Shoulder exoskeleton

Abstract

The present invention discloses a shoulder-carrying exoskeleton, including at least one lower limb skeleton, each of which is provided with a floating support mechanism on the top; at least one shoulder load-bearing frame, which is supported on the floating support mechanism through a front connecting rod and a rear connecting rod, and the shoulder load-bearing frame transmits force to the floating support mechanism through the front connecting rod and the rear connecting rod under the action of load, and the floating support mechanism can share the load through the deformation of the internal elastic support component. The above scheme can be adopted to better control the unloading ratio, and maximize the unloading effect of the exoskeleton by presetting the unloading value, while ensuring smooth movement, having good versatility and applicability, and on the other hand, effectively reducing the influence of rigid support on the exoskeleton components, reducing irreversible deformation, and extending the service life, while fully ensuring the force balance when the shoulders are loaded, further improving the overall movement balance of the personnel, which is conducive to improving functional reliability, and the overall structure is light, easy to implement, and easy to put on and take off.

Description

Technical Field

[0001] The invention belongs to the field of exoskeleton auxiliary load-bearing structures, and in particular relates to a shoulder-carrying exoskeleton. Background Art

[0002] Although with the continuous advancement of technology, various means of transportation have continued to develop and gradually replaced manual transportation, manual transportation still plays an important role in many occasions and cannot be completely replaced, especially in geological disaster rescue. Due to emergencies such as traffic blockages and signal interruptions, mechanical transportation tools are difficult to play a role in the early stages. At this time, manual transportation is particularly important.

[0003] However, human transportation is limited by the physiological structure of the human body. It is difficult to carry a load for a long time, which also affects the transportation capacity. For this reason, since the last century, human-assisted exoskeleton technology has begun to develop rapidly, and now it has gradually shifted from the military field to the civilian market. In addition to some medical rehabilitation exoskeletons, some weight-bearing exoskeletons have also appeared, such as the patent number "CN202022413177.8", the patent name is "Shoulder shelf structure for lower limb exoskeleton robots", which discloses a shoulder-loaded exoskeleton. At present, there are relatively many structures similar to the one disclosed in this patent on the market, that is, most of them are based on rigid support, and then through the force distribution structure. , disperse the gravity of the object and use the lower limb or upper limb exoskeleton for support. However, the applicant found in the research and development process that this structure is relatively easy to deform during use, and the deformation will affect the overall service life and use effect, especially when used for shoulder load, because the uneven force can easily lead to poor stability in the movement of the person, and the exoskeleton itself is heavy, which will also affect the efficiency of putting on and taking off; on the other hand, the force unloading effect of passive load-bearing exoskeletons often has two extreme situations. Either the force unloading effect is not good and can only be unloaded by dispersing the pressure, or the effect is obvious, but it will have a negative impact on the normal movement of the user, and lacks versatility and applicability. Summary of the invention

[0004] In view of this, the present invention provides a shoulder-carrying exoskeleton to solve the problems in the prior art that the shoulder-carrying exoskeleton has poor stability and even a short service life, and to improve the overall versatility and applicability.

[0005] The technical solution is as follows:

[0006] A shoulder-mounted exoskeleton, the key of which is to include:

[0007] at least one lower limb skeleton, each of which has a floating support mechanism at the top;

[0008] At least one shoulder load-bearing frame is supported on the floating support mechanism through the front link and the rear link. The shoulder load-bearing frame transmits the force to the floating support mechanism through the front link and the rear link under the load. The floating support mechanism can share the load through the deformation of the internal elastic support component.

[0009] The above scheme is mainly adopted, and a floating support mechanism is cooperated with a front connecting rod and a rear connecting rod to form a closed ring support structure for the shoulder load-bearing frame, which fully ensures the balance of the shoulder load-bearing frame, facilitates the user to bear weight on the shoulders and share the gravity through the lower limb bones. At the same time, the support structure realizes floating support through elastic support components. The self-recovery ability of the elastic components is utilized during the movement to effectively reduce the continuous rigid pressure of the load on the exoskeleton, which is beneficial to prolonging the service life. In addition, the unloading value can be directly obtained by calculating and selecting the deformation amount of the elastic support component, thereby realizing the preset of the passive exoskeleton unloading value, which can maximize the use of the exoskeleton's unloading effect without affecting the user's normal walking.

[0010] As a preference: there are two lower limb bones and two shoulder load-bearing frames, and a back support seat is provided between the two lower limb bones, the back support seat comprises an inner support plate and an outer support plate that slide with each other, and both ends of the inner support plate have upper side bands that match each other;

[0011] The outer support plate can slide up and down relative to the inner support plate and has a corresponding elastic reset structure, and the rear connecting rod is fixedly connected to the outer support plate.

[0012] By adopting the above scheme, the inner support plate can fit and fix to the user's back through the upper side strap, which is beneficial to improving the overall auxiliary load capacity of the exoskeleton. At the same time, the outer support plate in the back support seat is used to form a floating connection structure, which actually connects the shoulder load-bearing frames on both sides into one, which is beneficial to ensure the balance of the load-bearing moment. Even when one shoulder is carrying weight, the relevant components on the left and right sides can move synchronously.

[0013] Preferably, the outer support plate has horizontal adjustment holes distributed along its length, and the rear connecting rod can be fixed to any horizontal adjustment hole by a locking screw. With the above solution, the horizontal spacing between the two rear connecting rods can be adjusted as needed to adapt to the shoulder width of different users, which is more practical.

[0014] Preferably, the inner support plate has a vertically arranged guide rod, the outer support plate has a sliding part that slides with the guide rod, the guide rod is sleeved with a first elastic component, the first elastic component is located below the sliding part, and the upper and lower sides of the inner support plate have a stop structure for limiting the sliding travel of the sliding part. The above scheme can improve the stability of the outer support plate when it slides up and down under load, and the first elastic component can achieve the effect of automatic reset, and the first elastic component can also play the role of a primary floating support.

[0015] As a preferred embodiment, the rear connecting rod comprises a rear upper connecting rod section, a rear lower connecting rod section, and an intermediate square tube for connecting the rear upper connecting rod section and the rear lower connecting rod section, and the intermediate square tube is fixedly connected to the outer support plate by a locking screw. The above scheme is adopted to facilitate the processing and manufacturing of the rear connecting rod, reduce the production cost, and also facilitate the single connection and assembly with various components in the later stage, thereby improving the assembly performance.

[0016] Preferably, the floating support mechanism comprises a vertically arranged installation box, wherein the installation box has a slide seat slidably matched therewith, the slide seat can be lifted and slid along the height direction of the installation box, and a second elastic component is arranged in the installation box, and the second elastic component is located below the slide seat;

[0017] The installation box has a first slide groove corresponding to the front connecting rod and a second slide groove corresponding to the rear connecting rod. The first slide groove and the second slide groove are both arranged vertically. The front connecting rod and the rear connecting rod extend into the installation box through the corresponding slide grooves and are connected to the slide seat. The above scheme is adopted to realize the load sharing and floating support of the shoulder load-bearing frame by utilizing the deformation of the second elastic component. The structure is ingenious, easy to implement, relatively low in cost, and adopts a relatively closed structure, which can effectively improve the reliability and service life of the overall structure.

[0018] As a preferred embodiment, the upper end of the front connecting rod is rotatably connected to the shoulder load-bearing frame, and the lower end has a quick-insertion structure that matches the slide seat. The above solution is convenient for users to quickly put on and take off the exoskeleton, and has better single-person operability.

[0019] As a preferred embodiment, the installation box is connected to the lower limb bones through a height adjustment mechanism. With the above solution, the relative height of the installation box and the lower end of the lower limb bones can be adjusted through the height adjustment mechanism to adapt to users of different heights.

[0020] Preferably, the high-adjustment mechanism has at least a forward bending freedom. The above solution is convenient for adapting to the user's bending action, so that the exoskeleton has a better fit with the user's action.

[0021] Preferably, a hip support plate is provided between the two lower limb bones, and the left and right ends of the hip support plate have lower side bands that match each other and are respectively provided with fixing bands for connecting with the lower limb bones on the same side;

[0022] The hip support plate is also provided with shoulder straps at both ends, and the shoulder straps are fixedly connected to the corresponding ends of the inner support plate. With the above scheme, the hip support plate is connected with the inner support plate and the lower limb skeleton as a whole, which can further improve the overall auxiliary load-bearing capacity, and is easy to implement and relatively low in cost.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] The shoulder-carried exoskeleton provided by the present invention can better control the force unloading ratio, maximize the use of the exoskeleton's force unloading effect by presetting the force unloading value, and ensure smooth movement. It has good versatility and applicability. On the other hand, it effectively reduces the impact of rigid support on exoskeleton components, reduces irreversible deformation, and extends service life. At the same time, it fully guarantees the force balance when the shoulders are loaded, so as to ensure the overall movement balance of the personnel, which is conducive to improving functional reliability. The overall structure is light, easy to implement, and convenient to put on and take off. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A perspective view of the present invention;

[0026] Figure 2 for Figure 1 Rear view of

[0027] Figure 3 for Figure 1 A top view of

[0028] Figure 4 It is a schematic diagram of the shoulder load-bearing frame structure;

[0029] Figure 5 Schematic diagram of the front connecting rod structure;

[0030] Figure 6 Schematic diagram of the rear connecting rod structure;

[0031] Figure 7 for Figure 6 Top view;

[0032] Figure 8 It is a structural schematic diagram of the floating support mechanism;

[0033] Fig. 9 for Figure 8 Schematic diagram of the internal structure;

[0034] Fig.10 It is a schematic diagram of the connection between the front link, the rear link and the floating support mechanism;

[0035] Fig.11 for Fig.10 Cross-sectional view in width direction;

[0036] Fig.12 for Fig.10 Cross-sectional view in the length direction;

[0037] Fig.13 Another quick-insert structure embodiment;

[0038] Fig.14 This is a schematic diagram of the back support structure;

[0039] Fig.15 for Fig.14 A cross-sectional view of

[0040] Fig.16 This is an exploded view of the back support seat;

[0041] Fig.17 for Fig.16 axonometric drawing;

[0042] Fig.18 It is a schematic diagram of the high-profile organization structure;

[0043] Fig.19 It is a schematic diagram of the connection between the high-profile mechanism and the floating support mechanism;

[0044] Fig. 20 Schematic diagram of the initial state of the front link during the wearing process;

[0045] Fig.21 This is a schematic diagram of the back support structure under load. DETAILED DESCRIPTION

[0046] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0047] refer to Figures 1 to 21The shoulder-carrying exoskeleton shown mainly includes at least one lower limb skeleton 100 and at least one shoulder load-bearing frame 300, wherein the lower limb skeleton 100 has a general structure similar to that of a traditional exoskeleton, and has corresponding ankle joints, knee joints, and labor-saving structures such as bending and rebounding, and a floating support mechanism 200 is provided on the top thereof, and the shoulder load-bearing frame 300 is supported on the floating support mechanism 200 by a front connecting rod 310 and a rear connecting rod 320, and the front connecting rod 310 and the rear connecting rod 320 form a closed annular support structure, and after being worn, the two are respectively located on the front and rear sides of the human body, and the shoulder load-bearing frame 300 It is mainly used to bear loads and transmit the loads to the floating support mechanism 200 through the front connecting rod 310 and the rear connecting rod 320. The floating support mechanism 200 is provided with an elastic support component. When the shoulder load-bearing frame 300 is unloaded, it is higher than the wearer's shoulder, which can reduce the friction on the wearer's shoulder. When the shoulder load-bearing frame 300 is loaded, the elastic support component is deformed and contracts downward, and the shoulder load-bearing frame 300 descends to fit the wearer's shoulder to form a floating support. In specific implementation, in order to ensure comfort, the bottom of the shoulder load-bearing frame 300 usually has a shoulder pad that adapts to the contour of the human shoulder (not shown in the figure).

[0048] refer to Figures 1 to 3 In general, the lower limb skeleton 100 and the shoulder load-bearing frame 300 are two symmetrically arranged, and a back support seat 400 is arranged between the two lower limb skeletons 100. Figures 14 to 17 In the present application, the back support seat 400 mainly plays the role of connecting the shoulder load-bearing frames 300 on both sides and the lower limb bones 100 into one body, and at the same time achieves the effect of fixation and intermediate support. As shown in the figure, the back support seat 400 mainly includes an inner support plate 410 and an outer support plate 420 that slide and cooperate with each other. The two ends of the inner support plate 410 have upper side bands 411 that match each other. When worn, the inner support plate 410 fits against the back of the human body, and the outer support plate 420 is relatively far away from the back of the human body. The two ends of the inner support plate 410 that fits against the back of the human body are arc-shaped structures, which can improve its fit with the human body. The outer support plate 420 can slide up and down relative to the inner support plate 410 and has a corresponding elastic reset structure. The rear connecting rod 320 is fixedly connected to the outer support plate 420. When the shoulder load-bearing frame 300 is loaded, the rear connecting rod 320 can drive the outer support plate 420 to slide downward to meet the support requirements. The load-bearing state is as follows Fig.21 shown.

[0049] Specifically, the inner support plate 410 has a vertically arranged guide rod 412, the outer support plate 420 has a sliding portion 425 that slides with the guide rod 412, the guide rod 412 is sleeved with a first elastic component 430, and the first elastic component 430 is located below the sliding portion 425. The upper and lower sides of the inner support plate 410 have a stop structure for limiting the sliding travel of the sliding portion 425. The specific implementation structure is referenced Fig.16 and Fig.17 The outer side of the inner support plate 410 has a recessed groove 413 opened along its length direction. Two guide rods 412 are symmetrically arranged in the recessed groove 413 and are vertically arranged. The sliding part 425 is a sleeve structure integrally formed with the outer support plate 420.

[0050] In this embodiment, the bottom of the groove 413 has a bottom plate 414 that is detachably arranged. The bottom plate 414 is fixedly connected to the inner support plate 410 by screws. The lower end of the guide rod 412 is against the bottom plate 414, and the upper end is fixedly connected to the inner support plate 410 by screws. The first elastic component 430 is a first compression spring, and its normal installation state is the initial pressure-bearing posture. Under its action, the sliding portion 425 is located at the top of the groove 413, that is, the highest position, and the sliding stroke of the outer support plate 420 is also restricted by the upper and lower bottom walls of the groove 413. In specific implementation, in order to ensure smooth sliding of the inner and outer support plates, a linear bearing 423 is installed in the sliding portion 425.

[0051] Based on the structure of the above-mentioned back support seat 400, in the present application, the external support plate 420 is provided with horizontal adjustment holes 421 distributed along its length direction, and the rear connecting rod 320 can be fixed to any horizontal adjustment hole 421 by a locking screw 422, so as to adjust the horizontal distance between the two rear connecting rods 320 to adapt to people with different shoulder widths, thereby further improving wearing comfort.

[0052] At the same time, taking into account the issues of production and assembly convenience, the rear connecting rod 320 in this embodiment is a segmented structure, which mainly includes a rear upper connecting rod section 321, a rear lower connecting rod section 322, and an intermediate square tube 323 for connecting the rear upper connecting rod section 321 and the rear lower connecting rod section 322. The intermediate square tube 323 is fixedly connected to the outer support plate 420 by a locking screw 422. The intermediate square tube 323 is a square hollow tube. The rear upper connecting rod section 321 and the rear lower connecting rod section 322 are respectively inserted into the upper and lower ends of the intermediate square tube 323 and fixed by locking pins. At the same time, the intermediate square tube 323 has a plurality of pin holes distributed along its length direction. The rear upper connecting rod section 321 and the rear lower connecting rod section 322 are aligned and fixed with different pin holes, so that the overall length of the rear connecting rod 320 can be adjusted.

[0053] The outer support plate 420 is also provided with a cover plate 440 adapted thereto, which is fixedly connected to the outer support plate 420 and is mainly used to cover the middle square tube 323 and the internal adjustment structure. As shown in the figure, the horizontal adjustment hole 421 is located in the middle of the outer side of the outer support plate 420, and has symmetrically arranged strip grooves 424 on the upper and lower sides of the horizontal adjustment hole 421, and the middle square tube 323 has a protrusion 3230 that slides with the strip groove 424, and the outer side of the cover plate 440 has a strip hole 441 for the locking screw 422 to pass through and slide, and has strip notches on the upper and lower sides for the rear upper connecting rod section 321 and the rear lower connecting rod section 322 to extend into, respectively.

[0054] refer to Figures 8 to 13 In the present application, the floating support mechanism 200 mainly includes a vertically arranged installation box 210, which is generally T-shaped. The installation box 210 has a slide seat 220 that slides with it. The slide seat 220 can be lifted and slid along the height direction of the installation box 210, and a second elastic component 230 is provided in the installation box 210. The second elastic component 230 is located below the slide seat 220. In this embodiment, a second compression spring is preferably used as the second elastic component 230. The same initial installation state is a compressed state. Selecting a compression spring as the second elastic component 230 can also improve the accuracy of the unloading ratio calculation, and the production and installation costs are relatively lower. During manufacturing, different types of compression springs are usually installed, that is, exoskeletons with different types of unloading ratios are obtained.

[0055] The mounting box 210 has a first slide groove 211 corresponding to the front connecting rod 310 and a second slide groove 212 corresponding to the rear connecting rod 320. The first slide groove 211 and the second slide groove 212 are both vertically arranged. The front connecting rod 310 and the rear connecting rod 320 extend into the mounting box 210 through the corresponding slide grooves and are connected to the slide seat 220. In order to facilitate putting on and taking off, the upper end of the front connecting rod 310 in this embodiment is rotatably connected to the shoulder load-bearing frame 300, and the lower end has a quick-insertion structure that matches the slide seat 220.

[0056] Specifically, the installation box 210 has two second compression springs symmetrically arranged front and back, and the bottom of the slide 220 has a compression rod 221 arranged corresponding to the second compression spring. The upper and lower ends of the second compression spring are respectively abutted against the lower end of the compression rod 221 and the bottom wall of the installation box 210. A stop partition 222 is provided above the second compression spring in the installation box 210. The compression rod 221 slides with the stop partition 222, and after passing through the stop partition 222, it abuts against the second compression spring. The slide 220 is located above the stop partition 222.

[0057] Combination Figures 2 to 4 It can be seen that in the present application, the first slide groove 211 is located at the front side of the installation box 210, and the second slide groove 212 is located on the side of the installation box 210 close to the human body, that is, the connection parts of the front connecting rod 310 and the rear connecting rod 320 and the slide seat 220 are orthogonally distributed.

[0058] As shown in the figure, the front end of the shoulder load-bearing frame 300 away from the head has a U-shaped notch 301 penetrating the thickness direction, and the U-shaped notch 301 has a fixed shaft 302 arranged along the shoulder width direction of the human body, and the upper end of the front connecting rod 310 is movably mounted on the fixed shaft 302. Fig.19As shown, the front connecting rod 310 can rotate with the fixed axis 302 as the rotation center, and a locking seat 240 is fixedly provided on the top of the sliding seat 220. The locking seat 240 is provided with a socket on the side facing the first sliding groove 211, and a vertically arranged spring pin 241 is provided on the locking seat 240. The lower end of the front connecting rod 310 has a locking hole 311 arranged corresponding to the spring pin 241. The lower end of the front connecting rod 310 passes through the first sliding groove 211 and extends into the socket, and the spring pin 241 is inserted into the locking hole 311, thereby realizing the quick plug-in and fixation of the front connecting rod 310.

[0059] In specific implementation, the spring pin 241 can be as follows Fig.12 The pull-out type shown in the figure has a pull ring exposed above the installation box 210. When in use, the spring pin 241 needs to be pulled up by the pull ring, and then the front connecting rod 310 is inserted, and then the pull ring is released to lock it; further optimization can also be as follows Fig.13 In the self-locking structure shown, the lower end of the spring pin 241 has a passive guiding inclined surface 242 on the side facing the first slide groove 211, and the end of the front connecting rod 310 has an active guiding inclined surface 312 adapted to the passive guiding surface 242. When in use, it is only necessary to insert the front connecting rod 310 into the socket with force, and rely on the squeezing force to make the spring pin 241 retreat until it is aligned with the locking hole 311 and then automatically release to lock it. With this structure, the user can quickly complete the fixed connection with one hand, which is more convenient for putting on and taking off.

[0060] Combination Figure 6 and Figure 7 It can be seen that the upper and lower ends of the rear connecting rod 320 have an upper connecting portion 324 and a lower connecting portion 325 which are orthogonally distributed. The upper connecting portion 324 and the shoulder load-bearing frame 300, and the lower connecting portion 325 and the sliding seat 220 are connected by screw fastening. It should be noted that in order to ensure the stability of the shoulder load-bearing frame 300, the upper connecting portion 324 and the shoulder load-bearing frame 300 are located on the side opposite to the U-shaped groove 301, and at an end relatively close to the human head.

[0061] refer to Figure 1 , Figure 2 , Fig.11 , Fig.18 and Fig.19 In the present application, the mounting box 210 is connected to the lower limb skeleton 100 through the high-adjustment mechanism 500, and in order to adapt to the waist bending action of the wearer, the high-adjustment mechanism 500 usually has at least a forward bending freedom. As shown in the figure, the high-adjustment mechanism 500 includes an upper support plate 520 and a lower support plate 530 connected by a rotating joint seat 510. The structure of the rotating joint seat 510 is similar to the knee joint structure in a traditional exoskeleton, except that the rebound and the bending direction of the corresponding structure are opposite, and the upper support plate 530 in the high-adjustment mechanism 500 can rotate forward relative to the lower support plate 530.

[0062] At least one of the upper support plate 520 and the lower support plate 530 has height adjustment holes 540 distributed along its height direction. Correspondingly, the upper end of the lower limb skeleton 100 and the lower part of the installation box 210 have locking structures arranged corresponding to the height adjustment holes 540. In this embodiment, the locking structure mainly includes a buckle plate 550 installed on the lower limb skeleton 100 and / or the installation box 210 through a torsion spring. The inner side of the buckle plate 550 has a buckle tooth 551 adapted to the height adjustment hole 540. When the buckle tooth 551 is inserted into any height adjustment hole 540, the two corresponding holes are locked, which is convenient for rapid height adjustment to meet the height of the human body without affecting the waist movement.

[0063] refer to Figures 1 to 3 A hip support plate 600 is provided between the two lower limb bones 100, and the left and right ends of the hip support plate 600 have lower side bands 610 that match each other, and are respectively provided with fixing bands 620 for connecting with the lower limb bones 100 on the same side, and shoulder straps 630 are also provided at both ends of the hip support plate 600, and the shoulder straps 630 are fixedly connected to the corresponding ends of the inner support plate 410, and fixing holes are correspondingly provided at both ends of the inner support plate 410, as shown in the figure, in this embodiment, in order to facilitate the connection operation and improve the overall auxiliary effect, the lower end of the fixing band 620 is tilted downward and connected to the rotating joint seat 510, and the shoulder strap 630 has a length adjustment function. When worn, the inner support plate 410 and the hip support plate 600 are tightened up and down mainly by the shoulder straps 630 and the fixing band 620, and then the inner support plate 410 and the hip support plate 600 are tightened front and back respectively by the upper side band 411 and the lower side band 610, so that each fits the human body.

[0064] refer to Figures 1 to 21 The shoulder-mounted exoskeleton shown in the figure, when in use, first selects an exoskeleton model with a suitable unloading ratio according to the weight of the load and the physical condition of the user, and then adjusts it according to the user's body shape such as body height and shoulder width, and adjusts the appropriate height or spacing through the high-adjustment mechanism 500 and the back support seat 400, and the person puts it on, and locks the front connecting rod 310, and tightens the upper side band 411 and the lower side band 610. At this time, the shoulder load-bearing frame 300 is higher than the wearer's shoulder. After the load is loaded, the load is transferred to the floating support mechanism 200 through the front and rear connecting rods, and the second elastic component 230 is pressed down until the shoulder load-bearing frame 300 fits against the wearer's shoulder. At this time, the sliding seat 220 is against the stop partition 222, and rigid support is achieved through the stop partition 222, which can reduce continuous excessive compression of the second elastic component 230 and play a certain protective role.

[0065] Finally, it should be noted that the above description is only a preferred embodiment of the present invention. Under the guidance of the present invention, ordinary technicians in this field can make various similar expressions without violating the purpose and claims of the present invention, and such changes all fall within the scope of protection of the present invention.

Claims

1. A shoulder-mounted exoskeleton, characterized in that: include: At least one lower limb bone (100), each of which has a floating support mechanism (200) disposed on its top; At least one shoulder load-bearing frame (300), which is supported on the floating support mechanism (200) through a front link (310) and a rear link (320); under the action of a load, the shoulder load-bearing frame (300) transmits force to the floating support mechanism (200) through the front link (310) and the rear link (320); and the floating support mechanism (200) can share the load through the deformation of an internal elastic support component; There are two lower limb bones (100) and two shoulder load-bearing frames (300), and a back support seat (400) is provided between the two lower limb bones (100), and the back support seat (400) includes an inner support plate (410) and an outer support plate (420) that are slidably matched with each other, and the two ends of the inner support plate (410) have upper side bands (411) that match each other; The outer support plate (420) can slide up and down relative to the inner support plate (410) and has a corresponding elastic reset structure, and the rear connecting rod (320) is fixedly connected to the outer support plate (420); The floating support mechanism (200) comprises a vertically arranged installation box (210), wherein the installation box (210) has a slide seat (220) in sliding cooperation therewith, wherein the slide seat (220) can be lifted and slid along the height direction of the installation box (210), and a second elastic component (230) is arranged in the installation box (210), and the second elastic component (230) is located below the slide seat (220); The installation box (210) has a first slide groove (211) arranged corresponding to the front connecting rod (310), and a second slide groove (212) arranged corresponding to the rear connecting rod (320), the first slide groove (211) and the second slide groove (212) are both arranged vertically, and the front connecting rod (310) and the rear connecting rod (320) extend into the installation box (210) through the corresponding slide grooves and are connected to the slide seat (220).

2. The shoulder-mounted exoskeleton according to claim 1, characterized in that: The outer support plate (420) has horizontal adjustment holes (421) distributed along its length direction, and the rear connecting rod (320) can be fixed to any horizontal adjustment hole (421) by means of a locking screw (422).

3. The shoulder-mounted exoskeleton according to claim 1 or 2, characterized in that: The inner support plate (410) has a vertically arranged guide rod (412), the outer support plate (420) has a sliding portion (425) that slidably cooperates with the guide rod (412), a first elastic component (430) is sleeved on the guide rod (412), and the first elastic component (430) is located below the sliding portion (425), and the upper and lower sides of the inner support plate (410) have stop structures for limiting the sliding travel of the sliding portion (425).

4. The shoulder-mounted exoskeleton according to claim 3, characterized in that: The rear connecting rod (320) comprises a rear upper connecting rod section (321), a rear lower connecting rod section (322), and an intermediate square tube (323) for connecting the rear upper connecting rod section (321) and the rear lower connecting rod section (322); the intermediate square tube (323) is fixedly connected to the outer support plate (420) via a locking screw (422).

5. The shoulder-mounted exoskeleton according to claim 1, characterized in that: The upper end of the front connecting rod (310) is rotatably connected to the shoulder load-bearing frame (300), and the lower end has a quick-insertion structure that matches the sliding seat (220).

6. The shoulder-mounted exoskeleton according to claim 1 or 5, characterized in that: The installation box (210) is connected to the lower limb skeleton (100) via a high adjustment mechanism (500); The high-adjustment mechanism (500) comprises an upper support plate (520) and a lower support plate (530) connected via a rotating joint seat (510); the upper support plate (520) in the high-adjustment mechanism (500) can rotate forward relative to the lower support plate (530); At least one of the upper support plate (520) and the lower support plate (530) has height adjustment holes (540) distributed along its height direction, and the upper end of the lower limb bone (100) and the lower part of the installation box (210) have locking structures arranged corresponding to the height adjustment holes (540).

7. The shoulder-mounted exoskeleton according to claim 6, characterized in that: The high adjustment mechanism (500) has at least a forward bending freedom.

8. The shoulder-mounted exoskeleton according to claim 1, characterized in that: A hip support plate (600) is provided between the two lower limb bones (100), and the left and right ends of the hip support plate (600) have lower side bands (610) that match each other, and are respectively provided with fixing bands (620) for connecting to the lower limb bones (100) on the same side; The two ends of the hip support plate (600) are also provided with shoulder straps (630), and the shoulder straps (630) are fixedly connected to the corresponding ends of the inner support plate (410).

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