CN109968339B

CN109968339B - Unpowered bendable waist booster

Info

Publication number: CN109968339B
Application number: CN201910291442.9A
Authority: CN
Inventors: 吴海帆; 刘骁; 田谨晓; 雷毛高; 陈帅; 孙建
Original assignee: Dalian University of Technology
Current assignee: Dalian University of Technology
Priority date: 2019-04-12
Filing date: 2019-04-12
Publication date: 2022-01-04
Anticipated expiration: 2039-04-12
Also published as: CN109968339A

Abstract

The utility model provides an unpowered type waist booster of can buckling, belongs to the robot field of helping the old and disabled, includes multiaxis single degree of freedom mechanism I, position fixing mechanism II, actuating mechanism III, bandage IV, and bandage IV includes shoulder, waist and knee bandage. The position fixing mechanism II is arranged on the waist strap and used for locking the upright state when the upper body is upright and releasing the locking of the upper body when the waist is bent. The top of the multi-axis single-degree-of-freedom mechanism I is fixed with the shoulder bandage, the bottom of the multi-axis single-degree-of-freedom mechanism I is connected with the position fixing mechanism II, multi-axis single-degree-of-freedom motion is achieved through the tooth-shaped connecting rods, and the multi-axis single-degree-of-freedom mechanism I is attached to the spine of a human body from bending to standing. The driving mechanism III is arranged at the position of a knee bandage and penetrates through the position fixing mechanism II to be bound with the upper end of the multi-axis single-degree-of-freedom mechanism I, and the knee pulls the multi-axis single-degree-of-freedom mechanism I through the driving mechanism III in the process of bending to straightening to provide assistance. The waist carrying assisting device is simple in structure and complete in function, adopts unpowered assistance, can provide waist carrying assistance through knee bending, and is convenient to use.

Description

Unpowered bendable waist booster

Technical Field

The invention belongs to the field of robots for helping the old and the disabled, and provides a waist bendable booster.

Background

In the technical field of the prior robot for helping the old and the disabled, three technical schemes exist in the technical scheme of providing power for the waist of a human body: the first type is a fixed waist support belt containing steel plates, which provides effective support for the lumbar region, but also limits the movement of the lumbar spine so that it does not bend normally. The second type is a waist hinge driving mechanism with a single rotating shaft, which can provide power for bending over, but cannot always realize the bending deformation consistent with the spine in the bending process, so that the mechanism cannot keep good close fit with the body, and cannot ensure the supporting effect of the mechanism on the waist. The third is a soft inflatable deformation air bag structure, which generally has the defects of large volume, difficult shape adjustment and inaccurate motion control.

Disclosure of Invention

The invention aims to provide a bendable waist booster which can be worn on a user and is used for providing waist boosting force for the wearer when carrying heavy objects, and reducing waist burden for the worker engaged in carrying work. Can also help patients suffering from lumbago to provide support during bending movement, and relieve pain symptoms.

The invention adopts a multi-axis single-degree-of-freedom mechanism to realize the close fitting support of the whole process of waist bending movement. The power source of the waist bending assisting power adopts an unpowered type, and the bending power is adopted from the bending movement of the knee.

In order to achieve the purpose, the invention adopts the technical scheme that:

the utility model provides an unpowered type can buckle waist booster, includes multiaxis single degree of freedom mechanism I, position fixing mechanism II, actuating mechanism III, bandage IV includes shoulder bandage 23, waist bandage 24, knee bandage 27. The position fixing mechanism II is arranged on the waist bandage 24 and used for locking the upright state when the upper body is upright and releasing the locking of the upper body when the worker bends over to allow the worker to bend over freely to unload articles in the process of carrying articles by the worker. The top of the multi-axis single-degree-of-freedom mechanism I is fixed with the shoulder bandage 23, the bottom of the multi-axis single-degree-of-freedom mechanism I is connected with the position fixing mechanism II, the multi-axis single-degree-of-freedom mechanism I is arranged between the shoulder bandage 23 and the waist bandage 24 and is attached to the back of a human body, multi-axis single-degree-of-freedom motion is achieved through two rows of staggered and parallel-connected toothed connecting rods, the action of the multi-axis single-degree-of-freedom mechanism I is simulated with the vertical spinal muscle of the human body, and the multi-axis single-degree-of-freedom mechanism I is used for keeping the attachment state with the spine of the human body from the bending process to the vertical process. The driving mechanism III is arranged at the position of the knee bandage 27, penetrates through the position fixing mechanism II and is bound with the upper end of the multi-axis single-degree-of-freedom mechanism I, and the knee pulls the multi-axis single-degree-of-freedom mechanism I through the driving mechanism III in the process of bending to straightening so as to provide assistance for the worker in the process of bending to standing.

The multi-axis single-degree-of-freedom mechanism I comprises a connecting plate 1, an upper toothed connecting piece 2, a plurality of middle toothed connecting structures 3, bolts 4, a lower toothed connecting piece 5, a toothed connecting plate, a bearing 9, a shaft sleeve 10, a locking nut 11, a square rod 29 and a hanging ring 30. The tooth-shaped connecting plates comprise a lower tooth-shaped connecting plate 6, a plurality of tooth-shaped connecting plates 7 in the middle and an upper tooth-shaped connecting plate 8, and the number of the tooth-shaped connecting plates 7 is 1 less than that of the tooth-shaped connecting structures 3. The upper and lower

toothed connecting pieces

2 and 5 are both of a local toothed structure, and both ends of the toothed connecting structure 3 are both of a toothed structure. The lower end of the upper toothed connecting piece 2 is an arc end and is meshed with the top toothed connecting structure 3, the top end of the upper toothed connecting piece 2 is hinged with the connecting plate 1, the outer side of the upper toothed connecting piece 2 is fixedly connected with the square rod 29, and the end part of the square rod 29 is provided with a lifting ring 30. The top end of the lower tooth-shaped connecting piece 5 is an arc end and is meshed with the tooth-shaped connecting structure 3 at the bottom end, and the lower end of the lower tooth-shaped connecting piece 5 is hinged with the support 17. The middle tooth-shaped connecting structures 3 are meshed with each other through teeth. The middle of the upper and lower tooth-shaped connecting

pieces

2 and 5 is provided with a shaft hole for passing through the bolt 4, and the tooth-shaped connecting structure 3 and the tooth-shaped connecting plate are both provided with an upper shaft hole and a lower shaft hole for passing through the bolt 4. The tooth-shaped connecting plate is arranged on the side surfaces of the upper tooth-shaped connecting piece 2, the lower tooth-shaped connecting piece 5 and the tooth-shaped connecting structure 3 and is connected through a bolt 4. And the shaft holes of the tooth-shaped connecting

pieces

2, 3 and 5 and the tooth-shaped connecting

plates

6, 7 and 8 are positioned through shaft sleeves 10, bearings 9 are respectively arranged on two sides of each shaft hole, and the end parts of the bolts 4 are locked through locking nuts 11.

The position fixing mechanism II comprises a first finger ring 12-1, a second finger ring 12-2, a guide pipe 13, a sliding block 14, a fixing piece 15, two unlocking ropes 16, a support 17, a groove plate 18, a clamping piece 19 and two springs 20. The support 17 is a three-layer plate structure, and two springs 20 are respectively arranged on an upper plate and a middle plate of the support: the lower layer plate of the support is hinged with a lower tooth-shaped connecting piece 5. The surface of the upper layer plate of the support is provided with a slide way, the slide block 14 can slide left and right on the slide way, and one side of the slide block 14 is connected with the fixed part 15 through a spring 20; the fixing piece 15 is fixedly arranged on the surface of the upper layer plate of the support; a groove plate 18 is further arranged on one side of the support upper plate slide way and used for being matched with the sliding block 14 to form a groove, and the groove plate 18 is consistent with the groove of the sliding block 14 in size and is of two semi-elliptical structures. When the notch plate 18 is separated from the slider 14, the notch is formed as an oval through hole, and the locking member 22 can freely move through the notch, which is an unlocked state. When the groove plate 18 and the sliding block 14 are mutually attached, the formed groove is in a circular hole structure, the locking part 22 is arranged outside the groove, and meanwhile, the groove plate 18 and the sliding block 14 are mutually attached. At this time, the locking member 22 cannot freely pass through the recess due to its larger size than the recess, and the movement of the locking member 22 toward the recess is restricted, which is a locked state. And the locking and unlocking functions are realized by controlling the size of the groove. The middle layer plate of the support is provided with another spring 20, one end of the clamping piece 19 is hinged with the middle layer plate of the support, the other end of the clamping piece is contacted with the sliding block 14, and the middle part of the clamping piece 19 is connected with the middle layer plate of the support through the spring 20. Of the two unlocking cords 16: one end of an unlocking rope 16 passes through a middle layer plate spring 20 of the support and is connected with the clamping piece 19, the other end of the unlocking rope passes through the guide pipe 13 and then leaks to be connected with the second finger ring 12-2, and the second finger ring 12-2 is connected to the clamping piece 19 through the unlocking rope 16; one end of another unlocking rope 16 passes through the upper plate spring 20 of the support and is connected with the sliding block 14, the other end passes through the rear leakage part of the guide pipe 13 and is connected with the first finger ring 12-1, and the first finger ring 12-1 is connected to the sliding block 14 through the unlocking rope 16.

The driving mechanism III comprises two driving ropes 21, a locking part 22, a hollow adjusting ring 25, two rope position fixing parts 26 arranged on the knee joints of the legs, two rope length adjusting parts 28 and two bottom guide pipes 31. The upper and lower portions of the two knee straps 27 are fixedly connected to the rope position fixing member 26 and the rope length adjusting member 28, respectively, and the rope length adjusting member 28 is used to adjust the length of the drive rope 21.

Of the two drive ropes 21: one end of a driving rope 21 is bound with the hanging ring 30, and the other end of the driving rope passes through the groove plate 18 and the locking part 22 of the position fixing mechanism II in sequence and is bound on the hollow adjusting ring 25; the locking member 22 is used for adjusting the relative position of the locking and driving rope 21, and the locking and unlocking effects are realized by adjusting the driving rope 21 to drive the locking member 22 to be matched with the groove plate 18 and the sliding block 14. After passing through the hollow adjusting ring 25, the other driving rope 21 is connected to the rope length adjusting member 28 after passing through the bottom guide tube 31 and the rope position fixing member 26 in sequence at both ends thereof. The two bottom guide pipes 31 and the hollow adjusting ring 25 are in a suspended state, and the hollow adjusting ring 25 is arranged between the position fixing mechanism II and the two guide pipes 31.

The invention has the beneficial effects that: the invention has simple structure, relatively low price and complete functions, adopts unpowered power assistance, does not need external power, can provide waist carrying power assistance by bending the knees and is convenient to use.

Drawings

FIG. 1 is a schematic view of a bendable waist booster;

FIG. 2 is a schematic view of a bendable waist booster when bent;

FIG. 3 is a schematic view of a multi-axis single degree of freedom mechanism;

FIG. 4 is a side view of a multi-axis single degree of freedom mechanism;

FIG. 5 is a schematic cross-sectional view of a bolt connection of a multi-axis single degree of freedom mechanism;

FIG. 6 is a schematic view of a position fixing mechanism;

FIG. 7 is a schematic view of the drive mechanism and strap;

in the figure: i, a multi-axis single-degree-of-freedom mechanism; II, a position fixing mechanism; III, a driving mechanism; IV, binding a belt;

1, connecting a plate; 2, an upper toothed connecting piece; 3, a tooth-shaped connecting structure; 4, bolts; 5, a lower tooth-shaped connecting piece; 6, a lower tooth-shaped connecting plate; 7, a middle tooth-shaped connecting plate; 8, an upper tooth-shaped connecting plate; 9 bearing; 10 shaft sleeves; 11 locking the nut; 12-1 a first finger ring; 12-2 a second finger ring; 13 a catheter; 14, a slide block; 15 a fixing member; 16 two unlocking cords; 17, a support; 18 groove plates; 19 a clip; 20 springs; 21 two drive ropes; 22 a retaining member; 23 shoulder straps; 24 waist straps; 25, a hollow adjusting ring; 26 a rope position fixing member; 27 knee strap; 28 a rope length adjustment; 29 square bars; 30 hoisting rings; 31 bottom duct.

Detailed Description

The following further describes a specific embodiment of the present invention with reference to the drawings and technical solutions.

The utility model provides an unpowered type can buckle waist booster, includes multiaxis single degree of freedom mechanism I, position fixing mechanism II, actuating mechanism III, bandage IV includes shoulder bandage 23, waist bandage 24, knee bandage 27. The position fixing mechanism II is arranged on the waist bandage 24 and used for locking the upright state when the upper body is upright and releasing the locking of the upper body when the worker bends over in the process of carrying articles, so that the worker is allowed to bend over freely and unload the articles. The top of the multi-axis single-degree-of-freedom mechanism I is fixed with the shoulder bandage 23, the bottom of the multi-axis single-degree-of-freedom mechanism I is connected with the position fixing mechanism II, the multi-axis single-degree-of-freedom mechanism I is arranged between the shoulder bandage 23 and the waist bandage 24 and is attached to the back of a human body, multi-axis single-degree-of-freedom motion is achieved through two rows of staggered and parallel-connected toothed connecting rods, the action of the multi-axis single-degree-of-freedom mechanism I is simulated with the vertical spinal muscle of the human body, and the multi-axis single-degree-of-freedom mechanism I is used for keeping the attachment state with the spine of the human body from the bending process to the vertical process. The driving mechanism III is arranged at the position of the knee bandage 27, penetrates through the position fixing mechanism II and is bound with the upper end of the multi-axis single-degree-of-freedom mechanism I. The knee bending and straightening mechanism is used for the process of bending and straightening the knee, and the multi-axis single-degree-of-freedom mechanism I is pulled through the driving mechanism III to provide assistance for the process of bending and straightening the knee.

The multi-axis single-degree-of-freedom mechanism I comprises a connecting plate 1, an upper toothed connecting piece 2, a toothed connecting structure 3, a bolt 4, a lower toothed connecting piece 5, a lower toothed connecting plate 6, a middle toothed connecting plate 7, an upper toothed connecting plate 8, a bearing 9, a shaft sleeve 10, a locking nut 11, a square rod 29 and a hanging ring 30.

The upper and lower toothed connecting pieces are of local toothed structures, the arc end provided with the toothed structure is meshed with the toothed connecting structure 3, the connecting plate 1 is hinged with the end part of the upper toothed connecting piece 2, the outer side of the upper toothed connecting piece 2 is fixedly connected with the square rod 29, and the end part of the square rod 29 is provided with a hanging ring 30. The two ends of the tooth-shaped connecting structure 3 are both in a tooth-shaped structure, the top end of the tooth-shaped connecting structure 3 is meshed with the arc end of the upper tooth-shaped connecting piece 2 through teeth, the bottom end of the tooth-shaped connecting structure 3 is meshed with the same tooth-shaped connecting structure 3, and the bottom end of the tooth-shaped connecting structure 3 at the lowest end is meshed with the arc end of the lower tooth-shaped connecting piece 5 through teeth. The middle of the upper tooth-shaped connecting piece 2 and the lower tooth-shaped connecting piece 5 is provided with a shaft hole, the tooth-shaped connecting structure 3, the upper tooth-shaped connecting plate 8, the middle tooth-shaped connecting plate 7 and the lower tooth-shaped connecting plate 6 are respectively provided with an upper shaft hole and a lower shaft hole, and the positions of the two shaft holes are positioned at the circle centers of an upper excircle and a lower excircle. The central shaft hole of the upper toothed connecting piece 2 is connected with the upper shaft hole of an upper toothed connecting plate 8 through a bolt 4, and the lower shaft hole of the upper toothed connecting plate 8 is connected with the upper shaft hole of the topmost toothed connecting structure 3; the central shaft hole of the lower toothed connecting piece 5 is connected with the lower shaft hole of the lower toothed connecting plate 6 through a bolt 4, and the upper shaft hole of the lower toothed connecting plate 6 is connected with the lower shaft hole of the bottommost toothed connecting structure 3; the shaft hole of the middle tooth-shaped connecting plate 7 is connected with the shaft holes of the other end tooth-shaped connecting structures 3. The shaft holes of the

toothed connecting pieces

2, 3 and 5 and the connecting

plates

The position fixing mechanism II comprises a first finger ring 12-1, a second finger ring 12-2, a guide pipe 13, a sliding block 14, a fixing piece 15, two unlocking ropes 16, a support 17, a groove plate 18, a clamping piece 19 and a spring 20. The support 17 is a three-layer plate-shaped structure, and the bottom plate at the lowest layer is hinged with the lower tooth-shaped connecting piece 5. The surface of the upper layer plate of the support is provided with a slide way, one side of the slide block 14 is connected with the fixed piece 15 through a spring 20 and can slide left and right on the slide way; the fixing member 15 is fixedly installed on the upper plate surface of the support. A groove plate 18 is further arranged on one side of the support upper plate slide way and is used for being matched with the slide block 14, and the locking and unlocking functions are achieved by controlling the size of the groove. The middle layer plate of the support is provided with a spring 20, one end of a clamping piece 19 is hinged on the right side of the middle layer plate of the support 17, the other end of the clamping piece is contacted with the sliding block 14, and the middle part of the clamping piece is connected with the middle layer plate of the support 17 through the spring 20. One end of one unlocking rope 16 penetrates through a support middle layer plate spring 20 to be connected with a clamping piece 19, one end of the other unlocking rope 16 penetrates through a support upper layer plate spring 20 to be connected with a sliding block 14, the other ends of the two unlocking ropes 16 penetrate through a guide pipe 13, the leaking parts of the other ends of the two unlocking ropes 16 are respectively connected with a first finger ring 12-1 and a second finger ring 12-2, the first finger ring 12-1 is connected to the sliding block 14 through the unlocking rope 16, and the second finger ring 12-2 is connected to the clamping piece 19 through the unlocking rope 16.

The driving mechanism III comprises two driving ropes 21, a locking piece 22, a hollow adjusting ring 25, a rope position fixing piece 26, a rope length adjusting piece 28 and two guide pipes at the bottom. One end of the driving rope 21 is bound with the hanging ring 30, and the other end of the driving rope passes through the position fixing mechanism II and the locking part 22 in sequence and is bound on the hollow adjusting ring 25. Another drive cable 21 passes through a hollow adjusting ring 25, and both ends of the drive cable pass through a guide tube, a cable position fixing member 26 and a cable length adjusting member 28 in sequence. The upper and lower portions of the knee strap 27 fixedly connect the rope position fixing member 26 and the rope length adjusting member 28, respectively. The rope length adjusting member 28 can adjust the length of the driving rope 21.

The wearing and use process of the unpowered device is as follows: adjusting the tooth form connecting positions of the upper tooth form connecting piece 2, the tooth form connecting structure 3, the bolt 4, the lower tooth form connecting piece 5, the lower tooth form connecting plate 6, the middle tooth form connecting plate 7 and the upper tooth form connecting plate 8 until the multi-axis single degree of freedom mechanism I is just consistent with the human vertebra curve when standing upright; the first finger ring 12-1 and the second finger ring 12-2 are respectively sleeved on the two fingers. The connecting plate 1 is attached to the back and is bound with the upper half body by the shoulder binding bands 23; 17, fitting the support with the waist, and binding the 24 waist binding bands with the waist; 27 the knee strap is worn on the knee joint; when the adjustment 21 drives the rope length adjustment member to the human body standing state, the 21 driving rope is in a tensioning state.

The embodiment is divided into an upright locking state, a stoop unlocking state and an assisting state.

The upright locking state: when the knees are upright, the unlocking rope 16 is pulled by the fingers through the second finger ring 12-2 to drive the clamping piece 19 to rotate, and at the moment, the clamping piece 19 is separated from the sliding block 14. The spring 20 is released from compression and pushes the slider 14 to move until the notch plate 18 and the slider 14 abut each other. The recess formed by the recess plate 18 and the slider 14 is a circular hole, the locking member 22 is disposed at the bottom side of the recess, and the locking member 22 cannot freely pass through the recess due to its larger size than the recess, so as to limit the movement of the locking member 22 toward the recess, i.e. the upper body cannot perform the stooping movement, which is the locking state. In the locked state, the human body can freely step. And the upright power-assisted state of the upper body is not interfered by the outside.

A stoop unlocking state: the unlocking rope 16 is pulled by fingers through the first finger ring 12-1 to drive the sliding block 14 to be separated from the groove plate 18, at the moment, the spring 20 corresponding to the clamping piece 19 is in a decompression state, the clamping piece 19 is pushed to rotate relatively to be in contact with the sliding block 14, the clamping piece 19 interacts with the sliding block 14 and the spring 20, and the sliding block 14 and the groove plate 18 are kept in a separation state. When the notch plate 18 is separated from the slider 14, the notch is formed as an oval through hole, and the locking member 22 can freely move through the notch, which is an unlocked state. When unlocking, the power-assisted state of the upper body is released, and a user can freely drive to bend waist, bend knees and the like.

A power-assisted state: the helping hand is that the user is in the in-process of getting up, and both legs are upright, and the knee joint is become vertical by the bending, and the motion of knee joint drives drive rope 21 and becomes tight by lax. The distance of the driving rope 21 between the rope length adjusting member 28 and the hoist ring 30 is kept constant and is equal to the distance of the driving rope 21 between the two in the state where the human body is standing upright. In the standing process, the power-assisted tensioning driving rope 21 provided by the knee joint is used for driving the multi-axis single-degree-of-freedom mechanism I to change from a bending state to a vertical state, so that power assistance is provided for standing of the waist.

The unpowered device has the following carrying and using processes: the two knees are bent, the first finger ring 12-1 is pulled by fingers to control the unlocking of the position fixing mechanism, and articles are carried by two hands. When the knees are upright, the upper body is driven to be upright through the driving rope 21, the position fixing mechanism is controlled to be locked by pulling the second finger ring 12-2 through fingers, and articles can be carried to walk forwards. When the article needs to be put down, the first finger ring 12-1 is pulled by fingers to control the unlocking of the position fixing mechanism, the two knees are bent, and the article is put down.

Claims

1. The unpowered bendable waist booster is characterized by comprising a multi-axis single-degree-of-freedom mechanism I, a position fixing mechanism II, a driving mechanism III and a bandage IV, wherein the bandage IV comprises a shoulder bandage (23), a waist bandage (24) and a knee bandage (27); the position fixing mechanism II is arranged on the waist binding belt (24) and is used for locking the upright state when the upper body is upright and releasing the locking of the upper body when stooping to allow the worker to stoop freely and unload articles when the worker carries articles; the top of the multi-axis single-degree-of-freedom mechanism I is fixed with the shoulder bandage (23), the bottom of the multi-axis single-degree-of-freedom mechanism I is connected with the position fixing mechanism II, the multi-axis single-degree-of-freedom mechanism I is arranged between the shoulder bandage (23) and the waist bandage (24), multi-axis single-degree-of-freedom motion is realized through the tooth-shaped connecting rods which are connected in parallel in a staggered mode, and the multi-axis single-degree-of-freedom mechanism I is kept in a fit state with the spine of a human body from a bending process to an upright process; the driving mechanism III is arranged at the position of a knee binding belt (27), penetrates through the position fixing mechanism II and is bound with the upper end of the multi-axis single-degree-of-freedom mechanism I, and the multi-axis single-degree-of-freedom mechanism I is pulled by the driving mechanism III in the process of bending and straightening the knee so as to provide assistance for the worker in the process of bending and standing;

the multi-axis single-degree-of-freedom mechanism I comprises a connecting plate (1), an upper tooth-shaped connecting piece (2), a plurality of middle tooth-shaped connecting structures (3), bolts (4), a lower tooth-shaped connecting piece (5), a tooth-shaped connecting plate, a square rod (29) and a hanging ring (30); the tooth-shaped connecting plates comprise lower tooth-shaped connecting plates (6), a plurality of tooth-shaped connecting plates (7) in the middle and upper tooth-shaped connecting plates (8), and the number of the tooth-shaped connecting plates (7) is 1 less than that of the tooth-shaped connecting structures (3); the upper toothed connecting piece (2) and the lower toothed connecting piece (5) are both of local toothed structures, and both ends of the toothed connecting structure (3) are both of toothed structures; the lower end arc end of the upper tooth-shaped connecting piece (2) is meshed with the top tooth-shaped connecting structure (3), the upper end of the upper tooth-shaped connecting piece is hinged with the connecting plate (1), the outer side of the upper tooth-shaped connecting piece is fixedly connected with a square rod (29), and the end part of the square rod (29) is provided with a hanging ring (30); the upper end arc end of the lower tooth-shaped connecting piece (5) is meshed with the bottom tooth-shaped connecting structure (3), and the lower end of the lower tooth-shaped connecting piece is hinged with the support (17); the middle tooth-shaped connecting structures (3) are meshed with each other through teeth; the middle of the upper and lower tooth-shaped connecting pieces (2) and (5) is provided with a shaft hole for passing through the bolt (4), and the tooth-shaped connecting structure (3) and the tooth-shaped connecting plate are provided with an upper shaft hole and a lower shaft hole for passing through the bolt (4); the tooth-shaped connecting plates are arranged on the side surfaces of the upper tooth-shaped connecting piece (2), the lower tooth-shaped connecting piece (5) and the tooth-shaped connecting structure (3) and are connected through bolts (4);

the position fixing mechanism II comprises a first finger ring (12-1), a second finger ring (12-2), a guide pipe (13), a sliding block (14), a fixing piece (15), two unlocking ropes (16), a support (17), a groove plate (18), a clamping piece (19) and two springs (20); the support (17) be three-layer platelike structure, two springs (20) respectively establish one at support upper plate, support intermediate lamella: the lower layer plate of the support is hinged with a lower tooth-shaped connecting piece (5); the surface of the upper plate of the support is provided with a slideway, a sliding block (14) slides left and right on the slideway, and one side of the sliding block (14) is connected with a fixing piece (15) arranged on the surface of the upper plate of the support through a spring (20); a groove plate (18) is further arranged on one side of the support upper layer plate slide way and is used for being matched with the sliding block (14) to form a groove, and the locking and unlocking functions are realized by controlling the size of the groove; the middle layer plate of the support is provided with another spring (20), one end of the clamping piece (19) is hinged with the middle layer plate of the support, the other end of the clamping piece is contacted with the sliding block (14), and the middle part of the clamping piece (19) is connected with the middle layer plate of the support through the spring (20); of said two unlocking ropes (16): one end of an unlocking rope (16) penetrates through a middle layer plate spring (20) of the support and is connected with the clamping piece (19), the other end of the unlocking rope penetrates through the guide pipe (13) and then is connected with a second finger ring (12-2), and the second finger ring (12-2) is connected to the clamping piece (19) through the unlocking rope (16); one end of the other unlocking rope (16) penetrates through a support upper plate spring (20) to be connected with the sliding block (14), the other end of the other unlocking rope penetrates through the guide pipe (13) to be connected with the first finger ring (12-1), and the first finger ring (12-1) is connected to the sliding block (14) through the unlocking rope (16);

the driving mechanism III comprises two driving ropes (21), a locking piece (22), a hollow adjusting ring (25), two rope position fixing pieces (26), two rope length adjusting pieces (28) and two bottom guide pipes (31); the upper part and the lower part of the two knee belts (27) are respectively fixed with a rope position fixing piece (26) and a rope length adjusting piece (28), and the rope length adjusting piece (28) is used for adjusting the length of the driving rope (21); of the two drive ropes (21): one end of a driving rope (21) is bound with the lifting ring (30), and the other end of the driving rope sequentially passes through the groove plate (18) and the locking piece (22) of the position fixing mechanism II and is bound on the hollow adjusting ring (25); the locking piece (22) is used for adjusting the relative position of the locking rope (21) and the driving rope (21), and the locking piece (22) is driven to be matched with the groove plate (18) and the sliding block (14) to play a role in locking and unlocking by adjusting the driving rope (21); after the other driving rope (21) passes through the hollow adjusting ring (25), two ends of the other driving rope respectively pass through the bottom guide pipe (31) and the rope position fixing part (26) in sequence and then are connected with the rope length adjusting part (28).

2. The unpowered bendable waist booster as claimed in claim 1, wherein each shaft hole of the toothed connecting pieces (2), (3), (5) and the toothed connecting plates (6), (7), (8) are positioned by a shaft sleeve (10), bearings (9) are respectively arranged on two sides of each shaft hole, and the end of the bolt (4) is locked by a locking nut (11).