A wearable motion-assist exoskeleton system for marine diving operations

Abstract

The application relates to a wearable motion auxiliary exoskeleton system for marine diving operation, which comprises a waistband, a first power system and a second power system; one end of a front side steel wire rope of the first power system is fixed to the front side of a knee guard, the other end is wound on a track G1 of a winding disc, and a tail end thread X1 passes through a first thread; one end of a rear side steel wire rope is fixed to the rear side of the knee guard, the other end is wound on a track G2 of the winding disc, and a tail end thread X2 passes through a second thread; the first thread is fixedly installed at a groove E1 of the track G1, and the second thread is fixedly installed at a groove E2 of the track G2; the second power system is consistent with the first power system in structure, and the two are symmetrically distributed and installed on the two sides of the waistband. The application switches the connection mode through the structure of the special thread, realizes stable power transmission of the exoskeleton when the motion assistance is needed, and the motion of the lower limbs is not limited by the mechanical restriction of the lasso transmission in the non-assistance state.

Description

Technical Field

[0001] This invention belongs to the field of wearable robot technology and relates to a wearable motion-assisted exoskeleton system for marine diving operations. Background Technology

[0002] The wearable motion-assisted exoskeleton system for marine diving operations is an innovative wearable robotic device designed to enhance divers' underwater mobility and operational efficiency. It is applicable to various underwater missions, including submarine rescue, shipwreck salvage, offshore oil and gas pipeline inspection and construction, marine civil engineering, underwater scientific exploration, and military applications. However, due to regulations governing decompression and surfacing operations, divers' underwater working time is strictly limited to prevent the ingestion of gases that can enter body tissues under high pressure, leading to decompression sickness and posing a significant safety risk. Excessive physical exertion further increases metabolic consumption and gas intake, not only further reducing working time but also exacerbating the negative effects of decompression sickness. By assisting divers' movement underwater with an underwater-assisted exoskeleton, the system improves their movement efficiency within the prescribed working time. Simultaneously, the exoskeleton's driving force further reduces the strain on the diver's own muscles, decreasing metabolic consumption and delaying the onset of decompression sickness. This is of great significance for the efficient and low-risk conduct of diving missions. Summary of the Invention

[0003] To address the aforementioned technical issues, this invention proposes a wearable sports assistive exoskeleton system for marine diving operations. This system utilizes a specially designed cable end structure to switch between fixed and movable connections between the wire rope and the winding reel. This allows for stable power transmission from the exoskeleton when assistance is needed, while in non-assisted states, lower limb movement is not mechanically restricted by the lasso transmission, enabling free movement to cope with complex and varied underwater tasks, thus greatly improving safety.

[0004] The technical solution of this invention to solve the above problems is: a wearable sports-assisted exoskeleton system for marine diving operations, which is characterized by:

[0005] Includes a belt, a first power system, and a second power system;

[0006] The first power system includes knee pads, front steel cables, rear steel cables, and drive components;

[0007] The drive assembly includes a coil assembly and a power unit;

[0008] The coil assembly includes a winding coil, a first wire end, and a second wire end. The side wall of the winding coil is provided with rails G1 and G2.

[0009] One end of the front steel wire rope is fixed to the front side of the knee pad, and the other end is wound around the track G1 of the winding reel, while the tail end X1 further passes through the first end; one end of the rear steel wire rope is fixed to the rear side of the knee pad, and the other end is wound around the track G2 of the winding reel, while the tail end X2 further passes through the second end; the first end is fixedly installed in the groove E1 of the G1 track, and the second end is fixedly installed in the groove E2 of the G2 track. Both the first end and the second end are embedded and fixed inside the track, and the inner diameter of the through hole allows the front steel wire rope or the rear steel wire rope to pass through, while preventing the tail end X1 or the tail end X2 of the steel wire rope from passing through;

[0010] The power unit drives the reel assembly to rotate;

[0011] The second power system has the same structure as the first power system, and the two are symmetrically distributed and installed on both sides of the belt.

[0012] Furthermore, the aforementioned coil assembly also includes an upper end cover, a front housing, a rear housing, and a flange;

[0013] The front and rear outer shells together form a circular outer shell from both sides and are fixed to the flange with bolts. The upper cover is fixed to the circular outer shell composed of the front and rear outer shells with bolts. At the same time, the upper cover, the winding reel, the flange, and the circular outer shell are coaxial in space. The winding reel is located inside the circular outer shell. The axial direction of the wire outlet C1 of the front outer shell is tangent to the track G1 of the winding reel, and the axial direction of the wire outlet C2 of the rear outer shell is tangent to the track G2 of the winding reel.

[0014] Furthermore, the aforementioned first power system also includes a front conduit mounting base and a rear conduit mounting base;

[0015] The coil assembly also includes a front coil, a rear coil, a first coil fixing clamp, a second coil fixing clamp, a first clamping bolt, and a second clamping bolt;

[0016] The first conduit fixing clamp is fixed to the outlet hole C1 of the front housing by bolts, and the second conduit fixing clamp is fixed to the outlet hole C2 of the rear housing by bolts.

[0017] One end of the front conduit is connected to the first conduit fixing clamp and secured by the first clamping bolt, while the other end is connected to the front conduit fixing seat and secured by a mechanical set screw. One end of the rear conduit is connected to the second conduit fixing clamp in the conduit spool assembly of the drive assembly and secured by the second clamping bolt, while the other end is connected to the rear conduit fixing seat of the drive assembly and secured by a mechanical set screw. The front wire rope passes sequentially through the front conduit fixing seat, the front conduit, and the first conduit fixing clamp, while the rear wire rope passes sequentially through the rear conduit fixing seat, the rear conduit, and the second conduit fixing clamp.

[0018] Furthermore, a front tension sensor and a rear tension sensor are fixed to the front and rear sides of the aforementioned knee brace, respectively; the front steel wire rope is connected to the knee brace via the front tension sensor, and the rear steel wire rope is connected to the knee brace via the rear tension sensor.

[0019] Furthermore, the aforementioned belt includes a first belt front plate, a second belt front plate, a first belt side plate, a second belt side plate, and a belt back plate;

[0020] The front cable mounting base of the first power system is fixed to the first front plate of the waist belt with bolts, and the drive assembly of the first power system is fixed to the back plate of the waist belt with bolts.

[0021] Furthermore, the aforementioned power unit includes a motor housing, a waterproof motor, and a fixing flange; the fixing flange is fixedly connected to the bottom end of the waterproof motor by bolts, and the motor housing encloses the waterproof motor and is fixedly connected to the fixing flange by bolts.

[0022] The flange of the coil assembly is fixedly connected to the motor housing with bolts, and the coil is fixedly connected to the output shaft of the waterproof motor with bolts; the rear conduit mounting base is fixed to the motor housing with bolts.

[0023] Furthermore, the aforementioned drive assembly includes an upper connecting bracket, a lower connecting bracket, and a main bracket; both the upper and lower connecting brackets are fixed to the upper and lower flange edges of the motor housing, and both the upper and lower connecting brackets are connected to the main bracket, which is then fixedly connected to the back plate of the belt by bolts.

[0024] Furthermore, the aforementioned wearable sports assistive exoskeleton system for marine diving operations also includes a buoyancy harness, a diving cylinder, and fins; the buoyancy harness and the diving cylinder are strapped together.

[0025] Advantages of this invention:

[0026] This invention provides a wearable sports assistive exoskeleton system for marine diving operations. The front and rear steel wire ropes used in its power system are not fixedly connected to the winding reel, but instead switch the connection method through a specially designed wire end structure. This allows the steel wire rope and the winding reel to switch between fixed and movable connections, thereby achieving stable power transmission from the exoskeleton when movement assistance is needed. In the non-assisted state, the lower limb movement is not mechanically constrained by the transmission system and can move freely to cope with complex and varied underwater tasks (such as thigh movements including alternating leg kicks, breaststroke kicks, walking on the ground, and other irregular movements), ensuring safety. Attached Figure Description

[0027] Figure 1A diagram of a wearable sports assistive exoskeleton system for marine diving operations provided by the present invention.

[0028] Figure 2 This is a diagram showing the overall system structure and the composition of the first power system.

[0029] Figure 3 This is a structural diagram of the driving component;

[0030] Figure 4 An exploded view of the coil assembly;

[0031] Figure 5 This is an exploded view of the power unit.

[0032] Figure 6 This is a sectional view of the drive component (excluding the upper connecting bracket, lower connecting bracket, and main bracket);

[0033] Figure 7 This is a diagram of the front shell structure;

[0034] Figure 8 This is a diagram of the rear shell structure;

[0035] Figure 9 Isometric and sectional views of the conduit fixing clamp;

[0036] Figure 10 Isometric and sectional views of the clamping bolts;

[0037] Figure 11 This is a structural diagram of the winding reel;

[0038] Figure 12 This is a schematic diagram showing the switching of the connection method between the wire rope and the winding reel.

[0039] The components include: 1. Buoyancy harness; 2. Diving cylinder; 3. Waist belt; 3-1. First waist belt front plate; 3-2. Second waist belt front plate; 3-3. First waist belt side plate; 3-4. Second waist belt side plate; 3-5. Waist belt back plate; 4. Fins; 5-1. First power system; 5-2. Second power system; 6. Front tension sensor; 7. Rear tension sensor; 8. Knee pads; 9-1. Front steel cable; 9-2. Rear steel cable; 10-1. Front cable housing; 10-2. Rear cable housing; 11. Front cable housing mounting bracket; 12. Drive assembly. 13. Upper connecting bracket; 14. Lower connecting bracket; 15. Main bracket; 16. Rear conduit fixing seat; 17. Conduit assembly; 18. Power unit; 19. Upper cover; 20. Winding reel; 21. Front housing; 22. Rear housing; 23. Flange; 24-1. First wire end; 24-2. Second wire end; 25-1. First conduit fixing clamp; 25-2. Second conduit fixing clamp; 26-1. First clamping bolt; 26-2. Second clamping bolt; 27. Motor housing; 28. Waterproof motor; 29. ​​Fixing flange. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention.

[0041] Example

[0042] See Figure 1 and Figure 2 This invention proposes a wearable sports assistive exoskeleton system for marine diving operations, including a waist belt 3, a first power system 5-1 and a second power system 5-2. The first power system 5-1 and the second power system 5-2 are used to provide power for the wearer's leg movements underwater.

[0043] See Figure 2 and Figure 3 The first power system 5-1 includes a knee pad 8, a front steel wire rope 9-1, a rear steel wire rope 9-2, and a drive assembly 12. The drive assembly 12 includes a coil assembly 17 and a power unit 18.

[0044] See Figure 1 , Figure 2 , Figure 4 ,Figure 11 and Figure 12 The coil assembly 17 includes a winding coil 20, a first wire end 24-1, and a second wire end 24-2. The side wall of the winding coil 20 is provided with a track G1 and a track G2. One end of the front wire rope 9-1 is fixed to the front of the knee pad 8, and the other end is wound around the track G1 of the winding reel 20. At the same time, the tail end X1 further passes through the first end 24-1. One end of the rear wire rope 9-2 is fixed to the rear of the knee pad 8, and the other end is wound around the track G2 of the winding reel 20. At the same time, the tail end X2 further passes through the second end 24-2. The first end 24-1 is fixedly installed in the groove E1 of the G1 track, and the second end 24-2 is fixedly installed in the groove E2 of the G2 track. The first end 24-1 and the second end 24-2 are both embedded and fixed in the track. The inner diameter of their through holes allows the front wire rope 9-1 or the rear wire rope 9-2 to pass through, while preventing the tail end X1 or the tail end X2 of the wire rope from passing through. The power device 18 drives the reel assembly 17 to rotate.

[0045] The second power system 5-2 has the same structure as the first power system 5-1, and the two are symmetrically distributed in space about the sagittal plane of the human body.

[0046] As a preferred embodiment of the present invention, see [link to previous document]. Figure 1 and Figure 2 The wearable sports assistive exoskeleton system for marine diving operations also includes a buoyancy harness 1, a diving tank 2, and fins 4; the buoyancy harness 1 and the diving tank 2 are strapped together. The buoyancy harness 1 and the diving tank 2 are strapped together and worn directly by the wearer; the waist belt 3 can be adjusted according to the wearer's body size and is fixed to the wearer's waist; the fins 4 are worn separately by the wearer and are not connected to other parts.

[0047] As a preferred embodiment of the present invention, see [link to previous document]. Figure 4 The coil assembly 17 further includes an upper cover 19, a front housing 21, a rear housing 22, and a flange 23. The front housing 21 and the rear housing 22 together form a circular housing from both sides and are fixed to the flange 23 by bolts. The upper cover 19 is fixed to the circular housing composed of the front housing 21 and the rear housing 22 by bolts. At the same time, the upper cover 19, the coil 20, the flange 23, and the circular housing are spatially coaxial. The coil 20 is located inside the circular housing. The axial direction of the outlet hole C1 of the front housing 21 is tangent to the track G1 of the coil 20, and the axial direction of the outlet hole C2 of the rear housing 22 is tangent to the track G2 of the coil 20.

[0048] As a preferred embodiment of the present invention, see [link to previous document]. Figure 2 and Figure 3The first power system 5-1 also includes a front conduit mounting base 11 and a rear conduit mounting base 16. (See also...) Figure 2 , Figure 4 , Figures 7-10 The coil assembly 17 further includes a front conduit 10-1, a rear conduit 10-2, a first conduit fixing clamp 25-1, a second conduit fixing clamp 25-2, a first clamping bolt 26-1, and a second clamping bolt 26-2; the first conduit fixing clamp 25-1 is fixed to the outlet hole C1 of the front housing 21 by bolts, and the second conduit fixing clamp 25-2 is fixed to the outlet hole C2 of the rear housing 22 by bolts. One end of the front conduit 10-1 is connected to the first conduit fixing clamp 25-1 and fastened by the first clamping bolt 26-1, and the other end is connected to the front conduit fixing seat 11 and fastened by the mechanical set screw; one end of the rear conduit 10-2 is connected to the second conduit fixing clamp 25-2 in the coil assembly 17 of the drive assembly 12 and fastened by the second clamping bolt 26-2, and the other end is connected to the rear conduit fixing seat 16 of the drive assembly 12 and fastened by the mechanical set screw; the front wire rope 9-1 passes sequentially through the front conduit fixing seat 11, the front conduit 10-1 and the first conduit fixing clamp 25-1, and the rear wire rope 9-2 passes sequentially through the rear conduit fixing seat 16, the rear conduit 10-2 and the second conduit fixing clamp 25-2.

[0049] As a preferred embodiment of the present invention, see [link to previous document]. Figure 2 The front tension sensor 6 and the rear tension sensor 7 are fixed to the front and rear sides of the knee pad 8, respectively; the front steel wire rope 9-1 is connected to the knee pad 8 through the front tension sensor 6, and the rear steel wire rope 9-2 is connected to the knee pad 8 through the rear tension sensor 7.

[0050] As a preferred embodiment of the present invention, see [link to previous document]. Figure 2 The waist belt 3 includes a first waist belt front plate 3-1, a second waist belt front plate 3-2, a first waist belt side plate 3-3, a second waist belt side plate 3-4, and a waist belt back plate 3-5. The front conduit fixing seat 11 of the first power system 5-1 is fixed to the first waist belt front plate 3-1 of the waist belt 3 by bolts, and the drive assembly 12 of the first power system 5-1 is fixed to the waist belt back plate 3-5 by bolts.

[0051] As a preferred embodiment of the present invention, see [link to previous document]. Figure 3 , Figure 4 and Figure 5 The power unit 18 includes a motor housing 27, a waterproof motor 28, and a fixing flange 29; the fixing flange 29 is fixedly connected to the bottom end of the waterproof motor 28 by bolts, and the motor housing 27 encloses the waterproof motor 28 and is fixedly connected to the fixing flange 29 by bolts. See also Figure 6The flange 23 of the coil assembly 17 is fixedly connected to the motor housing 27 by bolts, and the winding coil 20 is fixedly connected to the output shaft of the waterproof motor 28 by bolts; the rear conduit mounting base 16 is fixed to the motor housing 27 by bolts.

[0052] As a preferred embodiment of the present invention, see [link to previous document]. Figure 3 The drive assembly 12 includes an upper connecting bracket 13, a lower connecting bracket 14, and a main bracket 15. The upper connecting bracket 13 and the lower connecting bracket 14 are both fixed to the upper and lower flange edges of the motor housing 27. The upper connecting bracket 13 and the lower connecting bracket 14 are also connected to the main bracket 15. The main bracket 15 is fixedly connected to the back plate 3-5 of the waist belt 3 by bolts.

[0053] The working principle of the wearable sports assistive exoskeleton system for marine diving operations proposed in this application is as follows: For the wearer's alternating leg kicking movements underwater, both the first power system 5-1 and the second power system 5-2 can provide assistance in both flexion and extension directions for the corresponding side leg. Taking the first power system 5-1 as an example, the waterproof motor 28 in the power unit 18 of the drive assembly 12 outputs torque, driving the winding reel 20 in the reel assembly 17 to rotate in either the forward or reverse direction. Figure 12 As shown; since the first wire end 24-1 and the second wire end 24-2 allow the front wire rope 9-1 and the rear wire rope 9-2 to pass through, while preventing the tail wire ends X1 and X2 of the wire rope from passing through, when the winding reel 20 rotates counterclockwise until the first wire end 24-1 contacts the tail wire end X1 of the front wire rope 9-1, and the winding reel 20 continues to rotate counterclockwise, it can be considered that the first wire end 24-1 and the tail wire end X1 of the front wire rope 9-1 form a fixed connection. At this time, the winding reel 20 pulls the front wire rope 9-1 to rotate counterclockwise and receives more rope length into the track G1, so that the front wire tube fixing seat 11 and The linear distance between the front tension sensors 6 is shortened, and the exoskeleton system provides hip flexion assistance. Similarly, when the winding reel 20 rotates clockwise until the second wire end 24-2 contacts the tail end X2 of the rear steel wire rope 9-2, and the winding reel 20 continues to rotate clockwise, it can be considered that the second wire end 24-2 and the tail end X2 of the rear steel wire rope 9-2 form a fixed connection. At this time, the winding reel 20 pulls the rear steel wire rope 9-2 to rotate clockwise and receives more rope length into the track G2, which shortens the linear distance between the rear cable tube fixing seat 16 and the rear tension sensor 7, and the exoskeleton system provides hip extension assistance.

[0054] Specifically, when the waterproof motor 28 controls the winding reel 20 to a certain position, there is a situation where the first wire end 24-1 is not in contact with the tail end X1 of the front steel wire rope 9-1, and at the same time, the second wire end 24-2 is not in contact with the tail end X2 of the rear steel wire rope 9-2. At this time, the winding reel 20 is said to be in a neutral position. The tail ends X1 and X2 of the front steel wire rope 9-1 and the rear steel wire rope 9-2 are both movably connected to the winding reel 20 and can move flexibly relative to the winding reel 20. Moreover, there is no rope tension on the front steel wire rope 9-1 and the rear steel wire rope 9-2. The wearer can freely drag the front steel wire rope 9-1 to achieve hip extension or drag the rear steel wire rope 9-2 to achieve hip flexion without any mechanical constraints. When the hip extension reaches a certain range, the tail end X1 of the front steel wire rope 9-1 begins to contact the first wire end 24-1, or the hip flexion reaches a certain range... When the tail end X2 of the rear wire rope 9-2 begins to contact the second end 24-2, it is again subject to unidirectional mechanical constraint. The range of motion corresponding to this mechanical constraint can be adjusted by adjusting the size of the central angle formed by the first end 24-1, the second end 24-2, and the center of the winding reel 20, so as to cover and meet the needs of free movement of the lower limbs. Through this neutral position, the front wire rope 9-1 and the rear wire rope 9-2 can be switched between fixed connection and movable connection with the winding reel 20, thereby achieving stable power transmission of the exoskeleton when movement assistance is needed, while the movement of the lower limbs is not mechanically restricted by the transmission system in the non-assisted state, and can move freely to cope with complex and varied underwater operation tasks (such as the movement of the thigh, in addition to alternating leg kicks, there are also breaststroke legs, walking on the ground, and other irregular movements).

[0055] The above description is merely an embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related system fields, are similarly included within the scope of protection of the present invention.

Claims

1. A wearable motion assisting exoskeleton system for ocean diving operation, characterized in that: comprising a waistband (3), a first power system (5-1) and a second power system (5-2); the first power system (5-1) comprises a knee guard (8), a front steel wire rope (9-1), a rear steel wire rope (9-2) and a driving assembly (12); the driving assembly (12) comprises a wire reel assembly (17) and a power device (18); the wire reel assembly (17) comprises a wire reel (20), a first wire end (24-1) and a second wire end (24-2), and the side wall of the wire reel (20) is provided with a track G1 and a track G2; one end of the front steel wire rope (9-1) is fixed to the front side of the knee guard (8), and the other end is wound on the track G1 of the wire reel (20), and the tail end wire end X1 further passes through the first wire end (24-1); one end of the rear steel wire rope (9-2) is fixed to the rear side of the knee guard (8), and the other end is wound on the track G2 of the wire reel (20), and the tail end wire end X2 further passes through the second wire end (24-2); the first wire end (24-1) is fixedly installed at the groove E1 of the track G1, and the second wire end (24-2) is fixedly installed at the groove E2 of the track G2, and the first wire end (24-1) and the second wire end (24-2) are both embedded and fixed in the track, and the inner diameter of the through hole allows the front steel wire rope (9-1) or the rear steel wire rope (9-2) to pass through, while preventing the tail end wire end X1 or the tail end wire end X2 of the steel wire rope from passing through; the power device (18) drives the wire reel assembly (17) to rotate; the second power system (5-2) is identical in structure to the first power system (5-1), and the two are symmetrically distributed and installed on both sides of the waistband (3); the wire reel (20) has a neutral position: the first wire end (24-1) does not contact the tail end wire end X1 of the front steel wire rope (9-1), and at the same time, the second wire end (24-2) does not contact the tail end wire end X2 of the rear steel wire rope (9-2); the tail end wire end X1 of the front steel wire rope (9-1) and the tail end wire end X2 of the rear steel wire rope (9-2) are both movably connected with the wire reel (20) and can move flexibly relative to the wire reel (20), and the front steel wire rope (9-1) and the rear steel wire rope (9-2) have no any rope tension, and the wearer can freely drag the front steel wire rope (9-1) to realize hip extension movement, or drag the rear steel wire rope (9-2) to realize hip flexion movement without any mechanical constraint; through the neutral position, the front steel wire rope (9-1) and the rear steel wire rope (9-2) can be converted between fixed connection and movable connection with the wire reel (20), so as to realize stable power transmission of the exoskeleton when motion assistance is needed, and the motion of the lower limbs is not mechanically limited by the transmission system in the non-assistance state, and can freely move to cope with complex and variable underwater operation tasks.

2. The wearable motion assisting exoskeleton system for ocean diving operation according to claim 1, characterized in that: the wire reel assembly (17) further comprises an upper end cover (19), a front section shell (21), a rear section shell (22) and a flange (23). ​ ​ ​ ​ ​ ​ ​ ​ ​ The front shell (21) and the rear shell (22) are combined from two sides to form a circular shell, and are fixed on the flange (23) by bolts; the upper end cover (19) is fixed on the circular shell composed of the front shell (21) and the rear shell (22) by bolts; meanwhile, the upper end cover (19), the reel (20), the flange (23) and the circular shell are coaxial in space; the reel (20) is located in the circular shell, the axis direction of the wire outlet hole C1 of the front shell (21) is tangent to the track G1 of the reel (20), and the axis direction of the wire outlet hole C2 of the rear shell (22) is tangent to the track G2 of the reel (20).

3. The wearable motion assistance exoskeleton system for ocean diving operation according to claim 2, characterized in that: The first power system (5-1) further comprises a front side wire tube fixing seat (11) and a rear side wire tube fixing seat (16); The wire reel assembly (17) further comprises a front side wire tube (10-1), a rear side wire tube (10-2), a first wire tube fixing clamp (25-1), a second wire tube fixing clamp (25-2), a first clamping bolt (26-1) and a second clamping bolt (26-2); The first wire tube fixing clamp (25-1) is fixed at the wire outlet hole C1 of the front shell (21) by bolts, and the second wire tube fixing clamp (25-2) is fixed at the wire outlet hole C2 of the rear shell (22) by bolts; One end of the front side wire tube (10-1) is connected with the first wire tube fixing clamp (25-1) and is fastened by the first clamping bolt (26-1), and the other end is connected with the front side wire tube fixing seat (11) and is fastened by a mechanical jackscrew; one end of the rear side wire tube (10-2) is connected with the second wire tube fixing clamp (25-2) in the wire reel assembly (17) of the driving assembly (12) and is fastened by the second clamping bolt (26-2), and the other end is connected with the rear side wire tube fixing seat (16) of the driving assembly (12) and is fastened by a mechanical jackscrew; the front side steel wire rope (9-1) passes through the front side wire tube fixing seat (11), the front side wire tube (10-1) and the first wire tube fixing clamp (25-1) in sequence, and the rear side steel wire rope (9-2) passes through the rear side wire tube fixing seat (16), the rear side wire tube (10-2) and the second wire tube fixing clamp (25-2) in sequence.

4. The wearable motion assistance exoskeleton system for ocean diving operation according to claim 3, characterized in that: The front and rear sides of the knee pad (8) are respectively fixed with a front side tensile force sensor (6) and a rear side tensile force sensor (7); the front side steel wire rope (9-1) is fixedly connected with the knee pad (8) through the front side tensile force sensor (6), and the rear side steel wire rope (9-2) is fixedly connected with the knee pad (8) through the rear side tensile force sensor (7).

5. The wearable motion assistance exoskeleton system for ocean diving operation according to claim 4, characterized in that: The waistband (3) comprises a first waistband front plate (3-1), a second waistband front plate (3-2), a first waistband side plate (3-3), a second waistband side plate (3-4) and a waistband back plate (3-5); The front side wire tube fixing seat (11) of the first power system (5-1) is fixed with the first waistband front plate (3-1) of the waistband (3) by bolts, and the driving assembly (12) of the first power system (5-1) is fixed with the waistband back plate (3-5) by bolts.

6. The wearable motion auxiliary exoskeleton system for ocean diving operation according to claim 5, characterized in that: The power device (18) comprises a motor shell (27), a waterproof motor (28) and a fixing flange (29); the fixing flange (29) is fixedly connected with the bottom end of the waterproof motor (28) by bolts, and the motor shell (27) covers the waterproof motor (28) and is fixedly connected with the fixing flange (29) by bolts; The flange plate (23) of the wire coil assembly (17) is fixedly connected with the motor shell (27) by bolts, the wire coil (20) is fixedly connected with the output shaft of the waterproof motor (28) by bolts; and the rear side wire tube fixing seat (16) is fixed with the motor shell (27) by bolts.

7. The wearable motion auxiliary exoskeleton system for ocean diving operation according to claim 6, characterized in that: The driving assembly (12) comprises an upper end connecting support (13), a lower end connecting support (14) and a total support (15); The upper end connecting support (13) and the lower end connecting support (14) are fixed with the upper end and lower end flange edges of the motor shell (27), and the upper end connecting support (13) and the lower end connecting support (14) are connected to the total support (15) at the same time, and the total support (15) is fixedly connected with the waistband back plate (3-5) of the waistband (3) by bolts.

8. The wearable motion auxiliary exoskeleton system for ocean diving operation according to any one of claims 1-7, characterized in that: It further comprises a buoyancy harness (1), a diving gas cylinder (2) and flippers (4); the buoyancy harness (1) and the diving gas cylinder (2) are connected by binding.

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