CN215701671U

CN215701671U - Multifunctional bending-over power assisting equipment

Info

Publication number: CN215701671U
Application number: CN202121364773.XU
Authority: CN
Inventors: 刘坤; 高驰; 赵琛; 付俊; 张世忠; 代磊
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-06-19
Filing date: 2021-06-19
Publication date: 2022-02-01
Anticipated expiration: 2031-06-19

Abstract

The utility model provides a multifunctional bending-over power assisting device according to the kinematics and dynamics characteristics of a standard healthy human body in bending-over and bending-over actions and according to the human engineering principle, which can provide bending-over power assisting for workers engaged in load-bearing bending-over operations or users with hip joint dyskinesia in the process of carrying heavy objects, and can also provide hip joint and knee joint power assisting for walking through function adjustment. The motor is used for providing assistance through the stay wire, the waist load is reduced, the burden of hip joints and lumbar vertebrae is relieved, the power assistance function can be converted into the power assistance function without a power source, and the leg lifting assistance and the knee bending assistance are provided for a user during load walking, so that the burden of hip joints and knee joints during walking is relieved, the damage of human joints during long-time load operation is relieved, the load bearing capacity can be increased, and the service life is prolonged. The robot has simple design structure, low cost and convenient use, and has important significance in the aspects of technical field and market demand.

Description

Multifunctional bending-over power assisting equipment

Technical Field

The utility model relates to the field of human motion auxiliary robots, in particular to multifunctional bending-over power assisting equipment.

Background

The aging problem in China is increasingly severe, and the old people bending down to carry articles easily cause damage to the spine and the lumbar muscles. In addition, the people who are engaged in physical labor such as carrying and loading goods for a long time should protect the joints and the spines of the lower limbs from excessive damage as much as possible during the carrying operation to prevent the joints and the psoas from overload, thereby reducing the occupational disease damage caused by load bearing during the operation. The domestic stooping and carrying assisting robot is mostly in the field of auxiliary sports equipment, or the man-machine interaction experience is poor, the function is not bionic enough, or the cost is high, the structure is complex, or the control method is complex, the function is single, and the like, so that the popularization of the assisting robot under the conditions of load bearing work conditions or the daily activities of the old is seriously hindered. For example, application No. 201910632695.8 discloses a lower limb exoskeleton power assisting device, which can realize the movement of multiple degrees of freedom, wherein four sets of motors provide tension, the position of a lumbar is adjusted through a lumbar fixing frame, and the assistance is implemented through the control of a servo motor. Application number 201911024006.3's utility model patent discloses a helping hand robot of low limbs knee joint takes place to bend the knee action and provides the helping hand for thigh and shank through joint booster unit, simple structure, but the function singleness uses the operating mode few. Therefore, according to the kinematic characteristics of each limb segment of the human body in the standard healthy human body carrying action and according to the dynamics and the human engineering principle, the carrying power-assisted robot with simple mechanical structure, low manufacturing cost, convenient use and light weight is designed, and has important significance in the technical field and the market demand.

Disclosure of Invention

The utility model aims to provide a stooping carrying power-assisted robot designed based on the human body dynamic principle in the carrying process, which can provide stooping power assistance for a user in the heavy object carrying process and can also provide hip joint and knee joint power assistance for the user in the walking process through function adjustment.

In order to achieve the purpose, the utility model is realized by the following technical scheme:

the multifunctional bending-over power assisting equipment comprises hardware and a software control system, wherein the hardware comprises an upper body supporting plate mechanism 1, a pelvis device 2, hip joint power devices 3 and a knee joint power assisting device 4, the lower end of the upper body supporting plate mechanism 1 is fixedly connected to the corresponding position of the pelvis device 2, the left hip joint power device 3 and the right hip joint power device 3 are upwards inserted into the corresponding position of the pelvis device 2 to form a rotating pair, the hip joint power devices 3 are driven by a power source in the pelvis device 2, and the lower ends of the two hip joint power devices 3 are fixedly connected with the knee joint power assisting device 4 respectively to provide power assistance for knee joint movement.

The upper body supporting plate mechanism 1 comprises an attitude angle sensor 101, a first main supporting plate 102, a first binding belt 103, a rotating shaft cover 104, a second main supporting plate 105 and a second binding belt 106, wherein the lower end of the first main supporting plate 102 is inserted into a shaft groove formed in the lower end of the second main supporting plate 105 in the axial direction, and then the two attitude angle sensors 101 are integrally arranged in the rotating shaft cover 104 and are packaged and fixed to form a revolute pair, the two attitude angle sensors 101 are respectively fixed to the corresponding positions of the upper ends of the first main supporting plate 102 and the second main supporting plate 105, the first binding belt 103 is fixed to the corresponding position of the first main supporting plate 102, the second binding belt 106 is fixed to the corresponding position of the second main supporting plate 105, and the adjacent ends of the first binding belt 103 and the second binding belt 106 can be clamped and fixed, so that the upper body supporting plate mechanism 1 can be tightly worn on the upper body of a user.

The pelvis device 2 comprises a waist support plate 201, a first support frame 202, a hip guard plate 203, a winding motor 204, a central control module 205, a fastening screw 206, a second support frame 207 and a third binding belt 208, wherein the hip guard plate 203 is fixedly connected to the lower surface of the waist support plate 201, the upper ends of the first support frame 202 and the second support frame 207 are fixedly connected to the corresponding positions of the left end and the right end of the waist support plate 201 through cylindrical through holes in a sleeved mode, and the lower ends of the first support frame 202 and the second support frame 207 are fixedly connected to the corresponding positions of the hip guard plate 203 to form a stable surrounding structure for the hip of a user; the winding motor 204 is arranged in a back groove of the hip guard plate 203, the central control module 205 is buckled on the groove of the hip guard plate 203 and is packaged and fixed into an integral structure through two fastening screws 206, and two ends of the third binding belt 208 are respectively fixed with two ends of the waist support plate 201 and are used for tightly wearing the pelvis device 2 on the pelvis of a user.

The hip joint power device 3 comprises pull wires 301, a support pipe frame 302, a packaging base 303, bearings 304, an encoder 305, flanges 306, an angular velocity sensor 307, a fixed pulley block 308, steering steel wires 309, spring retaining sheets 310, an energy storage spring 311, permanent magnet sheets 312, electromagnetic sheets 313, spring covering sheets 314 and a packaging cover plate 315, wherein the lower ends of the two pull wires 301 are respectively clamped into corresponding slotted positions at the lower part of the inner wall of the packaging cover plate 315 and fixed, the other ends of the pull wires are wound in an annular groove on the left side wall of the packaging cover plate 315, then the pull wires upwards respectively pass through two through holes formed in the packaging base 303, then the pull wires upwards pass through hollow through holes of the support pipe frame 302 from bottom to top, the pull wires are led out from an upper port of the support pipe frame 302 and then are wound on corresponding winding positions of a winding motor 204 upwards, the packaging cover plate 315 is driven to rotate by transmission, and the inner rings of the bearings 304 are enveloped in the shaft of the packaging base 303 and are in interference fit, the casing of the encoder 305 is inserted into the central circular groove of the center shaft of the packaging base 303 leftwards and fixed, the output shaft of the encoder 305 is inserted into the central hole of the left side of the flange 306 and fixed, the packaging cover plate 315 is buckled into the packaging base 303 leftwards for assembly, the inner diameter of the shaft hole of the left side of the packaging cover plate 315 and the outer diameter of the bearing 304 form interference fit during assembly, so that the packaging base 303 and the packaging cover plate 315 can flexibly rotate under the driving of the packaging bearing 304, meanwhile, the inner wall of the packaging cover plate 315 is concentrically and fixedly connected with the right side base of the flange 306, the encoder 305 of the internal packaging can detect the rotation angle in real time when the packaging base 303 and the packaging cover plate 315 rotate relatively, the angular velocity sensor 307 is fixedly connected to the corresponding position of the inner wall of the square plate part below the packaging cover plate 315, the fixed pulley block 308 is fixed to the corresponding position inside the cylindrical structure of the packaging cover plate 315, and the starting end of the steering steel wire 309 is fixedly connected with the protruding position of the right side wall of the packaging base 303, then, the steering steel wire 309 is placed in a corresponding arc-shaped groove of the packaging cover plate 315, the steering steel wire passes through a clamping center of the fixed pulley block 308, the direction adjustment from a straight line to an arc line is realized through clamping and positioning of the fixed pulley block 308, finally, the terminal is welded and fixed at the center of the lower surface of the spring retaining sheet 310, the upper surface of the spring retaining sheet 310 is welded and fixedly connected with the lower end of the energy storage spring 311, the lower surface of the permanent magnet sheet 312 is welded and fixedly connected with the upper end of the energy storage spring 311, the permanent magnet sheet is integrally placed in a cylindrical barrel structure of the side wall of the packaging cover plate 315, the electromagnetic sheet 313 is attached and fixed on the inner wall of the spring cover plate 314, the magnetic demagnetization is realized through controlling the power-on and power-off of the electromagnetic sheet 313, the magnetic attraction and disconnection of the permanent magnet sheet 312 are realized, and the relaxation force application state of the energy storage spring 311 is further controlled, and the spring cover plate 314 is downward packaged and fixed on a port of the cylindrical barrel structure of the outer side wall of the packaging cover plate 315.

The knee joint assisting device 4 comprises a thigh supporting piece 401, a fourth binding belt 402, a joint upper protecting piece 403, a torsion spring 404, a cylindrical rotating shaft 405, a joint lower protecting piece 406 and a fifth binding belt 407, wherein the lower end of the thigh supporting piece 401 is fixedly connected to the upper end of the joint upper protecting piece 403, a group of torsion springs 404 are respectively placed at corresponding positions of the lower end of the joint upper protecting piece 403, the joint lower protecting piece 406 is aligned with the upper protecting piece 403 upwards through corresponding through holes and fixedly installed through the through holes by the cylindrical rotating shaft 405, a rotating pair mechanism with the damping effect of the torsion spring 404 is formed, the fourth binding belt 402 is fixedly connected to the corresponding position of the joint upper protecting piece 403, and the fifth binding belt 407 is fixedly connected to the corresponding position of the joint lower protecting piece 406, so that a binding and fixing function is provided for a user.

The software control system of the multifunctional bending-over power assisting equipment provides a function switching control method, which comprises two parts of power source power assisting control and power source-free power assisting control, determines the use function through the angle value detected by the attitude angle sensor 101, judges the upper body of a human body to be in the state of bending over to carry heavy objects, namely when the angle value is more than 5 degrees, the winding motor 204 is prepared to be started to start the power source bending-over power assisting function, in order to enhance the accuracy of judging the posture of bending over to carry the human body and avoid unsafe power assisting caused by misoperation to a user, simultaneously carries out secondary judgment, namely whether the left encoder 305 and the right encoder 305 are synchronously changed at the same speed or not, when the synchronous change at the same speed, the left electromagnetic sheet 313 and the right electromagnetic sheet 313 are started, the permanent magnetic sheets 312 which are fixedly connected with the left encoder and the right encoder 311 are respectively picked up through electromagnetic repulsion force, and the left energy storage spring 311 is in the non-working state, the winding motor 204 drives the pull wire 301 to transmit power downwards, and finally the packaging cover plate 315 is pulled to rotate respectively, so that a rotation torque is provided for hip joints of a user, assistance required in the process of stretching the upper body after moving a heavy object is achieved, when the judgment result is negative, the user is judged to be in a non-bending assistance state, the judgment is carried out again, when the left and right angular velocity sensors 307 are in a periodic mirror image change state, the power-source-free assistance function is started, the power supply of the winding motor 204 is turned off, the power supply of the left and right electromagnetic sheets 313 is turned off, at the moment, the permanent magnetic force is respectively and tightly attracted and fixedly connected with the corresponding permanent magnetic sheets 312, the energy storage spring 311 starts to work, and the user can achieve the gait walking assistance function without a power source through the periodic energy charging and releasing of the energy storage spring 311 during gait walking.

The utility model has the beneficial effects that: based on the human dynamics and the kinematics principle, the waist bending assisting function is provided for workers engaged in load-bearing waist bending operation for a long time or users suffering from hip joint dyskinesia. The motor stay wire transmission is used for providing assistance for a user in the process of bending down to carry a heavy object, reducing the load of the waist, relieving the burden of hip joints and lumbar vertebrae, can be adjusted through functions and converted into a power-source-free assistance function, and provides the assistance of lifting thighs and bending knees for the user in the process of load walking, so that the burden of the hip joints and the knee joints in the walking process is reduced, the damage of human joints in the process of long-time load operation is reduced, the load bearing capacity can be increased, and the service life is prolonged.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the utility model and together with the description serve to explain the utility model without limiting the utility model.

FIG. 1 is a front isometric view of a multi-functional, power-assist apparatus of the present invention.

FIG. 2 is a rear isometric view of a multi-functional, power-assisted, bending-over apparatus of the present invention.

Fig. 3 is an exploded view of the upper body strut mechanism of the present invention from a rear perspective.

Fig. 4 is an exploded top view of the pelvic device of the present invention.

Fig. 5 is an exploded view of the hip joint power device of the present invention.

Fig. 6 is an exploded view of the knee joint assist device of the present invention.

FIG. 7 is a flow chart of a control method of the present invention.

Detailed Description

The details of the present invention and its embodiments are further described below with reference to the accompanying drawings.

Referring to fig. 1 and 2, as a preferred example, the multifunctional bending-down power assisting device of the present invention comprises hardware and a software control system, wherein the hardware comprises an upper body supporting plate mechanism 1, a pelvis device 2, a hip joint power device 3, and a knee joint power assisting device 4, the lower end of the upper body supporting plate mechanism 1 is fixedly connected to a corresponding position of the pelvis device 2, the left and right hip joint power devices 3 are upwardly inserted into corresponding positions of the pelvis device 2 to form a revolute pair, the hip joint power device 3 is driven by a power source in the pelvis device 2, and the lower ends of the two hip joint power devices 3 are respectively fixedly connected to the knee joint power assisting device 4 to provide power assistance for knee joint movement.

Referring to fig. 3, the upper body support plate mechanism 1 according to the present invention includes a posture angle sensor 101, a first main support plate 102, a first strap 103, a rotating shaft cover 104, a second main support plate 105, and a second strap 106, wherein a lower end circle of the first main support plate 102 is axially inserted into a shaft groove formed at a lower end of the second main support plate 105, and then is integrally inserted into the rotating shaft cover 104 and is encapsulated and fixed to form a rotating pair, the two posture angle sensors 101 are respectively fixed to corresponding positions of upper ends of the first main support plate 102 and the second main support plate 105, the first strap 103 is fixed to a corresponding position of the first main support plate 102, the second strap 106 is fixed to a corresponding position of the second main support plate 105, and adjacent ends of the first strap 103 and the second strap 106 can be fastened, so that the upper body support plate mechanism 1 can be tightly worn on the upper body of a user.

Referring to fig. 4, the pelvis device 2 according to the present invention includes a waist support plate 201, a first support frame 202, a hip guard plate 203, a winding motor 204, a central control module 205, a fastening screw 206, a second support frame 207, and a third constraint belt 208, wherein the hip guard plate 203 is fixedly connected to the lower surface of the waist support plate 201, the upper ends of the first support frame 202 and the second support frame 207 are sleeved and fixed at corresponding positions of the left and right ends of the waist support plate 201 through cylindrical through holes, and the lower ends of the first support frame 202 and the second support frame 207 are fixedly connected to corresponding positions of the hip guard plate 203, so as to form a stable surrounding structure for the user's hip; the winding motor 204 is arranged in a back groove of the hip guard plate 203, the central control module 205 is buckled on the groove of the hip guard plate 203 and is packaged and fixed into an integral structure through two fastening screws 206, and two ends of the third binding belt 208 are respectively fixed with two ends of the waist support plate 201 and are used for tightly wearing the pelvis device 2 on the pelvis of a user.

Referring to fig. 5, the hip joint power device 3 of the present invention includes a pull wire 301, a supporting pipe frame 302, a packaging base 303, a bearing 304, an encoder 305, a flange 306, an angular velocity sensor 307, a fixed pulley block 308, a steering steel wire 309, a spring baffle 310, an energy storage spring 311, a permanent magnet 312, an electromagnetic plate 313, a spring cover 314, and a packaging cover plate 315, wherein the lower ends of the two pull wires 301 are respectively clamped and fixed in a corresponding slot position at the lower part of the inner wall of the packaging cover plate 315, the other end of the pull wires is wound in an annular groove at the left side wall of the packaging cover plate 315, then the pull wires upwards respectively pass through two through holes opened on the packaging base 303, then pass through a hollow through hole of the supporting pipe frame 302 from bottom to top, after being led out from an upper port of the supporting pipe frame 302, the pull wires are wound on a corresponding winding position of the winding motor 204 upwards, the packaging cover plate 315 is driven by transmission to rotate, the inner ring of the bearing 304 is enveloped on the central shaft of the packaging base 303 and is in interference fit, the casing of the encoder 305 is inserted into the central circular groove of the center shaft of the packaging base 303 leftwards and fixed, the output shaft of the encoder 305 is inserted into the central hole of the left side of the flange 306 and fixed, the packaging cover plate 315 is buckled into the packaging base 303 leftwards for assembly, the inner diameter of the shaft hole of the left side of the packaging cover plate 315 and the outer diameter of the bearing 304 form interference fit during assembly, so that the packaging base 303 and the packaging cover plate 315 can flexibly rotate under the driving of the packaging bearing 304, meanwhile, the inner wall of the packaging cover plate 315 is concentrically and fixedly connected with the right side base of the flange 306, the encoder 305 of the internal packaging can detect the rotation angle in real time when the packaging base 303 and the packaging cover plate 315 rotate relatively, the angular velocity sensor 307 is fixedly connected to the corresponding position of the inner wall of the square plate part below the packaging cover plate 315, the fixed pulley block 308 is fixed to the corresponding position inside the cylindrical structure of the packaging cover plate 315, and the starting end of the steering steel wire 309 is fixedly connected with the protruding position of the right side wall of the packaging base 303, then, the steering steel wire 309 is placed in a corresponding arc-shaped groove of the packaging cover plate 315, the steering steel wire passes through a clamping center of the fixed pulley block 308, the direction adjustment from a straight line to an arc line is realized through clamping and positioning of the fixed pulley block 308, finally, the terminal is welded and fixed at the center of the lower surface of the spring retaining sheet 310, the upper surface of the spring retaining sheet 310 is welded and fixedly connected with the lower end of the energy storage spring 311, the lower surface of the permanent magnet sheet 312 is welded and fixedly connected with the upper end of the energy storage spring 311, the permanent magnet sheet is integrally placed in a cylindrical barrel structure of the side wall of the packaging cover plate 315, the electromagnetic sheet 313 is attached and fixed on the inner wall of the spring cover plate 314, the magnetic demagnetization is realized through controlling the power-on and power-off of the electromagnetic sheet 313, the magnetic attraction and disconnection of the permanent magnet sheet 312 are realized, and the relaxation force application state of the energy storage spring 311 is further controlled, and the spring cover plate 314 is downward packaged and fixed on a port of the cylindrical barrel structure of the outer side wall of the packaging cover plate 315.

Referring to fig. 6, the knee joint assisting device 4 of the present invention includes a thigh supporting piece 401, a fourth restraining belt 402, a joint upper protecting piece 403, a torsion spring 404, a cylindrical rotating shaft 405, a joint lower protecting piece 406, and a fifth restraining belt 407, wherein a lower end of the thigh supporting piece 401 is fixedly connected to an upper end of the joint upper protecting piece 403, a set of the torsion springs 404 is respectively placed at corresponding positions of the lower end of the joint upper protecting piece 403, the joint lower protecting piece 406 is aligned with the upper protecting piece 403 upward through corresponding through holes, and the cylindrical rotating shaft 405 is fixedly installed through the through holes to form a revolute pair mechanism with a damping effect of the torsion spring 404, the fourth restraining belt 402 is fixedly connected to corresponding positions of the joint upper protecting piece 403, and the fifth restraining belt 407 is fixedly connected to corresponding positions of the joint lower protecting piece 406 to provide a binding and fixing function for a user.

Referring to fig. 7, the software control system of a multifunctional bending-over power assisting device according to the present invention provides a function switching control method, which comprises two parts, namely power source assisted control and power source-free assisted control, determines a use function according to an angle value detected by an attitude angle sensor 101, determines that the upper body of a human body is critical in a state of bending over and carrying heavy objects, namely when the angle value is greater than 5 degrees, prepares to start a winding motor 204 to start a power source bending-over power assisting function, in order to enhance the accuracy of the posture judgment of the human body for bending over and carrying heavy objects, avoids unsafe power assistance to a user due to misoperation, simultaneously performs secondary judgment, namely judges whether the left and right encoders 305 synchronously change at the same speed, starts the left and right electromagnetic sheets 313 when the synchronous change at the same speed, respectively picks off attraction and fixation with the corresponding permanent magnetic sheets 312 through electromagnetic repulsion force, the left and right energy storage springs 311 start to be in a non-working state, the winding motor 204 drives the pull wire 301 to transmit work downwards, and finally the packaging cover plate 315 is respectively pulled to rotate, so as to provide a rotating torque for the hip joint of a user, realize the assistance required in the process of stretching the upper body after moving a heavy object, if the above determination result is negative, it is determined that the user is in the non-stooping assistance state, and the determination is performed again, and if the left and right two pieces of angular velocity sensors 307 are in the periodic mirror image change state, then the power assisting function is started, the winding motor 204 is turned off to supply power, the left electromagnetic sheet 313 and the right electromagnetic sheet 313 are turned off to supply power at the same time, at the moment, the energy storage spring 311 starts to work through the close attraction and the fixed connection of the permanent magnetic force and the corresponding permanent magnetic sheet 312, the user can realize the power-free gait walking assistance function through the periodic energy charging and releasing of the energy storage spring 311 during the gait walking.

As a preferable example, when the power assisting apparatus of the present invention is used for stooping, the upper body is worn first, the first main support plate 102 of the upper body support plate mechanism 1 is unfolded outward, and after the arms of the user are worn, the other arm is worn by unfolding the second main supporting plate 105 at the other side, the adjacent positions of the first binding belt 103 and the second binding belt 106 are clamped and fixed after the wearing is finished, then, after the waist of the human body enters through the opening of the pelvis device 2 and is attached to the waist supporting plate 201, the third binding belt 208 is used for binding and fixing, and finally, the knee joint power assisting device 4 is attached to the corresponding position of the leg, the fourth binding belt 402 and the fifth binding belt 407 are used for binding and fixing, therefore, the wearing preparation work of the stooping carrying power-assisted robot is completed, and a user can start the robot for use under the condition of keeping the stable vertical posture of the gravity center of the user, so that power assistance can be provided for the user in the process of carrying the object.

The above description is only a preferred example of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like of the present invention shall be included in the protection scope of the present invention.

Claims

1. The utility model provides a multi-functional helping hand equipment of bowing which characterized in that: constitute by hardware and software control system, wherein hardware includes upper part of the body fagging mechanism (1), pelvis device (2), hip joint power device (3), knee joint booster unit (4), upper part of the body fagging mechanism (1) lower extreme links firmly in pelvis device (2) corresponding position, controls two hip joint power device (3) upwards insert pelvis device (2) relevant position and form the revolute pair, and hip joint power device (3) pass through the power supply drive in pelvis device (2), two hip joint power device (3) lower extreme links firmly respectively knee joint booster unit (4), provides the helping hand for the knee joint motion, and hip joint power device (3) are including acting as go-between (301), support pipe support (302), encapsulation base (303), bearing (304), encoder (305), flange (306), angular velocity sensor (307), A fixed pulley block (308), a steering steel wire (309), a spring catch (310), an energy storage spring (311), a permanent magnet sheet (312), an electromagnetic sheet (313), a spring cover plate (314) and a packaging cover plate (315), wherein the lower end of the pull wire (301) is respectively clamped into a corresponding slotted position at the lower part of the inner wall of the packaging cover plate (315) and fixed, the other end of the pull wire is wound in an annular groove at the left side wall of the packaging cover plate (315), then the pull wire upwards respectively passes through two through holes formed in the packaging base (303), then the pull wire upwards passes through a hollow through hole of the supporting pipe frame (302) from bottom to top, the upper end opening of the supporting pipe frame (302) is led out and then upwards wound at a corresponding winding position of a winding motor (204), the packaging cover plate (315) is driven to rotate by transmission, the inner ring of a bearing (304) is enveloped in the packaging base (303) and is in interference fit, the shell of an encoder (305) is leftwards inserted into a central circular groove of the central shaft of the packaging base (303) and fixed, an output shaft of the encoder (305) is inserted into a central hole in the left side of the flange (306) and fixed, the packaging cover plate (315) is buckled into the packaging base (303) leftwards for assembly, the inner diameter of a shaft hole in the left side of the packaging cover plate (315) and the outer diameter of the bearing (304) form interference fit during assembly, the packaging base (303) and the packaging cover plate (315) can flexibly rotate under the drive of the packaging bearing (304), meanwhile, the inner wall of the packaging cover plate (315) is concentrically and fixedly connected with a base on the right side of the flange (306), the encoder (305) of the internal packaging can detect a rotation angle in real time when the packaging base (303) and the packaging cover plate (315) rotate relatively, the angular velocity sensor (307) is fixedly connected with the corresponding position of the inner wall of a square sheet part below the packaging cover plate (315), and the fixed pulley block (308) is fixed at the corresponding position inside a cylindrical structure of the packaging cover plate (315), the starting end of a steering steel wire (309) is fixedly connected with the protruding position of the right side wall of the packaging base (303), then the steering steel wire (309) is placed in a corresponding arc-shaped groove of a packaging cover plate (315), passes through the clamping center of a fixed pulley block (308), and is clamped and positioned by the fixed pulley block (308) to realize the direction adjustment from a straight line to an arc line, finally, the terminal is welded and fixed at the central position of the lower surface of a spring baffle plate (310), the upper surface of the spring baffle plate (310) is fixedly connected with the lower end of an energy storage spring (311) in a welding way, the lower surface of a permanent magnet plate (312) is fixedly connected with the upper end of the energy storage spring (311) in a downward way and is integrally placed in a cylindrical barrel structure of the side wall of the packaging cover plate (315), an electromagnetic plate (313) is attached and fixed on the inner wall of a spring cover plate (314), the magnetic demagnetization is realized by controlling the electrification and outage of the electromagnetic plate (313), and the magnetic attraction and disconnection of the permanent magnet plate (312) are realized, and further controlling the relaxation and force application state of the energy storage spring (311), wherein the spring cover plate (314) is downwards packaged and fixed on the cylindrical structure port on the outer side wall of the packaging cover plate (315).

2. The multifunctional bend-over power assisting device as recited in claim 1, wherein: the upper body supporting plate mechanism (1) comprises an attitude angle sensor (101), a first main supporting plate (102), a first binding belt (103), a rotating shaft cover (104), a second main supporting plate (105) and a second binding belt (106), the lower end circle of the first main supporting plate (102) is axially inserted into a shaft groove formed at the lower end of the second main supporting plate (105), then the posture angle sensors are integrally arranged in a rotating shaft cover (104) and are packaged and fixed to form a revolute pair, the two posture angle sensors (101) are respectively fixed at corresponding positions of the upper ends of a first main supporting plate (102) and a second main supporting plate (105), a first binding belt (103) is fixed at a corresponding position of the first main supporting plate (102), a second binding belt (106) is fixed at a corresponding position of the second main supporting plate (105), and the adjacent ends of the first binding belt (103) and the second binding belt (106) can be clamped and fixed, so that the upper body supporting plate mechanism (1) can be tightly worn on the upper body of the user.

3. The multifunctional bend-over power assisting device as recited in claim 1, wherein: the pelvis device (2) comprises a waist supporting plate (201), a first supporting frame (202), a hip guard plate (203), a winding motor (204), a central control module (205), a fastening screw (206), a second supporting frame (207) and a third constraint belt (208), wherein the hip guard plate (203) is fixedly connected to the lower surface of the waist supporting plate (201), the upper ends of the first supporting frame (202) and the second supporting frame (207) are fixedly connected to corresponding positions of the left end and the right end of the waist supporting plate (201) in a sleeved mode through cylindrical through holes, and the lower ends of the first supporting frame (202) and the second supporting frame (207) are fixedly connected to corresponding positions of the hip guard plate (203) to form a stable surrounding structure for the hip of a user; the wire-wound motor (204) is arranged in a back groove of the hip guard plate (203), the central control module (205) is buckled on the groove of the hip guard plate (203) and is packaged and fixed into an integral structure through two fastening screws (206), and two ends of the third binding belt (208) are fixed with two ends of the waist support plate (201) respectively and are used for tightly wearing the pelvis device (2) on the pelvis of a user.

4. The multifunctional bend-over power assisting device as recited in claim 1, wherein: the knee joint power assisting device (4) comprises a thigh supporting sheet (401), a fourth binding belt (402), a joint upper protecting sheet (403), a torsion spring (404), a cylindrical rotating shaft (405), a joint lower protecting sheet (406) and a fifth binding belt (407), the lower end of the thigh supporting sheet (401) is fixedly connected with the upper end of the joint upper protecting sheet (403), after a group of torsion springs (404) are respectively arranged at corresponding positions of the lower end of the joint upper protecting sheet (403), aligning the lower joint protection sheet (406) upwards with the upper joint protection sheet (403) through the corresponding through hole and fixing the lower joint protection sheet and the upper joint protection sheet through the through hole by a cylindrical rotating shaft (405) to form a revolute pair mechanism with the damping effect of a torsion spring (404), the fourth binding belt (402) is fixedly connected with the corresponding position of the joint upper protective sheet (403), and the fifth binding belt (407) is fixedly connected with the corresponding position of the joint lower protective sheet (406), so that the binding and fixing functions are provided for a user.

5. The multifunctional bend-over power assisting device as recited in claim 1, wherein: a software control system of a multifunctional bending-over power assisting device is provided, which comprises two parts of power source assisted control and power source-free assisted control, the use function is determined through an angle value detected by an attitude angle sensor (101), the upper body of a human body is judged to be in a state of bending over to carry heavy objects, namely when the angle value is more than 5 degrees, a winding motor (204) is prepared to be started to start the power source bending-over power assisting function, in order to enhance the accuracy of judging the posture of bending over to carry the heavy objects of the human body and avoid unsafe power assistance to a user due to misoperation, secondary judgment is carried out at the same time, namely whether a left encoder (305) and a right encoder (313) are synchronously changed at the same speed or not is judged, when the left electromagnetic sheet and the right electromagnetic sheet are synchronously changed at the same speed, the left electromagnetic sheet and the right electromagnetic sheet (313) are respectively removed to be fixedly connected with the corresponding permanent magnetic sheets (312) through electromagnetic repulsion force, the left and right energy storage springs (311) start to be in a non-working state, the winding motor (204) drives the pull wire (301) to transmit work downwards, and finally the packaging cover plate (315) is pulled to rotate respectively to provide rotating torque for hip joints of a user, so that power assistance required in the process of stretching the upper body after the heavy object is moved is realized, when the judgment result is negative, the user is judged to be in a non-stooped power assistance state, the judgment is carried out again, when the left and right angular velocity sensors (307) are in a periodic mirror image change state, the power-source-free power assistance function is started, the winding motor (204) is turned off to supply power, the left and right electromagnetic plates (313) are turned off to supply power, at the moment, the left and right electromagnetic plates are respectively and fixedly connected with the corresponding permanent magnetic plates (312) in a close suction manner through the permanent magnetic force, the energy storage spring (311) starts to be in a working state, and the user can be charged and discharged through the periodicity of the energy storage spring (311) during walking, the gait walking assistance function without a power source is realized.