A bionic exoskeleton spine device

Abstract

The present invention relates to the field of bionic skeleton technology and discloses a bionic exoskeleton spine device, comprising: a back support structure, a bionic spine and a waist support structure; the bionic spine comprises five sections of sub-columns connected end to end, the sub-columns are made of rigid material, and each section of the sub-columns can rotate relative to another section of the sub-columns around its own rotation axis, so that the bionic spine as a whole can simulate the bending and straightening movements of the human spine, thereby meeting the movement requirements of various joints of the human body in a bent-over carrying state; and because each section of the sub-columns is made of rigid material, even when the bionic spine bends along the curve of the human spine, each section of the sub-columns can provide sufficient support to the user.

Description

Technical Field

[0001] The present invention relates to the technical field of bionic skeletons, and in particular to a bionic exoskeleton spine device. Background Art

[0002] Exoskeleton robots are widely used in industry, medical care, rehabilitation, and logistics. As a key component of exoskeleton robots, the exoskeleton back spine structure determines the practicality and comfort of the exoskeleton robots.

[0003] When performing bending and carrying operations, the exoskeleton robots in the existing technology mostly use a rigid structure for the back spine structure to maintain sufficient balance. When in an upright state, it fits the curve of the human spine, but cannot rotate downward with the movement of the human spine. If the back spine structure uses elastic or flexible composite materials, although it can ensure that the back spine structure can follow the rotation of the human spine, its strength and rigidity cannot provide sufficient support for the exoskeleton device.

[0004] Therefore, how to design an exoskeleton spine device that can provide sufficient support to the user and can bend and straighten along with the curve of the human spine has become a technical problem that needs to be solved urgently in this field. Summary of the Invention

[0005] The purpose of the present invention is to provide a bionic exoskeleton spine device that can provide sufficient support for the user and can bend and straighten along the curve of the human spine. While ensuring comfort in use, it can also meet the movement requirements of various joints of the human body when bending over and carrying.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A bionic exoskeleton spine device comprises: a back support structure, a bionic spine, and a lumbar support structure; wherein the two ends of the bionic spine are respectively connected to the back support mechanism and the lumbar support structure; the back support structure is used to be fixed relative to the user's back, and the lumbar support structure is used to be fixed relative to the user's waist; the bionic spine comprises five sub-columns connected end to end, each sub-column section is made of a rigid material, and each sub-column section has a fitting surface for fitting with the user's spine; in any two adjacent sub-columns: each sub-column section can rotate around its own rotation axis relative to the other sub-column section, so that the bionic spine as a whole can simulate the bending and straightening movements of the human spine; the rotation axis of each sub-column section is parallel to the sub-column fitting surface and is perpendicular to the sub-column section in the direction from its head end to its tail end.

[0008] When the bionic exoskeleton spine device provided by the present invention is worn, the back support structure is fixed relative to the user's back, and the waist support structure is fixed relative to the user's waist. Since the two ends of the bionic spine are respectively connected to the back support mechanism and the waist support structure, the fitting surface of each sub-column can be fitted with the user's spine, and the wearing is completed.

[0009] Since in any two adjacent sections of sub-columns, each section of the sub-column can rotate relative to the other section of the sub-column around its own rotation axis, the rotation axis is parallel to the fitting surface of the sub-column and is perpendicular to the direction of the sub-column from its head end to its tail end. This means that any two adjacent terminal columns can rotate along the direction of the human spine's curvature, thereby being able to well simulate the bending and straightening movements of the human spine.

[0010] This bionic exoskeleton spine device has a bionic spine that can bend and straighten along with the curve of the human spine, thus meeting the movement requirements of the human joints when bending over and carrying things. And because each sub-column is made of rigid material, even when the bionic spine bends along with the curve of the human spine, each sub-column can provide sufficient support to the user.

[0011] Optionally, the five-section sub-columns include: a head connecting column, a tail connecting column and three middle connecting columns; one end of the head connecting column is used to be fixedly connected to the back support structure, and the other end has a toothed connector; both ends of the middle connecting column have a toothed connector; one end of the tail connecting column is used to be fixedly connected to the waist support structure, and the other end has a toothed connector; the toothed connectors of any two adjacent sub-columns close to each other are engaged with each other to enable relative rotation between the two sections of sub-columns.

[0012] Optionally, a connecting mechanism is provided between each two adjacent sections of sub-columns to connect the two adjacent sub-columns to each other.

[0013] Optionally, each connecting mechanism includes a connecting member and two hinge pins; the toothed connecting member of each section of sub-columns includes a main body and a gear ring, each main body has a through hole running through it, and the central axis of the through hole coincides with the rotation axis; the connecting member has an elongated hole, and in any two adjacent sections of sub-columns: the extension direction of the elongated hole is parallel to the line connecting the centers of the through holes of the two sections of sub-columns; the hinge pins and the through holes cooperate with each other and are arranged in a one-to-one correspondence; in any connecting mechanism and any two adjacent sections of sub-columns that cooperate with each other: the two hinge pins respectively pass through the elongated hole of the connecting member and the two adjacent through holes on the two main bodies, so that the two adjacent sections of sub-columns are connected to each other.

[0014] Optionally, the hinge pin includes a pin shaft and a limiting member; the pin shaft is used to pass through the elongated hole of the connecting member and the through hole on the main body; the limiting member is used to prevent the pin shaft from escaping from the through hole.

[0015] Optionally, one end of the pin shaft has a nut, and the other end is provided with a shoulder ring detachably connected to the pin shaft; the nut and the shoulder ring are both used to abut against the side plane of the connecting piece, and the nut and the shoulder ring cooperate to form a limit piece.

[0016] Optionally, the back support structure includes a back support rod and a shoulder fixing piece; the shoulder fixing piece is used to be fixedly connected to the user's shoulders and the back support rod to achieve relative fixation of the back support rod and the user's back; the end of the head connecting column away from its own toothed connecting piece is used to be fixedly connected to the back support rod.

[0017] Optionally, the back support structure further includes a sliding mechanism provided on the back support rod; the sliding mechanism includes a slider capable of sliding along the extension direction of the back support rod, the slider having a mounting hole for connecting to the power assist device.

[0018] Optionally, the lumbar support structure includes a lumbar support rod and a lumbar fixing piece; the lumbar support rod is fixedly connected to the user's waist through the lumbar fixing piece; and the end of the tail connecting column away from its own toothed connecting piece is used to be fixedly connected to the lumbar support rod.

[0019] Optionally, the waist fixing component includes two waist belts. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. Among them:

[0021] Figure 1 A schematic diagram of the overall structure of a bionic exoskeleton spine device provided in an embodiment of the present invention;

[0022] Figures 2-1 to 2-3 A schematic diagram showing the effect of the bionic exoskeleton spine device provided by an embodiment of the present invention being worn on a user;

[0023] Figure 3 A schematic structural diagram of a bionic spine in a bionic exoskeleton spine device provided in an embodiment of the present invention;

[0024] Figure 4 A schematic structural diagram of the head connecting column in the bionic exoskeleton spine device provided in an embodiment of the present invention;

[0025] Figure 5 A schematic structural diagram of the tail connecting column in the bionic exoskeleton spine device provided in an embodiment of the present invention;

[0026] Figure 6 A schematic structural diagram of the middle connecting column in the bionic exoskeleton spine device provided in an embodiment of the present invention;

[0027] Figure 7 A schematic structural diagram of a connector in a bionic exoskeleton spine device provided by an embodiment of the present invention;

[0028] Figure 8 A schematic structural diagram of a back support rod in a bionic exoskeleton spine device provided in an embodiment of the present invention;

[0029] Figure 9 A schematic structural diagram of the waist support rod in the bionic exoskeleton spine device provided in an embodiment of the present invention.

[0030] Icons: 1-back support structure; 2-bionic spine; 3-lumbar support structure; 4-sub-column; 5-head connecting column; 6-tail connecting column; 7-middle connecting column; 8-toothed connector; 9-connector; 10-body; 11-gear ring; 12-through hole; 13-long hole; 14-nut; 15-back support rod; 16-shoulder fixing part; 17-slider; 18-mounting hole; 19-fixing seat; 20-guide shaft; 21-linear bearing; 22-lumbar support rod; 23-lumbar fixing part; 24-lumbar strap; 25-shoulder strap; 26-first weight-reducing hole; 27-second weight-reducing hole; 28-third weight-reducing hole; 29-first threaded hole; 30-second threaded hole; 31-strap mounting port; 32-port groove. DETAILED DESCRIPTION

[0031] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments. Each example is provided by way of explanation of the present invention and is not intended to limit the present invention. Indeed, it will be apparent to those skilled in the art that modifications and variations may be made in the present invention without departing from the scope or spirit of the present invention. For example, a feature shown or described as part of one embodiment may be used in another embodiment to produce yet another embodiment. Therefore, it is intended that the present invention encompasses such modifications and variations as come within the scope of the appended claims and their equivalents.

[0032] In the description of the present invention, the terms "longitudinal", "transverse", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and do not require that the present invention must be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on the present invention. The terms "connected", "connected", and "set" used in the present invention should be understood in a broad sense. For example, they can be fixed connections or detachable connections; they can be directly connected or indirectly connected through intermediate components. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0033] Figure 1A schematic diagram of the overall structure of a bionic exoskeleton spine device provided in an embodiment of the present invention; Figures 2-1 to 2-3 Schematic diagram of the effect of the bionic exoskeleton spine device provided by an embodiment of the present invention being worn on a user; Figure 1-Figure 3 As shown, an embodiment of the present invention provides a bionic exoskeleton spine device, comprising: a back support structure 1, a bionic spine 2, and a lumbar support structure 3; wherein, the two ends of the bionic spine 2 are respectively connected to the back support mechanism and the lumbar support structure 3; the back support structure 1 is used to be fixed relative to the user's back, and the lumbar support structure 3 is used to be fixed relative to the user's waist; the bionic spine 2 includes five sections of sub-columns 4 connected end to end, each section of sub-columns is made of rigid material, and each section of sub-columns 4 has a fitting surface for fitting with the user's spine; in any two adjacent sections of sub-columns 4: each section of sub-columns 4 can rotate around its own rotation axis relative to the other section of sub-columns 4, so that the bionic spine 2 as a whole can simulate the bending and straightening movements of the human spine; the rotation axis of each section of sub-column 4 is parallel to the fitting surface of the sub-column 4, and is perpendicular to the direction of the sub-column 4 from its own head end to the tail end.

[0034] The length of the bionic spine 2 can range from 60cm to 70cm, for example, 65cm can be selected. The specific length is not limited and is subject to matching with the user's spine. The specific length of the bionic spine 2 can be selected according to actual needs.

[0035] In this embodiment, when wearing the bionic exoskeleton spine device, the back support structure 1 is fixed relative to the user's back, and the waist support structure 3 is fixed relative to the user's waist. Since the two ends of the bionic spine 2 are respectively connected to the back support mechanism and the waist support structure 3, the fitting surface of each section of the sub-column 4 can be fitted with the user's spine, and the wearing is completed.

[0036] Since in any two adjacent sections of sub-columns 4, each section of sub-columns 4 can rotate around its own rotation axis relative to the other section of sub-columns 4, the rotation axis is parallel to the fitting surface of the sub-columns 4 and is perpendicular to the direction of the sub-columns 4 from their own head end to the tail end, it means that any two adjacent terminal columns 4 can rotate along the direction of the curvature of the human spine, thereby being able to well simulate the bending and straightening movements of the human spine.

[0037] In this bionic exoskeleton spine device, the bionic spine 2 can bend and straighten along with the curve of the human spine, thereby meeting the movement requirements of various joints of the human body when bending over and carrying; and because each sub-column 4 is made of rigid material, even when the bionic spine 2 bends along with the curve of the human spine, each sub-column 4 can provide sufficient support to the user.

[0038] Figure 4 A schematic structural diagram of the head connecting column in the bionic exoskeleton spine device provided in an embodiment of the present invention; Figure 5 A schematic structural diagram of the tail connecting column in the bionic exoskeleton spine device provided in an embodiment of the present invention; Figure 6 Schematic diagram of the structure of the middle connecting column in the bionic exoskeleton spine device provided in an embodiment of the present invention; Figure 3-Figure 6 As an optional embodiment, the five-section sub-columns 4 include: a head connecting column 5, a tail connecting column 6 and three middle connecting columns 7; one end of the head connecting column 5 is used to be fixedly connected to the back support structure 1, and the other end has a toothed connector 8; both ends of the middle connecting column 7 have a toothed connector 8; one end of the tail connecting column 6 is used to be fixedly connected to the waist support structure 3, and the other end has a toothed connector 8; the toothed connectors 8 of any two adjacent sub-columns 4 close to each other are engaged with each other to achieve relative rotation between the two sections of sub-columns 4.

[0039] In order to reduce the weight of the wearer, first weight-reducing holes 26 may be provided on the column bodies of the five sections of the sub-columns 4 .

[0040] In this embodiment, when a user wearing this bionic exoskeleton spinal device bends over, any two cooperating toothed connectors 8 will rotate relative to each other, thereby enabling the five-section column 4 to bend according to the curvature of the user's spine; similarly, when the user straightens the body, any two cooperating toothed connectors 8 will rotate relative to each other, and the five-section column 4 will also follow the user's spine to return to a straight state.

[0041] This arrangement adopts the mutual engagement of toothed connectors 8 to realize the relative rotation between two adjacent sub-columns 4, and can simulate the bending and straightening movements of the human spine without the need for additional power-assisting devices, thereby ensuring the reliability of force transmission.

[0042] As an optional embodiment, a connecting mechanism is provided between each two adjacent sections of sub-columns 4 to connect the two adjacent sub-columns 4 to each other.

[0043] Figure 7 This is a schematic diagram of the structure of the connector in the bionic exoskeleton spine device provided in an embodiment of the present invention, with reference to Figure 3-Figure 7Specifically, as an optional embodiment, each connecting mechanism includes a connecting member 9 and two hinge pins; the toothed connecting member 8 of each section of sub-columns 4 includes a main body 10 and a gear ring 11, and each main body 10 has a through hole 12 running through it, and the central axis of the through hole 12 coincides with the rotation axis; the connecting member 9 has an elongated hole 13, and in any two adjacent sections of sub-columns 4: the extension direction of the elongated hole 13 is parallel to the line connecting the centers of the through holes 12 of the two sections of sub-columns 4; the hinge pin and the through hole 12 cooperate with each other and are arranged in a one-to-one correspondence; in any mutually cooperating connecting mechanism and any two adjacent sections of sub-columns 4: the two hinge pins respectively pass through the elongated hole 13 of the connecting member 9 and the two adjacent through holes 12 on the two main bodies 10, so that the two adjacent sections of sub-columns 4 are connected to each other.

[0044] In order to ensure the transmission efficiency and accuracy between two adjacent toothed connectors 8, the center of the gear tooth pitch circle of the gear ring 11 should be the center of the through hole 12;

[0045] In addition, since the forward and backward extension of the spine are both limited when the human body bends, the angle range of relative rotation of two adjacent toothed connectors 8 can be set to 0°-80° by designing the size of the gear ring 11.

[0046] In this embodiment, in order to prevent the toothed connectors 8 of two adjacent sections of sub-columns 4 from separating from each other, the toothed connectors 8 of the two adjacent sections of sub-columns 4 are connected by a connector 9 plus two hinge pins.

[0047] The width d2 of the elongated hole 13 is the same as the aperture size of the through hole 12 , and the length d3 of the elongated hole 13 is greater than the center distance d1 of two adjacent through holes 12 when the bionic spine 2 is in a straight state.

[0048] During installation, the connection between two adjacent sub-columns 4 is used as an example: one hinge pin is passed through the long hole 13 of the connecting piece 9 and the through hole 12 of the toothed connecting piece 8 of one sub-column 4 in sequence, and another hinge pin is passed through the long hole 13 of the connecting piece 9 and the through hole 12 of the toothed connecting piece 8 of another sub-column 4 in sequence to realize the mutual connection of the toothed connecting pieces 8 of the two adjacent sub-columns 4.

[0049] As an optional embodiment, the hinge pin includes a pin shaft and a limit member; the pin shaft is used to pass through the elongated hole 13 of the connecting member 9 and the through hole 12 on the main body 10; the limit member is used to prevent the pin shaft from escaping from the through hole 12.

[0050] Specifically, as an optional embodiment, one end of the pin has a nut 14, such as Figure 3 The other end is provided with a shoulder buckle ring detachably connected to the pin; the nut 14 and the shoulder buckle ring are used to abut the side plane of the connecting member 9, and the nut 14 and the shoulder buckle ring cooperate to form a limit member.

[0051] The nut 14 can be fixedly connected to one end of the pin or detachably connected, depending on the specific working conditions and is not limited thereto;

[0052] In addition, the pin can be made of steel, such as SUS440C stainless steel, to meet the connection strength requirements; the surface of the nut 14 can be hard chrome plated to meet its hardness requirements.

[0053] In this embodiment, the position-limiting installation of a pin is illustrated as an example: a pin is sequentially passed through the elongated hole 13 of the connecting member 9 and the through hole 12 of the toothed connecting member 8 of a section of the sub-column 4, and the nut 14 that matches the pin is abutted against the side plane of the connecting member 9. Then, a shoulder buckle is installed on the other end of the pin, and the shoulder buckle is abutted against the plane on the other side of the connecting member 9.

[0054] According to the above operation, all the pins are installed in the elongated holes 13 and the through holes 12 that match them, and the limiting members are used to limit the position, so that the toothed connecting members 8 of every two adjacent sub-columns 4 can be connected to each other.

[0055] Figure 8 This is a schematic diagram of the structure of the back support rod in the bionic exoskeleton spine device provided in an embodiment of the present invention, with reference to Figure 1 and Figure 8 As an optional embodiment, the back support structure 1 includes a back support rod 15 and a shoulder fixing member 16; the shoulder fixing member 16 is used to be fixedly connected to the user's shoulders and the back support rod 15 to achieve relative fixation of the back support rod 15 and the user's back; the end of the head connecting column 5 away from its own toothed connecting member 8 is used to be fixedly connected to the back support rod 15.

[0056] In this embodiment, the shoulder fixing part 16 can be a shoulder strap 25, and the back support rod 15 can be provided with a strap mounting port 31 for fixing the shoulder strap 25; the shoulder strap 25 can be provided with a Japanese buckle for adjusting the length to suit different users; the shoulder strap 25 can use a double-layer nylon strap to improve strength and tensile resistance, and the nylon material is relatively smooth and wear-resistant, which ensures stable wearing while also improving the wearing comfort of the user.

[0057] Among them, the first threaded hole 29 can be set on the end of the head connecting column 5 away from its own toothed connecting member 8 and the back support rod 15, and screws can be used to achieve a fixed connection between the head connecting column 5 and the back support rod 15 during assembly;

[0058] In addition, a second weight-reducing hole 27 may be provided on the back support rod 15 to further reduce the weight of the wearer.

[0059] As an optional embodiment, the back support structure 1 also includes a sliding mechanism arranged on the back support rod 15; the sliding mechanism includes a slider 17 that can slide along the extension direction of the back support rod 15, and the slider 17 has a mounting hole 18, which is used to connect with the power assist device.

[0060] In this embodiment, specifically, continue to refer to Figure 8 The sliding mechanism can be two groups, and the two groups of sliding mechanisms are respectively arranged on both sides of the connection between the back support rod 15 and the bionic spine 2; each group of sliding mechanisms includes: two fixed seats 19, two guide shafts 20, two linear bearings 21, and a slider 17;

[0061] In each set of sliding mechanisms: two guide shafts 20 are arranged in parallel and at intervals, and extend along the extension direction of the back support rod 15; two fixed seats 19 are arranged at intervals along the extension direction of the back support rod 15 and are fixedly connected to the back support rod 15, for example, the fixed seats 19 can be threadedly connected to the back support rod 15 by screws; both ends of each guide shaft 20 are respectively fixedly connected to the two fixed seats 19; the slider 17 has two bearing mounting holes 18 for mounting two linear bearings 21, and the two linear bearings 21 are respectively mounted on the two guide shafts 20 to enable the slider 17 to slide along the extension direction of the back support rod 15.

[0062] The surface of the guide shaft 20 may be treated with low-temperature black chrome plating to increase its wear resistance.

[0063] Figure 9 This is a schematic diagram of the structure of the waist support rod in the bionic exoskeleton spine device provided in an embodiment of the present invention, with reference to Figure 1 and Figure 9 As an optional embodiment, the lumbar support structure 3 includes a lumbar support rod 22 and a lumbar fixing member 23; the lumbar support rod 22 is fixedly connected to the user's waist through the lumbar fixing member 23; the end of the tail connecting column 6 away from its own toothed connecting member 8 is used to be fixedly connected to the lumbar support rod 22.

[0064] In this embodiment, a second threaded hole 30 can be provided on the end of the tail connecting column 6 away from its own toothed connecting part 8, as well as on the waist support rod 22. During assembly, screws can be used to achieve a fixed connection between the tail connecting column 6 and the waist support rod 22; in addition, a third weight-reducing hole 28 can be provided on the waist support rod 22 to further reduce the weight worn by the user.

[0065] Continue to refer Figure 9 As an optional embodiment, the waist fixing component 23 includes two waist belts 24.

[0066] In this embodiment, a slot 32 can be provided at each end of the waist support rod 22, and each waist strap 24 is fixedly connected to a slot 32; a slot is provided at the end of one waist strap 24 away from the slot 32, and a buckle is provided at the end of the other waist strap 24 away from the slot 32. The slot and the buckle cooperate with each other to fix the waist support rod 22 to the user's waist; this setting method can improve the efficiency of putting on and taking off while ensuring stable wearing.

[0067] In addition, the waist strap 24 can also be made of double-layer nylon straps, which can ensure wearing stability while also improving the wearing comfort of the user.

[0068] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A bionic exoskeleton spine device, characterized in that: include: Back support structure, bionic spine, and lumbar support structure; among them, Two ends of the bionic spine are respectively connected to the back support structure and the waist support structure; The back support structure is used to be fixed relative to the user's back, and the waist support structure is used to be fixed relative to the user's waist; The bionic spine comprises five sections of sub-columns connected end to end, each section of the sub-columns is made of a rigid material, and each section of the sub-columns has a fitting surface for fitting with the user's spine; In any two adjacent sub-columns: each sub-column can rotate relative to the other sub-column around its own rotation axis, so that the bionic spine as a whole can simulate the bending and straightening movements of the human spine; The rotation axis of each sub-column is parallel to the contact surface of the sub-column and perpendicular to the direction from the head end to the tail end of the sub-column; The five sections of sub-columns include: a head connecting column, a tail connecting column and three middle connecting columns; One end of the head connecting column is used to be fixedly connected to the back supporting structure, and the other end has a toothed connecting piece; Both ends of the middle connecting column are provided with toothed connecting pieces; One end of the tail connecting column is used to be fixedly connected to the waist support structure, and the other end has a toothed connecting piece; The toothed connectors of any two adjacent sub-columns that are close to each other are meshed with each other to enable the two sections of sub-columns to rotate relative to each other; A connecting mechanism is provided between each two adjacent sections of sub-columns to connect the two adjacent sub-columns to each other; Each connecting mechanism includes a connecting member and two hinge pins; The toothed connector of each sub-column section includes a body and a gear ring, each of the bodies has a through hole passing through it, and the central axis of the through hole coincides with the rotation axis; The connecting piece has an elongated hole, and in any two adjacent sections of sub-columns: the extending direction of the elongated hole is parallel to the line connecting the centers of the through holes of the two sub-columns; The hinge pins and the through holes cooperate with each other and are arranged in a one-to-one correspondence; In any mutually cooperating connection mechanism and two adjacent sub-columns: two hinge pins respectively penetrate the long hole of the connection member and two adjacent through holes on the two main bodies, so as to connect the two adjacent sub-columns to each other; The width d2 of the elongated hole is the same as the aperture size of the through hole, and the length d3 of the elongated hole is greater than the center distance d1 of two adjacent through holes when the bionic spine is in a straight state.

2. The bionic exoskeleton spine device according to claim 1, characterized in that: The hinge pin includes a pin shaft and a limiting member; The pin is used to pass through the elongated hole of the connecting piece and the through hole on the body; The limiting member is used to prevent the pin shaft from being separated from the through hole.

3. The bionic exoskeleton spine device according to claim 2, characterized in that: One end of the pin is provided with a nut, and the other end is provided with a shoulder buckle ring detachably connected to the pin; The nut and the shoulder ring are both used to abut against the side plane of the connecting piece, and the nut and the shoulder ring cooperate to form the limiting piece.

4. The bionic exoskeleton spine device according to any one of claims 1 to 3, characterized in that: The back support structure includes a back support rod and a shoulder fixing member; The shoulder fixing member is used to be fixedly connected to the user's shoulders and the back support rod, so as to achieve relative fixation between the back support rod and the user's back; One end of the head connecting column away from its own toothed connecting piece is used for fixed connection with the back supporting rod.

5. The bionic exoskeleton spine device according to claim 4, characterized in that: The back support structure further includes a sliding mechanism provided on the back support rod; The sliding mechanism comprises a sliding block capable of sliding along the extending direction of the back support rod. The sliding block is provided with a mounting hole, and the mounting hole is used to be connected to the power-assisting device.

6. The bionic exoskeleton spinal device according to any one of claims 1 to 3, characterized in that: The waist support structure includes a waist support rod and a waist fixing member; The waist support rod is fixedly connected to the user's waist through the waist fixing member; The end of the tail connecting column away from its own toothed connecting piece is used for fixed connection with the waist support rod.

7. The bionic exoskeleton spine device according to claim 6, characterized in that: The waist fixing component includes two sections of waist straps.

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