Variable-stiffness cervical vertebra supporting exoskeleton for long-time head lowering work

Abstract

The variable-stiffness cervical vertebra supporting exoskeleton comprises two sets of forward bending supporting structures which are oppositely arranged in a spaced mode, each forward bending supporting structure comprises a head side fixing rod and a chest supporting rod, and each head side fixing rod is connected with the corresponding chest supporting rod to form a rotating pair which is arranged in an L shape; each chest supporting rod is internally provided with a driver arrangement cavity in the length direction, and a stretching variable stiffness driver is arranged in the driver arrangement cavity; the upper end of the stretching variable stiffness driver is hinged with the chest supporting rod, and the lower end is hinged with a short arm of the L-shaped rod; a long arm of the L-shaped rod is hinged to the head side fixing rods, a chin support is arranged between the head side fixing rods, and the two ends of the chin support are hinged to the guide rail-connecting rod mechanism on the inner side faces of the head side fixing rods. The neck muscle burden of a worker during long-time head lowering operation is relieved, and the requirement of related work for head movement flexibility is met.

Description

Technical Field

[0001] The invention relates to the technical field of supporting exoskeletons, and in particular to a variable-rigidity cervical vertebra supporting exoskeleton for long-term head-down work. Background Art

[0002] In some positions that require long periods of head-down work, such as surgeons performing surgery and assembly line workers doing assembly work, workers often have to maintain their head and neck bent forward. The weight of the head puts a greater burden on the neck muscles and bones, resulting in a significantly higher probability of neck-related diseases for these people who engage in long-term head-down work than the general population.

[0003] As a wearable device, exoskeleton can provide assistance to the wearer in daily work and life, thereby effectively compensating for the gravity of the head and reducing the burden on the cervical spine. According to different working principles, cervical exoskeletons can be divided into two types: active and passive. Active exoskeletons are usually equipped with driving elements such as motors, which are relatively large in size and weight, and are not conducive to long-term wear. In contrast, passive exoskeletons with lighter weight, more compact structure and more reliable performance have better practicality. Existing passive cervical exoskeletons mostly use elastic elements such as torsion springs or leaf springs to provide support for the head. This design scheme mostly only allows the head to flex and extend, and lacks the freedom of left and right rotation of the head, resulting in limited movement of the wearer's head.

[0004] In addition, although these elastic elements can offset the head's gravity during the static posture maintenance phase, since the stiffness of the elastic elements cannot be adjusted, resistance will be generated when the head is bent forward, which will increase the burden on the neck muscles and affect the user experience. The variable stiffness actuator is a driving element that can adjust its own stiffness. It can be extended and retracted with less resistance in a flexible state, but it is difficult to extend and retract in a rigid state and can withstand a large load. Integrating it into the exoskeleton can flexibly adjust the joint stiffness to provide appropriate assistance in different stages of movement.

[0005] Therefore, the research and development of a lightweight cervical exoskeleton with high freedom of movement and adjustable stiffness is of great significance, and can provide new options for the design of exoskeleton robots, promote the development of exoskeleton robots and expand their application areas. Summary of the invention

[0006] The purpose of the present invention is to reduce the burden on the neck muscles of workers when they work with their heads down for a long time and to meet the requirements of related work for head movement flexibility, and to provide a variable stiffness cervical support exoskeleton for long-term head-down work.

[0007] The present invention is achieved in that:

[0008] A variable-rigidity cervical vertebrae support exoskeleton for long-term head-bending work, comprising two sets of flexion support structures arranged relatively spaced apart, the flexion support structures comprising a horizontally arranged head side fixing rod and a vertically arranged chest support rod, each head side fixing rod is connected to a chest support rod to form a revolving pair and is arranged in an L shape; each chest support rod has a driver arrangement cavity inside it in the length direction, a tensile variable-rigidity driver is arranged in the driver arrangement cavity, the upper end of the tensile variable-rigidity driver is hinged to the chest support rod, the lower end of the tensile variable-rigidity driver is hinged to the short arm of the L-shaped rod, the long arm of the L-shaped rod is hinged to the head side fixing rod, and the two sets of the flexion support structures are connected by a width adjustment rod; a chin rest is arranged in the spaced apart area between the head side fixing rods, and the two ends of the chin rest are hinged to the guide rail-connecting rod mechanism on the inner side of the head side fixing rod.

[0009] Preferably, the guide rail-connecting rod mechanism includes a guide rail arranged on the inner side of the head-side fixing rod, a slider slidably matched with the guide rail, an adapter plate connected to the slider, and a guide rod hingedly connected to the adapter plate, and the guide rod is hinged to the chin rest.

[0010] Preferably, the head-side fixing rod comprises an outer fixing rod and an inner fixing rod, the axis of the inner fixing rod designed at the proximal end position is connected to the hole at the top end of the chest support rod through a bearing, the bearing, the axis and the hole are all interference fit, and the outer fixing rod and the inner fixing rod are locked by form locking and bolts; a torsion spring is arranged in the cavity formed between the top end and the outer fixing rod, and the two ends of the torsion spring are respectively clamped with the chest support rod and the outer fixing rod; and the outer fixing rod, the inner fixing rod, the chest support rod and the long arm end of the L-shaped rod form a sandwich structure at different positions, so as to allow the head-side fixing rod to rotate around the chest support rod, and at the same time, the L-shaped rod rotates around the pin connected to its long arm end.

[0011] Preferably, a support stud is installed between the outer fixing rod and the inner fixing rod, and the support stud is clamped between the inner fixing rod and the outer fixing rod. The fixing bolts on the inner and outer sides respectively pass through the bolt holes of the inner fixing rod and the outer fixing rod to form a threaded connection with the stud, so as to strengthen the fixation of the outer fixing rod and the inner fixing rod.

[0012] Preferably, the stretchable variable stiffness actuator comprises two centrally symmetrically arranged sheet layers, two T-shaped sealing end blocks and an elastic airbag, the sheet layer comprises a tensile strip and an elastic strip, and staggered engaging teeth and a supporting sponge bonded to the surface of the tensile strip, the tensile strip and the elastic strip being connected in series; two sealing end blocks are arranged at the two ends of the sheet layer opposite to the engaging teeth, the two surfaces of the thin ends of the sealing end blocks are fixed to the tensile strip / elastic strip of the sheet layer, and the elastic airbag is bonded to the thick end of the sealing end block, thereby achieving sealing of the stretchable variable stiffness actuator.

[0013] Preferably, the outer end of the anti-tension belt is folded inward and sewn to form a hinge hole for connection.

[0014] Preferably, an air circuit connector is provided at the outer end of the sealing end block, and the air circuit connector is communicated with the interior of the tensile variable stiffness actuator through an air passage inside the sealing end block.

[0015] Preferably, the width adjustment rod has holes for adjusting the widths of the two sets of forward flexion support structures.

[0016] Preferably, a guide limit groove for the movement of the L-shaped rod is arranged on the side surface of the chest support rod along its length direction, and the guide limit groove is communicated with the driver arrangement cavity.

[0017] Preferably, a shoulder strap is connected to the chest support rod to fix the variable stiffness cervical vertebra support exoskeleton to the wearer's body.

[0018] The variable stiffness cervical vertebra support exoskeleton for long-term head-down work of the present invention realizes active adjustment of the exoskeleton joint stiffness by introducing a variable stiffness driver. In a flexible state, the present invention allows the head to move in a low-resistance state, ensuring that the head movement is not significantly restricted, and meeting the wearer's need to flexibly adjust the head position during work; in a rigid state, the exoskeleton can provide sufficient support for the neck, reducing the burden on the neck muscles during long-term flexion.

[0019] The variable stiffness cervical vertebra support exoskeleton for long-term head-down work of the present invention is designed with two main degrees of freedom: sagittal plane flexion and axial rotation, and these two degrees of freedom are independent of each other. In a flexible state, the exoskeleton allows the head to complete flexion, rotation and coupled movement; in a rigid state, the exoskeleton will limit the flexion movement of the head, but allow the head to rotate freely.

[0020] The variable-rigidity cervical support exoskeleton for long-term head-down work of the present invention adopts a design method in which the exoskeleton and the head are not completely fixed. This design method allows a certain degree of lateral flexion, which provides greater flexibility and operating space while avoiding discomfort caused by excessive restraint.

[0021] The variable-rigidity cervical vertebra support exoskeleton of the present invention, which is used for long-term head-bending work, is manufactured by 3D printing except for parts such as pins, bearings, guide rail sliders, bolts, etc. It has the advantages of light weight, easy production and low cost, which helps to reduce the total cost of exoskeleton robots and promote large-scale use. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 The overall structural diagram of an embodiment of the present invention is shown;

[0023] Figure 2 A schematic diagram of a forward bending support structure according to an embodiment of the present invention is shown;

[0024] Figure 3 A schematic structural diagram of a guide rail-connecting rod structure according to an embodiment of the present invention is shown;

[0025] Figure 4 A schematic diagram showing the structure of a stretching actuator according to an embodiment of the present invention is shown;

[0026] Figure 5 A schematic diagram showing the movement of the cervical vertebra supporting exoskeleton in the sagittal plane according to an embodiment of the present invention is shown;

[0027] Figure 6 A schematic diagram of left-handed movement of the cervical vertebra supporting exoskeleton on a horizontal plane according to an embodiment of the present invention is shown;

[0028] Figure 7 A schematic diagram of right-handed movement of the cervical vertebra supporting exoskeleton on a horizontal plane according to an embodiment of the present invention is shown;

[0029] In the figure:

[0030] 1-shoulder strap, 2-head side fixing rod, 3-guide rail-connecting rod mechanism, 4-L-shaped rod, 5-tensile variable stiffness driver, 6-chest support rod, 7-width adjustment rod, 8-outer fixing rod, 9-torsion spring, 10-support stud, 11-inner fixing rod, 12-bolt, 13-pin, 14-pin shaft, 15-guide rail, 16-slider, 17-adapter plate, 18-guide rod, 19-chin rest, 20-tensile belt, 21-sealing end block, 22-elastic belt, 23-elastic airbag, 24-occlusal teeth, 25-support sponge. DETAILED DESCRIPTION

[0031] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0032] See also Figures 1 to 7As shown, in an exemplary embodiment of the present application, the variable stiffness cervical vertebrae support exoskeleton for long-term head-down work comprises two sets of flexion support structures arranged relatively spaced apart, the flexion support structures comprising a horizontally arranged head side fixing rod 8 and a vertically arranged chest support rod 6, each head side fixing rod 2 is connected to a chest support rod 6 to form a rotating pair and is arranged in an L-shape, so that the two can rotate relative to each other; each of the chest support rods has a driver arrangement cavity in its interior in the length direction, and a tensile variable stiffness driver 5 is arranged in the driver arrangement cavity, the upper end of the tensile variable stiffness driver is hinged to the chest support rod, the lower end of the tensile variable stiffness driver is hinged to the short arm of the L-shaped rod 4, and the long arm of the L-shaped rod is hinged to the head side fixing rod, and the two sets of the flexion support structures are connected by a width adjustment rod 7; a chin rest 19 is arranged in the spaced area between the head side fixing rods, and the two ends of the chin rest are hinged to the guide rail-connecting rod mechanism on the inner side of the head side fixing rod.

[0033] In the above-mentioned embodiment, when the stretching variable stiffness actuator is in a flexible state, the flexion support structure allows the head to perform flexion movement in the sagittal plane; after the stretching variable stiffness actuator is switched to a rigid state, the flexion support structure can be fixed to provide stable support for the head.

[0034] The variable stiffness cervical support exoskeleton for long-term head-down work in an embodiment of the present invention innovatively adopts a variable stiffness driver to replace the traditional elastic element. In a flexible state, the head is allowed to move with less resistance, ensuring the flexibility and smoothness of the wearer's head movements at work; in a rigid state, it can provide support assistance to the head, effectively alleviating the burden on the neck muscles.

[0035] In order to meet the wearer's needs for flexible adjustment of head posture, the cervical support exoskeleton adopts an independent linkage mechanism, which contains multiple degrees of freedom of movement. This can avoid restrictions on the normal movement of the head, meet the application requirements in different work scenarios, and greatly improve the practicality and versatility of the cervical support exoskeleton.

[0036] In an exemplary embodiment, the upper end or top end of the chest support rod 6 can be connected to the shaft on the head side fixing rod 2 through a bearing to form a rotating pair; the long arm end of the L-shaped rod 4 can be connected to the head side fixing rod 2 through the bearing at its long arm end and the corresponding pin shaft 14.

[0037] In an exemplary embodiment, two sets of identical forward bending support structures are symmetrically arranged on the width adjustment rod 7 through pins. In an exemplary embodiment, the width adjustment rod 7 has horizontally arranged holes. The width of the forward bending support structure can be adjusted by fixing the pins with holes at different positions to meet the wearing requirements of different head widths of wearers. There is at least one width adjustment rod 7, or two or more, preferably two, which are arranged in a spaced relationship up and down to connect the two sets of forward bending support structures.

[0038] In the embodiment of the present application, the guide rail-connecting rod structure 3 allows the head to rotate freely, and this degree of freedom is not affected by the stiffness of the tensile variable stiffness driver. In the exemplary embodiment, reference Figure 3 The guide rail-connecting rod mechanism 3 is preferably completely fixed to the head side fixing rod 2 by bolts. The two sets of guide rail-connecting rod mechanisms 3 have the same structure, including a guide rail 15 arranged on the inner side of the head side fixing rod, a slider 16 slidingly matched with the guide rail, an adapter plate 17 connected to the slider, and a guide rod 18 hingedly connected to the adapter plate. The guide rod is hinged to the chin support 19. The slider and the guide rail form a moving pair and can slide freely along the axis of the guide rail. In specific implementation, the slider 16 and the adapter plate 17 can be connected by bolts to achieve complete fixation. The adapter plate 17, the guide rod 18 and the chin support 19 are connected in sequence by pins. Specifically, the two ends of the guide rod are connected to the adapter plate and one end of the chin support respectively by bearings and pins. This connection method allows two adjacent parts to rotate relative to each other. Under such a design, when the head rotates, the chin support 19 will rotate synchronously with the head, and the slider 16 and the guide rod 18 will adjust their positions accordingly to adapt to the posture of the head.

[0039] In an exemplary embodiment, the head-side fixing rod includes an outer fixing rod 8 and an inner fixing rod 11, and the head-side fixing rod is connected to the hole at the top end of the chest support rod through an axis through a bearing, and the bearing, the axis and the hole are interference fit, and the outer fixing rod and the inner fixing rod are locked by form locking and a bolt 12; a torsion spring 9 is arranged in the cavity formed between the top end and the outer fixing rod, and the two ends of the torsion spring are respectively clamped with the chest support rod and the outer fixing rod, and the outer fixing rod, the inner fixing rod, the chest support rod and the long arm end of the L-shaped rod form a sandwich structure at different positions, so as to allow the head-side fixing rod to rotate around the chest support rod, and at the same time, the L-shaped rod rotates around the pin connected to its long arm end.

[0040] In the embodiment of the present application, the shaft is arranged on the inner fixing rod, and the shaft and the chest support rod are matched through bearings, and the two can rotate relative to each other; the inner fixing rod and the outer fixing rod are completely fixed by square holes to achieve type locks and bolts, and the head side fixing rod composed of the inner fixing rod and the outer fixing rod and the chest support rod can rotate relative to each other; the torsion spring is sleeved on the shaft, one end of the torsion spring is stuck in the groove of the chest support rod, and the other end of the torsion spring can be in the groove of the outer fixing rod.

[0041] In an exemplary embodiment, the torsion spring 9 generates a restoring force, which works together with the restoring force of the stretching variable stiffness driver 5 to make the exoskeleton and the chin fit tightly. When the exoskeleton is not activated, if the head performs a flexion movement in the sagittal plane, the head side fixing rod 2 and the L-shaped rod 4 will rotate accordingly, thereby driving the stretching variable stiffness driver 5 to stretch and deform with less resistance. After the exoskeleton is activated, the stretching variable stiffness driver 5 is difficult to stretch and deform, and at this time, the head side fixing rod 2 and the L-shaped rod 4 cannot rotate relative to each other, thereby limiting the wearer's head from continuing to perform flexion movements.

[0042] In an exemplary embodiment, a support stud 10 is installed between the outer fixing rod 8 and the inner fixing rod 11, and the support stud is clamped between the inner fixing rod and the outer fixing rod. The fixing bolts on the inner and outer sides respectively pass through the bolt holes of the inner fixing rod and the outer fixing rod to form a threaded connection with the support stud, so as to strengthen the fixation of the outer fixing rod and the inner fixing rod.

[0043] Reference Figure 4 In an exemplary embodiment, the tensile variable stiffness actuator comprises two centrally symmetrically arranged biting sheets, two T-shaped sealing end blocks 21 and an elastic airbag 23, the biting sheet comprises a tensile resistance band 20 and an elastic band, and staggered biting teeth 24 and a supporting sponge 25 bonded to the surface of the tensile resistance band by glue, the tensile resistance band and the elastic band 22 are connected in series; two sealing end blocks are arranged at the two ends of the biting sheet opposite to the biting teeth, the two surfaces of the thin end of the sealing end block are fixed to the tensile resistance band / elastic band of the biting sheet, and the elastic airbag is bonded to the thick end of the sealing end block to achieve sealing of the tensile variable stiffness actuator.

[0044] Preferably, the bite teeth 24 and the support sponge 25 are arranged alternately and glued to the anti-tension belt 20. The anti-tension belt with the bite teeth 24 and the support sponge 25 is connected in series with the elastic belt 22 to form a bite layer, and two identical bite layers are arranged according to the center symmetry to form the core structure of the variable stiffness driver.

[0045] Specifically, the two end faces of the sealing end block 21 are respectively bonded with tensile tapes of different properties, wherein the A face is bonded with an elastic tape of a bite sheet layer, and the B face is bonded with the tensile tape of another bite sheet layer.

[0046] Under normal pressure, there is a certain gap between the upper and lower bite sheets of the stretching variable stiffness actuator implemented in the present application. In this state, the two bite sheets will not mesh. At this time, the stretching variable stiffness actuator can be stretched with less resistance by stretching the elastic bands 22 on both sides. Under negative pressure, the bite teeth 24 on the two bite sheets mesh, effectively transmitting the stretching tension to the tensile belt, thereby achieving greater tensile stiffness.

[0047] In an exemplary embodiment, the outer end of the tensile resistance belt 20 is folded inward and sewn to form a hinge hole for connection, which constitutes a hinge connection hole for the tensile variable stiffness driver and the chest support rod and the L-shaped rod. With the help of the hinge hole, the tensile variable stiffness driver 5 can be fixed to the short arm end of the chest support rod 6 and the L-shaped rod 4 respectively through the pin 13, so that the variable stiffness driver 5 will deform with the movement of the L-shaped rod 4.

[0048] In an exemplary embodiment, an air circuit connector is provided at the outer end of the sealing end block 21, and the air circuit connector is connected to the interior of the stretchable variable stiffness actuator through the air channel inside the sealing end block, so that the interior of the airbag of the stretchable variable stiffness actuator can be evacuated to form a negative pressure state or external air can be introduced to achieve switching or conversion of the stretchable variable stiffness actuator between a flexible state and a rigid state.

[0049] In an exemplary embodiment, a guide limit groove for the movement of the L-shaped rod is arranged on the side surface of the chest support rod 6 along its length direction, and the guide limit groove is communicated with the driver arrangement cavity.

[0050] In an exemplary embodiment, a shoulder strap 1 is connected to the chest support rod to fix the variable stiffness cervical vertebra support exoskeleton to the wearer's body. The shoulder strap 1 starts from the shoulder, passes through the armpit along the back, and is fixed in front of the chest, thereby fixing the exoskeleton to the body. Specifically, the upper end of the shoulder strap can be installed on the surface of the chest support rod, specifically the surface in contact with the body, and the whole shoulder strap can be a U-shaped structure.

[0051] refer to Figure 5 ,Should Figure 5 The exoskeleton in the sagittal plane flexion movement under the exemplary embodiment is shown, and the main participating structure is the flexion support structure. Under normal pressure, the tension of the tensile variable stiffness actuator is small, and the head side fixed rod and L-shaped rod can be rotated relatively easily; under negative pressure, the tensile variable stiffness actuator is internally engaged, and the tensile resistance is large, and the head side fixed rod and L-shaped rod are difficult to continue to rotate, thus achieving head support. Figure 5 The medium-stretch variable-stiffness actuator has been omitted.

[0052] refer to Figure 6 and Figure 7 , Figure 6 and Figure 7 The exoskeleton demonstrates left-hand and right-hand rotation in the horizontal plane, with the main structure involved being the rail-link structure. This degree of freedom is not affected by variable stiffness, and allows the head to rotate freely in both flexible and rigid states. The chin rest is fixed to the chin bar by force locking. When the head rotates, the chin rest rotates synchronously with it, and this rotation process is transmitted to the width adjustment rod and the slider in turn. The slider slides accordingly on the track to adapt to the change in head position, thereby achieving rotational freedom.

[0053] The basic principles and main features of the present invention and the advantages of the present invention are shown and described above. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention.

[0054] Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is therefore intended that all changes falling within the meaning and range of equivalent elements of the claims are included in the present invention.

[0055] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A variable stiffness cervical vertebra support exoskeleton suitable for long-term head-down work, characterized by: The invention comprises two sets of forward flexion support structures arranged relatively spaced apart, wherein the forward flexion support structure comprises a horizontally arranged head side fixing rod and a vertically arranged chest support rod, each head side fixing rod is connected to a chest support rod to form a rotating pair and is arranged in an L shape; each chest support rod has a driver arrangement cavity inside it in the length direction, a stretching variable stiffness driver is arranged in the driver arrangement cavity, the upper end of the stretching variable stiffness driver is hinged to the chest support rod, the lower end of the stretching variable stiffness driver is hinged to the short arm of the L-shaped rod, the long arm of the L-shaped rod is hinged to the head side fixing rod, and the two sets of the forward flexion support structures are connected by a width adjustment rod; a chin rest is arranged in the spaced apart area between the head side fixing rods, and the two ends of the chin rest are hinged to the guide rail-connecting rod mechanism on the inner side of the head side fixing rod.

2. The variable stiffness cervical vertebra support exoskeleton suitable for long-term head-down work according to claim 1, characterized in that: The guide rail-connecting rod mechanism includes a guide rail arranged on the inner side of the head side fixing rod, a slider slidably matched with the guide rail, an adapter plate connected to the slider, and a guide rod hingedly connected to the adapter plate, and the guide rod is hinged to the chin support.

3. The variable stiffness cervical vertebra support exoskeleton for long-term head-down work according to claim 1, characterized in that: The head-side fixing rod comprises an outer fixing rod and an inner fixing rod, the axis of the inner fixing rod being designed at the proximal end position is connected to the hole at the top end of the chest support rod through a bearing, the bearing, the axis and the hole are interference fit, and the outer fixing rod and the inner fixing rod are locked by form locking and bolts; a torsion spring is arranged in the cavity formed between the top end and the outer fixing rod, and the two ends of the torsion spring are respectively clamped with the chest support rod and the outer fixing rod; and the outer fixing rod, the inner fixing rod, the chest support rod and the long arm end of the L-shaped rod form a sandwich structure at different positions, so as to allow the head-side fixing rod to rotate around the chest support rod, and at the same time, the L-shaped rod rotates around the pin connected to its long arm end.

4. The variable stiffness cervical vertebra support exoskeleton for long-term head-down work according to claim 3, characterized in that: A support stud is installed between the outer fixing rod and the inner fixing rod, and the support stud is clamped between the inner fixing rod and the outer fixing rod. The fixing bolts on the inner and outer sides respectively pass through the bolt holes of the inner fixing rod and the outer fixing rod to form a threaded connection with the support stud to strengthen the fixation of the outer fixing rod and the inner fixing rod.

5. The variable stiffness cervical vertebra support exoskeleton for long-term head-down work according to claim 1, characterized in that: The tensile variable stiffness actuator comprises two sheet layers arranged symmetrically, two T-shaped sealing end blocks and an elastic airbag, wherein the sheet layer comprises a tensile resistance belt and an elastic belt, and staggered engaging teeth and supporting sponges bonded to the surface of the tensile resistance belt, and the tensile resistance belt and the elastic belt are connected in series; two sealing end blocks are arranged at the two ends of the sheet layer opposite to the engaging teeth, and the two surfaces of the thin ends of the sealing end blocks are respectively fixed to the tensile resistance belts / elastic belts of the two sheet layers, and the elastic airbag is bonded to the thick end of the sealing end block to achieve sealing of the tensile variable stiffness actuator.

6. The variable stiffness cervical vertebra support exoskeleton for long-term head-down work according to claim 5, characterized in that: The outer end of the anti-tension belt is folded inward and sewn to form a hinge hole for connection.

7. The variable stiffness cervical vertebra support exoskeleton for long-term head-down work according to claim 1, characterized in that: An air path connector is provided at the outer end of the sealing end block, and the air path connector is communicated with the interior of the tensile variable stiffness driver through an air passage inside the sealing end block.

8. The variable stiffness cervical vertebra support exoskeleton for long-term head-down work according to claim 1, characterized in that: The width adjustment rod is provided with holes for adjusting the widths of the two sets of forward bending support structures.

9. The variable stiffness cervical vertebra support exoskeleton for long-term head-down work according to claim 1, characterized in that: A guide limit groove for the movement of the L-shaped rod is arranged on the side surface of the chest support rod along its length direction, and the guide limit groove is communicated with the driver arrangement cavity.

10. The variable stiffness cervical vertebra support exoskeleton for long-term head-down work according to claim 1, characterized in that: A shoulder strap is connected to the chest support rod to fix the variable-rigidity cervical vertebra support exoskeleton to the wearer's body.

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