CN214550181U - Wearable lumbar spine angled traction exoskeleton device - Google Patents

Abstract

The utility model discloses a wearable lumbar vertebra angled traction exoskeleton device, which is composed of a traction force adjusting device, a traction clothing device and a lower limb exoskeleton auxiliary walking device. The structure of the traction force adjusting device is that a composite hinge plate is arranged in a casing , the gear belt of the driving gear drive is connected with the traction belt, and the traction belt is connected with the front and rear slings of the traction clothing device. The forwardly extending armpit supports the cantilever beam, and the armpit straps, chest straps and waist straps connected with the front and rear suspenders and the elastic backboard constitute a traction garment. The utility model has a reasonable structure, adopts a wearable design, has higher portability, and has functions such as traction therapy, assisted walking, support and protection of the human trunk, etc. Healthy individuals can also wear the equipment to prevent a series of spinal loads caused by imbalance. Diseases, the traction force value can be visualized and the traction force exceeding the limit can be automatically alarmed.

Description

Wearable lumbar vertebra angled traction exoskeleton instrument

Technical Field

The utility model belongs to wearable lumbar vertebrae angulation pulls the equipment of ectoskeleton, especially a wearable lumbar vertebrae angulation pulls the apparatus of ectoskeleton.

Background

At present, the load imbalance of the lumbar intervertebral disc is considered to be the main reason for generating pathological changes, and traction as a physical treatment means can obviously relieve the mechanical compression on nerve roots, correct the load imbalance of the intervertebral disc, relieve the spasm of paraspinal muscles and reduce the degree of intervertebral disc protrusion.

The lumbar vertebra traction device as a physical therapy instrument has wide application in the aspects of preventing and treating lumbar disc herniation, scoliosis, chronic nonspecific low back pain and the like. The existing lumbar traction devices are mostly bed type, seat type and suspension type, have large volume and weight and cannot be carried about, and the traction angle of each segment of lumbar intervertebral disc cannot be adjusted in the traction treatment process. At present, the compliance of patients in traction treatment in hospitals is generally low, and the curative effect of the patients in home autonomous traction treatment is difficult to ensure. Meanwhile, along with the aggravation of the aging problem in China, rehabilitation physiotherapy equipment is urgently needed for preventing and treating various diseases caused by unbalanced lumbar bearing load. The device has the characteristics of home independent use, can macroscopically reduce the pressure of hospital operation and treatment, and has the functions of angularly drawing lumbar vertebrae at various stages, assisting walking, protecting and supporting human body trunk and the like due to the exoskeleton design. The patient can maintain or improve the lower limb movement function to a certain extent after wearing the garment, and the garment has wide application prospect in the field of rehabilitation treatment for preventing disability and diseases.

The spinal traction equipment at the present stage can be divided into cervical vertebra traction equipment and lumbar vertebra traction equipment according to different action parts, the lumbar vertebra traction equipment mainly presents the forms of a lumbar vertebra traction bed, a lumbar vertebra traction seat, a lumbar vertebra traction frame and the like, and the existing lumbar vertebra traction devices are various in types, but mostly have short plates which are bulky, cannot be carried, are complex to operate and the like. Patients who choose to be treated in hospitals often need to go to a treatment center regularly for traction treatment, the treatment process is dull, and the inevitable compliance of the patients is reduced in the past for a long time, so that the treatment effect is greatly reduced. The patient who chooses traction treatment at home then faces the difficult problems such as traction equipment relative lack, bare-handed traction operation complicacy, current traction treatment equipment at home its traction dynamics and angle can not accurate control.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a wearable lumbar vertebrae becomes instrument of traction ectoskeleton, its is rational in infrastructure, adopts the wearable design, and the portability is higher, has functions such as traction treatment, supplementary walking, support and the human truck of protection, and healthy individual also can dress this equipment with a series of diseases that the unbalance of prevention backbone load induced, can realize that traction force numerical value is visual and traction force transfinites automatic alarm.

The purpose of the utility model is realized like this: a wearable lumbar angulation traction exoskeleton apparatus comprises a traction force adjusting device, a traction clothes device and a lower limb exoskeleton auxiliary walking device, wherein the traction force adjusting device is structurally characterized in that a composite capstan with a ratchet mechanism is arranged in a shell, a gear belt driven by a driving gear is connected with a traction belt, the traction belt is connected with a front sling and a rear sling of the traction clothes device, the traction clothes device is structurally an elastic back plate which is adaptive to the back curve of a human body, armpit supporting cantilever beams extending forwards are respectively arranged on two sides of the upper part of the front surface of the traction clothes device, a supporting seat is arranged at the upper end of the elastic back plate, two supporting columns arranged on the supporting seat are connected with the shell of the traction force adjusting device, the front sling and the rear sling are connected with the armpit binding band, a chest binding band and a waist binding band of the elastic back plate to form the traction clothes, and the lower part of the elastic back plate is connected with a hip crossbeam of the lower limb exoskeleton auxiliary walking device through symmetrical connecting bolts, the two ends of the hip beam are connected with the left leg and the right leg to assist the lower limbs, the pressure sensor is arranged on the adjustable pedal of the auxiliary lower limbs, and the liquid crystal display screen and the buzzer are arranged at the upper ends of the auxiliary lower limbs.

The utility model discloses a wearable design, the portability is higher, has functions such as traction treatment, supplementary walking, support and the human truck of protection, and healthy individual also can dress this equipment in order to prevent a series of diseases that the unbalance of backbone load induced, can realize that traction force numerical value is visual and traction force transfinites automatic alarm.

The main functions are as follows: the traction force can be adjusted, the compression on the underarm nerves is small, the lumbar vertebra is subjected to angular traction, the walking is assisted, the trunk is supported and protected, the traction force is visualized, and the automatic alarm function that the traction force exceeds the maximum bearing limit of the traction force is realized. The overall design is performed after the device functions and technical features are determined.

The utility model discloses it is main including traction force adjusting device, traction clothing device, the supplementary running gear of low limbs ectoskeleton, the visual and safe warning of traction force.

The appearance of the armpit supporting cantilever beam is a semi-cylinder, the inner layer of the armpit supporting cantilever beam is made of ABS materials, and the hard material support can uniformly disperse the gravity of a human body part to armpit sagittal axes on two sides, so that the discomfort caused by overlarge local pressure of armpits is avoided. Because the underarm nerves of the human body are rich and bear larger pressure in the long-time suspension process, the soft and comfortable TPR material is selected for coating, and the effects of reducing the human body discomfort and preventing the underarm strut from slipping can be achieved.

The traction belt is connected with the armpit supporting cantilever beam through binding, and a groove is designed at the joint of the cantilever beam and the high-strength polypropylene belt so as to prevent the high-strength polypropylene belt from sliding during traction.

The traction force adjusting device mainly comprises: adjusting device shell, prevent that deformation shell cover, turn to bearing roller, compound capstan winch, gear belt accomodate roller, release link and constitute.

The shell of the adjusting device adopts low-carbon steel as a framework, a polyurethane material as a skin and a polyurethane foaming body as a filler. The low-carbon steel skeleton can provide sufficient support for the composite winch, the high-strength polypropylene belt guide wheel, the composite winch and the high-strength polypropylene belt accommodating roller are used for transmitting the tension to the headrest rod, and meanwhile, the hard part in the adjusting device can be sealed in the headrest. In order to avoid the collapse of the contact part of the headrest and the suspension belt caused by long-time suspension, an ABS anti-deformation sleeve is added at the top of the headrest. The shell is short and does not contact with the head of a human body, and users with different heights can adjust the telescopic length of the metal rod of the headrest to avoid the discomfort caused by the contact of the head of the human body and the anti-deformation shell in the use process. Considering that the exoskeleton is likely to collide in the using process, particularly the back of the head of a human body is easy to land first when the exoskeleton slips accidentally, the headrest generates huge acting force on the head and neck of the human body, so that a large amount of polyurethane foam is filled in the polyurethane skin to absorb energy generated in collision, the head of the human body is protected, meanwhile, the overall softness of the headrest is increased, and the comfort is improved.

The steering carrier roller is made of cylindrical shaft core stainless steel, wherein the shaft core is connected with the low-carbon steel shell, and the steering carrier roller has the characteristics of light weight and small friction resistance. The carrier roller can support the pulling force in the polypropylene fibre area that excels in, changes the pulling force direction in high-strength polypropylene fibre area simultaneously, transmits the pulling force in the polypropylene fibre area that excels in for compound capstan winch.

The composite winch is composed of a winch carrier roller, a winch shell, an anti-skidding knob, a gear belt, a ratchet wheel, a non-return pawl shaft, a non-return pawl seat and a return spring. Wherein, the winch carrier roller is made of stainless steel with a cylindrical shaft core; the winch shell, the gear, the ratchet wheel, the non-return pawl shaft and the non-return pawl seat are made of low-carbon steel materials; the gear belt is a polyurethane steel wire gear belt; the anti-skid knob is made of ABS material, and the outer layer is coated with anti-skid silica gel; the return spring is 304 stainless steel compression spring. The shaft core of the winch carrier roller is connected with the winch shell and the adjusting device shell, and the gear, the ratchet wheel and the anti-skidding knob are fixed on the roller of the winch carrier roller. The high-strength polypropylene fiber belt is connected with the gear belt at the steering carrier roller, then the gear belt is meshed with the gear, and the end point is fixed on the gear belt accommodating roller. After the user dresses the traction clothes device, the traction force can be automatically adjusted through the anti-skidding knob. After the proper traction force is selected, the ratchet wheel and the non-return pawl fix the roller of the winch carrier roller at the current position, and the gear is meshed with the gear belt to fix the traction position. When the user does not need to pull, the reset pull rod can be pulled by one hand to reset the device. At the moment, the reset spring contracts, the non-return pawl is separated from the ratchet wheel, the roller of the winch carrier roller can rotate clockwise, the gear belt relaxes, the traction belt further relaxes, and the traction force disappears.

The gear belt receiving roller is composed of a receiving wheel shaft, a roller and an elongated spring. One end of the lengthened spring is connected with the shaft, the other end of the lengthened spring is connected with the inner side of the roller, and the lengthened spring has the main function of rotating to automatically accommodate loose belt gears. When the roller rotates, the lengthening spring stores the rotating force of the roller into elastic potential energy, and when the gear belt is loosened, the loosened part is wound on the surface of the roller, so that the gear belt is prevented from being clamped into other transmission mechanisms.

The reset rod is composed of a D-shaped handle and a metal rod. The bottom end of the metal rod is connected with the non-return pawl through a bearing, when the reset rod is pulled upwards, the reset spring is shortened, the non-return pawl is disconnected with the ratchet wheel, and the anti-slip knob, the ratchet wheel and the gear can synchronously rotate clockwise. At the moment, the gear belt is loosened, the traction force is reduced, and the resetting of the device is completed.

The traction clothes device consists of a high-strength polypropylene belt, an adjustable buckle and an underarm support cantilever beam. The high-strength polypropylene fiber has the characteristics of high strength, strong wear resistance, light specific gravity, good stability to chemicals and the like, and can bear larger weight when a human body is suspended, so that the high-strength polypropylene fiber material is selected to be processed and manufactured into the traction clothes device. In addition, the width of the high-strength polypropylene belt is increased at the contact part of the traction clothes device and the waist of the human body, and the aim is to reduce the pressure intensity of the high-strength polypropylene belt on the local waist in the traction process. The adjustable buckle selects the polycarbonate material design preparation, and the afterbody is equipped with adjustable latch closure and receives terminal area with ABS, and the polypropylene fibre area that excels in can pass the latch closure and carry out length adjustment, and after accomplishing length adjustment, the part of overlength can pass and receive terminal area fixed. Because of different body shape indexes of different users, different wearing positions of the same user and the like, the length-adjustable buckle belt is adopted to better fit the human body. The appearance of the armpit supporting cantilever beam is a semi-cylinder, the inner layer of the armpit supporting cantilever beam is made of ABS materials, and the hard material support can uniformly disperse the gravity of a human body part to armpit sagittal axes on two sides, so that the discomfort caused by overlarge local pressure of armpits is avoided. Because the underarm nerves of the human body are rich and bear larger pressure in the long-time suspension process, the soft and comfortable TPR material is selected for coating, and the effects of reducing the human body discomfort and preventing the underarm strut from slipping can be achieved.

The traction force adjusting device is composed of an elastic back plate, adjusting screws, adjusting nuts, supporting columns, pressure-bearing steel bars and waist cross beam tenon joints. According to human engineering and biomechanical characteristics of all sections of the spine, the optimal traction angles corresponding to human lumbar intervertebral discs L5/S1, L4/L5, L3/L4, L2/L3 and L1/L2 are respectively 10 degrees, 15 degrees, 20 degrees, 23 degrees and 25 degrees in the oblique direction, so that an adjusting mechanism is erected behind the elastic back plate to adjust the fit degree of the human spine and the device. The patient can screw or unscrew the adjusting screw according to the optimal traction angle recommended by the specification to realize the autonomous adjustment of the traction angle. The adjustable elastic back plate is made of carbon fiber materials, the front surface of the adjustable elastic back plate is covered with elastic weaving materials, and the top end of the adjustable elastic back plate is provided with a pair of supporting columns for riveting the traction force adjusting device. The elastic back plate rear portion is equipped with adjustment mechanism, and wherein adjusting nut bonds with the elasticity back of the body version mutually, and inside adjusting screw passed the adjusting nut with the pressure-bearing billet top in the elastic back plate, the user can be used for changing the positive curvature of elasticity back of the body version according to self demand adjustment neck, waist adjusting screw to agree with human backbone or change the angle of pulling to each section of backbone. Because the bearing steel bar has higher rigidity, the supporting force of each point of the elastic back plate in the transverse section where the adjusting screw is positioned can be ensured to be the same. Waist crossbeam falcon connects and adopts low carbon steel material processing preparation for the falcon connects waist crossbeam.

The lower limb exoskeleton auxiliary walking device is composed of a waist cross beam, hip joints, thigh connecting rods, knee joints, shank connecting rods, ankle joints, adjustable pedals and a binding mechanism, wherein the waist cross beam is made of aluminum alloy materials, and tenon holes are formed in the upper portion of the waist cross beam and used for tenon connection of a traction angle adjusting device. The middle part of the beam adopts a telescopic design, and the length of the waist beam can be adjusted by a user according to the size of the hip of the user. And designing the adjustment range of each adjustable part of the traction exoskeleton according to relevant data of human engineering. The exoskeleton designed by the research institute has 8 passive driving joints, wherein the hip joints are 4, the knee joints are 2, and the ankle joints are 2. When the human body moves, the joint is driven to rotate, the exoskeleton follows the human body to move, and good consistency can be kept between the exoskeleton and the human body. The thigh connecting rod and the shank connecting rod are in adjustable design, the annular throat hoop is arranged outside the lower end sleeve, when a user needs to adjust the thigh connecting rod or the shank connecting rod, the hoop fixing screw can be unscrewed, and the length of the thigh connecting rod or the shank connecting rod penetrating into the sleeve is adjusted to adapt to wearing of users with different body types. The adjustable pedal is also designed to be retractable, and three foot binding belts made of high-strength polypropylene fiber materials with adjustable length are arranged at the upper part of the adjustable pedal and used for fixing the soles of the human feet. The rubber layer is additionally arranged at the bottom of the pedal, and the bottom of the rubber layer is designed with anti-skid lines, so that the friction force between the exoskeleton and the ground is increased, and the stability of walking movement is improved. The binding mechanism in the lower limb exoskeleton auxiliary walking device comprises 10 high-strength polypropylene belts, wherein the number of the lower ends of hip joints is 2, the number of the lower ends of knee joints is 2, and the number of feet is 6.

The traction visual and safety alarm device consists of a main controller, a pressure data acquisition component, a liquid crystal display component, a buzzing alarm component and a power supply. The device adopts an AT89C51 singlechip as a main controller. The chip has the advantages of high efficiency, low consumption, no directional register, simple peripheral circuit and the like. The pressure data acquisition component comprises a resistance strain gauge pressure sensor and an HX711 chip, wherein the HX711 chip has the advantages of high integration level, high response speed, strong anti-interference performance and the like, and can better meet the requirement of A/D data conversion. The pressure sensor is arranged in the upper layer plane of the exoskeleton double-foot pedal, the numerical value of the weight born by the feet of the human body can be transmitted to the single chip microcomputer in real time for operation, then the single chip microcomputer compares the numerical value with the data of the weight of the human body without traction when the device is started, and the difference data is transmitted to the liquid crystal display screen to realize the visualization of the traction. The liquid crystal display part adopts an LCD1602A liquid crystal display screen, the display content is various, the driving is convenient, and the character type liquid crystal display module is widely applied, so that the display is adopted to feed back the value of the traction force of the exoskeleton on the human body in real time. The buzzer is a passive buzzer, has the advantages of no internal oscillation source, controllable sound frequency and the like, and can be driven by Pulse Width Modulation (PWM) waves. When the traction force exceeds the preset value, the buzzer works to give an alarm, at the moment, the anti-skid knob in the traction force adjusting device needs to be adjusted to reduce the traction force of the exoskeleton on the human body, and otherwise, the buzzer does not work. The power supply adopts a 3.7V lithium battery, and can output +/-5V double power supplies by matching with a tps60110 booster circuit, so that normal work of the singlechip can be stably maintained.

(1) The concept of the wearable lumbar vertebra angled traction exoskeleton is put forward for the first time;

(2) most of the existing traction treatment devices only have the function of traction treatment, and the device designed by the research has the functions of traction treatment, walking assistance, supporting and protecting the trunk of a human body and the like, so that healthy individuals can wear the device to prevent a series of diseases caused by spinal load unbalance;

(3) the existing traction equipment has larger volume and can not be carried about, and the equipment adopts wearable design and has higher portability;

(4) the exoskeleton type design has better following performance, the device can be tightly attached to a human body, and the traction of multiple postures is realized under the state that the daily activities are not influenced;

(5) the existing autonomous traction equipment generally does not have a human-computer interaction module, but the device is provided with a traction visual module and a safety alarm module, so that the traction numerical value visualization and traction overrun automatic alarm can be realized;

(6) traditional traction equipment is mostly fixed design, and the user is tied up and tie up and unable normal action in traction process, easily leads to patient compliance to descend for a long time in the past, and this device can follow the human body and carry out daily activity, needn't maintain a posture for a long time in the treatment, has relieved the restriction of traction treatment to patient's time, physical activity in the past.

The utility model discloses rational in infrastructure, adopt the wearable design, the portability is higher, has functions such as traction treatment, supplementary walking, support and the human truck of protection, and healthy individual also can dress this equipment and with a series of diseases that the unbalance of prevention backbone load induced, has realized that traction force numerical value is visual and traction force transfinites automatic alarm.

Drawings

It is right to combine the attached drawing below the utility model discloses it is right to make the further description, fig. 1 is the utility model discloses main view structure schematic diagram, fig. 2 is the structure schematic diagram is looked to fig. 1 right side, fig. 3 is traction force adjusting device and enlarges the structure schematic diagram, fig. 4 is traction force adjusting device and the clothing device that draws a side view structure schematic diagram, fig. 5 is the supplementary running gear structure schematic diagram of low limbs ectoskeleton, fig. 6 is the structure schematic diagram of spring backplate.

Detailed Description

A wearable device for lumbar vertebra angled traction exoskeleton, as shown in figure 1, figure 2, figure 3, figure 4, figure 5, figure 6, comprises a traction force adjusting device, a traction clothes device and a lower limb exoskeleton auxiliary walking device, wherein the traction force adjusting device is structured by arranging a composite capstan with a ratchet mechanism in a shell 1, a gear belt 27 driven by a driving gear 29 is connected with a traction belt 7, the traction belt 7 is connected with a front sling 8 and a rear sling 4 of the traction clothes device, the traction clothes device is structured by an elastic back plate 5 matched with the back curve of a human body, two sides of the front upper part of the traction clothes device are respectively provided with an armpit supporting cantilever beam 9 extending forwards, the upper end of the elastic back plate 5 is provided with a supporting seat 3, two supporting columns 2 arranged on the supporting seat 3 are connected with the shell 1 of the traction force adjusting device, the front sling 8 and the rear sling 4 are respectively provided with an armpit binding band 10 connected with the elastic back plate 5, The chest bandage 11 and the waist bandage 13 form a traction garment, the lower part of the elastic back plate 5 is connected with a hip beam 16 of the lower limb skeleton auxiliary walking device through symmetrical connecting bolts 24, two ends of the hip beam 16 are connected with left and right leg auxiliary lower limbs, a pressure sensor 35 is arranged on an adjustable pedal 21 of the auxiliary lower limbs, and a liquid crystal display screen 36 and a buzzer are arranged at the upper ends of the auxiliary lower limbs. The composite capstan is characterized in that a gear 29, a ratchet mechanism and an anti-skidding knob 31 are mounted on a gear shaft 30, a gear belt 27 connected with a gear belt receiving roller 28 extends upwards from the rear part of a shell 1 through the gear 29 and a steering carrier roller 34, two symmetrical rear hanging strips 4 are connected downwards along the shell 1, and the upper parts of the rear hanging strips 4 are connected with front hanging strips 8. The top of the shell 1 is provided with a reset rod 26 with a pull ring 25 at the upper end, the lower end of the reset rod is matched with a pawl 33 with a reset spring of a ratchet mechanism, the pawl 33 is controlled to be separated from and combined with a ratchet 32 through the reset rod 26, the shell 1 is made of steel as a framework, polyurethane material forms a skin, and foam plastic forms filler. The cross section of the armpit supporting cantilever beam 9 is semicircular, is made of ABS material, and is coated with a coating layer made of TPR material. The structure of the traction clothes is that two sides of an elastic backboard 5 are sequentially connected with a horizontal armpit bandage 10, a chest bandage 11 and a waist bandage 13 which are in a hoop shape from top to bottom, adjustable buckles 12 are arranged on the armpit bandage 10, the chest bandage 11 and the waist bandage 13, the lower ends of a front sling 8 and a rear sling 4 connected with a traction belt 7 are connected with an armpit supporting cantilever beam 9, two symmetrical longitudinal slings are respectively connected with the front half parts of the armpit bandage 10, the chest bandage 11 and the waist bandage 13, the traction clothes is composed of a high-strength polypropylene belt, and a widened high-strength polypropylene belt 14 is arranged below the waist bandage 13. The elastic back plate 5 is made of a carbon fiber material, and the front surface thereof is covered with an elastic fiber woven material layer. The upper part and waist part of the back of the elastic back plate 5 are respectively provided with a curvature adjusting device, the structure of the curvature adjusting device is that a nut 39 is respectively and fixedly connected on the supporting seat 3 and the waist transverse seat 6 of the elastic back plate 5, and the end part of a screw 40 matched with the nut 39 is matched with a pressure-bearing steel bar 38 correspondingly arranged in the elastic back plate 5. The auxiliary lower limb structure is that an adjustable thigh connecting rod 17 is articulated with a hip joint seat 15, an adjustable shank connecting rod 19 is articulated with a knee joint 18 at the lower end of the thigh connecting rod 17, an adjustable pedal 21 is articulated with an ankle joint 20 at the lower end of the shank connecting rod 19, a pressure sensor 35 is arranged at the rear part of the surface of the adjustable pedal 21, a liquid crystal display screen 36 is arranged on the top surface of the hip joint seat 15, binding belts 22 with lock catches are respectively arranged on the thigh connecting rod 17 and the shank connecting rod 19, and a foot binding belt adjusting buckle belt 23 is arranged on the adjustable pedal 21. The structure of the adjustable upper and lower leg connecting rods 17 and 19 is composed of an inserted rod and a sleeve matched with the inserted rod, an annular hoop 37 is arranged on the upper opening of the sleeve, a fixing bolt is arranged on the hoop, and the inserted rod and the sleeve are mutually positioned by screwing the fixing bolt. The traction force visualization and safety alarm circuit is formed by connecting a pressure sensor 35, a liquid crystal display screen 36, a buzzer, a main controller and a power supply through a lead.

Claims (10)

1. a wearable lumbar vertebrae angled traction exoskeleton instrument, it is characterized in that: be made up of traction adjustment device, traction clothing device and lower extremity exoskeleton auxiliary walking device, and the structure of the traction adjustment device is to set in the shell (1) It is equipped with a compound hinge plate with a ratchet mechanism, and the gear belt (27) driven by the driving gear (29) is connected with the traction belt (7), and the traction belt (7) is connected with the front and rear slings (8, 4) of the traction clothing device. , the structure of the traction clothing device is an elastic backboard (5) adapted to the curve of the back of the human body, and the two sides of the upper front side are respectively provided with forwardly extending underarm support cantilevers (9), on the elastic backboard ( 5) The upper end is provided with a support seat (3), the two support columns (2) provided on the support seat (3) are connected with the casing (1) of the traction adjustment device, and the front and rear straps (8, 4) are connected to the elastic The underarm straps (10), the chest straps (11) and the waist straps (13) connected with the backboard (5) constitute a traction garment, and the lower part of the elastic backboard (5) is connected with the symmetrical connecting bolts (24) provided at the lower part of the elastic backboard (5). The hip beams (16) of the lower limb skeleton-assisted walking device are connected, the two ends of the hip beam (16) are connected with the left and right auxiliary lower limbs, and a pressure sensor (35) is arranged on the adjustable pedal (21) of the auxiliary lower limbs, A liquid crystal display (36) and a buzzer are arranged on the upper end of the auxiliary lower limb. 2. A wearable lumbar vertebra angled traction exoskeleton device according to claim 1, characterized in that: the structure of the composite hinge plate is that a gear (29), a ratchet mechanism and a gear shaft (30) are installed on the gear shaft (30). The anti-skid knob (31), the gear belt (27) connected to the gear belt storage roller (28) passes through the gear (29), passes through the steering roller (34), and protrudes upward from the rear of the casing (1), and then along the casing (1) ) is connected downward with two symmetrical rear suspenders (4), and a front suspender (8) is connected to the upper part of the rear suspenders (4). 3. A wearable lumbar vertebrae angled traction exoskeleton device according to claim 1, wherein the lower end of a reset rod (26) with a pull ring (25) at the upper end is arranged on the top of the casing (1) It cooperates with the pawl (33) of the ratchet mechanism with a return spring, and controls the clutch of the pawl (33) and the ratchet (32) through the reset lever (26). Plastic constitutes the filler. 4. A kind of wearable lumbar vertebra angled traction exoskeleton device according to claim 1, is characterized in that: the cross-sectional shape of armpit support cantilever beam (9) is semicircle, is made up of ABS material, its The outside is covered with a cladding layer made of TPR material. 5. A wearable lumbar vertebra angled traction exoskeleton device according to claim 1, characterized in that: the traction garment is structured such that two sides of the elastic backboard (5) are connected in sequence from top to bottom in the form of Hoop-shaped lateral underarm straps (10), chest straps (11) and waist straps (13) on underarm straps (10), chest straps (11) and waist straps (13) Both are provided with adjustable buckles (12), the lower ends of the front and rear slings (8, 4) connected by the traction belt (7) are connected with the armpit support cantilever beam (9), and the two symmetrical longitudinal slings are arranged respectively. It is connected with the front half of the underarm straps (10), the chest straps (11) and the waist straps (13), and the traction garment is composed of high-strength polypropylene tapes, wherein the lower part of the waist straps (13) is arranged Wear a widened high-strength polypropylene tape (14). 6 . The wearable lumbar vertebra angled traction exoskeleton device according to claim 1 , wherein the elastic back plate ( 5 ) is made of carbon fiber material, and the front surface is covered with a layer of elastic fiber woven material. 7 . 7. A wearable lumbar vertebra angled traction exoskeleton device according to claim 1, characterized in that: a curvature adjustment device is respectively provided on the upper part and the waist behind the elastic back plate (5), and its structure is: Nuts (39) are respectively fastened on the support seat (3) and the waist transverse seat (6) of the elastic back plate (5), and the ends of the screws (40) matched with the nut (39) are connected to the elastic back plate (5) The corresponding built-in pressure-bearing steel bars (38) are matched. 8. A wearable lumbar vertebra angled traction exoskeleton device according to claim 1, characterized in that: the structure of the auxiliary lower limb is a hip joint seat (15) hinged to an adjustable thigh link (17), The knee joint (18) at the lower end of the thigh link (17) is hinged with the adjustable lower leg link (19), and the ankle joint (20) at the lower end of the lower leg link (19) is hinged with the adjustable pedal (21). A pressure sensor (35) is arranged at the rear of the board surface of the pedal (21), a liquid crystal display screen (36) is arranged on the top surface of the hip joint seat (15), and the upper and lower leg links (17, 19) are respectively arranged A binding strap (22) with a lock is provided, and a foot strap adjusting buckle strap (23) is set on the adjustable pedal (21). 9. A wearable lumbar vertebra angled traction exoskeleton device according to claim 1, characterized in that: the adjustable large and lower leg connecting rods (17, 19) are structured by inserting rods and inserting rods The matching sleeve is formed, an annular clamp (37) is arranged on the upper opening of the sleeve, a fixing bolt is arranged on the clamp, and the fixing bolt is tightened to position the insertion rod and the sleeve mutually. 10. A wearable lumbar vertebra angled traction exoskeleton device according to claim 1, characterized in that: a pressure sensor (35), a liquid crystal display (36), a buzzer, a main controller and a power supply The traction force visualization and safety alarm circuit are formed through wire connection.

Images