CN114770469B - A lightweight exoskeleton device for lead clothing support - Google Patents

Abstract

The invention discloses a lightweight exoskeleton device for lead clothing support, which belongs to the technical field of interventional medicine and comprises an upper support part and a lower support part, the upper support part and the lower support part are connected by a waist support frame; the upper support part includes Shoulder support plate, back fixation plate, upper body fixation belt, back support plate and lumbar support frame, the lower support part includes waist and leg joints, thigh support plate, knee joint joint, calf support assembly and foot support assembly, waist and leg The lower end of the connecting joint is integrally connected with the thigh support plate, and the thigh support plate, the knee joint connector, the calf support assembly, and the foot support assembly are sequentially connected. This technical solution transfers the weight of the lead clothing itself, reduces the unnecessary load and physical exertion of medical workers, and takes into account the characteristics of practicality, portability, light weight, and joint flexibility; each joint adopts small and flexible connecting parts Splicing increases the range of motion of each joint and improves the flexibility of the entire device.

Description

A lightweight exoskeleton device for lead clothing support

technical field

The invention belongs to the technical field of interventional medicine and relates to a human body exoskeleton device, in particular to a lightweight exoskeleton device used for lead clothing support.

Background technique

Interventional therapy is an emerging subject that integrates medical imaging and clinical treatment, using modern high-tech means for minimally invasive treatment. Under the guidance of Digital Subtraction Angiography (DSA) X-ray equipment, interventional therapy can introduce special catheters, guide wires and other precision instruments into the human body to diagnose or locally treat lesions in the body. It has the advantages of accurate positioning, simplicity and safety. It has been widely used in the clinical diagnosis and treatment of multiple system diseases, especially in the field of cardiovascular and cerebrovascular diseases. With the development of technology, more and more clinical emergencies can also be rescued by emergency interventional therapy. life. As a result, the working hours of interventional doctors have also been significantly extended.

During interventional operations, medical staff need to be exposed to the radiation field, resulting in different degrees of X-ray exposure to various parts of the medical staff's body, causing harm to the body. Radiation rays have become a health threat that medical staff cannot avoid every day. In order to protect the health of interventional medical staff and effectively block radiation rays, the most commonly used protective measure is to wear lead protective clothing (referred to as "lead clothing"). The average weight of the lead clothing is about 10-20kg. It takes a lot of physical strength to complete a series of delicate operations while wearing the lead clothing. Generally, interventional operations can be as short as one hour and as long as five or six hours, making interventional doctors long-term. In a state of heavy-duty work, the spine, muscles, and bone joints (especially the knee joints, scapula, and waist) are strained or even damaged.

Through clinical research and novelty search, it is found that there is no mature solution to the problem of lead clothing support at present. The existing designs mainly focus on the pursuit of zero gravity and zero radiation, but the portability is greatly reduced, and there is a lack of conversion in different body positions (such as left and right) Rotation, forward and backward pitching, etc.), in case of rescue or complicated operations, the operator cannot operate flexibly.

Therefore, there is an urgent need to invent a more portable and practical lead clothing support system, which can transfer the weight of the lead clothing during the operation without affecting the interventional doctor's operation and facilitating activities, so as to reduce the burden on the surgeon's body. Weight bearing, relieve fatigue.

In order to solve the above problems, those skilled in the art have researched and developed some new support devices. For example, the Chinese invention patent with the application number CN202110318176.1 discloses an exoskeleton auxiliary device for interventional protective clothing and its control method, including a lumbar support, Its front side is open; adjustable fixing belt, its two ends are respectively connected with the opening two sides of lumbar support; It is located above the lumbar support and arranged at symmetrical intervals; the other ends of the back support device are respectively hinged with the corresponding shoulder support plates; the neck support is arranged between the shoulder support plates and is hinged with the other end of the back support device; a pair of hands A pair of booster arms, which are respectively hinged with the corresponding shoulder support plates, are used to boost the arm joints; a pair of leg booster arms, which are respectively hinged with the two sides of the waist support, are used to boost the leg joints. The technical solution also provides a control method for an exoskeleton auxiliary device that intervenes in protective clothing to ensure that the user will not fall, and at the same time, it can collect the motion state of the user wearing the protective clothing, and determine the next motion state based on the BP neural network , to assist the user in exercising. However, due to the weight of the device, it must rely on external power to provide support to ensure that the joints can be followed. For the user, first, the weight of the device and the cost of use are further increased, and the motor equipment is delayed during use. , making physical activities inflexible, and second, there are certain safety risks in the use of the mechanical equipment.

Contents of the invention

In order to solve the above problems, the present invention provides a lightweight exoskeleton device for lead clothing support, which adopts a lightweight structure without external power control, which makes the whole device lighter, more flexible and safer, and achieves the effective transfer of lead The weight of clothing can effectively reduce the effect of interventional treatment medical staff's body weight.

The present invention is achieved through the following technical solutions.

A lightweight exoskeleton device used for lead clothing support, comprising an upper support part and a lower support part, the upper support part and the lower support part are connected through a waist support frame;

The upper support part includes a shoulder support board, a back fixing board, an upper body fixing belt, a back supporting board and a waist support frame, the shoulder supporting board is connected with the back fixing board, and the back fixing board supports the shoulder supporting board, The lower end is fixedly connected with the back supporting plate; the upper end of the back supporting plate is connected and fixed with the fixing plate, and the lower end is connected and fixed with the waist support frame; the two ends of the upper body fixing belt are respectively connected with the back fixing plate and the two sides of the back supporting plate; The waist support frame is connected with both sides of the lower section of the back supporting plate;

The lower support part includes a waist-leg joint, a thigh support plate, a knee joint joint, a calf support assembly, and a foot support assembly. The upper end of the waist-leg joint is connected to the waist support frame, and the lower end is integrally connected to the thigh support plate. The lower end of the thigh support plate is connected with the calf support assembly through the knee joint connector, and the lower end of the calf support assembly is connected with the foot support assembly.

Further, the waist-leg connection joint is located at the hip, and includes an inner support plate, an outer support plate, a lumbar support rotating member and a spherical shaft, the lumbar support rotating member is located between the inner support plate and the outer support plate, and the upper end passes through the waist The support connector is connected with the waist support frame, and the lower end is hinged with the inner support plate and the outer support plate through a spherical shaft.

Further, the upper part of the thigh support plate is connected to the lumbar support frame through the lumbar support rotating part and the lumbar support connecting part, and the connection between the lumbar support rotating part and the lumbar support connecting part adopts a connection structure with adjustable height.

Further, the foot support assembly includes a fixed forefoot pad, a flexible rear pad, a first connecting piece, a spring cylinder, a third connecting piece, and a second connecting piece. The lower end of the assembly is connected, the front end of the flexible rear foot pad is connected to the tail of the fixed forefoot pad, the rear end is connected to the calf support assembly through the first connecting piece, the spring cylinder, the third connecting piece, and the second connecting piece, Suspended, supported by the first connecting piece.

Further, the foot support assembly is provided with a foot fixing ring, the foot fixing ring is located on the fixed forefoot pad, and the sole of the foot is fixed on the foot support assembly through the foot fixing ring.

Further, a thigh fixing ring is provided on the inner side of the thigh support plate, and a first adjustment groove is provided at the installation place of the thigh fixing ring, and the thigh fixing ring can be adjusted up and down in the first adjustment groove.

Further, the inside of the calf support assembly is provided with a calf fixing ring A, the calf fixing ring A is located on the lower leg support plate, and a second adjustment groove is provided at the installation place of the calf fixing ring A, and the calf fixing ring A can be positioned on the second Adjust up and down in the adjustment slot.

Further, a lower leg fixing ring B is provided below the lower leg fixing ring A, and the position of the lower leg fixing ring B can be adjusted up and down.

Further, the calf support assembly includes a knee outer support plate and a calf lower support plate, the upper end of the knee outer support plate is hinged to the knee joint connector, and the lower end is connected to the lower leg support plate; the lower end of the knee outer support plate is connected to the lower leg The connection length of the lower support plate can be adjusted by selecting different connection holes, thereby adjusting the length of the entire calf support assembly.

Further, the upper body fixing belt is an annular fixing device made of elastic material.

The beneficial effects of the present invention are:

A lightweight exoskeleton device used for lead clothing support described in this technical solution, the main purpose is to transfer the weight of the lead clothing itself, reduce the unnecessary weight and physical exertion of medical workers, and take into account the practicality, Wearable portability, light weight, joint flexibility, safety and other features.

The technical solution adopts a passive rotation structure, and each joint is spliced with small and flexible connecting parts, so that the activity angle of each joint is increased, the range of motion is increased, the flexibility of the whole device is improved, and the safety is also higher. The specific beneficial effects are as follows:

① By setting the shoulder support plate on the shoulder, it not only ensures the beautiful appearance, but also transmits the strength of the shoulder to the waist through the back fixing plate and the back supporting plate;

②The waist is supported by the waist support frame, and the spherical shaft is set at the joint of the waist and legs, so that the waist support rotating part and the thigh support plate can not only rotate back and forth, but also can withstand a certain range of left and right rotation, and the activity is increased, which is convenient for interventional doctors Body rotation when operating left and right;

③ The connection between the lumbar support rotating part and the lumbar support connecting part, and the connection between the lower leg support plate and the knee outer support plate all adopt adjustable connection structures, which realize the height adjustment of the hip joint and the calf support component. Solved the problem of inappropriate size due to the size and height of interventional doctors;

④The back fixing plate and the back supporting plate adopt an ergonomic structure, which fits better with the spine and at the same time plays a supporting role, so that the operator’s forward and backward movements will not affect the support of the shoulder support plate Function;

⑤ A flexible back pad is set at the back of the sole of the foot and supported by a spring cylinder, which can greatly improve the comfort of the foot support component, and can also play the role of force conversion and ensure the balance of the operator's body ;

⑥The components of the device adopt a structural design that fits as closely as possible to the human body, and can achieve a good weight reduction effect on the premise of satisfying the comfort of the wearer, and further achieve the purpose of light weight through material optimization;

⑦The major limbs are also equipped with ring-shaped fixing belts to prevent the device from being separated from the human body, and have the function of fixing the limbs. The fixing belts are cleverly made of elastic materials, which will not restrain the wearer, and are suitable for users of different sizes;

⑧An adjustment slot is provided at the installation place of each fixing ring, and the fixing ring can slide up and down in the adjustment slot, so as to find a more suitable and comfortable position when the limb is fixed.

This technical solution adopts a unique design concept and is reasonably designed. After repeated discussions by the professional team, it can use the exoskeleton support bracket to reduce the weight of the human body on the lead clothing from the perspective of clinical interventional doctors, and skillfully solve the mechanical support solution. On the premise of reducing the burden of medical staff, it also ensures the flexible rotation of medical staff during the operation, and the free and flexible operation can greatly reduce the fatigue of interventional doctors. It is light, fast to wear, and has great practicality and clinical application value.

Description of drawings

Fig. 1 is a structural schematic diagram of the present invention.

Fig. 2 is a schematic diagram of the local structure of the waist-leg connection joint in the present invention.

Fig. 3 is a partial structural schematic diagram of the calf support assembly in the present invention.

Fig. 4 is a partial structural schematic diagram of the foot support assembly in the present invention.

Fig. 5 is a schematic diagram of the structure of the present invention in a sitting position.

In the figure: 1-upper support part, 101-shoulder support plate, 102-back fixing plate, 103-upper body fixing belt, 104-back support plate, 105-waist support frame, 106-lumbar support connector, 2-lower Support part, 201-lumbar-leg connection joint, 202-thigh support plate, 203-thigh fixing ring, 204-knee joint connection piece, 205-calf support assembly, 206-lower leg support plate, 207-calf fixing ring A, 208 -spring cylinder, 209-foot support assembly, 210-foot fixing ring, 211-spherical shaft, 212-inner support plate, 213-outer support plate, 214-first adjustment groove, 215-lumbar support rotating part, 216 -The second adjustment slot, 217-knee outer support plate, 218-fixed front pad, 219-the third connecting piece, 220-calf fixing ring B, 221-flexible rear foot pad, 222-the first connecting piece, 223- Second connector.

Implementation

The technical solution of the present invention will be further described below in conjunction with the accompanying drawings, but the scope of protection is not limited to the description.

As shown in Figure 1, a lightweight exoskeleton device for lead clothing support according to the present invention includes an upper support part 1 and a lower support part 2, and the upper support part 1 and the lower support part 2 are supported by the waist Rack 105 is connected;

The upper support part 1 includes a shoulder support plate 101, a back fixing plate 102, an upper body fixing belt 103, a back supporting plate 104 and a waist support frame 105,

Described shoulder support plate 101 is 2 pieces, each one on the left and right side, extends independently, and shoulder support plate 101 links to each other with back fixed plate 102, is the main bearing point of user's shoulder support lead clothing;

The back fixing plate 102 is one piece, supports the shoulder supporting plate 101, and the lower end is fixedly connected with the back supporting plate 104;

The back supporting plate 104 is one piece, the upper end is connected and fixed with the fixed plate 102, and the lower end is connected and fixed with the waist support frame 105; It fits well and is comfortable, and a hollow pattern is set on the back supporting plate 104, which has the effects of weight reduction, aesthetics and practicality. The shoulder supporting plate 101 transmits the load of the shoulder to the waist through the back fixing plate 102 and the back supporting plate 104;

The upper body fixing belt 103 is 2, and the upper body fixing belt 103 is an annular fixing device. effect; the upper body fixing belt 103 is made of elastic material, so there will be no sense of tightness;

As shown in Figure 1, the waist support frame 105 is two pieces, one on the left and one on the left and right, respectively connected to both sides of the lower section of the back supporting plate 104, and a round hook is provided on the outer edge, and the lead clothing can be fixed on the round hook. Realize the conduction and transfer of the weight of the waist, and at the same time solve the problem that the lead clothing is not firmly fixed and easy to shake.

As shown in Figure 1, the lower support part 2 includes a waist-leg connecting joint 201, a thigh support plate 202, a knee joint connector 204, a calf support assembly 205 and a foot support assembly 209, and the upper end of the waist-leg connection joint 201 is connected to The waist support frame 105 is connected, and the lower end is integrally connected with the thigh support plate 202. The lower end of the thigh support plate 202 is connected with the calf support assembly 205 through the knee joint connector 204, and the lower end of the calf support assembly 205 is connected with the foot support assembly 209.

As shown in Figure 1, there are two waist-leg connecting joints 201, located at the hip, one on the left and one on the left. Part 215 and spherical shaft 211, the lumbar support rotating part 215 is located between the inner support plate 212 and the outer support plate 213, the upper end is connected with the lumbar support frame 105 through the lumbar support connector 106, and the lower end is connected with the inner support plate through the spherical shaft 211 212 and outer support plate 213 are hinged. The waist-leg connecting joint 201 in this technical solution has a compact and flexible structure, and the user can complete the forward and backward motion after wearing it, and the acceptable range of motion is large; the spherical shaft 211 is hinged, so that the waist support rotating member 215 can not only be in its center The circumference of the hole rotates, and at the same time, it can also bear left and right rotation within a certain range. When the user needs to turn left and right, the joints are more flexible.

As shown in Fig. 1 and Fig. 2, the thigh support plate 202 is two pieces, one on the left and one on the left, which fits the outer edge of the thigh; 105 connection, the connection between the lumbar support rotating part 215 and the lumbar support connecting part 106 adopts a height-adjustable connection structure, and the overall height of the thigh support plate 202 is adjusted by selecting the height of the connected screw hole to adapt to people with different heights and leg lengths. user use.

As shown in Figure 1, the knee joint connector 204 is two pieces, one for the left and right knee joints, connecting the thigh support plate 202 and the calf support assembly 205, the structure of the knee joint connector 204 combines ergonomic design, and the calf support The component 205 and the thigh support plate 202 can rotate around the knee joint connector 204, so that the wearer can perform flexion and extension of the knee joint and walk flexibly; through the thigh support plate 202 and the calf support component 205, the waist load can be transferred to Under the feet, it achieves the purpose of force transfer and can assist lower limb activities.

As shown in Figures 1 and 4, the foot support assemblies 209 are in 2 groups, one for the left and right feet; , spring cylinder 208, third connector 219 and second connector 223, the outside of the rear end of the fixed forefoot pad 218 is connected to the lower end of the calf support assembly 205, the front end of the flexible rear pad 221 is connected to the rear end of the fixed forefoot pad 218 Connect, the rear end is connected with the calf support assembly 205 through the first connecting piece 222, the spring cylinder 208, the third connecting piece 219, and the second connecting piece 223, and the end of the flexible rear foot pad 221 is suspended and supported by the first connecting piece 222; A spring is provided inside the cylinder 208, and when the heel steps on the flexible rear pad 221, a downward pressure is formed on the flexible rear pad 221, and the flexible rear pad 221 pulls the first connecting member 222 to move downward, thereby pulling The cylinder end of the spring cylinder 208 overcomes the pulling force of the internal spring and moves downward relative to the piston rod end. Because the cylinder is filled with air, the movement of the cylinder end relative to the piston rod end becomes a slow and flexible motion; Back pad 221, under the effect of spring in spring cylinder 208, cylinder resets to piston rod end. Reciprocating in this way, when the user's heel steps on the flexible back pad 221, the heel is cushioned, so as to relieve the pain of the heel when standing or walking for a long time. It also plays the role of reinforcing the foot support assembly 209 .

As shown in Figure 4, the foot support assembly 209 is provided with a foot fixing ring 210, and the foot fixing ring 210 is located on the fixed front pad 218, which fixes the feet in a ring to assist foot activities; The foot fixing ring 210 fixes the sole of the foot on the foot support assembly 209. The foot support assembly 209 has a large ground area and strong load-bearing capacity, which can effectively prevent the wearer from falling.

As shown in Fig. 1 and Fig. 2, the inner side of the thigh support plate 202 is provided with a thigh fixing ring 203, and the left and right limbs of the thigh fixing ring 203 each have one up and down, totaling 4 pieces, which are conducive to fixing the thigh and assisting lower limb activities at the same time; The thigh fixing ring 203 is installed with a first adjustment groove 214, and the thigh fixing ring 203 can be adjusted up and down in the first adjustment groove 214, so that the user can find a more comfortable fixing position for fixing.

As shown in Figure 3, the calf support assemblies 205 are in two groups, one on the left and one on the left. The calf support assemblies 205 fit the outer edge of the calf and adopt telescopic support arms to adapt to wear by users with different leg lengths. The load is further transferred downwards to assist the movement of the calf; the calf support assembly 205 includes an outer knee support plate 217 and a lower calf support plate 206, and the knee outer support plate 217 consists of two pieces, one on the left and one on the left, and the upper end is connected to the knee joint 204 is hinged, and the lower end is connected with the lower leg support plate 206; the connection between the lower end of the knee outer support plate 217 and the lower leg support plate 206 can be adjusted by selecting different connection holes to adjust the length of the entire calf support assembly 205. Length to suit users of different heights and leg lengths.

As shown in Figures 1 and 3, the inner side of the calf support assembly 205 is provided with calf fixing rings A207, and the calf fixing rings A207 are two, one on the left and one on the left, located on the lower calf support plate 206 for fixing the calf legs Belly part, the second adjustment groove 216 is provided at the installation place of the calf fixing ring A207, and the calf fixing ring A207 can be adjusted up and down in the second adjustment groove 216, so that the user can adjust the calf fixing ring A207 to a suitable position for fixing; As shown in Figure 4, a calf fixing ring B220 is also provided below the calf fixing ring A207 to strengthen the connection between the lower part of the user's calf and the calf support assembly 205; the position of the calf fixing ring B220 can be adjusted up and down, allowing the user to Find a more comfortable fixed position that suits you.

It is worth noting that the shoulder supporting board 101, the back fixing board 102, the back supporting board, the waist supporting frame 105, the waist and leg connecting joint 201, the thigh supporting board 202, the knee joint connecting piece 204, the calf supporting assembly 205, the foot The part support assembly 209 is made of carbon fiber material, and the weight is very light.

In this technical solution, built-in sliding bearings are used at the waist, knees, and ankles, so that the adjustment margin between the body and the supporting device is large, and the wearing is simple, which meets the needs of users of different shapes and heights, and ensures the height of the lead clothing. The flexibility of adjustment improves the weight reduction effect of the radiation lead clothing and the flexibility in the use of the radiation lead clothing.

Example

The technical solution is a lightweight exoskeleton device used for lead clothing support. The main structure is made of carbon fiber material, which is compact in structure, light in weight and good in toughness.

As shown in Figure 1 and Figure 4, when wearing, first put both feet into the fixed forefoot pad 218, the heel is located on the flexible rear pad 221, and the foot fixing ring 210 is tied to a comfortable position on the instep , pin is fixed on the fixed front pad 218.

Then adjust the length of the calf support assembly 205 and the height of the waist support frame 105 according to the user's height and leg length; The connection hole at the connection of the outer support plate 217 can be locked; when adjusting the height of the lumbar support frame 105, as shown in Figure 2, only the connection hole at the connection of the lumbar support connector 106 and the lumbar support transmission part 215 needs to be adjusted , and lock it.

After the height adjustment of the lower limbs is completed, from bottom to top, respectively tie the calf fixing ring B220 and the calf fixing ring A207 to comfortable positions on the calf, connect and fix the calf with the calf support assembly 205; then tie the thigh fixing ring 203 respectively At a comfortable position on the thigh, connect and fix the thigh with the thigh support plate 202 .

Finally, 103 is tied to the suitable position of the user's upper body, and the user's upper body is connected and fixed with the upper body fixing belt 103, and the position of the shoulder support plate 101 is slightly higher than the user's shoulder. After wearing it, put on the lead clothing or protective clothing according to the operating procedures, move the limbs appropriately, adapt to the strength and range of their activities, and then start working normally.

When the device is working, no external power is involved, and the overall weight of the device is light. During the working process, the lead clothing or protective clothing is supported by the shoulder support plate 101, and the load is transmitted to the waist through the shoulder support plate 101, the back fixing plate 102 and the back supporting plate 104; Hooked by the circular hook on the waist support frame 105, the load of the upper body is decomposed, a part is on the shoulder support plate 101 and passed downwards, and another part is passed on the waist support frame 105 and downwards.

The load is finally transmitted to the waist-leg connecting joint 201 through the waist support frame 105, enters the lower support part 2, then passes through the thigh support plate 202, the knee joint connector 204, and the calf support assembly 205 to the foot support assembly 209, and finally passes through the fixed The forefoot pad 218 is delivered to the ground to complete the transfer of the load. Through this process, the load of the medical worker's body on the lead clothing or protective clothing is transferred to the exoskeleton device to the maximum extent, so that the medical worker minimizes unnecessary external load, and puts the body's strength into interventional treatment, etc. During the surgical operation, the accuracy of the operation is improved, and the physical load intensity of the medical workers is also reduced, thereby reducing the fatigue damage to the joints of the medical workers caused by the interventional work.

Using this device, the user can easily complete actions such as raising legs, turning around, bending over, etc., and can also complete sitting postures, and sit down to rest without removing the lead clothing or protective clothing. As shown in Figure 5.

When removing, operate from top to bottom, successively untie the upper body fixing belt 103, thigh fixing ring 203, calf fixing ring A207, calf fixing ring B220, finally untie the foot fixing ring 210, and remove the feet from the fixed front pad 218 to complete the demolition.

The above-mentioned embodiment is only exemplary, is to enable those skilled in the art to better understand the content of the technical solution, and should not be interpreted as limiting the protection scope of the present invention, as long as it is an improvement made according to the technical solution of the present invention, simple Replacement all fall within the scope of protection of the present application.

Claims (7)

1. A lightweight exoskeleton device for lead clothing support, comprising an upper support part (1) and a lower support part (2), characterized in that: the upper support part (1) and the lower support part (2) connected by a lumbar support frame (105); The upper support part (1) includes a shoulder support plate (101), a back fixing plate (102), an upper body fixing belt (103), a back support plate (104) and a waist support frame (105), and the shoulder support The plate (101) is connected with the back fixing plate (102), the back fixing plate (102) supports the shoulder support plate (101), and the lower end is fixedly connected with the back supporting plate (104); the upper end of the back supporting plate (104) It is connected and fixed with the back fixing plate (102), and the lower end is connected and fixed with the waist support frame (105); the two ends of the upper body fixing belt (103) are respectively connected with both sides of the back fixing plate (102) and the back supporting plate (104); The waist support frame (105) is connected to both sides of the lower section of the back support plate (104); The lower support part (2) includes a waist-leg joint (201), a thigh support plate (202), a knee joint joint (204), a calf support assembly (205) and a foot support assembly (209). The upper end of the leg connection joint (201) is connected with the waist support frame (105), the lower end is integrally connected with the thigh support plate (202), and the lower end of the thigh support plate (202) is connected with the calf support assembly (205) through the knee joint connector (204) , the lower end of the calf support assembly (205) is connected to the foot support assembly (209); The waist-leg connecting joint (201) is located at the hip, and includes an inner support plate (212), an outer support plate (213), a lumbar support rotating part (215) and a spherical shaft (211), and the lumbar support rotating part (215 ) is located between the inner support plate (212) and the outer support plate (213), the upper end is connected to the lumbar support frame (105) through the lumbar support connector (106), and the lower end is connected to the inner support plate (212) through the spherical shaft (211) Hinged with the outer support plate (213); The upper part of the thigh support plate (202) is connected with the lumbar support frame (105) through the lumbar support rotating part (215) and the lumbar support connecting part (106), and the lumbar support rotating part (215) is connected with the lumbar support connecting part (106) ) is connected using a height-adjustable connection structure; The foot support assembly (209) includes a fixed forefoot pad (218), a flexible rear pad (221), a first connecting piece (222), a spring cylinder (208), a third connecting piece (219) and a second Connector (223), the outside of the rear end of the fixed forefoot pad (218) is connected to the lower end of the calf support assembly (205), the front end of the flexible hindfoot pad (221) is connected to the tail of the fixed forefoot pad (218), and the rear The end is connected with the calf support assembly (205) through the first connecting piece (222), the spring cylinder (208), the third connecting piece (219), and the second connecting piece (223), and the end of the flexible rear pad (221) is suspended, Supported by the first connecting piece (222). 2. A lightweight exoskeleton device for lead clothing support according to claim 1, characterized in that: the foot support assembly (209) is provided with a foot fixing ring (210), and the foot The internal fixing ring (210) is located on the fixed front pad (218), and the sole of the foot is fixed on the foot support assembly (209) through the foot fixing ring (210). 3. A lightweight exoskeleton device for lead clothing support according to claim 1, characterized in that: the inner side of the thigh support plate (202) is provided with a thigh fixing ring (203), and the thigh fixing ring (203) is provided with a first adjustment groove (214), and the thigh fixing ring (203) can be adjusted up and down in the first adjustment groove (214). 4. A lightweight exoskeleton device for lead clothing support according to claim 1, characterized in that: a calf fixing ring A (207) is provided on the inner side of the calf support assembly (205), and the calf is fixed The ring A (207) is located on the lower leg support plate (206), and the second adjustment slot (216) is provided at the installation place of the lower leg fixing ring A (207). Adjust up and down. 5. A lightweight exoskeleton device for lead clothing support according to claim 4, characterized in that: a calf fixation ring B (220) is provided below the calf fixation ring A (207), and the calf fixation ring B (220) The position of ring B (220) can be adjusted up and down. 6. A lightweight exoskeleton device for lead clothing support according to claim 1, characterized in that: the calf support assembly (205) includes an outer knee support plate (217) and a lower leg support plate (206 ), the upper end of the knee outer support plate (217) is hinged with the knee joint connector (204), and the lower end is connected with the lower leg support plate (206); the lower end of the knee outer support plate (217) is connected with the lower leg support plate (206 ) connection can be adjusted by selecting different connection holes to adjust the length of the connection, thereby adjusting the length of the entire calf support assembly (205). 7. A lightweight exoskeleton device for supporting lead clothing according to claim 1, characterized in that: the upper body fixing belt (103) is an annular fixing device made of elastic material.

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