Tensioning suspension type unloading exoskeleton suit and wearing method

Abstract

The invention discloses a tensioning suspension type unloading exoskeleton suit and a wearing method, the exoskeleton suit comprises a storage waistcoat, the storage waistcoat is provided with a fixing belt and a plurality of constraint assemblies, the multiple constraint assemblies are sequentially arranged at intervals in the shoulder and neck direction of the storage waistcoat, and the multiple constraint assemblies are axially perpendicular to the fixing belt; one end of the upper limb hanging device is detachably connected with the fixing band, the other end of the upper limb hanging device is connected with the multiple restraining assemblies through one end of a tensioning assembly, and the other end of the tensioning assembly is connected with a foot binding device; when the storage waistcoat moves downwards under the action of storage gravity, the foot binding device counteracts the gravity of the storage waistcoat and the gravity of the upper limb hanging device through mutual cooperation of the upper limb hanging device, the restraining assembly and the tensioning assembly, the traditional mode that the human body directly bears the weight of equipment is changed through the dispersed unloading mode, the load of the upper limbs is greatly reduced, and the weight of the equipment is reduced. And the human body can be more easily kept balanced in a load-bearing state.

Description

Technical Field

[0001] The present invention belongs to the technical field of flexible wearable exoskeletons, and particularly relates to a tension suspension unloading exoskeleton suit and a wearing method thereof. Background Art

[0002] In the fields of safety assurance and emergency handling in modern society, military and police officers as well as various field staff play crucial roles. They often need to perform tasks such as standing guard, patrolling, and marching with heavy loads for long periods. During the execution of these tasks, they not only need to maintain a fixed standing posture for a long time but also carry various heavy equipment, such as weapons, protective armor, communication equipment, etc. This long-term, high-load, and long-standing working mode has many adverse effects on human health.

[0003] From the perspective of the human physiological structure, bearing a large load for a long time will first have a serious impact on the upper limb muscles. Key muscle groups in the upper limbs, such as the deltoid muscle and trapezius muscle, will quickly enter a state of fatigue. Muscle fatigue not only causes discomfort symptoms such as soreness and weakness in the muscles themselves but also further leads to a series of serious health problems. For example, the shoulder joint, as an important joint connecting the upper limb and the trunk, will have its stability damaged after muscle fatigue, and the risk of joint wear will increase sharply. In the long term, problems such as inflammation and pain in the shoulder joint may occur, seriously affecting the normal activity ability of the staff. At the same time, the increase in the upper limb load will also lead to a sharp increase in the pressure on the lumbar intervertebral disc through the body's mechanical conduction mechanism. The lumbar intervertebral disc is an important part of the human spine and bears a huge pressure. When the pressure exceeds its normal bearing range, it is prone to lumbar diseases such as lumbar disc herniation, bringing long-term pain and inconvenience to the staff.

[0004] In addition, the continuous accumulation of upper limb fatigue is extremely likely to cause musculoskeletal injuries, which may manifest in various forms such as muscle strains, tendonitis, and joint sprains. This will not only directly reduce the task execution efficiency of the staff but also pose a threat to their personal safety. When performing some dangerous tasks, due to standing with a heavy load in a single posture for a long time, the blood circulation in the human body is blocked, the limbs are stiff, and the movement becomes slow.

[0005] To alleviate these problems, some weight-reducing exoskeleton products have emerged on the market at present. These exoskeleton products are mainly divided into two categories: active and passive according to the power supply requirements. Active exoskeletons use motors to do work and have strong execution and bearing capabilities, which can reduce the human load to a certain extent. However, their mobility is greatly limited. After wearing, the staff is not flexible enough to adapt to complex and changeable working environments. Moreover, the endurance ability is a major shortcoming of active exoskeletons. Since the motor work consumes a large amount of electric energy, its working time is strictly limited by the battery capacity. Once the battery runs out of power, the exoskeleton can no longer play its role.

[0006] Most passive exoskeletons adopt spring energy storage devices. Their working principle is to collect the negative work generated during human walking and compensate for human work during movement. However, such exoskeletons also have obvious defects. Their structures are complex, including numerous mechanical components and spring devices. This not only increases the manufacturing difficulty and cost of the exoskeleton, but also results in a very heavy weight of the exoskeleton itself. After the staff wears it, the exoskeleton will add an excessive additional load, which instead increases the metabolic burden on the human body and may have new adverse effects on human health in the long term.

[0007] More importantly, whether it is the existing active exoskeleton or passive exoskeleton, their working principles ultimately act the weight of the human body and the load on the human body itself. The pressure is transmitted through the human skeletal system to the joint bones and muscles and finally to the ground. This traditional weight reduction method does not fundamentally change the way the human body bears gravity and cannot effectively solve the health problems brought about by the long-term large load on the upper limbs. Therefore, it is of great practical significance to develop a new type of exoskeleton device that can effectively reduce the burden on the human upper limbs, reduce the risk of musculoskeletal injuries, and improve the task execution efficiency and safety of the staff. Summary of the Invention

[0008] The purpose of the present invention is to provide a tension suspension unloading exoskeleton suit and a wearing method, so as to solve the technical defect in the prior art that whether it is the existing active exoskeleton or passive exoskeleton, their working principles ultimately act the weight of the human body and the load on the human body itself. The pressure is transmitted through the human skeletal system to the joint bones and muscles and finally to the ground. This traditional weight reduction method does not fundamentally change the way the human body bears gravity and cannot effectively solve the health problems brought about by the long-term large load on the upper limbs.

[0009] To achieve the above purpose, the present invention adopts the following technical solutions: In the first aspect, a tension suspension unloading exoskeleton suit is provided, including: A storage vest, on which fixing straps and restraint components are provided. The restraint components are arranged at intervals in sequence along the shoulder and neck direction of the storage vest, and the axial directions of the multiple restraint components are perpendicular to the fixing straps; An upper limb suspension device, one end of which is detachably connected to the fixing strap, and the other end is connected to the multiple restraint components through one end of a tensioning component. The other end of the tensioning component is connected with a foot binding device; Wherein, when the storage vest moves downward under the storage gravity, the foot binding device offsets the storage gravity through the mutual cooperation among the upper limb suspension device, the restraint components and the tensioning component.

[0010] Further, the constraint assembly includes a first constraint band, a second constraint band, and a third constraint band, which are arranged on opposite sides of the storage vest from top to bottom; The end of the first constraint band is provided with a first constraint buckle, and a constraint ring is provided at the top of the first constraint buckle; The end of the second constraint band is provided with a second constraint buckle, and a hanging hole is opened at the end of the second constraint buckle; One end of the tensioning assembly is connected to the inner side of the upper limb suspension device near the end of the storage vest, and the other end extends into the constraint ring and is divided into three branches; One of the branches is connected to the middle of the end of the upper limb suspension device far from the storage vest, and the other branch is vertically downward and bundled and connected to the top of the foot binding device; One end of another branch is connected to the inner side of the upper limb suspension device, and the other end is hung in the hanging hole through a hook.

[0011] Further, a V-shaped structure is formed between the end of the tensioning assembly connected to the inner side of the upper limb suspension device near the end of the storage vest and the end of one branch connected to the middle of the upper limb suspension device far from the storage vest.

[0012] Further, the tensioning assembly is a rope.

[0013] Further, the fixing bands are symmetrically arranged on the top of the storage vest, and the upper limb suspension device includes a shoulder support band and a telescopic assembly connected to the bottom of the shoulder support band; The shoulder support band has a structure with one end open and one end blocked. The open end of the shoulder support band is detachably connected to the two fixing bands. One end of the telescopic assembly is connected to the bottom of the blocked end of the shoulder support band, and the other end is connected to a lower support band.

[0014] Further, the lower support band is in a V-shaped structure.

[0015] Further, the telescopic assembly includes a first adjustment plate and a second adjustment plate. One end of the first adjustment plate is installed at the bottom of the shoulder support band through a fixed connection cover, and the other end is connected to one end of the second adjustment plate through a fixed adjustment buckle. The other end of the second adjustment plate is also fixed to the lower support band through a fixed connection cover.

[0016] Further, the foot binding device includes an ankle bandage and a sole support. A steel ring and a binding steel ring are provided in the ankle bandage, and the binding steel ring is connected to the other end of the tensioning assembly; Flat openings are provided on opposite sides of the sole support. Elastic bands are provided on opposite sides of the ankle bandage. After the ends of the elastic bands pass through the flat openings and extend to the inner side of the sole support, they are bonded to the ankle bandage.

[0017] Furthermore, the bundling steel ring is in a flat structure and is located above the ankle bandage.

[0018] In a second aspect, a method for wearing a tension suspension unloading exoskeleton suit is provided. The method is carried out by using the tension suspension unloading exoskeleton suit as described above, and includes: Wearing the upper limb suspension device and the foot bundling device in sequence; Detachably connecting the storage vest to the upper limb suspension device through a fixing strap; After fixing one end of the tensioning component to the end of the upper limb suspension device and branching it through the constraint component, one branch extends upward and is fixed to the middle of the upper limb suspension device, and the other branch vertically penetrates the remaining constraint components and is fixed to the top of the foot bundling device. Then, one end of the last branch is fixed to the inner side of the upper limb suspension device, and the other end is suspended on the storage vest.

[0019] Compared with the prior art, the present invention has the following beneficial effects: 1. When the storage vest moves downward due to the weight of the stored items, the foot bundling device, the upper limb suspension device, the constraint component, and the tensioning component cooperate to cleverly disperse the originally concentrated storage gravity. Through the mechanical conduction path formed by the tensioning component, the gravity is transmitted from the storage vest to the foot bundling device, and finally the gravity is unloaded by means of the contact between the human body and the ground. This dispersed unloading method changes the traditional mode of the human body directly bearing the weight of the equipment, greatly reducing the load on the upper limbs and enabling the human body to maintain balance more easily under the load-bearing state.

[0020] 2. The tensioning component is divided into three branches, which are respectively connected to different parts of the upper limb suspension device, the foot bundling device, and the hanging holes of the second constraint buckle. This multi-branch design forms a multi-point support system, enabling the storage gravity to be more evenly dispersed to each key part of the exoskeleton suit. Compared with single-point force application, multi-point support can effectively reduce local pressure, avoid structural damage caused by stress concentration, and at the same time more efficiently transmit the gravity to the feet to achieve more thorough unloading and reduce the burden on the upper limbs.

[0021] 3. The two branches of the V-shaped structure are respectively connected to different parts of the upper limb suspension device, forming a stable triangular mechanical framework. This structure can effectively limit the swaying and displacement of the upper limb suspension device in the horizontal and vertical directions, making the exoskeleton suit fit closely to the human body, improving the wearing stability and comfort; at the same time, the horizontal component force generated by the inclination angle between the two different positions can be used to balance the moment and prevent tipping.

[0022] 4. When the rope is under stress, it can evenly distribute the force along its own length. In the tension suspension unloading exoskeleton suit, when the storage vest bears the weight of the equipment, the rope can evenly transfer the gravity to the foot binding device.

[0023] 5. The fixing belts are symmetrically arranged at the top of the storage vest and cooperate with the shoulder support belts, enabling the exoskeleton suit to form a symmetric stress structure on the human shoulders. This symmetric layout helps to evenly disperse the storage gravity, avoiding body tilt or excessive local pressure caused by uneven stress, thereby improving the overall mechanical performance and stability of the exoskeleton suit.

[0024] 6. Effectively restrict the swaying and displacement of the lower support belt in the horizontal and vertical directions, making the exoskeleton suit fit closely to the human body, and improving the wearing stability and comfort.

[0025] 7. There are differences in the height and body shape of different staff members. Through the combination of the first adjustment plate, fixed adjustment buckle and the second adjustment plate, this telescopic assembly can achieve flexible length adjustment.

[0026] 8. A steel ring is set in the ankle bandage. The steel ring can provide a solid support framework for the ankle, effectively preventing the ankle from being overly twisted or deformed during movement and reducing the risk of injury; the sole support provides a solid support platform for the sole of the foot, and can evenly disperse the weight of the human body and the gravity of the equipment to the entire sole of the foot, reducing local pressure.

[0027] 9. Compared with circular or other shapes, the flat structure has a larger contact area. When the tension of the tensioning assembly is transmitted to the ankle bandage through the binding steel ring, the flat structure can evenly disperse the tension around, avoiding local stress concentration. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0029] Figure 1 It is a three-dimensional structure schematic diagram of the tension suspension unloading exoskeleton suit provided by the present invention; Figure 2 It is an installation schematic diagram of the upper limb suspension device in the tension suspension unloading exoskeleton suit provided by the present invention; Figure 3 It is an assembly schematic diagram of the storage vest and the upper limb suspension device in the tension suspension unloading exoskeleton suit provided by the present invention; Figure 4Rear view of the tension suspension unloading exoskeleton suit provided by the present invention; Figure 5 Schematic diagram of the upper limb suspension device in the tension suspension unloading exoskeleton suit provided by the present invention; Figure 6 Schematic diagram of the storage vest in the tension suspension unloading exoskeleton suit provided by the present invention; Figure 7 Schematic assembly diagram of the upper limb suspension device in the tension suspension unloading exoskeleton suit provided by the present invention; Figure 8 Schematic diagram of the foot binding device in the tension suspension unloading exoskeleton suit provided by the present invention; Wherein: 1. Upper limb suspension device; 101. Shoulder support belt; 102. Fixed buckle; 103. First adjustment plate; 104. Fixed adjustment buckle; 105. Second adjustment plate; 106. Lower support belt; 107. Top buckle; 108. Insert buckle; 2. Foot binding device; 201. Ankle bandage; 202. Steel ring; 203. Binding steel ring; 204. Elastic band; 205. Flat mouth; 206. Sole support; 3. Tensioning assembly; 301. First rope; 302. Second rope; 4. Storage vest; 401. Fixed belt; 402. First restraint belt; 4021. First restraint buckle; 4022. Restraint ring; 403. Second restraint belt; 4031. Second restraint buckle; 404. Third restraint belt. Detailed implementation manners

[0030] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. Generally, the components of the embodiments of the present invention described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0031] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts fall within the scope of protection of the present invention.

[0032] It should be noted that: similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0033] In the description of the embodiments of the present invention, it should be noted that if terms such as "upper", "lower", "horizontal", "inner", etc. are used to indicate the orientation or positional relationship, it is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the invention product is usually placed during use. This is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention. In addition, terms such as "first", "second", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0034] In addition, if the term "horizontal" appears, it does not mean that the component is required to be absolutely horizontal, but it can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but it can be slightly inclined.

[0035] In the description of the embodiments of the present invention, it should also be noted that unless otherwise clearly specified and limited, if terms such as "set", "installed", "connected", "connected" are used, they should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0036] To solve the technical defects mentioned in the background art, this embodiment provides a tension suspension unloading exoskeleton suit and a wearing method. The following further describes the present invention in detail with reference to the drawings: In a first aspect, an embodiment of the present invention provides a tension suspension unloading exoskeleton suit, as Figures 1 - 8 shown, including a storage vest 4, on which there are fixed straps 401 and restraint components. A plurality of restraint components are arranged at intervals in the shoulder and neck direction of the storage vest 4, and the plurality of restraint components are axially perpendicular to the fixed straps 401; An upper limb suspension device 1, one end of which is detachably connected to the fixed strap 401, and the other end is connected to a plurality of restraint components through one end of a tensioning component 3. The other end of the tensioning component 3 is connected to a foot binding device 2; wherein, when the storage vest 4 moves downward under the storage gravity, the foot binding device 2 offsets the storage gravity through the mutual cooperation among the upper limb suspension device 1, the restraint components, and the tensioning component 3.

[0037] In the above structure, when the storage vest 4 moves downward due to the weight of the equipment, the foot binding device 2, the upper limb suspension device 1, the restraint assembly, and the tensioning assembly 3 cooperate to cleverly disperse the storage gravity that was originally concentrated on the upper limbs. Through the mechanical conduction path formed by the tensioning assembly 3, the gravity is transferred from the storage vest 4 to the foot binding device 2, and finally the gravity is removed by means of the contact between the human body and the ground. This way of dispersing and unloading changes the traditional mode of the human body directly bearing the weight of the equipment, greatly reducing the load on the upper limbs and enabling the human body to maintain balance and movement more easily under the weight-bearing state. At the same time, due to the flexible and elastic characteristics of the tensioning assembly 3, when the wearer is performing mobile operations and suddenly changes the static standing state of the human body, the overall static balance state is destroyed and the ropes fail. The weight of the storage vest 4 is temporarily borne by the upper limb suspension device 1, and the storage vest 4 and the foot binding device 2 do not affect the movement of the human body, so it has strong mobility. When the human body finishes the operation and returns to the upright static state, the tension of the tensioning assembly 3 is re-tightened to restore the static balance state of the exoskeleton suit. During this process, a free state switch is achieved without having to put on and take off the equipment. The overall frame structure formed by the tensioning assembly 3, the upper limb suspension device 1, the foot binding device 2, and the storage vest 4 is relatively light in weight and does not impose an excessive additional burden on the human body.

[0038] During application, due to the fact that long-term high-load weight-bearing can easily cause fatigue of muscle groups such as the deltoid muscle and trapezius muscle in the upper limbs, and further lead to problems such as shoulder joint wear and increased lumbar intervertebral disc pressure, this exoskeleton suit effectively reduces the burden on the upper limbs, reduces the degree of muscle fatigue, reduces the occurrence probability of injuries such as muscle strains and tendonitis, and at the same time reduces the injury risk of the shoulder joint and lumbar spine, protecting the musculoskeletal health of the staff from the root cause and preventing chronic diseases caused by long-term weight-bearing.

[0039] In addition, by dispersing the storage gravity to the feet, the pressure on the upper limb joints (such as the shoulder joint and elbow joint) and spinal joints is reduced. The pressure borne by the joints is reduced, and the wear speed is decreased, which can effectively delay the occurrence of joint degenerative diseases, extend the service life of the joints, and improve the joint health level and activity ability of the staff.

[0040] In addition, the upper limb suspension device 1 and the fixing belt 401 adopt a detachable connection method, which is convenient for the staff to quickly put on and take off the exoskeleton suit according to different task requirements, and can also adjust the position and angle of the suspension device according to personal body shape and equipment conditions, improving the adaptability and comfort of the exoskeleton suit, enabling the exoskeleton suit to be widely applied to staff of various body shapes and task scenarios, and improving its practicality and versatility. Compared with traditional complex weight-reducing exoskeletons, this exoskeleton suit has a relatively simple structure, reducing unnecessary mechanical components and weight, not only reducing the manufacturing cost, but also reducing the additional burden on the staff when wearing, avoiding the increased metabolism and inconvenient movement caused by the excessive weight of the exoskeleton, and enabling the staff to carry and use it more easily.

[0041] Furthermore, the restraint assembly includes a first restraint belt 402, a second restraint belt 403 and a third restraint belt 404, which are arranged on opposite sides of the storage vest 4 from top to bottom; a first restraint buckle 4021 is provided at the end of the first restraint belt 402, and a restraint ring 4022 is provided at the top of the first restraint buckle 4021; a second restraint buckle 4031 is provided at the end of the second restraint belt 403, and a hanging hole is provided at the end of the second restraint buckle 4031; one end of the tensioning assembly 3 is connected to the inner side of the upper limb suspension device 1 close to the end of the storage vest 4, and the other end extends into the restraint ring 4022 and is divided into three branches; one of the branches is connected to the middle part of the upper limb suspension device 1 away from the storage vest 4, and another branch is vertically downward and tied to the top of the foot binding device 2; one end of another branch is connected to the inner side of the upper limb suspension device 1, and the other end is hung in the hanging hole through a hook. First of all, it can be seen from the figure that the tensioning assembly 3 includes a first rope 301 and a second rope 302. The first rope 301 is divided into two branches, which are respectively connected to different parts of the upper limb suspension device 1 and the foot binding device 2, while the second rope 302 is hung in the hanging hole of the second restraint buckle 4031 through a hook. This multi-branch design forms a multi-point support system, so that the storage gravity can be more evenly distributed to various key parts of the exoskeleton suit; compared with single-point force, multi-point support can effectively reduce local pressure and avoid structural damage caused by stress concentration. At the same time, it can more efficiently transfer gravity to the feet, achieve more thorough unloading, and reduce the burden on the upper limbs.

[0042] In addition, the three branches cooperate with each other to adjust the force distribution in real time according to the human body's movement state. When the staff performs different actions, the tension of each branch will change accordingly, automatically balancing the impact of the storage gravity on the human body. For example, during walking, the branch at the top of the foot binding device 2 can adjust the tension according to the rhythm of the steps to ensure that the body always remains stable during exercise and reduce body shaking or imbalance caused by uneven gravity distribution.

[0043] At the same time, since the first restraint belt 402, the second restraint belt 403 and the third restraint belt 404 are arranged on opposite sides of the storage vest 4 from top to bottom, they can better fit the curve of the human torso. By adjusting the tightness of the restraint belt, it can adapt to the needs of workers of different body shapes, ensure that the exoskeleton suit fits closely to the human body, improve the comfort and stability of wearing, and also provide a wider range of adaptability for users of different body shapes, increasing the versatility of the exoskeleton suit.

[0044] One end of the tensioning assembly 3 is connected to the inner side of the upper limb suspension device 1 near the end of the storage vest 4, and the other end is divided into three branches for different connection methods, enabling the tensioning assembly 3 to be flexibly adjusted according to the movement and posture changes of the human body, ensuring that gravity can be effectively transmitted and dispersed under various actions. For example, when the staff raises their hand or turns around, the branches of the tensioning assembly 3 can adaptively adjust the tension to ensure that the exoskeleton suit always maintains good mechanical properties.

[0045] In addition, as can be seen from the figure, a V-shaped structure is formed between the end of the tensioning assembly 3 connected to the inner side of the upper limb suspension device 1 near the end of the storage vest 4 and the end of one of the branches connected to the upper limb suspension device 1 far from the middle of the storage vest 4. Among them, the V-shaped structure has good stability in mechanics and can withstand greater tensile force. When the storage vest 4 bears the gravity of the equipment, the gravity is transmitted through the tensioning assembly 3, and the V-shaped structure can effectively disperse and bear these tensile forces. Compared with a linear or other simple connection structure, its tensile capacity is stronger and it is not easy to break or deform due to excessive force, thus ensuring that the exoskeleton suit can stably share the upper limb load; moreover, the V-shaped structure changes the direction and method of force transmission, enabling the storage gravity to be more evenly distributed to different parts of the upper limb suspension device 1. During the movement of the human body, this uniform force distribution can reduce local stress concentration and avoid damage to the upper limb suspension device 1 or the tensioning assembly 3 due to excessive stress, extending the service life of the exoskeleton suit.

[0046] Furthermore, the two branches of the V-shaped structure are respectively connected to different parts of the upper limb suspension device 1, forming a stable triangular mechanical framework, which can effectively limit the swaying and displacement of the upper limb suspension device 1 in the horizontal and vertical directions, making the exoskeleton suit fit closely to the human body and improving the wearing stability and comfort. When the staff is performing tasks, even when making rapid movements or violent actions, the exoskeleton suit can remain relatively stable and will not affect the task execution due to swaying.

[0047] In this embodiment, the tensioning assembly 3 is a rope. When the rope is stressed, it can evenly distribute the force along its own length. In the tensioning suspension unloading exoskeleton suit, when the storage vest 4 bears the gravity of the equipment, the rope can evenly transmit the gravity to the foot binding device 2, avoiding local stress concentration.

[0048] In this embodiment, the fixing straps 401 are symmetrically arranged at the top of the storage vest 4. The upper limb suspension device 1 includes a shoulder support strap 101 and a telescopic assembly connected to the bottom of the shoulder support strap 101. The shoulder support strap 101 has a structure with one end open and the other end blocked. The open end of the shoulder support strap 101 is detachably connected to the two fixing straps 401 through fixing buckles 102. At the top of the two ends of the shoulder support strap 101 with the open end, top buckles 107 are installed, and the two top buckles 107 are connected through a snap fastener 108. One end of the telescopic assembly is connected to the bottom of the blocked end of the shoulder support strap 101, and the other end is connected to a lower support strap 106.

[0049] In the above structure, the open end of the shoulder support strap 101 is detachably connected to the two fixing straps 401, which provides great flexibility for use. Staff can quickly adjust the connection method or position between the shoulder support strap 101 and the fixing straps 401 according to different task requirements, personal body types, and the characteristics of the equipment carried. For example, when carrying equipment of different weights or shapes, by reconnecting the shoulder support strap 101, it is possible to better adapt to the center-of-gravity distribution of the equipment, ensure the close fit of the exoskeleton suit to the human body, and improve the stability and adaptability of wearing.

[0050] The fixing straps 401 are symmetrically arranged at the top of the storage vest 4 and cooperate with the shoulder support strap 101, enabling the exoskeleton suit to form a symmetric force-bearing structure at the human shoulders, which helps to evenly disperse the storage gravity, avoid body tilt or excessive local pressure caused by uneven force, and thus improve the overall mechanical properties and stability of the exoskeleton suit. The shoulder support strap 101 has a structure with one end open and the other end blocked, and its blocked end can provide more stable support for the shoulders. At the same time, the telescopic assembly is connected to the bottom of the blocked end of the shoulder support strap 101. Through telescopic adjustment, it can adapt to staff with different shoulder widths and shoulder shapes, make the shoulder support strap 101 better fit the shoulder curve, reduce the concentrated pressure on the shoulders, and reduce the shoulder fatigue and discomfort caused by long-term wearing.

[0051] In addition, the presence of the telescopic assembly enables the upper limb suspension device 1 to adaptively adjust with the movement of the human body. When the staff makes actions such as raising the hand or turning around, the telescopic assembly can freely expand and contract, providing appropriate movement space for the shoulders, avoiding restricting human movement due to the exoskeleton suit being too tight, and improving the comfort and flexibility of wearing.

[0052] Finally, the connection between the shoulder support strap 101 and the fixing strap 401, as well as the connection between the telescopic assembly and the lower support strap 106, form a complete mechanical conduction path. The storage gravity is transmitted from the storage vest 4 to the shoulder support strap 101 through the fixing strap 401, and then transmitted to other parts via the telescopic assembly and the lower support strap 106, thereby achieving effective dispersion and transmission of gravity, which can give full play to the weight-reducing and unloading function of the exoskeleton suit and reduce the burden on the upper limbs.

[0053] The symmetrically arranged fixing straps 401 cooperate with the shoulder support straps 101, the telescopic assembly and the lower support straps 106 to form a stable frame that can resist interference from external forces, such as impact and torsional forces during human movement, maintain the overall stability of the exoskeleton suit, and ensure reliable operation in various mission scenarios.

[0054] In this embodiment, the lower support belt 106 is a V-shaped structure. Compared with some rigid straight support belts, the flexibility of the V-shaped structure can reduce the sense of restraint on the lower limbs of the human body, and will not excessively limit the range of motion of the human body, so that the staff will not feel too tired and uncomfortable when wearing the exoskeleton suit for a long time. This improvement in comfort is particularly important for staff who need to perform tasks for a long time, which can improve their work efficiency and the quality of task completion.

[0055] In this embodiment, the telescopic assembly includes a first adjustment plate 103 and a second adjustment plate 105. One end of the first adjustment plate 103 is installed at the bottom of the shoulder support belt 101 through a fixed connection cover, and the other end is connected to one end of the second adjustment plate 105 through a fixed adjustment buckle 104. The other end of the second adjustment plate 105 is also fixed to the lower support belt 106 through a fixed connection cover. In addition, the first adjustment plate 103 and the second adjustment plate 105 are fixedly connected to the shoulder support belt 101 and the lower support belt 106 respectively through the fixed connection cover, forming a stable mechanical structure. The fixed connection cover can ensure the firmness of the connection, so that the telescopic assembly will not loosen or fall off when subjected to gravity.

[0056] Furthermore, the foot binding device 2 includes an ankle bandage 201 and a sole support 206. A steel ring 202 and a binding steel ring 203 are provided in the ankle bandage 201, and the binding steel ring 203 is connected to the other end of the tensioning assembly 3; flat openings 205 are formed on opposite sides of the sole support 206, and elastic bands 204 are provided on opposite sides of the ankle bandage 201. After the ends of the elastic bands 204 pass through the flat openings 205 and extend to the inner side of the sole support 206, they are bonded to the ankle bandage 201; wherein, the binding steel ring 203 has a flat structure and is located above the ankle bandage 201. In the above structure, the steel ring 202 is provided in the ankle bandage 201, and the steel ring 202 can provide a solid support framework for the ankle, effectively preventing the ankle from being overly twisted or deformed during movement, and reducing the risk of injury. For example, when the staff member performs strenuous exercises such as jumping and running, the steel ring 202 can maintain the stability of the ankle and reduce the possibility of sprains.

[0057] The binding steel ring 203 is connected to the other end of the tensioning assembly 3, so that the tension generated by the tensioning assembly 3 can be evenly transmitted to the ankle bandage 201, further enhancing the fixing effect of the ankle bandage 201 on the foot, ensuring the close combination of the exoskeleton suit and the foot, forming a stable whole, and improving the overall mechanical properties of the exoskeleton suit.

[0058] The sole support 206 provides a solid support platform for the sole of the foot, and can evenly disperse the weight of the human body and the gravity of the equipment to the entire sole of the foot, reducing local pressure. When used in conjunction with the ankle bandage 201, it forms a complete support system from the ankle to the sole of the foot, improving the load-bearing capacity and stability of the foot. For example, when the staff member stands or walks for a long time, the sole support 206 can effectively relieve the fatigue of the sole of the foot and improve comfort.

[0059] Elastic bands 204 are provided on opposite sides of the ankle bandage 201. The elastic bands 204 have a certain flexibility and elasticity, and can adapt to staff members with different foot shapes and foot sizes. When the staff member wears the foot binding device 2, the elastic bands 204 can automatically adjust the tightness according to the shape and size of the foot, avoiding excessive pressure on the foot and improving the comfort of wearing. Since the ends of the elastic bands 204 pass through the flat openings 205 on opposite sides of the sole support 206 and extend to the inner side and are bonded to the ankle bandage 201, this connection method enables the elastic bands 204 to form an organic whole with the sole support 206 and the ankle bandage 201, ensuring both the stability of the structure and not affecting the elastic function of the elastic bands 204.

[0060] Furthermore, the bundling steel ring 203 is connected to the tensioning assembly 3, effectively transmitting the storage gravity to the ground through the ankle bandage 201, the elastic band 204, and the sole support 206. The force transmission path is clear and reasonable, enabling the tensioning assembly 3 to fully exert its weight reduction and load unloading function, reducing the burden on the upper limbs and waist. For example, when a staff member carries heavy equipment, the tension generated by the tensioning assembly 3 is transmitted to the ground through the foot bundling device 2, significantly reducing the gravity felt by the staff member and improving work efficiency and endurance.

[0061] Therefore, whether using an active motor or passive energy storage, the essence of weight reduction is to let the body itself bear the load, rather than transmitting the load to the ground for effective unloading. The suspended unloading in this solution adopts a tensegrity structure, which is a self-balancing structural system composed of tensioned rope members and compressed rod members, forming a stable spatial form. The load gravity is borne by the rope tension and unloaded to the ground, thereby reducing the human body load burden.

[0062] In a second aspect, a method for wearing a tensioning suspended unloading exoskeleton suit is provided. The method is carried out using the tensioning suspended unloading exoskeleton suit as described above, and includes: Step 1: Wear the upper limb suspension device 1 and the foot bundling device 2 in sequence; Step 2: detachably connect the storage vest 4 to the upper limb suspension device 1 through the fixing band 401; Step 3: Fix one end of the tensioning assembly 3 to the end of the upper limb suspension device 1, branch it after passing through the restraint assembly, extend one branch upward and fix it to the middle of the upper limb suspension device 1, vertically extend the other branch downward through the remaining restraint assemblies and fix it to the top of the foot bundling device 2, then fix one end of the last branch to the inside of the upper limb suspension device 1 and hang the other end on the storage vest 4.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit its protection scope. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that after reading the present invention, various changes, modifications, or equivalent replacements can still be made to the specific implementation manners of the invention. However, these changes, modifications, or equivalent replacements are all within the protection scope of the pending claims of the invention.

Claims

1. A tension-suspension unloading exoskeleton suit, characterized in that, Comprising: A storage vest (4) provided with fixing belts (401) and restraint components, wherein multiple restraint components are arranged at intervals along the shoulder and neck direction of the storage vest (4), and the axial directions between the multiple restraint components and the fixing belts (401) are perpendicular; An upper limb suspension device (1), one end of which is detachably connected to the fixing belt (401), and the other end of which is connected to multiple restraint components through one end of a tensioning component (3), and the other end of the tensioning component (3) is connected to a foot binding device (2); Wherein, when the storage vest (4) moves downward under the storage gravity, the foot binding device (2) offsets the storage gravity through the mutual cooperation among the upper limb suspension device (1), the restraint components, and the tensioning component (3).

2. The tension suspension unloading exoskeleton suit according to claim 1, wherein, The restraint component includes a first restraint belt (402), a second restraint belt (403), and a third restraint belt (404), and the first restraint belt (402), the second restraint belt (403), and the third restraint belt (404) are arranged from top to bottom on opposite sides of the storage vest (4); The end of the first restraint belt (402) is provided with a first restraint buckle (4021), and the top of the first restraint buckle (4021) is provided with a restraint ring (4022); The end of the second restraint belt (403) is provided with a second restraint buckle (4031), and a hanging hole is opened at the end of the second restraint buckle (4031); One end of the tensioning component (3) is connected to the inner side of the end of the upper limb suspension device (1) close to the storage vest (4), and the other end extends into the restraint ring (4022) and is divided into three branches; One of the branches is connected to the middle of the end of the upper limb suspension device (1) far from the storage vest (4), and another branch is vertically downward and bundled and connected to the top of the foot binding device (2); One end of another branch is connected to the inner side of the upper limb suspension device (1), and the other end is hung in the hanging hole (4031) through a hook.

3. The tension suspension unloading exoskeleton suit according to claim 2, wherein, The end of the tensioning component (3) connected to the inner side of the end of the upper limb suspension device (1) close to the storage vest (4) and the end of one branch connected to the middle of the end of the upper limb suspension device (1) far from the storage vest (4) form a V-shaped structure.

4. The tension suspension unloading exoskeleton suit according to claim 2 or 3, characterized in that, The tensioning component (3) is a rope.

5. The tension suspension unloading exoskeleton suit according to claim 1, wherein The fixing belts (401) are symmetrically arranged at the top of the storage vest (4), and the upper limb suspension device (1) includes a shoulder support belt (101) and a telescopic component connected to the bottom of the shoulder support belt (101); The shoulder support belt (101) has a structure with one end open and one end blocked. The open end of the shoulder support belt (101) is detachably connected to two fixing belts (401), and one end of the telescopic component is connected to the bottom of the blocked end of the shoulder support belt (101), and the other end is connected to a lower support belt (106).

6. The tension suspension unloading exoskeleton suit according to claim 5, wherein, The lower support belt (106) is of a V-shaped structure.

7. The tension suspension unloading exoskeleton suit according to claim 5, characterized in that, The telescopic component includes a first adjusting plate (103) and a second adjusting plate (105). One end of the first adjusting plate (103) is installed at the bottom of the shoulder support belt (101) through a fixed connection cover, and the other end is connected to one end of the second adjusting plate (105) through a fixed adjusting buckle (104). The other end of the second adjusting plate (105) is also fixed to the lower support belt (106) through a fixed connection cover.

8. The tension suspension unloading exoskeleton suit according to claim 1, characterized in that, The foot binding device (2) includes an ankle bandage (201) and a sole support (206). A steel ring (202) and a binding steel ring (203) are provided in the ankle bandage (201), and the binding steel ring (203) is connected to the other end of the tensioning assembly (3). Flat openings (205) are formed on opposite sides of the sole support (206). Elastic bands (204) are provided on opposite sides of the ankle bandage (201). After the ends of the elastic bands (204) pass through the flat openings (205) and extend to the inner side of the sole support (206), they are adhered to the ankle bandage (201).

9. The tension suspension unloading exoskeleton suit according to claim 8, characterized in that, The binding steel ring (203) has a flat structure and is located above the ankle bandage (201).

10. A wearing method of a tension-suspended unloading exoskeleton suit, characterized in that, The method is carried out using the tensioning and suspending unloading exoskeleton suit according to any one of claims 1-9, and includes: Wearing the upper limb suspension device and the foot binding device in sequence; Detachably connecting the storage vest to the upper limb suspension device through a fixing strap; Fixing one end of the tensioning assembly to the end of the upper limb suspension device and branching it through the restraint assembly, then making one branch extend upward and fix it to the middle of the upper limb suspension device, making the other branch vertically downward pass through the remaining restraint assemblies and fix it to the top of the foot binding device, and then fixing one end of the last branch to the inner side of the upper limb suspension device and suspending the other end on the storage vest.

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