Flexible exoskeleton robot connecting device capable of bearing rescue stretcher

Abstract

A flexible exoskeleton robot connecting device capable of bearing a rescue stretcher comprises a waist connecting assembly, and the left side and the right side of the waist connecting assembly are connected with a left sleeve assembly and a right sleeve assembly; the left sleeve assembly and the right sleeve assembly comprise outer sleeves, and inner sleeves are connected into the outer sleeves. The bottom of the inner sleeve is connected to the bottom of the outer sleeve through the compression spring and the damper, the lower end of the disassembly button extends out of the outer sleeve, the middle of the inner sleeve is connected to the inner wall of the outer sleeve through the small bayonet component, and the small bayonet component makes contact with the interior of the upper end of the small lever. The lower end of the small lever extends out of the outer sleeve; a first sleeve plug connected to the outer side of the outer sleeve is connected with one end of an elastic belt and is clamped through a sleeve buckle, and an exoskeleton robot buckle and an exoskeleton robot plug are fixed to the other end of the elastic belt; when a wearer wears the exoskeleton robot to rescue a wounded person, the two hands of the wearer can be liberated, the wounded person is stabilized, and secondary injury to the wounded person is avoided.

Description

Technical Field

[0001] The invention relates to the technical field of rigid-flexible composite robots, and in particular to a flexible exoskeleton robot coupling device capable of carrying a rescue stretcher. Background Art

[0002] In the field of emergency rescue and medical care, rescue stretchers are an indispensable and important equipment, which is responsible for safely and quickly transporting the wounded in disasters, accidents or emergency medical situations. However, the use of traditional stretchers in complex terrain and harsh environments has many limitations, such as inconvenient transportation, poor stability, and the risk of secondary injury to the wounded. Therefore, it is particularly important to develop a flexible exoskeleton robot connection device that can enhance the stretcher's carrying capacity, improve the carrying efficiency, and protect the safety of the wounded.

[0003] Currently, there are related flexible exoskeleton robots and corresponding connection devices. For example, a patent application entitled "A device for improving the efficiency of hip extension assistance of flexible exoskeleton robots" (publication number CN110524524A) discloses a high-power density drive device, a non-rigid connection set mounted outside the human body, to assist human limb movement. This is a flexible and intelligent drive system; a patent application entitled "A flexible exoskeleton assistance robot" (publication number CN110328657A) describes in detail the structure and working principle of a flexible exoskeleton assistance robot, including flexible wearable clothing, a control box, a front drive unit and other components, as well as its connection assistance scheme in hip flexion and extension stretching; the document "Research on the basic theory and application technology of human-machine intelligent system based on flexible exoskeleton" details The flexible connection, interactive control and other aspects of the flexible exoskeleton are described in detail, providing a theoretical basis for understanding the flexible exoskeleton robot; the document "A highly flexible exoskeleton robot" can adjust the position relationship according to the patient's leg shape in the medical field, provide patients with better flexible connections, and facilitate their recovery; in addition, there are some steel springs, rubber and cork isolators used for passive vibration isolation on the market, which are similar to the above-mentioned patents and documents, and only analyze the specific principles of the flexible connection of the exoskeleton robot, or only stay in the field of single-person medical care and elderly care, and have not conducted research on durability and load-bearing. In short, it does not involve the use of multiple people and the scope of military and civilian rescue; and conventional manual stretchers have the disadvantages of physical exhaustion, easy secondary injuries to the wounded, and inability to free both hands. Summary of the invention

[0004] In order to overcome the shortcomings of the above-mentioned prior art, the purpose of the present invention is to provide a flexible exoskeleton robot connecting device that can bear a rescue stretcher, so that the wearer can free his hands when wearing the exoskeleton robot to rescue the wounded, and can stabilize the wounded to prevent the wounded from causing secondary injuries.

[0005] In order to achieve the above object, the present invention is implemented by the following technical solutions:

[0006] A flexible exoskeleton robot connection device capable of carrying a rescue stretcher comprises a waist connection component 3, wherein the left and right sides of the waist connection component 3 are respectively connected to a left sleeve component 1 and a right sleeve component 2.

[0007] The left sleeve assembly 1 includes a left outer sleeve 4, the interior of the left outer sleeve 4 is connected to the left inner sleeve 5; the left flexible gasket 6 is connected to the top channel opening of the left inner sleeve 5, the bottom of the left inner sleeve 5 is connected to the bottom of the left outer sleeve 4 through a group of left compression springs 7 and a left damper 8, the bottom of the left inner sleeve 5 is connected to the upper end of the left disassembly button 10, the lower end of the left disassembly button 10 extends out of the left outer sleeve 4, the middle part of the left inner sleeve 5 is connected to the inner wall of the left outer sleeve 4 through a left small bayonet component 11, the left small bayonet component 11 is in internal contact with the upper end of the left small lever 9, and the lower end of the left small lever 9 extends out of the left outer sleeve 4; the outside of the left outer sleeve 4 is connected to a first left sleeve plug 12, the first left sleeve plug 12 is connected to one end of the left elastic band 14 and is clamped by the first left sleeve buckle 13, and the other end of the left elastic band 14 is fixed with an exoskeleton robot left buckle 15 and an exoskeleton robot left plug 16.

[0008] The right sleeve assembly 2 comprises a right outer sleeve 18, the interior of the right outer sleeve 18 is connected to a right inner sleeve 19; a right flexible gasket 20 is connected to the top channel opening of the right inner sleeve 19, the bottom of the right inner sleeve 19 is connected to the bottom of the right outer sleeve 18 through a group of right compression springs 21 and a right damper 22, the bottom of the right inner sleeve 19 is connected to the upper end of a right disassembly button 24, the lower end of the right disassembly button 24 extends out of the right outer sleeve 18, the middle part of the right inner sleeve 19 is connected to the inner wall of the right outer sleeve 18 through a right small bayonet component 25, the right small bayonet component 25 is in internal contact with the upper end of a right small lever 23, and the lower end of the right small lever 23 extends out of the right outer sleeve 18; a first right sleeve plug 26 is connected to the outside of the right outer sleeve 18, the first right sleeve plug 26 is connected to one end of a right elastic band 28, and is clamped by a first right sleeve buckle 27, and the other end of the right elastic band 28 is fixed with an exoskeleton robot right buckle 29 and an exoskeleton robot right plug 30.

[0009] The left flexible gasket 6 is fixed to the left inner sleeve 5 by hot melt adhesive or a hammer nail structure, and the right flexible gasket 20 is fixed to the right inner sleeve 19 by hot melt adhesive or a hammer nail structure.

[0010] The left compression spring 7, the left damper 8 and the left outer sleeve 4 are rigidly welded to store elastic potential energy, and the right compression spring 21, the right damper 22 and the right outer sleeve 18 are rigidly welded to store elastic potential energy.

[0011] The connecting rod of the left disassembly button 10 must penetrate the left outer sleeve 4 and the bottom of the left inner sleeve 5 for rigid welding, and the connecting rod of the right disassembly button 24 must penetrate the right outer sleeve 18 and the bottom of the right inner sleeve 19 for rigid welding.

[0012] The left small bayonet component 11 and the left outer sleeve 4 are engaged and locked to form a positive locking mechanism; the right small bayonet component 25 and the right outer sleeve 18 are engaged and locked to form a positive locking mechanism.

[0013] The left flexible gasket 6 and the right flexible gasket 20 are flexible and foldable gaskets made of silicone; the left inner sleeve 5 and the right inner sleeve 19 are made of ACF metamaterial or EVA material.

[0014] The waist connection assembly 3 includes a flexible protective pad 32 connected to the front and rear sides of a waist elastic belt 37, a second left sleeve buckle 34 and a second left sleeve plug 33 are fixed to the left side of the waist elastic belt 37, and a second right sleeve buckle 36 and a second right sleeve plug 35 are fixed to the right side of the waist elastic belt 37. The second left sleeve plug 33 and the second right sleeve plug 35 are respectively inserted into the pre-prepared pins of the left outer sleeve 4 and the right outer sleeve 18, and are clamped by the second left sleeve buckle 34 and the second right sleeve buckle 36.

[0015] The flexible exoskeleton robot coupling device capable of receiving a rescue stretcher has a stiffness k greater than or equal to 2500 N / m and a damping ratio ζ greater than or equal to 0.3.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The present invention provides a flexible exoskeleton robot coupling device that can bear a rescue stretcher, so as to support the wearer to free both hands and take the initiative to defend while rescuing the wounded. In terms of anti-collision and shock absorption, since the double elastic belt assembly of the coupling adopts a parallel topological connection structure, and the most suitable stiffness is determined to be k greater than or equal to 2500N / m and the damping ratio is ζ greater than or equal to 0.3 in the simulation experiment, it is ensured that the vibration impact on the wounded is minimized during the movement process to avoid secondary injuries. In terms of assembly and disassembly, since the present invention introduces the buckle assembly structure of the left and right sleeves and the waist elastic belt, the rapid disassembly and assembly function during disaster relief is realized, and the rescue efficiency and the self-protection ability of the user are improved. In terms of motion stability, since the inner sleeve of the present invention adopts a retractable design, and the small bayonet component and spring damping dual protection mechanism between the inner and outer sleeves, the inner sleeve is effectively prevented from accidentally slipping during high-speed movement. In terms of safety, since the flexible gasket connected at the passage opening of the inner sleeve is a flexible foldable gasket made of silicone, the friction force is increased to prevent the stretcher from accidentally falling off; since the inner sleeve of the present invention adopts lightweight and high-strength materials such as ACF metamaterials and EVA, the vibration generated by the stretcher when moving at high speed and the impact of the stretcher on the human body are further reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a visual diagram of the connection device of the flexible exoskeleton robot according to an embodiment of the present invention.

[0019] Figure 2 It is a cross-sectional view of the left sleeve assembly 1 according to an embodiment of the present invention.

[0020] Figure 3 It is a cross-sectional view of the right sleeve assembly 2 according to an embodiment of the present invention.

[0021] Figure 4 2 is a cross-sectional view of a waist connection component 3 according to an embodiment of the present invention.

[0022] In the figure: 1 is the left sleeve assembly; 2 is the right sleeve assembly; 3 is the waist connection assembly; 4 is the left outer sleeve; 5 is the left inner sleeve; 6 is the left flexible gasket; 7 is the left compression spring; 8 is the left damper; 9 is the left small lever; 10 is the left disassembly button; 11 is the left small bayonet component; 12 is the first left sleeve plug; 13 is the first left sleeve buckle; 14 is the left elastic belt; 15 is the left buckle of the exoskeleton robot; 16 is the left plug of the exoskeleton robot; 17 is the entry direction of the left stretcher pole; 18 is the right outer sleeve; 19 is the right inner sleeve; 20 is the right Flexible gasket; 21 is the right compression spring; 22 is the right damper; 23 is the right small lever; 24 is the right disassembly button; 25 is the right small bayonet component; 26 is the first right sleeve plug; 27 is the first right sleeve buckle; 28 is the right elastic belt; 29 is the right buckle of the exoskeleton robot; 30 is the right plug of the exoskeleton robot; 31 is the entry direction of the right stretcher pole; 32 is a flexible protective pad; 33 is the second left sleeve plug; 34 is the second left sleeve buckle; 35 is the second right sleeve plug; 36 is the second right sleeve buckle; 37 is the waist elastic belt. DETAILED DESCRIPTION

[0023] The present invention is further described in detail below in conjunction with the embodiments and drawings.

[0024] like Figure 1 As shown, a flexible exoskeleton robot connection device capable of carrying a rescue stretcher comprises a waist connection assembly 3, and the left and right sides of the waist connection assembly 3 are respectively connected to a left sleeve assembly 1 and a right sleeve assembly 2.

[0025] like Figure 2As shown, the left sleeve assembly 1 includes a left outer sleeve 4, the interior of the left outer sleeve 4 is connected to the left inner sleeve 5; the left flexible gasket 6 is connected to the top channel of the left inner sleeve 5, and the left flexible gasket 6 can be fixed to the left inner sleeve 5 by hot melt adhesive or hammer nail structure; the bottom of the left inner sleeve 5 is connected to the bottom of the left outer sleeve 4 through a group of left compression springs 7 and left dampers 8, and a group of left compression springs 7, left dampers 8 and left outer sleeve 4 are rigidly welded to store elastic potential energy. When the left rod of the stretcher enters the left inner sleeve 5, it is compressed and enters the left outer sleeve 5. When the sleeve 4 is at the bottom, the left compression spring 7 and the left damper 8 have pre-stored significant elastic potential energy within the elastic range; the bottom of the left inner sleeve 5 is connected to the upper end of the left disassembly button 10, and the lower end of the left disassembly button 10 extends out of the left outer sleeve 4. In order to prevent the left disassembly button 10 from falling off, the connecting rod of the left disassembly button 10 must penetrate the left outer sleeve 4 and be rigidly welded to the bottom of the left inner sleeve 5; the middle part of the left inner sleeve 5 is connected to the inner wall of the left outer sleeve 4 through the left small bayonet component 11, and the left small bayonet component 11 is in contact with the upper end of the left small lever 9. The lower end of the left small lever 9 extends out of the left outer sleeve 4. During the disassembly process, the left small lever 9 can pry and open the originally tightly connected left small bayonet component 11 with a small force through the fixed track in the cavity; the left small bayonet component 11 and the left outer sleeve 4 can be locked in bite, forming a shape locking mechanism, ensuring stability in the horizontal direction, and can effectively resist the impact force in the vertical direction, thereby improving the structural stability and safety of the stretcher equipment, and providing a safer and more reliable handling and transportation environment for the injured; the pressing action of the left disassembly button 10 causes the elastic potential energy stored in the left compression spring 7 and the left damper 8 to be released rapidly, and at the same time, the left small lever 9 is pried, so that the left small bayonet component 11 is quickly disengaged, thereby ensuring the rapid response capability in emergency rescue scenarios; the outside of the left outer sleeve 4 is connected to a first left sleeve plug 12, the first left sleeve plug 12 and one end of the left elastic band 14 are connected and clamped by the first left sleeve buckle 13, and the other end of the left elastic band 14 is fixed with an exoskeleton robot left buckle 15 and an exoskeleton robot left plug 16.

[0026] like Figure 3As shown, the right sleeve assembly 2 includes a right outer sleeve 18, the interior of the right outer sleeve 18 is connected to the right inner sleeve 19; the right flexible gasket 20 is connected to the right inner sleeve 19 at the top channel opening, and the right flexible gasket 20 can be fixed to the right inner sleeve 19 by hot melt adhesive or hammer nail structure; the bottom of the right inner sleeve 19 is connected to the bottom of the right outer sleeve 18 through a group of right compression springs 21 and right dampers 22, and a group of right compression springs 21, right dampers 22 and the right outer sleeve 18 are rigidly welded to store elastic potential energy. When the right rod of the stretcher enters the right inner sleeve 19, When the right outer sleeve 18 is compressed again and enters the bottom, the right compression spring 21 and the right damper 22 have pre-stored significant elastic potential energy within the elastic range; the bottom of the right inner sleeve 19 is connected to the upper end of the right disassembly button 24, and the lower end of the right disassembly button 24 extends out of the right outer sleeve 18. In order to prevent the right disassembly button 24 from falling off, the connecting rod of the right disassembly button 24 must penetrate the right outer sleeve 18 and be rigidly welded to the bottom of the right inner sleeve 19; the middle part of the right inner sleeve 19 is connected to the inner wall of the right outer sleeve 18 through the right small bayonet component 25, and the right small bayonet component 25 and the right small lever 2 3, the upper end of the right small lever 23 is in contact with the inside, and the lower end of the right small lever 23 extends out of the right outer sleeve 18. During the disassembly process, the right small lever 23 can pry and open the right small bayonet component 25 that was originally closely connected through the fixed track in the cavity with a small force; the right small bayonet component 25 and the right outer sleeve 18 can be locked in bite, forming a positive locking mechanism, ensuring the stability in the horizontal direction, and can effectively resist the impact force in the vertical direction, thereby improving the structural stability and safety of the stretcher equipment, and providing a safer and more reliable handling and transportation environment for the injured; The pressing action of the right disassembly button 24 causes the elastic potential energy stored in the right compression spring 21 and the right damper 22 to be quickly released, and at the same time the right small lever 23 is pried, so that the right small bayonet component 25 is quickly disengaged, thereby ensuring a rapid response capability in an emergency rescue scenario; a first right sleeve plug 26 is connected to the outside of the right outer sleeve 18, the first right sleeve plug 26 is connected to one end of the right elastic band 28, and is clamped by the first right sleeve buckle 27, and the other end of the right elastic band 28 is fixed with an exoskeleton robot right buckle 29 and an exoskeleton robot right plug 30.

[0027] like Figure 4 As shown, the waist connection component 3 includes a flexible protective pad 32 connected to the front and rear sides of the waist elastic belt 37, and the flexible protective pad 32 can greatly buffer and isolate vibrations in the front and rear directions; a second left sleeve buckle 34 and a second left sleeve plug 33 are fixed on the left side of the waist elastic belt 37, and a second right sleeve buckle 36 and a second right sleeve plug 35 are fixed on the right side of the waist elastic belt 37. The second left sleeve plug 33 and the second right sleeve plug 35 are respectively inserted into the pre-prepared pins of the left outer sleeve 4 and the right outer sleeve 18, and are clamped by the second left sleeve buckle 34 and the second right sleeve buckle 36.

[0028] The left flexible gasket 6 and the right flexible gasket 20 are flexible and foldable gaskets made of silica gel.

[0029] The left inner sleeve 5 and the right inner sleeve 19 are made of ACF metamaterial.

[0030] The flexible exoskeleton robot coupling device capable of carrying a rescue stretcher has a stiffness k equal to 2500 N / m and a damping ratio ζ equal to 0.3.

[0031] The working principle of the present invention is:

[0032] like Figure 1 As shown, in the preparation stage of performing an emergency rescue mission, the flexible exoskeleton robot connection device is first placed in a spacious working area to ensure the accuracy of the operation; then, the various components of the connection device are checked to confirm that the left sleeve assembly 1, the right sleeve assembly 2, and the waist connection assembly 3 are all in good condition.

[0033] like Figure 2 , 3 As shown, first insert the exoskeleton robot left plug 16 and the exoskeleton robot right plug 30 of the left elastic band 14 and the right elastic band 28 into the pre-prepared pins on the exoskeleton robot, and then snap on the exoskeleton robot left buckle 15 and the exoskeleton robot right buckle 29; then insert the first left sleeve plug 12 and the first right sleeve plug 26 of the left elastic band 14 and the right elastic band 28 into the pre-prepared pins on the left outer sleeve 4 and the right outer sleeve 18, and then snap on the first left sleeve buckle 13 and the first right sleeve buckle 27 to complete the assembly of the left sleeve assembly 1 and the right sleeve assembly 2.

[0034] like Figure 4 As shown, the user needs to insert the second left sleeve plug 33 and the second right sleeve plug 35 on the waist elastic belt 37 into the pre-prepared pins of the left outer sleeve 4 and the right outer sleeve 18, and then snap on the corresponding second left sleeve buckle 34 and the second right sleeve buckle 36 to complete the assembly of the waist connection assembly 3; wherein the front and rear flexible protective pads 32 can be fixed by sewing technology. After assembly, the user can wear it front and back, and insert the left and right rods of the stretcher carrying the injured in advance into the left stretcher rod entry direction 17 and the right stretcher rod entry direction 31 in the left outer sleeve 4 and the right outer sleeve 18, respectively, at this time, the rescue mission can be carried out with the help of the load-bearing function of the left elastic belt 14 and the right elastic belt 28.

[0035] After completing the rescue mission and sending the wounded to a safe area, the left compression spring 7, the left damper 8, the right compression spring 21 and the right damper 22 are activated by operating the left disassembly button 10 and the right disassembly button 24, thereby quickly releasing the elastic potential energy stored in the system; at the same time, the left small lever 9 and the right small lever 23 mechanism are triggered, effectively opening the tightly locked left small bayonet component 11 and the right small bayonet component 25, thereby realizing the separation of the stretcher from the left inner sleeve 5 and the right inner sleeve 19; allowing the stretcher to be quickly pulled out of the inner sleeve, ensuring the efficiency and convenience of the entire disassembly process.

[0036] After the rescue mission is completed, when disassembling, first press the first left sleeve buckle 13, the exoskeleton robot left buckle 15, the first right sleeve buckle 27, the exoskeleton robot right buckle 29, the second left sleeve buckle 34, and the second right sleeve buckle 36 to separate the elastic band from the pin, and disassemble the connecting parts into different sub-components and store them separately in a suitable environment to ensure that their performance is not damaged. Due to the use of flexible materials, a dry, cool and well-ventilated storage space should be selected to avoid direct sunlight and high temperature and humidity and other environmental factors to prevent damage or performance degradation of devices and components. In addition, it is recommended to formulate and implement regular maintenance procedures, including thorough inspection and cleaning of devices, timely replacement of worn parts and lubrication of key parts, so as to effectively extend the service life of the flexible exoskeleton robot rescue stretcher connecting parts.

Claims

1. A flexible exoskeleton robot coupling device capable of carrying a rescue stretcher, characterized in that: It comprises a waist connection assembly (3), wherein the left and right sides of the waist elastic connection assembly (3) are respectively connected to a left sleeve assembly (1) and a right sleeve assembly (2).

2. The flexible exoskeleton robot coupling device capable of receiving a rescue stretcher according to claim 1, characterized in that: The left sleeve assembly (1) comprises a left outer sleeve (4), the interior of the left outer sleeve (4) is connected to a left inner sleeve (5); the left flexible gasket (6) is connected to the top channel opening of the left inner sleeve (5), the bottom of the left inner sleeve (5) is connected to the bottom of the left outer sleeve (4) through a group of left compression springs (7) and a left damper (8), the bottom of the left inner sleeve (5) is connected to the upper end of the left disassembly button (10), the lower end of the left disassembly button (10) extends out of the left outer sleeve (4), and the middle part of the left inner sleeve (5) is connected to the left small bayonet component. (11) is connected to the inner wall of the left outer sleeve (4), the left small bayonet component (11) and the upper end of the left small lever (9) are in internal contact, and the lower end of the left small lever (9) extends out of the left outer sleeve (4); the outer side of the left outer sleeve (4) is connected with a first left sleeve plug (12), the first left sleeve plug (12) and one end of the left elastic band (14) are connected and clamped by the first left sleeve buckle (13), and the other end of the left elastic band (14) is fixed with an exoskeleton robot left buckle (15) and an exoskeleton robot left plug (16).

3. The flexible exoskeleton robot coupling device capable of receiving a rescue stretcher according to claim 1, characterized in that: The right sleeve assembly (2) comprises a right outer sleeve (18), the interior of the right outer sleeve (18) is connected to a right inner sleeve (19); the right flexible gasket (20) is connected to the top channel opening of the right inner sleeve (19), the bottom of the right inner sleeve (19) is connected to the bottom of the right outer sleeve (18) through a group of right compression springs (21) and a right damper (22), the bottom of the right inner sleeve (19) is connected to the upper end of a right disassembly button (24), the lower end of the right disassembly button (24) extends out of the right outer sleeve (18), and the middle of the right inner sleeve (19) is connected to the right small card The mouth component (25) is connected to the inner wall of the right outer sleeve (18), the right small bayonet component (25) and the upper end of the right small lever (23) are in internal contact, and the lower end of the right small lever (23) extends out of the right outer sleeve (18); the outer side of the right outer sleeve (18) is connected with a first right sleeve plug (26), the first right sleeve plug (26) is connected to one end of the right elastic band (28), and is clamped by the first right sleeve buckle (27), and the other end of the right elastic band (28) is fixed with an exoskeleton robot right buckle (29) and an exoskeleton robot right plug (30).

4. A flexible exoskeleton robot coupling device capable of receiving a rescue stretcher according to claim 2 or 3, characterized in that: The left flexible gasket (6) is fixed to the left inner sleeve (5) by hot melt adhesive or hammer nail structure, and the right flexible gasket (20) is fixed to the right inner sleeve (19) by hot melt adhesive or hammer nail structure.

5. A flexible exoskeleton robot coupling device capable of receiving a rescue stretcher according to claim 2 or 3, characterized in that: The left compression spring (7), the left damper (8) and the left outer sleeve (4) are rigidly welded to store elastic potential energy, and the right compression spring (21), the right damper (22) and the right outer sleeve (18) are rigidly welded to store elastic potential energy.

6. A flexible exoskeleton robot coupling device capable of receiving a rescue stretcher according to claim 2 or 3, characterized in that: The connecting rod of the left disassembly button (10) must penetrate the left outer sleeve (4) and be rigidly welded to the bottom of the left inner sleeve (5), and the connecting rod of the right disassembly button (24) must penetrate the right outer sleeve (18) and be rigidly welded to the bottom of the right inner sleeve (19).

7. A flexible exoskeleton robot coupling device capable of receiving a rescue stretcher according to claim 2 or 3, characterized in that: The left small bayonet component (11) and the left outer sleeve (4) are engaged and locked to form a positive locking mechanism; the right small bayonet component (25) and the right outer sleeve (18) are engaged and locked to form a positive locking mechanism.

8. A flexible exoskeleton robot coupling device capable of receiving a rescue stretcher according to claim 2 or 3, characterized in that: The left flexible gasket (6) and the right flexible gasket (20) are flexible foldable gaskets made of silica gel; the left inner sleeve (5) and the right inner sleeve (19) are made of ACF metamaterial or EVA material.

9. The flexible exoskeleton robot coupling device capable of receiving a rescue stretcher according to claim 1, characterized in that: The waist connection assembly (3) comprises a flexible protective pad (32) connected to the front and rear sides of a waist elastic belt (37); a second left sleeve buckle (34) and a second left sleeve plug (33) are fixed to the left side of the waist elastic belt (37); a second right sleeve buckle (36) and a second right sleeve plug (35) are fixed to the right side of the waist elastic belt (37); the second left sleeve plug (33) and the second right sleeve plug (35) are respectively inserted into the pre-prepared pins of the left outer sleeve (4) and the right outer sleeve (18), and are clamped by the second left sleeve buckle (34) and the second right sleeve buckle (36).

10. The flexible exoskeleton robot coupling device capable of receiving a rescue stretcher according to claim 1, characterized in that: The flexible exoskeleton robot coupling device capable of receiving a rescue stretcher has a stiffness k greater than or equal to 2500 N / m and a damping ratio ζ greater than or equal to 0.3.

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