WO2018113458A1 - 一种适于防辐射服支撑的外骨骼装置 - Google Patents

一种适于防辐射服支撑的外骨骼装置 Download PDF

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Publication number
WO2018113458A1
WO2018113458A1 PCT/CN2017/111247 CN2017111247W WO2018113458A1 WO 2018113458 A1 WO2018113458 A1 WO 2018113458A1 CN 2017111247 W CN2017111247 W CN 2017111247W WO 2018113458 A1 WO2018113458 A1 WO 2018113458A1
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support
rods
straight
sliding
fixed
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PCT/CN2017/111247
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English (en)
French (fr)
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王兴松
万诗龙
杨明星
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东南大学
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Priority to US16/470,565 priority Critical patent/US10688654B2/en
Publication of WO2018113458A1 publication Critical patent/WO2018113458A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure

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  • the invention belongs to the technical field of medical instruments, and relates to an exoskeleton device, in particular to a systemic exoskeleton which plays an auxiliary supporting role.
  • X-ray In modern medical treatment, X-ray has become an important means for doctors to diagnose and treat patients' diseases. X-rays will have certain adverse effects on the human body when they penetrate the human body. If they are exposed to excessive X-rays, they will cause certain radiation damage to the human body. It causes the risk of body disease and even cancer; medical personnel need to wear radiation protection clothing for radiation diagnosis and surgery, and the radiation protection suit contains a considerable amount of lead, which makes the medical staff very inconvenient when wearing radiation protection clothing. Abnormal fatigue, more often cause physical symptoms such as cervical spondylosis and lumbar spondylosis of radiation medical staff.
  • the technical problem to be solved by the present invention is to provide an exoskeleton device suitable for supporting radiation protection suits, which can be worn on a human body, and supports the radiation protection suit worn on the human body without interfering with the normal influence of the human body.
  • the movement action; the exoskeleton device can also play a passive assisting effect when the human body bends and squats; the support portion in contact with the ground also has a certain damping effect.
  • An exoskeleton device for use in a radiation protection suit comprising:
  • a shoulder mechanism for wearing on the shoulder comprising a pair of back support bars 101, 102, a fixed crossbar 2 and a guide 3 disposed between the back support bars 101, 102, and fixed to the back support bars 101, 102 a pair of flexible straps 901, 902, the guide member 3 is located below the fixed crossbar 2, and the left and right ends of the fixed crossbar 2 are respectively fixed on the left and right back support rods 101, 102, and the left and right sides of the guide member 3 The ends are slidably fitted on the left and right back support rods 101, 102;
  • the waist mechanism for wearing on the waist includes a waist support rod 401, 402, a flexible waist belt 8 mounted on the waist support rods 401, 402, and two straight cylindrical pull ends fixed to the left and right sides of the lumbar support rods 401, 402, respectively.
  • the back support rods 101, 102 are respectively fixed to the front ends of the waist support rods 401, 402 by two convex drum springs 601, 602, and the guide members 3 pass through two spherical hinges respectively arranged up and down 501, 502 is fixed at the front end of the lumbar support rods 401, 402 and between the two convex drum springs 601, 602, the other ends of the straight cylindrical tension springs 701, 702 are respectively passed through the steel rope and the spherical hinge located above The upper end of the 501 is connected;
  • a leg mechanism for wearing on the leg including a thigh support straight bar 1201, 1202 disposed at an upper end of the automatic switching device; and an automatic switching device disposed between the thigh support straight bar 1201, 1202 and the lower leg support straight bar 1701, 1702
  • the utility model comprises a fixing member disposed at an upper end of the automatic switching device, a joint bearing 1401, 1402 disposed at a lower end of the fixing member, a bearing support disposed at a lower end of the joint bearing 1401, 1402, and a sliding member 1601, 1602 disposed at a lower end of the bearing support.
  • a sliding bearing disposed inside the sliding members 1601, 1602, upper and lower hinges respectively hinged on the fixing member and the sliding members 1601, 1602, a compression spring disposed between the upper hinge member and the lower hinge member, and a spring compression rod 1501, 1502 passing through the upper hinge, the compression spring and the lower hinge, wherein the lower end of the thigh support straight rods 1201, 1202 and the upper ends of the joint bearings 1401, 1402 are fixedly connected by a threaded rod,
  • the upper threaded rod passes through a through hole in the fixing member, and the lower ends of the joint bearings 1401, 1402 are rotatably mounted on the bearing support, the spring compression rods 1501, 1502 a rod cap is provided, a nut is mounted on the lower end, the upper hinge and the lower hinge are defined between the rod cap and the nut of the spring compression rods 1501, 1502; and the lower leg supported on the lower end of the bearing support supports the straight rods 1701, 1702
  • the calf support straight rods 1701, 1702
  • the lumbar support rods 401, 402 and the thigh support straight rods 1201, 1202 are connected by a spherical hinge 1001, 1002, and further include drum springs 1101, 1102 respectively fixed at the ends of the spherical hinges 1001, 1002.
  • a thigh flexible binding sleeve 1301, 1302 is further included, which is respectively fixed to the thigh support straight rods 1201, 1202.
  • calf flexible binding sleeve 1901, 1902 is further included, which is respectively fixed to the calf support straight rods 1701, 1702.
  • ankle joint flexible binding sleeves 2101, 2102 are respectively passed through the ankle joint rotating parts In 2001 and 2002, the calf support straight rods 1701, 1702 are hinged.
  • the back support rod and the lumbar support rod are connected by a spring hinge mechanism.
  • the spring hinge mechanism is a multi-degree of freedom hinge mechanism, and the drum spring can support the resetting action when the waist is horizontally rotated and left and right swinged.
  • the straight pull spring at the waist can generate tension to provide a boosting effect.
  • the hip joint between the lumbar support rod and the thigh support straight rod adopts a spring hinge mechanism, which can realize all the movements of the hip joint, and can use the spring to provide assistance when bending.
  • the thigh support straight rod and the lower leg support straight rod are connected by a ball hinge, and together with the spring compression rod and the sliding member constitute a spring slider hinge mechanism, which can realize the knee joint bending action in the normal walking mode, and can also When the foot is stationed, it provides assistance to the knee joint, reducing the burden on the body when wearing radiation protection suits.
  • the sole support is a curved metal rubber material with a shock absorbing spring inside to reduce the impact on the ground.
  • FIG. 1 is a schematic overall view of a three-dimensional structure of the present invention.
  • Figure 2 is a schematic detailed view of the torso support portion.
  • Figure 3 is a schematic detailed view of the lower limb support portion.
  • the present invention discloses an exoskeleton device suitable for radiation protection support, the exoskeleton device comprising a pair of back support rods 101, 102, a fixed crossbar 2, a guide member 3, and a pair of lumbar support Rods 401, 402, spherical hinges 501, 502, two convex drum springs 601, 602, two straight cylindrical tension springs 701, 702, a flexible waist belt 8, a pair of flexible back straps 901, 902, spherical hinges 1001, 1002 Middle convex drum springs 1101, 1102, thigh support straight rods 1201, 1202, thigh flexible binding sleeves 1301, 1302, joint bearings 1401, 1402, spring compression rods 1501, 1502, sliding members 1601, 1602, calf support straight rods 1701 1702, sliding support straight rods 1801, 1802, calf flexible binding sleeves 1901, 1902, ankle joint rotating parts 2001, 2002, ankle joint flexible binding sleeves 2101, 2102, sole support members 2201, 2202.
  • the fixed crossbar 2 is screwed to the pair of back support bars 101, 102 to keep the back support bars parallel and stable; the back support bars 101, 102 pass the drum springs 601, 602 and the waist support bars, respectively.
  • the lumbar support rods 401, 402 and the thigh support straight rods 1201, 202 are respectively connected by spherical hinges 1001, 1002, and the drum springs 1101, 1102 juxtaposed with the hinge are fixed by screws; the thigh flexible binding sleeves 1301, 1302 are respectively fixed by screws
  • the straight rods 1201, 1202 are supported on the thighs.
  • the thigh support straight rods 1201, 1202 and the calf support straight rods 1701, 1702 are respectively hinged by the joint bearings 1401, 1402; the upper ends of the spring compression rods 1501, 1502 juxtaposed with the hinge are respectively passed with the thigh support straight rods 1201, 1202 Hinge connection, the lower end is respectively connected with the sliding members 1601, 1602; the sliding members 1601, 1602 are respectively slidably engaged with the sliding support straight rods 1801, 1802 through the pin, and the lower leg supporting straight rods 1701, 1702; the sliding support is straight
  • the rods 1801, 1802 are in a sliding fit connection with the calf support straight rods 1701, 1702.
  • the calf flexible binding sleeves 1901, 1902 are respectively fixed to the lower leg supporting straight rods 1701, 1702 by screws; the ankle joint flexible binding sleeves 2101, 2102 are respectively fixed to the ankle joint rotating parts 2001, 2002 by screws; the ankle joint rotating parts 2001, 2002 and The calf support straight rods 1701, 1702 are screwed together; the sole support members 2201, 2202 are respectively fixed to the calf support straight rods 1701, 1702 by screws.
  • an exoskeleton device for supporting a radiation suit includes:
  • a shoulder mechanism for wearing on the shoulder comprising a pair of back support bars 101, 102, a fixed crossbar 2 and a guide 3 disposed between the back support bars 101, 102, and fixed to the back support bars 101, 102 a pair of flexible straps 901, 902, the guide member 3 is located below the fixed crossbar 2, and the left and right ends of the fixed crossbar 2 are respectively fixed on the left and right back support rods 101, 102, and the left and right sides of the guide member 3 The ends are slidably fitted on the left and right back support rods 101, 102;
  • the waist mechanism for wearing on the waist includes a waist support rod 401, 402, a flexible waist belt 8 mounted on the waist support rods 401, 402, and two straight cylindrical pull ends fixed to the left and right sides of the lumbar support rods 401, 402, respectively.
  • the back support rods 101, 102 are respectively fixed to the front ends of the waist support rods 401, 402 by two convex drum springs 601, 602, and the guide members 3 pass through two spherical hinges respectively arranged up and down 501, 502 is fixed at the front end of the lumbar support rods 401, 402 and between the two convex drum springs 601, 602, the other ends of the straight cylindrical tension springs 701, 702 are respectively passed through the steel rope and the spherical hinge located above 501) the upper end of the connection;
  • a leg mechanism for wearing on the leg including a thigh support straight bar 1201, 1202 disposed at an upper end of the automatic switching device; and an automatic switching device disposed between the thigh support straight bar 1201, 1202 and the lower leg support straight bar 1701, 1702
  • the utility model comprises a fixing member disposed at an upper end of the automatic switching device, a joint bearing 1401, 1402 disposed at a lower end of the fixing member, a bearing support disposed at a lower end of the joint bearing 1401, 1402, and a sliding member 1601, 1602 disposed at a lower end of the bearing support.
  • a sliding bearing disposed inside the sliding members 1601, 1602, upper and lower hinges respectively hinged on the fixing member and the sliding members 1601, 1602, a compression spring disposed between the upper hinge member and the lower hinge member, and a spring compression rod 1501, 1502 passing through the upper hinge, the compression spring and the lower hinge, wherein the lower end of the thigh support straight rods 1201, 1202 and the upper ends of the joint bearings 1401, 1402 are fixedly connected by a threaded rod,
  • the upper threaded rod passes through a through hole in the fixing member, and the lower ends of the joint bearings 1401, 1402 are rotatably mounted on the bearing support, the spring compression rods 1501, 1502 a rod cap is provided, a nut is mounted on the lower end, the upper hinge and the lower hinge are defined between the rod cap and the nut of the spring compression rods 1501, 1502; and the lower leg supported on the lower end of the bearing support supports the straight rods 1701, 1702
  • the calf support straight rods 1701, 1702
  • the working process of the above exoskeleton device is: the human body wears the exoskeleton device, and the radiation protection suit is "draped" on the exoskeleton.
  • the back support rod bears the gravity of the radiation protection suit on the shoulder, and then passes The hinge and the support rod transmit gravity to the ground; when the human body bends to work, the straight pull spring generates tension, and the drum spring at the hip joint is pressed, which provides a boosting effect to the upper torso portion.
  • the spring compression rod at the knee joint will work to provide assistance to the human knee joint, thus reducing the burden on the human knee joint.
  • the sliding support rod of the sole When the human body is walking normally, the sliding support rod of the sole is off the ground, the sliding member becomes the free end, and the spring rod does not work when the knee joint is bent, and does not cause resistance to the human leg, which is the knee joint mechanism and The difference in the passive assist mechanism of the lower limbs.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Rehabilitation Tools (AREA)
  • Orthopedics, Nursing, And Contraception (AREA)

Abstract

一种用于防辐射服支撑的外骨骼装置，主要由肩部机构、腰部机构和腿部组成。肩部机构包括一对背部支撑杆（101、102）、设置在背部支撑杆之间的固定横杆（2）和导向件（3）和固定在背部支撑杆上的一对柔性背带（901、902）；腰部机构包括腰部支撑杆（401、402）、安装在腰部支撑杆上的柔性腰带（8）以及一端分别固定在腰部支撑杆左右两侧的两根直筒形拉簧（701、702）；腿部机构包括设置在自动切换装置上端的大腿支撑直杆（1201、1202），设置在大腿支撑直杆和小腿支撑直杆（1701、1702）之间的自动切换装置。该外骨骼装置无论在驻地操作、下蹲操作还是自然行走状态都表现出良好的支撑效果。

Description

一种适于防辐射服支撑的外骨骼装置 技术领域
本发明属医疗器械技术领域，涉及一种外骨骼装置，具体说来，是一种起辅助支撑作用的全身性外骨骼。
背景技术
现代医疗中，X射线已经成为医生对病人进行病情诊断、治疗的重要手段；X射线穿透人体时会对人体产生一定的不良效应，若接触X射线过多，会对人体产生一定的放射损害，引起身体病变甚至癌变风险；医护人员在进行放射诊断和手术时，需要穿防辐射服进行保护，而防辐射服内含有相当质量的铅，导致医护人员在穿着防辐射服工作时十分不便，异常疲惫，更常常引起放射医护人员的颈椎病和腰椎病等身体病症。
发明内容
本发明所要解决的技术问题是：提供适于防辐射服支撑的外骨骼装置，该装置可以穿着在人体身上，对穿在人身上的防辐射服起支撑作用，而且不会干涉影响人体的正常运动动作；在人体弯腰和下蹲时，该外骨骼装置还能起到被动助力作用；与地面接触的支撑部分还有一定的减震效果。
为解决上述技术问题，本发明采用如下的技术方案：
一种用于防辐射服支撑的外骨骼装置，包括：
用于穿戴在肩部的肩部机构，包括一对背部支撑杆101、102、设置在背部支撑杆101、102之间的固定横杆2和导向件3和固定在背部支撑杆101、102上的一对柔性背带901、902，所述导向件3位于固定横杆2的下方，固定横杆2的左右两端分别固定在左右侧的背部支撑杆101、102上，导向件3的左右两端分别能滑动地套装在左右侧的背部支撑杆101、102上；
用于穿戴在腰部的腰部机构，包括腰部支撑杆401、402、安装在腰部支撑杆401、402上的柔性腰带8以及一端分别固定在腰部支撑杆401、402左右两侧的两根直筒形拉簧701、702，所述背部支撑杆101、102通过两只中凸鼓形弹簧601、602分别固定在腰部支撑杆401、402的前端，所述导向件3通过两个分别上下设置的球形铰链501、502固定在腰部支撑杆401、402的前端并位于两只中凸鼓形弹簧601、602之间，所述直筒形拉簧701、702的另一端通过钢绳分别与位于上方的球形铰链501的上端连接；
用于穿戴在腿部的腿部机构，包括设置在自动切换装置上端的大腿支撑直杆1201、1202；设置在大腿支撑直杆1201、1202和小腿支撑直杆1701、1702之间的自动切换装置，其包括设置在自动切换装置上端的固定件、设置在固定件下端的关节轴承1401、1402、设置在关节轴承1401、1402下端的轴承支座、设置在轴承支座下端的滑动件1601、1602、设置在滑动件1601、1602内部的滑动轴承、分别铰接在固定件和滑动件1601、1602上的上铰接件和下铰接件、设置在上铰接件和下铰接件之间的压缩弹簧以及顺次穿过上铰接件、压缩弹簧和下铰接件的弹簧压缩杆1501、1502，其中，所述大腿支撑直杆1201、1202的下端和关节轴承1401、1402上端之间通过上螺纹杆固定连接，所述上螺纹杆穿过固定件上的通孔，关节轴承1401、1402的下端能转动地安装在轴承支座上，所述弹簧压缩杆1501、1502的上端设置有杆帽，下端安装有螺母，所述上铰接件和下铰接件被限定在弹簧压缩杆1501、1502的杆帽和螺母之间；设置在轴承支座下端的小腿支撑直杆1701、1702，所述小腿支撑直杆1701、1702穿过滑动轴承的内部，其上端通过下螺纹杆固定在轴承支座底座的沉头式通孔内；设置在小腿支撑直杆1701、1702内部并能在小腿支撑直杆1701、1702内部上下滑动的滑动支撑直杆1801、1802，所说滑动支撑直杆1801、1802的上端和滑动件1601、1602的上端分别设置有相互对应的两个安装孔，通过上销轴和下销轴插入两个安装孔中将滑动支撑直杆1801、1802和滑动件1601、1602相互固定，所述滑动轴承被限位在上销轴和下销轴之间；所述小腿支撑直杆1701、1702的侧边开设一滑槽，所述上销轴和下销轴顺次穿过滑动件1601、1602的安装孔、滑槽和滑动支撑直杆1801、1802，并能在滑槽内上下滑动。
进一步地，所述腰部支撑杆401、402与大腿支撑直杆1201、1202之间通过球形铰链1001、1002连接，还包括分别固定在球形铰链1001、1002两端的的鼓形弹簧1101、1102。
进一步地，还包括大腿柔性绑套1301、1302，其分别固定于大腿支撑直杆1201、1202上。
进一步地，还包括小腿柔性绑套1901、1902，其分别固定于小腿支撑直杆1701、1702上。
进一步地，还包括踝关节柔性绑套2101、2102，其分别通过踝关节转动件 2001、2002与小腿支撑直杆1701、1702进行铰链连接。
有益效果：与现有技术相比，本发明的技术方案具有以下有益效果：
(1)背部支撑杆与腰部支撑杆之间通过弹簧铰链机构连接，该弹簧铰链机构为多自由度的铰链机构，在腰部水平转动与左右摆动时鼓形弹簧能够起到支撑复位作用，在弯腰时直筒拉簧能产生拉力提供助力效果。
(2)腰部支撑杆与大腿支撑直杆连接的髋关节处，采用弹簧铰链机构，该球铰链能实现髋关节的全部动作，而且能在弯腰时利用弹簧提供助力。
(3)大腿支撑直杆与小腿支撑直杆通过球铰链连接，并与弹簧压缩杆和滑动件共同组成弹簧滑块铰链机构，该机构可以实现正常行走模式下的膝关节弯曲动作，还可以在足部驻地时为膝关节提供助力，减轻穿着防辐射服时的人体负担。
(4)足底支撑件为弯曲的金属橡胶材料，内部含有减震弹簧，可以减轻着地时的冲击。
附图说明
图1为本发明三维结构整体示意图。
图2为躯干支撑部分示意详图。
图3为下肢支撑部分示意详图。
具体实施方式
下面结合附图，对本发明的技术方案进行详细的描述。
如图1所示，本发明公开了一种适于防辐射服支撑的外骨骼装置，该外骨骼装置包括一对背部支撑杆101、102、固定横杆2、导向件3、一对腰部支撑杆401、402、球形铰链501、502、两只中凸鼓形弹簧601、602、两只直筒形拉簧701、702、柔性腰带8、一对柔性背带901、902、球形铰链1001、1002、中凸鼓形弹簧1101、1102、大腿支撑直杆1201、1202、大腿柔性绑套1301、1302、关节轴承1401、1402、弹簧压缩杆1501、1502、滑动件1601、1602、小腿支撑直杆1701、1702、滑动支撑直杆1801、1802、小腿柔性绑套1901、1902、踝关节转动件2001、2002、踝关节柔性绑套2101、2102、足底支撑件2201、2202。如图2所示，固定横杆2通过螺纹固定于一对背部支撑杆101、102上，保持背部支撑杆的平行稳定；背部支撑杆101、102分别通过鼓形弹簧601、602与腰部支撑杆401、402 连接；导向件3与腰部支撑杆通过球形铰链501、502连接；直筒形拉簧701、702与球形铰链501上端通过刚绳连接；柔性背带901、902与腰带8分别套在背部支撑杆101、102和腰部支撑杆上。
腰部支撑杆401、402与大腿支撑直杆1201、202分别通过球形铰链1001、1002连接，与该铰链并列的鼓形弹簧1101、1102均用螺钉固定；大腿柔性绑套1301、1302通过螺钉分别固定于大腿支撑直杆1201、1202。
如图3，大腿支撑直杆1201、1202与小腿支撑直杆1701、1702分别通过关节轴承1401、1402铰接；与该铰链并列的弹簧压缩杆1501、1502上端分别与大腿支撑直杆1201、1202通过铰链连接，下端分别与滑动件1601、1602连接；滑动件1601、1602分别与滑动支撑直杆1801、1802通过销过盈固连，与小腿支撑直杆1701、1702之间滑动配合；滑动支撑直杆1801、1802与小腿支撑直杆1701、1702之间是滑动配合连接。
小腿柔性绑套1901、1902分别通过螺钉固定于小腿支撑直杆1701、1702；踝关节柔性绑套2101、2102通分别过螺钉固定于踝关节转动件2001、2002；踝关节转动件2001、2002与小腿支撑直杆1701、1702之间用螺钉紧定；足底支撑件2201、2202分别通过螺钉固定于小腿支撑直杆1701、1702。
作为本发明的一种优选的实施方式，用于防辐射服支撑的外骨骼装置，包括：
用于穿戴在肩部的肩部机构，包括一对背部支撑杆101、102、设置在背部支撑杆101、102之间的固定横杆2和导向件3和固定在背部支撑杆101、102上的一对柔性背带901、902，所述导向件3位于固定横杆2的下方，固定横杆2的左右两端分别固定在左右侧的背部支撑杆101、102上，导向件3的左右两端分别能滑动地套装在左右侧的背部支撑杆101、102上；
用于穿戴在腰部的腰部机构，包括腰部支撑杆401、402、安装在腰部支撑杆401、402上的柔性腰带8以及一端分别固定在腰部支撑杆401、402左右两侧的两根直筒形拉簧701、702，所述背部支撑杆101、102通过两只中凸鼓形弹簧601、602分别固定在腰部支撑杆401、402的前端，所述导向件3通过两个分别上下设置的球形铰链501、502固定在腰部支撑杆401、402的前端并位于两只中凸鼓形弹簧601、602之间，所述直筒形拉簧701、702的另一端通过钢绳分别与位于上方的球形铰链501)的上端连接；
用于穿戴在腿部的腿部机构，包括设置在自动切换装置上端的大腿支撑直杆1201、1202；设置在大腿支撑直杆1201、1202和小腿支撑直杆1701、1702之间的自动切换装置，其包括设置在自动切换装置上端的固定件、设置在固定件下端的关节轴承1401、1402、设置在关节轴承1401、1402下端的轴承支座、设置在轴承支座下端的滑动件1601、1602、设置在滑动件1601、1602内部的滑动轴承、分别铰接在固定件和滑动件1601、1602上的上铰接件和下铰接件、设置在上铰接件和下铰接件之间的压缩弹簧以及顺次穿过上铰接件、压缩弹簧和下铰接件的弹簧压缩杆1501、1502，其中，所述大腿支撑直杆1201、1202的下端和关节轴承1401、1402上端之间通过上螺纹杆固定连接，所述上螺纹杆穿过固定件上的通孔，关节轴承1401、1402的下端能转动地安装在轴承支座上，所述弹簧压缩杆1501、1502的上端设置有杆帽，下端安装有螺母，所述上铰接件和下铰接件被限定在弹簧压缩杆1501、1502的杆帽和螺母之间；设置在轴承支座下端的小腿支撑直杆1701、1702，所述小腿支撑直杆1701、1702穿过滑动轴承的内部，其上端通过下螺纹杆固定在轴承支座底座的沉头式通孔内；设置在小腿支撑直杆1701、1702内部并能在小腿支撑直杆1701、1702内部上下滑动的滑动支撑直杆1801、1802，所说滑动支撑直杆1801、1802的上端和滑动件1601、1602的上端分别设置有相互对应的两个安装孔，通过上销轴和下销轴插入两个安装孔中将滑动支撑直杆1801、1802和滑动件1601、1602相互固定，所述滑动轴承被限位在上销轴和下销轴之间；所述小腿支撑直杆1701、1702的侧边开设一滑槽，所述上销轴和下销轴顺次穿过滑动件1601、1602的安装孔、滑槽和滑动支撑直杆1801、1802，并能在滑槽内上下滑动。
上述外骨骼装置的工作过程是：人体穿上该外骨骼装置，防辐射服则“披在”该外骨骼上，当人体直立时，背部支撑杆在肩部承受防辐射服的重力，然后通过铰链和支撑杆将重力传递于地面；当人体弯腰工作时，直筒拉簧会产生拉力，加上髋关节处的鼓形弹簧受压，会为上身躯干部分提供助力效果。当人处于下蹲姿势时，膝关节处的弹簧压缩杆会工作，为人体膝关节提供助力，这样就可以减轻人体膝关节的负担。
当人体正常行走时，足底的滑动支撑杆离开地面，则滑动件成为自由端，膝关节弯曲时弹簧杆不工作，并不会对人体腿部产生阻力，这正是该膝关节机构与 普通下肢被动助力机构不同之处。

Claims (5)

  1. 一种用于防辐射服支撑的外骨骼装置，其特征在于，包括：
    用于穿戴在肩部的肩部机构，包括一对背部支撑杆(101、102)、设置在背部支撑杆(101、102)之间的固定横杆(2)和导向件(3)和固定在背部支撑杆(101、102)上的一对柔性背带(901、902)，所述导向件(3)位于固定横杆(2)的下方，固定横杆(2)的左右两端分别固定在左右侧的背部支撑杆(101、102)上，导向件(3)的左右两端分别能滑动地套装在左右侧的背部支撑杆(101、102)上；
    用于穿戴在腰部的腰部机构，包括腰部支撑杆(401、402)、安装在腰部支撑杆(401、402)上的柔性腰带(8)以及一端分别固定在腰部支撑杆(401、402)左右两侧的两根直筒形拉簧(701、702)，所述背部支撑杆(101、102)通过两只中凸鼓形弹簧(601、602)分别固定在腰部支撑杆(401、402)的前端，所述导向件(3)通过两个分别上下设置的球形铰链(501、502)固定在腰部支撑杆(401、402)的前端并位于两只中凸鼓形弹簧(601、602)之间，所述直筒形拉簧(701、702)的另一端通过钢绳分别与位于上方的球形铰链(501)的上端连接；
    用于穿戴在腿部的腿部机构，包括设置在自动切换装置上端的大腿支撑直杆(1201、1202)；设置在大腿支撑直杆(1201、1202)和小腿支撑直杆(1701、1702)之间的自动切换装置，其包括设置在自动切换装置上端的固定件、设置在固定件下端的关节轴承(1401、1402)、设置在关节轴承(1401、1402)下端的轴承支座、设置在轴承支座下端的滑动件(1601、1602)、设置在滑动件(1601、1602)内部的滑动轴承、分别铰接在固定件和滑动件(1601、1602)上的上铰接件和下铰接件、设置在上铰接件和下铰接件之间的压缩弹簧以及顺次穿过上铰接件、压缩弹簧和下铰接件的弹簧压缩杆(1501、1502)，其中，所述大腿支撑直杆(1201、1202)的下端和关节轴承(1401、1402)上端之间通过上螺纹杆固定连接，所述上螺纹杆穿过固定件上的通孔，关节轴承(1401、1402)的下端能转动地安装在轴承支座上，所述弹簧压缩杆(1501、1502)的上端设置有杆帽，下端安装有螺母，所述上铰接件和下铰接件被限定在弹簧压缩杆(1501、1502)的杆帽和螺母之间；设置在轴承支座下端的小腿支撑直杆(1701、1702)，所述小腿支撑直杆(1701、1702)穿过滑动轴承的内部，其上端通过下螺纹杆固定在轴承支座底座的沉头式通孔内；设置在小腿支撑直杆(1701、1702)内部并能在小 腿支撑直杆(1701、1702)内部上下滑动的滑动支撑直杆(1801、1802)，所说滑动支撑直杆(1801、1802)的上端和滑动件(1601、1602)的上端分别设置有相互对应的两个安装孔，通过上销轴和下销轴插入两个安装孔中将滑动支撑直杆(1801、1802)和滑动件(1601、1602)相互固定，所述滑动轴承被限位在上销轴和下销轴之间；所述小腿支撑直杆(1701、1702)的侧边开设一滑槽，所述上销轴和下销轴顺次穿过滑动件(1601、1602)的安装孔、滑槽和滑动支撑直杆(1801、1802)，并能在滑槽内上下滑动。
  2. 根据权利要求1所述的用于防辐射服支撑的外骨骼装置，其特征在于，所述腰部支撑杆(401、402)与大腿支撑直杆(1201、1202)之间通过球形铰链(1001、1002)连接，还包括分别固定在球形铰链(1001、1002)两端的的鼓形弹簧(1101、1102)。
  3. 根据权利要求1所述的用于防辐射服支撑的外骨骼装置，其特征在于，还包括大腿柔性绑套(1301、1302)，其分别固定于大腿支撑直杆(1201、1202)上。
  4. 根据权利要求1所述的用于防辐射服支撑的外骨骼装置，其特征在于，还包括小腿柔性绑套(1901、1902)，其分别固定于小腿支撑直杆(1701、1702)上。
  5. 根据权利要求1所述的用于防辐射服支撑的外骨骼装置，其特征在于，还包括踝关节柔性绑套(2101、2102)，其分别通过踝关节转动件(2001、2002)与小腿支撑直杆(1701、1702)进行铰链连接。
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