A wearable protective exoskeleton

Abstract

The present application belongs to the field of exoskeleton robots, and particularly relates to a wearable protective exoskeleton. The protective exoskeleton comprises a protective device, a back frame mechanism, a waist-hip support and two sets of leg mechanisms. The back frame mechanism comprises a Y-shaped back frame, a back assisting mechanism and an artificial spine. The back assisting mechanism comprises a back driving motor, a torque sensor and a load-bearing waist rod. The two sets of leg mechanisms comprise foot end wearable components. The Y-shaped back frame is connected with the artificial spine through a spherical hinge below the Y-shaped back frame. The back frame mechanism is installed on the waist-hip support. The back assisting mechanism is installed on the waist-hip support through the load-bearing waist rod. The two sets of leg mechanisms are symmetrically installed on the waist-hip support. The protective device is hung on the Y-shaped back frame. The back driving motor and the torque sensor are used to realize the assistance of the back bending to the upright state. The load generated by the back assisting mechanism is transmitted to the ground through the hip joint and the lower limb exoskeleton through the load-bearing waist rod.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of exoskeleton robots, and particularly relates to a wearable protective exoskeleton. BACKGROUND

[0002] The wearable exoskeleton is a wearable intelligent power-assisted device, which can assist human body to walk, carry and the like through cooperative movement with the wearer, reduce fatigue and damage of movement to human body, and improve the function of human body. The application field thereof is very wide. In the military field, the motion flexibility, maneuverability, load-carrying capacity and the like of soldiers can be improved. In the dangerous combat environment, the exoskeleton with a protective device can more effectively protect the life safety of soldiers. At present, the exoskeleton robot has a heavy structure, poor wearing comfort, a complex control system, and limited power-assisted effect, so that the load to be borne by soldiers is extremely large. Moreover, the existing exoskeleton does not have the function of carrying a protective device and providing assistance, which is still a problem to be solved.

[0003] A lower limb power-assisted mechanical exoskeleton is disclosed in Chinese patent application No. 201610520405.7, which simulates the structure of human leg and is provided with mechanical legs on the left and right sides of the human leg. However, this human-simulating design mode makes the load force act on the outside of the foot support surface, the force transmission design is unreasonable, the power-assisted effect is general, and the exoskeleton does not have the function of adjusting the length of the mechanical leg, so the adaptability to the wearer is poor. Moreover, the hinged mechanical joint structure cannot meet the human motion demand, and there is motion interference between the human and the machine. In addition, the knee joint driving mechanism of the lower limb power-assisted mechanical exoskeleton adopts a cable type driving, the mechanism design is complex, the manufacturing and assembly are difficult, and the control precision is poor.

[0004] A wearable mechanical exoskeleton for protecting the upper half of human body is disclosed in Chinese patent application No. 201820525967.5, which can realize multi-degree-of-freedom omnidirectional movement of the upper half of human body, is compatible with a fall-preventing vest, a bulletproof vest and a lower limb exoskeleton, and is used for safety protection. However, this design mode makes the load force of the upper half of the body protection device and the exoskeleton act on the human body at the same time, which is extremely large to the operator while the protection coverage area is small. In addition, the mechanism design of the wearable mechanical exoskeleton for protecting the upper half of human body is complex, the manufacturing and assembly are difficult, the control precision is poor, and the requirement of rapid wearing cannot be met. SUMMARY

[0005] The present application aims to provide an exoskeleton power-assisted compatible modular exoskeleton, which solves the problems of direct action of protective gravity on the wearer, easy fatigue, small protection area and the like.

[0006] The technical solution for achieving the object of the present application is as follows: a wearable protective exoskeleton, comprising a protection device, a back frame mechanism, a waist-hip support and two sets of leg mechanisms;

[0007] The back frame mechanism comprises a Y-shaped back frame, a back assisting mechanism and an artificial spine; the back assisting mechanism comprises a back driving motor, a torque sensor and a load-bearing waist rod; the two sets of leg mechanisms comprise foot end wearable components;

[0008] The Y-shaped back frame is connected with the artificial spine through a spherical hinge below, the back frame mechanism is installed on the waist-hip support, the back assisting mechanism is installed on the waist-hip support through the load-bearing waist rod, and 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;

[0009] The back assisting mechanism is achieved by the back driving motor and the torque sensor, and the load generated by the back assisting mechanism is transmitted to the ground through the hip joint and the lower limb exoskeleton through the load-bearing waist rod.

[0010] Further, the waist-hip support comprises a hip joint internal-external rotation mechanism, a waist length adjusting mechanism, waist two side segments and a battery box;

[0011] The back frame mechanism further comprises a quick plug-in mechanism, the Y-shaped back frame and the artificial spine are connected through the quick plug-in mechanism and the waist middle segment of the waist length adjusting mechanism, and the artificial spine is connected by a plurality of identical artificial spine blocks through a spherical hinge.

[0012] Further, the protection device comprises a shoulder protection device, a chest protection device, a back protection device, a thigh protection device and a calf protection device;

[0013] The shoulder protection device is fixed on the branch of the Y-shaped back frame shoulder, the chest protection device and the back protection device are connected with the shoulder protection device through buckles, the load of the trunk protection device is supported by the exoskeleton to form a protective exoskeleton.

[0014] Further, the back assisting mechanism further comprises a back connecting piece, a motor fixed end and a back connecting rod;

[0015] The load-bearing waist rod is connected with the hip joint internal-external rotation mechanism, the back connecting piece is connected with the load-bearing waist rod, and the connection part of the load-bearing waist rod and the back connecting piece can realize free rotation along the axis of the load-bearing waist rod;

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

[0017] Further, the hip joint internal-external rotation mechanism comprises a flexion part, an internal rotation part and an external rotation part;

[0018] The flexion part comprises a waist-hip connector, a flexion-internal rotation intermediate part, a flexion part shaft sleeve and a flexion part shaft sleeve cover; the internal rotation part comprises the flexion-internal rotation intermediate part, an internal rotation part screw, an internal rotation part clamping part, an internal rotation part shaft sleeve and an internal rotation-abduction intermediate part; the abduction part comprises the internal rotation-abduction intermediate part, an abduction part shaft pin and a snap spring and an upper thigh rod;

[0019] The lower end of the waist-hip connector is connected with the flexion-internal rotation intermediate part through the flexion part shaft sleeve; the upper end of the flexion-internal rotation intermediate part is connected with the waist-hip connector through the flexion part shaft sleeve, and the lower end is provided with a groove for placing the shaft sleeve and the upper end of the internal rotation-abduction intermediate part screwed in the screw, and the shaft sleeve is clamped by being fixedly connected with the internal rotation part clamping part through the screw and being deformed; the outer ring of the flexion part shaft sleeve is matched with the waist-hip connector and the flexion-internal rotation intermediate part; the flexion part shaft sleeve cover is provided with one on each side of the waist-hip connector, and is connected with the waist-hip connector through the screw;

[0020] The upper end of the internal rotation part screw is clamped into the groove of the flexion-internal rotation intermediate part, and the lower end is screwed into the upper end of the internal rotation-abduction intermediate part; the outer part of the internal rotation part shaft sleeve is matched with the stepped hole of the flexion-internal rotation intermediate part, and the inner part is matched with the outer diameter of the upper end of the internal rotation-abduction intermediate part; the internal rotation part clamping part is fixedly connected with the flexion-internal rotation intermediate part through the screw and is deformed; the upper end of the internal rotation-abduction intermediate part is matched with the inner diameter of the shaft sleeve, and the lower end is connected with the upper thigh rod through the pin shaft; the abduction part shaft pin and the snap spring connect the internal rotation-abduction intermediate part and the upper thigh rod.

[0021] Further, the waist length adjusting mechanism comprises a waist intermediate segment, a waist length adjusting slider, a compression spring and a length adjusting button;

[0022] The length adjusting button and the compression spring are combined to adjust the length by clamping.

[0023] Further, the leg structure comprises a thigh mechanism, a knee joint mechanism, a lower leg mechanism and a foot end wearing part;

[0024] The thigh mechanism is arranged above the lower leg mechanism, and the lower leg mechanism is arranged above the foot end wearing part; the flexion / extension of the knee joint is realized by the knee joint driving mechanism and the torque sensor;

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

[0026] The lower leg mechanism comprises an upper lower leg rod, a lower leg fixed binding mechanism and a lower lower leg rod.

[0027] Further, 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, which are connected with different circular holes to realize the length adjustment of the thigh;

[0028] The upper part of the lower lower leg rod is provided with a plurality of circular holes in the length direction, and the lower part of the upper lower leg rod is provided with elastic clamping beans, which are connected with different circular holes to realize the length adjustment of the lower leg.

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

[0030] Limiting blocks are arranged on the upper and lower ends of the motor fixing end of the knee joint to maintain the bending adjustment range of 45° to 180° between the thigh and the calf; the power assisting effect is realized by rotating the motor to drive the calf.

[0031] Further, the thigh binding member body and the thigh protection device are connected through magnetic attraction buckles, the thigh protection device is fixed on the exoskeleton, and the thigh is bound through the thigh protection device;

[0032] The thigh protection device is combined with the lower thigh rod through magnetic attraction buckles, and the weight of the thigh protection device is supported through the lower thigh rod;

[0033] The calf binding member body and the calf protection device are connected through magnetic attraction buckles, the calf protection device is fixed on the exoskeleton, and the calf is bound through the calf protection device;

[0034] The calf protection device is combined with the lower calf rod through magnetic attraction buckles, and the weight of the calf protection device is supported through the lower calf rod.

[0035] Further, a vibration sensor is installed on the foot end wearing part, foot end vibration information is fed back to the control module, and the knee joint driving motor is controlled by judging the gait.

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

[0037] The exoskeleton mechanism of the present application adopts a motor to realize the active driving of the knee joint, the complexity of the lower limb power assisting exoskeleton mechanism system is reduced, the structure is simple, and the control is easy, the exoskeleton mechanism can be used to enhance the motion function of the wearer and reduce the fatigue of the human body;

[0038] The joints of the present application are set on the basis of human engineering, can follow / lead the human body to realize various motions, the waist and hip support, the thigh rod and the calf rod are designed in accordance with human engineering, so that the exoskeleton mechanism is more fitted to the contour of the lateral leg of the human body, and no interference with the human body occurs during the motion;

[0039] The length of the thigh and calf rods is adjusted and fixed by using the spring buckle, the matching between the exoskeleton mechanism and wearers of different heights can be realized, the buckle can be pressed to quickly adjust, and the comfort of wearing is improved;

[0040] The exoskeleton assisting load of the application can assist the wearer to move, assist the soldiers to walk with load, and reduce the fatigue of the human body. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 The overall mechanism axis of the modular mech (with protection) compatible with the exoskeleton assisting load is shown in the schematic diagram.

[0042] Figure 2 The overall mechanism axis of the modular mech compatible with the exoskeleton assisting load is shown in the schematic diagram.

[0043] Figure 3 The protection mechanism of the modular mech compatible with the exoskeleton assisting load is shown in the schematic diagram.

[0044] Figure 4 The back assisting mechanism of the modular mech compatible with the exoskeleton assisting load is shown in the schematic diagram.

[0045] Figure 5 The waist length adjusting mechanism of the modular mech compatible with the exoskeleton assisting load is shown in the schematic diagram.

[0046] Figure 6 The hip joint structure of the modular mech compatible with the exoskeleton assisting load is shown in the schematic diagram.

[0047] Figure 7 The thigh structure of the modular mech compatible with the exoskeleton assisting load is shown in the schematic diagram.

[0048] Figure 8 The knee joint structure of the modular mech compatible with the exoskeleton assisting load is shown in the schematic diagram.

[0049] Figure 9 The wearing binding structure of the modular mech compatible with the exoskeleton assisting load is shown in the schematic diagram.

[0050] Figure 10 The foot end wearing part of the modular mech compatible with the exoskeleton assisting load is shown in the schematic diagram.

[0051] BRIEF DESCRIPTION OF DRAWINGS:

[0052] 1-Protective device, 2-Back frame mechanism, 3-Hips and lumbar support, 4-Thigh mechanism, 5-Knee joint drive mechanism, 6-Lower leg mechanism, 7-Foot end wearable component, 8-Torque sensor, 9-“Y” shaped back frame, 10-Back support mechanism, 11-Artificial spine, 12-Back quick insertion and removal mechanism, 13-Hip joint internal and external rotation mechanism, 14-Waist length adjustment mechanism, 15-Side waist 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-Lower leg protection device, 10-1-Supporting lumbar support, 10-2-Back connector, 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 intermediate component, 13-3-Flexion bushing, 13-4-Flexion bushing cover, 13-5-Internal rotation screw, 13-6-Internal rotation clamping component, 13-7-Internal rotation bushing, 13-8-Internal rotation and abduction intermediate component, 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 bar, 4-2-Elastic locking bead, 4-3-Lower thigh bar, 5-1-Motor fixing end, 5-2-Knee joint drive motor, 6-1-Upper calf bar, 6-2-Elastic locking bead, 6-3-Lower calf bar, 6-4-Calf binding body, 6-5-Magnetic buckle, 7-1-Foot shoe connection, 7-2-Leg base, 7-3-Vibration sensor. Detailed Implementation

[0053] The present invention will now be described in further detail with reference to the accompanying drawings.

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

[0055] The back frame mechanism 2 is mounted on the waist and hip support 3, and two sets of leg mechanisms are symmetrically mounted on the waist and hip support 3. The protective device covers most of the body area and is entirely 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 wearing component 7.

[0057] The thigh mechanism 4 is positioned above the calf mechanism 6, and the calf mechanism 6 is positioned above the foot-wearing component 7.

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

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

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

[0061] The exoskeleton mechanism is worn on the human body through the waist and lower leg binding mechanisms, and finally the flexion / extension of two hip joints, the flexion / extension of two knee joints and the dorsiflexion / planter flexion, internal / external rotation and rotation of the ankle joint can be realized.

[0062] As shown in Figure 3 , the protection device includes shoulder protection device 1-1, chest protection device 1-2, back protection device 1-3, thigh protection device 1-4 and lower leg protection device 1-5.

[0063] The shoulder protection device 1-1 can be fixed on the branch of the Y-shaped back frame shoulder, the chest protection device 1-3 and the back protection device 1-2 are connected with the shoulder protection device 1-1 through plastic buckles, the load of the trunk protection device is supported by the exoskeleton auxiliary support, and the protection robot is formed.

[0064] As shown in Figure 4 , the force bearing waist rod 10-1 is connected with the hip joint internal and external rotation mechanism 13 through a pin, and is connected with the back connecting piece 10-2 through a pin shaft, and the connection between the force bearing waist rod 10-1 and the back connecting piece 10-2 can rotate freely. The back driving motor 10-5 is installed on the motor fixing end 10-4 through a screw, and the motor rotating part is connected with the torque sensor 10-3, the back driving motor 10-5 and the motor fixing end 10-4 are connected with the torque sensor 10-3 through bolts, the back connecting rod 10-6 is connected with the torque sensor 10-3 through a screw, and the torque sensor 10-3 is connected with the back connecting rod 10-6 through a screw. The assistance from bending to standing state is realized by rotating the back driving motor 10-5.

[0065] As shown in 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 is achieved by using the length adjustment button 14-4 and the compression spring 14-3 in combination with the detent mode. When the length needs to be adjusted, only need to press the length adjustment button 14-4 on both sides of the lower end protrusion, the compression spring 14-3 between the length adjustment button 14-4 lower end protrusion and the waist middle section 14-1 is compressed, the length adjustment button 14-4 will rotate around the rotating shaft as the center, thus the upper end of the button will expand outward to disengage the length adjustment slider 14-2 card slot, the length adjustment slider 14-2 originally blocked by the button will be able to move left and right, at this time the waist length can be quickly adjusted, realizing the waist width adjustable.

[0066] As shown, Figure 6 As shown, the hip joint part is mainly composed of flexion, internal rotation and abduction parts. The flexion part is composed of a waist-hip connecting piece 13-1, a flexion shaft sleeve 13-3, a flexion shaft sleeve cover 13-4 and a flexion-internal rotation middle piece 13-2, the flexion angle is -45°~+135°; the internal rotation part is composed of the flexion-internal rotation middle piece 13-2, an internal rotation part screw 13-5, an internal rotation part shaft sleeve 13-7, an internal rotation part clamping piece 13-6 and an internal rotation-abduction middle piece 13-8; the abduction part is composed of the internal rotation-abduction middle piece 13-8, an abduction part shaft pin 13-9 and a snap spring and an upper thigh rod 4-1. The upper end of the waist-hip connecting piece 13-1 is connected with the waist, and the lower end is connected with the flexion-internal rotation middle piece 13-2 through the flexion shaft sleeve 13-3. The upper end of the flexion-internal rotation middle piece 13-2 is connected with the waist-hip connecting piece 13-1 through the flexion shaft sleeve 13-3, and the lower end is provided with a groove for placing the shaft sleeve and the internal rotation-abduction middle piece 13-8 screwed into the screw, and the upper end is fixedly connected with the internal rotation part clamping piece through the screw to realize the clamping of the shaft sleeve. The outer circle of the flexion shaft sleeve 13-3 is matched with the waist-hip connecting piece 13-1 and the flexion-internal rotation middle piece 13-2. The flexion shaft sleeve cover 13-4 is arranged on both sides of the waist-hip connecting piece 13-1, and is connected with the waist-hip connecting piece 13-1 through the screw. The component functions to prevent the flexion shaft sleeve 13-3 from moving axially and falling off. The upper end of the internal rotation part screw 13-5 is clamped into the groove of the flexion-internal rotation middle piece 13-2, and the lower end is screwed into the upper end of the internal rotation-abduction middle piece 13-8. The internal rotation part shaft sleeve 13-7 is matched with the stepped hole of the flexion-internal rotation middle piece 13-2 on the outside, and is matched with the outer diameter of the upper end of the internal rotation-abduction middle piece 13-8 on the inside. The internal rotation part clamping piece 13-6 is fixedly connected with the flexion-internal rotation middle piece 13-2 through the screw to realize the clamping of the shaft sleeve. The upper end of the internal rotation-abduction middle piece 13-8 is matched with the inner diameter of the shaft sleeve, and the lower end is connected with the upper thigh rod 4-1 through the pin shaft. The abduction part shaft pin 13-9 and the snap spring connect the internal rotation-abduction middle piece 13-8 and the upper thigh rod 4-1.

[0067] As shown, Figure 7As shown in the figure, the thigh mechanism includes upper thigh rod 4-1, thigh fixed binding mechanism 4-2, lower thigh rod 4-3, the upper part of the lower thigh rod 4-3 is provided with a plurality of length direction round holes, the lower part of the upper thigh rod 4-1 is provided with elastic clamping beans, the thigh is connected up and down through the clamping beans and different round holes, and the length of the thigh is adjustable.

[0068] As shown in the figure, Figure 8 As shown in the figure, the knee joint mechanism includes motor fixed end 5-1, knee joint driving motor 5-3, torque sensor 8; the knee joint driving motor 5 is installed on the motor fixed end 5-1 through a screw, the motor rotating part is connected with the torque sensor 8, the knee joint driving motor 5 and the motor fixed end 5-1 are both connected with the torque sensor 8 through bolts, the upper end of the motor fixed end 5-1 is connected with the lower thigh rod 4-3 through a pin, and the torque sensor 8 is connected with the upper calf rod 6-1 through a screw. The limiting blocks on the upper and lower ends of the knee joint motor fixed end 5-1 maintain the bending adjustment range of 45° to 180° between the thigh and the calf; the power assisting effect is realized by rotating the calf through the use of the motor 5-3.

[0069] As shown in the figure, Figure 9 As shown in the figure, the calf wearing binding structure includes fixed assembly 6-4, square buckle, magnetic attraction buckle 6-5. The square buckle is connected with the lower calf rod 6-3 through hard cloth and rivets, the magnetic attraction buckle 6-5 is connected with the square buckle through hard cloth and can adjust the length. The magnetic attraction buckle is connected between the binding main body and the calf protection device 1-5, the calf protection device 1-5 is fixed on the exoskeleton, the calf is bound through the calf protection device 1-5, and the wearing and fixing on the calf are realized. The magnetic attraction buckle connecting piece is connected with the lower calf rod through the protrusions on the magnetic attraction buckle connecting piece, and can move up and down.

[0070] As shown in the figure, Figure 10 As shown in the figure, the foot end wearing part includes lower calf rod 6-3, foot shoe connecting piece 7-1, leg base 7-2 and vibration sensor 7-3; the vibration sensor is arranged beside the foot shoe to collect data. The foot shoe connecting piece is connected with the calf connecting rod aluminum alloy support and the vibration sensor fixing piece through a screw, the foot shoe connecting piece has a binding belt connected through a rivet, and the other end of the binding belt is connected with the foot shoe through a rivet.

[0071] When the user has a large load, encounters an emergency situation such as falling down, bending down to avoid or pick up a fallen object, and it is difficult to get up due to the large load. At this time, the encoder of the back driving motor in the back power assisting mechanism detects the angle change, transmits the angle change information to the control box, judges whether the power assistance is needed through the program in the control box, if the power assistance condition is met, the motor will receive the start signal, and the motor will provide the power assistance for the human body from the bending to the upright state through the driving of the back connecting rod.

[0072] The user wears the power-assisted compatible modular exoskeleton, and the protective wear is fixed on the body through magnetic attraction buckle, and the protective device provides the binding effect required by the wearable exoskeleton. The whole body exoskeleton structure supports the protective load and the remaining load. When the user is in the state of walking, climbing and the like, the lower limb exoskeleton knee joint driving motor works to provide power assistance for the user. When the user falls down due to the load, bends down to avoid, picks up the object, and due to the heavy load, it is difficult to get up, the back driving motor works to assist the user to get up.

Claims

1. A wearable protective exoskeleton, characterized in that, It includes a protective device (1), a back frame mechanism (2), a waist and hip support (3), and two sets of leg mechanisms; The back support mechanism (2) includes a Y-shaped back support (9), a back assist mechanism (10), and an artificial spine (11); the back assist mechanism (10) includes a back drive motor (10-5), a torque sensor (10-3), and a load-bearing waist bar (10-1); the two leg mechanisms include foot-end wearable components (7); The Y-shaped back frame (9) is connected to the artificial spine (11) via a ball joint at the bottom. The back frame mechanism (2) is installed on the lumbar and hip support (3). The back assist mechanism (10) is installed on the lumbar and hip support (3) via a load-bearing waist bar (10-1). Two sets of leg mechanisms are symmetrically installed on the lumbar and hip support (3). The protective device is mounted on the Y-shaped back frame (9). The back assists in bending and straightening the back through a back drive motor (10-5) and a torque sensor (10-3); the load generated by the back assist mechanism is transmitted to the ground through the hip joint and lower limb exoskeleton through a load-bearing lumbar support (10-1). The lumbar and hip support (3) includes a hip joint internal and external rotation mechanism (13), a lumbar length adjustment mechanism (14), two lumbar side sections (15), and a battery box (16); The back frame mechanism (2) also includes a quick insertion and removal mechanism (12). The Y-shaped back frame (9) and the artificial spine (11) are connected by the quick insertion and removal mechanism (12) and the middle section (14-1) of the waist length adjustment mechanism (14). The artificial spine (11) is composed of multiple identical artificial spine blocks connected by ball joints. The back support mechanism (10) also includes a back connector (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 connector (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 connector (10-2) can achieve free rotation along the axis of the load-bearing waist bar (10-1); The back drive motor (10-5) is mounted on the motor fixed end (10-4). The rotating part of the motor is connected to the torque sensor (10-3). The back connecting rod (10-6) is connected to the torque sensor (10-3). The torque sensor (10-3) is connected to the back connecting rod (10-6). The hip joint internal and external rotation mechanism (13) includes a flexion part, an internal rotation part, and an abduction part; The flexion section includes a lumbar-hip connector (13-1), an internal rotation flexion intermediate component (13-2), a flexion section bushing (13-3), and a flexion section bushing cover (13-4); the internal rotation section includes an internal rotation flexion intermediate component (13-2), an internal rotation screw (13-5), an internal rotation clamping component (13-6), an internal rotation bushing (13-7), and an internal rotation abduction intermediate component (13-8); the abduction section includes an internal rotation abduction intermediate component (13-8), an abduction pin (13-9), a retaining ring, and an upper thigh rod (4-1); The lower end of the lumbar-hip connector (13-1) is connected to the flexed-inner-rotation intermediate component (13-2) via the flexed bushing (13-3); the upper end of the flexed-inner-rotation intermediate component (13-2) is connected to the lumbar-hip connector (13-1) via the flexed bushing (13-3), and the lower end has a groove for placing the bushing and the upper end of the inner-rotation-outer-rotation intermediate component for screwing in the screw. The bushing is clamped by the deformation of the screw and the inner-rotation clamping component; the outer ring of the flexed bushing (13-3) is fitted with the lumbar-hip connector (13-1) and the flexed-inner-rotation intermediate component (13-2); the flexed bushing cover (13-4) is installed on each side of the lumbar-hip connector (13-1) and is connected to the lumbar-hip connector (13-1) via screws; The upper end of the internally rotating screw (13-5) is inserted into the groove of the bent internally rotating intermediate part (13-2), and the lower end is screwed into the upper end of the internally rotating externally rotating intermediate part (13-8); the outer part of the internally rotating bushing (13-7) is engaged with the stepped hole of the bent internally rotating intermediate part (13-2), and the inner part is engaged with the outer diameter of the upper end of the internally rotating externally rotating intermediate part (13-8); the internally rotating clamping part (13-6) is fixed and deformed to the bent internally rotating intermediate part (13-2) by screws; the upper end of the internally rotating externally rotating intermediate part (13-8) is engaged with the inner diameter of the bushing, and the lower end is connected to the upper thigh rod (4-1) through the externally rotating shaft pin (13-9); the externally rotating shaft pin (13-9) and the snap ring connect the internally rotating externally rotating intermediate part (13-8) and the upper thigh rod (4-1).

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

3. The wearable protective exoskeleton according to claim 2, characterized in that, 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 is adjusted using a locking mechanism that combines the length adjustment button (14-4) and the compression spring (14-3).

4. The wearable protective exoskeleton according to claim 3, characterized in that, The leg structure includes a thigh mechanism (4), a knee joint drive mechanism (5), a lower leg mechanism (6), and a foot-end wearable component (7); The thigh mechanism (4) is located above the calf mechanism (6), and the calf mechanism (6) is located 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 includes an upper thigh bar (4-1), a thigh fixing and binding mechanism, and a lower thigh bar (4-3); The lower leg mechanism includes an upper lower leg bar (6-1), a lower leg fixing and binding mechanism, and a lower lower leg bar (6-3).

5. The wearable protective exoskeleton according to claim 4, characterized in that, The upper part of the lower thigh bar (4-3) is provided with multiple round holes along the length direction, and the lower part of the upper thigh bar (4-1) is provided with elastic locking bead. The thigh length can be adjusted by connecting the locking bead with different round holes. The lower leg rod (6-3) has multiple circular holes along its length at its upper part, and the upper leg rod (6-1) has elastic locking pins at its lower part. The length of the lower leg can be adjusted by connecting the locking pins to different circular holes. The knee joint drive mechanism includes a motor fixed end (5-1), a knee joint drive motor (5-2), and a torque sensor (8); the knee joint drive motor (5-2) is mounted on the motor fixed end (5-1), the rotating part of the motor is connected to the torque sensor (8), 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); Limiting blocks are provided at both the upper and lower ends of the knee joint motor fixing end (5-1) to maintain the bending adjustment range of 45° to 180° between the thigh and calf; the lower leg is rotated by rotating the motor (5-2) to achieve the assist effect.

6. The wearable protective exoskeleton according to claim 5, characterized in that, The thigh strap body and the thigh protection device (1-4) are connected by magnetic buckles to fix the thigh protection device (1-4) to the exoskeleton and bind the thigh through the thigh protection device (1-4); The thigh protection device (1-4) is connected to the lower thigh bar (4-3) by a magnetic snap-fit, and the lower thigh bar (4-3) assists in supporting the weight of the thigh protection device (1-4); The lower leg binding body (6-4) and the lower leg protection device (1-5) are connected by a magnetic buckle (6-5), which fixes the lower leg protection device (1-5) to the exoskeleton and binds the lower leg through the lower leg protection device (1-5); The lower leg protection device (1-5) is connected to the lower leg bar (6-3) by a magnetic snap-fit, and the lower leg bar (6-3) assists in supporting the weight of the lower leg protection device (1-5).

7. The wearable protective exoskeleton according to claim 6, characterized in that, A vibration sensor (7-3) is installed on the foot-end wearable component (7) to transmit foot 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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