An underwater power-assisted exoskeleton that can be worn inside a dry diving suit

Abstract

The present application discloses an underwater power-assisted exoskeleton that can be worn in a dry diving suit, and relates to the technical field of underwater power-assisted exoskeleton. It not only solves the problem of the current blank of exoskeleton solutions worn in dry diving suits, but also can assist the elbow joints and switch the shoulder joints between free and flexible and damping stop states. The exoskeleton includes a back component, two shoulder joint structures, two upper arm length adjustment mechanisms and two elbow joint structures; the back component is tied to the back of the diver; the left and right sides of the back component are respectively connected to a shoulder joint structure; the upper end of the upper arm length adjustment mechanism is connected to the shoulder joint structure, and the lower end of the upper arm length adjustment mechanism is connected to the elbow joint structure; the shoulder joint structure can realize the switching of the diver's shoulder joint between free and flexible and damping stop states; the elbow joint structure can assist the diver's elbow joint when the diver performs a task.

Description

Technical Field

[0001] The present application relates to the technical field of underwater power-assisted exoskeletons, and in particular to an underwater power-assisted exoskeleton wearable in a dry diving suit. Background Art

[0002] Underwater engineering diving operations need to face complex underwater environments and take a long time to operate, which requires high physical strength and athletic ability of divers. Especially for underwater equipment installation, dismantling, welding, handling, etc., assisting divers' upper limb movements can effectively improve the efficiency and duration of underwater engineering diving operations. At the same time, the underwater operating environment is generally more complex. For example, in operating environments such as salvage, plugging leaks and dredging, the underwater temperature and water quality are relatively poor, and divers need to wear dry diving suits to operate. At the same time, because the dry diving suit is thick and does not fit the diver, and in many cases the diver needs to wear warm clothes inside the dry diving suit, the exoskeleton needs to be worn inside the dry diving suit.

[0003] Therefore, on the one hand, the external dimensions of the exoskeleton system after being worn should fit the human body as closely as possible and reduce protruding structures, and have small restrictions on the back space and equipment compatibility when the upper limbs move over a large range. On the other hand, it is required to provide assistance to divers when performing tasks such as welding, assembly, handling, support, demolition, salvage, and plugging leaks. However, the existing upper limb exoskeletons are difficult to provide sufficient underwater engineering work assistance to divers while being worn in a dry diving suit. Therefore, there is an urgent need to provide an exoskeleton system that can be worn in a dry diving suit and can provide sufficient underwater engineering work assistance to divers. Summary of the invention

[0004] The embodiments of the present application provide an underwater assisted exoskeleton wearable in a dry diving suit, which not only solves the problem of the current lack of exoskeleton solutions worn in dry diving suits, but also can assist the extension / flexion movement of the elbow joint, and switch the flexion / extension and internal rotation / external rotation degrees of freedom of the shoulder joint between free and flexible and damped stop states, thereby assisting divers to perform underwater welding, assembly, transportation, support, demolition, salvage, leak plugging and other engineering tasks.

[0005] To achieve the above-mentioned objectives, an embodiment of the present application provides an underwater power-assisting exoskeleton wearable in a dry diving suit, comprising a back assembly, two shoulder joint structures, two upper arm length adjustment mechanisms and two elbow joint structures; the back assembly is tied to the back of the diver; the left and right sides of the back assembly are respectively connected to a shoulder joint structure; the upper end of the upper arm length adjustment mechanism is connected to the shoulder joint structure, and the lower end of the upper arm length adjustment mechanism is connected to the elbow joint structure; the shoulder joint structure can realize the switching of the diver's shoulder joint between a free and flexible state and a damped stop state; the upper arm length adjustment mechanism can adjust the distance between the shoulder joint structure and the elbow joint structure; the elbow joint structure can assist the diver's elbow joint when the diver performs a task.

[0006] Furthermore, the shoulder joint structure includes a shoulder blade assembly, a spherical structural component, a slider assembly and an electromagnetic suction cup; the spherical structural component is swingably connected to the back assembly through the shoulder blade assembly; the upper arm length adjustment mechanism is slidably connected to the spherical structural component through the slider assembly, and the slider assembly can slide back and forth in the spherical structural component; the electromagnetic suction cup can prevent the slider assembly from sliding after being charged.

[0007] Furthermore, the lower end of the spherical structural part is provided with a slide groove extending in the front-to-back direction; the upper end of the upper arm length adjustment mechanism is provided with a second connecting ear; the slider assembly includes a slider friction plate, a slider return spring, an inner wear-resistant gasket of the slider, an outer wear-resistant gasket of the slider and a slider mounting plate; the slider friction plate is provided with a pin shaft section, and the pin shaft section passes through the slider return spring, the inner wear-resistant gasket of the slider, the outer wear-resistant gasket of the slider, and the spherical structural part in sequence and is fixedly connected to the slider mounting plate by a first shaft end screw; the inner wear-resistant gasket of the slider and the outer wear-resistant gasket of the slider are respectively abutted against the two side surfaces of the spherical structural part; the second connecting ear is provided with a guide shaft, and the electromagnetic suction cup is fixedly connected to the end of the guide shaft; the lower part of the slider mounting plate is provided with a guide hole compatible with the guide shaft; the slider mounting plate is sleeved on the guide shaft and can slide along the axial direction of the guide shaft.

[0008] Furthermore, the wear-resistant gasket on the outer side of the slider includes a first arc-shaped gasket body and a cylindrical connecting section and a square guide section arranged at both ends thereof; the cylindrical connecting section extends into the inner hole of the second connecting ear; the square guide section extends into the slide groove of the spherical structural component and can slide in the slide groove.

[0009] Furthermore, the boom length adjustment mechanism includes a boom binding assembly and a telescopic assembly arranged on the outside of the boom binding assembly; the telescopic assembly includes a main body, a telescopic plate and a push block; the main body is fixedly connected to the boom binding assembly, and a long guide groove and a push block sliding groove are restricted in the main body; the telescopic plate is slidably connected in the long guide groove; a first tooth-shaped segment extending in a vertical direction is provided on the telescopic plate; a cover plate is provided at the opening of the push block sliding groove, and an opening is provided on the cover plate; the push block is an "L"-shaped plate, including left and right extension plates and front and rear extension plates; a second tooth-shaped segment adapted to the first tooth-shaped segment is provided on the front and rear extension plates; one end of the left and right extension plates extends out of the opening on the cover plate; a push block reset spring is provided between the cover plate and the left and right extension plates; the push block reset spring can push the push block to move in a direction close to the telescopic plate, and make the second tooth-shaped segment mesh with the first tooth-shaped segment.

[0010] Furthermore, the first tooth-shaped segment is located in the middle of the telescopic plate in the vertical direction, the second tooth-shaped segment passes through the left and right extension plates, and the length of the second tooth-shaped segment is smaller than the length of the first tooth-shaped segment.

[0011] Furthermore, the left and right extension plates are provided with wave-shaped bending plates.

[0012] Furthermore, the elbow joint structure includes a forearm assembly, a clutch reduction motor, a driving sprocket, a transmission chain, a passive sprocket group and a driven sprocket; the transmission chain is a side pin rack; the forearm assembly includes a mounting plate; a forearm binding belt is provided on the first side of the mounting plate; the housing of the clutch reduction motor is fixedly connected to the second side of the mounting plate; the driving sprocket is arranged on the output shaft of the clutch reduction motor, the passive sprocket group and the driven sprocket are both rotatably connected to the mounting plate, and the axes of the passive sprocket group and the driven sprocket are perpendicular to the axis of the driving sprocket; the lower end of the telescopic plate is fixedly connected to the driven sprocket; the transmission chain is tensioned between the passive sprocket group and the driven sprocket, and when the clutch reduction motor is engaged, the driving sprocket engages with the side pin of the transmission chain.

[0013] Furthermore, the passive sprocket assembly includes two passive sprockets disposed one above the other; the two passive sprockets are both rotatably connected to the mounting plate.

[0014] Furthermore, the transmission chain includes a plurality of groups of chain link side pin assemblies, and the chain link side pin assemblies include chain links and side pins hinged on the chain links, and the axes of the side pins are perpendicular to the axes of the connecting shafts in the chain links.

[0015] Compared with the prior art, this application has the following beneficial effects:

[0016] 1. The shoulder joint structure of the exoskeleton wearable in a dry diving suit in the embodiment of the present application is based on a spherical slider structure, and the elbow joint structure is a chain transmission structure with vertical axis transmission. The structure is compact, fits the human body, and has no obvious protrusion. When the human body and the exoskeleton move in a large range, the movement trajectory still fits the body size, has little impact on the back space, and can be worn on the inside of the dry diving suit; at the same time, the elbow drives the transmission chain through the servo motor to drive the elbow joint to swing, thereby assisting the extension / flexion movement of the diver's elbow joint. The shoulder realizes the switching of the flexion / extension and internal rotation / external rotation degrees of freedom of the shoulder joint between the free and flexible and damping stop states through the bionic spherical slider structure and the state switching of the electromagnetic suction cup, thereby assisting divers to perform underwater welding, assembly, handling, support, demolition, salvage, plugging and other engineering tasks.

[0017] 2. The exoskeleton of the embodiment of the present application fills the gap in the upper limb exoskeleton solution for engineering diving operations. The binding structure of the exoskeleton is located on the inside of the dry diving suit, which reduces the restriction on the expansion and contraction of the diving suit and does not hinder the inflation and deflation of the dry diving suit.

[0018] 3. The exoskeleton structure of the embodiment of the present application is symmetrical and fits the upper limbs of the diver. The appearance has no obvious sharp protrusions and moving parts. While protecting the inside of the dry diving suit and the human body, the overall appearance is symmetrical without obvious protrusions and deformations during diving, reducing unnecessary interference to the diver and reducing additional underwater resistance.

[0019] 4. The exoskeleton of the embodiment of the present application has little restriction on the movement space of the diver's joints. At the same time, the shoulder and elbow joints are free, ensuring that the exoskeleton produces almost no additional resistance during free diving, thereby ensuring the diver's athletic ability. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 A schematic diagram of a three-dimensional structure of an underwater power-assisting exoskeleton wearable in a dry diving suit according to an embodiment of the present application at one angle;

[0022] Figure 2 A schematic diagram of the three-dimensional structure of the underwater power-assisting exoskeleton wearable in a dry diving suit according to an embodiment of the present application from another angle;

[0023] Figure 3A schematic diagram of the three-dimensional structure of the shoulder joint structure in an underwater power-assisting exoskeleton wearable in a dry diving suit according to an embodiment of the present application;

[0024] Figure 4 This is a schematic diagram of the exploded structure of the shoulder joint structure in the underwater power-assisting exoskeleton wearable in a dry diving suit according to an embodiment of the present application;

[0025] Figure 5 A cross-sectional view of a shoulder joint structure in an underwater power-assisting exoskeleton wearable in a dry diving suit according to an embodiment of the present application;

[0026] Figure 6 This is a schematic diagram of the three-dimensional structure of the upper arm length adjustment mechanism in the underwater power-assisted exoskeleton wearable in the dry diving suit according to the embodiment of the present application;

[0027] Figure 7 A cross-sectional view of a large arm length adjustment mechanism in an underwater power-assisting exoskeleton wearable in a dry diving suit according to an embodiment of the present application;

[0028] Figure 8 The schematic diagram of the decomposition structure of the upper arm length adjustment mechanism in the underwater power-assisted exoskeleton wearable in the dry diving suit of the embodiment of the present application is shown in FIG. Figure 1 ;

[0029] Fig. 9 The schematic diagram of the decomposition structure of the upper arm length adjustment mechanism in the underwater power-assisted exoskeleton wearable in the dry diving suit of the embodiment of the present application is shown in FIG. Figure 2 ;

[0030] Fig.10 A schematic diagram of a three-dimensional structure of an elbow joint structure in an underwater power-assisting exoskeleton wearable in a dry diving suit according to an embodiment of the present application;

[0031] Fig.11 A schematic diagram of the three-dimensional structure of the elbow joint structure in the underwater power-assisting exoskeleton wearable in a dry diving suit according to an embodiment of the present application, from another angle;

[0032] Fig.12 A top view of an elbow joint structure in an underwater power-assisting exoskeleton wearable in a dry diving suit according to an embodiment of the present application;

[0033] Fig.13 for Fig.12 AA section view;

[0034] Fig.14 This is a schematic diagram of the exploded structure of the elbow joint structure in the underwater power-assisting exoskeleton wearable in a dry diving suit according to an embodiment of the present application;

[0035] Fig.15This is a diagram of the meshing state of the drive sprocket and the side shaft in the underwater power-assisted exoskeleton wearable in the dry diving suit according to the embodiment of the present application;

[0036] Fig.16 A schematic diagram of a three-dimensional structure of a chain link at one angle in an underwater power-assisting exoskeleton wearable in a dry diving suit according to an embodiment of the present application;

[0037] Fig.17 A schematic diagram of the three-dimensional structure of a chain link in an underwater power-assisting exoskeleton wearable in a dry diving suit according to an embodiment of the present application from another angle;

[0038] Fig.18 This is a diagram of the wearing state of the underwater power-assisting exoskeleton wearable in a dry diving suit according to an embodiment of the present application. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0040] In the description of the present application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0041] In the description of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0042] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0043] Reference Figure 1 and Figure 2, an embodiment of the present application provides an underwater power-assisting exoskeleton wearable in a dry diving suit, which is a bilaterally symmetrical structure, including a back component 1, two shoulder joint structures 2, two upper arm length adjustment mechanisms 3 and two elbow joint structures 4. The back component 1 is tied to the back of the diver, and the left and right sides of the back component 1 are respectively connected to a shoulder joint structure 2. The upper end of the upper arm length adjustment mechanism 3 is connected to the shoulder joint structure 2, and the lower end of the upper arm length adjustment mechanism 3 is connected to the elbow joint structure 4. The shoulder joint structure 2 can realize the switching of the diver's shoulder joint between a free and flexible state and a damping stop state. The upper arm length adjustment mechanism 3 can adjust the distance between the shoulder joint structure 2 and the elbow joint structure 4 to adapt to divers with different arm lengths. The elbow joint structure 4 can assist the diver's elbow joint when the diver performs a task.

[0044] Specifically, refer to Figure 1 and Figure 2 The back assembly 1 includes a back base plate 11, a waist strap 13 connected to the back base plate 11, and two shoulder straps 12. The two ends of the waist strap 13 are respectively connected to the lower part of the left and right sides of the back base plate 11, and can surround the waist of the diver. The upper end of the shoulder strap 12 is connected to the upper edge of the back base plate 11, and the lower end is connected to the waist strap 13.

[0045] Reference Figures 2 to 5 The shoulder joint structure 2 includes a shoulder blade component 21, a spherical structure 22, a slider component 23 and an electromagnetic suction cup 24. The spherical structure 22 is swingably connected to the back component 1 through the shoulder blade component 21. The upper arm length adjustment mechanism 3 is slidably connected to the spherical structure 22 through the slider component 23, and the slider component 23 can slide back and forth in the spherical structure 22. The electromagnetic suction cup 24 can prevent the slider component 23 from sliding after being charged.

[0046] Specifically, refer to Figure 3 and Figure 4 The shoulder blade assembly 21 includes two shoulder blade parallel links 211, a shoulder blade moving plate 212 and a shoulder blade swinging rod 213. The two shoulder blade parallel links 211 are parallel to each other and one end is rotatably connected to the upper end of the left side or right side of the back assembly 1, and the other end is rotatably connected to one end of the shoulder blade moving plate 212 through a hinge (not shown in the figure). The first end of the shoulder blade swinging rod 213 is rotatably connected to the other end of the shoulder blade moving plate 212, and the second end of the shoulder blade swinging rod 213 is rotatably connected to the upper part of the spherical structure 22.

[0047] The spherical structure 22 is a concave cover, and its inner concave surface and outer convex surface are both spherical. The size of the inner concave surface of the spherical structure 22 is adapted to the size of the diver's shoulder joint. The upper end of the spherical structure 22 is provided with a first connecting ear 221, and the lower end of the spherical structure 22 is provided with a slide groove 222 extending in the front-back direction. The second end of the scapular swing rod 213 is rotatably connected to the inner hole of the first connecting ear 221.

[0048] Reference Figure 4 and Figure 5 The upper end of the arm length adjustment mechanism 3 is provided with a second connecting ear 31. The slider assembly 23 includes a slider friction plate 231, a slider return spring 232, a slider inner wear-resistant pad 233, a slider outer wear-resistant pad 234 and a slider mounting plate 235. The slider friction plate 231 includes a friction plate 2311 and a pin section 2312 arranged at the bottom of the friction plate 2311. The pin section 2312 passes through the slider return spring 232, the slider inner wear-resistant pad 233, the slider outer wear-resistant pad 234, the spherical structure 22 and the slider mounting plate 235 in sequence, and the slider mounting plate 235 is fixedly connected to the pin section 2312 by a first shaft end screw 236. The arc surfaces of the slider inner wear-resistant pad 233 and the slider outer wear-resistant pad 234 are respectively slidably matched with the inner side surface and the outer side surface of the spherical structure 22.

[0049] The wear-resistant gasket 234 on the outer side of the slider includes a first arc-shaped gasket body 2341 and a cylindrical connecting section 2342 and a square guide section 2343 arranged at both ends thereof. The cylindrical connecting section 2342 extends into the inner hole of the second connecting ear 31, and the square guide section 2343 extends into the slide groove 222 of the spherical structure 22. The square guide section 2343 cooperates with the slide groove 222 with a small gap and can slide in the slide groove 222, thereby forming the sliding and swinging freedom of the slider assembly 23 relative to the spherical structure 22, and moves following the flexion / extension and internal rotation / external rotation of the diver's shoulder joint.

[0050] The second connecting ear 31 is provided with a guide shaft 311, and the electromagnetic suction cup 24 is fixedly connected to the end of the guide shaft 311 through the second shaft end screw 25. The lower part of the slider mounting plate 235 is provided with a guide hole 2351 adapted to the guide shaft 311, and the slider mounting plate 235 is sleeved on the guide shaft 311 and can slide along the axial direction of the guide shaft 311. After the electromagnetic suction cup 24 is energized, the slider mounting plate 235 can be attracted, and at this time, the slider assembly 23 cannot slide along the slide groove 222, and the upper arm length adjustment mechanism 3 cannot swing relative to the spherical structure 22.

[0051] It should be noted that: refer to Figure 4, assuming that the rotation axis of the scapula swinging rod 213 swinging relative to the scapula moving plate 212 is L1, the axis of the slider friction plate 231 in the slider assembly 23 is L2, and the intersection of the axis L1 and the axis L2 is O. When the shoulder joint structure 2 of the exoskeleton of the present application is worn on the human shoulder joint, the axis L2 should be fitted with the rotation axis of the flexion / extension degree of freedom of the human shoulder joint, and the intersection O should be fitted with the instantaneous center of each degree of freedom of the human shoulder joint as much as possible.

[0052] Reference Figures 6 to 9 The upper arm length adjustment mechanism 3 includes an upper arm binding assembly 32 and a telescopic assembly 33 arranged on the outside of the upper arm binding assembly 32. The upper arm binding assembly 32 includes a "U"-shaped upper arm binding shell 321 with an opening facing forward and an upper arm binding belt 322 connected to the left and right ends of the opening of the "U"-shaped upper arm binding shell 321. The telescopic assembly 33 includes a main body 331, a telescopic plate 332 and a push block 333. The main body 331 is fixedly connected to the upper arm binding assembly 32, and a long guide groove 334 and a push block sliding groove 335 are limited in the main body 331. The telescopic plate 332 is slidably connected in the long guide groove 334. The telescopic plate 332 is provided with a first toothed section 336 extending in the vertical direction, and the opening of the push block sliding groove 335 is covered with a cover plate 34, and the cover plate 34 is an "L"-shaped plate, and an opening 341 is provided on the cover plate 34. The push block 333 is an "L"-shaped plate, including left and right extension plates 337 and front and rear extension plates 338. The front and rear extension plates 338 are provided with a second tooth segment 339 adapted to the first tooth segment 336. The second tooth segment 339 is a trapezoidal tooth extending in the vertical direction. The left and right extension plates 337 are provided with a wavy bending plate, and one end of the wavy bending plate extends out of the opening 341 on the cover plate 34. A push block reset spring 35 is provided between the cover plate 34 and the left and right extension plates 337. The push block reset spring 35 can push the push block 333 to move in the direction close to the telescopic plate 332, and make the second tooth segment 339 mesh with the first tooth segment 336.

[0053] Specifically, the number of the push block return springs 35 can be multiple, for example, three. Three spring receiving grooves 342 are provided on one side of the cover plate 34 parallel to the left and right extension plates 337, and the three spring receiving grooves 342 are evenly distributed along the vertical direction. The push block return spring 35 is located in the spring receiving groove 342, and one end thereof abuts against the bottom of the spring receiving groove 342, and the other end abuts against the front and rear extension plates 338.

[0054] To facilitate the upper limit of the telescopic plate 332 in the vertical direction, the first toothed segment 336 is located in the middle of the telescopic plate 332 in the vertical direction, the second toothed segment 339 passes through the front and rear extension plates 338, and the length of the second toothed segment 339 is less than that of the first toothed segment 336.

[0055] Thus, the push block 333 can slide perpendicularly to the telescopic plate 332. When no external force acts on the push block 333 of the boom length adjustment mechanism 3, the push block reset spring 35 is in a low load state, and the push block reset spring 35 pushes the push block 333 and makes its trapezoidal teeth mesh with the trapezoidal teeth on the telescopic plate 332. At this time, the telescopic plate 332 is relatively fixed to the boom binding assembly 32. When the boom structure size needs to be adjusted, the left and right extension plates 337 of the push block 333 are pushed backward with force, and the push block 333 moves away from the telescopic plate 332 and compresses the push block reset spring 35, so that the trapezoidal teeth end meshing, and the telescopic plate 332 can slide along the long guide groove 334 of the boom binding assembly 32.

[0056] Reference Figures 10 to 15 The elbow joint structure 4 includes a small arm assembly 41, a clutch reduction motor 42, a driving sprocket 43, a transmission chain 44, a passive sprocket set 45 and a driven sprocket 46. Fig.16 and Fig.17 The transmission chain 44 is a side pin rack, including multiple groups of chain link side pin assemblies 441. The chain link side pin assemblies 441 include chain links 442 and side pins 443 hinged on the chain links. One end of the side pin 443 is connected to the chain link 442, and the axis of the side pin 443 is perpendicular to the axis of the connecting shaft 444 in the chain link 442.

[0057] Reference Figures 10 to 15 The forearm assembly 41 includes a mounting plate 411, a forearm binding belt 412 is provided on the first side of the mounting plate 411, and the housing of the clutch reduction motor 42 is fixedly connected to the second side of the mounting plate 411. The driving sprocket 43 is mounted on the output shaft of the clutch reduction motor 42, and the passive sprocket group 45 and the driven sprocket 46 are both rotatably connected to the mounting plate 411, and the axes of the passive sprocket group 45 and the driven sprocket 46 are perpendicular to the axis of the driving sprocket 43. The passive sprocket group 45 includes two passive sprockets 451 arranged up and down, and the two passive sprockets 451 are both rotatably connected to the mounting hole of the mounting plate 411 through a passive rotating shaft 47. The driven sprocket 46 is rotatably connected to the mounting hole of the mounting plate 411 through a driven rotating shaft 48. The lower end of the telescopic plate 332 is fixedly connected to the driven sprocket 46. The transmission chain 44 is tensioned between the passive sprocket 451 and the driven sprocket 46 , and when the clutch reduction motor 42 is engaged, the driving sprocket 43 is meshed with the side pin 443 of the transmission chain 44 .

[0058] In order to prevent the transmission chain 44 from becoming loose, the embodiment of the present application is provided with a tensioning device 49 on the mounting plate 411 for tensioning the transmission chain 44. Specifically, the tensioning device 49 includes a tensioning block 491 and a guide block 492. The tensioning block 491 is located between the two passive sprockets 451 and at the same height as the driving sprocket 43. The guide block 492 is slidably connected to the mounting plate 411 and is located between the driving sprocket 43 and the passive sprocket 451 located at the lower side. Sliding the guide block 492 downward can tension the transmission chain 44.

[0059] When assembling this embodiment, first, the transmission chain 44 should be passed around the driven sprocket 46 and a pair of passive sprockets 451, and then the driving sprocket 43 is normally meshed with the side shaft 443 on the corresponding chain link 441 in the transmission chain 44 by adjusting the mounting seat of the clutch reduction motor 42, and the movement trajectory of the transmission chain 44 is limited by adjusting the guide block 492 in the small arm assembly 41, and finally the transmission chain 44 is in a suitable tensioning state by adjusting the tensioning block 491 in the small arm assembly 41.

[0060] When the embodiment of the present application is worn on a diver's elbow joint, the rotation axis of the driven sprocket 46 should be fitted as closely as possible to the abduction / adduction freedom rotation axis of the human elbow joint, and the elbow joint structure 4 should be fixed to the diver's forearm via a forearm strap 412.

[0061] Reference Fig.18 After the diver puts on the exoskeleton of the present application, when the diver is performing movements that require the joints of the exoskeleton to be in a free and flexible state, the electromagnetic suction cup 24 in the shoulder joint structure 2 is in a power-off release state, and there is no suction between the electromagnetic suction cup 24 and the slider mounting plate 235. The slider reset spring 232 is in a low load length state, so that the friction surface of the slider friction plate 231 does not contact the inner side of the spherical structure 22, thereby ensuring that the shoulder joint structure 2 of the exoskeleton and the diver's shoulder joint can move freely and flexibly. At the same time, the clutch reduction motor 42 of the elbow joint structure 4 is adjusted to the clutch open state, so that the drive sprocket 43 is disconnected from the internal rotational inertia of the clutch reduction motor 42, and rotates with the movement of the transmission chain 44. Thereby ensuring that the elbow joint structure 4 of the exoskeleton and the diver's elbow joint can move freely and flexibly. At this time, the exoskeleton has little effect on the movement of the diver's upper limb joints.

[0062] When divers are performing engineering tasks such as welding, assembly, handling, support, demolition, salvage, and plugging, and the exoskeleton is required to provide damping and stopping at the shoulder joint structure 2 and active assistance at the elbow, the shoulder joint structure 2 is in a damping and stopping state. At this time, the electromagnetic suction cup 24 is in an energized adsorption state, and there is electromagnetic attraction between the electromagnetic suction cup 24 and the slider mounting plate 235. The slider return spring 232 is in a high load length state, so that the friction surface of the slider friction plate 231 contacts the inner side of the spherical structural component 22 to generate friction, and then the square stop at the pin end of the slider friction plate 231 stops the movement of the slider mounting plate 235, thereby preventing the movement of the "U"-shaped upper arm binding shell 321, so that the shoulder joint structure 2 of the exoskeleton assists the diver's shoulder joint in being in a damping and stopping state.

[0063] At the elbow joint structure 4, the abduction / adduction action of the human elbow joint is coaxially synchronized with the rotation of the driven sprocket assembly 45, and the clutch reduction motor 42 is adjusted to the clutch engagement state. The clutch reduction motor 42 drives the driving sprocket 43 through the side pin 443 of the chain link 441 of the meshing transmission chain 44, driving the transmission chain 44 to move, thereby rotating the driven sprocket 46, and then driving the forearm assembly 41 to swing, thereby realizing the exoskeleton's assistance to the diver in underwater engineering operations.

[0064] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto, and any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. An underwater power-assisted exoskeleton wearable in a dry diving suit, characterized in that: It comprises a back assembly, two shoulder joint structures, two upper arm length adjustment mechanisms and two elbow joint structures; the back assembly is tied to the back of the diver; the left and right sides of the back assembly are respectively connected to a shoulder joint structure; the upper end of the upper arm length adjustment mechanism is connected to the shoulder joint structure, and the lower end of the upper arm length adjustment mechanism is connected to the elbow joint structure; The shoulder joint structure can realize the switching of the diver's shoulder joint between a free and flexible state and a damped stop state; The upper arm length adjustment mechanism can adjust the distance between the shoulder joint structure and the elbow joint structure; The elbow joint structure can assist the diver's elbow joint when the diver performs a task; The shoulder joint structure includes a shoulder blade component, a spherical structure, a slider component and an electromagnetic chuck; The spherical structure is swingably connected to the back component through the shoulder blade component; the upper arm length adjustment mechanism is slidably connected to the spherical structure through the slider component, and the slider component can slide back and forth in the spherical structure; the electromagnetic suction cup can prevent the slider component from sliding after being charged; The lower end of the spherical structural part is provided with a slide groove extending in the front-to-back direction; the upper end of the upper arm length adjustment mechanism is provided with a second connecting ear; the slider assembly includes a slider friction plate, a slider return spring, an inner wear-resistant gasket of the slider, an outer wear-resistant gasket of the slider and a slider mounting plate; the slider friction plate is provided with a pin shaft section, and the pin shaft section passes through the slider return spring, the inner wear-resistant gasket of the slider, the outer wear-resistant gasket of the slider, and the spherical structural part in sequence and is fixedly connected to the slider mounting plate by a first shaft end screw; the inner wear-resistant gasket of the slider and the outer wear-resistant gasket of the slider are respectively abutted against the two side surfaces of the spherical structural part; a guide shaft is provided on the second connecting ear, and the electromagnetic suction cup is fixedly connected to the end of the guide shaft; a guide hole compatible with the guide shaft is provided at the lower part of the slider mounting plate; the slider mounting plate is sleeved on the guide shaft and can slide along the axial direction of the guide shaft.

2. The underwater power-assisted exoskeleton wearable in a dry diving suit according to claim 1, characterized in that: The wear-resistant gasket on the outer side of the slider includes a first arc-shaped gasket body and a cylindrical connecting section and a square guide section arranged at both ends thereof; the cylindrical connecting section extends into the inner hole of the second connecting ear; the square guide section extends into the slide groove of the spherical structural member and can slide in the slide groove.

3. The underwater power-assisted exoskeleton wearable in a dry diving suit according to claim 1, characterized in that: The boom length adjustment mechanism includes a boom binding assembly and a telescopic assembly arranged on the outside of the boom binding assembly; the telescopic assembly includes a main body, a telescopic plate and a push block; the main body is fixedly connected to the boom binding assembly, and a long guide groove and a push block sliding groove are restricted in the main body; the telescopic plate is slidably connected in the long guide groove; the telescopic plate is provided with a first toothed section extending in the vertical direction; a cover plate is provided at the opening of the push block sliding groove, and an opening is provided on the cover plate; the push block is an "L"-shaped plate, including left and right extension plates and front and rear extension plates; the front and rear extension plates are provided with a second toothed section adapted to the first toothed section; one end of the left and right extension plates extends out of the opening on the cover plate; a push block reset spring is provided between the cover plate and the left and right extension plates; the push block reset spring can push the push block to move in the direction close to the telescopic plate, and make the second toothed section mesh with the first toothed section.

4. The underwater power-assisted exoskeleton wearable in a dry diving suit according to claim 3, characterized in that: The first tooth-shaped segment is located in the middle of the telescopic plate in the vertical direction, the second tooth-shaped segment passes through the left and right extension plates, and the length of the second tooth-shaped segment is smaller than the length of the first tooth-shaped segment.

5. The underwater power-assisted exoskeleton wearable in a dry diving suit according to claim 3, characterized in that: The left and right extension plates are provided with wave-shaped bending plates.

6. The underwater power-assisted exoskeleton wearable in a dry diving suit according to claim 3, characterized in that: The elbow joint structure includes a forearm assembly, a clutch reduction motor, a driving sprocket, a transmission chain, a passive sprocket group and a driven sprocket; the transmission chain is a side pin rack; the forearm assembly includes a mounting plate; a forearm binding belt is provided on the first side of the mounting plate; the housing of the clutch reduction motor is fixedly connected to the second side of the mounting plate; the driving sprocket is arranged on the output shaft of the clutch reduction motor, the passive sprocket group and the driven sprocket are both rotatably connected to the mounting plate, and the axes of the passive sprocket group and the driven sprocket are perpendicular to the axis of the driving sprocket; the lower end of the telescopic plate is fixedly connected to the driven sprocket; The transmission chain is tensioned between the passive sprocket set and the driven sprocket, and when the clutch reduction motor is engaged, the driving sprocket is meshed with the side pin of the transmission chain.

7. The underwater power-assisting exoskeleton wearable in a dry diving suit according to claim 6, characterized in that: The passive sprocket assembly comprises two passive sprockets arranged one above the other; the two passive sprockets are both rotatably connected to the mounting plate.

8. The underwater power-assisting exoskeleton wearable in a dry diving suit according to claim 7, characterized in that: The transmission chain comprises a plurality of chain link side pin assemblies, wherein the chain link side pin assemblies comprise chain links and side pins hinged on the chain links, and the axes of the side pins are perpendicular to the axes of the connecting shafts in the chain links.

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