionic spine units.

4. The bionic spinal lumbar transport exoskeleton device according to claim 3, characterized in that, The upper back support plate (1) has a reinforcing rib in the middle of the main body and a bottom platform at the bottom. The bottom platform has a ball head and a hanging groove. The main body of the panel has weight reduction holes, strap holes and anchor points for connecting the shoulder rope group, which are arranged symmetrically. The back support plate (2) has a reinforcing rib in the middle of the main body of the panel, and also includes a top platform and a bottom platform. The top platform is provided with a ball socket, the bottom platform is provided with a ball head, and both the top platform and the bottom platform are provided with hanging grooves. The main body of the panel is provided with weight reduction holes, strap holes and anchor points for connecting the back ropes and arranged symmetrically. The middle section of the bionic spine unit and the end section of the bionic spine unit have the same structure. The main body of the panel has a reinforcing rib in the middle, and also includes a top platform and a bottom platform. The top platform has a ball socket, the bottom platform has a ball head, and both the top platform and the bottom platform have hanging grooves. The top platform also has a guide hole for ropes to pass through. The main body of the panel has weight reduction holes. The upper back support plate, the middle section of the bionic spine unit, the middle back support plate, the middle section of the bionic spine unit, the two end section bionic spine units, and the lumbar support plate are all hinged by ball joints and ball sockets, and are symmetrically provided with hanging springs (4-3) about the axis. The two ends of the hanging springs (4-3) are connected to the hanging grooves of the support plate or the bionic spine unit, thereby realizing the rotation limit connection.

5. The biomimetic spinal lumbar transport exoskeleton device according to claim 4, characterized in that, The spring constant of the hanging spring (4-3) decreases from bottom to top, with a maximum of no more than 35 N / m and a minimum of no less than 5 N / m.

6. The bionic spinal lumbar transport exoskeleton device according to claim 4, characterized in that, An inertial measurement unit I (1-1) is provided on the upper back support plate (1), and an inertial measurement unit II (2-1) is provided on the middle back support plate (2), which are used to detect the relative positions of the upper back support plate (1) and the middle back support plate (2), respectively.

7. The biomimetic spinal lumbar transport exoskeleton device according to claim 6, characterized in that, The first drive mechanism and the second drive mechanism have the same structure. The first drive mechanism includes a drive motor (10), a driving gear (9-1), a damping shaft (9-2), a forward winding wheel (9-3), three planetary gears (9-4), and a driven gear (9-5). The drive gear (9-1) and the output shaft of the drive motor (10) are fixedly connected. The drive gear (9-1) is connected to one end of the damping shaft (9-2) through a pin, a pin hole, and a pin shaft. The other end of the damping shaft (9-2) is connected to the driven gear (9-5) through a pin, a pin hole, and a pin shaft. The three planetary gears (9-4) are connected to the inner ring of the forward winding wheel (9-3) through a pin shaft. The outer ring of the forward winding wheel (9-3) is provided with a winding groove. The driven gear (9-5) is integrally provided with a reverse winding wheel. The outer ring of the reverse winding wheel is provided with a winding groove. The drive gear (9-1) and the three planetary gears (9-4) mesh. The three planetary gears (9-4) and the driven gear (9-5) mesh.

8. The biomimetic spinal lumbar transport exoskeleton device according to claim 7, characterized in that, The forward winding reel (9-3) has a shoulder rope wound on it, and the reverse winding reel has a back rope wound on it. The other end of the shoulder rope passes through the guide holes of a mid-section bionic spine unit, a mid-section back support plate, and another mid-section bionic spine unit in sequence, and is then connected to the anchor point on the upper back support plate (1). The other end of the back rope passes through the guide holes on two terminal bionic spinal units and one mid-section bionic spinal unit in sequence, and then connects to the anchor point on the mid-section back support plate (2); The guide hole for the back rope is located inside the guide hole for the shoulder rope.

9. The biomimetic spinal lumbar transport exoskeleton device according to claim 8, characterized in that, One end of the damping shaft contains an adjusting nut for adjusting the torque threshold.

10. A method for segmented assistance using the bionic spinal lumbar transport exoskeleton device according to any one of claims 1-9, characterized in that, The exoskeleton device has two working modes: a non-invasive mode and a assisted mode, including: Based on the angle between the two inertial measurement units and the vertical direction , And the difference between the two To determine this, two thresholds a and b are set. When >a and When >b, the assist mode is triggered, at which point the drive mechanism begins to work. When the value is 0, the sensorless mode is triggered, at which point the drive mechanism stops working. When the assist mode is activated, the drive motor drives the active gear to rotate, which in turn drives the damping shaft to rotate. When the output torque is less than the torque threshold of the damping shaft, the two ends of the damping shaft are considered as one. At this time, the forward winding wheel rotates forward, tightening the shoulder rope assembly and providing tension to the shoulders. The reverse winding wheel on the driven gear follows the forward rotation, loosening the back rope assembly. At this time, the back rope assembly does not provide assistance. When the shoulder rope assembly is fully tightened, the forward winding wheel can no longer rotate and its position is fixed. At the same time, the output torque is greater than the threshold of the damping shaft, which is equivalent to the two ends of the damping shaft separating and being able to rotate relative to each other. At this time, the output torque of the drive motor 10 is transmitted to the reverse winding wheel on the driven gear through three planetary gears. The reverse winding wheel starts to rotate in reverse, tightening the back rope assembly and providing assistance to the back until the system is determined to enter the imperceptible mode, at which point the assistance stops.

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