A joint-support force-assisted exoskeleton device

Abstract

This invention provides a joint support force-assisted exoskeleton device, comprising: a first fixing part surrounding the shoulder; a first support part for conforming to the cervical spine; a first fixing part surrounding the shoulder to fix the first support part; a second support part for conforming to the thoracic spine; a second fixing part surrounding the chest to fix the second support part; and a first connecting part extending along a first direction to connect the first and second support parts, thereby transferring the load generated by the weight of the arm to the support part and the connecting part. This application uses a longitudinal support column to conform to the physiological curvature of the spine, dispersing shoulder pressure and reducing spinal stress. The rigid connecting part combined with a flexible strap transfers the weight component of the shoulder and arm to the torso, avoiding muscle strain caused by the elbow being unsupported. This application also includes a low-temperature infrared radiation module to provide therapeutic radiation to acupoints on the arm and spine, relieving fatigue in the arm and spine.

Description

Technical Field

[0001] This invention relates to the field of surgical technology, and more specifically, to a joint-supporting force-assisted exoskeleton device. Background Technology

[0002] In existing technologies, complex surgical procedures require surgeons to maintain the upper limb suspended in the air for extended periods using their shoulder-elbow joints. At the same time, the neck and lower back bear weight for extended periods when the head is lowered or leaning forward during the procedure, leading to abnormalities in the normal physiological curvature of the spine, manifested as straightening of the cervical lordosis, increased curvature of the thoracic spine, and lumbar disc herniation.

[0003] Chinese invention patent application (application number: CN202380038549.7) proposes a body wearing device that may include a head strap connected to a torso strap via a dedicated rectangular variable stiffness beam for flexibly supporting body parts such as the head in a hunched posture, such as when a surgeon is performing surgery.

[0004] However, this device has the following drawbacks: it uses straps to fix the user's head in order to distribute the weight of the user's head to other parts of the body in order to reduce the impact of the head's weight on the cervical spine. The straps affect the angle of head movement of the wearer, which can significantly affect the doctor's freedom of movement during surgery. In addition, the device cannot provide auxiliary support for the doctor's hand joints. If the doctor's arm is suspended for a long time, it will cause fatigue damage to the muscles and fascia of the doctor's shoulder and neck joints. Summary of the Invention

[0005] In view of the shortcomings of the existing technology, the purpose of this invention is to provide a joint support force-assisted exoskeleton device to overcome the disadvantages of existing body-wearing devices that cannot provide auxiliary support for the arms and lumbar spine and affect the wearer's head freedom.

[0006] The above-mentioned technical objective of the present invention is achieved through the following technical solution: a joint support force-assisted exoskeleton device, comprising:

[0007] The auxiliary device includes a first direction and a second direction, which are arranged intersecting each other; a first end and a second end are arranged opposite to each other along the first direction.

[0008] The auxiliary equipment includes:

[0009] A first support portion is disposed at the first end and extends along the first direction for conforming to the cervical spine to provide support.

[0010] A first fixing part is provided along a second direction and is used to surround the shoulder so that the first support part fits against the cervical spine; the first fixing part is fixedly connected to the first support part.

[0011] The second support portion is disposed at the second end and extends along the first direction, and is used to fit against the thoracic vertebrae to provide support.

[0012] The second fixing part is provided along the second direction and is used to surround the chest so that the second support part fits against the thoracic vertebrae;

[0013] A first connecting portion extends along a first direction, and the end of the first connecting portion near the first end is fixedly connected to the first support portion; the end of the first connecting portion near the second end is fixedly connected to the second support portion; the first connecting portion is rigid, and when both the first fixing portion and the second fixing portion are fixed to the body, the first connecting portion can bear the load component generated by the shoulder.

[0014] In one embodiment, the first fixing part includes: a first connector, a first shoulder fixing frame, a first chain-like iron plate, a second connector, a second shoulder fixing frame, a second chain-like iron plate, and a first strap;

[0015] One end of the first connector is fixedly connected to the first support portion; the other end of the first connector is fixedly connected to one end of the first shoulder fixing frame.

[0016] One end of the second connector is fixedly connected to the first support portion; the other end of the second connector is fixedly connected to one end of the second shoulder fixing frame.

[0017] The other end of the first shoulder fixation frame is connected to the other end of the second shoulder fixation frame via the strap;

[0018] The first chain-like iron sheet is attached to the outer surface of the first shoulder fixing frame to provide plastic deformation;

[0019] The second chain-like iron sheet is attached to the outer surface of the second shoulder fixing frame to provide plastic deformation.

[0020] In one embodiment, the first fixing part further includes: a first rubber layer and a second rubber layer;

[0021] The first rubber layer is bonded to the inner surface of the first shoulder fixation frame; the second rubber layer is bonded to the inner surface of the second shoulder fixation frame.

[0022] In one embodiment, the first fixing part further includes a first arm support assembly and a second arm support assembly;

[0023] The first arm support assembly is fixedly connected to the first shoulder fixation frame;

[0024] The second arm support assembly is fixedly connected to the second shoulder fixation frame.

[0025] In one embodiment, the first arm support assembly includes: a first upper arm support frame, a second upper arm support frame, a first forearm support frame, a second forearm support frame, a first wrist fixing ring, a first auxiliary support frame, and a first electric hinge;

[0026] The top end of the first boom support frame is connected to one end of the first shoulder fixing frame; the top end of the second boom support frame is connected to the other end of the first shoulder fixing frame.

[0027] The bottom end of the first boom support frame is connected to one end of the first forearm support frame via the first auxiliary support frame; the bottom end of the second boom support frame is connected to one end of the second forearm support frame via the first electric hinge.

[0028] The other end of the first forearm support frame and the other end of the second forearm support frame are respectively connected to the two ends of the first wrist fixing ring that are radially opposite each other.

[0029] In one embodiment, the second arm support assembly includes: a third upper arm support frame, a fourth upper arm support frame, a third forearm support frame, a fourth forearm support frame, a second wrist fixing ring, a second auxiliary support frame, and a second electric hinge;

[0030] The top end of the third boom support frame is connected to one end of the first shoulder fixing frame; the top end of the fourth boom support frame is connected to the other end of the first shoulder fixing frame.

[0031] The bottom end of the third boom support frame is connected to one end of the third forearm support frame via the first auxiliary support frame; the bottom end of the fourth boom support frame is connected to one end of the fourth forearm support frame via the first electric hinge.

[0032] The other end of the third forearm support frame and the other end of the fourth forearm support frame are respectively connected to the two ends of the second wrist fixing ring that are radially opposite to each other.

[0033] In one embodiment, it further includes: two suspension ropes, which are arranged in a cross pattern and respectively fixedly connected to the first fixing part.

[0034] In one embodiment, a tension adjustment component is provided on the second support portion;

[0035] The tension adjustment assembly includes: an adjustment motor and a first pull rope, wherein the drive shaft of the adjustment motor is fixedly connected to one end of the first pull rope; and the other end of the first pull rope is fixedly connected to the first support portion.

[0036] In one embodiment, the assembly further includes: a third support portion, a second connecting portion, and a third fixing portion. In a first direction, the second connecting portion is closer to the second end than the second support portion, and the third support portion is closer to the second end than the second connecting portion. One end of the second connecting portion is fixedly connected to the second support portion, and the other end of the second connecting portion is fixedly connected to the third support portion. The third support portion extends along the first direction and is used to conform to the lumbar spine to provide support. The third fixing portion is arranged along the second direction and is used to surround the waist so that the third support portion conforms to the lumbar spine. The third fixing portion is fixedly connected to the third support portion. The tension adjustment assembly further includes a second pull rope, one end of which is fixedly connected to the drive shaft of the adjustment motor; the other end of the second pull rope is fixedly connected to the third support portion.

[0037] In one embodiment, both the first shoulder fixation frame and the second shoulder fixation frame are provided with moxibustion belts; the assembly further includes: a low-temperature infrared radiation component, which specifically includes: two first radiation units, each disposed on one of the two moxibustion belts, for moxibustion of the Jianjing acupoint; two second radiation units, each disposed on the first auxiliary support frame and the second auxiliary support frame, for moxibustion of the Quchi acupoint; two third radiation units, each disposed on the first forearm support frame and the second forearm support frame, for moxibustion of the Shousanli acupoint; two fourth radiation units, each disposed on the first support portion, for moxibustion of the cervical spine; two fifth radiation units, each disposed on the second support portion, for moxibustion of the thoracic spine; two sixth radiation units, each disposed on the third support portion, for moxibustion of the lumbar spine; and two seventh radiation units, each disposed on the first chain-like iron plate and the second chain-like iron plate, for moxibustion of the shoulder muscles.

[0038] In summary, the present invention has the following beneficial effects: A joint support force-assisted exoskeleton device includes: a first fixing part surrounding the shoulder; a first support part for conforming to the cervical spine; a first fixing part surrounding the shoulder to fix the first support part; a second support part for conforming to the thoracic spine; a second fixing part surrounding the chest to fix the second support part; and a first connecting part extending along a first direction to connect the first support part and the second support part, so as to transfer the load generated by the weight of the arm to the support part and the connecting part; the present application uses a longitudinal support column to conform to the physiological curvature of the spine, disperse the pressure on the shoulder, and reduce the stress on the spine; the rigid connecting part is combined with a flexible strap to transfer the weight component of the shoulder and arm to the torso, avoiding muscle strain caused by the elbow being suspended; the present application is also equipped with a low-temperature infrared radiation module to provide physiotherapy radiation to acupoints on the arm and spine, relieving fatigue of the arm and spine. Attached Figure Description

[0039] Figure 1 A diagram illustrating the curvature of the human spine;

[0040] Figure 2 This is a first-view three-dimensional structural diagram of the present invention;

[0041] Figure 3 This is a second-view three-dimensional structural diagram of the present invention;

[0042] Figure 4 This is a three-dimensional structural diagram of the arm support component of the present invention;

[0043] Figure 5 A diagram showing the locations of the three acupoints: Jianjing, Shousanli, and Quchi.

[0044] Figure 6 This is a schematic diagram of the third-view three-dimensional structure of the present invention;

[0045] Figure 7 This is a schematic diagram of the fourth-view three-dimensional structure of the present invention;

[0046] Figure 8 This is a schematic diagram of the fifth perspective three-dimensional structure of the present invention.

[0047] In the diagram: 1. First support section;

[0048] 2. First fixing part; 21. First connecting part;

[0049] 22. First shoulder fixing frame; 23. First chain-like iron plate; 24. Second connector; 25. Second shoulder fixing frame; 26. Second chain-like iron plate; 27. First strap; 28. First rubber layer; 29. ​​Second rubber layer; 210. First arm support assembly; 211. First upper arm support frame; 212. Second upper arm support frame; 213. First forearm support frame; 214. Second forearm support frame; 215. First wrist fixing ring; 216. First auxiliary support frame; 217. First electric hinge; 220. Second arm support assembly; 221. Third upper arm support frame; 222. Fourth upper arm support frame; 223. Third forearm support frame; 224. Fourth forearm support frame; 225. Second wrist fixing ring; 226. Second auxiliary support frame; 227. Second electric hinge;

[0050] 3. Second support part; 311. Adjusting motor; 312. First pull rope; 313. Second pull rope; 314. Second fixing part;

[0051] 4. Third support part; 411. Third fixing part;

[0052] 5. First connecting part;

[0053] 6. Second connecting part;

[0054] 7. Suspension rope;

[0055] 8. Low-temperature infrared radiation component; 81. First radiation unit; 82. Second radiation unit; 83. Third radiation unit; 84. Fourth radiation unit; 85. Fifth radiation unit; 86. Sixth radiation unit; 87. Seventh radiation unit; 88. Moxibustion belt;

[0056] 91. First end; 92. Second end; 93. Third end; 94. Fourth end; 95. Fifth end; 96. Sixth end. Detailed Implementation

[0057] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances. The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature.

[0058] In this invention, unless otherwise expressly specified and limited, "above" or "below" a second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of a second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" of a second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature. The terms "vertical," "horizontal," "left," "right," "above," "below," and similar expressions are for illustrative purposes only and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed or operated in a specific orientation, and therefore should not be construed as limiting the invention.

[0059] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0060] Example 1

[0061] To address the aforementioned problems, this invention provides a joint-supporting force-assisted exoskeleton device. To more clearly describe this device, the various directions are first defined, wherein…

[0062] The first direction is the up-down direction, including the opposite first end 91 and second end 92, with the first end 91 being the upper end and the second end 92 being the lower end.

[0063] The second direction is the left and right direction, including the opposite third end 93 and fourth end 94, with the third end 93 being the left end and the fourth end 94 being the right end.

[0064] The third direction is the front-to-back direction, including the opposite fifth end 95 and sixth end 96, with the fifth end 95 being the front end and the sixth end 96 being the rear end.

[0065] like Figures 2-4As shown, the assistive device is worn by the wearer to provide support for the spine and prevent bending and deformation of the spine due to prolonged stress. It includes a longitudinal support column arranged along a first direction, divided into five segments. A first support portion 1, located at the first end 91, is designed to fit snugly against the cervical spine to provide support. A second support portion 3, located in the middle, provides support for the thoracic spine. A third support portion 4, located at the second end 92, provides support for the lumbar spine. The first support portion 1, the second support portion 3, and the third support portion 4 are arranged sequentially along the first direction, allowing each support portion to fit snugly against the wearer's spine to provide support. To connect the various support portions and bear the load, a first connecting portion 5 is provided between the first support portion 1 and the second support portion 3, and a second connecting portion 6 is provided between the second support portion 3 and the third support portion 4. Both the first connecting portion 5 and the second connecting portion 6 employ a rigid connection structure to transfer the load generated by the shoulder to other parts of the wearer, reducing the load on the shoulder. In order for the assistive device to absorb the load generated by the wearer's shoulders, the assistive device is also provided with a first fixing part 2 and a second fixing part 314. The first fixing part 2 is fixed to the first support part 1 and is arranged along the second direction for fixing to the wearer's shoulders. The second fixing part 314 is fixed to the second support part 3 and is arranged along the second direction for fixing to the wearer's chest. In this way, the component of the gravity generated by the wearer's shoulders will be applied to the longitudinal support column to reduce the force on the wearer's spine and avoid the spine from bending and deforming due to long-term stress.

[0066] The assistive device disclosed in this application does not require fixing the wearer's head, thus avoiding any impact on the wearer's head freedom. By fixing the first fixing part 2 around the shoulder, the fixing part can bear the gravitational force generated by the user's shoulder, reducing the impact of the shoulder being suspended for a long time on the spine. It can also use the load generated by the shoulder being suspended to apply force to the spine to maintain the shape of the spine.

[0067] In one embodiment, the first fixing part 2 includes: a first connector 21, a first shoulder fixing frame 22, a first chain-like iron plate 23, a second connector 24, a second shoulder fixing frame 25, a second chain-like iron plate 26, and a first strap 27; one end of the first connector 21 is fixedly connected to the first support part 1; the other end of the first connector 21 is fixedly connected to one end of the first shoulder fixing frame 22; one end of the second connector 24 is fixedly connected to the first support part 1; the other end of the second connector 24 is fixedly connected to one end of the second shoulder fixing frame 25; the other end of the first shoulder fixing frame 22 is connected to the other end of the second shoulder fixing frame 25 via the strap; the first chain-like iron plate 23 is attached to the outer surface of the first shoulder fixing frame 22 to provide plastic deformation; the second chain-like iron plate 26 is attached to the outer surface of the second shoulder fixing frame 25 to provide plastic deformation.

[0068] Specifically, the first fixing part 2 is used to wrap around the shoulder and fix the first fitting part near the cervical spine. The first connecting member 21 extends to the left, and the second connecting member 24 extends to the right. The first connecting member 21 is used to connect the first shoulder fixing frame 22 to the first support part 1. The first connecting member 21 is made of rigid material, which can provide sufficient support and withstand sufficient tensile force to avoid the transmission of plastic deformation influence during wearing. The first shoulder fixing frame 22 fits into the left shoulder, and the second shoulder fixing frame 25 fits into the right shoulder. In order to achieve the wrap around the shoulder, a first strap 27 is also provided at the other end of the shoulder fixing frame. The first strap 27 fits into the wearer's chest to tighten the first shoulder fixing frame 22 and the second shoulder fixing frame 25, so as to achieve a stable connection of the device. The first chain-like iron plate 23 and the second chain-like iron plate 26 are used to provide plastic deformation to the shoulder fixing frame so that the shoulder fixing frame can fit the shape of the shoulder.

[0069] In one embodiment, the first fixing part 2 further includes: a first rubber layer 28 and a second rubber layer 29; the first rubber layer 28 is attached to the inner surface of the first shoulder fixing frame 22; and the second rubber layer 29 is attached to the inner surface of the second shoulder fixing frame 25. Since the first fixing part 2 is fixed to the shoulder, and the shoulder support frame has a certain rigidity, in order to reduce the rigidity of the shoulder support frame and provide a better user experience, a rubber layer for cushioning needs to be provided inside the shoulder support frame.

[0070] In one embodiment, the first fixing part 2 further includes a first arm support assembly 210 and a second arm support assembly 220; the first arm support assembly 210 is fixedly connected to the first shoulder fixing frame 22; and the second arm support assembly 220 is fixedly connected to the second shoulder fixing frame 25.

[0071] Specifically, the first shoulder fixation frame 22 is fixed to the left shoulder, and therefore the first arm support assembly 210 on the first shoulder fixation frame 22 provides support for the left arm. The second shoulder fixation frame 25 is fixed to the right shoulder, and therefore the second arm support assembly 220 provides support for the right arm. By providing support for the arm, the weight of the arm can be transferred to the shoulder fixation frame at the shoulder through the arm support assembly, thereby transferring the load to the longitudinal support column, reducing the discomfort caused by the arm being suspended for a long time.

[0072] In one embodiment, the first arm support assembly 210 includes: a first upper arm support frame 211, a second upper arm support frame 212, a first forearm support frame 213, a second forearm support frame 214, a first wrist fixing ring 215, a first auxiliary support frame 216, and a first electric hinge 217; the top end of the first upper arm support frame 211 is connected to one end of the first shoulder fixing frame 22; the top end of the second upper arm support frame 212 is connected to the other end of the first shoulder fixing frame 22; the bottom end of the first upper arm support frame 211 is connected to one end of the first forearm support frame 213 via the first auxiliary support frame 216; the bottom end of the second upper arm support frame 212 is connected to one end of the second forearm support frame 214 via the first electric hinge 217; the other ends of the first forearm support frame 213 and the other ends of the second forearm support frame 214 are respectively connected to the two radially opposite ends of the first wrist fixing ring 215.

[0073] In one embodiment, the second arm support assembly 220 includes: a third upper arm support frame 221, a fourth upper arm support frame 222, a third forearm support frame 223, a fourth forearm support frame 224, a second wrist fixing ring 225, a second auxiliary support frame 226, and a second electric hinge 227; the top end of the third upper arm support frame 221 is connected to one end of the first shoulder fixing frame 22; the top end of the fourth upper arm support frame 222 is connected to the other end of the first shoulder fixing frame 22; the bottom end of the third upper arm support frame 221 is connected to one end of the third forearm support frame 223 via the first auxiliary support frame 216; the bottom end of the fourth upper arm support frame 222 is connected to one end of the fourth forearm support frame 224 via the first electric hinge 217; the other ends of the third forearm support frame 223 and the other ends of the fourth forearm support frame 224 are respectively connected to the two radially opposite ends of the second wrist fixing ring 225.

[0074] In one embodiment, when the wearer's forearm extends forward, and the upper arm also extends forward or is raised to the sides beyond a certain angle, the wearer's shoulder joints and muscles will bear the entire weight of the arm. To avoid soreness caused by prolonged stress on the shoulder joint, a wrist fixation ring is first installed at the wrist. The wrist fixation ring is placed on the wrist, and the force is transmitted sequentially through the forearm support frame and the upper arm support frame, reducing the load of the arm's gravity on the shoulder. To improve the freedom of elbow position and avoid interference with the wearer's arm, an electric hinge is installed at the connection point of the upper arm support frame and the forearm support frame. The electric hinge includes a motor and a hinge. The motor is used to assist the opening and closing of the hinge. When the wearer's arm angle changes, the motor of the electric hinge automatically rotates according to the change in the wearer's arm angle under the action of a pressure sensor, avoiding the mismatch between the arm and the auxiliary device affecting the freedom of arm movement. To ensure the comfort of the elbow joint, the hinge surface is covered with soft leather. In addition, an auxiliary support frame is installed inside the elbow joint. The first end of the auxiliary support frame is rotatably connected to the upper arm support frame, and the second end of the auxiliary support frame is rotatably connected to the forearm support frame. The auxiliary support frame is used to provide auxiliary support when the arm is bent.

[0075] In one embodiment, the device further includes two suspension ropes 7, which are arranged crosswise and fixedly connected to the first fixing part 2. The crosswise arrangement of the two suspension ropes 7 allows the device to be positioned around the wearer's neck. After the first fixing part 2 is detached from the first support part 1, the two suspension ropes 7 can suspend the first fixing part 2 around the neck for independent use. The upward lifting effect of the suspension ropes 7 reduces pressure on the arm muscles and avoids discomfort caused by prolonged arm suspension.

[0076] Furthermore, a tension adjustment assembly is provided on the second support part 3; the tension adjustment assembly includes: an adjustment motor 311 and a first pull rope 312, the drive shaft of the adjustment motor 311 is fixedly connected to one end of the first pull rope 312; the other end of the first pull rope 312 is fixedly connected to the first support part 1.

[0077] In actual use, the first pull rope 312 can be pulled by the adjusting motor 311 to adjust the distance between the first support module and the second support module, thereby adjusting the shape of the first connecting part 5. By adjusting the shape of the first connecting part 5, the user's spine can maintain a normal physiological curvature, avoiding excessive bending or straightening of the wearer's spine, which would affect the wearer's health.

[0078] In one embodiment, the assembly further includes: a third support portion 4, a second connecting portion 6, and a third fixing portion 411. In a first direction, the second connecting portion 6 is closer to the second end 92 than the second support portion 3, and the third support portion 4 is closer to the second end 92 than the second connecting portion 6. One end of the second connecting portion 6 is fixedly connected to the second support portion 3, and the other end of the second connecting portion 6 is fixedly connected to the third support portion 4. The third support portion 4 extends along the first direction and is used to fit against the lumbar spine to provide support. The third fixing portion 411 is arranged along the second direction and is used to surround the waist so that the third support portion 4 fits against the lumbar spine. The third fixing portion 411 is fixedly connected to the third support portion 4. The tension adjustment assembly further includes a second pull rope 313, one end of which is fixedly connected to the drive shaft of the adjustment motor 311. The other end of the second pull rope 313 is fixedly connected to the third support portion 4.

[0079] Specifically, in actual use, this device includes at least two support parts and one connecting part. The first support part 1 is aligned with the cervical spine, and the second support part 3 is aligned with the thoracic spine. This allows the pressure generated in the shoulder to be distributed through two fixed points. In order to provide support for the wearer's lumbar spine, a third support part 4 can also be provided. The third support part 4 is attached to the lumbar spine through the third fixing part 411, and the third support part 4 is connected to the second support part 3 through the second connecting part 6. In order to adjust the bending angle of the second connecting part 6, the adjusting motor 311 is also provided with a second pull rope 313. The second pull rope 313 can be pulled by the adjusting motor 311 to adjust the angle of the second connecting part 6.

[0080] In one embodiment, a low-temperature infrared radiation component 8 is provided on the first support part 1, the second support part 3, the third support part 4, the first shoulder fixing frame 22, the second shoulder fixing frame 25, the first auxiliary support frame 216, the second auxiliary support frame 226, the first forearm support frame 213, and the second forearm support frame 214.

[0081] like Figure 6 As shown, in this embodiment, the low-temperature infrared radiation component 8 uses a graphene heating film. The low-temperature infrared radiation component 8 includes a first radiation unit 81, a second radiation unit 82, and a third radiation unit 83. The first radiation unit 81 is mounted on the shoulder fixing frame and is used to perform moxibustion on the Jianjing acupoint to relieve shoulder fatigue. The second radiation unit 82 is mounted on the auxiliary support frame and is used to perform moxibustion on the Quchi acupoint near the elbow joint to relieve elbow fatigue. The third radiation unit 83 is mounted on the forearm support frame and is used to perform moxibustion on the Shousanli acupoint on the arm to relieve forearm muscle fatigue.

[0082] The low-temperature infrared radiation component 8 can be set to a temperature between 45℃ and 55℃, with a therapeutic infrared wavelength between 8-15μm. During use, it can be used to apply moxibustion to certain acupoints on the shoulder, elbow, and forearm. Specifically, it includes the following three acupoints: 1. Quchi (LI11), located on the elbow, specifically at the midpoint of the line connecting Chize (LU5) and the lateral epicondyle of the humerus on the lateral side of the elbow; 2. Shousanli (LI10), located two cun distal to Quchi (LI11); 3. Jianjing (GB21), located at the intersection of the shoulder line and directly above the nipple. Because Jianjing (GB21) is located on the shoulder line, the shoulder support frame located on the side cannot provide moxibustion to this acupoint. Therefore, an additional moxibustion component capable of applying moxibustion to Jianjing (GB21) needs to be installed at the top of the shoulder support frame. For example, [example of a specific component would be inserted here]. Figure 6 As shown, a moxibustion band 88 can be installed on the shoulder fixation frame. Both ends of the moxibustion band 88 are fixedly connected to both ends of the shoulder fixation frame. When wearing the device, the moxibustion band 88 passes over the wearer's shoulder, and the first radiation unit 81 on the moxibustion band can perform moxibustion on the Jianjing acupoint. In addition, the low-temperature infrared radiation component 8 also includes a fourth radiation unit 84, a fifth radiation unit 85, a sixth radiation unit 86, and a seventh radiation unit 87; as shown... Figure 8 As shown, the fourth radiation unit 84 is disposed on the first support part 1 and is used to perform moxibustion on the cervical spine of the wearer to relieve muscle fatigue in the cervical spine; the fifth radiation unit 85 is disposed on the second support part 3 and is used to perform moxibustion on the thoracic spine of the wearer to relieve muscle fatigue in the thoracic spine; the sixth radiation unit 86 is disposed on the third support part 4 and is used to perform moxibustion on the lumbar spine of the wearer to relieve muscle fatigue in the lumbar spine; the seventh radiation unit 87 is disposed on the first chain-shaped iron plate 23 and the second chain-shaped iron plate 26 and is used to perform moxibustion on the left and right shoulder muscles of the wearer to relieve shoulder fatigue.

[0083] In this embodiment, the first connecting part 5 and the second connecting part 6 adopt a chain-like structure, which has the ability to support and bend, and can deform under a predetermined force, but at the same time provide a certain stress when deformation occurs.

[0084] In practical applications, both the second fixing part 314 and the third fixing part 411 adopt a strap structure to fix the second support part 3 and the third support part 4 to the body. The second fixing part 314 is tied to the wearer's chest with a strap, and the second support part 3 is pressed against the wearer's thoracic spine. The third fixing part 411 is tied to the wearer's waist with a strap, and the third support part 4 is pressed against the wearer's lumbar spine, thereby making the longitudinal support column fit against the wearer's spine.

[0085] In this embodiment, two sets of longitudinal support columns are provided, respectively fitting against both sides of the spine. The two sets of longitudinal support columns can be connected by reinforcing ribs, that is, reinforcing ribs are provided between two adjacent support parts to fix the two adjacent support parts to each other. As those skilled in the art will know, the number of longitudinal support columns can also be one, with one longitudinal support part fitting against the spine to achieve the effect of load sharing.

[0086] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0087] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A joint-support force-assisted exoskeleton device, characterized in that, include: A first direction and a second direction, wherein the first direction and the second direction are intersected; The joint-supporting exoskeleton device has a first end and a second end disposed opposite to each other along the first direction; Also includes: A first support portion is disposed at the first end and extends along the first direction for conforming to the cervical spine to provide support. A first fixing part, arranged along a second direction, is used to surround the shoulder so that the first support part fits against the cervical spine. The first fixing part is fixedly connected to the first support part. The first fixing part includes: a first connector, a first shoulder fixing frame, a first chain-like iron plate, a second connector, a second shoulder fixing frame, a second chain-like iron plate, and a first strap. One end of the first connector is fixedly connected to the first support part. The other end of the first connector is fixedly connected to one end of the first shoulder fixing frame. One end of the second connector is fixedly connected to the first support part. The other end of the second connector is fixedly connected to one end of the second shoulder fixing frame. The other end of the first shoulder fixing frame is connected to the other end of the second shoulder fixing frame via the strap. The first chain-like iron plate fits against the outer surface of the first shoulder fixing frame to provide plastic deformation. The second chain-like iron plate fits against the outer surface of the second shoulder fixing frame to provide plastic deformation. A second support portion is disposed at the second end and extends along the first direction for conforming to the thoracic vertebrae to provide support; a tension adjustment assembly is disposed on the second support portion; the tension adjustment assembly includes: an adjustment motor and a first pull rope, the drive shaft of the adjustment motor is fixedly connected to one end of the first pull rope; the other end of the first pull rope is fixedly connected to the first support portion; The second fixing part is provided along the second direction and is used to surround the chest so that the second support part fits against the thoracic vertebrae; A first connecting portion extends along a first direction, and the end of the first connecting portion near the first end is fixedly connected to the first support portion; the end of the first connecting portion near the second end is fixedly connected to the second support portion; the first connecting portion is rigid, and when both the first fixing portion and the second fixing portion are fixed to the body, the first connecting portion can bear the load component generated by the shoulder.

2. The joint support force-assisted exoskeleton device according to claim 1, characterized in that, The first fixing part further includes: a first rubber layer and a second rubber layer; The first rubber layer is bonded to the inner surface of the first shoulder fixation frame; the second rubber layer is bonded to the inner surface of the second shoulder fixation frame.

3. The joint support force-assisted exoskeleton device according to claim 1, characterized in that, The first fixing part further includes a first arm support assembly and a second arm support assembly; The first arm support assembly is fixedly connected to the first shoulder fixation frame; The second arm support assembly is fixedly connected to the second shoulder fixation frame.

4. The joint support force-assisted exoskeleton device according to claim 3, characterized in that, The first arm support assembly includes: a first upper arm support frame, a second upper arm support frame, a first forearm support frame, a second forearm support frame, a first wrist fixing ring, a first auxiliary support frame, and a first electric hinge; The top end of the first boom support frame is connected to one end of the first shoulder fixing frame; the top end of the second boom support frame is connected to the other end of the first shoulder fixing frame. The bottom end of the first boom support frame is connected to one end of the first forearm support frame via the first auxiliary support frame; the bottom end of the second boom support frame is connected to one end of the second forearm support frame via the first electric hinge. The other end of the first forearm support frame and the other end of the second forearm support frame are respectively connected to the two ends of the first wrist fixing ring that are radially opposite each other.

5. The joint support force-assisted exoskeleton device according to claim 4, characterized in that, The second arm support assembly includes: a third upper arm support frame, a fourth upper arm support frame, a third forearm support frame, a fourth forearm support frame, a second wrist fixing ring, a second auxiliary support frame, and a second electric hinge; The top end of the third boom support frame is connected to one end of the first shoulder fixing frame; the top end of the fourth boom support frame is connected to the other end of the first shoulder fixing frame. The bottom end of the third boom support frame is connected to one end of the third forearm support frame via the first auxiliary support frame; the bottom end of the fourth boom support frame is connected to one end of the fourth forearm support frame via the first electric hinge. The other end of the third forearm support frame and the other end of the fourth forearm support frame are respectively connected to the two ends of the second wrist fixing ring that are radially opposite to each other.

6. The joint support force-assisted exoskeleton device according to claim 5, characterized in that, Also includes: The suspension rope consists of two ropes, which are arranged in a crisscross pattern and are respectively fixedly connected to the first fixing part.

7. The joint support force-assisted exoskeleton device according to claim 5, characterized in that, Also includes: The third support part, the second connecting part, and the third fixing part; In the first direction, the second connecting portion is closer to the second end than the second supporting portion, and the third supporting portion is closer to the second end than the second connecting portion; one end of the second connecting portion is fixedly connected to the second supporting portion, and the other end of the second connecting portion is fixedly connected to the third supporting portion; the third supporting portion extends along the first direction and is used to fit against the lumbar spine to provide support; the third fixing portion is arranged along the second direction and is used to surround the waist so that the third supporting portion fits against the lumbar spine; the third fixing portion is fixedly connected to the third supporting portion. The tension adjustment assembly also includes a second pull rope, one end of which is fixedly connected to the drive shaft of the adjustment motor; the other end of which is fixedly connected to the third support.

8. The joint support force-assisted exoskeleton device according to claim 7, characterized in that, Also includes: The low-temperature infrared radiation component has moxibustion belts installed on both the first and second shoulder fixing frames. The low-temperature infrared radiation component specifically includes: Two first radiation units are respectively disposed on the two moxibustion belts to perform moxibustion on the Jianjing acupoint; Two second radiation units are respectively installed on the first auxiliary support frame and the second auxiliary support frame to perform moxibustion on the Quchi acupoint; Two third radiation units are respectively installed on the first forearm support frame and the second forearm support frame to perform moxibustion on the Sanli acupoint of the hand. Two fourth radiation units are respectively disposed on the first support part and are used to perform moxibustion on the cervical spine area. Two fifth radiation units are respectively disposed on the second support part and are used to perform moxibustion on the thoracic spine. Two sixth radiation units are respectively disposed on the third support part for moxibustion on the lumbar spine. Two seventh radiation units are respectively disposed on the first chain-shaped iron plate and the second chain-shaped iron plate, and are used to perform moxibustion on the shoulder muscles.

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