Wearable protective machine armor exoskeleton

Abstract

The invention belongs to the field of exoskeleton robots, and particularly relates to a wearable protective machine armor exoskeleton. Comprising a protection device, a back frame mechanism, a waist and hip support and two leg mechanisms. The back frame mechanism comprises a Y-shaped back frame, a back assisting mechanism and an artificial spine; the back power assisting mechanism comprises a back driving motor, a torque sensor and a force bearing waist rod; the two groups of leg mechanisms comprise foot end wearing parts; the lower portion of the Y-shaped back frame is connected with an artificial spine through a spherical hinge, the back frame mechanism is installed on the waist-hip support, the back assisting mechanism is installed on the waist-hip support through a force bearing waist rod, the two sets of leg mechanisms are symmetrically installed on the waist-hip support, and the protection device is hung on the Y-shaped back frame. Through the back driving motor and the torque sensor, assistance from bending to a vertical state of the back is realized; load generated by the back power assisting mechanism is transmitted to the ground through the hip joint and the lower limb exoskeleton through the force bearing waist rod.

Description

Technical Field

[0001] The present invention belongs to the field of exoskeleton robots, and in particular relates to a wearable protective armor exoskeleton. Background Art

[0002] A wearable exoskeleton is a wearable intelligent power-assisting device that can assist the human body in walking, carrying and other tasks by coordinating movements with the wearer, reducing fatigue and damage to the human body caused by movement, and improving the body's functions. Its application areas are very wide. In the military field, it can improve the soldiers' flexibility, mobility, load-bearing capacity, etc.; in dangerous combat environments, exoskeletons with protective devices can more effectively protect the lives of soldiers. At present, exoskeleton robots have bulky structures, poor wearing comfort, complex control systems, and limited power-assisting effects, which makes the soldiers have to bear a huge load. In addition, existing exoskeletons do not have the function of carrying protective devices and providing power assistance at the same time, which is still a problem that needs to be solved urgently.

[0003] For example, the Chinese patent application with application number 201610520405.7 discloses a lower limb power-assisted mechanical exoskeleton that simulates the structure of human legs and has mechanical legs on the left and right sides of the human legs. However, this anthropomorphic design causes the load force to act outside the plantar support surface, the force transmission design is unreasonable, and the power-assisted effect is average. At the same time, the patent application does not have the function of adjusting the length of the mechanical legs, and has poor adaptability to the wearer; moreover, the articulated mechanical joint structure cannot meet the movement needs of the human body, and there is movement interference between man and machine; in addition, the knee joint drive mechanism of the lower limb power-assisted mechanical exoskeleton of the above patent application adopts a cable drive, the mechanism design is complex, the manufacturing and assembly are difficult, and the control accuracy is poor.

[0004] For example, the Chinese patent application with application number 201820525967.5 discloses a wearable mechanical exoskeleton for upper body protection of the human body. Although it can realize multi-degree-of-freedom and all-round movement of the upper body of the human body, and is compatible with anti-fall vests, bulletproof vests, and lower limb exoskeletons for safety protection, this design method causes the forces of the upper body protection device and the exoskeleton to act on the human body at the same time, which imposes a huge load on the operator while the protection coverage area is small. In addition, the wearable mechanical exoskeleton for upper body protection of the human body in the above patent application has a complex design, is difficult to manufacture and assemble, has poor control accuracy, and cannot meet the requirements of quick donning. Summary of the invention

[0005] The purpose of the present invention is to provide a modular mecha compatible with exoskeleton assistance, which solves the problems of protecting the wearer from direct gravity, easy fatigue, and small protection area.

[0006] The technical solution to achieve the purpose of the present invention is: a wearable protective armor exoskeleton, including a protective device, a back frame mechanism, a waist and hip support, and two sets of leg mechanisms;

[0007] The back frame mechanism includes a Y-shaped back frame, a back power-assist mechanism, and an artificial spine; the back power-assist mechanism includes a back drive motor, a torque sensor, and a load-bearing waist bar; the two sets of leg mechanisms include foot-end wearable components;

[0008] The lower part of the Y-shaped back frame is connected to the artificial spine through a ball joint, the back frame mechanism is installed on the waist and hip support, the back assist mechanism is installed on the waist and hip support through a load-bearing waist rod, two sets of leg mechanisms are symmetrically installed on the waist and hip support, and the protective device is mounted on the Y-shaped back frame;

[0009] The back driving motor and torque sensor are used to assist the back from bending to upright position; the load generated by the back assist mechanism is transmitted to the ground through the hip joint and the lower limb exoskeleton via the load-bearing lumbar rod.

[0010] Furthermore, the waist and hip support includes a hip joint internal and external rotation mechanism, a waist length adjustment mechanism, two side sections of the waist, and a battery box;

[0011] The back frame mechanism also includes a quick-pull mechanism. The Y-shaped back frame and the artificial spine are connected through the quick-pull mechanism and the waist middle section of the waist length adjustment mechanism. The artificial spine is composed of multiple identical artificial spine blocks connected by ball joints.

[0012] Further, the protective device includes a shoulder protective device, a chest protective device, a back protective device, a thigh protective device and a calf protective device;

[0013] The shoulder protection device is fixed on the branch of the shoulder of the Y-shaped back frame, and the chest protection device and the back protection device are connected to the shoulder protection device through buckles. The exoskeleton is used to assist in supporting the load of the torso protection device to form a protective mecha.

[0014] Further, the back assist mechanism also includes a back connecting member, a motor fixing end and a back connecting rod;

[0015] The load-bearing waist rod is connected to the internal and external rotation mechanism of the hip joint, and the back connecting piece is connected to the load-bearing waist rod. The connection between the load-bearing waist rod and the back connecting piece can realize free rotation along the axis of the shaft where the load-bearing waist rod is located;

[0016] The back driving motor is installed on the fixed end of the motor, the rotating part of the motor is connected to the torque sensor, the back connecting piece is connected to the torque sensor, and the torque sensor is connected to the back connecting rod.

[0017] Furthermore, the internal and external rotation mechanism of the hip joint includes a flexion portion, an internal rotation portion, and an abduction portion;

[0018] The flexion part includes a waist-hip connection piece, a flexion internal rotation middle piece, a flexion part sleeve and a flexion part sleeve cover; the internal rotation part includes a flexion internal rotation middle piece, an internal rotation screw, an internal rotation clamp, an internal rotation sleeve and an internal rotation abduction middle piece; the abduction part includes an internal rotation abduction middle piece, an abduction part shaft pin and a retaining spring and an upper thigh rod;

[0019] The lower end of the waist-hip connection piece is connected to the flexion internal rotation middle piece through the flexion sleeve; the upper end of the flexion internal rotation middle piece is connected to the waist-hip connection piece through the flexion sleeve, and a groove is dug at the lower end for placing the sleeve and the upper end of the internal rotation and abduction middle piece screwed into the screw, and the sleeve is clamped by the screw and the internal rotation clamping piece through fixed connection and deformation; the outer ring of the flexion sleeve cooperates with the waist-hip connection piece and the flexion internal rotation middle piece; the flexion sleeve cover is installed one on each side of the waist-hip connection piece, and is connected to the waist-hip connection piece through screws;

[0020] The upper end of the internal rotation screw is inserted into the groove of the flexion and internal rotation intermediate piece, and the lower end is screwed into the upper end of the internal rotation and abduction intermediate piece; the outer side of the internal rotation sleeve cooperates with the stepped hole of the flexion and internal rotation intermediate piece, and the inner side cooperates with the outer diameter of the upper end of the internal rotation and abduction intermediate piece; the internal rotation clamp is fixedly connected and deformed with the flexion and internal rotation intermediate piece by screws; the upper end of the internal rotation and abduction intermediate piece cooperates with the inner diameter of the sleeve, and the lower end is connected to the upper thigh rod through a pin shaft; the abduction shaft pin and the retaining spring connect the internal rotation and abduction intermediate piece and the upper thigh rod.

[0021] Further, the waist length adjustment mechanism includes a waist middle section, a waist length adjustment slider, a compression spring and a length adjustment button;

[0022] The length is adjusted by using a click method combining a length adjustment button and a compression spring.

[0023] Furthermore, the leg structure includes a thigh mechanism, a knee joint mechanism, a calf mechanism, and a foot-end wearable component;

[0024] The thigh mechanism is arranged above the calf mechanism, and the calf mechanism is arranged above the foot-end wearable component; the flexion / extension of the knee joint is realized through the knee joint drive mechanism and the torque sensor;

[0025] The thigh mechanism comprises an upper thigh rod, a thigh fixing binding mechanism and a lower thigh rod;

[0026] The calf mechanism comprises an upper calf rod, a calf fixing binding mechanism and a lower calf rod.

[0027] Furthermore, the upper part of the lower thigh rod is provided with a plurality of circular holes in the length direction, and the lower part of the upper thigh rod is provided with elastic clamping beans, and the length of the thigh is adjustable by connecting the clamping beans with different circular holes;

[0028] The upper part of the lower calf rod is provided with a plurality of circular holes in the length direction, and the lower part of the upper calf rod is provided with elastic clamping beans, and the length of the calf can be adjusted by connecting the clamping beans with different circular holes;

[0029] The knee joint driving mechanism includes a motor fixed end, a knee joint driving motor, and a torque sensor; the knee joint driving motor is installed on the motor fixed end, the motor rotating part is connected to the torque sensor, the upper end of the motor fixed end is connected to the lower thigh rod through a pin, and the torque sensor is connected to the upper calf rod.

[0030] Limit blocks are provided at the upper and lower ends of the fixed end of the knee joint motor to maintain a bending adjustment range of 45° to 180° between the upper and lower legs; the power assistance effect is achieved by using the rotation of the motor to drive the rotation of the lower leg.

[0031] Furthermore, a magnetic buckle is used to connect the thigh binding body to the thigh protection device, the thigh protection device is fixed to the exoskeleton, and the thigh is bound by the thigh protection device;

[0032] The thigh protection device is combined with the lower thigh rod through a magnetic buckle, and the lower thigh rod assists in supporting the weight of the thigh protection device;

[0033] The calf binding body and the calf protection device are connected by a magnetic buckle, the calf protection device is fixed on the exoskeleton, and the calf is bound by the calf protection device;

[0034] The calf protection device is combined with the lower calf rod through a magnetic buckle, and the lower calf rod assists in supporting the weight of the calf protection device.

[0035] Furthermore, a vibration sensor is installed on the wearable component at the foot end to transmit the foot end vibration information back to the control module, and the knee joint drive motor is controlled by judging the gait.

[0036] Compared with the prior art, the present invention has the following significant advantages:

[0037] The mecha exoskeleton mechanism of the present invention uses a motor to actively drive the knee joint. Under the premise of ensuring the load capacity of the wearer, the present invention reduces the complexity of the lower limb power-assisted exoskeleton mechanism system, has a simple structure, and is easy to control. It can be used to enhance the wearer's motor function and reduce human fatigue.

[0038] The joint arrangement of the present invention is based on ergonomics and can follow / drive the human body to achieve a variety of movements. The waist and hip brackets, thigh rods and calf rods are designed in accordance with ergonomics, so that the exoskeleton mechanism fits the outer contour of the human leg better and does not interfere with the human body during movement.

[0039] The present invention uses spring clips to adjust and fix the lengths of the calf and leg rods, which can match the exoskeleton mechanism with wearers of different heights. Pressing the clips can quickly adjust the lengths, which improves the wearing comfort.

[0040] The present invention can assist the wearer's load, help soldiers and other personnel who need to walk with loads, and reduce human fatigue. The present invention has a wide range of applications and can be applied to different occasions, and has broad prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 A schematic axonometric diagram of the overall structure of a modular mecha (with protection) that is compatible with this exoskeleton.

[0042] Figure 2 A schematic axonometric diagram of the overall structure of a modular mecha compatible with this exoskeleton.

[0043] Figure 3 Schematic diagram of the protective mechanism of the modular mecha that is compatible with this exoskeleton.

[0044] Figure 4 Schematic diagram of the back power-assist mechanism of a modular mecha that is compatible with this exoskeleton power-assistance.

[0045] Figure 5 Schematic diagram of the waist length adjustment mechanism of the modular mecha compatible with the exoskeleton.

[0046] Figure 6 Schematic diagram of the hip joint structure of a modular mecha that is compatible with this exoskeleton.

[0047] Figure 7 Schematic diagram of the thigh structure of a modular mecha that is compatible with this exoskeleton.

[0048] Figure 8 Schematic diagram of the knee joint structure of a modular mecha that is compatible with this exoskeleton.

[0049] Fig. 9 Schematic diagram of the wearable binding structure of a modular mecha that is compatible with this exoskeleton.

[0050] Fig.10 Schematic diagram of the foot-worn components of a modular mecha that is compatible with this exoskeleton.

[0051] Description of reference numerals:

[0052] 1-protective device, 2-back frame mechanism, 3-waist and hip support, 4-thigh mechanism, 5-knee joint drive mechanism, 6-calf mechanism, 7-foot wearable parts, 8-torque sensor, 9-"Y" shaped back frame, 10-back power mechanism, 11-artificial spine, 12-back quick insertion and extraction mechanism, 13-hip joint internal and external rotation mechanism, 14-waist length adjustment mechanism, 15-waist side sections, 16-battery box, 1-1-shoulder protection device, 1-2-chest protection device, 1-3-back protection device, 1-4-thigh protection device, 1-5-calf protection device, 10-1-load-bearing waist bar, 10-2-back connecting piece, 10-3-torque sensor, 10-4-motor fixing end, 10-5-back drive motor, 10-6-back connecting rod, 13-1-waist Hip connector, 13-2-flexion and internal rotation middle piece, 13-3-flexion sleeve, 13-4-flexion sleeve cover, 13-5-internal rotation screw, 13-6-internal rotation clamp, 13-7-internal rotation sleeve, 13-8-internal rotation and abduction middle piece, 13-9-abduction pin, 14-1-waist middle section, 14-2-waist length adjustment slider, 14-3-compression spring, 14-4-length adjustment button, 4-1-upper thigh rod, 4-2-elastic card bean, 4-3-lower thigh rod, 5-1-motor fixing end, 5-2-knee joint drive motor, 6-1-upper calf rod, 6-2-elastic card bean, 6-3-lower calf rod, 6-4-calf binding body, 6-5-magnetic buckle, 7-1-foot shoe connection, 7-2-leg base, 7-3-vibration sensor. DETAILED DESCRIPTION

[0053] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0054] like Figure 1 , Figure 2 As shown, an exoskeleton-assisted modular mecha includes a back frame mechanism 2, a waist and hip support 3, two sets of leg mechanisms, and a protective device 1.

[0055] The back frame mechanism 2 is installed on the waist and hip support 3, and the two sets of leg mechanisms are symmetrically installed on the waist and hip support 3. The protective device covers most areas of the body and is all mounted on the exoskeleton mechanism.

[0056] The leg structure includes a knee joint drive mechanism 5, a thigh mechanism 4, a calf mechanism 6, and a foot-end wearable component 7.

[0057] The thigh mechanism 4 is arranged above the calf mechanism 6, and the calf mechanism 6 is arranged above the foot-end wearable component 7.

[0058] The back frame mechanism comprises a Y-shaped back frame 9 and a back power-assisting mechanism 10. The thigh mechanism comprises an upper thigh rod 4-1, a thigh fixing binding mechanism 4-2 and a lower thigh rod 4-3.

[0059] The waist and hip support includes a hip joint internal and external rotation mechanism 13, a waist length adjustment mechanism 14, waist side sections 15, and a battery box 16.

[0060] The calf mechanism includes an upper calf rod 6-1, a calf fixing binding mechanism 6-2, and a lower calf rod 6-3.

[0061] The exoskeleton is worn on the human body through binding mechanisms on the waist and calves, which can ultimately achieve flexion / extension of the two hip joints, flexion / extension of the two knee joints, and dorsiflexion / plantar flexion, inversion / eversion, and rotation of the ankle joints.

[0062] like Figure 3 As shown, the protective device includes a shoulder protective device 1-1, a chest protective device 1-2, a back protective device 1-3, a thigh protective device 1-4 and a calf protective device 1-5.

[0063] The shoulder protection device 1-1 can be fixed on the branch of the shoulder of the Y-shaped back frame, and the chest protection device 1-3 and the back protection device 1-2 are connected to the shoulder protection device 1-1 through plastic buckles. The exoskeleton is used to assist in supporting the load of the torso protection device to form a protective mecha.

[0064] like Figure 4 As shown, the load-bearing waist bar 10-1 is connected to the internal and external rotation mechanism 13 of the hip joint by a pin, and is connected to the back connecting piece 10-2 by a pin shaft, and the connection between the load-bearing waist bar 10-1 and the back connecting piece 10-2 can rotate freely. The back drive motor 10-5 is installed on the motor fixed end 10-4 by screws, and the rotating part of the motor is connected to the torque sensor 10-3. The back drive motor 10-5 and the motor fixed end 10-4 are connected to the torque sensor 10-3 by bolts, and the back connecting rod 10-6 is connected to the torque sensor 10-3 by screws, and the torque sensor 10-3 is connected to the back connecting rod 10-6 by screws. The power assist from bending to upright state is achieved by using the back drive motor 10-5 to rotate.

[0065] like Figure 5As shown, the waist length adjustment mechanism 14 includes a waist middle section 14-1, a waist length adjustment slider 14-2, a compression spring 14-3 and a length adjustment button 14-4. The length adjustment button 14-4 and the compression spring 14-3 are used to adjust the length. When the length needs to be adjusted, only the lower end protrusions of the length adjustment buttons 14-4 on both sides are pressed, and the compression spring 14-3 between the lower end protrusions of the buttons and the waist middle section 14-1 is compressed, and the length adjustment button 14-4 will rotate with the rotating shaft as the rotation center, so that the upper end of the button will expand outwards and disengage from the length adjustment slider 14-2 slot, and the length adjustment slider 14-2 originally stuck by the button will be able to move left and right, and the waist length can be quickly adjusted at this time, so that the waist width can be adjusted.

[0066] like Figure 6 As shown, the hip joint is mainly composed of three parts: the flexion part, the internal rotation part, and the abduction part. The flexion part is composed of a waist-hip connector 13-1, a flexion part sleeve (13-3, a flexion part sleeve cover 13-4 and a flexion internal rotation middle piece 13-2, and the flexion angle is -45° to +135°; the internal rotation part is composed of a flexion internal rotation middle piece 13-2, an internal rotation screw 13-5, an internal rotation sleeve 13-7, an internal rotation clamp 13-6 and an internal rotation abduction middle piece 13-8; the abduction part is composed of a waist-hip connector 13-1, a flexion part sleeve (13-3, a flexion part sleeve cover 13-4 and a flexion internal rotation middle piece 13-2, and the flexion angle is -45° to +135°; the internal rotation part is composed of a flexion internal rotation middle piece 13-2, an internal rotation screw 13-5, an internal rotation sleeve 13-7, an internal rotation clamp 13-6 and an internal rotation abduction middle piece 13-8; the abduction part is composed of a waist-hip connector 13-1, a flexion part sleeve ... The internal rotation and abduction middle piece 13-8, the abduction part shaft pin 13-9 and the retaining spring are composed of the upper thigh rod 4-1. The upper end of the waist-hip connecting piece 13-1 is connected to the waist, and the lower end is connected to the flexion internal rotation middle piece 13-2 through the flexion part shaft sleeve 13-3. The upper end of the flexion internal rotation middle piece 13-2 is connected to the waist-hip connecting piece 13-1 through the flexion part shaft sleeve 13-3, and the lower end is dug with a groove for placing the shaft sleeve and the upper end of the internal rotation and abduction middle piece 13-8 screwed in, and is fixed to the internal rotation clamping piece through screws. The deformation realizes the clamping of the sleeve. The outer ring of the flexion sleeve 13-3 cooperates with the waist-hip connection 13-1 and the flexion internal rotation intermediate piece 13-2. The flexion sleeve cover 13-4 is installed on each side of the waist-hip connection 13-1, and is connected to the waist-hip connection 13-1 by screws. The function of this component is to prevent the flexion sleeve 13-3 from axial movement and falling off. The upper end of the internal rotation screw 13-5 is stuck in the groove of the flexion internal rotation intermediate piece 13-2, and the lower end is screwed into the upper end of the internal rotation and abduction intermediate piece 13-8. . The outer side of the internal rotation sleeve 13-7 cooperates with the stepped hole of the flexion and internal rotation middle piece 13-2, and the inner side cooperates with the outer diameter of the upper end of the internal rotation and abduction middle piece 13-8. The internal rotation clamping piece 13-6 is fixedly connected and deformed with the flexion and internal rotation middle piece 13-2 by screws to achieve the clamping of the sleeve. The upper end of the internal rotation and abduction middle piece 13-8 cooperates with the inner diameter of the sleeve, and the lower end is connected to the upper thigh rod 4-1 through a pin shaft. The abduction shaft pin 13-9 and the retaining spring connect the internal rotation and abduction middle piece 13-8 and the upper thigh rod 4-1.

[0067] like Figure 7As shown, the thigh mechanism includes an upper thigh rod 4-1, a thigh fixing binding mechanism 4-2, and a lower thigh rod 4-3. The upper part of the lower thigh rod 4-3 is provided with a plurality of circular holes in the length direction, and the lower part of the upper thigh rod 4-1 is provided with elastic clips, which connect the upper and lower thigh tubes with different circular holes through the clips to achieve the adjustable thigh length.

[0068] like Figure 8 As shown, the knee joint mechanism includes a motor fixed end 5-1, a knee joint drive motor 5-3, and a torque sensor 8; the knee joint drive motor 5 is installed on the motor fixed end 5-1 by screws, the motor rotating part is connected to the torque sensor 8, the knee joint drive motor 5 and the motor fixed end 5-1 are connected with the torque sensor 8 by bolts, the upper end of the motor fixed end 5-1 is connected to the lower thigh rod 4-3 by a pin, and the torque sensor 8 is connected to the upper calf rod 6-1 by screws. The upper and lower ends of the knee joint motor fixed end 5-1 are provided with limit blocks to maintain the bending adjustment range of 45° to 180° between the upper and lower legs; the calf is driven to rotate by using the motor 5-3 to achieve the power-assisting effect.

[0069] like Fig. 9 As shown, the calf wearing and binding structure includes a fixing assembly 6-4, a Japanese-shaped buckle, and a magnetic buckle 6-5. The Japanese-shaped buckle is connected to the lower calf rod 6-3 through hard cloth and rivets, and the magnetic buckle 6-5 is connected to the Japanese-shaped buckle through hard cloth, and the length can be adjusted. The binding body is connected to the calf protection device 1-5 by a magnetic buckle, and the calf protection device 1-5 is fixed to the exoskeleton. The calf is bound by the calf protection device 1-5 to achieve wearing and fixing on the calf. The magnetic buckle connector is connected to the lower calf rod through the protrusion on the magnetic buckle connector, and can move up and down.

[0070] like Fig.10 As shown, the foot-end wearable component includes a lower calf rod 6-3, a foot-shoe connector 7-1, a leg base 7-2 and a vibration sensor 7-3; a vibration sensor is arranged next to the foot-shoe for data collection. The foot-shoe connector is connected to the calf connecting rod aluminum alloy bracket and the vibration sensor fixing part by screws, and there is a strap connected by rivets on the foot-shoe connector, and the other end of the strap is connected to the foot-shoe by rivets.

[0071] When the user is carrying a heavy load and encounters an emergency such as falling, bending over to avoid, or picking up dropped objects, it is difficult to stand up due to the heavy load. At this time, the encoder in the back drive motor in the back assist mechanism detects the angle change and transmits the angle change information to the control box. The program in the control box determines whether assistance is needed. If it meets the assistance conditions, the motor will receive a start signal, and the motor drives the back connecting rod to provide assistance for the human body from bending over to standing upright.

[0072] The user wears the modular mecha compatible with this power assist, and fixes the protective wear to the body through the magnetic buckle. At the same time, the protective device provides the binding function required by the wearable exoskeleton. The protective load and other loads are supported by the whole body exoskeleton structure. When the user is in a state of walking, climbing, etc., the drive motor at the knee joint of the lower limb exoskeleton works to provide assistance to the user. When the user falls due to the load, bends down to avoid, or picks up objects, it is difficult to get up due to the heavy load, and the back drive motor works to help the user get up.

Claims

1. A wearable protective armor exoskeleton, characterized in that: It comprises a protective device (1), a back frame mechanism (2), a waist and hip support (3) and two sets of leg mechanisms; The back frame mechanism (2) comprises a Y-shaped back frame (9), a back assist mechanism (10), and an artificial spine (11); the back assist mechanism (10) comprises a back drive motor (10-5), a torque sensor (10-3), and a load-bearing waist bar (10-1); the two sets of leg mechanisms comprise foot-end wearable components (7); The lower part of the Y-shaped back frame (9) is connected to the artificial spine (11) through a ball joint, the back frame mechanism (2) is installed on the waist and hip support (3), the back assist mechanism (10) is installed on the waist and hip support (3) through a load-bearing waist rod (10-1), two groups of leg mechanisms are symmetrically installed on the waist and hip support (3), and the protective device is mounted on the Y-shaped back frame (9); The back driving motor (10-5) and the torque sensor (10-3) are used to assist the back from bending to standing upright; the load generated by the back assist mechanism is transmitted to the ground through the hip joint and the lower limb exoskeleton via the load-bearing waist bar (10-1).

2. The wearable protective armor exoskeleton according to claim 1, characterized in that: The waist and hip support (3) comprises a hip joint internal and external rotation mechanism (13), a waist length adjustment mechanism (14), waist side sections (15), and a battery box (16); The back frame mechanism (2) also includes a quick-pull mechanism (12); the Y-shaped back frame (9) and the artificial spine (11) are connected via the quick-pull mechanism (12) and the waist middle section (14-1) of the waist length adjustment mechanism (14); and the artificial spine (11) is composed of a plurality of identical artificial spine blocks connected via ball joints.

3. The wearable protective armor exoskeleton according to claim 2, characterized in that: The protective device (1) comprises a shoulder protective device (1-1), a chest protective device (1-2), a back protective device (1-3), a thigh protective device (1-4) and a calf protective device (1-5); The shoulder protection device (1-1) is fixed on the branch of the shoulder of the Y-shaped back frame (9), the chest protection device (1-3) and the back protection device (1-2) are connected to the shoulder protection device (1-1) through buckles, and the exoskeleton is used to assist in supporting the load of the trunk protection device to form a protective armor.

4. The wearable protective armor exoskeleton according to claim 3, characterized in that: The back assist mechanism (10) further comprises a back connecting member (10-2), a motor fixing end (10-4) and a back connecting rod (10-6); The load-bearing waist bar (10-1) is connected to the hip joint internal and external rotation mechanism (13), the back connecting piece (10-2) is connected to the load-bearing waist bar (10-1), and the connection between the load-bearing waist bar (10-1) and the back connecting piece (10-2) can realize free rotation along the axis of the shaft where the load-bearing waist bar (10-1) is located; The back driving motor (10-5) is installed on the motor fixed end (10-4), the motor rotating part is connected to the torque sensor (10-3), the back connecting piece (10-6) is connected to the torque sensor (10-3), and the torque sensor (10-3) is connected to the back connecting rod (10-6).

5. The wearable protective armor exoskeleton according to claim 4, characterized in that: The hip joint internal and external rotation mechanism (13) comprises a flexion portion, an internal rotation portion, and an abduction portion; The flexion part includes a waist-hip connection piece (13-1), a flexion internal rotation middle piece (13-2), a flexion part sleeve (13-3) and a flexion part sleeve cover (13-4); the internal rotation part includes a flexion internal rotation middle piece (13-2), an internal rotation screw (13-5), an internal rotation clamp (13-6), an internal rotation sleeve (13-7) and an internal rotation and abduction middle piece (13-8); the abduction part includes an internal rotation and abduction middle piece (13-8), an abduction shaft pin (13-9), a retaining spring and an upper thigh rod (4-1); The lower end of the waist-hip connection piece (13-1) is connected to the flexion and internal rotation middle piece (13-2) through the flexion sleeve (13-3); the upper end of the flexion and internal rotation middle piece (13-2) is connected to the waist-hip connection piece (13-1) through the flexion sleeve (13-3); a groove is dug at the lower end for accommodating the sleeve and the upper end of the internal rotation and abduction middle piece screwed into the screw, and the sleeve is clamped by the screw and the internal rotation clamping piece through deformation; the outer ring of the flexion sleeve (13-3) cooperates with the waist-hip connection piece (13-1) and the flexion and internal rotation middle piece (13-2); a flexion sleeve cover (13-4) is installed on each side of the waist-hip connection piece (13-1), and is connected to the waist-hip connection piece (13-1) through screws; The upper end of the internal rotation screw (13-5) is inserted into the groove of the flexion and internal rotation middle piece (13-2), and the lower end is screwed into the upper end of the internal rotation and abduction middle piece (13-8); the outer side of the internal rotation shaft sleeve (13-7) is matched with the stepped hole of the flexion and internal rotation middle piece (13-2), and the inner side is matched with the outer diameter of the upper end of the internal rotation and abduction middle piece (13-8); the internal rotation clamping piece (13-6) is fixedly connected and deformed with the flexion and internal rotation middle piece (13-2) through the screw; the upper end of the internal rotation and abduction middle piece (13-8) is matched with the inner diameter of the shaft sleeve, and the lower end is connected to the upper thigh rod (4-1) through the pin shaft (13-9); the abduction shaft pin (13-9) and the retaining spring connect the internal rotation and abduction middle piece (13-8) and the upper thigh rod (4-1).

6. The wearable protective armor exoskeleton according to claim 5, characterized in that: The waist length adjustment mechanism (14) comprises a waist middle section (14-1), a waist length adjustment slider (14-2), a compression spring (14-3) and a length adjustment button (14-4); The length is adjusted by a locking method combining a length adjustment button (14-4) and a compression spring (14-3).

7. The wearable protective armor exoskeleton according to claim 6, characterized in that: The leg structure includes a thigh mechanism (4), a knee joint mechanism (5), a calf mechanism (6), and a foot-end wearable component (7); The thigh mechanism (4) is arranged above the calf mechanism (6), and the calf mechanism (6) is arranged above the foot-end wearable component (7); the flexion / extension of the knee joint is achieved through the knee joint drive mechanism (5) and the torque sensor (8); The thigh mechanism comprises an upper thigh rod (4-1), a thigh fixing binding mechanism (4-2) and a lower thigh rod (4-3); The calf mechanism comprises an upper calf rod (6-1), a calf fixing binding mechanism (6-2) and a lower calf rod (6-3).

8. The wearable protective armor exoskeleton according to claim 7, characterized in that: The upper part of the lower thigh rod (4-3) is provided with a plurality of circular holes in the length direction, and the lower part of the upper thigh rod (4-1) is provided with an elastic clamping bean (4-2), and the length of the thigh can be adjusted by connecting the clamping bean with different circular holes; The upper part of the lower calf rod (6-3) is provided with a plurality of circular holes in the length direction, and the lower part of the upper calf rod (6-1) is provided with an elastic clamping bean (6-2), and the calf length can be adjusted by connecting the clamping bean with different circular holes; The knee joint driving mechanism comprises a motor fixing end (5-1), a knee joint driving motor (5-2), and a torque sensor (8); the knee joint driving motor (5-2) is mounted on the motor fixing end (5-1), the motor rotating part is connected to the torque sensor (5-3), the upper end of the motor fixing end (5-1) is connected to the lower thigh rod (4-3) through a pin, and the torque sensor (5-3) is connected to the upper shank rod (6-1). Limit blocks are respectively arranged at the upper and lower ends of the knee joint motor fixing end (5-1) to maintain a bending adjustment range of 45° to 180° between the upper and lower legs; and a power assist effect is achieved by rotating the motor (5-2) to drive the lower leg to rotate.

9. The wearable protective armor exoskeleton according to claim 8, characterized in that: The thigh binding body and the thigh protection device (1-4) are connected by a magnetic buckle, the thigh protection device (1-4) is fixed on the exoskeleton, and the thigh is bound by the thigh protection device (1-4); The thigh protection device (1-4) is combined with the lower thigh rod (4-3) through a magnetic buckle, and the lower thigh rod (4-3) assists in supporting the weight of the thigh protection device (1-4); The calf binding body (6-4) and the calf protection device (1-5) are connected by a magnetic buckle (6-5), the calf protection device (1-5) is fixed on the exoskeleton, and the calf is bound by the calf protection device (1-5); The calf protection device (1-5) is combined with the lower calf rod (6-3) via a magnetic buckle, and the weight of the calf protection device (1-5) is auxiliary supported by the lower calf rod (6-3).

10. The wearable protective armor exoskeleton according to claim 9, characterized in that: A vibration sensor (7-3) is installed on the foot-end wearable component (7) to transmit foot-end vibration information back to the control module, and the knee joint drive motor (5-2) is controlled by judging the gait.

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