Wearable exoskeleton mechanism capable of supporting lead clothes

Abstract

The invention provides a wearable exoskeleton mechanism capable of supporting a lead garment, the wearable exoskeleton mechanism comprises a lead garment supporting frame and left and right leg supporting frames located below the lead garment supporting frame, the lead garment supporting frame comprises a shoulder supporting structure, a back supporting structure and a waist supporting structure, and a waist supporting part comprises a rear waist supporting plate and two side waist supporting rods; the left leg supporting frame and the right leg supporting frame support the lead clothes supporting frame through the left lead clothes hanger supporting rod and the right lead clothes hanger supporting rod, the lower ends of the lead clothes hanger supporting rods are fixed to the leg supporting frames on the corresponding sides, and the upper ends of the lead clothes hanger supporting rods are detachably connected with the front ends of the side waist supporting rods on the corresponding sides. During wearing, after the lead clothes supporting frame and the left and right leg supporting frames are independently worn, the upper ends of the left and right lead clothes supporting rods are correspondingly connected with the left and right side waist supporting rods; when the lead clothes hanger is taken off, the upper ends of the left and right lead clothes hanger supporting rods and the left and right side waist supporting rods are detached, and then the lead clothes supporting frame and the left and right leg supporting frames are taken off independently.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a wearable exoskeleton mechanism capable of supporting a lead suit. Background Art

[0002] Interventional therapy is an emerging discipline that integrates medical imaging and clinical treatment, and uses modern high-tech means to perform minimally invasive treatment. Under the guidance of digital subtraction angiography X-ray equipment, interventional therapy can introduce special catheters, guidewires and other precision instruments into the human body to diagnose or locally treat lesions in the body. It has the advantages of accurate positioning, simplicity and safety, and minimal trauma. It has been widely used in the clinical diagnosis and treatment of multiple systemic diseases, especially in the field of cardiovascular and cerebrovascular diseases. With the development of technology, more and more clinical emergencies can also be saved through emergency interventional treatment. As a result, the working hours of interventional doctors have also been significantly extended.

[0003] During interventional surgery, medical staff will be exposed to the radiation field, causing different degrees of X-ray exposure to various parts of the body, causing damage to the body. Radiation rays have become a health threat that medical staff cannot avoid every day. In order to protect the health of interventional treatment medical staff and effectively block radiation rays, the most commonly used protective measure is to wear lead protective clothing (referred to as "lead clothing"). The average weight of lead clothing ranges from about 10 to 20 kg. It takes a lot of physical strength to complete a series of delicate operations while wearing a lead clothing. Generally, interventional surgery can be as short as one hour or as long as five or six hours, which makes the interventional doctor in a state of heavy work for a long time, causing strain or even damage to the spine, muscles, bones and joints (especially the knee joints, shoulder blades, and waist).

[0004] Therefore, under the premise of not affecting the interventional doctor's operation and facilitating activities, transferring the weight of the lead suit during the operation to reduce the weight borne by the surgeon's body and relieve fatigue has become an urgent problem to be solved by technical personnel in this field.

[0005] In order to solve the above problems, technicians in this field have developed some exoskeleton mechanisms for supporting lead suits. However, these exoskeleton mechanisms are integrated and have a relatively complex and large structure. It is extremely difficult for the wearer to put on and take off the lead suits without the help of others. Summary of the invention

[0006] In order to solve the above technical problems, the present invention provides a wearable exoskeleton mechanism capable of supporting a lead suit, comprising a lead suit support frame and two left and right leg support frames located below the lead suit support frame, wherein the lead suit support frame comprises:

[0007] A shoulder support structure, comprising two left and right shoulder support rods, which are respectively worn on the left and right shoulders of the wearer and closely attached to the inner side of the shoulder of the lead suit to support the lead suit;

[0008] A back support structure, comprising a back support plate and a back support rod, wherein the back support plate is worn on the back of the wearer, and rear ends of the left and right shoulder support rods are connected to left and right sides of the back support plate;

[0009] A waist support structure, wherein the waist support part comprises a rear waist support plate and two side waist support rods, wherein the two side waist support rods are connected to the left and right sides of the rear waist support plate, the rear waist support plate is worn on the rear waist of the wearer, and the left and right side waist support rods are worn on the left and right sides of the waist of the wearer; the rear waist support plate is connected to the back support plate through the back support rods;

[0010] The left and right leg support frames support the lead clothes support frame through the left and right lead clothes hanger support rods, the lower ends of the lead clothes hanger support rods are fixed on the leg support frames on the corresponding sides, and the upper ends of the lead clothes hanger support rods are detachably connected to the front ends of the side waist support rods on the corresponding sides; when wearing, the lead clothes support frame and the left and right leg support frames are worn independently, and then the upper ends of the left and right lead clothes hanger support rods are correspondingly connected to the left and right side waist support rods; when taking off, first disassemble the upper ends of the left and right lead clothes hanger support rods from the left and right side waist support rods, and then take off the lead clothes support frame and the left and right leg support frames independently.

[0011] Optionally, the shoulder support rod includes a front shoulder support section, a middle arc-shaped support section and a rear shoulder support section in a U-shaped structure, the front end and the rear end of the middle arc-shaped support section are integrally connected to the upper ends of the front shoulder support section and the rear shoulder support section; the rear shoulder support section is connected to the back support plate in an adjustable length.

[0012] Optionally, at least one first adjustment hole is vertically provided on the rear shoulder support section and the back support plate. After adjusting the relative positions of the rear shoulder support section and the first adjustment holes on the back support plate according to the wearer's height, the first fasteners are used to fasten them to the corresponding two first adjustment holes.

[0013] Optionally, the back support rod is an adjustable rod, and the distance between the rear waist support plate and the back support plate is adjusted by the back support rod.

[0014] Optionally, at least one upper adjustment hole is vertically provided on the upper end of the back support rod and the back support plate, and after adjusting the relative positions of the back support plate and the upper adjustment holes on the back support rod according to the height of the wearer, the back support plate is locked on the corresponding two upper adjustment holes through upper fasteners;

[0015] Or / and, at least one lower adjustment hole is vertically provided on the lower end of the back support rod and the rear waist support plate. After adjusting the relative positions of the rear waist support plate and the lower adjustment holes on the back support rod according to the height of the wearer, they are fastened to the corresponding two lower adjustment holes by lower fasteners.

[0016] Optionally, at least one second adjustment hole is laterally provided on the rear end of the side waist support rod and the corresponding side of the rear waist support plate. After adjusting the relative positions of the side waist support rod and the second adjustment holes on the rear waist support plate according to the waist circumference of the wearer, the side waist support rod is fastened to the corresponding two second adjustment holes by a second fastener.

[0017] Optionally, the upper end of the lead clothes hanger support rod is detachably connected to the side waist support rod on the corresponding side via a fastener or a clamping structure.

[0018] Optionally, the fastener is a limit pin, and the limit pin includes a head and a rod that are integrally and coaxially arranged, the outer diameter of the head is larger than the outer diameter of the rod, one end of the rod is integrally connected to the head, and the other end of the rod is fixedly connected to the upper end of the lead clothes hanger support rod, the head is located on the outside of the lead clothes hanger support rod, and the length of the rod between the inner side surface of the head and the outer side surface of the lead clothes hanger support rod is greater than the thickness of the side waist support rod; the side waist support rod is provided with a gourd-shaped connecting port, the The gourd-shaped connecting port includes an upper connecting port and a lower connecting port communicating with the upper connecting port, the caliber of the upper connecting port is smaller than the caliber of the lower connecting port, and the outer diameter of the rod is smaller than the caliber of the upper connecting port; the outer diameter of the head is larger than the caliber of the upper connecting port and smaller than the caliber of the lower connecting port; during installation, the head passes through the lower connecting port from the inner side of the side waist support rod to the outer side of the side waist support rod, and under the action of gravity of the lead clothing support frame, the lead clothing support frame moves downward, and the upper connecting port is supported on the rod.

[0019] Optionally, a plurality of mounting holes are provided at the upper end of the lead clothes hanger support rod, and the mounting holes are arranged at intervals along the length direction of the lead clothes hanger support rod. According to the height of the wearer, the end of the rod portion of the limiting pin is fixed to a corresponding mounting hole.

[0020] Optionally, after the left and right side waist support rods and the left and right lead hanger support rods are installed, the axes of the left and right limit pins are staggered.

[0021] Optionally, the waist support structure is provided with a waist support belt, which is mounted on the rear waist support plate and the two side waist support rods. When worn, the waist support belt is buckled on the wearer's abdomen with adjustable length through the belt buckles provided at its left and right ends.

[0022] Optionally, the shoulder support structure is provided with two left and right shoulder straps, and the two shoulder straps are respectively mounted on the left and right shoulder support rods. At the front ends of the left and right shoulder straps, the left and right shoulder straps are respectively connected to the upper sides of the left and right ends of the waist protection belt through a front connecting buckle so as to be adjustably connected in length.

[0023] Optionally, the back support structure is provided with a back protector, and the back protector is mounted on the rear waist support plate. The rear ends of the left and right shoulder straps are respectively integrally connected to the left and right sides of the upper end of the back protector, and a connecting belt is respectively arranged on the left and right sides of the lower end of the back protector. The two connecting belts are respectively connected to the waist protection belt through a rear connecting buckle with adjustable length.

[0024] Optionally, the lead suit is an integrated lead suit, and the lead suit is supported on the wearable skeletal structure through the shoulder supporting structure.

[0025] Optionally, the lead suit includes an upper body lead suit and a lower body lead suit that are separately arranged, the upper body lead suit is supported on the wearable skeletal structure through the shoulder support structure, and the lower body lead suit is hung around the waist support structure.

[0026] Optionally, the leg support frame comprises:

[0027] a foot support structure that is worn on the wearer's foot;

[0028] A calf support structure is worn on the calf of the wearer; the calf support structure includes a calf support rod and a calf support brace, the lower end of the calf support rod is connected to the foot support structure through an ankle joint structure, and the calf support brace is installed on the upper end of the calf support rod through a first brace installation portion;

[0029] A thigh support structure, which is worn on the thigh of the wearer; the thigh support structure includes a thigh support rod and a thigh support brace, the lower end of the thigh support rod is connected to the first brace mounting portion through a knee joint structure, and the thigh support brace is mounted on the upper end of the thigh support rod through a second brace mounting portion; the lower end of the lead hanger support rod is fixed to the thigh support rod or the second brace mounting portion; the thigh support brace is located on the back of the thigh and extends to the buttocks; the knee joint structure has a stop mechanism for limiting the rotation angle of the thigh support rod from multiple angles

[0030] Compared with the prior art, the technical solution of the embodiment of the present invention has the following beneficial effects:

[0031] The present invention independently separates the lead suit support frame from the left and right leg support frames, thus simplifying the structure of the wearing exoskeleton mechanism, making it convenient to put on and take off the exoskeleton, and the wearing and taking off can be completed independently even without the assistance of others. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0033] Figure 1 A schematic diagram of the structure of a wearable exoskeleton mechanism capable of supporting a lead suit provided by an embodiment of the present invention;

[0034] Figure 2 A schematic diagram of the back structure of a lead clothing support frame provided by an embodiment of the present invention;

[0035] Figure 3 A schematic diagram of the front structure of a lead clothing support frame provided by an embodiment of the present invention;

[0036] Figure 4 An assembly diagram of the connection structure between the lead hanger support rod and the side waist support rod provided in one embodiment of the present invention;

[0037] Figure 5 An exploded view of the connection structure between the lead hanger support rod and the side waist support rod provided in one embodiment of the present invention;

[0038] Figure 6 A schematic structural diagram of a leg support frame provided by an embodiment of the present invention;

[0039] Figure 7 is a force analysis diagram of a wearable exoskeleton mechanism provided by an embodiment of the present invention;

[0040] Figure 8 A schematic diagram of a knee joint structure provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices. The terms "on" and "above" and any variations thereof are intended to describe positional relationships and do not represent a relationship of direct contact between the described objects.

[0043] As described in the background art, the existing exoskeleton mechanism for supporting the lead suit is an integrated device, and the structure is relatively complex and bulky. It is extremely difficult to put on and take off the lead suit alone without the help of others.

[0044] To solve the above technical problems, please refer to Figures 1 to 6 The present invention provides a wearable exoskeleton mechanism capable of supporting a lead suit, comprising a lead suit support frame 1 and two left and right leg support frames 2 located below the lead suit support frame 1, wherein the lead suit support frame 1 comprises a shoulder support structure 11, a back support structure 13 and a waist support structure 15.

[0045] The shoulder support structure 11 includes two left and right shoulder support rods 111 . The two shoulder support rods 111 are respectively worn on the left and right shoulders of the wearer and are closely attached to the inner side of the shoulder of the lead suit to support the lead suit.

[0046] The back support structure 13 includes a back support plate 131 and a back support rod 132 . The back support plate 131 is worn on the back of the wearer. The rear ends of the left and right shoulder support rods 111 are connected to the left and right sides of the back support plate 131 .

[0047] In the present invention, the rear ends of the left and right shoulder support rods 111 and the left and right sides of the back support plate 131 can be non-detachably fixedly connected, such as integrally formed, welded, glued, etc., or detachably fixedly connected, such as snap-fitted or detachably connected by fasteners, etc. In order to facilitate adjustment according to wearers of different heights, as an embodiment, the shoulder support rods 111 are connected to the back support plate 131 in an adjustable length.

[0048] Specifically, the shoulder support rod 111 includes a front shoulder support section, a middle arc-shaped support section and a rear shoulder support section in a U-shaped structure, the front end and the rear end of the middle arc-shaped support section are integrally connected to the upper ends of the front shoulder support section and the rear shoulder support section; the length of the rear shoulder support section is adjustable and connected to the back support plate 131.

[0049] As an embodiment, at least one first adjustment hole is vertically provided on the rear shoulder support section and the back support plate 131. After adjusting the relative positions of the rear shoulder support section and the first adjustment holes on the back support plate 131 according to the wearer's height, the first fastener 12 is used to fasten them to the corresponding two first adjustment holes.

[0050] The structures of the first adjustment holes on the rear shoulder support section and the back support plate 131 may be the same or different.

[0051] As an embodiment, the structures of the first adjustment holes on the rear shoulder support section and the back support plate 131 are the same.

[0052] As a first specific implementation method, a first elongated adjustment hole 1 is provided on the rear shoulder support section, and the first elongated adjustment hole 1 is provided along the length direction (i.e., vertically) of the rear shoulder support section; a first elongated adjustment hole 2 corresponding to the first elongated adjustment hole 1 is vertically provided on the back support plate 131. After adjusting the relative positions of the first adjustment hole 1 of the rear shoulder support section and the first adjustment hole 2 on the back support plate 131 according to the height of the wearer, the first fastener 12 is fastened to the first adjustment hole 1 and the first adjustment hole 2 to lock the rear shoulder support section and the back support plate 131.

[0053] As a second specific implementation method, a plurality of (two or more than two) circular first adjustment holes 1 are vertically spaced apart on the rear shoulder support segment, and a plurality of (two or more than two) circular first adjustment holes 2 are vertically spaced apart on the back support plate 131. After adjusting the relative positions of the first adjustment hole 1 of the rear shoulder support segment and the first adjustment hole 2 on the back support plate 131 according to the height of the wearer, the first fastener 12 is used to fasten the overlapping first adjustment hole 1 and the first adjustment hole 2.

[0054] As a third specific embodiment, a circular first adjustment hole 1 is provided on the rear shoulder support section, and a plurality (two or more) of circular first adjustment holes 2 are provided vertically at intervals on the back support plate 131; or a plurality (two or more) of circular first adjustment holes 1 are provided vertically at intervals on the rear shoulder support section, and a circular first adjustment hole 2 is provided on the back support plate 131. After adjusting the relative positions of the first adjustment hole 1 of the rear shoulder support section and the first adjustment hole 2 on the back support plate 131 according to the height of the wearer, the first fastener 12 is used to fasten the first adjustment hole 1 and the first adjustment hole 2 that overlap.

[0055] As another embodiment, the structures of the first adjustment holes on the rear shoulder support section and the back support plate 131 are different. For example, a first adjustment hole 1 in the shape of a long strip is provided on the rear shoulder support section, and one or multiple (two or more than two) circular first adjustment holes 2 are provided on the back support plate 131 at vertical intervals; or, one or multiple (two or more than two) circular first adjustment holes 1 are provided on the rear shoulder support section, and a first adjustment hole 2 in the shape of a long strip is provided on the back support plate 131. After adjusting the relative positions of the first adjustment hole 1 of the rear shoulder support section and the first adjustment hole 2 on the back support plate 131 according to the height of the wearer, the first fastener 12 is used to fasten the first adjustment hole 1 and the first adjustment hole 2 that overlap.

[0056] In the present invention, the waist support part 15 includes a rear waist support plate 151 and two side waist support rods 152, the two side waist support rods 152 are connected to the left and right sides of the rear waist support plate 151, the rear waist support plate 151 is worn on the rear waist of the wearer, and the left and right side waist support rods 152 are worn on the left and right sides of the wearer's waist. The rear waist support plate 151 and the two side waist support rods 152 form a semi-circular shape that matches the wearer's waist.

[0057] In the present invention, the left and right side waist support rods 152 and the left and right sides of the back waist support plate 151 can be non-detachably fixedly connected, such as integrally formed, welded, glued, etc., or detachably fixedly connected, such as snap-fitted or detachably connected by fasteners, etc. In order to facilitate adjustment according to wearers with different waist circumferences, as an embodiment, the left and right side waist support rods 152 are connected to the back waist support plate 151 in an adjustable length.

[0058] Specifically, at least one second adjustment hole is laterally provided on the rear end of the side waist support rod 152 and the corresponding side of the rear waist support plate 151. After adjusting the relative positions of the side waist support rod 152 and the second adjustment holes on the rear waist support plate 151 according to the waist circumference of the wearer, the side waist support rod 152 is fastened to the corresponding two second adjustment holes through the second fastener 153.

[0059] In the present invention, the structures of the second adjustment holes on the side waist support rod 152 and the rear waist support plate 151 may be the same or different.

[0060] As an embodiment, the structures of the second adjustment holes on the side waist support rod 152 and the rear waist support plate 151 are the same.

[0061] As a first specific implementation method, a second elongated adjustment hole 1521 is provided on the rear end of the side waist support rod 152 (the rear end is located on the back of the wearer, and the front end is located on the front of the wearer), and the second elongated adjustment hole 1521 is provided along the length direction (i.e., horizontally) of the side waist support rod 152; a second elongated adjustment hole 2 corresponding to the second elongated adjustment hole 1521 is provided horizontally on the back waist support plate 151. After adjusting the relative positions of the second adjustment hole 1521 of the side waist support rod 152 and the second adjustment hole 2 on the back waist support plate 151 according to the height of the wearer, at least one second fastener 153 is fastened to the second adjustment hole 1521 and the second adjustment hole 2 to lock the side waist support rod 152 and the back waist support plate 151.

[0062] As a second specific implementation method, a plurality of (two or more than two) circular second adjustment holes 1 are arranged horizontally at intervals on the side waist support rod 152, and a plurality of (two or more than two) circular second adjustment holes 2 are arranged horizontally at intervals on the back waist support plate 151. After adjusting the relative positions of the second adjustment hole 1 of the side waist support rod 152 and the second adjustment hole 2 on the back waist support plate 151 according to the height of the wearer, the overlapping second adjustment hole 1 and the second adjustment hole 2 are fastened by the second fastener 153.

[0063] As a third specific embodiment, a circular second adjustment hole 1 is provided on the side waist support rod 152, and a plurality (two or more) of circular second adjustment holes 2 are provided at intervals on the back waist support plate 151; or, a plurality (two or more) of circular second adjustment holes 1 are provided at intervals on the side waist support rod 152, and a circular second adjustment hole 2 is provided on the back waist support plate 151. After adjusting the relative positions of the second adjustment hole 1 of the side waist support rod 152 and the second adjustment hole 2 on the back waist support plate 151 according to the height of the wearer, the second fastener 153 is used to fasten the overlapping second adjustment holes 1 and 2.

[0064] As another embodiment, the structures of the second adjustment holes on the side waist support rod 152 and the back waist support plate 151 are different. For example, a long strip-shaped second adjustment hole 1521 is provided on the side waist support rod 152, and one or multiple (two or more than two) circular second adjustment holes 2 are provided on the back waist support plate 151 at intervals in the horizontal direction; or, one or multiple (two or more than two) circular second adjustment holes 1521 are provided on the side waist support rod 152, and a long strip-shaped second adjustment hole 2 is provided on the back waist support plate 151. After adjusting the relative positions of the second adjustment hole 1521 of the side waist support rod 152 and the second adjustment hole 2 on the back waist support plate 151 according to the height of the wearer, the second fastener 153 is used to fasten the overlapping second adjustment hole 1521 and the second adjustment hole 2.

[0065] The rear waist support plate 151 is connected to the back support plate 131 through the back support rod 132. In the present invention, the back support rod 132 can be a non-detachable fixed connection with the rear waist support plate 151 and the back support plate 131, such as integral molding, welding, bonding, etc., or a detachable fixed connection, such as snap connection or detachable connection through fasteners, etc. In order to facilitate adjustment according to wearers of different heights, as an embodiment, the back support rod 132 is an adjustable rod, and the distance between the rear waist support plate 151 and the back support plate 131 is adjusted by the back support rod 132.

[0066] As an embodiment, the back support rod 132 is a telescopic rod, that is, the back support rod 132 is extended or shortened according to the wearers of different heights.

[0067] As a second embodiment, the upper end of the back support rod 132 is connected to the back support plate 131 in an adjustable length; the lower end of the back support rod 132 can be connected to the rear waist support plate 151 in an adjustable length or in an unadjustable length.

[0068] As a third embodiment, the upper end of the back support rod 132 is connected to the back support plate 131 in a non-adjustable manner, and the lower end of the back support rod 132 is connected to the rear waist support plate 151 in an adjustable manner.

[0069] Regarding the specific structure in which the upper end portion of the back support rod 132 is adjustably connected to the back support plate 131, and the specific structure in which the lower end portion of the back support rod 132 is adjustably connected to the rear waist support plate 151, reference can be made to several specific implementation schemes in which the rear shoulder support section is adjustably connected to the back support plate 131.

[0070] The following first takes the specific structure in which the upper end portion of the back support rod 132 is adjustable in length and connected to the back support plate 131 as an example for detailed description.

[0071] At least one upper adjustment hole is vertically provided on the upper end of the back support rod 132 and the back support plate 131. After adjusting the relative positions of the upper adjustment holes on the back support plate 131 and the back support rod 132 according to the height of the wearer, the back support plate 131 is fastened to the corresponding two upper adjustment holes through the upper fasteners 133.

[0072] In the present invention, the structures of the upper end of the back support rod 132 and the upper adjustment hole on the back support plate 131 may be the same or different.

[0073] As an embodiment, the structures of the upper end of the back support rod 132 and the upper adjustment hole on the back support plate 131 are the same.

[0074] As a first specific implementation method, an elongated upper adjustment hole 1 is provided at the upper end of the back support rod 132, and the elongated upper adjustment hole 1 is provided along the length direction (i.e., vertically) of the back support rod 132; a elongated upper adjustment hole 2 corresponding to the elongated upper adjustment hole 1 is vertically provided on the back support plate 131. After adjusting the relative positions of the upper adjustment hole 1 of the back support rod 132 and the upper adjustment hole 2 on the back support plate 131 according to the height of the wearer, the upper fastener 133 is fastened to the upper adjustment hole 1 and the upper adjustment hole 2 to lock the back support rod 132 and the back support plate 131.

[0075] As a second specific implementation method, a plurality of (two or more than two) circular upper adjustment holes 1 are vertically spaced apart at the upper end of the back support rod 132, and a plurality of (two or more than two) circular upper adjustment holes 2 are vertically spaced apart at the back support plate 131. After adjusting the relative positions of the upper adjustment hole 1 of the back support rod 132 and the upper adjustment hole 2 on the back support plate 131 according to the height of the wearer, the overlapping upper adjustment hole 1 and upper adjustment hole 2 are fastened by upper fasteners 133.

[0076] As a third specific embodiment, a circular upper adjustment hole 1 is provided at the upper end of the back support rod 132, and a plurality (two or more) of circular upper adjustment holes 2 are provided vertically at intervals on the back support plate 131; or, a plurality (two or more) of circular upper adjustment holes 1 are provided vertically at intervals on the back support rod 132, and a circular upper adjustment hole 2 is provided on the back support plate 131. After adjusting the relative positions of the upper adjustment hole 1 of the back support rod 132 and the upper adjustment hole 2 on the back support plate 131 according to the height of the wearer, the upper fastener 133 is used to fasten the overlapping upper adjustment holes 1 and 2.

[0077] As another embodiment, the structures of the upper end of the back support rod 132 and the upper adjustment hole on the back support plate 131 are different. For example, a long strip-shaped upper adjustment hole 1 is provided on the back support rod 132, and one or multiple (two or more than two) circular upper adjustment holes 2 are provided on the back support plate 131 at vertical intervals; or, one or multiple (two or more than two) circular upper adjustment holes 1 are provided on the back support rod 132 at vertical intervals, and a long strip-shaped upper adjustment hole 2 is provided on the back support plate 131. After adjusting the relative positions of the upper adjustment hole 1 of the back support rod 132 and the upper adjustment hole 2 on the back support plate 131 according to the height of the wearer, the upper fastener 133 is used to fasten the overlapping upper adjustment holes 1 and 2.

[0078] The following is a detailed description of the specific structure in which the lower end of the back support rod 132 is adjustable in length and connected to the rear waist support plate 151 as an example.

[0079] At least one lower adjustment hole is vertically provided on the lower end of the back support rod 132 and the rear waist support plate 151. After adjusting the relative positions of the lower adjustment holes on the rear waist support plate 151 and the back support rod 132 according to the height of the wearer, the lower fasteners 14 are used to fasten them to the corresponding two lower adjustment holes.

[0080] As an embodiment, the structures of the lower end of the back support rod 132 and the lower adjustment hole on the rear waist support plate 151 are the same.

[0081] As a first specific implementation method, a long strip lower adjustment hole 1 is set at the lower end of the back support rod 132, and the long strip lower adjustment hole 1 is set along the length direction (i.e. vertically) of the back support rod 132; a long strip lower adjustment hole 2 corresponding to the long strip lower adjustment hole 1 is vertically provided on the rear waist support plate 151. After adjusting the relative positions of the lower adjustment hole 1 of the back support rod 132 and the lower adjustment hole 2 on the rear waist support plate 151 according to the height of the wearer, the lower fastener 14 is fastened to the lower adjustment hole 1 and the lower adjustment hole 2 to lock the back support rod 132 and the rear waist support plate 151.

[0082] As a second specific implementation method, a plurality of (two or more than two) circular lower adjustment holes 1 are vertically spaced apart at the lower end of the back support rod 132, and a plurality of (two or more than two) circular lower adjustment holes 2 are vertically spaced apart at the rear waist support plate 151. After adjusting the relative positions of the lower adjustment hole 1 of the back support rod 132 and the lower adjustment hole 2 on the rear waist support plate 151 according to the height of the wearer, the overlapping lower adjustment hole 1 and lower adjustment hole 2 are fastened by the lower fastener 14.

[0083] As a third specific embodiment, a circular lower adjustment hole 1 is provided at the lower end of the back support rod 132, and a plurality (two or more) of circular lower adjustment holes 2 are provided vertically at intervals on the back waist support plate 151; or, a plurality (two or more) of circular lower adjustment holes 1 are provided vertically at intervals on the back support rod 132, and a circular lower adjustment hole 2 is provided on the back waist support plate 151. After adjusting the relative positions of the lower adjustment hole 1 of the back support rod 132 and the lower adjustment hole 2 on the back waist support plate 151 according to the height of the wearer, the lower adjustment holes 1 and 2 that overlap are fastened by the lower fastener 14.

[0084] As another embodiment, the structures of the lower end of the back support rod 132 and the lower adjustment hole on the rear waist support plate 151 are different. For example, a long strip-shaped lower adjustment hole 1 is provided on the back support rod 132, and one or multiple (two or more than two) circular lower adjustment holes 2 are provided on the rear waist support plate 151 at vertical intervals; or, one or multiple (two or more than two) circular lower adjustment holes 1 are provided on the back support rod 132, and a long strip-shaped lower adjustment hole 2 is provided on the rear waist support plate 151. After adjusting the relative positions of the lower adjustment hole 1 of the back support rod 132 and the lower adjustment hole 2 on the rear waist support plate 151 according to the height of the wearer, the lower fastener 14 is used to fasten the overlapping lower adjustment holes 1 and 2.

[0085] The fasteners in the present invention may be threaded fasteners or non-threaded fasteners, as long as they can cooperate with the holes on the two structures to fasten the two structures together.

[0086] In the present invention, the left and right leg support frames 2 support the lead clothing support frame 1 through the left and right lead clothes hanger support rods 21, that is, the weight of the lead clothing support frame 1 is transferred to the left and right leg support frames 2 through the lead clothes hanger support rods 21, and finally transferred to the ground. Therefore, after the wearer puts on the exoskeleton mechanism, the wearer will not bear the weight of the exoskeleton mechanism. Then, when the wearer puts on the lead clothing, the exoskeleton mechanism bears the entire weight of the lead clothing, that is, the weight of the lead clothing is completely transferred to the ground through the exoskeleton mechanism. As a result, the wearer's physical burden is released, and a long-term operation can be completed in this state.

[0087] The present invention independently separates the lead suit support frame 1 from the left and right leg support frames 2, thereby simplifying the structure of the wearing exoskeleton mechanism, making it convenient to wear and take off the exoskeleton, and the wearing and taking off can be completed independently without the assistance of others.

[0088] Furthermore, the lower end of the lead hanger support rod 21 is fixed to the leg support frame 2 on the corresponding side, and the upper end of the lead hanger support rod 21 is detachably connected to the front end of the side waist support rod 152 on the corresponding side. When wearing, the lead clothes support frame 1 and the left and right leg support frames 2 are worn independently, and then the upper ends of the left and right lead clothes hanger support rods 21 are connected to the left and right side waist support rods 152 accordingly; when taking off, the upper ends of the left and right lead clothes hanger support rods 21 are first disassembled from the left and right side waist support rods 152, and then the lead clothes support frame 1 and the left and right leg support frames 2 are taken off independently.

[0089] The present invention does not impose any restrictions on the order of wearing and taking off the lead clothing support frame 1 and the left and right leg support frames 2. If the lead clothing support frame 1 is worn first, since the lead clothing support frame 1 is not supported by the leg support frame 2, the weight of the lead clothing support frame 1 will be borne by the wearer, which will cause a burden on the wearer. In order to reduce the burden on the wearer when wearing the exoskeleton mechanism, the left and right leg support frames 2 can be worn first, and then the lead clothing support frame 1 can be worn. Of course, since the lead clothing support frame 1 of the present invention has a relatively simple structure and a relatively light weight, the burden on the wearer is relatively small. Therefore, the lead clothing support frame 1 can also be worn first, and then the leg support frame 2.

[0090] The present invention does not impose any specific restrictions on the detachable connection between the upper end of the lead hanger support rod 21 and the side waist support rod 152 on the corresponding side. A snap-fit ​​structure can be used for detachable connection, and a fastener can also be used to achieve detachable connection between the lead hanger support rod 21 and the side waist support rod 152. Figure 4 and Figure 5 In order to quickly connect and disassemble the upper end of the lead hanger support rod 21 with the side waist support rod 152 on the corresponding side, the upper end of the lead hanger support rod 21 and the side waist support rod 152 on the corresponding side can also be detachably connected by fasteners. The fasteners can be threaded fasteners, for example: threaded holes are provided on the upper end of the lead hanger support rod 21 and the side waist support rod 152 on the corresponding side, and threaded fasteners such as screws, bolts, etc. are respectively passed through the threaded holes on the upper end of the lead hanger support rod 21 and the side waist support rod 152 on the corresponding side to achieve detachable connection. Of course, the fasteners can also be non-threaded fasteners. As an embodiment, the upper end of the lead hanger support rod 21 and the side waist support rod 152 on the corresponding side are detachably connected by non-threaded fasteners such as limit pins 3.

[0091] Specifically, the limit pin 3 includes a head 31 and a rod 32 that are integrally and coaxially arranged, the outer diameter of the head 31 is larger than the outer diameter of the rod 32, one end of the rod 32 is integrally connected to the head 31, and the other end of the rod 32 is fixedly connected to the upper end of the lead clothes hanger support rod 21, the head 31 is located on the outer side of the lead clothes hanger support rod 21, and the length of the rod 32 between the inner side surface of the head 31 and the outer side surface of the lead clothes hanger support rod 21 is greater than the thickness of the side waist support rod 152; the side waist support rod 152 is provided with a connecting port 1522, and this embodiment does not impose any specific restrictions on the shape of the connecting port 1522, which can be a connecting port of a regular shape or an irregular shape. As an embodiment, the connection port 1522 is a gourd-shaped port that is small at the top and large at the bottom. The gourd-shaped connection port 1522 includes an upper connection port and a lower connection port that communicates with the upper connection port. The caliber of the upper connection port is smaller than the caliber of the lower connection port. The outer diameter of the rod portion 32 is smaller than the caliber of the upper connection port. The outer diameter of the head portion 31 is larger than the caliber of the upper connection port and smaller than the caliber of the lower connection port. During installation, the head portion 31 passes through the lower connection port from the inner side of the side waist support rod 152 to the outer side of the side waist support rod 152. Under the gravity of the lead clothing support frame 1, the lead clothing support frame 1 moves downward, and the upper connection port is supported on the rod portion 32. Since the outer diameter of the head portion 31 of the limit pin 3 is larger than the caliber of the upper connection port, the head portion 31 of the limit pin 3 will not fall out of the upper connection port.

[0092] After the left and right side waist support rods 152 and the left and right lead clothes hanger support rods 21 are installed, the axes of the left and right limit pins 3 are staggered, so that the lead clothes support frame 1 will be stuck relative to the lead clothes hanger support rods 21 of the left and right leg support frames 2 after being worn, thereby supporting the lead clothes support frame 1 and then supporting the lead clothes.

[0093] Furthermore, a plurality of mounting holes 211 are provided at the upper end of the lead hanger support rod 21, and these mounting holes 211 are arranged at intervals along the length direction of the lead hanger support rod 21. Therefore, according to the height of the wearer, the end of the rod portion 32 of the limiting pin 3 is fixed on a corresponding mounting hole 211.

[0094] In order to facilitate the connection between the end of the rod 32 of the limiting pin 3 and the mounting hole 211, the end of the rod 32 is arranged as a stepped structure, that is, the rod 32 includes a rod 32 body and an end which are coaxially integrated. The end is located at the end of the rod 32 body away from the pin head 31, and the outer diameter of the end is smaller than the outer diameter of the rod 32 body. The end is fixedly inserted into the mounting hole 211, and the outer diameter of the rod 32 body is larger than the aperture of the mounting hole 211.

[0095] In order to facilitate the lead clothing support frame 1 to fit the human body, a waist support belt 18 is provided on the waist support structure 15, and the waist support belt 18 is sleeved on the rear waist support plate 151 and the two side waist support rods 152. When worn, the waist support belt 18 is buckled on the wearer's abdomen with adjustable length through the belt buckles 110 provided at its left and right ends.

[0096] The shoulder support structure 11 is provided with two left and right shoulder straps 16, which are respectively mounted on the left and right shoulder support rods 111. At the front ends of the left and right shoulder straps 16, the left and right shoulder straps 16 are respectively connected to the upper sides of the left and right ends of the waist protection belt 18 through a front connecting buckle so that the length can be adjusted.

[0097] Furthermore, the middle parts of the left and right shoulder straps 16 are connected by an intermediate connecting buckle 17 to prevent the two shoulder supporting structures 11 from sliding outward from the wearer's shoulders.

[0098] The back support structure 13 is provided with a back protector, and the back protector is mounted on the rear waist support plate 151. The rear ends of the left and right shoulder straps 16 are respectively connected to the left and right sides of the upper end of the back protector. A connecting belt is respectively provided on the left and right sides of the lower end of the back protector. The two connecting belts are respectively connected to the waist protection belt 18 through a rear connecting buckle with adjustable length.

[0099] The present invention does not impose any specific restrictions on the structure of the lead suit. When the lead suit is an integrated lead suit, the lead suit is supported on the wearable skeletal structure through the shoulder support structure 11. When the lead suit is a split structure, that is, the split lead suit includes an upper body lead suit and a lower body lead suit that are separately arranged, the upper body lead suit is supported on the wearable skeletal structure through the shoulder support structure 11, and the lower body lead suit is a skirt structure, which is hung on the waist support structure 15, that is, the lower body lead suit transfers the weight to the two leg support frames 2 through the waist support structure 15, and then transfers it to the ground.

[0100] The present invention does not limit the specific structure of the leg support frame 2. As an embodiment, the leg support frame 2 includes a foot support structure 26, a calf support structure 24 and a thigh support structure 22.

[0101] The foot support structure 26 is worn on the foot of the wearer. The foot support structure 26 includes a foot support portion 262 and a foot strap 261. When worn, the wearer's foot steps on the foot support portion 262, and the foot strap 261 fixes the wearer's foot on the foot support portion 262.

[0102] The calf support structure 24 is worn on the wearer's calf. The calf support structure 24 includes a calf support rod 242 and a calf support brace 243. The calf support rod 242 is located on the outside of the calf. The lower end of the calf support rod 242 is connected to the foot support structure 26 through the ankle joint structure 25. The calf support brace 243 is installed on the upper end of the calf support rod 242 through the first brace mounting portion 241. The calf support brace 243 fixes the wearer's calf to the calf support structure 24 through the calf strap 244. In this embodiment, the ankle joint structure 25 and the calf support rod 242 are automatically rotated and hinged to adapt to the ankle angle and transmit support force at the same time.

[0103] The thigh support structure 22 is worn on the thigh of the wearer. The thigh support structure 22 includes a thigh support rod 223 and a thigh support brace 221. The thigh support rod 223 is located on the outside of the thigh. The lower end of the thigh support rod 223 is connected to the first brace mounting portion 241 through the knee joint structure 23. The thigh support brace 221 is mounted on the upper end of the thigh support rod 223 through the second brace mounting portion 224. The lead hanger support rod 21 is located on the outside of the thigh support rod 223. The lower end of the lead hanger support rod 21 is fixed to the thigh support rod 223 or the second brace mounting portion 224. The thigh support brace 221 is located on the back of the thigh and extends to the buttocks. The thigh support brace 221 fixes the wearer's thigh to the thigh support structure 22 through the thigh strap 222. The knee joint structure 23 has a stopper mechanism for limiting the rotation angle of the thigh support rod 223 from multiple angles.

[0104] Please refer to Figure 7 , Figure 7 This is a force analysis diagram of a wearable exoskeleton mechanism that can support a split lead suit provided by an embodiment of the present invention. Among them, below point A is the leg support frame 2 that supports the body, which is a left leg support frame and a right leg support frame, and the left leg support frame and the right leg support frame are mirror-symmetrical structures; above point A is the lead suit support frame 1, which is connected to the left leg support frame and the right leg support frame through point A (there are two points on the left and right). From the force analysis, it can be seen that the wearer's body gravity G 身 、Gravity of the upper body lead suit 上身铅衣 , Gravity G of the lower body lead suit 下身铅衣 Both are downward, and the ground gives a support force N 地 Upward, and these four forces are in the same straight line, so they can be completely balanced. In the figure, the lead clothing support frame 1, the lead clothing hanger support rod 21, the thigh support rod 223, the calf support rod 242, and the foot support part 262 are all rigid metal structures, point A is a semi-hinged and semi-fixed point (that is, the connection state is different in different postures, some postures are hinged, and some postures are fixed), point B is the fixed connection point between the lead clothing hanger support rod 21 and the thigh support rod 223, that is, B is a pure fixed point; C is the knee joint structure 23, the knee joint structure 23 is a restricted hinge point (can only rotate within a certain range); D is the ankle joint structure 25, the ankle joint structure 25 is a pure hinge point (can rotate within any range). The weight of the upper body lead clothing and the lower body lead clothing is transferred to the lead clothing hanger support rod 21 through the lead clothing support frame 1, and then transferred to the foot support part 262 via the thigh support rod 223 and the calf support rod 242, and finally transferred to the ground. As a result, the wearer's physical burden is relieved and long-term surgery can be completed in this state.

[0105] As an embodiment, the knee joint structure 23 includes a rotating shaft, and the lower end of the thigh support rod 223 is rotatably connected to the first protective gear mounting portion 241 through the rotating shaft.

[0106] The knee joint structure 23 is implemented by a stopper mechanism to limit the rotation angle of the thigh support rod 223 from multiple angles. The stopper mechanism is a relatively mature technology in the mechanical field. Therefore, the present invention does not limit the specific structure of the stopper mechanism. The present invention implements the multi-angle adjustment of the thigh support rod 223 through the stopper mechanism. As an embodiment, please refer to Figure 8 The stop mechanism includes a fixed stopper 231, a movable stopper 233 and a gear adjustment button 232. The fixed stopper 231 is fixed on the first protective gear mounting portion 241. The movable stopper 233 is movably arranged on the first protective gear mounting portion 241. The fixed stopper 231 and the movable stopper 233 are located on the left and right sides of the thigh support rod 223. The fixed retaining edge 2311 on the fixed stopper 231 and the movable retaining edge 2331 on the movable stopper 233 limit the rotation range of the thigh support rod 223. The first protective gear mounting portion 241 is also provided with a plurality of limit slots 234. The movable stopper 233 is provided with a gear adjustment button 232. The movable stopper 233 can be adjusted to different limit slots 234 through the gear adjustment button 232, thereby changing the position of the movable retaining edge 2331, thereby realizing a multi-angle mode of the thigh support rod 223 rotation. The present invention does not impose any specific restrictions on the number of adjustable rotation angles of the thigh support rod 223. Taking the three rotation angle modes of the thigh support rod 223 as an example, in the free mode, the thigh support rod 223 can rotate at any angle in the direction close to the calf; in the half-squat sitting mode, the thigh support rod 223 can rotate in the direction close to the calf to a half-squat sitting posture; in the standing mode, the thigh support rod 223 cannot rotate in the direction close to the calf. Using the half-squat sitting mode or the standing mode, the foot support structure 26 can reduce the load on the legs and feet, can support the body weight for a long time, and can stably maintain the half-squat sitting posture and the standing posture with bent knees.

[0107] In order to be suitable for wearers with different leg lengths, a plurality of first gear holes are arranged at intervals along the height direction of the calf support rod 242, and a first plug hole adapted to the first gear hole is provided on the first protector mounting portion 241. According to the wearer's calf height, the first plug hole of the first protector mounting portion 241 is aligned with the corresponding first gear hole, and then the first pin is inserted into the corresponding first gear hole and the first plug hole to achieve relative fixation of the first protector mounting portion 241 and the calf support rod 242.

[0108] In order to facilitate observation of which first gear position hole the first latch pin is inserted into, a gear position mark is provided at each first gear position hole.

[0109] Similarly, in order to adapt to wearers with different leg lengths, a plurality of second gear holes 2231 are arranged at intervals along the height direction of the thigh support rod 223, and a second plug hole adapted to the second gear hole 2231 is provided on the second protective gear mounting part 224. According to the wearer's thigh height, the second plug hole of the second protective gear mounting part 224 is aligned with the corresponding second gear hole 2231, and then the second pin 225 is inserted into the corresponding second gear hole 2231 and the second plug hole to achieve relative fixation of the second protective gear mounting part 224 and the thigh support rod 223.

[0110] In order to facilitate observation of which second gear position hole 2231 the second latch 225 is inserted into, a gear position mark 2232 is provided at each second gear position hole 2231 .

[0111] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A wearable exoskeleton mechanism capable of supporting a lead suit, characterized in that: It includes a lead suit support frame and two left and right leg support frames located below the lead suit support frame, and the lead suit support frame includes: A shoulder support structure, comprising two left and right shoulder support rods, which are respectively worn on the left and right shoulders of the wearer and closely attached to the inner side of the shoulder of the lead suit to support the lead suit; A back support structure, comprising a back support plate and a back support rod, wherein the back support plate is worn on the back of the wearer, and rear ends of the left and right shoulder support rods are connected to left and right sides of the back support plate; A waist support structure, wherein the waist support part comprises a rear waist support plate and two side waist support rods, wherein the two side waist support rods are connected to the left and right sides of the rear waist support plate, the rear waist support plate is worn on the rear waist of the wearer, and the left and right side waist support rods are worn on the left and right sides of the waist of the wearer; the rear waist support plate is connected to the back support plate through the back support rods; The left and right leg support frames support the lead clothes support frame through the left and right lead clothes hanger support rods, the lower ends of the lead clothes hanger support rods are fixed on the leg support frames on the corresponding sides, and the upper ends of the lead clothes hanger support rods are detachably connected to the front ends of the side waist support rods on the corresponding sides; when wearing, the lead clothes support frame and the left and right leg support frames are worn independently, and then the upper ends of the left and right lead clothes hanger support rods are correspondingly connected to the left and right side waist support rods; when taking off, first disassemble the upper ends of the left and right lead clothes hanger support rods from the left and right side waist support rods, and then take off the lead clothes support frame and the left and right leg support frames independently.

2. The wearable exoskeleton mechanism according to claim 1, characterized in that: The shoulder support rod includes a front shoulder support section, a middle arc-shaped support section and a rear shoulder support section in a U-shaped structure, the front end and the rear end of the middle arc-shaped support section are integrally connected to the upper ends of the front shoulder support section and the rear shoulder support section; the rear shoulder support section is connected to the back support plate in an adjustable length.

3. The wearable exoskeleton mechanism according to claim 2, characterized in that: The rear shoulder support section and the back support plate are each vertically provided with at least one first adjustment hole. After adjusting the relative positions of the rear shoulder support section and the first adjustment holes on the back support plate according to the wearer's height, the first fasteners are used to fasten them to the corresponding two first adjustment holes.

4. The wearable exoskeleton mechanism according to claim 1, characterized in that: The back support rod is an adjustable rod, and the distance between the rear waist support plate and the back support plate is adjusted by the back support rod.

5. The wearable exoskeleton mechanism according to claim 4, characterized in that: The upper end of the back support rod and the back support plate are both vertically provided with at least one upper adjustment hole. After adjusting the relative positions of the back support plate and the upper adjustment holes on the back support rod according to the height of the wearer, the back support plate is locked on the corresponding two upper adjustment holes through upper fasteners; Or / and, at least one lower adjustment hole is vertically provided on the lower end of the back support rod and the rear waist support plate. After adjusting the relative positions of the rear waist support plate and the lower adjustment holes on the back support rod according to the height of the wearer, they are fastened to the corresponding two lower adjustment holes by lower fasteners.

6. The wearable exoskeleton mechanism according to claim 1, characterized in that: At least one second adjustment hole is laterally provided at the rear end of the side waist support rod and the corresponding side of the back waist support plate. After adjusting the relative positions of the side waist support rod and the second adjustment holes on the back waist support plate according to the waist circumference of the wearer, the side waist support rod is fastened to the corresponding two second adjustment holes by a second fastener.

7. The wearable exoskeleton mechanism according to claim 1, characterized in that: The upper end of the lead hanger support rod is detachably connected to the side waist support rod on the corresponding side through a fastener or a clamping structure.

8. The wearable exoskeleton mechanism according to claim 7, characterized in that: The fastener is a limit pin, and the limit pin includes a head and a rod that are coaxially arranged in an integral manner, the outer diameter of the head is larger than the outer diameter of the rod, one end of the rod is integrally connected to the head, and the other end of the rod is fixedly connected to the upper end of the lead hanger support rod, the head is located on the outside of the lead hanger support rod, and the length of the rod between the inner side surface of the head and the outer side surface of the lead hanger support rod is larger than the thickness of the side waist support rod; the side waist support rod is provided with a gourd-shaped connecting port, and the gourd The shaped connecting port includes an upper connecting port and a lower connecting port communicating with the upper connecting port, the caliber of the upper connecting port is smaller than the caliber of the lower connecting port, and the outer diameter of the rod portion is smaller than the caliber of the upper connecting port; the outer diameter of the head portion is larger than the caliber of the upper connecting port and smaller than the caliber of the lower connecting port; during installation, the head portion passes through the lower connecting port from the inner side of the side waist support rod to the outer side of the side waist support rod, and under the action of gravity of the lead clothing support frame, the lead clothing support frame moves downward, and the upper connecting port is supported on the rod portion.

9. The wearable exoskeleton mechanism according to claim 8, characterized in that: A plurality of mounting holes are arranged at the upper end of the lead hanger support rod, and the mounting holes are arranged at intervals along the length direction of the lead hanger support rod. According to the height of the wearer, the end of the rod portion of the limiting pin is fixed to a corresponding mounting hole.

10. The wearable exoskeleton mechanism according to claim 8, characterized in that: After the left and right side waist support rods and the left and right lead hanger support rods are installed, the axes of the left and right limit pins are staggered.

11. The wearable exoskeleton mechanism according to claim 1, characterized in that: The waist support structure is provided with a waist support belt, which is sleeved on the rear waist support plate and the two side waist support rods. When worn, the waist support belt is buckled on the wearer's abdomen in an adjustable length through the belt buckles provided at the left and right ends thereof.

12. The wearable exoskeleton mechanism according to claim 11, characterized in that: The shoulder support structure is provided with two left and right shoulder straps, which are respectively mounted on the left and right shoulder support rods. At the front ends of the left and right shoulder straps, the left and right shoulder straps are respectively connected to the upper sides of the left and right ends of the waist support belt through a front connecting buckle so as to be adjustably connected in length.

13. The wearable exoskeleton mechanism according to claim 12, characterized in that: A back protector is provided on the back support structure, and the back protector is mounted on the rear waist support plate. The rear ends of the left and right shoulder straps are respectively connected to the left and right sides of the upper end of the back protector. A connecting belt is respectively provided on the left and right sides of the lower end of the back protector. The two connecting belts are respectively connected to the waist protection belt through a rear connecting buckle with adjustable length.

14. The wearable exoskeleton mechanism according to any one of claims 1 to 13, characterized in that: The lead suit is an integrated lead suit, and the lead suit is supported on the wearable skeletal structure through the shoulder supporting structure.

15. The wearable exoskeleton mechanism according to any one of claims 1 to 13, characterized in that: The lead suit comprises an upper body lead suit and a lower body lead suit which are separately arranged. The upper body lead suit is supported on the wearable skeletal structure through the shoulder support structure, and the lower body lead suit is hung around the waist support structure.

16. The wearable exoskeleton mechanism according to any one of claims 1 to 13, characterized in that: The leg support frame comprises: a foot support structure that is worn on the wearer's foot; A calf support structure is worn on the calf of the wearer; the calf support structure includes a calf support rod and a calf support brace, the lower end of the calf support rod is connected to the foot support structure through an ankle joint structure, and the calf support brace is installed on the upper end of the calf support rod through a first brace installation portion; A thigh support structure, which is worn on the thigh of the wearer; the thigh support structure includes a thigh support rod and a thigh support brace, the lower end of the thigh support rod is connected to the first brace mounting portion through a knee joint structure, and the thigh support brace is mounted on the upper end of the thigh support rod through a second brace mounting portion; the lower end of the lead hanger support rod is fixed to the thigh support rod or the second brace mounting portion; the thigh support brace is located on the back of the thigh and extends to the buttocks; the knee joint structure has a stop mechanism for limiting the rotation angle of the thigh support rod from multiple angles.

Images