An upper extremity exoskeleton for supporting a load

Abstract

The application discloses an upper limb exoskeleton for supporting load and belongs to the technical field of exoskeletons, which comprises a wearing fixing unit, a shoulder elastic supporting unit, a back support frame and a large arm exoskeleton. The shoulder supporting unit is used for supporting and buffering external vertical load and its displacement output end generates vertical displacement under the vertical load. The back support frame is connected to the wearing fixing unit and located at the back of the human body. The large arm exoskeleton is rotatably connected to the back support frame through an end input shaft, and a power output assembly is arranged on the back support frame. The shoulder elastic supporting unit effectively supports the load after being subjected to the vertical load of the vertical arch frame and buffers and unloads the load through its elasticity. Meanwhile, the displacement output end of the shoulder elastic supporting unit generates adaptive vertical displacement under the action of the vertical load, further eliminates the instantaneous impact force of the load and reduces the local pressure of the shoulder and neck of the wearer.

Description

Technical Field

[0001] This invention relates to the field of exoskeleton technology, and in particular to an upper limb exoskeleton that combines load-bearing support, passive exercise, and shoulder, neck, and upper limb physiotherapy functions. Background Technology

[0002] In heavy-duty operations such as the installation of tunnel arch frames, the steel arch frame is heavy on a single section. Workers need to bend over to receive it and lift it with their shoulders, while raising their hands to stabilize it. They then lift it to the set position by standing up. The work is extremely demanding and requires maintaining a specific forceful posture for a long time, which can easily lead to muscle strain, soreness, and stiffness in the shoulders, neck, and upper limbs, as well as poor local blood circulation. Long-term work can also cause occupational health problems such as chronic muscle damage in the shoulders, neck, and upper limbs, and limited joint mobility.

[0003] In the existing technology, there is a lack of suitable auxiliary equipment for this type of shoulder lifting and carrying action. External force is usually applied directly to the human shoulder, resulting in excessive local pressure on the shoulder and neck area. At the same time, the operator's upper arm needs to be tense and exert force for a long time to maintain the lifting state for stabilizing heavy loads. The limbs are in a passive and fixed posture, which makes it impossible to relax muscles and move joints during the operation, further aggravating the physical burden.

[0004] Many existing upper limb exoskeletons use rigid structures or single assistance methods, which make it difficult to balance load buffering and upper arm assistance needs. They have poor human-machine adaptability and cannot effectively alleviate the labor intensity of personnel during tunnel arch frame installation. Furthermore, none of them rely on the operation movements to achieve physiotherapy and passive exercise for easily strained parts of the human body. Summary of the Invention

[0005] This invention provides an upper limb exoskeleton for supporting loads, thereby addressing the problems in the prior art.

[0006] The present invention adopts the following technical solution: an upper limb exoskeleton for supporting loads, comprising: a wearable fixing unit, worn and fixed on the upper limb and torso of a human body; a shoulder elastic support unit, installed on the wearable fixing unit and located at the upper end of the shoulder of the human body; the shoulder support unit is used to bear and buffer external vertical loads, and its displacement output end generates vertical displacement under the vertical load; a back support frame, connected to the wearable fixing unit and located on the back of the human body; and an upper arm exoskeleton, which is rotatably connected to the back support frame through an end input shaft, and the back support frame is provided with a power output component to assist the upper arm exoskeleton in lifting or lowering relative to the back support frame.

[0007] Preferably, the power output component is configured as a harmonic reducer, the output shaft of which is connected to the end input shaft of the upper arm exoskeleton.

[0008] Preferably, the power output component is configured as a mechanical linkage unit, the input end of which is connected to the displacement output end of the shoulder elastic support unit, and the output end of which is connected to the end input shaft of the upper arm exoskeleton, for converting the vertical displacement into rotational assistance acting on the end input shaft.

[0009] Preferably, a telescopic rod is connected to the lower side of the back support frame, and the back support is connected to the wearable fixing unit through the telescopic rod.

[0010] Preferably, the telescopic rod includes: an outer sleeve rod, the upper end of which is fixed to the back support frame; an inner sleeve rod, at least partially coaxially slidably inserted into the inner sleeve rod; a connecting sleeve, including a fixed section and a plurality of claws connected to the fixed section and distributed in a ring, the outer side of the tail end of the plurality of claws forming a first conical surface; the connecting sleeve is fixedly sleeved on the outer sleeve rod, the plurality of claws surrounding and wrapping around the inner sleeve rod; a locking sleeve, sleeved on the outside of the plurality of claws and threadedly connected to them, one end of the locking sleeve is provided with an inner annular protrusion, the inner annular side of the inner annular protrusion is provided as a second conical surface, and the second conical surface at least partially presses against the first conical surface of the plurality of claws, so as to hold the plurality of claws tightly on the inner sleeve rod.

[0011] Preferably, the shoulder elastic support unit includes a top support panel, a first elastic unit, a second elastic unit, and a connecting base; the connecting base is used to connect the wearable fixing unit, the first elastic unit and the second elastic unit are sequentially connected to the connecting base, and the first elastic unit is located between the second elastic unit and the connecting base, the elastic coefficient of the first elastic unit is greater than the elastic coefficient of the second elastic unit, the top support panel is connected to the top of the second elastic unit, and the displacement output end of the shoulder elastic support unit is the top support panel.

[0012] Preferably, the connecting base is configured as a first strap, the two ends of which are fixed by Velcro, and the first strap covers the shoulder strap of the wearing and fixing unit.

[0013] Preferably, the second elastic unit includes: a fixed base disposed on the top of the first elastic unit, the fixed base having two symmetrically arranged ear holes, and the upper end surface of the fixed base also having at least two longitudinally extending guide posts; two connecting straps, one end of which is sewn to a first strap, and the other end of which is connected to the two ear holes respectively; several sliding sleeves, each corresponding to a guide post, each sliding sleeve being fixedly connected to the bottom of the top support panel and slidably sleeved on the corresponding guide post; and a first compression spring sleeved on the guide post and located between the corresponding sliding sleeve and the fixed base.

[0014] Preferably, the upper end of the fixed base is further provided with at least one side support block, each side support block is provided with a first sliding groove, and a first limiting plate is fixedly connected to the side support block. The first limiting plate is provided with a second sliding groove. The bottom of the top support panel is provided with a limiting block corresponding to the first sliding groove and a baffle located at the bottom of the limiting block. The baffle is slidably disposed in the first sliding groove, the limiting block is slidably disposed in the second sliding groove, and the first limiting plate is used to restrict the baffle from disengaging from the corresponding first sliding groove.

[0015] Preferably, the mechanical linkage unit includes: a first gear, coaxially fixedly connected to the end input shaft; a second gear, rotatably connected to the back support frame via a gear shaft, and meshing with the first gear; a rack, slidably connected to the back support frame along its length, with the opposing sliding directions of the rack defined as a first direction and a second direction, and the rack meshing with the second gear; a tension assembly, the output end of which is connected to the rack to pull the rack towards the first direction; when the rack moves in the first direction, the upper arm exoskeleton is raised relative to the back support frame; and a connecting rope assembly, one end of which is connected to the rack, and the other end of which is connected to the displacement output end of the shoulder elastic support unit.

[0016] Preferably, the tension assembly includes: a first support rod fixedly connected to the back support frame; a support assembly connected to the rack; and a tension spring, the two ends of which are respectively connected to the first support rod and the support assembly.

[0017] Preferably, the rack is provided with a fourth sliding groove and a locking hole located at one point in the fourth sliding groove; the support assembly includes a slider, a second support rod, and a knob; the slider is slidably connected in the fourth sliding groove, and the slider is provided with a through hole pointing vertically to the side of the rack; one end of the second support rod is configured with a threaded section, the other end of the second support rod is connected to the knob, and the second support rod is slidably inserted into the through hole; when the slider moves to the point where the through hole and the locking hole are coaxial, the threaded section can be selectively threadedly connected to the locking hole.

[0018] Preferably, a second compression spring is also fitted on the second support rod, and the two ends of the second compression spring elastically press against the third limiting plate and the knob, respectively.

[0019] Preferably, the connecting rope assembly includes a first connecting rope, a female connector, a hand-tightening bolt, and a second connecting rope; the first connecting rope connects the female connector and the rack, the female connector is provided with a limiting wall, the female connector at least partially passes through the limiting port on the back support frame, and the limiting wall is pulled by the first connecting rope to abut against the outside of the limiting port; the threaded portion of the hand-tightening bolt is threaded into the threaded hole on the female connector, and the second connecting rope connects the hand-tightening bolt and the displacement output end of the shoulder elastic support unit; the back portion of the wearing and fixing unit is provided with a guide wheel shaft, and the second connecting rope is guided and steered through the guide wheel shaft.

[0020] The above-described at least one technical solution adopted in the embodiments of the present invention can achieve the following beneficial effects: Firstly, the entire upper limb exoskeleton is securely worn and fixed to the upper limbs and torso by a wearable fixation unit, ensuring that the exoskeleton moves in sync with the body's posture during operation. During tunnel arch lifting operations, when workers bend over to support long, heavy-duty arch frames, the vertical weight of the arch frame acts as an external load, directly on the shoulder elastic support unit mounted on the wearable fixation unit above the shoulders, rather than directly on the neck and shoulders. The shoulder elastic support unit effectively bears this vertical load and, through its own elasticity, buffers and dissipates the force. Simultaneously, its displacement output end undergoes adaptive vertical displacement under the influence of the load, further mitigating the instantaneous impact and reducing localized pressure on the wearer's neck and shoulders.

[0021] Secondly, after the operator receives the erected arch frame, they need to bend over, stand up, lift and stabilize the arch frame with their hands, and raise it to the set position. At this time, the back support frame, which is connected to the wearing and fixing unit and located on the back of the human body, provides a stable mounting carrier for the upper arm exoskeleton. The power output component set on the back support frame is activated, providing a controllable assist torque to the upper arm exoskeleton. The upper arm exoskeleton completes the lifting action relative to the back support frame, and coordinates with the operator's upper arm movement to assist the operator in lifting and stabilizing the erected arch frame, reducing the operator's upper arm muscles from being tense for a long time.

[0022] Thirdly, based on load support and power assistance, this device utilizes the existing structure and operation of the shoulder elastic support unit, upper arm exoskeleton, and wearable fixation unit to simultaneously achieve physical therapy and passive limb exercise. It can also be adapted to a single-bar rehabilitation exercise scenario. Through the elastic displacement of the shoulder elastic support unit, it can achieve shoulder and neck reflex point pressure stimulation and muscle massage. Through the regular lifting and lowering of the upper arm exoskeleton, it can achieve upper limb muscle kneading massage and passive flexion, extension, and rotation of the shoulder and elbow joints. In the single-bar rehabilitation scenario, it can achieve fixed-point shoulder pressure therapy using a common single bar, and combined with the assistive structure of the upper arm exoskeleton, it can achieve passive / active arm flexion and extension training. One training session can achieve coordinated rehabilitation of the shoulder, neck, and upper limbs. Attached Figure Description

[0023] The accompanying drawings, which are provided to further illustrate the invention and constitute a part of this invention, are illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention.

[0024] In the attached diagram: Figure 1 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 2 ; Figure 3 This is a three-dimensional structural diagram of the second embodiment of the power output component of the present invention. Figure 1 ; Figure 4 for Figure 3 A magnified view of a section at point A in the middle; Figure 5 This is a three-dimensional structural diagram of the second embodiment of the power output component of the present invention. Figure 2 ; Figure 6 This is a three-dimensional structural diagram of the tension component of the present invention. Figure 1 ; Figure 7 This is an assembly diagram of the rack, sliding base, and tension component of the present invention; Figure 8 This is a perspective sectional view of the rack and tension assembly of the present invention; Figure 9 This is an exploded view of the rack and tension assembly of the present invention; Figure 10 This is a three-dimensional structural diagram of the second embodiment of the power output component of the present invention. Figure 3 ; Figure 11 This is a perspective view of the upper arm exoskeleton of the present invention, as well as the first support rod and the tension spring; Figure 12 This is a three-dimensional structural diagram of the first embodiment of the power output component of the present invention; Figure 13 This is a planar sectional view of the telescopic rod of the present invention; Figure 14 This is an exploded view of the telescopic rod of the present invention; Figure 15 This is a perspective sectional view of the telescopic arm of the present invention; Figure 16 This is a three-dimensional structural diagram of the telescopic arm of the present invention; Figure 17 A three-dimensional cross-sectional view of the shoulder elastic support unit of the present invention. Figure 1 ; Figure 18 This is a perspective view of the shoulder elastic support unit of the present invention; Figure 19 A three-dimensional cross-sectional view of the shoulder elastic support unit of the present invention. Figure 2 ; Figure 20 This is an exploded view of the shoulder elastic support unit of the present invention; Figure 21 This is a schematic diagram of the outer structure of the back support frame of the present invention.

[0025] Figure Labels 1-Wearing fixing unit; 11-Guide wheel axle; 12-Waist belt; 13-Wearable vest; 14-Side belt; 15-Back strap; 2-Shoulder elastic support unit; 21-Top support panel; 212-Limiting block; 213-Baffle; 22-First elastic unit; 23-Second elastic unit; 231-Fixed base; 2311-Ear hole; 2312-Guide post; 2313-Side support block; 2314-First slide groove; 2315-First limiting plate; 2316-Second slide groove; 232-Connecting strap; 233-Sliding sleeve; 234-First compression spring; 24-First strap; 241-Hook and loop fastener; 3-Back support frame; 31-Telescopic rod; 311-Outer sleeve rod; 312-Inner sleeve rod; 313-Connecting sleeve; 3131-Fixed section; 3132-Claw; 3133-First conical surface; 314-Locking sleeve; 3141-Inner annular protrusion; 3142-Second conical surface; 32-Sliding base; 33-Lower housing; 34-Upper housing; 341-Allowing groove; 35-Limiting port; 4-Exoskeleton of the upper arm; 41-End input shaft; 42-Disc; 43-Telescopic arm; 431-Sub-rod; 4311-Concave hole; 432-Main rod; 4321-Receiving hole; 433-Sliding sleeve; 434-Sliding component; 435-Locking ball; 436-Locking bolt; 44-Sheath; 5-Power output assembly; 51-Harmonic reducer; 52-First gear; 53-Second gear; 54-Rack; 541-Third slide groove; 542-Fourth slide groove; 543-Lock hole; 6-Tension assembly; 61-First support rod; 611-Second limiting plate; 62-Tension spring; 63-Slider; 631-Through hole; 632-Round rod portion; 633-Third limiting plate; 64-Second support rod; 641-Threaded section; 65-Knob; 66-Second compression spring; 7-Connecting rope assembly; 71-First connecting rope; 72-Female connector; 721-Limiting wall; 73-Hand-tightening bolt; 74-Second connecting rope. Detailed Implementation

[0026] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided below.

[0027] The technical solutions provided by the various embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0028] Reference Figures 1 to 21 As shown, an embodiment of the present invention provides an upper limb exoskeleton for supporting loads. An upper limb exoskeleton for supporting loads includes a wearable fixing unit 1, a shoulder elastic support unit 2, a back support frame 3, and an upper arm exoskeleton 4.

[0029] Wearable fixing unit 1 is worn and fixed on the upper limbs and torso of the human body; shoulder elastic support unit 2 is installed on the wearable fixing unit 1 and located at the upper end of the human shoulder; the shoulder support unit is used to bear and buffer external vertical loads, and its displacement output end generates vertical displacement under the vertical load; the back support frame 3 is connected to the wearable fixing unit 1 and is located on the back of the human body and / or on both sides of the shoulders; the upper arm exoskeleton 4 is rotatably connected to the back support frame 3 through the end input shaft 41, and the back support frame 3 is provided with a power output component 5 to assist the upper arm exoskeleton 4 in lifting or lowering relative to the back support frame 3.

[0030] It is important to note that the following definitions apply: transverse plane: a longitudinal section that divides the body into upper and lower parts; sagittal plane: a longitudinal section that divides the body into left and right parts; coronal plane: a longitudinal section that divides the body into front and back parts; the posterior back and shoulder sides described above refer to the area formed by the upper part of the transverse plane and the posterior part of the coronal plane, where the shoulder sides specifically refer to the area on the left and right sides of the sagittal plane within this area (when applied to the human body, it is located on the posterior side of the shoulder sides).

[0031] This upper limb exoskeleton is particularly suitable for tunnel arch erection lifting operations, providing load buffering, power assistance, and posture assistance for workers. Its specific working principle is as follows: First, the entire upper limb exoskeleton is securely worn and fixed to the upper limbs and torso of the human body through the wearing and fixing unit 1, ensuring that the exoskeleton moves in sync with the human body during operation. During the tunnel arch lifting operation, when the worker bends over to support the long, heavy-duty arch frame, the vertical weight of the arch frame acts as an external load, directly on the shoulder elastic support unit 2, which is installed on the wearing and fixing unit 1 and located above the human shoulder, rather than directly on the human shoulder and neck area. After receiving this vertical load, the shoulder elastic support unit 2 effectively bears the load and also buffers and relieves the load through its own elasticity. At the same time, its displacement output end generates an adaptive vertical displacement under the action of the vertical load, further dissipating the instantaneous impact force of the load and reducing the local pressure on the wearer's shoulder and neck area.

[0032] After the operator receives the arch frame, they need to bend over, stand up, lift and stabilize the arch frame with their hands, and raise it to the set position. At this time, the back support frame 3, which is connected to the wearable fixing unit 1 and located on the back of the human body, provides a stable mounting carrier for the upper arm exoskeleton 4. The power output component 5 set on the back support frame 3 is activated to provide a controllable assist torque to the upper arm exoskeleton 4. The upper arm exoskeleton 4 completes the lifting action relative to the back support frame 3, and coordinates with the operator's upper arm movement to assist the operator in lifting and stabilizing the arch frame, reducing the operator's upper arm muscles from being tense for a long time.

[0033] In summary, in this embodiment, throughout the entire lifting operation, the shoulder elastic support unit 2 continuously buffers the vertical load of the arch frame; the upper arm exoskeleton 4, assisted by the power output component 5, assists the operator in raising their upper arm and maintaining their posture throughout the process. Combined with the positioning function of the wearable fixing unit 1, it achieves load bearing, power assistance, and posture assistance, ensuring the smooth and efficient completion of the arch frame lifting operation. This upper limb exoskeleton addresses the unique characteristics of tunnel arch frame lifting operations, solving the technical pain points of high occupational health risks and low work efficiency inherent in existing purely human-based rigid pressure work modes. This application directly bears the vertical weight of the arch frame through the shoulder elastic support unit 2, changing the existing work mode where external force directly acts on the human shoulder and neck area. This avoids localized pressure overload caused by the heavy load of the arch frame directly acting on the worker's shoulder and neck. Simultaneously, utilizing the buffering characteristics and vertical displacement adjustment function of the shoulder elastic support unit 2 further dissipates the load impact force, fundamentally reducing the risk of occupational diseases such as muscle strain and cervical spine injury.

[0034] In addition, the power output component 5 on the back support frame 3 provides lifting assistance to the upper arm exoskeleton 4, effectively sharing the force load of the operator's upper arm when lifting the arch frame, alleviating the arm soreness caused by long-term lifting, enabling the operator to work continuously for a longer period of time, and significantly improving the overall efficiency of tunnel arch frame lifting operations.

[0035] In some practical applications, refer to Figures 10 to 11 As shown, the upper arm exoskeleton 4 is rotatably connected to the back support frame 3 via an end input shaft 41, and is assisted in lifting or lowering by a power output component 5. Specifically, there are two implementation methods: First implementation method, electric assist method (harmonic reducer 51): Refer to Figure 12 As shown, the power output component 5 uses a harmonic reducer 51, whose output shaft is directly connected to the end input shaft 41 of the upper arm exoskeleton 4. The harmonic reducer 51 outputs controllable torque, driving the end input shaft 41 to rotate, thereby causing the upper arm exoskeleton 4 to lift or swing relative to the back support frame 3, providing electrical assistance compensation for the operator's upper arm lifting action and reducing the continuous force load on the muscles. The harmonic reducer 51 is existing technology in the field of exoskeleton assistance, and its working principle will not be described in detail here.

[0036] In the second embodiment, the power output component 5 adopts a mechanical linkage unit; see reference Figures 3 to 10 As shown, the input end of the mechanical linkage unit is connected to the displacement output end of the shoulder elastic support unit 2, and the output end of the mechanical linkage unit is connected to the end input shaft 41 of the upper arm exoskeleton 4. When the vertical load of the arch frame causes the shoulder elastic support unit 2 to produce vertical displacement, the mechanical linkage unit converts this linear vertical displacement into a rotational driving torque, which acts on the end input shaft 41, driving the upper arm exoskeleton 4 to generate rotational assistance in the lifting direction. Thus, during the process of the worker getting up and lifting the arch frame, it synchronously assists the upper arm to exert upward force, realizing adaptive mechanical assistance without external power. In the long-term lifting state, the upward assistance of the upper arm can alleviate the worker's upper arm soreness.

[0037] The system employs a harmonic reducer 51 electric power assist, which provides stable output torque and high control precision. It can adaptively adjust the assist level according to the lifting load, resulting in high assist efficiency. It adopts a mechanical linkage unit, eliminating the need for additional power supply and electrical control. It directly converts the vertical displacement of the shoulder load into boom lifting assistance, resulting in a simple structure, high reliability, low cost, and convenient maintenance. It can work stably in harsh tunnel environments.

[0038] Reference Figures 1 to 2 As shown, the wearable fixing unit 1 is existing technology and generally includes a waist belt 12, a wearable vest 13, two side abdominal straps 14 and a back strap 15. The left and right sides of the wearable vest 13 are respectively connected to the waist belt 12 through a side abdominal strap 14. The back strap 15 is located on the back and connects the wearable vest 13 and the waist belt 12. Through the coordinated fixing of the waist belt 12, the side abdominal straps 14 and the back strap 15, the wearable vest 13 fits tightly to the human torso, thereby firmly wearing the entire upper limb exoskeleton on the human upper limb and torso, ensuring that the exoskeleton moves synchronously with the human body during operation.

[0039] In some practical applications, refer to Figure 3 As shown, a telescopic rod 31 is connected to the lower side of the back support frame 3. The back support frame 3 is connected to the wearing and fixing unit 1 through the telescopic rod 31. The specific connection structure is as follows: (Refer to...) Figures 13 to 14 As shown, the telescopic rod 31 includes an outer sleeve rod 311, an inner sleeve rod 312, a connecting sleeve 313, and a locking sleeve 314. The upper end of the outer sleeve rod 311 is fixed to the back support frame 3. The inner sleeve rod 312 is at least partially coaxially slidably inserted into the outer sleeve rod 311 to realize the telescopic adjustment of the telescopic rod 31. The connecting sleeve 313 includes a fixed section 3131 and a plurality of claws 3132 connected to the fixed section 3131 and distributed in a ring. The outer side of the tail end of the plurality of claws 3132 forms a first conical surface 3133. The connecting sleeve 313 is fixedly sleeved on the outer sleeve rod 311, and the plurality of claws 3132 surround and wrap around the inner sleeve rod 312. The locking sleeve 314 is sleeved on the outside of the plurality of claws 3132 and locks the inner sleeve rod 314. The claw 3132 is threadedly connected, and one end of the locking sleeve 314 is provided with an inner annular protrusion 3141. The inner annular side of the inner annular protrusion 3141 is set as a second conical surface 3142, and the second conical surface 3142 at least partially presses against the first conical surface 3133 of several claws 3132. Through the pressing and cooperation of the conical surface, several claws 3132 are tightly held on the inner sleeve rod 312, thereby locking the telescopic length of the telescopic rod 31. The operator can adjust the relative insertion length of the inner sleeve rod 312 and the outer sleeve rod 311 according to their own height and working posture requirements, and then lock it through the locking sleeve 314, so that the height of the back support frame 3 can be adapted to different operators and working scenarios, improving the versatility and wearing comfort of the exoskeleton.

[0040] In some practical applications, refer to Figure 1 , Figures 17 to 20 As shown, the shoulder elastic support unit 2 includes a top support panel 21, a first elastic unit 22, a second elastic unit 23, and a connecting base. The connecting base is used to connect the wearable fixing unit 1. The first elastic unit 22 and the second elastic unit 23 are sequentially connected to the connecting base, with the first elastic unit 22 located between the second elastic unit 23 and the connecting base. The elastic coefficient of the first elastic unit 22 is greater than that of the second elastic unit 23. The top support panel 21 is connected to the top of the second elastic unit 23, and the displacement output end of the shoulder elastic support unit 2 is the top support panel 21. The top support panel 21 is provided with an adaptive arc-shaped anti-slip groove, which can conform to the long strip structure of the upright arch frame, preventing the upright arch frame from sliding during support and improving support stability.

[0041] Specifically, the connecting base is set as a first strap 24, and the two ends of the first strap 24 are fixed by Velcro 241. The first strap 24 covers the shoulder strap of the wearing and fixing unit 1, so as to realize the convenient and firm connection between the shoulder elastic support unit 2 and the wearing and fixing unit 1. At the same time, it can be flexibly adjusted according to the width of the shoulder strap of the wearing and fixing unit 1 to improve the adaptability.

[0042] The first elastic unit 22 is configured as elastic rubber, which is fixedly connected to the surface of the first strap 24. Utilizing the rigid buffering characteristics of the elastic rubber, it bears the main buffering role of the heavy load on the arch frame. Simultaneously, its large elastic coefficient prevents excessive deformation, ensuring support stability. The second elastic unit 23 includes a fixed base 231, a connecting strap 232, a sliding sleeve 233, a first compression spring 234, a side support block 2313, and a first limiting plate 2315. The fixed base 231 is disposed on the top of the first elastic unit 22, and two ear holes 2311 are symmetrically arranged on the fixed base 231. The end face is also provided with at least two longitudinally extending guide posts 2312; two connecting straps 232 are configured, and one end of the two connecting straps 232 is sewn and fixed to the first bundle 24, and the other end of the two connecting straps 232 is respectively connected to the two ear holes 2311, which play a role in auxiliary fixing and limiting, and prevent the fixed base 231 from shifting; several sliding sleeves 233 are configured and correspond one-to-one with the guide posts 2312. Each sliding sleeve 233 is fixedly connected to the bottom of the top support panel 21 and slides onto the corresponding guide post 2312 to realize the longitudinal sliding guidance of the top support panel 21 and ensure its displacement direction is stable; first Compression spring 234 is sleeved on guide post 2312 and located between corresponding sliding sleeve 233 and fixed base 231. Utilizing the flexible buffering of the first compression spring 234, combined with the elastic rubber of the first elastic unit 22, layered buffering and force dissipation are achieved, further mitigating the instantaneous impact force of the heavy-loaded arch frame. The upper end of the fixed base 231 is also provided with at least one side support block 2313. Each side support block 2313 is provided with a first sliding groove 2314, and a first limiting plate 2315 is fixedly connected to the side support block 2313. The first limiting plate 2315 has a second sliding groove 2316. The bottom of the top support panel 21 is provided with... The first slide groove 2314 has a corresponding limiting block 212 and a baffle 213 located at the bottom of the limiting block 212; the baffle 213 is slidably disposed in the first slide groove 2314, the limiting block 212 is slidably disposed in the second slide groove 2316, and the first limiting plate 2315 is used to restrict the baffle 213 from disengaging from the corresponding first slide groove 2314. Through the cooperation of the side support block 2313, the first limiting plate 2315, the limiting block 212 and the baffle 213, the sliding of the top support panel 21 is doubly limited to prevent it from tilting, shifting or disengaging during longitudinal displacement, thus ensuring the structural stability and operational reliability of the shoulder elastic support unit 2.

[0043] After receiving the vertical load from the upright arch frame, the shoulder elastic support unit 2, through the synergistic action of the first elastic unit 22 (elastic rubber) and the second elastic unit 23 (first compression spring 234), effectively bears the load on the one hand, and relieves the force through layered elastic buffering on the other hand. At the same time, under the action of the vertical load, the top support panel 21 (displacement output end) makes adaptive vertical displacement along the guide column 2312 and the first sliding groove 2314, further dissipating the instantaneous impact force of the load, reducing the local bearing pressure intensity of the shoulder and neck area, and avoiding local bearing overload of the shoulder and neck area; at the same time, the matching arc-shaped anti-slip groove of the top support panel 21 can fit tightly against the upright arch frame to prevent the upright arch frame from sliding and ensure the support stability.

[0044] In some practical applications, in the power output component 5 employing a mechanical linkage method, the specific structure of the mechanical linkage unit is as follows, referring to... Figures 4 to 9 As shown, one end of it is connected to the displacement output end (i.e., the top support panel 21) of the shoulder elastic support unit 2, and the other end is connected to the end input shaft 41 of the upper arm exoskeleton 4. It is used to convert the vertical displacement of the top support panel 21 caused by the load of the arch frame into rotational assistance acting on the end input shaft 41, thereby driving the upper arm exoskeleton 4 to lift or swing relative to the back support frame 3, so as to cooperate with the operator to complete the lifting operation of the arch frame. Specifically, it includes: a first gear 52, a second gear 53, a rack 54, a tension assembly 6, and a connecting rope assembly 7.

[0045] The first gear 52 is coaxially fixedly connected to the end input shaft 41 of the upper arm exoskeleton 4, and rotates synchronously with the end input shaft 41 to realize power transmission; the second gear 53 is rotatably connected to the back support frame 3 (which only serves as a mounting carrier to provide stable rotational support for the second gear 53) through a gear shaft, and the second gear 53 meshes with the first gear 52 to realize power transmission and steering adjustment between gears; the rack 54 is slidably connected to the back support frame 3 along its length direction. Specifically, at least one rack 54 is mounted on the back support frame 3. The sliding base 32 has a third sliding groove 541 on the rack 54. The rack 54 is slidably connected to the sliding base 32 through the third sliding groove 541. The sliding base 32 provides guidance and support for the sliding of the rack 54, ensuring the stability of the sliding direction of the rack 54. The opposing sliding directions of the rack 54 are defined as the first direction and the second direction, respectively. The rack 54 is meshed with the second gear 53. The linear sliding of the rack 54 drives the second gear 53 to rotate. In turn, the meshing transmission between the second gear 53 and the first gear 52 drives the end input shaft 41 to rotate.

[0046] The output end of the tension component 6 is connected to the rack 54 to pull the rack 54 towards the first direction. When the rack 54 moves in the first direction, it drives the end input shaft 41 to rotate through gear meshing, so that the upper arm exoskeleton 4 is raised relative to the back support frame 3, providing assistance for the operator to lift the arch frame. One end of the connecting rope component 7 is connected to the rack 54, and the other end is connected to the displacement output end (top support panel 21) of the shoulder elastic support unit 2, which is used to transmit the vertical displacement of the top support panel 21. When the top support panel 21 generates vertical displacement under the vertical load of the arch frame, the connecting rope component 7 loosens, and the tension component 6 pulls the rack 54 to slide along the sliding base 32.

[0047] Specifically, refer to Figures 5 to 8 As shown, the tension assembly 6 includes a first support rod 61, a support component, and a tension spring 62. The first support rod 61 is fixedly connected to the back support frame 3, providing a stable mounting base for the tension assembly 6. The support component is connected to the rack 54 and works with the tension spring 62 to transmit tension. The two ends of the tension spring 62 are connected to the first support rod 61 and the support component, respectively. The elastic tension of the tension spring 62 continuously maintains the tension on the rack 54, ensuring that the rack 54 can be stably pulled to the first direction when the connecting rope assembly 7 is loose. At the same time, when the shoulder is not under stress, the shoulder elastic support unit 2 (which is formed by the coordinated action of the first elastic unit 22 and the second elastic unit 23) generates an upward restoring force, and this upward restoring force is greater than the tension of the tension assembly 6 (generally slightly greater). Therefore, in this state, the user can raise their arm with slight damping. After the workers complete the lifting and removal of the load from the arch frame, the top support panel 21 returns to its original position under the upward restoring force of the shoulder elastic support unit 2. Simultaneously, the rack 54 is pulled in the second direction by the connecting rope assembly 7, and the tension spring 62 stores elastic potential energy to prepare for the next lifting operation.

[0048] This mechanical linkage unit not only provides lifting assistance when the shoulder is under stress, but also creates lifting damping when the shoulder is not under stress, thus improving the safety of operations inside the tunnel.

[0049] In some practical applications, refer to Figures 5 to 8As shown, the tension component 6 includes a first support rod 61, a support assembly, and a tension spring 62. The first support rod 61 is fixedly connected to the back support frame 3. The back support frame 3 is assembled from a lower shell 33 and an upper shell 34. A second limiting plate 611 is provided on the first support rod 61. One end of the tension spring 62 is sleeved on the first support rod 61 and limited between the second limiting plate 611 and the upper shell 34 to achieve stable positioning. The rack 54 is provided with a fourth slide groove 542 and a locking hole 543; the support assembly includes a slider 63, a second support rod 64 and a knob 65. The slider 63 is slidably connected in the fourth slide groove 542. The slider 63 is provided with a through hole 631 that is perpendicular to the side of the rack 54. One end of the second support rod 64 is a threaded section 641 and the other end is connected to the knob 65 and is slidably inserted in the through hole 631. When the slider 63 moves to the point where the through hole 631 is coaxial with the locking hole 543, the threaded section 641 can be selectively threadedly connected to the locking hole 543.

[0050] When the second support rod 64 is connected to the lock hole 543, it can move with the rack 54 and provide tension to the tension spring 62; when not connected, the slider 63 and the second support rod 64 are limited by the through hole 631 and slide with the rack 54, and cannot provide tension to the tension spring 62. The operator can selectively release the tension of the tension spring 62 to adapt to different operating needs.

[0051] In a further optimized structure, the slider 63 is at least partially located outside the rack 54 and is defined as a round rod portion 632. A third limiting plate 633 is provided at the end of the round rod portion 632. The other end of the tension spring 62 is sleeved on the round rod portion 632 and located between the third limiting plate 633 and the rack 54, achieving a stable connection at the other end of the tension spring 62. A second compression spring 66 is sleeved on the second support rod 64, with its two ends elastically pressing against the third limiting plate 633 and the knob 65 respectively. This provides elastic support when the second support rod 64 is unlocked, preventing it from rubbing against the fourth sliding groove 542 or accidentally getting stuck in the lock hole 543 entrance. The knob 65 is at least partially located outside the upper housing 34, and the upper housing 34 is provided with a clearance groove 341 that allows the knob 65 to move, avoiding interference and facilitating locking and unlocking operations for the operator.

[0052] Reference Figures 3 to 5As shown, the specific structure and engagement method of the connecting rope assembly 7 are as follows: it includes a first connecting rope 71, a female connector 72, a hand-tightening bolt 73, and a second connecting rope 74; the first connecting rope 71 connects the female connector 72 and the rack 54; the female connector 72 is provided with a limiting wall 721, and at least partially penetrates the limiting opening 35 of the back support frame 3; the limiting wall 721 is pulled against the outside of the limiting opening 35 by the tension of the first connecting rope 71, thereby limiting and preventing the female connector 72 from detaching. The hand-tightening bolt 73 is used to disconnect the first connecting rope 71 and the second connecting rope 74. Its threaded part is connected to the threaded hole on the female connector 72. The second connecting rope 74 is connected to the hand-tightening bolt 73. The first connecting rope 71, along with the female connector 72 and the hand-tightening bolt 73, forms a separable structure. The operator can disconnect the first connecting rope 71 and the second connecting rope 74 by loosening and removing the hand-tightening bolt 73, and tightening the hand-tightening bolt 73 can fix the two. The back of the wearing and fixing unit 1 is provided with a guide wheel shaft 11. The second connecting rope 74 is guided and steered through the guide wheel shaft 11 to avoid entanglement and friction and ensure smooth transmission.

[0053] When the shoulder is not under stress, the upward restoring force of the shoulder elastic support unit 2 is greater than the pulling force of the tension component 6, which allows the user to raise the arm with damping. After the operator completes the lifting and removes the load of the upright arch frame, the top support panel 21 is reset under the action of the restoring force of the shoulder elastic support unit 2. The rack 54 is pulled to move in the second direction through the connecting rope component 7, and the tension spring 62 is stretched to store elastic potential energy, preparing for the next lifting assistance, realizing the adaptive switching between mechanical linkage assistance and arm lifting damping (the hand-tightening bolt 73 needs to be connected).

[0054] Based on the locked / unlocked state of the tension spring 62 of the support component and the connected / disconnected state of the ropes (first rope and second rope) of the connecting rope assembly 7, this mechanical linkage unit corresponds to four working conditions. The force on the boom movement and the shoulder function under each working condition are as follows: Working Condition 1: Spring 62 is unlocked, and the ropes are connected (hand-tightened bolt 73 is tightened, and the first connecting rope 71 is connected and fixed to the second connecting rope 74). At this time, when the shoulder is not under stress, the upper arm is under stress when it is raised upwards, and under stress when it swings downwards; when the shoulder is under pressure (bearing the load of the arch frame, and the top supporting panel 21 undergoes vertical displacement), the upper arm is not under stress when swinging up and down, which is suitable for the needs of operators to flexibly adjust the posture of the upper arm and stabilize the components after bearing the arch frame.

[0055] Condition 2: Spring 62 is locked, and the rope is connected (the threaded section 641 of the second support rod 64 is threadedly connected to the locking hole 543 of the rack 54, and the hand-tightened bolt 73 is tightened to connect the rope). At this time, the boom is obstructed when it is raised, and the boom swings downward relatively easily without force; when the shoulder presses down (to bear the load of the arch frame), the boom is no longer obstructed when it is raised and the movement is easier. The boom swings downward under force, which can provide precise assistance for the boom to be raised under heavy load, and at the same time, the downward force prevents the component from shifting due to excessive movement.

[0056] Condition 3: The tension spring 62 is unlocked, and the rope is disconnected (the second support rod 64 separates from the locking hole 543, the hand-tightening bolt 73 is loosened and disassembled, and the first connecting rope 71 and the second connecting rope 74 are disconnected). At this time, the boom can move freely without being constrained by the mechanical linkage unit. Meanwhile, the shoulder elastic support unit 2 still functions, and the shoulder has an anti-buffering effect, which is suitable for scenarios that do not require mechanical assistance and require flexible adjustment of the working posture, while also taking into account shoulder protection.

[0057] Condition 4: Spring 62 is locked, and the rope is disconnected (second support rod 64 is locked to lock hole 543, and hand-tightening bolt 73 is used to disassemble and disconnect the rope). At this time, the upper arm lifting motion is easier, and the upper arm swing is obstructed, which can prevent the inertial impact force generated by the swinging motion too fast; at the same time, the shoulder elastic support unit 2 remains in working condition, and the shoulder still has an anti-buffering function, which is suitable for operation scenarios that do not require rope linkage and only require upper arm lifting assistance and swinging limit, improving the controllability of movement and the shoulder protection effect.

[0058] The above four working conditions can be flexibly switched in advance by the operator manually operating knob 65 (to control spring 62 to lock / unlock) and hand-tightening bolt 73 (to control rope connection / disconnection). This adapts to the different loads and postures required in the tunnel arch frame lifting operation, taking into account mechanical assistance, controllability of movement and shoulder protection. It is easy to operate, highly adaptable, and fits the complex working environment of the tunnel.

[0059] In some practical applications, refer to Figure 1 , Figures 15 to 16As shown, the specific structure of the upper arm exoskeleton 4 is as follows: it works in conjunction with the back support frame 3 and the mechanical linkage unit to achieve the lifting, lowering, and flexible adjustment of the upper arm. Specifically, it includes a wheel 42, a telescopic arm 43, and a protective sleeve 44. The wheel 42 is rotatably connected to the back support frame 3. The aforementioned end input shaft 41 is coaxially connected to the inner side of the wheel 42. The rotational driving torque transmitted by the mechanical linkage unit drives the wheel 42 to rotate synchronously through the end input shaft 41, thereby driving the entire upper arm exoskeleton 4 to lift or lower relative to the back support frame 3. One side of the telescopic arm 43 is hinged to the wheel 42 and can rotate synchronously with the wheel 42. The other side of the telescopic arm 43 is rotatably connected to the protective sleeve 44. The protective sleeve 44 is designed to fit the human upper arm, improving wearing comfort and movement tracking, and ensuring that the upper arm exoskeleton 4 moves synchronously with the human upper arm. The hinged connection between the telescopic arm 43 and the wheel 42, the rotating connection between the wheel 42 and the back support frame 3, and the rotating connection between the telescopic arm 43 and the protective sleeve 44 work together to achieve multi-degree-of-freedom movement of the upper arm.

[0060] The telescopic boom 43 adopts a telescopic and detachable structure, specifically including a sub-rod 431, a main rod 432, a sliding sleeve 433, a sliding member 434, and a locking ball 435. The main rod 432 is slidably sleeved on the sub-rod 431, and the length of the telescopic boom 43 is adjusted by the relative sliding of the sub-rod 431 and the main rod 432 to adapt to the boom length of different workers. One side wall of the sub-rod 431 has several recessed holes 4311 distributed along its length direction. The sliding sleeve 433 is sleeved on the main rod 432, and the sliding member 434 is located between the sliding sleeve 433 and the main rod 432. The main rod 432 is provided with a receiving hole 4321, and the locking ball 435 is located in the receiving hole 4321 and is limited to the sliding member 434 and the sub-rod 432. Between the rods 431, when the sub-rod 431 slides to the point where one of the recesses 4311 aligns with the locking ball 435, the locking ball 435 is at least partially embedded in the recess 4311, thereby achieving relative locking between the sub-rod 431 and the main rod 432 and fixing the adjustable length of the telescopic arm 43. A locking bolt 436 is threaded onto the sliding member 434, and the sliding member 434 is locked onto the sliding sleeve 433 by the locking bolt 436, thereby fixing the sliding member 434 and the sliding sleeve 433. When the locking bolt 436 is removed, the sliding sleeve 433 can slide off the sliding member 434. At this time, the sliding member 434 and the locking ball 435 can be disassembled from the main rod 432, which facilitates the maintenance, repair or replacement of the telescopic arm 43 and improves the practicality of the exoskeleton.

[0061] In summary, the upper limb exoskeleton described above can not only be used to alleviate muscle strain in tunnel arch erection operations, but also for physiotherapy and rehabilitation exercises, as detailed below: In addition to providing load support and power assistance for heavy-duty operations such as lifting tunnel arch frames, this upper limb exoskeleton's overall structure is based on a purely physical and mechanical design. It can be directly adapted to physiotherapy and rehabilitation exercises for the shoulder, neck, and upper limb areas, without the intervention of electrotherapy, magnetic therapy, radiotherapy, or ultrasound therapy. It can perform functions such as targeted shoulder pressure, passive upper limb joint exercises, and progressive muscle strength training. Specific applications are as follows: During routine operation, this device can simultaneously provide physical therapy to the shoulders, neck, and upper limbs without requiring additional structures, achieving the effect of therapy during the procedure itself. Neck and shoulder physiotherapy: During the operation, the elastic support unit 2 of the shoulder is subjected to the load of the upright arch frame and generates vertical elastic displacement. The pressure is transmitted to the muscle reflex points such as the trapezius muscle of the neck and shoulder through the first strap 24, forming continuous elastic pressure to relieve muscle tension and stiffness. At the same time, the reset action after the load is removed will form a reverse stretch on the neck and shoulder muscles, promote local blood circulation, and relieve neck and shoulder muscle strain caused by the operation.

[0062] Upper limb physiotherapy: The regular lifting and lowering movements of the upper arm exoskeleton 4 cause the sheath 44 to closely adhere to and work in conjunction with the easily strained muscles of the upper arm, such as the biceps, triceps, and deltoid muscles, relieving arm soreness caused by long-term lifting.

[0063] Application scenarios for single-bar specialized rehabilitation exercises: This device can utilize a common horizontal bar (or horizontal fixed bar) to achieve synergistic rehabilitation of fixed-point shoulder pressure and arm-assisted training. It is suitable for rehabilitation groups with limited range of motion after shoulder joint surgery, shoulder and neck muscle adhesions, upper limb muscle weakness, and shoulder periarticular functional degeneration in middle-aged and elderly individuals. The specific implementation method is as follows: After wearing the device, position the patient's shoulder directly under the horizontal bar, attach the top support panel 21 of the shoulder elastic support unit 2 to the underside of the horizontal bar, and use the fixed support force of the horizontal bar to achieve fixed-point shoulder pressure; adjust the height of the telescopic bar 31 according to the patient's height to place the back support frame 3 in a suitable position; adjust the length of the telescopic arm 43 to ensure that the protective sleeve 44 fits tightly against the upper arm; switch the working conditions of the mechanical linkage unit by using the knob 65 and the hand-tightening bolt 73 to adapt to the training needs of different rehabilitation stages.

[0064] Active training phase: Using the "spring unlocking + rope connection" working condition, the patient's shoulder is placed under the bar, and the top support panel 21 is elastically displaced by the reaction force, so as to achieve continuous gentle pressure and kneading of the shoulder and neck area. Each pressure is held for 30-60 seconds. In addition, during this phase, the upper arm is raised and subjected to force, which can be used for upper arm strength training.

[0065] The tension spring 62 is locked, and the rope is disconnected (the second support rod 64 is locked to the locking hole 543, and the rope is disconnected by hand-tightening bolt 73). At this time, the upper arm lifting motion is easier, and the upper arm swing is restricted, which can prevent the swing from being too fast and generating inertial impact force; in summary, both the upper arm lifting and lowering motions are resistance training.

[0066] Assisted training phase: Using a "tension spring locking + rope connection" setup, the patient gradually increases the pressure on the shoulder by adjusting their center of gravity, achieving graded pressure to loosen muscle adhesions in the shoulder and neck; at the same time, it can assist in raising the arm and reduce the lifting force on the upper arm.

[0067] Autonomous activity phase: Using the "spring unlocking + rope disconnection" working condition, the upper arm exoskeleton 4 is in an unrestrained and free movement state, and the patient can complete shoulder and neck movements, arm raising and rotation and other movements completely autonomously.

[0068] Training can be conducted using a standard horizontal bar, with minimal space requirements, and can be used in rehabilitation centers, homes, communities, and other settings. Pressing and training are completed simultaneously, enabling coordinated rehabilitation of the shoulder, neck, and upper limbs in a single session. It is purely physical and mechanically driven, with adjustable pressure and training range to avoid secondary injuries. No modifications are required to the device; it can be adapted to the entire rehabilitation cycle simply by switching operating conditions.

[0069] The adjustable design of the telescopic bar 31 and telescopic arm 43 can accommodate rehabilitation patients of different heights and limb sizes; the flexible fit design of the first strap 24 and the sheath 44 enhances training comfort.

[0070] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. An upper limb exoskeleton for supporting loads, characterized in that, include: Wearing and fixing unit (1), worn and fixed on the upper limbs and torso of the human body; The shoulder elastic support unit (2) is installed on the wearable fixing unit (1) and located at the upper end of the human shoulder; the shoulder elastic support unit (2) is used to bear and buffer external vertical loads, and its displacement output end is subjected to vertical loads to generate vertical displacement; The back support frame (3) is connected to the wearable fixing unit (1) and is located on the back of the human body and / or on both sides of the shoulders; The upper arm exoskeleton (4) is rotatably connected to the back support frame (3) via an end input shaft (41), and the back support frame (3) is provided with a power output component (5) to assist the upper arm exoskeleton (4) in raising or lowering relative to the back support frame (3).

2. The upper limb exoskeleton for supporting loads according to claim 1, characterized in that, The power output assembly (5) is configured as a harmonic reducer (51), the output shaft of which is connected to the end input shaft (41) of the upper arm exoskeleton (4).

3. The upper limb exoskeleton for supporting loads according to claim 1, characterized in that, The power output component (5) is configured as a mechanical linkage unit. The input end of the mechanical linkage unit is connected to the displacement output end of the shoulder elastic support unit (2). The output end of the mechanical linkage unit is connected to the end input shaft (41) of the upper arm exoskeleton (4) to convert the vertical displacement into rotational assistance acting on the end input shaft (41).

4. The upper limb exoskeleton for supporting loads according to claim 1, characterized in that, A telescopic rod (31) is connected to the lower side of the back support frame (3), and the back support is connected to the wearable fixing unit (1) through the telescopic rod (31).

5. An upper limb exoskeleton for supporting loads according to claim 4, characterized in that, The telescopic rod (31) includes: The outer rod (311) is fixed at its upper end to the back support frame (3); The inner sleeve rod (312) is at least partially coaxially slidably inserted into the inner sleeve rod (311); The connecting sleeve (313) includes a fixed section (3131) and a plurality of claws (3132) connected to the fixed section (3131) and distributed in a ring. The outer side of the tail end of the plurality of claws (3132) forms a first conical surface (3133). The connecting sleeve (313) is fixedly sleeved on the outer sleeve rod (311), and the plurality of claws (3132) surround and wrap around the inner sleeve rod (312). A locking sleeve (314) is fitted over and threadedly connected to a plurality of claws (3132). One end of the locking sleeve (314) is provided with an inner annular protrusion (3141). The inner annular side of the inner annular protrusion (3141) is configured as a second conical surface (3142), and the second conical surface (3142) at least partially presses against the first conical surface (3133) of the plurality of claws (3132) to hold the plurality of claws (3132) tightly on the inner sleeve rod (312).

6. An upper limb exoskeleton for supporting loads according to claim 1 or 3, characterized in that, The shoulder elastic support unit (2) includes a top support panel (21), a first elastic unit (22), a second elastic unit (23), and a connecting base; the connecting base is used to connect the wearable fixing unit (1), the first elastic unit (22) and the second elastic unit (23) are connected to the connecting base in sequence, and the first elastic unit (22) is located between the second elastic unit (23) and the connecting base. The elastic coefficient of the first elastic unit (22) is greater than the elastic coefficient of the second elastic unit (23). The top support panel (21) is connected to the top of the second elastic unit (23), and the displacement output end of the shoulder elastic support unit (2) is the top support panel (21).

7. An upper limb exoskeleton for supporting loads according to claim 6, characterized in that, The top support panel (21) is provided with an adaptive arc-shaped anti-slip groove.

8. An upper limb exoskeleton for supporting loads according to claim 6, characterized in that, The connecting base is configured as a first strap (24), the two ends of which are fixed by Velcro (241), and the first strap (24) covers the shoulder strap of the wearing and fixing unit (1).

9. An upper limb exoskeleton for supporting loads according to claim 8, characterized in that, The first elastic unit (22) is configured as elastic rubber, which is fixedly connected to the surface of the first strap (24).

10. An upper limb exoskeleton for supporting loads according to claim 6, characterized in that, The second elastic unit (23) includes: A fixed base (231) is disposed on the top of the first elastic unit (22). Two ear holes (2311) are symmetrically arranged on the fixed base (231). At least two longitudinally extending guide posts (2312) are also provided on the upper end surface of the fixed base (231). There are two connecting straps (232), and one end of each connecting strap (232) is sewn and fixed to the first strap (24), and the other ends of each connecting strap (232) are connected to the two ear holes (2311) respectively. Several sliding sleeves (233) are configured and correspond one-to-one with the guide post (2312). Each sliding sleeve (233) is fixedly connected to the bottom of the top support panel (21) and slidably sleeved on the corresponding guide post (2312). The first compression spring (234) is sleeved on the guide post (2312) and located between the corresponding sliding sleeve (233) and the fixed base (231).

11. An upper limb exoskeleton for supporting loads according to claim 6, characterized in that, The upper end of the fixed base (231) is also provided with at least one side support block (2313), each side support block (2313) is provided with a first sliding groove (2314), and a first limiting plate (2315) is fixedly connected to the side support block (2313). The first limiting plate (2315) is provided with a second sliding groove (2316). The bottom of the top support panel (21) is provided with a limiting block (212) corresponding to the first sliding groove (2314) and a baffle (213) located at the bottom of the limiting block (212). The baffle (213) is slidably disposed in the first sliding groove (2314), the limiting block (212) is slidably disposed in the second sliding groove (2316), and the first limiting plate (2315) is used to restrict the baffle (213) from disengaging from the corresponding first sliding groove (2314).

12. An upper limb exoskeleton for supporting loads according to claim 6, characterized in that, The mechanical linkage unit includes: The first gear (52) is coaxially fixedly connected to the end input shaft (41). The second gear (53) is rotatably connected to the back support frame (3) via a gear shaft, and the second gear (53) meshes with the first gear (52); The rack (54) is slidably connected to the back support frame (3) along its length direction, and the opposing sliding directions of the rack (54) are defined as the first direction and the second direction, respectively. The rack (54) is meshed with the second gear (53). A tension assembly (6) with its output end connected to the rack (54) is used to pull the rack (54) to move in a first direction; when the rack (54) moves in the first direction, the upper arm exoskeleton (4) is raised relative to the back support frame (3); The connecting rope assembly (7) is connected at one end to the rack (54) and at the other end to the displacement output end of the shoulder elastic support unit (2).

13. An upper limb exoskeleton for supporting loads according to claim 12, characterized in that, At least one sliding base (32) is installed on the back support frame (3), and a third sliding groove (541) is provided on the rack (54). The rack (54) is slidably connected to the sliding base (32) through the third sliding groove (541).

14. An upper limb exoskeleton for supporting loads according to claim 12, characterized in that, The tension component (6) includes: The first support rod (61) is fixedly connected to the back support frame (3); A support assembly is attached to the rack (54); A tension spring (62) is connected at both ends to the first support rod (61) and the support assembly, respectively.

15. An upper limb exoskeleton for supporting loads according to claim 14, characterized in that, The rack (54) is provided with a fourth slide groove (542) and a lock hole (543) located at one point in the fourth slide groove (542); the support assembly includes a slider (63), a second support rod (64) and a knob (65); the slider (63) is slidably connected in the fourth slide groove (542), and the slider (63) is provided with a through hole (631) pointing vertically to the side of the rack (54); one end of the second support rod (64) is configured as a threaded section (641), and the other end of the second support rod (64) is connected to the knob (65), and the second support rod (64) is slidably inserted in the through hole (631); when the slider (63) moves to the point where the through hole (631) and the lock hole (543) are coaxial, the threaded section (641) can be selectively threadedly connected in the lock hole (543).

16. An upper limb exoskeleton for supporting loads according to claim 15, characterized in that, At least a portion of the slider (63) is located outside the rack (54) and is defined as a round rod portion (632). A third limiting plate (633) is provided at the end of the round rod portion (632). One end of the tension spring (62) is sleeved on the round rod portion (632) and located between the third limiting plate (633) and the rack (54).

17. An upper limb exoskeleton for supporting loads according to claim 16, characterized in that, The second support rod (64) is also fitted with a second compression spring (66), the two ends of which elastically press against the third limiting plate (633) and the knob (65) respectively.

18. An upper limb exoskeleton for supporting loads according to claim 16, characterized in that, The back support frame (3) is assembled from a lower shell (33) and an upper shell (34). A second limiting plate (611) is provided on the first support rod (61). The other end of the tension spring (62) is sleeved on the first support rod (61) and limited between the second limiting plate (611) and the upper shell (34).

19. An upper limb exoskeleton for supporting loads according to claim 18, characterized in that, The knob (65) is at least partially located outside the upper housing (34), which has a clearance groove (341) that allows the knob (65) to move.

20. An upper limb exoskeleton for supporting loads according to claim 17, characterized in that, The connecting rope assembly (7) includes a first connecting rope (71), a female connector (72), a hand-tightening bolt (73), and a second connecting rope (74). The first connecting rope (71) connects the female connector (72) and the rack (54). The female connector (72) is provided with a limiting wall (721). The female connector (72) is at least partially inserted into the limiting port (35) on the back support frame (3), and the limiting wall (721) is pulled by the first connecting rope (71) to abut against the outside of the limiting port (35). The threaded portion of the hand-tightening bolt (73) is threaded into the threaded hole on the female connector (72). The second connecting rope (74) connects the hand-tightening bolt (73) and the displacement output end of the shoulder elastic support unit (2). The back part of the wearing and fixing unit (1) is provided with a guide wheel shaft (11), and the second connecting rope (74) is guided and steered through the guide wheel shaft (11).

21. An upper limb exoskeleton for supporting loads according to claim 1, characterized in that, The upper arm exoskeleton (4) includes a wheel (42), a telescopic arm (43), and a protective sleeve (44). The wheel (42) is rotatably connected to the back support frame (3), and the end input shaft (41) is coaxially connected to the inner side of the wheel (42). One side of the telescopic arm (43) is hinged to the wheel (42), and the other side of the telescopic arm (43) is rotatably connected to the protective sleeve (44).

Images