Exoskeleton system for realizing stable carrying of stretcher

Abstract

An exoskeleton system capable of achieving stable carrying of a stretcher comprises a thigh assembly, the upper end of the thigh assembly is connected with a power system, the power system is connected with a waist assembly, the waist assembly is connected with a chest and back auxiliary bearing assembly through a suspension system, and a pendulum type stretcher connecting assembly is connected to the suspension system. The pendulum type stretcher connecting assembly utilizes the physical simple pendulum principle to carry out automatic balance according to the change of the gravity center position of the stretcher; the suspension system comprises a back support, the chest and back auxiliary bearing assembly is connected with the waist assembly through the back support, and the back support is connected with the pendulum type stretcher connecting assembly through a spring and a damping element. The pendulum type stretcher connecting assembly comprises a triangular space mechanism, the triangular space mechanism is connected with a triangular mechanism mounting seat, the triangular mechanism mounting seat is connected with a rotating shaft, the rotating shaft is connected with a back support, and a spring element and a damping element are connected between the triangular mechanism mounting seat and the back support; the double hands of medical staff are liberated, and the carrying efficiency and the self-defense capacity of the stretcher are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of exoskeletons, and in particular to an exoskeleton system for realizing the smooth transportation of a stretcher. Background Art

[0002] Stretcher transport is a battlefield transfer technology widely used in countries around the world. It is the key to whether the wounded can receive continuous, timely and rapid treatment in the rescue chain. However, the existing stretcher transport mode has serious shortcomings, which limits its effectiveness in practical applications. From the perspective of motor function anatomy, the traditional transport mode relies on more small muscle work and more load-bearing joints, so the overall power consumption is large, which makes medical staff easily fatigued and the transport efficiency is low; at the same time, this method also limits medical staff from operating weapons and other activities during the transport process, making them lack self-defense capabilities and the ability to monitor the wounded throughout the process.

[0003] The exoskeleton system provides a new solution for medical personnel to realize labor-saving, fast and efficient carrying, and free up the upper limbs to continue to play the role of wounded rescue and weapon control. However, according to the references ([1] Yu Yaorui, Hu Xuejun, Wu Kunpeng, et al. Application status and prospects of exoskeletons in the field of medical support [J]. Medical and Health Equipment, 2024, 45(03): 71-75.; [2] Meng Zepeng. Design of wearable carrying-assisting exoskeleton and research on lower limb exoskeleton [D]. Xi'an University of Technology, 2023.), the existing exoskeleton system is mainly used to enhance human strength or provide movement assistance. Unlike single-person mass carrying, stretcher carrying is the result of two-person collaborative work. There are problems of movement interference and coordination difficulties during the carrying process. The traditional exoskeleton system is relatively simple and cannot realize the collaborative work of two people. It is urgent to develop an exoskeleton system that can realize two-person stretcher carrying and is comfortable, flexible and smooth to wear.

[0004] In addition, during the stretcher transportation process, the complexity of the environment cannot be ignored. Various terrains such as jungles, mountains and unstructured roads require different transportation modes. And two-person transportation requires a high degree of movement coordination. Factors such as sudden stops, sudden turns and changes in the center of gravity of the human body may cause the stretcher to tilt, roll and other movements. The existing exoskeleton system is mainly for the wearer, and it is difficult to adapt to the needs of dealing with complex terrain and emergencies during the stretcher transportation process to ensure the stability of the stretcher. Summary of the invention

[0005] In order to overcome the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide an exoskeleton system that can realize the smooth transportation of stretchers, free the hands of medical personnel, and improve their stretcher transportation efficiency, self-defense ability and full-time monitoring ability of the wounded.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0007] An exoskeleton system for achieving smooth carrying of a stretcher includes a thigh component 6, the upper end of the thigh component 6 is connected to a power system 5, the power system 5 is connected to both sides of a waist component 4, the waist component 4 is connected to a chest and back auxiliary load-bearing component 1 through a suspension system 2, and a pendulum stretcher connecting component 3 is connected to the suspension system 2. The pendulum stretcher connecting component 3 uses the principle of a physical simple pendulum to automatically balance according to changes in the center of gravity position of the stretcher.

[0008] The suspension system 2 includes a back support 21, and the chest and back auxiliary load-bearing component 1 is connected to the waist component 4 through the back support 21. The back support 21 is connected to the pendulum stretcher connecting component 3 via a spring element 22, a damping element 23 and a pendulum stretcher connecting component 3.

[0009] The pendulum stretcher connection assembly 3 includes a triangular space mechanism 31, the triangular space mechanism 31 is connected to the lower end of a triangular mechanism mounting seat 32, the upper end of the triangular mechanism mounting seat 32 is connected to a rotating shaft 33, the rotating shaft 33 is connected to a back support 21 of the suspension system 2, and a spring element 22 and a damping element 23 are connected between the triangular mechanism mounting seat 32 and the back support 21.

[0010] The chest and back auxiliary load-bearing component 1 includes a back binding 11, shoulder straps 14 are connected on both sides of the back binding 11, the shoulder straps 14 are connected to the chest binding 12, and the chest binding 12 is provided with a first buckle adjustment piece 13; the back binding 11 is made of flexible material to fit the back of the human body, and slots are sewn on both sides of the middle back for connecting with the back support 21.

[0011] The spring element 22 and the damping element 23 are arranged in parallel, one end of which is connected to the back support 21 through a connecting plate, a rotating shaft and a bearing, and the other end is connected to the triangular mechanism mounting seat 32 through a ball hinge; by optimizing the coefficients of the spring element 22 and the damping element 23, the stability of the stretcher during transportation is improved.

[0012] The rotating shaft 33 is connected to the upper end of the triangular mechanism mounting seat 32 through a bearing, the lower ends of the two oblique sides of the triangular mechanism mounting seat 32 are respectively connected to the front end of the triangular space mechanism 31, and the end of the triangular space mechanism 31 is connected to the stretcher handle; when the center of gravity of the human body changes due to bumps on the road during walking, the rotating shaft 33 rotates at a corresponding angle with the human body and the exoskeleton, and the triangular space mechanism 31 and the triangular mechanism mounting seat 32 always balance at the center of gravity of the stretcher using the principle of a physical simple pendulum.

[0013] The triangular space mechanism 31 includes a support rod 311, the inner wall of which is provided with a flexible clamp 312. The flexible clamp 312 is made of flexible material and naturally wraps its surface and generates a clamping force when the stretcher handle is inserted. A button release assembly 314 is provided at the open end of the flexible clamp 312, and an axial spring 313 is provided at the bottom of the support rod 311.

[0014] The button release assembly 314 includes a button 3141, which is connected to a wedge block 3143 via a connecting shaft 3142. When the button 3141 is pressed, the wedge block 3143 moves downward to push the flexible clamping claw 312 to open, thereby realizing the rapid removal of the stretcher.

[0015] A telescopic structure is provided at the connection between the triangular space mechanism 31 and the triangular mechanism mounting seat 32. When the stretcher is carried, the support rod 311 is extended to both sides of the waist to connect with the stretcher. At other times, the support rod 311 is shortened to within the rigid structure of the waist component 4.

[0016] The support rod 311 of the triangular space mechanism 31 can be axially rotated 180 degrees to accommodate the wearer's use in the forward and backward directions during transportation.

[0017] The waist component 4 adopts a rigid-flexible coupling method, including an external rigid support member 41, a width adjustment device 43 is connected to the rear side of the external rigid support member 41, an internal flexible binding member 42 is provided on the inner side of the external rigid support member 41, and the internal flexible binding member 42 is connected to a second buckle adjustment member 44.

[0018] The external rigid support member 41 is a U-shaped structure and does not directly fit the human body after being worn.

[0019] The power system 5 includes a hip joint booster module 51 and a power supply module 52 connected thereto, and the power supply module 52 is installed above the hip joint booster module 51; the hip joint booster module 51 includes a mounting flange 511, a joint module 512, an output flange 513 and a joint housing 514, one end of the plane of the mounting flange 511 is fixedly connected to the external rigid support members 41 on both sides of the waist component 4, the other end of the mounting flange 511 is connected to the joint module 512, the other end of the joint module 512 is connected to the output flange 513, and the outer surface of the output flange 513 is connected to the thigh component 6; a joint housing 514 is provided on the outer sides of the mounting flange 511, the joint module 512 and the output flange 513.

[0020] The joint module 512 includes an encoder 5121 , a brake 5122 , a driver 5123 , a frameless torque motor 5125 and an ultra-flat harmonic reducer 5126 which are sequentially connected to a transmission shaft 5124 .

[0021] The thigh component 6 includes a thigh main body 61, the upper end of the thigh main body 61 is connected to the output flange 513 of the hip joint assist module 51, the lower end of the thigh main body 61 is connected to the thigh connecting member 62, and the thigh connecting member 62 is connected to the thigh strap 63; the thigh main body 61 is streamlined and matches the curve of the human thigh; the thigh connecting member 62 is designed as a hollow structure and adopts a curved composite material. The curvature of the curved surface close to the human body matches the circumference of the human thigh to ensure fit with the human body, and the through hole surrounded by the curved surface is used to connect with the thigh main body 61; the thigh strap 63 adopts elastic and soft material to adapt to different thigh dimensions.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] (1) The present invention fixes the stretcher directly to the exoskeleton through a connecting structure, which changes the load transfer method of traditional stretcher carrying and reduces the labor burden of medical personnel. At the same time, it frees the hands of medical personnel so that they can continue to perform functions such as weapon control, thereby improving their self-defense capabilities in the face of complex battlefield environments in the future.

[0024] (2) The present invention is provided with a hip joint assist module, which can provide different assist modes according to different terrains for practical application scenarios, thereby improving the work efficiency of medical personnel, shortening the time for treating and transporting the wounded, and providing more timely and effective treatment services for the wounded on the battlefield;

[0025] (3) The present invention is provided with a pendulum suspension system and a buffer spring at the connection between the stretcher and the exoskeleton, which can reduce the shaking of the stretcher caused by environmental factors and emergencies during the stretcher transportation process, improve its stability, and provide better wounded transportation services;

[0026] (4) The present invention adopts a "rigid support and flexible connection" solution that combines rigidity and flexibility, and is provided with an adjustment mechanism for adjusting the chest binding, waist binding, and the width of the waist rigid structure. It is suitable for people of different heights and body shapes to wear, and has good wearing comfort and versatility;

[0027] (5) The present invention is provided with a retractable stretcher connection structure, which improves the flexibility of the wearer's movement;

[0028] (6) The present invention is provided with a quick-install and quick-disassemble structure for the stretcher connection, which can realize the rapid connection and release of the stretcher and the exoskeleton. When medical personnel encounter emergencies on the battlefield, they can quickly release and evade, thereby improving the convenience and safety of medical personnel when using the exoskeleton. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 Schematic diagram of the overall structure of the exoskeleton system according to an embodiment of the present invention.

[0030] Figure 2 It is a rear view of the exoskeleton system according to an embodiment of the present invention.

[0031] Figure 3 It is a schematic structural diagram of the chest and back auxiliary load-bearing assembly according to an embodiment of the present invention.

[0032] Figure 4 It is a schematic structural diagram of a flexible quick-install and quick-release device according to an embodiment of the present invention.

[0033] Figure 5 This is a schematic diagram of the forward and backward wearing process of an embodiment of the present invention.

[0034] Figure 6 Schematic diagram of the lower limb structure of the exoskeleton system according to an embodiment of the present invention.

[0035] Figure 7 This is a rear view of the lower limb structure of the exoskeleton system according to an embodiment of the present invention.

[0036] Figure 8 It is an exploded schematic diagram of the joint module according to an embodiment of the present invention.

[0037] Fig. 9 This is a working principle diagram of the exoskeleton system carrying stretcher according to an embodiment of the present invention. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be further described in detail below with reference to embodiments and drawings.

[0039] Reference Figure 1 , Figure 2 An exoskeleton system for achieving smooth carrying of a stretcher includes a chest and back auxiliary load-bearing component 1, a suspension system 2, a pendulum stretcher connecting component 3, a waist component 4, a power system 5 and a thigh component 6; the upper end of the thigh component 6 is connected to the power system 5, the power system 5 provides an auxiliary torque to the hip joint when the human body moves, the power system 5 is connected to both sides of the waist component 4, the waist component 4 is connected to the chest and back auxiliary load-bearing component 1 through the suspension system 2, the suspension system 2 is used to improve the stability of the stretcher during carrying, the suspension system 2 is connected to the pendulum stretcher connecting component 3, the pendulum stretcher connecting component 3 uses the physical simple pendulum principle to automatically balance according to the change of the center of gravity position of the stretcher.

[0040] The suspension system 2 includes a back support 21, a spring element 22 and a damping element 23. The chest and back auxiliary load-bearing component 1 is connected to the waist component 4 through the back support 21, and the back support 21 is connected to the pendulum stretcher connecting component 3 through the spring element 22, the damping element 23.

[0041] The pendulum stretcher connection assembly 3 includes a triangular space mechanism 31, a triangular mechanism mounting seat 32 and a rotating shaft 33; the triangular space mechanism 31 is connected to the lower end of the triangular mechanism mounting seat 32, the upper end of the triangular mechanism mounting seat 32 is connected to the rotating shaft 33, the rotating shaft 33 is connected to the back support 21 of the suspension system 2, and a spring element 22 and a damping element 23 are connected between the triangular mechanism mounting seat 32 and the back support 21.

[0042] Reference Figure 3 The chest and back auxiliary load-bearing component 1 includes a back binding 11, a chest binding 12 and a shoulder strap 14; the shoulder straps 14 are connected to the back binding 11 on both sides, and the chest binding 12 is connected to the shoulder straps 14. The chest binding 12 is provided with a first buckle adjustment member 13 that can adjust the binding length and wear the binding on the human body; the shoulder strap 14 has a length adjustment function and can be worn by people of different body shapes; the back binding 11 is made of flexible material to fit the back of the human body, and slots are sewn on both sides of the middle back for connection with the back support 21. While the back binding 11 fits the human body and improves the wearing comfort, it also allows the shoulders and back to bear part of the load, reducing the burden on the hips and waist.

[0043] Reference Figure 1 , Figure 2 and Figure 3 The suspension system 2 mainly uses spring elements 22 and damping elements 23 to maintain system stiffness, dissipate stretcher kinetic energy, generate a stabilizing force that hinders the relative movement of the stretcher, and reduce the stretcher shaking caused by the change of the center of gravity of the carrier during the stretcher transportation process; the spring element 22 and the damping element 23 are arranged in parallel, one end is connected to the back bracket 21 through a connecting plate, a rotating shaft and a bearing, and the other end is connected to the triangular mechanism mounting seat 32 through a ball hinge; by optimizing the coefficients of the spring element 22 and the damping element 23, the stability of the stretcher during transportation can be improved.

[0044] Reference Figure 2 and Figure 4 The rotating shaft 33 is connected to the upper end of the triangular mechanism mounting seat 32 through a bearing, the lower ends of the two oblique sides of the triangular mechanism mounting seat 32 are respectively connected to the front end of the triangular space mechanism 31, and the end of the triangular space mechanism 31 is connected to the stretcher handle; when the center of gravity of the human body changes due to bumps on the road during walking, the rotating shaft 33 rotates at a corresponding angle with the human body and the exoskeleton, and the triangular space mechanism 31 and the triangular mechanism mounting seat 32 use the physical simple pendulum principle to always balance at the center of gravity of the stretcher, and generate relative rotation between the bearing and the rotating shaft 33, which can effectively prevent the stretcher from tipping over.

[0045] Reference Figure 4The triangular space mechanism 31 includes a support rod 311, a flexible clamp 312, an axial spring 313 and a button release assembly 314; the inner wall of the support rod 311 is provided with a flexible clamp 312, and the flexible clamp 312 is made of flexible materials such as silicone, which can naturally wrap its surface and generate a clamping force when the stretcher handle is inserted; the open end of the flexible clamp 312 is provided with a button release assembly 314, and the bottom of the support rod 311 is provided with an axial spring 313, which can absorb the impact force generated when encountering an emergency during the stretcher transportation process, avoid the loosening or damage of the flexible clamp 312, and also avoid the possible harm to the wearer caused by the rigid connection; this device can realize the rapid connection and release of the stretcher and the exoskeleton system, so that the wearer can flexibly disassemble and assemble to cope with the complex and changeable battlefield environment.

[0046] The button release assembly 314 includes a button 3141, a connecting shaft 3142 and a wedge block 3143. The button 3141 is connected to the wedge block 3143 via the connecting shaft 3142. When the button 3141 is pressed, the wedge block 3143 moves downward to push the flexible clamp 312 to open, thereby realizing the rapid removal of the stretcher.

[0047] A telescopic structure is provided at the connection between the triangular space mechanism 31 and the triangular mechanism mounting seat 32. When the stretcher is carried, the support rod 311 is extended to both sides of the waist to connect with the stretcher. At other times, the support rod 311 is shortened to within the rigid structure of the waist component 4 to avoid affecting the wearer's crawling, rolling and other movements, thereby improving the wearer's movement flexibility.

[0048] Reference Figure 5 The support rod 311 of the triangular space mechanism 31 can be axially rotated 180 degrees to adapt to the wearer's use in the forward and backward directions during transportation.

[0049] Reference Figure 6 The waist component 4 adopts a rigid-flexible coupling method, including an external rigid support member 41, an internal flexible binding member 42, a width adjustment device 43 and a second buckle adjustment member 44. The rear side of the external rigid support member 41 is connected with the width adjustment device 43 capable of adjusting the waist width. The inner side of the external rigid support member 41 is provided with an internal flexible binding member 42, which is connected to the second buckle adjustment member 44 capable of adjusting the binding length and allowing the binding to be worn on the human body. The waist component 4 adopts rigid material to support and bear the weight on the outside, and soft fabric to fit the human body on the inside, which can improve the wearing comfort while connecting the upper and lower limbs.

[0050] The external rigid support member 41 is a U-shaped structure, which does not directly fit the human body after being worn, thereby reducing the damage to the human body caused by the dislocation and movement of the exoskeleton during transportation.

[0051] Reference Figure 6 , Figure 7 and Figure 8 The power system 5 includes a hip joint booster module 51 and a power supply module 52 connected thereto, and the power supply module 52 is installed above the hip joint booster module 51; the hip joint booster module 51 includes a mounting flange 511, a joint module 512, an output flange 513 and a joint housing 514, one end of the plane of the mounting flange 511 is fixedly connected to the external rigid support members 41 on both sides of the waist component 4 by screws, the other end of the mounting flange 511 is connected to the joint module 512, and the other end of the joint module 512 is connected to the output flange 513, and the outer surface of the output flange 513 is connected to the thigh component 6, so as to realize active power assistance to the wearer at the hip joint; a joint housing 514 is provided on the outer sides of the mounting flange 511, the joint module 512 and the output flange 513.

[0052] The joint module 512 includes an encoder 5121 , a brake 5122 , a driver 5123 , a frameless torque motor 5125 and an ultra-flat harmonic reducer 5126 which are sequentially connected to a transmission shaft 5124 .

[0053] Reference Figure 1 , Figure 7 The thigh component 6 includes a thigh main body 61, a thigh connecting piece 62 and a thigh strap 63. The upper end of the thigh main body 61 is connected to the output flange 513 of the hip joint assist module 51, the lower end of the thigh main body 61 is connected to the thigh connecting piece 62, and the thigh connecting piece 62 is connected to the thigh strap 63; the thigh main body 61 is streamlined and matches the curve of the human thigh; the thigh connecting piece 62 is designed as a hollow structure and adopts a curved composite material. The curvature of the curved surface close to the human body matches the circumference of the human thigh to ensure fit with the human body, and the through hole surrounded by the curved surface is used to connect with the thigh main body 61; the thigh strap 63 adopts elastic and soft material to adapt to different thigh dimensions.

[0054] Reference Fig. 9The working principle of the present invention is: first, the entire exoskeleton system is worn on the human body by using the chest and back auxiliary load-bearing components 1, the waist component 4 and the thigh component 6, wherein the chest, waist, legs, etc. are all provided with adjustment mechanisms to meet the needs of users of different body shapes; then the stretcher handle is inserted into the support rod 311 of the pendulum stretcher connection component 3, and the flexible clamp 312 is locked to quickly fix the stretcher to the exoskeleton system; in order to prevent the stretcher from tilting during transportation, the pendulum stretcher connection component 3 is designed as a pendulum type, and the physical simple pendulum principle is used to keep the stretcher always balanced at the center of gravity. position; at the same time, in order to reduce the shaking of the stretcher during balancing, a suspension system 2 with a spring element 22 and a damping element 23 is used to attenuate the vibration; in addition, the exoskeleton system is provided with a hip joint assist module 51 to provide assistance for human walking, reduce the burden on the human body, and improve the handling efficiency; when an emergency occurs during transportation or the stretcher needs to be put down at the destination, press the button 3141, the wedge block 3143 pushes the flexible clamp 312 to open, and the axial spring 313 generates a certain elastic force, and the stretcher handle can be easily and quickly taken out; finally, the stretcher is quickly and smoothly transported.

[0055] The present invention fixes the stretcher directly to the exoskeleton through the pendulum stretcher connecting assembly 3, which changes the load transfer method of traditional stretcher carrying and reduces the labor burden of medical personnel; at the same time, it frees the hands of medical personnel so that they can continue to perform functions such as weapon control, thereby improving their self-defense capabilities in the face of complex battlefield environments in the future; and it has good wearing comfort and operational flexibility.

[0056] The present invention is described above by way of example in conjunction with the accompanying drawings. It is obvious that the implementation of the present invention is not limited to the above-mentioned method. As long as various improvements are made using the method concept and technical solution of the present invention, or the concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. An exoskeleton system for achieving smooth stretcher transport, comprising a thigh assembly (6), characterized in that: The upper end of the thigh component (6) is connected to the power system (5), the power system (5) is connected to both sides of the waist component (4), the waist component (4) is connected to the chest and back auxiliary load-bearing component (1) through the suspension system (2), the suspension system (2) is connected to the pendulum stretcher connection component (3), and the pendulum stretcher connection component (3) uses the physical simple pendulum principle to automatically balance according to the change of the center of gravity position of the stretcher; The suspension system (2) comprises a back support (21), the chest and back auxiliary load-bearing assembly (1) is connected to the waist assembly (4) via the back support (21), and the back support (21) is connected to the pendulum stretcher connection assembly (3) via a spring element (22), a damping element (23); The pendulum stretcher connection assembly (3) comprises a triangular space mechanism (31), the triangular space mechanism (31) is connected to the lower end of a triangular mechanism mounting seat (32), the upper end of the triangular mechanism mounting seat (32) is connected to a rotating shaft (33), the rotating shaft (33) is connected to a back support (21) of a suspension system (2), and a spring element (22) and a damping element (23) are connected between the triangular mechanism mounting seat (32) and the back support (21).

2. The exoskeleton system according to claim 1, characterized in that: The chest and back auxiliary load-bearing component (1) comprises a back binding (11), the two sides of the back binding (11) are connected to shoulder straps (14), the shoulder straps (14) are connected to a chest binding (12), and the chest binding (12) is provided with a first buckle adjustment member (13); the back binding (11) is made of flexible material to fit the back of the human body, and slots are sewn on both sides of the middle back for connection with the back support (21).

3. The exoskeleton system according to claim 1, characterized in that: The spring element (22) and the damping element (23) are arranged in parallel, one end of which is connected to the back support (21) via a connecting plate, a rotating shaft and a bearing, and the other end of which is connected to the triangular mechanism mounting seat (32) via a ball hinge; by optimizing the coefficients of the spring element (22) and the damping element (23), the stability of the stretcher during transportation is improved.

4. The exoskeleton system according to claim 1, characterized in that: The rotating shaft (33) is connected to the upper end of the triangular mechanism mounting seat (32) through a bearing, the lower ends of the two oblique sides of the triangular mechanism mounting seat (32) are respectively connected to the front end of the triangular space mechanism (31), and the end of the triangular space mechanism (31) is connected to the stretcher handle; when the center of gravity of the human body changes due to bumps on the road during walking, the rotating shaft (33) rotates at a corresponding angle along with the human body and the exoskeleton, and the triangular space mechanism (31) and the triangular mechanism mounting seat (32) are always balanced at the center of gravity of the stretcher using the principle of a physical simple pendulum.

5. The exoskeleton system according to claim 1, characterized in that: The triangular space mechanism (31) comprises a supporting rod (311), the inner wall of the supporting rod (311) is provided with a flexible clamp (312), the flexible clamp (312) is made of flexible material, and when the stretcher handle is inserted, it can naturally wrap its surface and generate clamping force; the open end of the flexible clamp (312) is provided with a button release assembly (314), and the bottom of the supporting rod (311) is provided with an axial spring (313); the button release assembly (314) comprises a button (3141), the button (3141) is connected to a wedge block (3143) through a connecting shaft (3142), and when the button (3141) is pressed, the wedge block (3143) moves downward to push the flexible clamp (312) to open, so as to realize the rapid removal of the stretcher.

6. The exoskeleton system according to claim 5, characterized in that: The supporting rod (311) of the triangular space mechanism (31) can be axially rotated 180 degrees to adapt to the wearer's use in the forward and backward directions during transportation.

7. The exoskeleton system according to claim 5, characterized in that: A telescopic structure is provided at the connection between the triangular space mechanism (31) and the triangular mechanism mounting seat (32). When the stretcher is being carried, the support rod (311) is extended to both sides of the waist to connect with the stretcher. At other times, the support rod (311) is shortened to within the rigid structure of the waist component (4).

8. The exoskeleton system according to claim 1, characterized in that: The waist component (4) adopts a rigid-flexible coupling method, including an external rigid support member (41), the rear side of the external rigid support member (41) is connected to a width adjustment device (43), the inner side of the external rigid support member (41) is provided with an internal flexible binding member (42), and the internal flexible binding member (42) is connected to a second buckle adjustment member (44); the external rigid support member (41) is a U-shaped structure, and does not directly fit the human body after being worn.

9. The exoskeleton system according to claim 8, characterized in that: The power system (5) comprises a hip joint booster module (51) and a power module (52) connected thereto, wherein the power module (52) is installed above the hip joint booster module (51); the hip joint booster module (51) comprises a mounting flange (511), a joint module (512), an output flange (513) and a joint housing (514), wherein one end of the plane of the mounting flange (511) is fixedly connected to the external rigid support members (41) on both sides of the waist component (4), and the other end of the mounting flange (511) is connected to the joint module (512). The other end of the joint module (512) is connected to the output flange (513), and the outer surface of the output flange (513) is connected to the thigh component (6); a joint housing (514) is provided on the outer side of the mounting flange (511), the joint module (512), and the output flange (513); the joint module (512) includes an encoder (5121), a brake (5122), a driver (5123), a frameless torque motor (5125), and an ultra-flat harmonic reducer (5126) which are sequentially connected on a transmission shaft (5124).

10. The exoskeleton system according to claim 9, characterized in that: The thigh assembly (6) includes a thigh main body (61), the upper end of the thigh main body (61) is connected to the output flange (513) of the hip joint assist module (51), the lower end of the thigh main body (61) is connected to the thigh connecting piece (62), and the thigh connecting piece (62) is connected to the thigh strap (63); the thigh main body (61) is streamlined and matches the curve of the human thigh; the thigh connecting piece (62) is designed as a hollow structure and adopts a curved composite material, the curvature of the curved surface close to the human body matches the circumference of the human thigh to ensure fit with the human body, and the through hole surrounded by the curved surface is used to connect with the thigh main body (61); the thigh strap (63) adopts elastic and soft material to adapt to different thigh dimensions.

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