Modularized protective exoskeleton system

Abstract

The invention provides a modular protective exoskeleton system, comprising: a waist assembly which can be worn on the waist of a user and is provided with a controller and a battery; one end of the thigh assembly is hinged to the waist assembly, the thigh assembly can be worn on the thighs of the user, the thigh assembly comprises a first leg guard, and the first leg guard can protect the thighs of the user; the shank assembly comprises a motor module and a second leg guard, the shank assembly is connected with the thigh assembly through the motor module, the motor module can drive the shank assembly to rotate, the shank assembly can be worn on the shank of the user, and the second leg guard can protect the shank of the user; wherein the motor module is connected with the controller and the battery, the battery can supply power to the motor module, the controller can control the working state of the motor module, and the functions of movement following, walking assistance, auxiliary load bearing and the like aiming at the human body are achieved.

Description

Technical Field

[0001] The present invention relates to the field of exoskeletons, and in particular to a modular protective exoskeleton system. Background Art

[0002] In recent years, with the changes in the form of modern warfare, the demand for mobility and protection in individual combat has increased. Soldiers often face threats such as shrapnel and bullets in combat environments, and they also need to carry heavy equipment for long-term high-intensity combat missions. In this case, soldiers' joints and muscles are prone to fatigue, and even risk of injury, which seriously affects combat efficiency. Therefore, modular protective exoskeleton systems have gradually become an important technical means to improve the combat capabilities of individual soldiers.

[0003] Although existing exoskeleton systems provide a certain degree of assistance and protection, they often have problems such as heavy weight, complex structure, and poor flexibility, and cannot effectively meet the multiple demands in complex battlefield environments. Summary of the invention

[0004] The purpose of the present invention is to provide a modular protective exoskeleton system that can achieve motion following, walking assistance and weight-bearing assistance for the human body.

[0005] In order to achieve the above-mentioned purpose, the present invention provides the following technical solutions: a modular protective exoskeleton system, comprising: a waist component, which can be worn on the waist of a user, and is provided with a controller and a battery; a thigh component, one end of which is hinged to the waist component, and the thigh component can be worn on the thigh of the user, and the thigh component comprises a first leg guard, and the first leg guard can protect the thigh of the user; a calf component, the calf component comprises a motor module and a second leg guard, the calf component is connected to the thigh component through the motor module, the motor module can drive the calf component to rotate, the calf component can be worn on the calf of the user, and the second leg guard can protect the calf of the user; wherein the motor module is connected to both the controller and the battery, the battery can supply power to the motor module, and the controller can control the working state of the motor module.

[0006] Furthermore, the protective exoskeleton system also includes a back component; the back component includes a shoulder Y-shaped connecting plate, a neck guard, a vest, a crotch guard, a back rod, a back binding module and a shoulder-back connecting piece, the Y-shaped connecting plate covers the upper part of the vest, the neck guard is connected to the neck opening of the vest, the back binding module is arranged on the back of the vest, the crotch guard is arranged at the lower part of the vest, when the user wears the vest, the crotch guard can protect the crotch of the user, the shoulder-back connecting piece is arranged on the back of the vest, and the back rod is hinged to the back connecting piece.

[0007] Furthermore, the waist assembly also includes a belt fixing clip, a belt, a waist binding module, a battery box, a waist fixing plate, and an armor waist connecting piece; the belt is tied to the waist binding module, the waist fixing plate is arranged on the waist binding module, the armor waist connecting piece is arranged on the waist binding module, the armor waist connecting piece is connected to the back rod, the battery box and the controller are arranged on the belt through the belt fixing clip, and the battery is arranged in the battery box.

[0008] Furthermore, the thigh component includes a hip joint hinge connector, a hip joint bearing cover, a hip joint fixing component, a thigh straight rod, a first leg guard and a thigh adjustment rod; one end of the thigh straight rod is connected to one end of the thigh adjustment rod, a radial ball bearing is provided on the hip joint fixing component, the other end of the thigh adjustment rod is connected to the radial ball bearing, the hip joint hinge connector is connected to the waist belt through the waist belt fixing clip, the hip joint fixing component is hinged to the hip joint fixing component through the hip joint hinge connector, the hip joint bearing cover is provided on the hip joint fixing component, and the radial ball bearing is located in the hip joint bearing cover; the first leg guard is connected to the thigh straight rod through a leg binding connector.

[0009] Furthermore, a sliding groove is provided at one end of the thigh adjustment rod, and a plurality of positioning holes are provided on the outer wall of the thigh adjustment rod corresponding to the sliding groove, the positioning holes are connected with the sliding groove, the thigh straight rod extends into the sliding groove, and a fixing hole is provided on the thigh straight rod, and the adjusting screw is connected with the positioning hole and the fixing hole at the same time, thereby fixing the thigh adjustment rod and the thigh straight rod.

[0010] Further, the calf assembly includes a knee joint cover, a knee joint limit block, a calf connecting rod, a calf sewn connector, an IMU protection box and a direct-drive knee joint rotor connector; the thigh straight rod is connected to the motor module, the output end of the motor module is connected to the direct-drive knee joint rotor connector, the direct-drive knee joint rotor connector is hinged to one end of the calf connecting rod, the other end of the calf connecting rod is provided with a connecting groove, the calf sewn connector is connected to the connecting groove, and the calf sewn connector is connected to the second leg guard through the leg binding connector; the motor module is arranged in the knee joint cover, the knee joint limit block is arranged in the knee joint cover, and the knee joint limit block can limit the rotation angle of the direct-drive knee joint rotor connector; the IMU protection box is arranged on the calf sewn connector, the IMU protection box is provided with a first IMU sensor, and the first IMU sensor is connected to the controller.

[0011] Furthermore, the rotation direction of the calf connecting rod is perpendicular to the direct-drive knee joint rotor connecting piece.

[0012] Furthermore, the protective exoskeleton system also includes a foot component, which includes a foot sponge pad, a foot buckle, a foot strap, a side buckle, a connecting cloth, a sole, an adjustment strap and a second IMU sensor; the foot buckle is connected to the side buckle through the adjustment strap, the foot strap is connected to the side buckle, and the sole is connected to the side buckle through the connecting cloth, the foot sponge pad is arranged on the side of the foot buckle facing the user's foot, and the second IMU sensor is arranged on the side of the foot buckle away from the user's foot, and the second IMU sensor is connected to the controller.

[0013] Furthermore, the controller includes a controller outer shell, a controller inner shell, a main control board, a control button and a plug. The main control board is arranged in the controller inner shell, the controller inner shell is arranged in the controller outer shell, the controller outer shell is provided with the control button and the plug, and the control button and the plug are connected to the main control board.

[0014] Furthermore, a third IMU sensor is provided on the inner wall of the knee joint cover.

[0015] It can be seen from the analysis that the present invention discloses a modular protective exoskeleton system. The present invention adopts a motor to directly drive the knee joint, and designs a modular protective exoskeleton system in combination with a protective module. The overall structure has both protectiveness and light and flexible activities. The motor output torque arranged at the knee joint is used to compensate for the burden brought by the protective module while assisting the movement of the human knee joint. It has an adjustable structure in the length direction of the calf and leg, and the lateral displacement compensation ensures that the exoskeleton can adapt to users with different leg lengths, so that the joints of the exoskeleton and the joints of the human body are aligned to a certain extent. The leg binding combines ergonomics and uses flexible fabric as the lining, and is fixed with nylon adhesive tape. While improving the convenience and comfort of wearing the exoskeleton, it can also ensure that the power of the exoskeleton can be effectively transmitted to various joints of the human body, thereby reducing the movement burden of the joints of the lower limbs of the human body. The data obtained by the IMU sensors installed on the calf and leg and the foot can identify the human body's movement intention and provide assistance to the lower limbs of the human body in a timely manner through the motion control algorithm, and finally realize the functions of movement following, walking assistance and auxiliary weight bearing for the human body. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. Among them:

[0017] Figure 1 A schematic structural diagram of an embodiment of the present invention.

[0018] Figure 2A schematic diagram of a back assembly according to an embodiment of the present invention.

[0019] Figure 3 A schematic diagram of a waist component according to an embodiment of the present invention.

[0020] Figure 4 A schematic diagram of a thigh component according to an embodiment of the present invention.

[0021] Figure 5 A schematic diagram of a calf assembly according to an embodiment of the present invention.

[0022] Figure 6 Schematic diagram of a foot assembly according to an embodiment of the present invention.

[0023] Explanation of the reference numerals: 1. back component; 2. waist component; 3. thigh component; 4. calf component; 5. foot component; 6. shoulder Y-shaped connecting plate; 7. neck guard; 8. vest; 9. crotch guard; 10. back rod; 11. back binding module; 12. shoulder and back connector; 13. controller housing; 14. switch; 15. mode button; 16. force button; 17. force increase and decrease button; 18. plug; 19. controller inner housing; 20. belt fixing clip; 21. belt; 22. waist binding module; 23. battery box; 24. waist fixing plate; 25. armor waist connector; 26. hip joint Hinge connector; 27, hip joint fixing part; 28, leg binding connector; 29, thigh straight rod; 30, first leg guard; 31, thigh adjustment rod; 32, hip joint bearing cover; 33, knee joint cover; 34, knee joint limit block; 35, motor module; 36, calf connecting rod; 37, calf sewn connector; 38, IMU protection box; 39, second leg guard; 40, direct drive knee rotor connector; 41, foot sponge pad; 42, foot buckle; 43, foot drag; 44, side buckle; 45, connecting cloth; 46, sole; 47, adjustment cassette; 48, second IMU sensor. DETAILED DESCRIPTION

[0024] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments. Each example is provided by way of explanation of the present invention and does not limit the present invention. In fact, it will be clear to those skilled in the art that modifications and variations may be made in the present invention without departing from the scope or spirit of the present invention. For example, a feature shown or described as a part of one embodiment may be used in another embodiment to produce yet another embodiment. Therefore, it is desired that the present invention encompasses such modifications and variations within the scope of the appended claims and their equivalents.

[0025] In the description of the present invention, the terms "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and do not require that the present invention must be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention. The terms "connected", "connected" and "set" used in the present invention should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection; it can be a direct connection or an indirect connection through an intermediate component; it can be a wired electrical connection, a radio connection, or a wireless communication signal connection. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0026] One or more examples of the present invention are shown in the accompanying drawings. The detailed description uses numbers and letter labels to refer to features in the drawings. Like or similar labels in the drawings and description have been used to refer to like or similar parts of the present invention. As used herein, the terms "first", "second", "third", and "fourth", etc. are used interchangeably to distinguish one component from another and are not intended to indicate the location or importance of individual components.

[0027] like Figure 1-Figure 6 As shown, according to an embodiment of the present invention, a modular protective exoskeleton system is provided, comprising:

[0028] Back assembly 1, back assembly 1 includes shoulder Y-shaped connecting plate 6, neck guard 7, vest 8, crotch guard 9, back rod 10, back binding module 11 and shoulder and back connecting piece 12, Y-shaped connecting plate covers the upper part of vest 8, neck guard 7 is connected with the neck opening of vest 8, back binding module 11 is arranged on the back of vest 8, crotch guard 9 is arranged on the lower part of vest 8, when the user wears vest 8, crotch guard 9 can protect the crotch of the user, shoulder and back connecting piece 12 is arranged on the back of vest 8, back rod 10 is hinged with back connecting piece, crotch guard 9 is located between waist belt and waist of the user. .

[0029] The protective module neck guard 7 is used to protect the neck of the wearer, the Y-shaped connecting plate is covered on the upper part of the vest 8, the back binding module 11 is covered on the back of the vest 8, and the crotch guard 9 is connected to the vest 8; the upper body protective vest formed can effectively reduce the impact from the front, back and top of the wearer's upper body. The shoulder and back connector 12 is sewn on the back binding module 11, and the shoulder and back connector 12 is connected to the back rod 10 through a rotating shaft to provide rotational freedom.

[0030] A waist component 2, which can be worn on the waist of a user and is provided with a controller and a battery;

[0031] The above-mentioned waist component 2 also includes a belt fixing clip 20, a belt 21, a waist binding module 22, a battery box 23, a waist fixing plate 24, and an armor waist connecting piece 25; the belt 21 is tied to the waist binding module 22, the waist fixing plate 24 is arranged on the waist binding module 22, the armor waist connecting piece 25 is arranged on the waist binding module 22, the armor waist connecting piece 25 is connected to the back rod 10, the battery box 23 and the controller are arranged on the belt 21 through the belt fixing clip 20, and the battery is arranged in the battery box 23.

[0032] The above-mentioned controller includes a controller shell 13, a controller inner shell 19, a main control board, control buttons and a plug 18. The main control board is arranged in the controller inner shell 19, and the controller inner shell 19 is arranged in the controller shell 13. The controller shell 13 is provided with control buttons and a plug 18, and the control buttons and the plug 18 are connected to the main control board.

[0033] The above-mentioned controller buttons are usually mode buttons 15, force buttons 16, force increase / decrease buttons 17. The above-mentioned plug 18 is usually a male 1BT1A06 aviation plug. The armor waist connector 25 is fastened to the back component 1 by two screws. The other end of the armor waist connector 25 is connected to the waist fixing plate 24. The waist fixing plate 24 is connected and sewn on the waist binding module 22. The belt 21 is inserted into the waist binding module 22. The formed belt has multiple holes, and multiple belt fixing clips 20 can be inserted thereon. The controller housing 13 and the battery box 23 are both connected with belt fixing clips 20, which are inserted on the belt. The controller housing 13 is equipped with a switch 14, a mode button 15, a force button 16, a force increase / decrease button 17 and three male 1BT1A06 aviation plugs, which can be used to connect external signal lines. The upper part is covered with a controller inner shell 19 to protect electronic components. The shell contains a main control board, which is responsible for controlling the movement of the exoskeleton. It receives signals from the first IMU sensor and the second IMU sensor 48 and uses the intention recognition algorithm to analyze and calculate to form target parameters, such as torque values ​​or position values. The actuator is subjected to corresponding compliance control through the compliance control algorithm, thereby achieving motion control of the exoskeleton. The battery is used to power the main control board, sensors and joint motors, and the battery is usually a rechargeable battery. The waist binding module 22 can effectively reduce the impact from the wearer's waist.

[0034] A thigh component 3, one end of which is hinged to the waist component 2, and the thigh component 3 can be worn on the thigh of the user. The thigh component 3 includes a first leggings 30, and the first leggings 30 can protect the thigh of the user;

[0035] The above-mentioned thigh component 3 includes a hip joint hinge connector 26, a hip joint bearing cover 32, a hip joint fixing part 27, a thigh straight rod 29, a first leg guard 30 and a thigh adjustment rod 31; one end of the thigh straight rod 29 is connected to one end of the thigh adjustment rod 31, a radial ball bearing is provided on the hip joint fixing part 27, the other end of the thigh adjustment rod 31 is connected to the radial ball bearing, the hip joint hinge connector 26 is connected to the waist belt 21 through the waist belt fixing clip 20, the hip joint fixing part 27 is hinged to the hip joint fixing part 27 through the hip joint hinge connector 26, the hip joint bearing cover 32 is provided on the hip joint fixing part 27 and the radial ball bearing is located in the hip joint bearing cover 32; the first leg guard 30 is connected to the thigh straight rod 29 through the leg binding connector 28.

[0036] One end of the thigh adjustment rod 31 is provided with a sliding groove, and a plurality of positioning holes are provided on the outer wall of the thigh adjustment rod 31 corresponding to the sliding groove. The positioning holes are connected with the sliding groove, and the thigh straight rod 29 extends into the sliding groove. A fixing hole is provided on the thigh straight rod 29, and the adjusting screw is connected with the positioning hole and the fixing hole at the same time, thereby fixing the thigh adjustment rod 31 and the thigh straight rod 29.

[0037] The hip joint hinge connector 26 cooperates with the hip joint fixing member 27 through a pin to provide the rotational freedom of the thigh in the adduction / abduction direction. The hip joint fixing member 27 and the thigh adjustment rod 31 provide the rotational freedom of the thigh in the flexion / extension direction through a radial ball bearing, and are covered with a hip joint bearing cover 32. The thigh straight rod 29 can be inserted into the thigh adjustment rod 31 to form a sliding pair. There are several holes on the sides of the two leg rods. By changing the hole positions of the two leg rods, the overall length of the thigh rod can be changed, and it can be fixed by the thigh length adjustment screw. The first leg guard 30 is seamed with two upper and lower leg binding connectors 28. The leg binding connector 28 is installed in cooperation with the hole positions on the thigh straight rod 29, and can be aligned with different hole positions to adjust the binding protection position. The first leg guard 30 can effectively reduce the impact from the wearer's thigh.

[0038] The calf component 4 includes a motor module 35 and a second leg guard 39. The calf component 4 is connected to the thigh component 3 through the motor module 35. The motor module 35 can drive the calf component 4 to rotate. The calf component 4 can be worn on the user's calf, and the second leg guard 39 can protect the user's calf. The motor module 35 is connected to the controller and the battery. The battery can supply power to the motor module 35, and the controller can control the working state of the motor module 35.

[0039] The above-mentioned calf assembly 4 includes a knee joint cover 33, a knee joint limit block 34, a calf connecting rod 36, a calf sewn connector 37, an IMU protection box 38, a second leg guard 39 and a direct-drive knee joint rotor connector 40; the thigh straight rod 29 is connected to the motor module 35, the output end of the motor module 35 is connected to the direct-drive knee joint rotor connector 40, the direct-drive knee joint rotor connector 40 is hinged to one end of the calf connecting rod 36, and the other end of the calf connecting rod 36 is provided with a connecting groove The calf sewn connector 37 is connected to the connecting groove, and the calf sewn connector 37 is connected to the second leg guard 39 through the leg binding connector 28; the motor module 35 is arranged in the knee joint cover 33, and the knee joint cover 33 is provided with a knee joint limit block 34, and the knee joint limit block 34 can limit the rotation angle of the direct-drive knee joint rotor connector 40; the calf sewn connector 37 is provided with an IMU protection box 38, and the IMU protection box 38 is provided with a first IMU sensor, and the first IMU sensor is connected to the controller.

[0040] The rotation direction of the shank connecting rod 36 is perpendicular to the direct-drive knee trochanter connecting member 40 .

[0041] A third IMU sensor is disposed on the inner wall of the knee joint cover 33 , and the third IMU sensor can detect the posture of the user's thigh.

[0042] The thigh straight rod 29 in the thigh assembly 3 is fixed to the motor module 35 by screws. The motor module 35 is equipped with a first IMU sensor, a direct-drive knee joint rotor connector 40 and a knee joint limit block 34. The knee joint cover 33 is provided on the outside to protect the thigh IMU. The direct-drive knee joint rotor connector 40 cooperates with the calf connecting rod 36 through a pin shaft to provide rotational freedom in the adduction / abduction direction of the knee joint. The calf sewing connector 37 is connected to the calf connecting rod 36 through a connecting groove. By changing the position of the calf sewing connector 37 on the connecting groove, the distance of the calf sewing connector 37 away from the motor can be changed, which is suitable for people with different calf fatness and thinness. The calf sewing connector 37 and the connecting groove can be fixed by screws. There are two upper and lower leg binding connectors 28 in the middle seam of the protective module leg guard. The leg binding connector 28 is installed in coordination with the hole positions on the calf sewing connector 37, and can be aligned with different hole positions to adjust the binding protection position. The protective module shin guard can effectively reduce the impact from the wearer's calf.

[0043] The protective exoskeleton system further includes a foot component 5, which includes a foot sponge pad 41, a foot buckle 42, a foot towing strap 43, a side buckle 44, a connecting cloth 45, a sole 46, an adjustment strap 47 and a second IMU sensor 48;

[0044] The foot buckle 42 is connected to the side buckle 44 through an adjustment strap 47, the foot tug 43 is connected to the side buckle 44, the sole 46 is connected to the side buckle 44 through a connecting cloth 45, the foot sponge pad 41 is arranged on the side of the foot buckle 42 facing the user's foot, and a second IMU sensor 48 is arranged on the side of the foot buckle 42 away from the user's foot, and the second IMU sensor 48 is connected to the controller.

[0045] The foot component 5 is a component that is separately tied to the wearer's foot and is used to collect sensor information of the wearer's foot. The side buckle 44 has three holes, which are used for binding the sole, the back of the foot and the top of the foot respectively. The sole 46 is connected to the side buckles 44 on both sides through the sole 46 connecting cloth 45, and the rear of the two side buckles 44 are connected through the foot towing strap 43. One end of the front of the two side buckles 44 is connected to the adjustment strap 47, and one section is connected to the foot buckle 42. The foot sponge pad 41 is stuck in the adjustment strap 47, and the second IMU sensor 48 is installed on the upper part of the foot buckle 42 to collect foot data.

[0046] From the above description, it can be seen that the above-mentioned embodiments of the present invention achieve the following technical effects: the present invention adopts a motor to directly drive the knee joint, and designs a modular protective exoskeleton system in combination with a protective module. The overall structure has both protectiveness and light and flexible activities. The motor output torque arranged at the knee joint compensates for the burden brought by the protective module while assisting the movement of the human knee joint. It has an adjustable structure in the length direction of the calf and leg, and the lateral displacement compensation ensures that the exoskeleton can adapt to users with different leg lengths, so that the joints of the exoskeleton and the joints of the human body are aligned to a certain extent. The leg binding combines ergonomics and uses flexible fabric as the lining, and is fixed with nylon adhesive tape. While improving the convenience and comfort of wearing the exoskeleton, it can also ensure that the power of the exoskeleton can be effectively transmitted to various joints of the human body, thereby reducing the movement burden of the lower limb joints of the human body. The data obtained by the IMU sensors installed on the calf and leg and the foot can identify the human body's movement intention and provide assistance to the lower limbs of the human body in a timely manner through the motion control algorithm, and finally realize the functions of movement following, walking assistance and auxiliary weight bearing for the human body.

[0047] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A modular protective exoskeleton system, characterized in that: include: A waist component, which can be worn on the waist of a user and is provided with a controller and a battery; A thigh component, one end of which is hinged to the waist component, and the thigh component can be worn on the thigh of the user, and the thigh component includes a first leggings, and the first leggings can protect the thigh of the user; A calf assembly, the calf assembly includes a motor module and a second leg guard, the calf assembly is connected to the thigh assembly through the motor module, the motor module can drive the calf assembly to rotate, the calf assembly can be worn on the user's calf, and the second leg guard can protect the user's calf; The motor module is connected to both the controller and the battery, the battery can supply power to the motor module, and the controller can control the working state of the motor module.

2. A modular protective exoskeleton system according to claim 1, characterized in that: The protective exoskeleton system also includes a back assembly; The back component includes a shoulder Y-shaped connecting plate, a neck guard, a vest, a crotch guard, a back rod, a back binding module and a shoulder-back connecting piece. The Y-shaped connecting plate covers the upper part of the vest, the neck guard is connected to the neck opening of the vest, the back binding module is arranged on the back of the vest, and the crotch guard is arranged at the lower part of the vest. When the user wears the vest, the crotch guard can protect the crotch of the user. The shoulder-back connecting piece is arranged on the back of the vest, and the back rod is hinged to the back connecting piece.

3. A modular protective exoskeleton system according to claim 2, characterized in that: The waist assembly also includes a waist belt fixing clip, a waist belt, a waist binding module, a battery box, a waist fixing plate, and an armor waist connector; The waist belt is bound to the waist binding module, the waist fixing plate is arranged on the waist binding module, the armor waist connecting piece is arranged on the waist binding module, the armor waist connecting piece is connected to the back rod, the battery box and the controller are arranged on the waist belt through the waist belt fixing clip, and the battery is arranged in the battery box.

4. A modular protective exoskeleton system according to claim 3, characterized in that: The thigh assembly includes a hip joint hinge connector, a hip joint bearing cover, a hip joint fixing member, a thigh straight rod, a first leg guard and a thigh adjustment rod; One end of the thigh straight rod is connected to one end of the thigh adjustment rod, a radial ball bearing is provided on the hip joint fixing part, the other end of the thigh adjustment rod is connected to the radial ball bearing, the hip joint hinge connector is connected to the waist belt through the waist belt fixing clip, the hip joint fixing part is hinged to the hip joint fixing part through the hip joint hinge connector, the hip joint bearing cover is provided on the hip joint fixing part, and the radial ball bearing is located in the hip joint bearing cover; The first leg guard is connected to the thigh straight rod through a leg binding connector.

5. A modular protective exoskeleton system according to claim 4, characterized in that: A sliding groove is provided at one end of the thigh adjustment rod, and a plurality of positioning holes are provided on the outer wall of the thigh adjustment rod corresponding to the sliding groove, the positioning holes are communicated with the sliding groove, the thigh straight rod extends into the sliding groove, a fixing hole is provided on the thigh straight rod, and an adjusting screw is connected to the positioning hole and the fixing hole at the same time, thereby fixing the thigh adjustment rod and the thigh straight rod.

6. A modular protective exoskeleton system according to claim 4, characterized in that: The calf assembly includes a knee joint cover, a knee joint stopper, a calf connecting rod, a calf sewn connector, an IMU protection box and a direct-drive knee joint rotor connector; The thigh straight rod is connected to the motor module, the output end of the motor module is connected to the direct-drive knee joint rotor connector, the direct-drive knee joint rotor connector is hinged to one end of the calf connecting rod, the other end of the calf connecting rod is provided with a connecting groove, the calf sewing connector is connected to the connecting groove, and the calf sewing connector is connected to the second leg guard through the leg binding connector; The motor module is arranged in the knee joint cover, and a knee joint limit block is arranged in the knee joint cover, and the knee joint limit block can limit the rotation angle of the direct-drive knee joint rotor connector; The IMU protection box is provided on the calf sewing connector, a first IMU sensor is provided in the IMU protection box, and the first IMU sensor is connected to the controller.

7. A modular protective exoskeleton system according to claim 6, characterized in that: The rotation direction of the shank connecting rod is perpendicular to the direct-drive knee joint rotator connecting piece.

8. A modular protective exoskeleton system according to claim 6, characterized in that: The protective exoskeleton system also includes a foot component, which includes a foot sponge pad, a foot buckle, a foot traction strap, a side buckle, a connecting cloth, a sole, an adjustment cassette and a second IMU sensor; The foot buckle is connected to the side buckle through the adjustment strap, the foot strap is connected to the side buckle, the sole is connected to the side buckle through the connecting cloth, the foot sponge pad is arranged on the side of the foot buckle facing the user's foot, and the second IMU sensor is arranged on the side of the foot buckle away from the user's foot, and the second IMU sensor is connected to the controller.

9. A modular protective exoskeleton system according to claim 6, characterized in that: The controller comprises a controller outer shell, a controller inner shell, a main control board, a control button and a plug. The main control board is arranged in the controller inner shell, the controller inner shell is arranged in the controller outer shell, the controller outer shell is provided with the control button and the plug, and the control button and the plug are connected to the main control board.

10. A modular protective exoskeleton system according to claim 6, characterized in that: A third IMU sensor is arranged on the inner wall of the knee joint cover.

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