A flexible exoskeleton robotic linkage device that can receive a rescue stretcher

Abstract

A flexible exoskeleton robot connecting device capable of receiving a rescue stretcher, comprising a waist connecting assembly, left and right sides of the waist connecting assembly being connected with left and right sleeve assemblies; each of the left and right sleeve assemblies comprises an outer sleeve, the inner sleeve being connected inside the outer sleeve; a flexible gasket is connected at a top passage of the inner sleeve, the bottom of the inner sleeve being connected with the bottom of the outer sleeve through a compression spring and a damper, the bottom of the inner sleeve and a dismounting button upper end being connected, the dismounting button lower end extending out of the outer sleeve, the middle part of the inner sleeve being connected with the inner wall of the outer sleeve through a small bayonet part, the small bayonet part and a small lever upper end being in contact, the small lever lower end extending out of the outer sleeve; a first sleeve plug connected with the outer side of the outer sleeve being connected with one end of an elastic band and being clamped through a sleeve buckle, the other end of the elastic band being fixed with an exoskeleton robot buckle and an exoskeleton robot plug; the present application can free the wearer's hands when wearing the exoskeleton robot to rescue the wounded, and stabilize the wounded, so that the wounded will not cause secondary injury.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of rigid-flexible composite robots, in particular to a flexible exoskeleton robot connecting device capable of receiving a rescue stretcher. BACKGROUND

[0002] In the field of emergency rescue and medical aid, rescue stretchers are indispensable important equipment, which are responsible for safe and rapid transportation of the wounded in disaster, accident or emergency medical situations. However, the use of traditional stretchers in complex terrain and harsh environment has many limitations, such as inconvenience to carry, poor stability, risk of secondary injury to the wounded, etc. Therefore, it is particularly important to develop a flexible exoskeleton robot connecting device that can enhance the carrying capacity of the stretcher, improve the carrying efficiency and protect the safety of the wounded.

[0003] There are currently related flexible exoskeleton robots and corresponding connecting devices, such as the patent application entitled "A device for improving the stretching assistance efficiency of the hip joint of a flexible exoskeleton robot" (publication number CN110524524A) discloses a high-power-density driving device, a non-rigid connecting sleeve worn outside the human body, which assists human limb movement, which is a flexible and intelligent driving system; the 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 a flexible wearable garment, a control box, a front drive unit and other components, as well as its connecting assistance scheme in hip joint flexion and extension stretching; the literature "Basic theory and application technology research of human-machine intelligent system based on flexible exoskeleton" describes the flexible connection and interactive control of flexible exoskeleton, providing a theoretical basis for understanding flexible exoskeleton robots; the literature "A high-flexibility exoskeleton robot" can adjust the positional relationship according to the leg type of the patient in the medical field, providing better flexible connection for the patient, which is beneficial to the rehabilitation of the patient; in addition, there are some steel springs, rubber and cork vibration isolators on the market for negative vibration isolation, which are similar to the above-mentioned patents and literature, only analyzing the specific principles of flexible connection of exoskeleton robots, or only staying in the field of single medical care and old-age care, and no research on use durability and load bearing, etc. In general, it does not involve the category of multi-person use and military and civilian rescue; and the conventional manual stretcher has the disadvantages of physical consumption, easy to cause secondary injury to the wounded and unable to free both hands, etc. SUMMARY

[0004] In order to overcome the shortcomings of the above-mentioned prior art, the purpose of the present application is to provide a flexible exoskeleton robot connecting device capable of receiving a rescue stretcher, so that the wearer can free both hands when wearing an exoskeleton robot to rescue the wounded, and can stabilize the wounded so that the wounded will not be caused secondary injury.

[0005] In order to achieve the above object, the present application is realized by the following technical scheme:

[0006] The flexible exoskeleton robot connecting device for the rescue stretcher includes a waist connecting assembly 3, and the left and right sides of the waist connecting assembly 3 are connected with a left sleeve assembly 1 and a right sleeve assembly 2 respectively.

[0007] The left sleeve assembly 1 includes a left outer sleeve 4, and the inside of the left outer sleeve 4 is connected with a left inner sleeve 5; the top passage of the left inner sleeve 5 is connected with a left flexible gasket 6, the bottom of the left inner sleeve 5 is connected with 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 with the upper end of a left dismounting button 10, the lower end of the left dismounting button 10 extends out of the left outer sleeve 4, the middle part of the left inner sleeve 5 is connected with the inner wall of the left outer sleeve 4 through a left small bayonet component 11, the inside of the upper end of the left small bayonet component 11 is in contact with the left small lever 9, 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 is connected with one end of a left elastic belt 14 and is clamped through a first left sleeve buckle 13, and the other end of the left elastic belt 14 is fixed with an exoskeleton robot left buckle 15 and an exoskeleton robot left plug 16.

[0008] The right sleeve assembly 2 includes a right outer sleeve 18, and the inside of the right outer sleeve 18 is connected with a right inner sleeve 19; the top passage of the right inner sleeve 19 is connected with a right flexible gasket 20, the bottom of the right inner sleeve 19 is connected with 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 with the upper end of a right dismounting button 24, the lower end of the right dismounting button 24 extends out of the right outer sleeve 18, the middle part of the right inner sleeve 19 is connected with the inner wall of the right outer sleeve 18 through a right small bayonet component 25, the inside of the upper end of the right small bayonet component 25 is in contact with the right small lever 23, 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 with one end of a right elastic belt 28 and is clamped through a first right sleeve buckle 27, and the other end of the right elastic belt 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 on the left inner sleeve 5 in a hot melt adhesive or hammer nail structure, and the right flexible gasket 20 is fixed on the right inner sleeve 19 in a hot melt adhesive or hammer nail structure.

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

[0011] The connecting rod of the left dismounting button 10 penetrates the left outer sleeve 4 and the bottom of the left inner sleeve 5 and is rigidly welded; the connecting rod of the right dismounting button 24 penetrates the right outer sleeve 18 and the bottom of the right inner sleeve 19 and is rigidly welded.

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

[0013] 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 super material or EVA material.

[0014] The waist connecting assembly 3 comprises flexible protective pads 32 connected on the front and back sides of a waist elastic band 37, the left side of the waist elastic band 37 is fixed with a second left sleeve buckle 34 and a second left sleeve plug 33, the right side of the waist elastic band 37 is fixed with a second right sleeve buckle 36 and a second right sleeve plug 35, the second left sleeve plug 33 and the second right sleeve plug 35 are respectively inserted into the prepared insertion 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 connecting device capable of bearing a rescue stretcher has a rigidity 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 application has the following beneficial effects:

[0017] The present invention provides a flexible exoskeleton robot coupling device that can be used to carry a rescue stretcher, so as to enable the wearer to free their hands and actively defend themselves while rescuing the wounded. In terms of anti-collision and shock absorption, the double elastic belt assembly of the coupling adopts a parallel topological connection structure, and the most suitable stiffness k is determined to be greater than or equal to 2500N / m and the damping ratio is greater than or equal to 0.3 in simulation experiments. Therefore, it is ensured that the vibration impact on the wounded during movement is minimized to avoid secondary injuries. In terms of assembly and disassembly, the present invention realizes the rapid assembly and disassembly function during disaster relief by introducing the left and right sleeves and the waist elastic belt buckle assembly structure, thereby improving the rescue efficiency and the user's self-protection ability. In terms of motion stability, 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 effectively prevent the inner sleeve from accidentally slipping during high-speed movement. In terms of safety, since the flexible gasket connected to the channel opening of the inner sleeve is a flexible foldable gasket made of silicone, the friction is increased to prevent the stretcher from accidentally falling off; since the inner sleeve of the present invention is made of 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 This is a cross-sectional view of the left sleeve assembly 1 according to an embodiment of the present invention.

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

[0021] Figure 4 This is a cross-sectional view of the 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 the 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 will be further described in detail below with reference to the embodiments and accompanying drawings.

[0024] like Figure 1 As shown, a flexible exoskeleton robot connection device that can carry a rescue stretcher includes a waist connection component 3, and the left and right sides of the waist connection component 3 are respectively connected to the left sleeve component 1 and the right sleeve component 2.

[0025] like Figure 2As shown, the left sleeve assembly 1 includes a left outer sleeve 4, the inside of the left outer sleeve 4 is connected with a left inner sleeve 5; the top of the left inner sleeve 5 is connected with a left flexible gasket 6, the left flexible gasket 6 can be fixed on the left inner sleeve 5 by using hot melt adhesive or hammer nail structure; the bottom of the left inner sleeve 5 is connected with the bottom of the left outer sleeve 4 through a group of left compression springs 7 and a left damper 8, the group of left compression springs 7, the left damper 8 and the left outer sleeve 4 are rigidly welded for storing elastic potential energy, when the left bar of the stretcher enters the left inner sleeve 5 and then compresses into the bottom of the left outer sleeve 4, the left compression springs 7 and the left damper 8 have stored significant elastic potential energy in the elastic range in advance; the bottom of the left inner sleeve 5 is connected with the upper end of a left disassembly button 10, 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 with the bottom of the left inner sleeve 5; the middle of the left inner sleeve 5 is connected with the inner wall of the left outer sleeve 4 through a left small bayonet part 11, the left small bayonet part 11 and the upper end of a left small lever 9 are in contact, the lower end of the left small lever 9 extends out of the left outer sleeve 4, in the disassembly process, the left small lever 9 can pry and open the originally closely connected left small bayonet part 11 through the fixed track in the cavity with small force; the left small bayonet part 11 and the left outer sleeve 4 can realize clamping locking to form a form locking mechanism, which ensures the stability in the horizontal direction and can effectively resist the impact force in the vertical direction, so as to improve the structural stability and safety of the stretcher equipment and provide a safer and more reliable carrying 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 springs 7 and the left damper 8 to be rapidly released, at the same time, the left small lever 9 is prying, so that the left small bayonet part 11 rapidly separates, thereby ensuring the rapid response capability in the emergency rescue scene; the outside 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 a left elastic belt 14 are connected and clamped through a first left sleeve buckle 13, the other end of the left elastic belt 14 is fixed with an exoskeleton robot left buckle 15 and an exoskeleton robot left plug 16.

[0026] As Figure 3As shown, the right sleeve assembly 2 includes a right outer sleeve 18, the inside of the right outer sleeve 18 is connected to a right inner sleeve 19; the top of the right inner sleeve 19 is connected to a right flexible gasket 20, the right flexible gasket 20 can be fixed on the right inner sleeve 19 by using 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 set of right compression springs 21 and a right damper 22, the set of right compression springs 21, the right damper 22 and the right outer sleeve 18 are rigidly welded for storing elastic potential energy, when the stretcher right rod enters the right inner sleeve 19 and then compresses into the bottom of the right outer sleeve 18, the right compression springs 21 and the right damper 22 have stored significant elastic potential energy in the elastic range in advance; 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, 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 with the bottom of the right inner sleeve 19; the middle 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 and the inside of the upper end of a right small lever 23 are in contact, the lower end of the right small lever 23 extends out of the right outer sleeve 18, in the disassembly process, the right small lever 23 can pry and open the originally closely connected right small bayonet component 25 through the fixed track in the cavity with small force; the right small bayonet component 25 and the right outer sleeve 18 can realize occlusal locking to form a form locking mechanism, which ensures 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 carrying and transporting environment for the injured; the pressing action of the right disassembly button 24 causes the elastic potential energy stored in the right compression springs 21 and the right damper 22 to be rapidly released, at the same time, the right small lever 23 is prised, so that the right small bayonet component 25 is rapidly separated, thereby ensuring the rapid response capability in the emergency rescue scene; the outside of the right outer sleeve 18 is connected to a first right sleeve plug 26, the first right sleeve plug 26 is connected to one end of a right elastic belt 28 and is clamped through a first right sleeve buckle 27, the other end of the right elastic belt 28 is fixed with an exoskeleton robot right buckle 29 and an exoskeleton robot right plug 30.

[0027] As shown in the drawings, Figure 4 As shown, the waist joint assembly 3 includes flexible protective pads 32 connected to the front and back of a waist elastic belt 37, the flexible protective pads 32 can greatly buffer and isolate vibration in the front and back directions; the left side of the waist elastic belt 37 is fixed with a second left sleeve buckle 34 and a second left sleeve plug 33, the right side of the waist elastic belt 37 is fixed with a second right sleeve buckle 36 and a second right sleeve plug 35, the second left sleeve plug 33 and the second right sleeve plug 35 are respectively inserted into the prepared insertion pins of the left outer sleeve 4 and the right outer sleeve 18 and are clamped through 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 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 connecting 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 inserts the second left sleeve plug 33 and the second right sleeve plug 35 on the waist elastic band 37 into the pre-prepared latches on the left outer sleeve 4 and the right outer sleeve 18, respectively. Then, the corresponding second left sleeve buckle 34 and second right sleeve buckle 36 are engaged to complete the assembly of the waist connection assembly 3. The front and rear flexible protective pads 32 can be secured using sewing techniques. Once assembled, the user can wear the waist connection assembly from front to back and insert the left and right poles of a pre-prepared stretcher into the left and right stretcher pole entry directions 17 and 31 of the left and right outer sleeves 4 and 18, respectively. The left elastic band 14 and right elastic band 28 can then bear the weight and carry out the rescue mission.

[0035] After the completion of the rescue mission, after the wounded are sent to a safe area, the left and right disassembly buttons 10, 24 are operated to activate the left compression spring 7, the left damper 8, the right compression spring 21, and the right damper 22, thereby rapidly releasing the elastic potential energy stored in the system; at the same time, the left and right small lever mechanisms 9, 23 are triggered to effectively expand the tightly locked left and right small bayonet components 11, 25, thereby achieving the separation of the stretcher from the left and right inner sleeves 5, 19; the stretcher is allowed to be quickly pulled out of the inner sleeves, ensuring the efficiency and convenience of the entire disassembly process.

[0036] After the completion of the rescue mission, the elastic belt is separated from the latch by pressing 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, and the connecting piece is disassembled into different components and stored in a suitable environment to ensure that its 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, etc. environmental factors to prevent damage or performance degradation of the device and components. In addition, it is recommended to develop and implement regular maintenance procedures, including thorough inspection and cleaning of the device, timely replacement of worn parts, and lubrication of critical parts, thereby effectively extending the service life of the flexible exoskeleton robot rescue stretcher connecting piece.

Claims

1. A flexible exoskeleton robotic linkage device for receiving a rescue stretcher, characterized by: The waist joint assembly (3) is connected with the left sleeve assembly (1) and the right sleeve assembly (2) respectively on the left and right sides. The left sleeve assembly (1) comprises a left outer sleeve (4), and a left inner sleeve (5) is connected inside the left outer sleeve (4); a left flexible gasket (6) is connected at the top passage 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 a left dismounting button (10), and the lower end of the left dismounting 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 part (11); the left small bayonet part (11) and the upper end of a left small lever (9) are in contact; the lower end of the left small lever (9) extends out of the left outer sleeve (4); a first left sleeve plug (12) is connected to the outer side of the left outer sleeve (4); the first left sleeve plug (12) is connected to one end of a left elastic band (14) and is clamped by a first left sleeve buckle (13); an exoskeleton robot left buckle (15) and an exoskeleton robot left plug (16) are fixed to the other end of the left elastic band (14).

2. The flexible exoskeleton robotic linkage device capable of accepting a rescue stretcher according to claim 1, wherein: The right sleeve assembly (2) comprises a right outer sleeve (18), and a right inner sleeve (19) is connected inside the right outer sleeve (18); a right flexible gasket (20) is connected at the top passage 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 dismounting button (24), and the lower end of the right dismounting 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 part (25); the right small bayonet part (25) and the upper end of a right small lever (23) are in contact; 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 outer side 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); an exoskeleton robot right buckle (29) and an exoskeleton robot right plug (30) are fixed to the other end of the right elastic band (28).

3. The flexible exoskeleton robotic linkage device capable of accepting a rescue stretcher according to claim 2, wherein: The left flexible gasket (6) is fixed on the left inner sleeve (5) by using a hot melt adhesive or a hammer nail structure, and the right flexible gasket (20) is fixed on the right inner sleeve (19) by using a hot melt adhesive or a hammer nail structure.

4. The flexible exoskeleton robotic linkage device capable of accepting a rescue stretcher according to claim 2, wherein: The left compression spring (7), the left damper (8) and the left outer sleeve (4) are rigidly welded for storing elastic potential energy, and the right compression spring (21), the right damper (22) and the right outer sleeve (18) are rigidly welded for storing elastic potential energy.

5. The flexible exoskeleton robotic linkage device capable of accepting a rescue stretcher according to claim 2, wherein: The connecting rod of the left dismounting button (10) must be rigidly welded with the bottom of the left inner sleeve (5) through the left outer sleeve (4), and the connecting rod of the right dismounting button (24) must be rigidly welded with the bottom of the right inner sleeve (19) through the right outer sleeve (18).

6. The flexible exoskeleton robotic linkage device capable of accepting a rescue stretcher according to claim 2, wherein: The left small bayonet part (11) and the left outer sleeve (4) realize snap locking, forming a form locking mechanism; the right small bayonet part (25) and the right outer sleeve (18) realize snap locking, forming a form locking mechanism.

7. The flexible exoskeleton robotic linkage device capable of accepting a rescue stretcher according to claim 2, wherein: 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 super material or EVA material.

8. The flexible exoskeleton robotic linkage device capable of accepting a rescue litter according to claim 1, wherein: The waist connecting assembly (3) comprises flexible protective pads (32) connected on the front and back sides of the waist elastic belt (37), the left side of the waist elastic belt (37) is fixed with a second left sleeve buckle (34) and a second left sleeve plug (33), the right side of the waist elastic belt (37) is fixed with a second right sleeve buckle (36) and a second right sleeve plug (35), the second left sleeve plug (33) and the second right sleeve plug (35) are respectively inserted into the prepared insertion 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).

9. The flexible exoskeleton robotic linkage device capable of accepting a rescue litter according to claim 1, wherein: The flexible exoskeleton robot connecting device capable of receiving a rescue stretcher has a rigidity 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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