Carapace structure and wearable exoskeleton

Abstract

This invention discloses a back armor structure and a wearable exoskeleton, relating to the field of exoskeleton technology. The back armor structure, applied to a wearable exoskeleton, includes: a back armor body, a mounting plate, and a width adaptive adjustment component. The back armor body is worn on the back of the human body; the mounting plate is used for mounting the backpack module of the wearable exoskeleton, and the lower end of the mounting plate is used to connect to the hip and waist support of the wearable exoskeleton; the width adaptive adjustment component is disposed between the back armor body and the mounting plate, and the width adaptive adjustment component is used to automatically adjust the width between the back armor body and the mounting plate as the human body bends or stands upright. The technical solution provided by this invention improves the wearing comfort of the wearable exoskeleton.

Description

Technical Field

[0001] This invention relates to the field of exoskeleton technology, and in particular to a dorsal armor structure and a wearable exoskeleton. Background Technology

[0002] Wearable exoskeletons, as a typical human-machine collaborative device, aim to assist or enhance the physical functions of the human body through mechanical structures. They are currently widely used in various fields such as military individual soldier load-bearing, industrial logistics handling, and medical rehabilitation training. To meet the requirements of battery life and propulsion, existing wearable exoskeletons typically integrate a backpack module, which is mainly used to house the power battery, drive motor, main control system, and necessary operating tools.

[0003] To ensure the stability of force transmission and the reliability of the overall structure, the back armor and backpack module are generally rigidly fixed together, preventing relative movement between them. Meanwhile, the lower end of the backpack is fixedly connected to the hip and waist support of the wearable exoskeleton. This rigid connection between the back armor and backpack restricts the range of motion of the torso and reduces wearing comfort. Summary of the Invention

[0004] The main objective of this invention is to propose a dorsal armor structure and a wearable exoskeleton, aiming to improve the wearing comfort of the wearable exoskeleton.

[0005] To achieve the above objectives, the present invention proposes a dorsal armor structure for use in wearable exoskeletons, the dorsal armor structure comprising: The carapace itself is worn on the back of the human body; A mounting plate is provided for mounting the backpack module of the wearable exoskeleton, and the lower end of the mounting plate is used to connect to the hip and lumbar support of the wearable exoskeleton; and A width adaptive adjustment component is disposed between the carapace body and the mounting plate. The width adaptive adjustment component is used to automatically adjust the width between the carapace body and the mounting plate as the human body bends over or stands upright.

[0006] In one embodiment, the width adaptive adjustment component is configured as a four-bar linkage.

[0007] In one embodiment, the four-bar linkage includes an upper link and a lower link arranged opposite to each other, and a first fixed link and a second fixed link arranged opposite to each other. The first fixed link, the upper link, the second fixed link, and the lower link are rotatably connected end to end in sequence. The first fixed link is fixed to the carapace body, and the second fixed link is disposed on the mounting plate. When the human body is in an upright position, the upper connecting rod and the lower connecting rod are inclined upwards in the direction close to the mounting plate.

[0008] In one embodiment, the four-bar linkage includes two interconnected four-bar units, each of which includes a first fixed bar, an upper connecting bar, a second fixed bar, and a lower connecting bar. At least one upper connecting crossbar is provided between the two upper links; and / or, at least one lower connecting crossbar is provided between the two lower links, so that the rotation of the two four-bar linkages is synchronized.

[0009] In one embodiment, at least one first reinforcing crossbar is installed on the carapace body, and the first reinforcing crossbar connects two first fixing rods; And / or, at least one second reinforcing crossbar is mounted on the mounting plate, the second reinforcing crossbar connecting two second fixing rods.

[0010] In one embodiment, along the vertical direction, the carapace body includes a straight section and an arc-shaped section connected together, the arc-shaped section being located above the straight section and curved forward, and a first pad being installed on the arc-shaped section; The carapace body is fixed with a first fixing rod and an extension rod. The extension rod is connected to the upper end of the first fixing rod and extends upward. Part of the first fixing rod and the extension rod, or the extension rod, is fixed to the first pad. The side of the first pad connected to the arc segment is an arc surface, and the side of the first pad connected to the extension rod is a plane, so that the outer surface of the first fixing rod and the outer surface of the extension rod are on the same plane.

[0011] In one embodiment, at least one first reinforcing crossbar is installed on the carapace body, and the first reinforcing crossbar connects two first fixing rods; The extension line of the first reinforcing crossbar intersects with the first pad block. There is a gap between the first reinforcing crossbar and the arc segment. A second pad block is installed at the gap. The opposite sides of the second pad block are respectively connected to the arc segment and the first reinforcing crossbar.

[0012] In one embodiment, a buffer structure is provided between the mounting plate and the carapace body, and when the human body is upright, the opposite sides of the buffer structure contact the mounting plate and the carapace body respectively.

[0013] In one embodiment, the buffer structure includes a plurality of buffer blocks spaced apart, and all of the buffer blocks are fixed to the mounting plate; And / or, the buffer structure avoids the rotational connection of the four-bar linkage.

[0014] The present invention also proposes a wearable exoskeleton, including the aforementioned dorsal armor structure.

[0015] The technical solution of this invention involves incorporating a backplate body, a mounting plate, and a width adaptive adjustment component within a backplate structure. The backplate body is worn on the back of the human body; the mounting plate is used to mount the backpack module of the wearable exoskeleton, and its lower end connects to the hip and lumbar support of the wearable exoskeleton; the width adaptive adjustment component is located between the backplate body and the mounting plate, automatically adjusting the width between them as the human body bends or stands upright. Compared to the existing structure where the backplate body and mounting plate are fixedly connected, this invention provides a width adaptive adjustment component between them. Thus, when the human body bends or stands upright, the width between the backplate body and the mounting plate automatically changes. The width adaptive adjustment component effectively absorbs back deformation and displacement during bending, eliminating the restrictive feeling of traditional rigid connections and significantly improving the range of motion of the torso and wearing comfort. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of an embodiment of the carapace structure provided by the present invention, in which the human body is in an upright position. Figure 2 This is a schematic diagram of one embodiment of the carapace structure, in which the human body is in a bent-over position. Figure 3 for Figure 2 A magnified view of a section at point A in the middle; Figure 4 This is a partial structural schematic diagram of an embodiment of the wearable exoskeleton provided by the present invention.

[0018] Explanation of icon numbers: 10. Backplate structure; 20. Hip and waist support; 30. Connecting roller; 40. Backpack module; 100. Carapace body; 111. First reinforcing crossbar; 112. First pad; 113. Extension rod; 114. Second pad; 121. Straight section; 122. Curved section; 200. Mounting plate; 211. Second reinforcing crossbar; 300. Width adaptive adjustment component; 301. Four-bar linkage; 302. Four-bar unit; 310. Upper link; 320. Lower link; 330. First fixed link; 340. Second fixed link; 311. Upper connecting crossbar; 321. Lower connecting crossbar; 400. Buffer structure; 410. Buffer block.

[0019] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0021] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0022] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0023] Wearable exoskeletons, as a typical human-machine collaborative device, aim to assist or enhance the physical functions of the human body through mechanical structures. They are currently widely used in various fields such as military individual soldier load-bearing, industrial logistics handling, and medical rehabilitation training. To meet the requirements of battery life and propulsion, existing wearable exoskeletons typically integrate a backpack module, which is mainly used to house the power battery, drive motor, main control system, and necessary operating tools.

[0024] To ensure the stability of force transmission and the reliability of the overall structure, a rigid, fixed connection is generally used between the back armor and the backpack module, preventing relative movement between the two. Meanwhile, the lower end of the backpack is fixedly connected to the hip and waist support of the wearable exoskeleton. This rigid connection between the back armor and the backpack can introduce some problems.

[0025] On the one hand, this structure severely restricts the range of motion of the torso and reduces wearing comfort. The rigid connection makes the back support structure lack flexibility. During deep bending or large-angle twisting operations, the back is "locked" by the rigid frame, restricting the natural contraction and relaxation of the back muscles and soft tissues, giving the user a strong feeling of restraint and foreign body sensation. This unnatural constraint not only reduces the flexibility of operation, but also causes discomfort to the wearer in non-operational states, such as walking or standing.

[0026] On the other hand, rigid connections result in extremely poor fit of the exoskeleton when the user bends over, easily causing localized pressure pain. When the human body transitions from an upright position to bending over for work, the thoracolumbar spine develops a significant physiological forward curve, causing compression and deformation of the back soft tissues. However, because the relative distance and angle between the backplate and the backpack module are completely locked, and the lower end of the backpack is fixed to the lumbar and hip support, it cannot adaptively adjust to the curvature of the spine. This causes the upper edge of the backplate or the lower edge of the backpack to forcibly press against the user's scapular or lumbar region when bending over, resulting in excessive local pressure. Long-term use can easily lead to pressure pain or even soft tissue contusions.

[0027] This invention proposes a carapace structure.

[0028] Please see Figure 1 and Figure 2 In one embodiment of the present invention, the dorsal armor structure 10 is applied to a wearable exoskeleton, and the dorsal armor structure 10 includes: The carapace body is 100, designed to be worn on the back of the human body; Mounting plate 200 is used for mounting the backpack module 40 of the wearable exoskeleton, and the lower end of mounting plate 200 is used for connecting to the hip and lumbar support 20 of the wearable exoskeleton; and A width adaptive adjustment component 300 is disposed between the carapace body 100 and the mounting plate 200. The width adaptive adjustment component 300 is used to automatically adjust the width between the carapace body 100 and the mounting plate 200 as the human body bends over or stands upright.

[0029] Understandably, the back armor structure 10 is worn on the back of the human body. Wearable exoskeletons also include thoracic armor structures, upper limb exoskeletons, lower limb exoskeletons, or full-body exoskeletons, in order to assist, enhance, and reconstruct human motor abilities through upper limb exoskeletons, lower limb exoskeletons, or full-body exoskeletons.

[0030] The back armor structure 10 includes a back armor body 100, a mounting plate 200, and a width adaptive adjustment component 300. The back armor body 100 is worn on the back of the human body. In one embodiment, the back armor body 100 is made of carbon fiber plate or high-strength engineering plastic plate with certain strength and toughness, and its contour shape is adapted to the physiological curve of the thoracic segment of the human spine, so as to fit and cover the upper back of the human body.

[0031] Please see Figure 4 In one embodiment, the mounting plate 200 is also made of lightweight metal or rigid composite material, and is generally vertically elongated. Its lower end is connected to the hip and lumbar support 20 of the wearable exoskeleton by hinge or fixed connection. In one embodiment, the lower end of the mounting plate 200 is connected to the hip and lumbar support 20 via a connecting roller 30. The rear side of the mounting plate 200 serves as the mounting surface of the backpack module 40, used to support components such as batteries, motors, and control systems. The rear side refers to the rear side along the front-back direction of the wearable exoskeleton.

[0032] The width adaptive adjustment component 300 is connected between the back armor body 100 and the mounting plate 200, and it connects the back armor body 100 and the mounting plate 200 along the front-back direction of the wearable exoskeleton. The width adaptive adjustment component 300 automatically adjusts the width between the back armor body 100 and the mounting plate 200 when the user performs bending or straightening movements. The width adaptive adjustment component 300 effectively absorbs back deformation displacement during bending, eliminates the restrictive feeling caused by traditional rigid connections, significantly improves the range of motion of the torso and wearing comfort, and also avoids pressure pain. Simultaneously, since the lower end of the mounting plate 200 remains connected to the lumbar and hip support 20, the force transmission path remains unobstructed, and the assistive performance of the exoskeleton is unaffected.

[0033] The technical solution of the present invention includes a back armor body 100, a mounting plate 200, and a width adaptive adjustment component 300 in a back armor structure 10. The back armor body 100 is worn on the back of a human body; the mounting plate 200 is used for mounting the backpack module 40 of the wearable exoskeleton, and the lower end of the mounting plate 200 is used to connect with the waist and hip support 20 of the wearable exoskeleton; the width adaptive adjustment component 300 is disposed between the back armor body 100 and the mounting plate 200, and the width adaptive adjustment component 300 is used to automatically adjust the width between the back armor body 100 and the mounting plate 200 as the human body bends or stands upright. Compared to the existing structure in which the carapace body 100 and the mounting plate 200 are fixedly connected, the present invention provides a width adaptive adjustment component 300 between the carapace body 100 and the mounting plate 200. In this way, when the human body performs bending or standing movements, the width between the carapace body 100 and the mounting plate 200 can be automatically changed. The width adaptive adjustment component 300 can effectively absorb the deformation and displacement of the back during bending, eliminate the restraint caused by traditional rigid connection, and significantly improve the range of motion of the torso and wearing comfort.

[0034] In an embodiment of the present invention, the width adaptive adjustment component 300 is configured as a four-bar linkage 301.

[0035] Please see Figure 1 and Figure 2 Understandably, in one embodiment, the width adaptive adjustment component 300 is configured as a four-bar linkage 301. One end of the linkage 301 is movably connected to the back armor body 100, and the other end is movably connected to the mounting plate 200. When the human body is in an upright position, the four-bar linkage 301 is in a contracted or initial position, and the distance between the back armor body 100 and the mounting plate 200 is relatively close, making the overall structure of the exoskeleton compact and conforming to the back. When the human body begins to bend over, the thoracolumbar spine arches forward, and the thickness of the back changes. At this time, the four-bar linkage 301 is naturally stretched open under the deformation of the back, and the width between the back armor body 100 and the mounting plate 200 increases accordingly, allowing the back armor body 100 to better conform to the curvature of the spine and avoid pressure pain caused by rigid compression. When the human body returns to an upright position, the four-bar linkage 301 can reset under its own elasticity or gravity, and the width decreases accordingly.

[0036] Of course, in other embodiments, the width adaptive adjustment component 300 can also be a structure of a slide rail and a preload spring. For example, a horizontally extending guide slide rail is provided on the carapace body 100 or the mounting plate 200, and a matching slider is provided on another component, with a preload spring provided inside the slide rail. In the upright position, the preload spring pulls the slider to the near end of the slide rail; when bending over, the back exerts a rearward force on the carapace body 100, overcoming the spring preload force and pushing the slider to slide outward along the slide rail, thereby increasing the width of both.

[0037] In an embodiment of the present invention, the four-bar linkage 301 includes an upper link 310 and a lower link 320 arranged opposite to each other, and a first fixed link 330 and a second fixed link 340 arranged opposite to each other. The first fixed link 330, the upper link 310, the second fixed link 340 and the lower link 320 are rotatably connected end to end in sequence; wherein, the first fixed link 330 is fixed to the carapace body 100, and the second fixed link 340 is disposed on the mounting plate 200; When the human body is in an upright position, the upper connecting rod 310 and the lower connecting rod 320 are tilted upwards in the direction close to the mounting plate 200.

[0038] Please see Figure 1 and Figure 2 In one embodiment, the four-bar linkage 301 includes an upper linkage 310 and a lower linkage 320 disposed opposite to each other, and a first fixing rod 330 and a second fixing rod 340 disposed opposite to each other. The first fixing rod 330 and the second fixing rod 340 serve as two fixed side rods in the four-bar linkage 301. The first fixing rod 330 is fixedly attached to the plate surface of the carapace body 100, conforming to the back of the human body along with the carapace body 100. In one embodiment, the first fixing rod 330 extends along the vertical direction of the human body. The second fixing rod 340 is disposed on the mounting plate 200, maintaining connection with the lumbar and hip support 20 along with the mounting plate 200. In one embodiment, the second fixing rod 340 extends along the vertical direction of the human body. In one embodiment, the mounting plate 200 adopts a frame structure, and the second fixing plate and the mounting plate 200 are an integral structure, that is, the second fixing plate can be a part of the mounting plate 200. The upper connecting rod 310 and the lower connecting rod 320 are respectively straddled between the first fixed rod 330 and the second fixed rod 340. In one embodiment, the upper connecting rod 310 and the lower connecting rod 320 extend along the left and right directions of the human body. The first fixed rod 330, the second fixed rod 340, the upper connecting rod 310, and the lower connecting rod 320 are connected end to end by a pivot, forming a deformable parallel four-bar structure, which allows for controlled relative displacement between the carapace body 100 and the mounting plate 200.

[0039] When the human body is in an upright position, the upper connecting rod 310 and the lower connecting rod 320 are not arranged horizontally, but are tilted upwards in the direction close to the mounting plate 200. It is understood that the bottom of the mounting plate 200 is connected and fixed to the hip and lumbar support 20, meaning the lower end of the mounting plate 200 is limited by the hip and lumbar support 20. When the human body is in an upright position, the hip and lumbar support 20 provides support to the lower end of the mounting plate 200. Under this support, the mounting plate 200 can provide a supporting force to the end of the upper connecting rod 310 connected to it, and to the end of the lower connecting rod 320 connected to it, causing it to tilt upwards. At this time, the width between the upper connecting rod 310 and the lower connecting rod 320 is minimal, which is beneficial to the compactness of the carapace structure 10.

[0040] As the human body gradually transitions from an upright to a bent-over position, the thoracolumbar spine arches forward, the thickness of the back soft tissue increases, and the back armor body 100 arches forward accordingly. This causes the first fixed rod 330 on the back armor body 100 to bend forward and downward, thereby moving the ends of the upper connecting rod 310 and the lower connecting rod 320 connected to the first fixed rod 330 forward and downward. This causes the upper connecting rod 310 and the lower connecting rod 320 to gradually be pressed from an upward tilted posture to a posture approaching horizontal or even downward tilted. The horizontal distance between the first fixed rod 330 and the second fixed rod 340 increases, meaning the width between the back armor body 100 and the mounting plate 200 adaptively increases. This process requires no active drive and is entirely triggered by the body's own posture changes. Furthermore, the deformation amplitude is positively correlated with the bending angle; the deeper the bend, the greater the back deformation and the greater the width expansion.

[0041] Understandably, when bending over, the lumbar and hip support 20 tilts forward along with the pelvis, and the height of the upper part of the mounting plate 200 will decrease slightly compared to the upright position. At the same time, the posterior arch of the thoracic spine will cause the carapace body 100 to tend to lean slightly backward. Designing the upper link 310 and lower link 320 to be tilted upward in the upright position is equivalent to pre-setting a convergence angle for the four-link system. In this way, when bending over occurs and the carapace body 100 tends to expand forward relative to the mounting plate 200, the four-link system can be flattened or even slightly expanded in the opposite direction, and the width will increase adaptively, thereby releasing the deformation space of the back. If the upper link 310 and lower link 320 are set to be horizontal or tilted downward in the upright position, the movement direction of the four-link system will not match the deformation direction of the back when bending over, which may easily lead to jamming or reverse constraint.

[0042] In an embodiment of the present invention, the four-bar linkage 301 includes two interconnected four-bar units 302. Each four-bar unit 302 includes a first fixed rod 330, an upper connecting rod 310, a second fixed rod 340, and a lower connecting rod 320. At least one upper connecting crossbar 311 is provided between the two upper connecting rods 310; and / or, at least one lower connecting crossbar 321 is provided between the two lower connecting rods 320, so that the rotation of the two four-bar linkage units 302 is synchronized.

[0043] Please see Figure 2 and Figure 3In one embodiment, the four-bar linkage 301 adopts a dual-unit parallel layout, that is, two sets of four-bar units 302 with identical structures are arranged in the left-right direction of the human body. Each set of four-bar units 302 includes a first fixed rod 330, an upper connecting rod 310, a second fixed rod 340, and a lower connecting rod 320. The rods are connected to each other in sequence by rotating shafts. The two first fixed rods 330 are fixedly attached to the left and right sides of the carapace body 100, and the two second fixed rods 340 are respectively set on the left and right sides of the mounting plate 200, thereby establishing a movable connection between the carapace body 100 and the mounting plate 200 at two positions in the left-right direction.

[0044] To achieve coordinated movement of the two sets of four-bar linkages 302, at least one upper connecting crossbar 311 is provided between the two upper linkages 310, or at least one lower connecting crossbar 321 is provided between the two lower linkages 320. Alternatively, both upper connecting crossbars 311 and lower connecting crossbars 321 can be provided simultaneously. The two ends of the upper connecting crossbar 311 are rigidly connected to the shafts of the two upper linkages 310, respectively, and the two ends of the lower connecting crossbar 321 are rigidly connected to the shafts of the two lower linkages 320, respectively.

[0045] Thus, through the setting of the upper connecting crossbar 311 and / or the lower connecting crossbar 321, when the four-bar unit 302 on either side deforms due to changes in human posture, the rigid transmission action of the connecting crossbar will force the four-bar unit 302 on the other side to rotate synchronously and in the same amount, ensuring that the relative movement between the back armor body 100 and the mounting plate 200 always maintains a strict parallel or preset linkage relationship.

[0046] Thus, by setting two four-bar linkage units 302 in the carapace mechanism and setting the two four-bar linkage units 302 to move synchronously, the torsional stiffness and overall stability of the carapace structure 10 are improved, the load is evenly distributed, and the uniformity of the width change between the carapace body 100 and the mounting plate 200 is ensured.

[0047] In an embodiment of the present invention, at least one first reinforcing crossbar 111 is installed on the carapace body 100, and the first reinforcing crossbar 111 connects two first fixing rods 330. And / or, at least one second reinforcing crossbar 211 is mounted on the mounting plate 200, the second reinforcing crossbar 211 connecting two second fixing rods 340.

[0048] Please see Figure 3Understandably, in order to further improve the structural rigidity of the carapace body 100 and the mounting plate 200 and prevent lateral twisting or vibration caused by the large span of the four-bar linkage 301 during the stress process, at least one first reinforcing crossbar 111 can be added to the carapace body 100, and at least one second reinforcing crossbar 211 can be added to the mounting plate 200.

[0049] The first reinforcing crossbar 111 is fixedly installed on the plate surface of the carapace body 100, with its two ends extending to the positions of the two first fixing rods 330, and firmly connected to these two first fixing rods 330. That is, the first reinforcing crossbar 111 extends along the left-right direction of the human body. Thus, the first reinforcing crossbar 111 and the carapace body 100 together form a stable frame structure, rigidly connecting the two originally independent sets of first fixing rods 330 into a single unit. In one embodiment, two first reinforcing crossbars 111 are spaced apart to further improve the structural strength of the carapace body 100 and the mounting plate 200. In another embodiment, the two first reinforcing crossbars 111 and the two first fixing rods 330 are an integral structure, which further improves the connection strength between the carapace body 100 and the mounting plate 200, and also facilitates the processing of the first reinforcing crossbars 111 and the first fixing rods 330.

[0050] Correspondingly, the second reinforcing crossbar 211 is fixedly installed on the surface of the mounting plate 200, with two second fixing rods 340 connected to its two ends respectively. That is, the second reinforcing crossbar 211 extends along the left-right direction of the human body. Since the mounting plate 200 not only needs to bear the entire weight of the backpack module 40, but its lower end is also rigidly connected to the hip and waist support 20, the stress situation is extremely complex. The setting of the second reinforcing crossbar 211 increases the bending and torsional resistance of the mounting plate 200 itself, ensuring that the mounting plate 200 will not flex or deform during backpack loading and bending operations. In one embodiment, two second reinforcing crossbars 211 are provided at intervals. In one embodiment, the two second fixing rods 340 and the two second reinforcing crossbars 211 are an integral structure.

[0051] In an embodiment of the present invention, along the vertical direction, the carapace body 100 includes a straight section 121 and an arc-shaped section 122 connected to each other. The arc-shaped section 122 is located above the straight section 121 and is curved forward. A first pad 112 is installed on the arc-shaped section 122. A first fixing rod 330 and an extension rod 113 are fixed on the carapace body 100. The extension rod 113 is connected to the upper end of the first fixing rod 330 and extends upward. Part of the first fixing rod 330 and the extension rod 113, or the extension rod 113, is fixed to the first pad 112. The side of the first pad 112 connected to the arc segment 122 is an arc surface, and the side of the first pad 112 connected to the extension rod 113 is a plane, so that the outer surface of the first fixing rod 330 and the outer surface of the extension rod 113 are on the same plane.

[0052] Please see Figure 2 and Figure 3 Understandably, the carapace body 100 is divided into two parts along the human spine: a straight section 121 at the bottom and an arc-shaped section 122 at the top. The straight section 121 mainly covers the area from the lower thoracic spine to the lumbar spine. Its plate surface is roughly vertical and straight, designed to conform to the relatively flat area of ​​the back and provide a mounting base for the first fixing rod 330. The arc-shaped section 122 is located above the straight section 121, corresponding to the upper thoracic spine and the scapular region. Its plate surface curves naturally forward to conform to the unique physiological lordosis curve of the thoracic spine.

[0053] In one embodiment, a first pad 112 is fixedly installed on the inner side of the arc-shaped segment 122, i.e., the side facing the human body. In one embodiment, the first pad 112 is made of a polymer material or foam with a certain degree of elasticity, used to cushion the pressure of the back armor on the scapular area and improve wearing comfort.

[0054] Understandably, in order to more securely mount the four-bar linkage 301 onto the carapace body 100, the carapace body 100 is not only fixed with the first fixing rod 330, but also with an upwardly extending extension rod 113. The lower end of the extension rod 113 is rigidly connected to the upper end of the first fixing rod 330, and continues to extend upward along the contour of the carapace body 100. In one embodiment, the first fixing rod 330 and the extension rod 113 are an integral structure, which facilitates processing.

[0055] Since the arcuate segment 122 of the carapace body 100 is curved, and the first fixing rod 330 and the extension rod 113 need to have a flat mounting contact surface to ensure connection strength, the first pad 112 is configured as a transition member with a dual-faceted design. Specifically, the side of the first pad 112 facing the arcuate segment 122 of the carapace body 100 is configured with a matching arcuate surface, so as to fit tightly against the curved surface of the carapace body 100; the side of the first pad 112 facing the extension rod 113 and the first fixing rod 330 is configured with a flat surface to provide a stable support surface for the extension rod 113 or the first fixing rod 330.

[0056] Thus, by setting the first pad 112, whether only the extension rod 113 is fixed to the first pad 112, or part of the first fixing rod 330 is fixed to the first pad 112 together with the extension rod 113, it can be ensured that the outer surface of the first fixing rod 330 and the outer surface of the extension rod 113 are in the same virtual plane. This eliminates the problem of uneven mounting surface caused by the bending of the carapace body 100, allowing the first fixing rod 330 and the extension rod 113 to be connected collinearly or coplanarly, forming a continuous, straight, and high-strength force transmission path. This not only ensures the accuracy of the connection between the four-bar linkage 301 and the carapace body 100, avoiding additional internal stress caused by forced installation, but also ensures that the four-bar linkage 301 is subjected to uniform force during movement and is less prone to torsional deformation.

[0057] In an embodiment of the present invention, at least one first reinforcing crossbar 111 is installed on the carapace body 100, and the first reinforcing crossbar 111 connects two first fixing rods 330. The extension line of the first reinforcing crossbar 111 intersects with the first pad 112. There is a gap between the first reinforcing crossbar 111 and the arc segment 122. A second pad 114 is installed in the gap. The opposite sides of the second pad 114 are connected to the arc segment 122 and the first reinforcing crossbar 111, respectively.

[0058] Please see Figure 2 and Figure 3 In one embodiment, a portion of the first fixing rod 330 and the extension rod 113 are fixed to the first pad 112, meaning the upper end of the first fixing rod 330 extends to the area corresponding to the arc segment 122. A first reinforcing crossbar 111 connects the first fixing rods 330 in the two four-bar linkage units 302 to improve the installation stability of the four-bar linkage 301. In one embodiment, one of the first reinforcing crossbars 111 is located in the area of ​​the arc segment 122. This causes the extension line of the first reinforcing rod to intersect with the first pad 112, resulting in a gap between the first reinforcing crossbar 111 and the arc segment 122. That is, the side of the first reinforcing crossbar 111 facing the carapace body 100 cannot contact the carapace body 100. This leaves the area between the two ends of the first reinforcing crossbar 111 suspended, making it susceptible to breakage due to stress.

[0059] Therefore, a second pad 114 is installed in the gap between the first reinforcing crossbar 111 and the arc-shaped segment 122, such that the opposite sides of the second pad 114 can contact the first reinforcing crossbar 111 and the arc-shaped segment 122 of the carapace body 100, respectively. In this way, a force transmission path is formed between the first reinforcing crossbar 111, the second pad 114, and the carapace body 100, thereby avoiding stress concentration and preventing the first reinforcing crossbar 111 from breaking.

[0060] It is understandable that the first pad 112 can be in direct contact with the arc segment 122 and the first reinforcing crossbar 111, or it can be in contact with the arc segment 122 and the first reinforcing crossbar 111 through intermediate fasteners such as screws and bolts. No restrictions are imposed here.

[0061] In an embodiment of the present invention, a buffer structure 400 is provided between the mounting plate 200 and the carapace body 100. When the human body is upright, the opposite sides of the buffer structure 400 are in contact with the mounting plate 200 and the carapace body 100, respectively.

[0062] Please see Figure 2 and Figure 3 Understandably, to avoid rigid collisions between the armor body 100 and the mounting plate 200 during use, and also to further improve the comfort of wearing it, in one embodiment, a buffer structure 400 is added between the armor body 100 and the mounting plate 200, particularly within the range of motion of the four-bar linkage 301. When the human body is in an upright position, the buffer structure 400 is in a pre-compressed or pre-contact state, with its opposite side surfaces abutting or adhering to the inner wall of the mounting plate 200 and the outer wall of the armor body 100, respectively.

[0063] The buffer structure 400 not only prevents rigid collisions between the carapace body 100 and the mounting plate 200, but also fills the tiny gaps that may exist between the carapace body 100 and the mounting plate 200 due to the pre-tilt angle of the four-bar linkage 301, thus eliminating gaps between parts and avoiding working noise.

[0064] In an embodiment of the present invention, the buffer structure 400 includes a plurality of buffer blocks 410 spaced apart, and all buffer blocks 410 are fixed to the mounting plate 200. And / or, the buffer structure 400 avoids the rotational connection of the four-bar linkage 301.

[0065] Please see Figure 2 and Figure 3 In one embodiment, the buffer structure 400 can adopt a multi-point distributed layout, specifically including multiple spaced buffer blocks 410, all of which are fixedly mounted on the side surface of the mounting plate 200 facing the carapace body 100. Each buffer block 410 functions independently, forming multiple discrete elastic support points between the carapace body 100 and the mounting plate 200 through an array arrangement. In this way, compared with a single large-area buffer pad, the overall weight can be significantly reduced while ensuring the buffering effect. At the same time, the multi-point distribution can better adapt to the slight angular deflection of the carapace body 100 during width adjustment, ensuring that each buffer block 410 can effectively fit the surface of the carapace body 100, avoiding local indentation or failure caused by excessive force at a single point.

[0066] Of course, in other embodiments, the buffer structure 400 can also be a spring or the like. In other embodiments, the buffer block 410 can also be mounted on the back armor body 100. In one embodiment, multiple buffer blocks 410 can be securely fixed to the inner wall of the mounting plate 200 by adhesives, fasteners, or embedded snap-fit ​​structures. In one embodiment, the buffer structure 400 is typically made of a polymer material with high elasticity and high damping properties, such as polyurethane elastomer, closed-cell foam rubber, or laminated silicone.

[0067] Understandably, the buffer structure 400 is designed to avoid the rotational connections of the four-bar linkage 301. Specifically, buffer blocks 410 are not placed in the surrounding space of the pivots between the upper link 310 and the first fixed link 330, the upper link 310 and the second fixed link 340, the hinge points between the lower link 320 and the first fixed link 330, and the lower link 320 and the second fixed link 340. This avoids interference with the movement of the four-bar linkage 301.

[0068] The present invention also proposes a wearable exoskeleton, which includes a dorsal armor structure 10. The specific structure of the dorsal armor structure 10 is as described in the above embodiments. Since the wearable exoskeleton adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0069] The above description is merely an exemplary embodiment of the present invention and does not limit the scope of protection of the present invention. Any equivalent structural transformations made based on the technical concept of the present invention and the contents of the specification and drawings of the present invention, or direct / indirect applications in other related technical fields, are included within the scope of protection of the present invention.

Claims

1. A back shell structure applied to a wearable exoskeleton, characterized by, The carapace structure includes: The carapace itself is worn on the back of the human body; A mounting plate is provided for mounting the backpack module of the wearable exoskeleton, and the lower end of the mounting plate is used to connect to the hip and lumbar support of the wearable exoskeleton; and A width adaptive adjustment component is disposed between the carapace body and the mounting plate. The width adaptive adjustment component is used to automatically adjust the width between the carapace body and the mounting plate as the human body bends over or stands upright.

2. The back-armor structure of claim 1, wherein, The width adaptive adjustment component is configured as a four-bar linkage.

3. The backshell structure of claim 2, wherein, The four-bar linkage includes an upper link and a lower link arranged opposite to each other, as well as a first fixed link and a second fixed link arranged opposite to each other. The first fixed link, the upper link, the second fixed link, and the lower link are rotatably connected end to end in sequence. The first fixed link is fixed to the carapace body, and the second fixed link is disposed on the mounting plate. When the human body is in an upright position, the upper connecting rod and the lower connecting rod are inclined upwards in the direction close to the mounting plate.

4. The backshell structure of claim 3, wherein, The four-bar linkage includes two interconnected four-bar units, each of which includes a first fixed bar, an upper connecting bar, a second fixed bar, and a lower connecting bar. At least one upper connecting crossbar is provided between the two upper links; and / or, at least one lower connecting crossbar is provided between the two lower links, so that the rotation of the two four-bar linkages is synchronized.

5. The back-armor structure of claim 4, wherein, At least one first reinforcing crossbar is installed on the carapace body, and the first reinforcing crossbar connects two first fixing bars. And / or, at least one second reinforcing crossbar is mounted on the mounting plate, the second reinforcing crossbar connecting two second fixing rods.

6. The back-armor structure of claim 3, wherein, Along the vertical direction, the carapace body includes a straight section and an arc-shaped section connected together. The arc-shaped section is located above the straight section and is curved forward. A first pad is installed on the arc-shaped section. The carapace body is fixed with a first fixing rod and an extension rod. The extension rod is connected to the upper end of the first fixing rod and extends upward. Part of the first fixing rod and the extension rod, or the extension rod, is fixed to the first pad. The side of the first pad connected to the arc segment is an arc surface, and the side of the first pad connected to the extension rod is a plane, so that the outer surface of the first fixing rod and the outer surface of the extension rod are on the same plane.

7. The back-armor structure of claim 6, wherein, At least one first reinforcing crossbar is installed on the carapace body, and the first reinforcing crossbar connects two first fixing bars. The extension line of the first reinforcing crossbar intersects with the first pad block. There is a gap between the first reinforcing crossbar and the arc segment. A second pad block is installed at the gap. The opposite sides of the second pad block are respectively connected to the arc segment and the first reinforcing crossbar.

8. The backshell structure of claim 2, wherein, A buffer structure is provided between the mounting plate and the carapace body. When the human body is upright, the opposite sides of the buffer structure contact the mounting plate and the carapace body respectively.

9. The backshell structure of claim 8, wherein, The buffer structure includes multiple buffer blocks spaced apart, and all of the buffer blocks are fixed to the mounting plate. And / or, the buffer structure avoids the rotational connection of the four-bar linkage.

10. A wearable exoskeleton, characterized by The back shell structure according to any one of claims 1 to 9. The back shell structure according to any one of claims 1 to 9.

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