CN216570741U - Integrated upper limb and waist passive power assisting exoskeleton - Google Patents

Abstract

The utility model discloses an integrated upper limb and waist passive power-assisted exoskeleton which comprises a waist binding, a waist power-assisted module, a back binding anchor point, a back module, an upper limb power-assisted adjusting pin, an upper limb power-assisted module, a waist rod quick-release pin and a leg module, wherein a pair of waist power-assisted modules are arranged on two symmetrical outer side surfaces of the waist binding, the waist binding is matched with the back binding, the back binding anchor point is horizontally arranged on the back binding, and the back binding anchor point is provided with the back module. Through the mode, the integrated upper limb and waist passive power assisting exoskeleton is high in modularization degree, simple in structure and convenient to disassemble and assemble; the height or the weight is high in adaptability, the size is simple to adjust, and the self-adaptive stepless adjustment can be realized; the binding system has strong adherence; has the functions of waist assistance, waist protection and upper limb assistance; the working state is easy to switch.

Description

Integrated upper limb and waist passive power assisting exoskeleton

Technical Field

The utility model relates to the field of wearable exoskeletons, in particular to an integrated upper limb and waist passive power assisting exoskeleton.

Background

The exoskeleton originally refers to a hard external structure for protecting soft organs in organisms in biology, and the existing exoskeleton robot refers to a mechanical device which simulates the motion state of a human body, enhances the motion capability of the human body, integrates bionics and man-machine ergonomics, is worn on the outer side of a limb of the human body, and can improve the specific capabilities of people in walking durability, load bearing capability and the like.

The application field is very wide, and the motion flexibility, the maneuverability, the loading capacity and the like of soldiers can be improved in the military field; in the medical field, the rehabilitation training device can help patients with myasthenia of lower limbs or other disabled patients to perform rehabilitation training; in the civil field, the utility model can help the wearer to improve the capability of carrying heavy objects, improve the walking durability, and the like;

the existing waist assistance exoskeleton can be divided into two categories of active assistance and passive assistance according to an assistance mode.

In the active type, such as CN201810357972.4, pneumatic power assistance is used, and the pneumatic components thereof are heavy and complicated, which results in heavy overall equipment, and the wearer needs to bear the weight of the equipment at all times when using the equipment. In CN201911255477.3, two motors are respectively used on two sides of the hip joint to assist the hip joint, which is difficult for the sporter to identify the intention; when the device is in a non-working state, the mode switching of the device is complex; because the motor and the electrical system are complicated, the whole weight is heavy, and a wearer feels uncomfortable after wearing the electric shoe for a long time.

Passive versions such as cn201710763193.x rely on energy storage elements, using for example springs as energy storage elements, to provide a certain waist assistance to the wearer, but they only provide a single waist hip assistance to the wearer, but have no other function and are single in function.

The defects of the comprehensive prior art comprise:

1) the modularization degree is not high, the structure is complex, and the disassembly, assembly and transportation are inconvenient;

2) the adaptability of the height or the weight is not high, the size adjustment is complex or can not be adjusted, and the self-adaption and the stepless adjustment are difficult;

3) the binding system is simple, and the garment is not worn;

4) the existing waist assistance exoskeleton is single in function and does not have arm assistance;

5) the non-working state of the existing power-assisted exoskeleton is difficult to switch.

SUMMERY OF THE UTILITY MODEL

The utility model mainly solves the technical problem of providing an integrated upper limb and waist passive power-assisted exoskeleton, belongs to a passive waist power-assisted exoskeleton, has lighter mass than an active type, has an upper limb power-assisted function, and has various characteristics, such as: the modularization degree is high, the structure is simple, and the disassembly and the assembly are convenient; the height or the weight is high in adaptability, the size is simple to adjust, and the self-adaptive stepless adjustment can be realized; the binding system has strong fitting performance; has the functions of waist assistance, waist protection and upper limb assistance; the working state is easy to switch.

In order to solve the technical problems, the utility model adopts a technical scheme that: provides an integrated upper limb and waist passive power-assisted exoskeleton, which comprises a waist binding, a waist power-assisted module, a back binding anchor point, a back module, an upper limb power-assisted adjusting pin, an upper limb power-assisted module, a waist rod quick-release pin and a leg module, a pair of waist power-assisting modules are arranged on two symmetrical outer side surfaces of the waist binding, the waist binding is matched with a back binding, a back binding anchor point is horizontally arranged on the back binding, a back module is arranged on the back binding anchor point, the back module is connected with an upper limb power-assisted module through an upper limb power-assisted adjusting pin, the upper end and the lower end of the waist rod are respectively provided with a waist rod quick-release pin and a waist rod quick-release pin, the waist rod is connected with the back module through the waist rod quick-release pin, the waist rod is connected with the waist assisting module through the waist rod quick-release pin, and the lower end of the waist assisting module is connected with the leg module.

In a preferred embodiment of the utility model, the upper limb assisting module is composed of an L-shaped stay bar, upper limb assisting sling and a clamping hook, the L-shaped stay bar is arranged at the positions of the shoulders at both sides of the back bandage, one end of the L-shaped stay bar is locked and connected by the upper limb assisting adjusting pin, the other end of the L-shaped stay bar is connected with a pair of upper limb assisting sling arranged at the positions at both sides of the chest before the back bandage, and the clamping hook is arranged at the tail end of the upper limb assisting sling.

In a preferred embodiment of the utility model, the back module is composed of Y-shaped support rods, waist rod upper joints and a size-adaptive rotating shaft, the Y-shaped support rods are longitudinally arranged and symmetrically fixed on two sides of the back binding anchor point, the upper limb power-assisted adjusting pins are locked in the Y-shaped support rods, the waist rod upper joints are connected on two sides of the back binding anchor point below the Y-shaped support rods through the size-adaptive rotating shaft, and the waist rod upper joints are locked and connected by the waist rod quick-release pins.

In a preferred embodiment of the utility model, the waist power-assisted module comprises a flexion-extension rotating shaft, a wire-pulling wheel, a mode switch seat, a non-working state rotating shaft, a size-adaptive rotating shaft lower part, a waist rod lower joint, a power-assisted bin, a compression spring, a guide rod and a rope, wherein the flexion-extension rotating shaft is connected with the wire-pulling wheel, the wire-pulling wheel is internally provided with the mode switch, the mode switch is connected with the mode switch seat in a matching way and is clamped and driven in a timely manner, the mode switch seat is internally and directly connected with the non-working state rotating shaft at all times, the size-adaptive rotating shaft lower part is connected with the waist rod lower joint at the upper part, the waist rod lower joint is connected with the waist rod quick-release pin at the lower part in a locking way, the power-assisted bin is arranged below the flexion-extension rotating shaft, the compression spring is clamped and connected with the guide rod at the lower end of the compression spring, and the guide rod is suspended on the axis of the compression spring through the rope connected with the compression spring, the rope is connected with the wire pulling wheel through the bending and stretching rotating shaft.

In a preferred embodiment of the utility model, a pair of anti-movement straps are symmetrically arranged on two sides of the inner periphery of the waist binding, each anti-movement strap is fixed on the inner side of each power assisting bin, and the anti-movement straps are provided with anti-movement buckles which are inserted into each other.

In a preferred embodiment of the utility model, the leg module is composed of a leg rod, a thigh baffle, a leg circumference adjusting belt and a leg buckle, wherein the upper end of the leg rod is connected with the waist power assisting module, the lower end of the leg rod is connected with the thigh baffle, the thigh baffle is provided with the leg circumference adjusting belt, and the leg circumference adjusting belt is provided with the leg buckles which are mutually inserted.

The utility model has the beneficial effects that: the utility model provides an integrated upper limb and waist passive power-assisted exoskeleton, which belongs to a passive waist power-assisted exoskeleton, has lighter mass than an active type, has an upper limb power-assisted function and has various characteristics, such as: the modularization degree is high, the structure is simple, and the disassembly and the assembly are convenient; the height or the weight is high in adaptability, the size is simple to adjust, and the self-adaptive stepless adjustment can be realized; the binding system has strong fitting performance; has the functions of waist assistance, waist protection and upper limb assistance; the working state is easy to switch.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:

FIG. 1 is a schematic front isometric view of the overall construction of an exoskeleton of the present invention;

FIG. 2 is a schematic reverse perspective view of the overall exoskeleton structure;

FIG. 3 is a schematic side elevational view of the overall exoskeleton construction of the present invention;

FIG. 4 is a schematic structural diagram of an exoskeleton waist assist module according to the present invention;

description of reference numerals: 1. an upper limb power-assisted module; 2. a back module; 3. a waist power assist module; 4. a leg module; 5. binding the back; 6. binding the waist; 7. an L-shaped stay bar; 8. a clamping hook; 9. a Y-shaped stay bar; 10. binding the back with the anchor point; 11. an upper limb assistance adjusting pin; 12. the size is suitable for the rotating shaft; 13. a waist rod upper joint; 14. the waist bar is quickly detached from the pin; 15. a waist bar; 16. a waist bar lower joint; 17. the waist rod is quickly detached; 18. the size is suitable for the position below the rotating shaft; 19. a mode switching seat; 20. a non-operating state rotating shaft; 21. a wire pulling wheel; 22. a mode changeover switch; 23. a leg bar; 24. a thigh baffle; 25. an upper limb power-assisted sling; 26. the waist is inserted and buckled; 27. a tamper-resistant strap; 28. the anti-moving eye-splice; 29. a leg part is inserted and buckled; 30. a leg circumference adjusting belt; 31. a bending and stretching rotating shaft; 32. a rope; 33. a guide bar; 34. a compression spring; 35. a base; 36. connecting holes; 37. the back pushing force.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1-4, embodiments of the present invention include:

an integrated upper limb and waist passive power assisting exoskeleton comprises a waist binding 6, a waist power assisting module 3, a back binding 5, a back binding anchor point 10, a back module 2, an upper limb power assisting adjusting pin 11, an upper limb power assisting module 1, a waist rod 15, a waist rod quick-release pin upper 14, a waist rod quick-release pin lower 17 and a leg module 4, wherein a pair of waist power assisting modules 3 are arranged on two symmetrical outer side surfaces of the waist binding 6, the waist binding 6 is matched with the back binding 5, the back binding anchor point 10 is horizontally arranged on the back binding 5, the back binding anchor point 10 is provided with the back module 2, the back module 2 is connected with the upper limb power assisting module 1 through the upper limb power assisting adjusting pin 11, the upper end and the lower end of the waist rod 15 are respectively provided with the waist rod quick-release pin upper 14 and the waist rod quick-release pin lower 17, the waist rod 15 is connected with the back module 2 through the waist rod quick-release pin upper 14, the waist rod 15 is connected with the waist assisting module 3 through a waist rod quick-release pin 17, and the lower end of the waist assisting module 3 is connected with the leg module 4.

Wherein, upper limbs helping hand module 1 is colluded 8 by L type vaulting pole 7, upper limbs helping hand suspender 25 and centre gripping and constitutes, L type vaulting pole 7 is arranged the back is tied up and is tied up the two side shoulder positions of 5, the one end of L type vaulting pole 7 by upper limbs helping hand regulating pin 11 locking is connected, the other end of L type vaulting pole 7 is connected with and arranges a pair of upper limbs helping hand suspender 25 of chest two side positions before the back is tied up and is tied up 5, upper limbs helping hand suspender 25 end is provided with the centre gripping and colludes 8.

Further, the back module 2 comprises Y-shaped stay bars 9, waist bar upper joints 13 and size adaptation rotating shafts 12, the Y-shaped stay bars 9 are longitudinally arranged and symmetrically fixed at two sides of the back binding anchor points 10, upper limb power-assisted adjusting pins 11 are locked in the Y-shaped stay bars 9, the waist bar upper joints 13 are connected with two sides of the back binding anchor points 10 below the Y-shaped stay bars 9 in a rotating mode through the size adaptation rotating shafts 12, and the waist bar upper joints 13 are connected with the waist bar quick-release pins 14 in a locking mode.

Further, the waist power assisting module 3 comprises a flexion and extension rotating shaft 31, a wire pulling wheel 21, a mode switch 22, a mode switching seat 19, a non-working state rotating shaft 20, a size adaptive rotating shaft lower 18, a waist rod lower joint 16, a power assisting bin 39, a compression spring 34, a guide rod 33 and a rope 32, wherein the flexion and extension rotating shaft 31 is connected with the wire pulling wheel 21, the wire pulling wheel 21 is internally provided with the mode switch 22, the mode switch 22 is connected with the mode switching seat 19 in a matching manner and is in clamping connection at proper time, the mode switching seat 19 is internally and directly connected with the non-working state rotating shaft 20 at all times, the mode switching seat 19 is connected with the size adaptive rotating shaft lower 18 and is connected with the waist rod lower joint 16 through the size adaptive rotating shaft lower joint 16, the waist rod lower joint 16 is in locking connection through the waist rod quick-release pin lower 17, the flexion and extension rotating shaft 31 is provided with the power assisting bin 39, the compression spring 34 is clamped in the power assisting bin 39, the lower end of the compression spring 34 is connected with the guide rod 33, the guide rod 33 is suspended on the axial center of the compression spring 34 through a rope 32 connected with the guide rod, and the rope 32 is connected with the stay wire wheel 21 through a bending and extending rotating shaft 31.

Further, a pair of anti-moving straps 27 are symmetrically arranged on two sides of the inner periphery of the waist binding 6, each anti-moving strap 27 is fixed on the inner side of each boosting bin 39, and the anti-moving straps 27 are provided with anti-moving buckles 28 which are mutually inserted. The anti-shifting bandage 27 and the anti-shifting eye-splice 28 can effectively prevent the whole device (especially the waist assisting module 3 and the leg module 4) from shifting upwards on the body of the wearer when the wearer bends over, and when the device shifts upwards, the bandage can block the inner side of the thigh, thereby effectively preventing the phenomenon.

Further, the leg module 4 is composed of a leg rod 23, a thigh baffle plate 24, a leg circumference adjusting belt 30 and a leg buckle 29, the upper end of the leg rod 23 is connected with the waist power assisting module 3, the lower end of the leg rod 23 is connected with the thigh baffle plate 24, the thigh baffle plate 24 is provided with the leg circumference adjusting belt 30, and the leg circumference adjusting belt 30 is provided with the leg buckles 29 which are mutually inserted.

Specifically, the method comprises the following steps:

as shown in fig. 1, there is shown a schematic front isometric view of the overall exoskeleton construction of the present invention.

The exoskeleton mainly comprises an upper limb power-assisted module 1, a back module 2, a waist power-assisted module 3 and a leg module 4. Wherein the back binding 5 belongs to a constituent part of the back module 2 and the waist binding 6 belongs to a constituent part of the waist power module 3.

Fig. 2 is a schematic, reverse perspective view of the overall exoskeleton construction of the present invention.

Wherein, the upper limb power-assisted module consists of an L-shaped stay bar, a clamping hook 8 and an upper limb power-assisted hanging strip 25. The back module 2 mainly comprises a Y-shaped stay bar 9, a waist bar upper joint 11, a waist bar 15 and a back binding 5.

Fig. 4 is a schematic structural view of the exoskeleton waist power assisting module according to the present invention.

The waist assisting module 3 mainly comprises a waist rod lower joint 16, a mode switching seat 19, a wire pulling wheel 21, a rope 32, a guide rod 33 and a spring 34. The leg module 4 mainly comprises a leg rod 23, a thigh baffle 24, a leg buckle 29, a leg circumference adjusting belt 30 and the like.

The next relevant description of the conformable ligature system and the adaptive size adjustment function of the present exoskeleton is first:

as shown in fig. 1, the exoskeleton back binding 5 can be used as a vest and a waistcoat to be worn on the upper body of a human body; the waist binding 6 can be bound on the position of a waist belt of a human body through a waist inserting buckle 26 at the front and the back respectively, and the position of the exoskeleton on the human body is adjusted by adjusting the length of cloth belts at the two sides of the waist inserting buckle 26, so that the bending and stretching rotating shaft 31 is basically aligned with the rotor center of the hip joint of the human body as shown in figure 4.

After the back-binding 5 and the waist-binding 6 are worn, the left and right anti-play bands 27 are fastened and connected to the anti-play eye-splice 28 inside the oversized leg. This prevent scurrying bandage 27 and prevent scurrying eye-splice 28 can prevent effectively that the wearing person from when bowing, and the whole equipment (especially waist helping hand module 3 and shank module 4) is up drunkenness on the wearing person, and when up drunkenness, the bandage can block the thigh inboard, effectively stops this phenomenon.

The leg module 4 mainly comprises a leg rod 23, a thigh baffle 24, a leg buckle 29, a leg circumference adjusting belt 30 and the like, when the leg module is worn, the leg buckle 29 is unfastened, the leg circumference adjusting belt 30 is adjusted to be the longest, after a thigh enters, the leg buckle 29 is inserted, and meanwhile, the leg circumference adjusting belt 30 can be adjusted according to the preference of a wearer.

The whole external skeleton device is bound, has the characteristics of strong fitting property and high adjustability, and has the problem of effectively preventing the device body from moving on the body of a wearer.

The waist attachment 6 is configured to fit different waist sizes of wearers, as shown in figure 2, sized to fit on the shaft 12 and sized to fit under the shaft 18. When the waist is different, the waist rod 15, the waist rod upper joint 13 and the waist rod lower joint 16 can rotate around the rotating shaft 12 with the size suitable for the waist; meanwhile, the mode switch base 19 and all the following structures thereof can rotate around the lower shaft 18 with the size suitable for the rotation. Therefore, the self-adaptive adjustment of the waist in the width direction can be realized, and the waist binding and the waist fitting performance of various wearers can be ensured. The waist width of this kind of mode is adjusted need not be adjusted by artificial operation button or other modes, only need wear can the self-adaptation be adjusted, and is strong to the inclusion of fat thin and height.

The exoskeleton structure modular functions are set forth below:

fig. 2 is a schematic, reverse perspective view of the overall exoskeleton construction of the present invention. The L-shaped stay bar 7 can slide in the slide groove of the Y-shaped stay bar 9, meanwhile, a plurality of holes are arranged on the slide groove of the Y-shaped stay bar 9, and the upper limb power-assisted adjusting pin 11 can be inserted into any hole, so that the connection between the L-shaped stay bar 7 and the Y-shaped stay bar 9 can be realized; the waist rod upper joint 13 is connected with a waist rod 15 through a waist rod quick-release pin 14, and the waist rod lower joint 16 is connected with the waist rod 15 through a waist rod quick-release pin lower 17. When the exoskeleton is stored, any one of the upper limb assistance adjusting pin 11, the waist rod quick-release pin 14 and the waist rod quick-release pin 17 can be optionally detached, so that the exoskeleton can be quickly detached among the upper limb assistance module 1, the back module 2 and the waist assistance module 3, and when the exoskeleton is assembled, the corresponding quick-release pin is inserted. To sum up, this ectoskeleton modularization degree is high, accomodates the convenience.

The upper limb and waist assistance principle of the exoskeleton of the present invention is explained as follows:

fig. 3 and 4 are schematic side views and schematic structural diagrams of the waist assisting module of the exoskeleton of the present invention;

the clamping hook 8 is held by the hand of the wearer, the clamping hook 8 can hook the heavy object to be carried, the clamping hook is only taken as one embodiment, and different types can be replaced aiming at different loads. The length of the upper limb assisting sling 25 serving as a connecting belt of the clamping hook 8 and the L-shaped stay bar 7 can be adjusted, but the length from the clamping hook 8 to the shoulder is slightly shorter than the length of the whole arm of a wearer, and when a heavy object is hung, the upper limb assisting sling 25 is always in a stretched straight state.

The wire pulling wheel 19 is provided with a mode switching switch 22 which is pushed forward when a wearer wants to carry heavy objects or maintain the action (working state), and is pushed back to enter a non-working state when the wearer wants to be separated from the working state;

when the human body waist bending assisting device is in a working state, the mode switch 22 is clamped into the mode switching seat 19 part, so that the mode switching seat 19 and the stay wheel 21 form an integral part, when the human body is lifted up for assisting, the human body thigh and the leg module 4 can be regarded as static, the stay wheel 21 can rotate around the bending and stretching rotating shaft 31, and the human body waist and the stay wheel can bend around the center of the human body joint greater trochanter.

In order to make the explanation of the exoskeleton principle of the utility model clearer, the assistance principle analysis is carried out in the following two working states

Firstly, the principle analysis is carried out on the arm assistance and the waist assistance during stooping and carrying:

when the wire pulling wheel 21 rotates forwards, the wire pulling wheel drives the rope 32 which is integrated with the wire pulling wheel, the rope is connected with the upper end part of the lower end guide rod 33, and the lower end part of the guide rod 33 presses the compression spring 34 short. At the moment, the force of the spring is partially offset with the gravity of the weight through the waist rod 15, the Y-shaped stay rod 9, the L-shaped stay rod 7, the upper limb power-assisted hanging strip 25 and the clamping hook 8, at the moment, as mentioned above, the upper limb power-assisted hanging strip 25 is straight, the length from the clamping hook 8 to the shoulder of the human body is slightly shorter than the length of the arm of the human body, the arm can reduce part of the gravity of the weight, the energy consumption and muscle fatigue of the arm, particularly the elbow joint, are greatly reduced, and the offset force generated by the spring is transmitted to the waist binding 6 and the leg module 4 through the structure, which is the arm power-assisted principle during bending and lifting.

Meanwhile, through the binding anchor point hole 10 and the back binding 5, the spring force can also generate pulling force on the shoulders of the human body, the pulling force can offset partial weight and part of the upper half of the human body, the protection of the lumbar spinal muscle of a wearer is realized, and the principle is a waist assisting principle when the wearer bends over to move and lift.

Secondly, analyzing the assistance principle of the arm after the lifting object is lifted and straightened:

if fig. 3, after moving the heavy object, the wearer stands straight, 8 carry the heavy object are colluded to the centre gripping this moment, the wearer's hand can break away from the centre gripping completely and collude 8, because the waist is tied up 6 and is tied up at human waist, the back is tied up 5 and is tied up at human back, heavy object gravity through the centre gripping collude 8, upper limbs helping hand suspender 25, L type vaulting pole 7, Y type vaulting pole 9, waist pole 15, conduct completely to the waist tie up 6 and the back is tied up 5, at this moment, can produce one and push away back power 37, the arm need not exert oneself completely. The working state is the scene with the most obvious arm power assisting effect.

When the waist rod 15 and the above structures thereof rotate around the non-working state rotating shaft 20 preferentially, at this time, the wearer can realize the non-resistance walking or the stooping rest.

In summary, the present invention provides an integrated passive assisting exoskeleton for upper limbs and waist, which belongs to a passive waist assisting exoskeleton, has lighter mass than an active type, has an upper limb assisting function, and has various characteristics, such as: the modularization degree is high, the structure is simple, and the disassembly and the assembly are convenient; the height or the weight is high in adaptability, the size is simple to adjust, and the self-adaptive stepless adjustment can be realized; the binding system has strong fitting performance; has the functions of waist assistance, waist protection and upper limb assistance; the working state is easy to switch.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by the present specification, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (6)

1. An integrated upper limb and waist passive power-assisted exoskeleton is characterized by comprising a waist binding, a waist power-assisted module, a back binding anchor point, a back module, an upper limb power-assisted adjusting pin, an upper limb power-assisted module, a waist rod quick-release pin and a leg module, wherein a pair of waist power-assisted modules is arranged on two symmetrical outer side surfaces of the waist binding, the waist binding is matched with the back binding, the upper level of the back binding is provided with the back binding anchor point, the back binding anchor point is provided with the back module, the back module is connected with the upper limb power-assisted module through the upper limb power-assisted adjusting pin, the upper end and the lower end of the waist rod are respectively provided with the waist rod quick-release pin and the lower end of the waist rod quick-release pin, the waist rod is connected with the back module through the waist rod quick-release pin, the waist rod is connected with the waist power-assisted module through the waist rod quick-release pin, the lower end of the waist assisting module is connected with the leg module.

2. The integrated upper limb and waist passive power-assisted exoskeleton of claim 1, wherein the upper limb power-assisted module is composed of an L-shaped stay bar, an upper limb power-assisted sling and a clamping hook, the L-shaped stay bar is arranged at the positions of the shoulders at the two sides of the back binding, one end of the L-shaped stay bar is connected by the upper limb power-assisted adjusting pin in a locking manner, the other end of the L-shaped stay bar is connected with a pair of upper limb power-assisted slings arranged at the positions of the two sides of the chest before the back binding, and the tail end of each upper limb power-assisted sling is provided with the clamping hook.

3. The integrated upper limb and waist passive power-assisted exoskeleton of claim 1 wherein the back module is composed of Y-shaped struts, waist rod upper joints and size-adaptive rotating shafts, the Y-shaped struts are longitudinally arranged and symmetrically fixed on two sides of the back binding anchor point, the upper limb power-assisted adjusting pins are locked in the Y-shaped struts, the waist rod upper joints are connected on two sides of the back binding anchor point below the Y-shaped struts through the size-adaptive rotating shafts, and the waist rod upper joints are connected on the waist rod quick-release pins in a locking manner.

4. The integrated upper limb and waist passive power-assisted exoskeleton of claim 1, wherein the waist power-assisted module comprises a flexion and extension rotating shaft, a wire-drawing wheel, a mode switch seat, a non-working state rotating shaft, a size-adaptive rotating shaft lower joint, a waist rod lower joint, a power-assisted cabin, a compression spring, a guide rod and a rope, the flexion and extension rotating shaft is connected with the wire-drawing wheel, the wire-drawing wheel is internally provided with the mode switch, the mode switch is connected with the mode switch seat in a matching way and is in clamping connection with the mode switch seat at the right time, the mode switch seat is directly connected with the non-working state rotating shaft at the full time, the mode switch seat is connected with the waist rod lower joint through the size-adaptive rotating shaft lower joint, the waist rod lower joint is in locking connection with the waist rod quick-release pin, the power-assisted cabin is arranged below the flexion and extension rotating shaft, the compression spring is clamped in the power-assisted cabin, and the lower end of the compression spring is connected with the guide rod, the guide rod is suspended at the axis of the compression spring through a rope connected with the guide rod, and the rope is connected with the wire pulling wheel through the flexion and extension rotating shaft.

5. The integrated upper limb and waist passive power assisting exoskeleton of claim 4, wherein a pair of anti-movement straps are symmetrically arranged on two sides of the waist binding inner periphery, each anti-movement strap is fixed on the inner side of each power assisting bin, and the anti-movement straps are provided with anti-movement buckles which are inserted into each other.

6. The integrated upper limb and waist passive power assisting exoskeleton of claim 1, wherein the leg module is composed of a leg rod, a thigh baffle, a leg circumference adjusting belt and a leg buckle, wherein the upper end of the leg rod is connected with the waist power assisting module, the lower end of the leg rod is connected with the thigh baffle, the thigh baffle is provided with the leg circumference adjusting belt, and the leg circumference adjusting belt is provided with the leg buckles which are inserted into each other.

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