Exoskeleton system for implementing smooth stretcher handling

Abstract

The application discloses an exoskeleton system for stably carrying a stretcher, which comprises a thigh assembly, a power system connected to the upper end of the thigh assembly, a waist assembly connected to the power system, a chest and back auxiliary load-bearing assembly connected to the waist assembly through a suspension system, and a pendulum-type stretcher connecting assembly connected to the suspension system, wherein the pendulum-type stretcher connecting assembly automatically balances according to the position change of the gravity center of the stretcher by using the physical pendulum principle; the suspension system comprises a back support, the chest and back auxiliary load-bearing assembly is connected to the waist assembly through the back support, and the back support is connected to the pendulum-type stretcher connecting assembly through a spring and a damping element; the pendulum-type stretcher connecting assembly comprises a triangular space mechanism, a triangular mechanism mounting base connected to the triangular space mechanism, a rotating shaft connected to the triangular mechanism mounting base, and a back support connected to the rotating shaft, and the triangular mechanism mounting base and the back support are connected through a spring element and a damping element; the exoskeleton system can free the hands of medical staff, improve the stretcher carrying efficiency and self-defense ability.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of exoskeletons, in particular to an exoskeleton system for stable stretcher carrying. BACKGROUND

[0002] Stretcher carrying is a battlefield transfer technology widely used in countries around the world, and is the key to determining whether wounded soldiers can receive continuous, timely and rapid treatment in the treatment chain. However, the existing stretcher carrying mode has serious shortcomings, which limits its effectiveness in practical application. From the perspective of motor function anatomy, the traditional carrying mode relies more on small muscles and more weight-bearing joints, so the overall power consumption is high, which leads to fatigue of medical personnel and low carrying efficiency; at the same time, this mode also limits the medical personnel to carry out activities such as weapon control during the carrying process, making them lack the ability to defend themselves and monitor the wounded throughout the process.

[0003] The exoskeleton system provides a new solution for the medical personnel to carry out labor-saving, rapid and efficient carrying, and to free the upper limbs to continue to perform the functions of wounded rescue and weapon control. However, according to the references ([1] Yu Y, Hu X, Wu K, et al. Application status and prospect of exoskeleton in medical support field [J]. Medical and Health Equipment, 2024, 45(03): 71-75.; [2] Meng Z. Wearable carrying assistance exoskeleton design and lower limb exoskeleton research [D]. Xi'an University of Technology, 2023.), the existing exoskeleton system is mainly used to enhance human strength or provide motion assistance, which is different from single-person mass carrying. Stretcher carrying is the result of two people working together, and there are problems of motion interference and coordination difficulty during the carrying process. The traditional exoskeleton system is relatively single and cannot achieve two-person carrying of the stretcher, so there is an urgent need to develop an exoskeleton system that can achieve two-person carrying of the stretcher and is comfortable and flexible to wear.

[0004] In addition, during the stretcher carrying process, the complexity of the environment cannot be ignored, such as jungles, mountains and unstructured roads, which require different carrying modes. And two-person carrying requires high motion coordination, sudden stops, sudden turns and changes in the center of gravity of the human body, etc. can cause the stretcher to tilt, roll and other movements. The existing exoskeleton system is mainly for wearers, and it is difficult to adapt to the needs of dealing with complex terrain and unexpected situations during the stretcher carrying process to ensure the stability of the stretcher. SUMMARY

[0005] In order to overcome the shortcomings of the prior art, the purpose of the present application is to provide an exoskeleton system for stable stretcher carrying, which frees the hands of medical personnel and improves their stretcher carrying efficiency, self-defense ability and ability to monitor the wounded throughout the process.

[0006] To achieve the above purpose, the present application realizes the following technical solutions:

[0007] An exoskeleton system for achieving stable stretcher transport includes a thigh assembly 6, the upper end of which is connected to a power system 5. The power system 5 is connected to both sides of a waist assembly 4. The waist assembly 4 is connected to a suspension system 2 and a chest and back auxiliary load-bearing assembly 1. A pendulum stretcher connection assembly 3 is connected to the suspension system 2. The pendulum stretcher connection assembly 3 uses the physical principle of a pendulum to automatically balance according to changes in the center of gravity of the stretcher.

[0008] The suspension system 2 includes a back support 21, and a 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 by a spring element 22, a damping element 23 and a pendulum stretcher connection component 3.

[0009] The pendulum stretcher connection assembly 3 includes a triangular space mechanism 31, the lower end of which is connected to the triangular space mechanism 31 and the triangular mechanism mounting base 32, the upper end of which is connected to the rotating shaft 33, the rotating shaft 33 and 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 base 32 and the back support 21.

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

[0011] The spring element 22 and damping element 23 are arranged in parallel. One end is connected to the back support 21 through a connecting piece, a rotating shaft and a bearing, and the other end is connected to the triangular mechanism mounting base 32 through a ball joint. By optimizing the selection of the coefficients of the spring element 22 and the damping element 23, the stability during stretcher transport is improved.

[0012] The rotating shaft 33 is connected to the upper end of the triangular mechanism mounting base 32 via a bearing. The lower ends of the two inclined sides of the triangular mechanism mounting base 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 changes due to road bumps during human walking, the rotating shaft 33 rotates at a corresponding angle with the human body and exoskeleton. The triangular space mechanism 31 and the triangular mechanism mounting base 32 are always balanced at the center of gravity of the stretcher using the principle of a simple pendulum.

[0013] The triangular space mechanism 31 comprises a support rod 311, the inner wall of the support rod 311 is provided with a flexible clamp 312, the flexible clamp 312 is made of flexible material, and the flexible clamp 312 can naturally wrap the surface of the stretcher handle and generate clamping force when the stretcher handle is inserted; the opening 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.

[0014] The button release assembly 314 comprises a button 3141, the button 3141 is connected through a connecting shaft 3142 and a wedge block 3143, when the button 3141 is pressed, the wedge block 3143 moves downward to push the flexible clamp 312 to open, so that the stretcher can be quickly taken out.

[0015] The connecting part between the triangular space mechanism 31 and the triangular mechanism mounting seat 32 is provided with a telescopic structure, the support rod 311 is elongated to the both sides of the waist during the stretcher carrying operation and is connected with the stretcher, and the support rod 311 is shortened to be within the rigid structure of the waist assembly 4 during the rest time.

[0016] The support rod 311 of the triangular space mechanism 31 can rotate 180° in the axial direction to adapt to the forward and backward wearing of the wearer during the carrying process.

[0017] The waist assembly 4 adopts a rigid-flexible coupling mode, comprises an external rigid support 41, the rear side of the external rigid support 41 is connected with a width adjusting device 43, the inner side of the external rigid support 41 is provided with an internal flexible binding member 42, and the internal flexible binding member 42 is connected with a second buckle adjusting member 44.

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

[0019] The power system 5 comprises a hip joint assisting module 51 and a power supply module 52 connected with the hip joint assisting module 51, and the power supply module 52 is installed above the hip joint assisting module 51; the hip joint assisting module 51 comprises a mounting flange 511, a joint module 512, an output flange 513 and a joint shell 514, one end of the mounting flange 511 in the plane is fixedly connected with the external rigid supports 41 on the both sides of the waist assembly 4, the other end of the mounting flange 511 is connected with the joint module 512, the other end of the joint module 512 is connected with the output flange 513, and the outer surface of the output flange 513 is connected with the thigh assembly 6; the outer sides of the mounting flange 511, the joint module 512 and the output flange 513 are provided with the joint shell 514.

[0020] The joint module 512 comprises an encoder 5121, a brake 5122, a driver 5123, a frameless torque motor 5125 and an ultra-flat harmonic reducer 5126 connected in sequence on a transmission shaft 5124.

[0021] The thigh assembly 6 comprises a thigh main part 61, the upper end of which is connected with the output flange 513 of the hip joint assisting module 51, the lower end of which is connected with a thigh connecting part 62, and the thigh connecting part 62 is connected with a thigh band 63; the thigh main part 61 is shaped as a streamline and matches the curve of the human thigh; the thigh connecting part 62 is designed as a hollow structure and adopts a curved surface composite material, the curve of the curved surface close to the human body side matches the circumference of the human thigh, so as to ensure the fit with the human body, and the through hole surrounded by the curved surface is used to be connected with the thigh main part 61; the thigh band 63 adopts an elastic soft material and is suitable for different thigh dimensions.

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

[0023] (1) The stretcher is directly fixed to the exoskeleton through the connecting structure, the load transmission mode of the traditional stretcher carrying is changed, the labor burden of the medical staff is reduced, and the hands of the medical staff are freed, so that they can continue to play the function of weapon control and improve their self-defense ability in the face of complex battlefield environment in the future;

[0024] (2) The hip joint assisting module is provided, different assisting modes can be provided according to different terrains, so as to improve the working efficiency of the medical staff, shorten the time of treating and transferring the wounded, and provide more timely and effective treatment service for the wounded on the battlefield;

[0025] (3) The pendulum suspension system and the buffer spring at the connecting position of the stretcher and the exoskeleton are provided, the shaking of the stretcher caused by environmental factors and unexpected situations during the stretcher carrying process is reduced, the stability is improved, and better wounded lifting service is provided;

[0026] (4) The rigid support flexible connection scheme is adopted, and the adjusting mechanism for adjusting the chest binding, waist binding and width of the waist rigid structure is provided, which is suitable for people of different heights and body shapes, has good wearing comfort and universality;

[0027] (5) The stretcher connecting structure that can be telescopic is provided, the flexibility of the wearer in movement is improved;

[0028] (6) The quick mounting and dismounting structure of the stretcher connection is provided, the quick connection and release of the stretcher and the exoskeleton can be realized, the medical staff can quickly release and avoid when unexpected situations are encountered on the battlefield, and the operation convenience and safety of the medical staff when using the exoskeleton are improved. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 It is a whole structure schematic view of the exoskeleton system of the embodiment of the present application.

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

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

[0032] Figure 4 This is a schematic diagram of the flexible quick-installation and quick-disassembly device according to an embodiment of the present invention.

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

[0034] Figure 6 This is a 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 This is an exploded view of the joint module according to an embodiment of the present invention.

[0037] Figure 9 This is a schematic diagram illustrating the working principle of the exoskeleton system transport stretcher according to an embodiment of the present invention. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the embodiments and accompanying drawings.

[0039] Reference Figure 1 , Figure 2 An exoskeleton system for stable stretcher transport includes a chest and back auxiliary load-bearing component 1, a suspension system 2, a pendulum stretcher connection 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, which provides 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 transport. The pendulum stretcher connection component 3 is connected to the suspension system 2. The pendulum stretcher connection component 3 uses the physical principle of a pendulum to automatically balance according to the change of the stretcher's center of gravity.

[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. The back support 21 is connected to the pendulum stretcher connection component 3 through the spring element 22, the damping element 23, and the pendulum stretcher connection component 3.

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

[0042] With reference to Figure 3 , the chest and back auxiliary load-bearing assembly 1 comprises a back binding 11, a chest binding 12 and a shoulder strap 14; the two sides of the back binding 11 are connected with the shoulder strap 14, the shoulder strap 14 is connected with the chest binding 12, and the chest binding 12 is provided with a first buckle adjusting member 13 capable of adjusting the binding length and wearing the binding on the human body; the shoulder strap 14 has a length adjusting function and can be worn by people of different body types; the back binding 11 is made of flexible material and is attached to the back of the human body, and two slots are sewn on the back surface of the middle part for connection with the back support 21; the back binding 11 is attached to the human body, improves the wearing comfort, and also enables the shoulder and back to bear part of the load, reducing the burden on the hip and waist.

[0043] With reference to Figure 1 , Figure 2 and Figure 3 , the suspension system 2 mainly uses the spring element 22 and the damping element 23 to maintain the system stiffness, dissipate the stretcher kinetic energy, generate a stable force to hinder 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 carrying process; the spring element 22 and the damping element 23 are arranged in parallel, one end is connected with the back support 21 through a connecting sheet, a rotating shaft and a bearing, and the other end is connected with the triangular mechanism mounting seat 32 through a spherical hinge; by optimizing the selection of the coefficients of the spring element 22 and the damping element 23, the stability during the stretcher carrying process can be improved.

[0044] With reference to Figure 2 and Figure 4 , the rotating shaft 33 is connected with 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 with the front end of the triangular space mechanism 31, and the end of the triangular space mechanism 31 is connected with the stretcher handle; when the center of gravity changes due to the bumping of the road surface during the walking of the human body, the rotating shaft 33 rotates with the human body and the exoskeleton at a corresponding angle, and the triangular space mechanism 31 and the triangular mechanism mounting seat 32 always balance at the center of gravity of the stretcher by using the physical pendulum principle, and rotate relative to the rotating shaft 33 through the bearing, which can effectively prevent the stretcher from rolling over.

[0045] With reference to 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 the flexible clamp 312, which is made of a flexible material such as silica gel and can naturally wrap the surface of the stretcher handle and generate a clamping force when the stretcher handle is inserted; the opening end of the flexible clamp 312 is provided with the button release assembly 314, and the bottom of the support rod 311 is provided with the axial spring 313, which can absorb the impact force generated when the stretcher encounters an emergency during the stretcher carrying process, avoid loosening or damage of the flexible clamp 312, and also avoid damage to the wearer caused by rigid connection; the device can realize quick connection and release of the stretcher and the exoskeleton system, so that the wearer can flexibly disassemble to cope with complex and variable battlefield environments.

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

[0047] The connecting part of the triangular space mechanism 31 and the triangular mechanism mounting seat 32 is provided with a telescopic structure, the support rod 311 is elongated to the both sides of the waist to connect with the stretcher during the stretcher carrying operation, and the support rod 311 is shortened to be within the rigid structure of the waist assembly 4 at other times to avoid affecting the crawling, rolling and other actions of the wearer, improving the movement flexibility of the wearer.

[0048] Referring to Figure 5 , the support rod 311 of the triangular space mechanism 31 can rotate 180° in the axial direction to adapt to the forward and backward use of the wearer during the carrying process.

[0049] Referring to Figure 6 , the waist assembly 4 adopts a rigid-flexible coupling mode, including an external rigid support 41, an internal flexible binding member 42, a width adjusting device 43 and a second buckle adjusting member 44, the external rigid support 41 is connected with the width adjusting device 43 capable of adjusting the width of the waist at the rear side, the internal flexible binding member 42 is arranged at the inner side of the external rigid support 41, and the internal flexible binding member 42 and the second buckle adjusting member 44 capable of adjusting the binding length and wearing the binding on the human body are connected; the outside of the waist assembly 4 is supported and supported by a rigid material, and the inside is matched with the human body by soft cloth, which can improve the wearing comfort while connecting the upper and lower limbs.

[0050] The external rigid support 41 is in a U-shaped structure, which is not directly matched with the human body after wearing, and can reduce the damage to the human body caused by misplacement and movement of the exoskeleton during the carrying process.

[0051] Referring to Figure 6 ,Figure 7 and Figure 8 The power system 5 comprises a hip joint assisting module 51 and a power module 52 connected to the hip joint assisting module 51, and the power module 52 is installed above the hip joint assisting module 51; the hip joint assisting module 51 comprises a mounting flange 511, a joint module 512, an output flange 513 and a joint shell 514, the mounting flange 511 is fixedly connected to the outer rigid support 41 on both sides of the waist assembly 4 through a screw at one end of the mounting flange 511, 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 assembly 6 to realize active assistance to the wearer at the hip joint; the outer side of the mounting flange 511, the joint module 512 and the output flange 513 is provided with the joint shell 514.

[0052] The joint module 512 comprises an encoder 5121, a brake 5122, a driver 5123, a frameless torque motor 5125 and an ultra-flat harmonic reducer 5126 connected in sequence on a transmission shaft 5124.

[0053] Referring to Figure 1 , Figure 7 The thigh assembly 6 comprises a thigh main body 61, a thigh connecting piece 62 and a thigh band 63, the upper end of the thigh main body 61 is connected to the output flange 513 of the hip joint assisting 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 band 63; the thigh main body 61 is shaped as a streamline and matches the curve of the human thigh; the thigh connecting piece 62 is designed as a hollow structure and adopts a curved surface composite material, the curvature of the curved surface close to the human body side matches the circumference of the human thigh to ensure that the thigh connecting piece 62 is in close contact with the human body, and the through hole surrounded by the curved surface is used to connect the thigh main body 61; the thigh band 63 adopts a flexible and soft material and can adapt to different thigh dimensions.

[0054] Referring to Figure 9The working principle of the present application is as follows: firstly, the whole exoskeleton system is worn on the human body by using the chest and back auxiliary load-bearing assembly 1, the waist assembly 4 and the thigh assembly 6, wherein the chest, the waist and the leg are all provided with adjusting mechanisms to meet the users of different body types; then the stretcher handle is inserted into the supporting rod member 311 of the pendulum stretcher connecting assembly 3, the flexible clamping jaw 312 is locked, and the stretcher is quickly fixed to the exoskeleton system; in order to avoid the side inclination of the stretcher during the carrying process, the pendulum stretcher connecting assembly 3 is designed as a pendulum, and the stretcher is always balanced at the center of gravity by using the physical pendulum principle; at the same time, in order to reduce the shaking of the stretcher during the balancing process, the suspension system 2 provided with the spring element 22 and the damping element 23 is used to attenuate the vibration; in addition, the exoskeleton system is provided with a hip joint assisting module 51 to provide assistance for the human body walking, reduce the burden of the human body and improve the carrying efficiency; when the stretcher needs to be put down due to the sudden situation during the carrying process or the arrival of the destination, the button 3141 is pressed, the wedge block 3143 pushes the flexible clamping jaw 312 to open, and at the same time, the axial spring 313 generates a certain elastic force, so that the stretcher handle can be easily and quickly taken out; finally, the rapid and stable carrying of the stretcher is completed.

[0055] The present application directly fixes the stretcher to the exoskeleton through the pendulum stretcher connecting assembly 3, changes the load transmission mode of the traditional stretcher carrying, reduces the labor burden of the medical personnel, at the same time, liberates the hands of the medical personnel, so that they can continue to play the functions of weapon control and the like, improves their self-defense ability in the face of the complex battlefield environment in the future, and has good wearing comfort and operation flexibility.

[0056] The present application has been described above in conjunction with the drawings, and it is obvious that the implementation of the present application is not limited by the above mode, as long as various improvements are made by using the method concept and technical scheme of the present application, or the concept and technical scheme of the present application are directly applied to other occasions without improvement, all of which are within the protection scope of the present application.

Claims

1. An exoskeleton system for achieving stable stretcher transport, comprising a thigh assembly (6), characterized in that: The upper end of the thigh assembly (6) is connected to the power system (5), the power system (5) is connected to both sides of the waist assembly (4), the waist assembly (4) is connected to the chest and back auxiliary load-bearing assembly (1) through the suspension system (2), the pendulum stretcher connection assembly (3) is connected to the suspension system (2), the pendulum stretcher connection assembly (3) uses the physical pendulum principle to automatically balance according to the change of the center of gravity of the stretcher; The suspension system (2) includes a back support (21), and a chest and back auxiliary load-bearing component (1) is connected to the back support (21) and the waist component (4). The back support (21) is connected via a spring element (22), a damping element (23) and a pendulum stretcher connection component (3). The pendulum stretcher connection assembly (3) includes a triangular space mechanism (31), the lower end of the triangular space mechanism (31) and the triangular mechanism mounting base (32) are connected, the upper end of the triangular mechanism mounting base (32) is connected to the pivot (33), the pivot (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 base (32) and the back support (21). The spring element (22) and damping element (23) are arranged in parallel. One end is connected to the back support (21) through a connecting piece, a rotating shaft and a bearing, and the other end is connected to the triangular mechanism mounting seat (32) through a ball joint. By optimizing the selection of the coefficients of the spring element (22) and damping element (23), the stability during stretcher transport is improved. The rotating shaft (33) is connected to the upper end of the triangular mechanism mounting base (32) via a bearing. The lower ends of the two inclined sides of the triangular mechanism mounting base (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 changes due to road bumps during human walking, the rotating shaft (33) rotates at a corresponding angle with the human body and exoskeleton. The triangular space mechanism (31) and the triangular mechanism mounting base (32) are always balanced at the center of gravity of the stretcher using the principle of a simple pendulum. The triangular space mechanism (31) includes a support rod (311), and a flexible gripper (312) is provided on the inner wall of the support rod (311). The flexible gripper (312) is made of flexible material, which naturally wraps around the surface of the stretcher handle 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 gripper (312), and an axial spring (313) is provided at the bottom of the support rod (311). The button release assembly (314) includes a button (3141), which is connected to a wedge block (3143) through a connecting shaft (3142). When the button (3141) is pressed, the wedge block (3143) moves downward to push the flexible gripper (312) open, so as to realize the quick removal of the stretcher.

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

3. The exoskeleton system according to claim 1, characterized in that: The support rod (311) of the triangular space mechanism (31) can rotate 180° axially to accommodate the wearer's use in the forward and backward directions during transport.

4. The exoskeleton system according to claim 1, characterized in that: The connection between the triangular space mechanism (31) and the triangular mechanism mounting base (32) is provided with a telescopic structure. When carrying out stretcher transport operations, the support rod (311) extends to both sides of the waist to connect with the stretcher. At other times, the support rod (311) shortens to within the rigid structure of the waist component (4).

5. 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 (41), a width adjustment device (43) connected to the rear side of the external rigid support (41), an internal flexible binding component (42) provided on the inner side of the external rigid support (41), and the internal flexible binding component (42) connected to the second buckle adjustment component (44); the external rigid support (41) is a U-shaped structure and does not directly fit the human body after being worn.

6. The exoskeleton system according to claim 5, characterized in that: The power system (5) includes a hip joint assist module (51) and a power module (52) connected thereto. The power module (52) is installed above the hip joint assist module (51). The hip joint assist module (51) includes a mounting flange (511), a joint module (512), an output flange (513), and a joint housing (514). One flat end of the mounting flange (511) is fixedly connected to the external rigid support members (41) on both sides of the waist assembly (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 assembly (6); the outer side of the mounting flange (511), the joint module (512), and the output flange (513) is provided with a joint housing (514); 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) connected in sequence on the drive shaft (5124).

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

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