Exoskeleton support for in-vitro assistance

Abstract

The external skeleton support comprises thigh rods corresponding to thighs of a human body, knee joint structural parts corresponding to knee joints of the human body and shank rods corresponding to shanks of the human body. The thigh rod is connected with the shank rod through the knee joint structural part, the thigh rod and the shank rod are hinged to each other through the knee joint structural part and can be positioned and fixed at an angle, and a sitting supporting part corresponding to the buttocks of the human body and an upper binding part used for binding the thigh rod to the thighs of the human body are installed on the thigh rod. A supporting leg rod used for supporting the ground is installed at the lower end of the shank rod, and a lower binding piece used for binding the shank rod to the shank of the human body is further installed on the shank rod. The garment has the advantages that a person can sit at any time in a posture close to a standing posture after wearing the garment, so that lower limb fatigue of the person during operation is relieved, the person can walk naturally after wearing the garment, and no inconvenience is caused during walking.

Description

Technical Field

[0001] The invention relates to the technical field of assistive devices, and in particular to an exoskeleton support for assisting sitting in vitro. Background Art

[0002] Due to the limitations of the working environment and work characteristics, there are still many types of work that require operators to stand while working, such as surgeons at medical sites and workers on industrial production lines. However, standing for long periods of time to engage in production labor is not only easy to cause fatigue in the lower limbs of the human body, but in severe cases it can cause occupational diseases such as varicose veins in the lower limbs. In addition, since surgeons need to move occasionally to adjust the surgical position and posture, and workers on industrial production lines also need to move continuously to pick up tools and transport production materials, it is urgent to design a device that allows operators to sit in a posture close to standing at any time. Summary of the invention

[0003] The purpose of the present invention is to provide an external auxiliary exoskeleton support that enables an operator to sit in a nearly standing posture at any time, thereby reducing lower limb fatigue during human work, and the human body can also walk naturally after wearing it.

[0004] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: an in vitro auxiliary exoskeleton support, comprising a thigh rod corresponding to the human thigh, a knee joint structure corresponding to the human knee joint, and a calf rod corresponding to the human calf; the thigh rod is connected to the calf rod through the knee joint structure, and the knee joint structure enables the thigh rod and the calf rod to be hinged to each other and can be positioned and fixed at an angle, a sitting support portion corresponding to the human buttocks and an upper binding member for binding the thigh rod to the human thigh are installed on the thigh rod, a supporting foot rod for supporting the ground is installed at the lower end of the calf rod, and a lower binding member for binding the calf rod to the human calf is also installed on the calf rod.

[0005] Furthermore, the aforementioned in vitro assisted exoskeleton support, wherein: the structure of the knee joint structural part includes: a knee joint disc and a thigh connecting rod, the thigh connecting rod is used to be connected and fixed with the thigh rod, the lower end of the thigh connecting rod is hinged to the center of the knee joint disc through a hinge shaft, the lower end of the knee joint disc has a calf connecting part, the knee joint disc is connected and fixed with the calf rod through the calf connecting part, an arc-shaped groove is provided on one side surface of the knee joint disc, an adjustment block is slidably embedded in the arc-shaped groove for the thigh connecting rod to abut and limit the position when it is flipped backward relative to the knee joint disc, and an anti-slip limiter is provided on the knee joint disc to prevent the adjustment block from falling out of the arc-shaped groove, the adjustment block is installed in the arc-shaped groove of the knee joint disc through a locking and unlocking mechanism, and the locking and unlocking mechanism can adjust and position the position of the adjustment block in the arc-shaped groove, thereby adjusting the angle between the thigh connecting rod and the calf connecting part when the thigh connecting rod is flipped backward relative to the knee joint disc and abuts against the adjustment block, so as to synchronously adjust the angle between the thigh rod and the calf rod.

[0006] Furthermore, the aforementioned in vitro assisted exoskeleton support, wherein: the structure of the locking and unlocking mechanism includes: a plurality of gear adjustment sockets are arranged at intervals along the circumferential direction on the side wall of the outer ring arc groove in the arc groove of the knee joint disc, a locking tongue mounting slot is arranged on the inner end face of the adjusting block facing the bottom wall of the arc groove, the locking tongue mounting slot is penetrated outward to the outer ring arc side wall of the adjusting block, a locking tongue that can be adapted to be inserted into the gear adjustment socket is slidably embedded in the locking tongue mounting slot, a spring is arranged between the locking tongue and the adjusting block, the spring makes the locking tongue always have a tendency to move relative to the adjusting block toward the outer ring arc groove side wall close to the arc groove, and when the locking tongue rotates along the arc groove relative to the knee joint disc with the adjusting block to a gear position at any position on the outer ring arc groove side wall corresponding to the arc groove When the socket is adjusted, the lock tongue will be inserted into the gear adjustment socket in this position under the action of the spring force to lock the position of the adjustment block in the arc groove; an unlocking button mounting slot is provided on the outer end face of the adjustment block away from the bottom wall of the arc groove; a radial long hole is provided in the adjustment block, and the two ends of the radial long hole respectively penetrate into the lock tongue mounting slot and the unlocking button mounting slot; an unlocking button is slidably embedded in the unlocking button mounting slot; the unlocking button is connected to the lock tongue through a connecting pin penetrated through the radial long hole; when the unlocking button drives the lock tongue to move relative to the adjusting block toward the outer ring arc groove side wall away from the arc groove through the connecting pin, the lock tongue can be separated from the corresponding gear adjustment socket of the knee joint disc so that the adjusting block can be in an unlocked state of rotation relative to the knee joint disc.

[0007] Furthermore, in the aforementioned in vitro assisted exoskeleton support, the anti-dropping limiter is a limit stopper which is arranged on the outside of the adjustment block and fixed to the knee joint disc.

[0008] Furthermore, in the aforementioned in vitro assisted exoskeleton support, a knob cover is arranged on the outer side of the limit baffle, the knob cover is connected and fixed to the adjustment block, and an avoidance notch corresponding to the unlocking button is arranged on the edge of the knob cover.

[0009] Furthermore, in the aforementioned in vitro assisted exoskeleton support, the specific connection structure between the thigh rod and the thigh connecting rod of the knee joint structure includes: a first positioning pin, a first guide slot is provided on the thigh rod along its length direction, the thigh connecting rod is slidably embedded in the first guide slot, the thigh rod and the thigh connecting rod are slidably matched through the first guide slot, a first positioning hole is provided on the thigh rod, and a plurality of second positioning holes are arranged in sequence along its length direction on the thigh connecting rod. When the thigh rod moves relative to the thigh connecting rod of the knee joint structure through the first guide slot, the first positioning hole can pass through the second positioning hole at any position, and the first positioning pin is passed through the corresponding first positioning hole and the second positioning hole to position and connect the thigh rod and the thigh connecting rod of the knee joint structure.

[0010] Furthermore, the aforementioned in vitro assisted exoskeleton support, wherein: the specific installation structure of the first positioning pin includes: the first positioning pin includes a first rod body that can be adapted to pass through the first positioning hole and the second positioning hole, and the two ends of the first rod body are defined as a head end and a tail end respectively, a first head with a diameter larger than each positioning hole is arranged at the head end of the first rod body, a circle of first installation grooves is arranged on the outer peripheral wall of the tail end of the first rod body, a first rubber ring is embedded in the first installation groove, and the tail end of the first positioning pin passes through the corresponding second positioning hole and the first positioning hole in turn to pass through the thigh connecting rod and the thigh rod, and the first rubber ring embedded in the first installation groove at the tail end of the first positioning pin will expand outward to an initial state with an outer diameter larger than each positioning hole under the action of its own elastic force, so that the first rubber ring can cooperate with the first head of the first positioning pin to firmly install the first positioning pin in the corresponding positioning holes of the thigh rod and the thigh connecting rod.

[0011] Furthermore, the aforementioned in vitro assisted exoskeleton support, wherein: the specific connection structure between the calf rod and the supporting foot rod includes: a second positioning pin, a second guide slot is provided on the calf rod along its length direction, the supporting foot rod is slidably embedded in the second guide slot, the supporting foot rod and the calf rod are slidably matched through the second guide slot, a third positioning hole is provided on the calf rod, and a plurality of fourth positioning holes are arranged in sequence along its length direction on the supporting foot rod, when the supporting foot rod moves relative to the calf rod through the second guide slot, the third positioning hole can pass through the fourth positioning hole at any position, and the second positioning pin is passed through the corresponding third positioning hole and fourth positioning hole to position and connect the calf rod and the supporting foot rod.

[0012] Furthermore, the aforementioned in vitro assisted exoskeleton support, wherein: the specific installation structure of the second locating pin includes: the second locating pin includes a second rod body that can be adapted to pass through the third locating hole and the fourth locating hole, and the two ends of the second rod body are defined as a head end and a tail end respectively, a second head with a diameter larger than that of each locating hole is arranged at the head end of the second rod body, a circle of second installation grooves is arranged on the outer peripheral wall of the tail end of the second rod body, a second rubber ring is embedded in the second installation groove, and after the tail end of the second locating pin passes through the corresponding fourth locating hole and the third locating hole in turn and passes through the calf rod and the supporting foot rod, the second rubber ring embedded in the second installation groove at the tail end of the second locating pin will expand outward to an outer diameter larger than the initial state of each locating hole under the action of its own elastic force, so that the second rubber ring can cooperate with the second head of the second locating pin to firmly install the second locating pin in the corresponding locating holes of the calf rod and the supporting foot rod.

[0013] Furthermore, the aforementioned in vitro assisted exoskeleton support, wherein: the structure of the lower binding member includes: a foot buckle fixing plate, a lower binding member mounting seat, and a foot strap, the foot buckle fixing plate is fixed to the lower side wall of the supporting foot rod, and a vertical long strip groove is arranged on the outer end surface of the foot buckle fixing plate, the lower part of the long strip groove is an embedding section, and the upper part is a clamping section, and a U-shaped clamping edge is installed on the clamping section of the long strip groove, and the opening of the U-shaped clamping edge faces the long strip groove The foot strap is installed on the lower binding piece mounting seat, and a columnar protrusion that can be inserted into the long strip groove is provided on the outer wall of the lower binding piece mounting seat, and a circle of clamping grooves is provided on the outer peripheral wall of the columnar protrusion. The columnar protrusion of the lower binding piece mounting seat is inserted into the long strip groove from the embedded section, and the columnar protrusion is moved toward the clamping section until the U-shaped clamping edge is correspondingly inserted into the clamping groove of the columnar protrusion, so that the lower binding piece mounting seat can be freely rotated relative to the supporting foot rod and connected to the supporting foot rod.

[0014] Through the implementation of the above technical scheme, the beneficial effects of the present invention are: after wearing the human body, the human body can sit in a posture close to standing or half-squatting at any time, thereby reducing the fatigue of the lower limbs when the human body is working, and the human body can also walk naturally after wearing it without any inconvenience when walking, and the structure is compact and the wearing comfort is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic structural diagram of an in vitro assisted exoskeleton scaffold according to the present invention.

[0016] Figure 2 for Figure 1 Schematic diagram of the structure of the AA section shown in FIG.

[0017] Figure 3 for Figure 2 An enlarged schematic diagram of site B shown in FIG.

[0018] Figure 4 for Figure 2 An enlarged schematic diagram of site C is shown in FIG.

[0019] Figure 5 for Figure 1 A stereogram from one of the viewing angles.

[0020] Figure 6 for Figure 1 Another perspective of the stereogram.

[0021] Figure 7 It is a schematic diagram of the structure of the knee joint.

[0022] Figure 8 for Figure 7 Schematic diagram of the structure of the DD section shown in.

[0023] Fig. 9 for Figure 7 The schematic diagram of the structure after the knob cover is hidden.

[0024] Fig.10 for Fig. 9 The schematic diagram of the structure after the limit baffle is hidden in the figure.

[0025] Fig.11 Schematic diagram of the structure of the knee disc.

[0026] Fig.12 A three-dimensional view of the adjustment block, unlocking button and lock tongue after assembly.

[0027] Fig.13 A three-dimensional view from another perspective after the adjustment block, unlocking button and lock tongue are assembled.

[0028] Fig.14 A three-dimensional diagram showing one perspective of the adjustment stop.

[0029] Fig.15 A three-dimensional image from another perspective of the adjustment stop.

[0030] Fig.16 This is an exploded view of the connection structure between the thigh rod and the knee joint structure.

[0031] Fig.17 This is an exploded view of the connection structure between the calf rod and the supporting foot rod.

[0032] Fig.18 A three-dimensional view of the foot clip fixing plate.

[0033] Fig.19 It is a structural schematic diagram of the lower binding member mounting base. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0035] like Figure 1 , Figure 2 , Figure 5 , Figure 6 As shown, the external auxiliary exoskeleton support comprises a thigh rod 1 corresponding to the human thigh, a knee joint structure 2 corresponding to the human knee joint, and a calf rod 3 corresponding to the human calf; the thigh rod 1 is connected to the calf rod 3 through the knee joint structure 2, and the knee joint structure 2 enables the thigh rod 1 and the calf rod 3 to be hinged to each other and can be positioned and fixed at an angle, a sitting support part 4 corresponding to the human buttocks and an upper binding member for binding the thigh rod 1 to the human thigh are installed on the thigh rod 1, and the upper binding member is an upper connecting strap 5 installed on the sitting support part 4 of the thigh rod 1, a knee joint supporting part 6 is installed on the upper end of the calf rod 3, and a middle connecting strap 7 is installed on the knee joint supporting part 6, a supporting foot rod 8 for supporting the ground is installed at the lower end of the calf rod 3, and a lower binding member 9 for binding the calf rod 3 to the human calf is also installed on the calf rod 3; In this embodiment, if Figure 7 , Fig. 9 As shown, the structure of the knee joint structural member includes: a knee joint disc 10 and a thigh connecting rod 11, wherein the thigh connecting rod 11 is used to be connected and fixed with the thigh rod 1, and the lower end of the thigh connecting rod 11 is hinged to the center of the knee joint disc 10 through a hinge shaft 12, and the lower end of the knee joint disc 10 extends downward to form a calf connecting portion 13, and the knee joint disc 10 is connected and fixed with the calf rod 13 through the calf connecting portion 13, and an arc groove 14 is provided on one side surface of the knee joint disc 10, and an adjustment block 1 for the thigh connecting rod 11 to be turned backward around the hinge shaft 12 relative to the knee joint disc 10 is slidably embedded in the arc groove 10 for abutting against and limiting the position. 5. An anti-dropping limiter is provided on the knee joint disc 10 to prevent the adjustment block 15 from falling out of the arc groove 14. The anti-dropping limiter is a limit stopper 16 arranged on the outside of the adjustment block 15 and fixed to the knee joint disc 10; the adjustment block 15 is installed in the arc groove 14 of the knee joint disc 10 through a locking and unlocking mechanism, and the locking and unlocking mechanism can adjust and position the position of the adjustment block 15 in the arc groove 14, so as to adjust the angle between the thigh connecting rod 11 and the calf connecting part 13 when the thigh connecting rod 11 is flipped backward relative to the knee joint disc 10 and abuts against the adjustment block 15, so as to synchronously adjust the angle between the thigh rod 1 and the calf rod 3; In this embodiment, if Figure 8 , Fig.10 , Fig.11 , Fig.12 , Fig.13 , Fig.14 , Fig.15As shown, the structure of the locking and unlocking mechanism includes: a plurality of gear adjustment sockets 17 are arranged at intervals along the circumferential direction on the side wall of the outer arc groove in the arc groove 14 of the knee joint disc 10. In actual application, the number of the gear adjustment sockets 17 can be set accordingly according to the actual gear adjustment needs. In this embodiment, the number of the gear adjustment sockets 17 is three, such as Fig.11As shown, in the present embodiment, the three gear adjustment sockets are respectively a standing position gear adjustment socket 171, a half-squatting position gear adjustment socket 172, and a free walking position gear adjustment socket 173 along the counterclockwise circumference of the knee joint disc 10; a lock tongue mounting slot 18 is provided on the inner end face of the adjustment block 15 facing the bottom wall of the arc-shaped groove 14, and the lock tongue mounting slot 18 is arranged radially along the knee joint disc 10, and one end of the lock tongue mounting slot 18 penetrates outward to the outer circle arc-shaped side wall of the adjustment block 15. When the adjustment block 15 is installed in the arc-shaped groove 14 of the knee joint disc 10, the outer circle arc-shaped side wall of the adjustment block 15 faces the outer circle arc-shaped groove side wall of the arc-shaped groove 14 of the knee joint disc, and the lock tongue mounting slot 18 is provided on the inner end face of the adjustment block 15 facing the bottom wall of the arc-shaped groove 14 of the knee joint disc. A locking tongue 19 that can be adapted to be inserted into the gear adjustment socket 17 is slidably embedded in the opening 18, and a spring 20 is arranged between the locking tongue 19 and the adjusting block 15. The spring 20 makes the locking tongue 19 always have a tendency to move relative to the adjusting block 15 toward the outer arc groove side wall of the arc groove 14, and when the locking tongue 19 rotates along the arc groove 14 with the adjusting block 15 relative to the knee joint disc 10 to the gear adjustment socket 17 at any position on the outer arc groove side wall of the corresponding arc groove 14, the locking tongue 19 will be inserted into the gear adjustment socket 17 at this position under the elastic force of the spring 20 to lock the position of the adjusting block 15 in the arc groove 14, and the adjusting block 15 will be moved away from the bottom wall of the arc groove. The outer end surface of the block 15 is provided with an unlocking button mounting slot 21, and the unlocking button mounting slot 21 also penetrates outward to the outer arc-shaped side wall of the adjusting block 15. A radial long hole 22 is provided in the adjusting block 15, and the direction of the radial long hole 22 is also arranged along the radial direction of the knee joint disc 10. The two ends of the radial long hole 22 are respectively penetrated to the locking tongue mounting slot 18 and the unlocking button mounting slot 21, and an unlocking button 23 is slidably embedded in the unlocking button mounting slot 21. The unlocking button 23 is connected to the locking tongue 19 through a connecting pin 24 that penetrates the radial long hole 22. When the unlocking button 23 drives the locking tongue 19 to move away from the arc groove relative to the adjusting block 15 through the connecting pin 24, When the locking tongue 19 moves in the direction of the side wall of the outer arc groove 14, the locking tongue 19 can be separated from the corresponding gear adjustment socket 17 of the knee joint disc 10 so that the adjustment block 15 can be in an unlocked state of rotation relative to the knee joint disc 10; in this embodiment, a knob cover 25 is arranged on the outer side of the limit stopper 16, the knob cover 25 is connected and fixed to the adjustment block 15, the knob cover 25 is sleeved on the hinge shaft 12, and an escape notch corresponding to the unlocking button 23 is arranged on the edge of the knob cover 25, and the adjustment block 15 in the unlocked state can be more conveniently operated to rotate and adjust the position along the arc groove 14 of the knee joint disc 10 through the knob cover 25; the above-mentioned knee joint structure has a compact structure and high stability in use; In this embodiment, if Figure 3 , Fig.16As shown, the specific connection structure between the thigh rod 1 and the thigh connecting rod 11 of the knee joint structural component 2 includes: a first positioning pin 26, a first guide slot 27 is arranged on the thigh rod 1 along its length direction, the thigh rod 1 is formed by two thigh plates matched together, and a first guide slot 27 is formed between the two thigh plates along the length direction of the thigh rod, the thigh connecting rod 11 is slidably embedded in the first guide slot 27, the thigh rod 1 and the thigh connecting rod 11 are slidably matched through the first guide slot, a first positioning hole 28 is arranged on the thigh rod 1, and a plurality of second positioning holes 29 are arranged in sequence along its length direction on the thigh connecting rod 11, and the thigh rod 1 is relative to the thigh of the knee joint structural component 2 through the first guide slot. When the connecting rod 11 moves, the first positioning hole 28 can pass through the second positioning hole 29 at any position. The first positioning pin 26 is inserted into the corresponding first positioning hole 28 and the second positioning hole 29 to position and connect the thigh rod 1 with the thigh connecting rod 11 of the knee joint structure 2. After the thigh rod 1 and the thigh connecting rod 11 adopt the above connection structure, the first positioning hole 28 of the thigh rod 1 can be made to correspond to the second positioning hole 29 of the thigh connecting rod at different positions, and the first positioning pin 26 is used for connection and positioning, so as to conveniently adjust the relative position of the thigh rod 11 and the thigh connecting rod 11, so that the position of the thigh rod 11 can adapt to users with different leg lengths, making the overall adaptability of the device wider; In this embodiment, the specific installation structure of the first locating pin 26 includes: the first locating pin 26 includes a first rod body 30 that can be adapted to pass through the first locating hole 28 and the second locating hole 29, and the two ends of the first rod body 30 are defined as a head end and a tail end respectively. A first head 31 with a diameter larger than that of each locating hole is provided at the head end of the first rod body 30, and a circle of first installation grooves 32 are provided on the outer peripheral wall of the tail end of the first rod body 30, and a first rubber ring 33 is embedded in the first installation groove 32. After the tail end of the first locating pin 26 passes through the corresponding second locating hole 29 and the first locating hole 28 in turn and passes through the thigh connecting rod 11 and the thigh rod 1, the first rubber ring 33 embedded in the first installation groove 32 at the tail end of the first locating pin 26 is Under the action of its own elastic force, it will expand outward to an initial state in which the outer diameter is larger than each positioning hole, so that the first rubber ring 33 can cooperate with the first head 31 of the first positioning pin 26 to firmly install the first positioning pin 26 in the corresponding positioning holes of the thigh rod 1 and the thigh connecting rod 11; in this embodiment, a thigh rod outer shell 34 is fixed on the thigh rod 1, which covers the outside of the thigh rod 1 and the first positioning pin 26 at the same time, and a first installation opening 35 corresponding to the first positioning pin 26 is provided on the thigh rod outer shell 34, and the first installation opening 35 is on the same side as the first head 31 of the first positioning pin 26, and a first positioning pin protection cover 36 for limiting the first positioning pin 26 is detachably installed at the first installation opening 35; In this embodiment, if Figure 4 , Fig.17As shown, the specific connection structure of the calf rod 3 and the supporting foot rod 8 includes: a second positioning pin 37, a second guide slot 38 is arranged on the calf rod 3 along its length direction, the calf rod 3 is formed by two calf plates matched together, and a second guide slot 38 is formed between the two calf plates along the length direction of the calf rod, the supporting foot rod 8 is slidably embedded in the second guide slot 38, the supporting foot rod 8 and the calf rod 3 are slidably matched through the second guide slot 38, a third positioning hole 39 is arranged on the calf rod 3, and a plurality of fourth positioning holes 40 are arranged in sequence along its length direction on the supporting foot rod 8, and the supporting foot rod 8 moves relative to the calf rod 3 through the second guide slot 38 When the third positioning hole 39 is connected to the fourth positioning hole 40 at any position, the second positioning pin 37 is inserted into the corresponding third positioning hole 39 and the fourth positioning hole 40 to position and connect the calf rod 3 and the supporting foot rod 8; after the calf rod 3 and the supporting foot rod 8 adopt the above connection structure, the third positioning hole 39 of the calf rod 3 can be made to correspond to the fourth positioning hole 40 of the supporting foot rod at different positions, and the second positioning pin 37 is used for connection and positioning, so as to conveniently adjust the relative position of the calf rod 3 and the supporting foot rod 8, so that the positions of the calf rod 3 and the supporting foot rod 8 can adapt to users with different leg lengths, making the overall adaptability of the device wider; In this embodiment, the specific installation structure of the second locating pin 37 includes: the second locating pin 37 includes a second rod body 41 that can be adapted to pass through the third locating hole 39 and the fourth locating hole 40, and the two ends of the second rod body 41 are defined as a head end and a tail end respectively. A second head 42 with a diameter larger than that of each locating hole is provided at the head end of the second rod body 41, and a circle of second installation grooves 43 are provided on the outer peripheral wall of the tail end of the second rod body 41, and a second rubber ring 44 is embedded in the second installation groove 43. After the tail end of the second locating pin 37 passes through the corresponding fourth locating hole 40 and the third locating hole 39 in turn and passes through the calf rod 3 and the supporting foot rod 8, the second rubber ring 44 embedded in the second installation groove 43 at the tail end of the second locating pin 37 is Under the action of its own elastic force, it will expand outward to an initial state in which the outer diameter is larger than each positioning hole, so that the second rubber ring 44 can cooperate with the second head 42 of the second positioning pin 37 to firmly install the second positioning pin 37 in the corresponding positioning holes of the calf rod 3 and the supporting foot rod 8. In this embodiment, a calf rod outer shell 45 that covers the outside of the calf rod 3 and the second positioning pin 37 is fixed on the calf rod 3, and a second installation opening 46 corresponding to the second positioning pin 37 is provided on the calf rod outer shell 45. The second installation opening 46 is on the same side as the second head 42 of the second positioning pin 37, and a second positioning pin protection cover 47 for limiting the second positioning pin 37 is detachably installed at the second installation opening 46; In this embodiment, if Fig.18 , Fig.19As shown, the structure of the lower binding member 9 includes: a foot buckle fixing plate 48, a lower binding member mounting seat 49, and a foot strap 50, the foot buckle fixing plate 48 is fixed to the lower side wall of the supporting foot rod 8, and a vertical long strip groove 51 is arranged on the outer end surface of the foot buckle fixing plate 48, the lower part of the long strip groove 51 is an embedded section, and the upper part is a clamping section, and a U-shaped clamping edge 52 is installed in the clamping section of the long strip groove 51, and the opening of the U-shaped clamping edge 52 faces the embedded section of the long strip groove 51; the foot strap 50 is installed on the lower binding member mounting seat 49, and a columnar protrusion 53 that can be inserted into the long strip groove 51 is arranged on the outer wall of the lower binding member mounting seat 49, and a circle of clamping grooves 54 are arranged on the outer peripheral wall of the columnar protrusion 53, and the columnar protrusion 53 of the lower binding member mounting seat 49 is inserted into the long strip groove 51 from the embedded section, and the columnar protrusion 53 is inserted into the long strip groove 51. Move toward the clamping section until the U-shaped clamping edge 52 is correspondingly inserted into the clamping groove 54 of the columnar protrusion 53, so that the lower binding piece mounting seat 49 can be connected to the supporting foot rod 8 and can rotate freely relative to the supporting foot rod 8. In the structure of this lower binding piece 9, the foot strap 50 is tied to the ankle, so as to achieve the purpose of tying the calf rod 3 to the human calf. Moreover, since the lower binding piece mounting seat 49 can rotate freely relative to the supporting foot rod 8 and the lower binding piece mounting seat 49 is inserted into the elongated groove 51 through the columnar protrusion 53, the columnar protrusion 53 has a moving gap in the elongated groove 51. Therefore, when the calf rod 3 is tied to the human calf, it will not hinder the movement of the human ankle, making it more comfortable for people to use. And when the foot strap is tied to the ankle of the human body, the lower binding piece mounting seat 49 will be restricted by the instep of the human body and will not fall off downward, so it is more stable to use.

[0036] Before use, one exoskeleton is worn on the left leg and the right leg respectively. The specific operation of wearing the exoskeleton on the human body is: first adjust the extension length of the thigh rod 1 relative to the knee joint structure, and the extension length of the supporting foot rod 8 relative to the calf rod 1, so that the length of the exoskeleton is just adapted to the operator's leg length; then place the seat support part 4 against the human buttocks, the knee joint structure 2 against the human knee joint, the thigh rod 1 against the human thigh, the calf rod 3 against the human calf, then tie the upper connecting strap 5 to the human thigh, tie the middle connecting strap 7 to the human knee joint, and tie the foot strap 50 to the human ankle, and the wearing of the exoskeleton is completed; And the position of the adjustment block 15 in the knee joint disc 10 can be adjusted by inserting the locking tongue into the gear adjustment socket 17 at different positions, and then the angle between the thigh rod 1 and the calf rod 3 can be adjusted synchronously, so as to adjust the use mode of the exoskeleton support. The specific operation of adjusting the use mode of the exoskeleton support is as follows: when adjusting the position of the adjustment block 15, it is only necessary to press the unlocking button 23 toward the center direction of the knee joint disc 10. The unlocking button 23 drives the locking tongue 19 to overcome the elastic force of the spring 20 and move toward the center direction of the knee joint disc through the connecting pin 24 until the locking tongue 19 is out of the corresponding gear adjustment socket 17. At this time, the adjustment block 15 is in the unlocked state; then, by rotating the knob cover 25, the adjustment block 15, the unlocking button 23, and the locking tongue 19 are synchronously driven to move along the knee joint disc together. The arc groove 14 of the joint disc 10 moves; when the locking tongue 19 rotates to the next gear adjustment socket 17 with the adjustment block 15, the external force applied to the unlocking button 23 is removed. At this time, the locking tongue 19 will be inserted into the gear adjustment socket 17 under the elastic force of the spring 20, thereby re-locking the adjustment block 15 in the arc groove 14 of the knee joint disc 10, thereby adjusting the position of the adjustment block 15 in the knee joint disc 10; repeat the above-mentioned unlocking and locking steps of the adjustment block 15, and adjust the position of the adjustment block 15 in the knee joint disc 10 by inserting the locking tongue 19 into the gear adjustment plug 17 at different positions. Since the thigh rod 1 is against the adjustment block 15 backward, the position adjustment of the adjustment block 15 can synchronously adjust the angle between the thigh rod 1 and the calf rod 3.

[0037] When the operator needs to sit in a posture close to standing, he only needs to snap the locking tongue 19 into the standing position adjustment socket 171. At this time, the operator will bend his legs. During the flexion of the human legs, the thigh bar 1 will rotate backward with the human thigh relative to the human calf and the calf bar 3 until the thigh bar 1 abuts against the adjustment block 15 in the knee joint structure 2. At this time, the thigh bar 1 and the calf bar 3 will be fixed at a fixed angle, so that the thigh bar 1, the calf bar 3 and the supporting foot bar 8 form a stable supporting structure. At this time, the supporting foot bar 8 of the exoskeleton support is supported on the ground, and the operator's buttocks are supported on the sitting support part. The operator sits on the exoskeleton support in a posture close to standing.

[0038] When the operator needs to sit in a half-squatting posture, he only needs to insert the locking tongue 19 into the half-squatting posture gear adjustment socket 172. At this time, the operator will bend his legs. During the flexion of the human leg, the thigh rod 1 will rotate backward with the human thigh relative to the human calf and the calf rod 3 until the thigh rod 1 abuts against the adjustment block 15 in the knee joint structure 2. At this time, the thigh rod 1 and the calf rod 3 will be fixed at a fixed angle, so that the thigh rod 1, the calf rod 3 and the supporting foot rod 8 form a stable supporting structure. At this time, the supporting foot rod 8 of the exoskeleton support is supported on the ground, and the operator's buttocks are supported on the sitting support part, and the operator sits on the exoskeleton support in a half-squatting posture.

[0039] When the operator needs to walk freely, he only needs to snap the locking tongue 19 into the free walking gear adjustment socket 173. Since the angle at which the human thigh and calf can be freely bent when the exoskeleton bracket is worn on the human leg is the angle a between the adjustment block 15 and the thigh connecting rod 11, when the locking tongue 19 is snapped into the free walking gear adjustment socket 173, the angle a between the adjustment block 15 and the thigh connecting rod 11 is large enough, and the angle a can satisfy the free bending of the human thigh and calf, so that the operator can walk freely without any inconvenience.

[0040] The advantages of the present invention are that after wearing the protective mask, the human body can sit at any time in a posture close to standing or half-squatting, thereby reducing the fatigue of the lower limbs when working, and the human body can also walk naturally after wearing the protective mask without any inconvenience, and the structure is compact and the wearing comfort is high.

[0041] The above description is only a preferred embodiment of the present invention and does not constitute any other form of limitation to the present invention. Any modification or equivalent change made based on the technical essence of the present invention still falls within the scope of protection required by the present invention.

Claims

1. An in vitro assisted exoskeleton support, characterized in that: It comprises a thigh rod corresponding to the human thigh, a knee joint structure corresponding to the human knee joint, and a calf rod corresponding to the human calf; the thigh rod is connected to the calf rod through the knee joint structure, the knee joint structure enables the thigh rod and the calf rod to be hinged to each other and to be positioned and fixed at an angle, a sitting support portion corresponding to the human buttocks and an upper binding part for binding the thigh rod to the human thigh are installed on the thigh rod, a supporting foot rod for supporting the ground is installed at the lower end of the calf rod, and a lower binding part for binding the calf rod to the human calf is also installed on the calf rod.

2. The in vitro assisted exoskeleton scaffold according to claim 1, characterized in that: The structure of the knee joint structural component includes: a knee joint disc and a thigh connecting rod, the thigh connecting rod is used to be connected and fixed with the thigh rod, the lower end of the thigh connecting rod is hinged with the center of the knee joint disc through a hinge shaft, the lower end of the knee joint disc has a calf connecting part, the knee joint disc is connected and fixed with the calf rod through the calf connecting part, an arc groove is arranged on one side surface of the knee joint disc, an adjustment block is slidably embedded in the arc groove for the thigh connecting rod to abut against and limit the position when the thigh connecting rod is flipped backward relative to the knee joint disc, and an anti-slip limit piece is arranged on the knee joint disc to prevent the adjustment block from falling out of the arc groove, the adjustment block is installed in the arc groove of the knee joint disc through a locking and unlocking mechanism, and the locking and unlocking mechanism can adjust and position the position of the adjustment block in the arc groove, so as to adjust the angle between the thigh connecting rod and the calf connecting part when the thigh connecting rod is flipped backward relative to the knee joint disc and abuts against the adjusting block, so as to synchronously adjust the angle between the thigh rod and the calf rod.

3. The in vitro assisted exoskeleton scaffold according to claim 2, characterized in that: The structure of the locking and unlocking mechanism includes: a plurality of gear adjustment sockets are arranged at intervals along the circumferential direction on the side wall of the outer ring arc groove in the arc groove of the knee joint disc, a lock tongue installation slot is arranged on the inner end face of the adjustment block facing the bottom wall of the arc groove, the lock tongue installation slot is outwardly connected to the outer ring arc side wall of the adjustment block, a lock tongue that can be adapted to be inserted into the gear adjustment socket is slidably embedded in the lock tongue installation slot, a spring is arranged between the lock tongue and the adjustment block, the spring makes the lock tongue always have a tendency to move relative to the adjustment block toward the outer ring arc groove side wall close to the arc groove, and when the lock tongue rotates along the arc groove relative to the knee joint disc with the adjustment block to the gear adjustment socket at any position on the outer ring arc groove side wall of the corresponding arc groove, the lock tongue is resilient to the spring. Under the action of force, it will be inserted into the gear adjustment socket at this position to lock the position of the adjustment block in the arc groove, and an unlocking button mounting slot is arranged on the outer end face of the adjustment block away from the bottom wall of the arc groove, and a radial long hole is arranged in the adjustment block, and the two ends of the radial long hole are respectively penetrated to the lock tongue mounting slot and the unlocking button mounting slot, and an unlocking button is slidably embedded in the unlocking button mounting slot, and the unlocking button is connected to the lock tongue through a connecting pin penetrated by the radial long hole. When the unlocking button drives the lock tongue to move relative to the adjusting block toward the outer ring arc groove side wall away from the arc groove through the connecting pin, the lock tongue can be separated from the corresponding gear adjustment socket of the knee joint disc so that the adjusting block can be in an unlocked state of rotation relative to the knee joint disc.

4. The in vitro assisted exoskeleton scaffold according to claim 2, characterized in that: The anti-dropping limiting component is a limiting blocking piece which is arranged on the outside of the adjusting block and fixed to the knee joint disc.

5. The in vitro assisted exoskeleton scaffold according to claim 4, characterized in that: A knob cover is arranged on the outer side of the limit baffle, the knob cover is connected and fixed with the adjustment block, and an avoidance notch corresponding to the unlocking button is arranged on the edge of the knob cover.

6. The in vitro assisted exoskeleton scaffold according to claim 2, characterized in that: The specific connection structure between the thigh rod and the thigh connecting rod of the knee joint structure includes: a first positioning pin, a first guide slot is arranged on the thigh rod along its length direction, the thigh connecting rod is slidably embedded in the first guide slot, the thigh rod and the thigh connecting rod are slidably matched through the first guide slot, a first positioning hole is arranged on the thigh rod, and a plurality of second positioning holes are arranged in sequence along its length direction on the thigh connecting rod. When the thigh rod moves relative to the thigh connecting rod of the knee joint structure through the first guide slot, the first positioning hole can pass through the second positioning hole at any position, and the first positioning pin is penetrated into the corresponding first positioning hole and second positioning hole to position and connect the thigh rod and the thigh connecting rod of the knee joint structure.

7. The in vitro assisted exoskeleton scaffold according to claim 6, characterized in that: The specific installation structure of the first locating pin includes: the first locating pin includes a first rod body that can be adapted to pass through the first locating hole and the second locating hole, and the two ends of the first rod body are defined as a head end and a tail end respectively. A first head with a diameter larger than each locating hole is arranged at the head end of the first rod body, and a circle of first installation grooves is arranged on the outer peripheral wall of the tail end of the first rod body, and a first rubber ring is embedded in the first installation groove. After the tail end of the first locating pin passes through the thigh connecting rod and the thigh rod through the corresponding second locating hole and the first locating hole in turn, the first rubber ring embedded in the first installation groove at the tail end of the first locating pin will expand outward to an initial state where the outer diameter is larger than each locating hole under the action of its own elastic force, so that the first rubber ring can cooperate with the first head of the first locating pin to firmly install the first locating pin in the corresponding locating holes of the thigh rod and the thigh connecting rod.

8. The in vitro assisted exoskeleton scaffold according to claim 1, characterized in that: The specific connection structure between the calf rod and the supporting foot rod includes: a second positioning pin, a second guide slot is arranged on the calf rod along its length direction, the supporting foot rod is slidably embedded in the second guide slot, the supporting foot rod and the calf rod are slidably matched through the second guide slot, a third positioning hole is arranged on the calf rod, and a plurality of fourth positioning holes are arranged in sequence along its length direction on the supporting foot rod. When the supporting foot rod moves relative to the calf rod through the second guide slot, the third positioning hole can pass through the fourth positioning hole at any position, and the second positioning pin is passed through the corresponding third positioning hole and fourth positioning hole to position and connect the calf rod and the supporting foot rod.

9. The in vitro assisted exoskeleton scaffold according to claim 8, characterized in that: The specific installation structure of the second locating pin includes: the second locating pin includes a second rod body that can be adapted to pass through the third locating hole and the fourth locating hole, and the two ends of the second rod body are defined as a head end and a tail end respectively, a second head portion with a diameter larger than each locating hole is arranged at the head end of the second rod body, a circle of second installation grooves is arranged on the outer peripheral wall of the tail end of the second rod body, and a second rubber ring is embedded in the second installation groove, and after the tail end of the second locating pin passes through the corresponding fourth locating hole and the third locating hole in turn and passes through the calf rod and the supporting foot rod, the second rubber ring embedded in the second installation groove at the tail end of the second locating pin will expand outward to an initial state of an outer diameter larger than each locating hole under the action of its own elastic force, so that the second rubber ring can cooperate with the second head portion of the second locating pin to firmly install the second locating pin in the corresponding locating holes of the calf rod and the supporting foot rod.

10. The in vitro assisted exoskeleton scaffold according to claim 1, characterized in that: The structure of the lower binding part includes: a foot buckle fixing plate, a lower binding part mounting seat, and a foot strap, the foot buckle fixing plate is fixed to the lower side wall of the supporting foot rod, and a vertical elongated groove is arranged on the outer end face of the foot buckle fixing plate, the lower part of the elongated groove is an embedded section, and the upper part is a clamping section, a U-shaped clamping edge is installed on the clamping section of the elongated groove, and the opening of the U-shaped clamping edge faces the embedded section of the elongated groove; the foot strap is installed on the lower binding part mounting seat, and a columnar protrusion that can be inserted into the elongated groove is arranged on the outer wall of the lower binding part mounting seat, and a circle of clamping grooves is arranged on the outer peripheral wall of the columnar protrusion, the columnar protrusion of the lower binding part mounting seat is inserted into the elongated groove from the embedded section, and the columnar protrusion is moved toward the clamping section so that the U-shaped clamping edge is correspondingly inserted into the clamping groove of the columnar protrusion, so that the lower binding part mounting seat can be freely rotated relative to the supporting foot rod and connected to the supporting foot rod.

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