A multifunctional intelligent exoskeleton robot

Abstract

The present invention provides a multifunctional intelligent exoskeleton robot, relating to the field of robotics. The robot comprises a waist belt assembly, worn on the user's torso, equipped with a backpack assembly, carried on the back of the user's torso, the backpack assembly being fixedly connected to an air and water collection assembly and a boom assembly; two sets of hip and knee joint exoskeleton assemblies, worn on the user's legs, connected to the waist belt assembly via an energy storage assembly, and equipped with a quickly removable flotation assembly and a bulletproof assembly, which covers the user's knee joints; and two sets of ankle joint exoskeleton assemblies, worn on the user's feet. The present invention has a reasonable structure, with each component being quick to install and remove, a simple manufacturing process, a small number of parts, and high reliability.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a multifunctional intelligent exoskeleton robot. Background Art

[0002] Soldiers currently face a variety of combat missions in real-world scenarios, including carrying heavy loads, underwater rescue, tank-mounted casualties recovery, and field operations in uninhabited areas. In combat, soldiers often become incapacitated due to gunshot wounds to core areas such as the knee, and combat operations in uninhabited areas also face challenges such as water shortages. Exoskeletons currently developed for soldiers' combat needs cannot fully meet these demands. Summary of the Invention

[0003] Based on the technical problems raised above, a multifunctional intelligent exoskeleton robot is provided, which has the functions of carrying heavy objects to assist walking, underwater rescue, tank wounded rescue, bulletproof, and air water collection in uninhabited areas, thus solving the soldiers' multi-scenario combat needs.

[0004] The technical means adopted in the present invention are as follows:

[0005] A multifunctional intelligent exoskeleton robot, comprising:

[0006] A waist belt assembly is worn on the user's torso and is provided with a back assembly carried on the back of the user's torso, wherein the back assembly is fixedly connected to the air water collection assembly and the suspension arm assembly;

[0007] Two sets of hip and knee joint exoskeleton components are worn on the user's legs. The two sets of hip and knee joint exoskeleton components are connected to the waist belt component via the energy storage component. The hip and knee joint exoskeleton components are equipped with a quickly detachable flotation component and a bulletproof component. The bulletproof component covers the user's knee joints.

[0008] Two sets of ankle exoskeleton components, worn on the user's feet.

[0009] Furthermore, the quickly detachable floating component includes a magnet plate and a floating plate. The magnet plate is sewn into the floating plate and is fixedly connected to the stainless steel part of the hip and knee joint exoskeleton component by magnetic force.

[0010] Furthermore, the bulletproof component includes a ceramic layer, a carbon fiber layer and an aramid layer. The ceramic layer is U-shaped and is connected to the hip and knee joint exoskeleton component through a quick-release pin. The carbon fiber layer is bonded to the inner side of the ceramic layer, and the aramid layer is bonded to the inner side of the carbon fiber layer.

[0011] Furthermore, the air water collection assembly is a box-type structure with an uncovered top composed of five radiant cooling plates, wherein the five radiant cooling plates are respectively a first radiant cooling plate, a second radiant cooling plate, a third radiant cooling plate, a fourth radiant cooling plate and a fifth radiant cooling plate. The bottoms of the first radiant cooling plate, the second radiant cooling plate, the third radiant cooling plate and the fourth radiant cooling plate are all bonded to the fifth radiant cooling plate, and the fifth radiant cooling plate is connected to the back assembly through a quick-release pin.

[0012] Furthermore, the ankle exoskeleton assembly includes Pebax foam, a carbon fiber plate and a restraint belt, wherein the carbon fiber plate is arranged inside the Pebax foam, and the restraint belt is fixedly connected to the Pebax foam to constrain the ankle exoskeleton assembly to the user's foot.

[0013] Furthermore, the energy storage component is self-constrained on the hip and knee joint exoskeleton component and the waist belt component. When the user lifts his legs, the energy storage component contracts. When the user extends his legs forward, the energy storage component stretches, driving the user to move forward and store energy.

[0014] Furthermore, the energy storage component adopts an elastic rope, the two ends of the elastic rope are fixedly connected to the upper part of the two sets of hip and knee joint exoskeleton components, and the middle part of the elastic rope is fixedly connected to the back side of the user's back on the waist belt component.

[0015] Furthermore, the backpack assembly includes a rear backpack assembly, a front backpack assembly, a left backpack, a right backpack, a main backpack and a shoulder strap, the shoulder strap is fixedly connected to the front side of the main backpack, the main backpack is vertically arranged, the front backpack assembly is horizontally arranged and fixedly connected to the lower rear side of the main backpack, the left backpack and the right backpack are both vertically arranged and fixedly connected to the left and right sides of the front backpack assembly respectively, the front sides of the left backpack and the right backpack are both fixedly connected to the main backpack, the rear backpack assembly is rotatably connected to the rear side of the front backpack assembly, and the rear backpack assembly rotates around the front backpack assembly to a horizontal or vertical state.

[0016] Furthermore, the rear backpack assembly is rotatably connected to the front backpack assembly via a pin, the rear backpack assembly is provided with a first pin hole and a hole, and the front backpack assembly is provided with a second pin hole;

[0017] When the rear backpack assembly is rotated to a horizontal state, the quick-release pin is inserted into the first pin hole and the second pin hole to achieve a fixed connection between the rear backpack assembly and the front backpack assembly;

[0018] When the rear backpack assembly is rotated to a vertical state, the quick-release pin is inserted into the hole and connected to the second pin hole to achieve fixed connection between the rear backpack assembly and the front backpack assembly.

[0019] Furthermore, the boom assembly includes a support, a motor and a boom, the motor is mounted on the support, the support is mounted on the main back plate of the back assembly through a quick-release pin, and the output end of the motor is fixedly connected to the boom.

[0020] Compared with the prior art, the present invention has the following advantages:

[0021] 1. The multifunctional intelligent exoskeleton robot provided by the present invention has an ankle exoskeleton with the functions of storing energy and increasing stability. The hip joint is designed with an energy storage component to reduce the soldier's combat energy consumption and increase the soldier's walking stability.

[0022] 2. The multifunctional intelligent exoskeleton robot provided by the present invention has a quickly detachable floating component that can be connected to the stainless steel part of the hip and knee joint exoskeleton component through magnetic force. The connection is reliable and can assist soldiers in underwater combat and rescue.

[0023] 3. The multifunctional intelligent exoskeleton robot provided by the present invention is designed with an electric boom assembly to assist soldiers in rescuing wounded and sick tank personnel from the narrow space of the tank.

[0024] 4. The multifunctional intelligent exoskeleton robot provided by the present invention is equipped with a composite ceramic plate bulletproof component, which can protect the core joints of soldiers from being hit by bullets.

[0025] 5. The multifunctional intelligent exoskeleton robot provided by the present invention is equipped with a radiation cooling plate air water collection component, which can realize air water collection in uninhabited areas in the wild.

[0026] 6. The multifunctional intelligent exoskeleton robot provided by the present invention has a carrying component that can quickly switch between carrying objects and carrying human bodies, and can simultaneously have the functions of carrying objects and carrying human bodies.

[0027] 7. The multifunctional intelligent exoskeleton robot provided by the present invention has a reasonable structure, each component can be quickly assembled and disassembled, the manufacturing process is simple, the number of parts is small, and the reliability is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0029] Figure 1 It is a structural schematic diagram of a multifunctional intelligent exoskeleton robot in a specific embodiment of the present invention.

[0030] Figure 2 It is a schematic diagram of the structure of a quickly detachable floating assembly in a specific embodiment of the present invention.

[0031] Figure 3 It is a schematic structural diagram of a bulletproof component in a specific embodiment of the present invention.

[0032] Figure 4 It is a schematic structural diagram of the air water collection component in a specific embodiment of the present invention.

[0033] Figure 5 It is a schematic structural diagram of the boom assembly in a specific embodiment of the present invention.

[0034] Figure 6 It is a schematic diagram of the structure of the ankle exoskeleton component in a specific embodiment of the present invention.

[0035] Figure 7 It is a schematic diagram of the structure of the energy storage component in a specific embodiment of the present invention.

[0036] Figure 8 It is a schematic diagram of the posture of the carrying assembly for carrying a wounded person in a specific embodiment of the present invention.

[0037] Figure 9 It is a schematic diagram of the posture of the carrying component carrying an object in a specific embodiment of the present invention.

[0038] In the figure: 1. Quick-detachable flotation assembly; 2. Bulletproof assembly; 3. Hip and knee exoskeleton assembly; 4. Energy storage assembly; 5. Waist belt assembly; 6. Back assembly; 7. Air and water collection assembly; 8. Boom assembly; 9. Ankle exoskeleton assembly.

[0039] 1.1. Magnetic plate; 1.2. Floating plate;

[0040] 2.1, ceramic layer; 2.2, carbon fiber layer; 2.3, aramid layer;

[0041] 6.1. Quick-release pin; 6.2. Pin; 6.3. Hole; 6.4. Rear backpack assembly; 6.5. Front backpack assembly; 6.6. Left backpack; 6.7. Right backpack; 6.8. Main backpack; 6.9. Strap;

[0042] 7.1, first radiant cooling panel; 7.2, second radiant cooling panel; 7.3, third radiant cooling panel; 7.4, fourth radiant cooling panel; 7.5, fifth radiant cooling panel;

[0043] 8.1. Motor; 8.2. Boom;

[0044] 9.1. Pebax foam; 9.2. Carbon fiber plate; 9.3. Restraint strap. DETAILED DESCRIPTION

[0045] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0046] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0047] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0048] Unless otherwise specified, the relative arrangement of the parts and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be clear that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to actual proportional relationships. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of the exemplary embodiments can have different values. It should be noted that similar numbers and letters represent similar items in the following drawings, and therefore, once an item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0049] In the description of the present invention, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention: the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0050] For ease of description, spatially relative terms such as "above," "above," "on the upper surface of," and "above" may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is inverted, a device described as "above" or "on top of" another device or structure would then be positioned as "below" or "below" the other device or structure. Thus, the exemplary term "above" may include both the orientations of "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used herein should be interpreted accordingly.

[0051] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0052] like Figure 1As shown, the present invention provides a multifunctional intelligent exoskeleton robot comprising a quickly removable flotation assembly 1, a bulletproof assembly 2, two sets of hip and knee exoskeleton assemblies 3, an energy storage assembly 4, a waist belt assembly 5, a back assembly 6, an air and water collection assembly 7, a boom assembly 8, and two sets of ankle exoskeleton assemblies 9. The waist belt assembly 5 is worn on the user's torso, and the back assembly 6 is connected to the waist belt assembly 5 and carried on the user's back. The air and water collection assembly 7 and boom assembly 8 are fixedly connected to the back assembly 6. The two sets of hip and knee exoskeleton assemblies 3 are worn on the user's legs. The hip and knee exoskeleton assemblies 3 are fixedly connected to the legs via adhesive hook-and-loop straps (not shown). The two sets of hip and knee exoskeleton assemblies 3 are symmetrical and connected to the waist belt assembly 5 via the energy storage assembly 4. Each set of hip and knee exoskeleton assemblies 3 is equipped with a quickly removable flotation assembly 1 and a bulletproof assembly 2, which covers the user's knee joints. The two sets of ankle exoskeleton assemblies 9 are worn on the user's feet.

[0053] The quickly removable float assembly 1 is magnetically connected to the stainless steel portion of the hip and knee exoskeleton assembly 3, facilitating underwater combat and rescue operations. The bulletproof assembly 2 is connected to the hip and knee exoskeleton assembly 3 via quick-release pins, protecting the soldier's core joints from bullets. The energy storage assembly 4 is self-constrained to the two sets of hip and knee exoskeleton assemblies 3 and the waist belt assembly 5. When the user lifts their legs, the energy storage assembly 4 contracts. When the user extends their legs forward, the energy storage assembly 4 stretches, driving the user forward and storing energy, reducing the energy consumption associated with leg-lifting. The air water collection assembly 7 is connected to the backpack assembly 6 via quick-release pins, enabling air water collection in uninhabited areas. The boom assembly 8 is mounted to the backpack assembly 6 via quick-release pins, assisting soldiers in rescuing injured or sick tankers from the confined space of the tank.

[0054] like Figure 2 As shown, the quickly detachable floating component 1 includes a magnet plate 1.1 and a floating plate 1.2. The magnet plate 1.1 is sewn into the floating plate 1.2, and the magnet plate 1.1 is fixedly connected to the stainless steel part of the hip and knee joint exoskeleton component 3 by magnetic force.

[0055] like Figure 3As shown, the bulletproof assembly 2 includes a ceramic layer 2.1, a carbon fiber layer 2.2, and an aramid layer 2.3 arranged from outside to inside. The ceramic layer 2.1 is U-shaped, comprising an arcuate segment and straight segments connecting the two ends of the arcuate segment. The straight segments of the ceramic layer 2.1 are connected to the hip and knee joint exoskeleton assembly 3 via quick-release pins. The carbon fiber layer 2.2 is bonded to the inner side of the arcuate segment of the ceramic layer 2.1, and the aramid layer 2.3 is bonded to the inner side of the carbon fiber layer 2.2. The aramid layer 2.3 is located in front of and near the knee joint. Under the strong impact force, the ceramic layer 2.1 is partially shattered, forming a region of small and hard fragments. This process absorbs some of the bullet's kinetic energy. The carbon fiber layer 2.2 undergoes a certain degree of deformation, also absorbing some of the bullet's kinetic energy. The aramid layer 2.3 stretches and deforms to absorb residual energy, further slowing the bullet's velocity, inhibiting the propagation of cracks from impact, and improving the ability to withstand multiple strikes.

[0056] like Figure 4 As shown, the air water collection assembly 7 includes five radiant cooling panels (which can be homemade). These panels form a square box-like structure with an open top. The five panels are mounted on a first radiant cooling panel 7.1, a second radiant cooling panel 7.2, a third radiant cooling panel 7.3, a fourth radiant cooling panel 7.4, and a fifth radiant cooling panel 7.5. The bottoms of the first, second, third, and fourth radiant cooling panels 7.1, 7.2, 7.3, and 7.4 are bonded to the fifth radiant cooling panel 7.5. The fifth radiant cooling panel 7.5 serves as the bottom plate of the square box-like structure and is connected to the back assembly 6 via quick-release pins. The first, second, third, and fourth radiant cooling panels 7.1, 7.2, 7.3, and 7.4 serve as side panels around the square box-like structure, with adjacent side panels fixedly connected. The radiant cooling panels can lower their own temperature below the ambient temperature at night by radiating heat into space. When water vapor in the air encounters the surface of a radiant cooling plate with a lower temperature, the conditions for water vapor condensation are met (the temperature drops below the dew point), and the water vapor undergoes a phase change from gas to liquid, and then condenses into small water droplets on the surface of the plate, achieving air water collection.

[0057] like Figure 5 As shown, the boom assembly 8 includes a support, a motor 8.1 based on an STM32 single-chip microcomputer and a boom 8.2. The motor 8.1 is installed on the support, and the support is installed on the main back plate 6.8 of the back assembly 6 through a quick-release pin. The output end of the motor 8.1 is fixedly connected to the boom 8.2. The motor 8.1 based on the STM32 single-chip microcomputer controls the rotation of the boom 8.2 by forward and reverse rotation, thereby realizing the rising and falling of the boom 8.2.

[0058] like Figure 6As shown, the ankle exoskeleton assembly 9 comprises Pebax foam 9.1 (Pebax is a polyether-block polyamide), a carbon fiber plate 9.2, and a restraint strap 9.3. Pebax foam 9.1 is used by the human body to store energy expended during movement, reducing energy consumption. The carbon fiber plate 9.2, nestled within the Pebax foam 9.1, limits excessive flexion of the sole, maintaining structural stability and maintaining the normal foot shape and position. This prevents foot sway and misalignment caused by excessive sole deformation, reducing the risk of sprains. For example, during fast running or cornering, this helps distribute force more evenly across the sole, enhancing stability and providing added stability. The restraint strap 9.3 is fixedly attached to the Pebax foam 9.1, securing the ankle exoskeleton assembly 9 to the user's foot. The user's foot rests on the Pebax foam 9.1 and is secured by the restraint strap 9.3. Pebax foam molecules are composed of rigid polyamide segments and flexible polyether segments. Their unique structure causes the molecular chains to deform when subjected to external forces, storing energy, and then return to their original shape when the force is removed, releasing the energy. The fine cell structure formed by supercritical foaming can also act like a micro spring, storing energy under force and releasing energy when the external force disappears.

[0059] like Figure 7 As shown, the energy storage component 4 is an elastic rope, which is respectively constrained by the two groups of hip and knee joint exoskeleton components 3 and the waist belt component 5, wherein the two ends of the elastic rope are fixedly connected to the upper part of the two groups of hip and knee joint exoskeleton components 3, and the middle part of the elastic rope is fixedly connected to the back side of the waist belt component 5 located on the back of the human body. When the hip and knee joint exoskeleton components 3 help the human body to lift the legs, the energy storage component 4 contracts. When the hip and knee joint exoskeleton components 3 help the human body to lower the legs, the energy storage component 4 converts part of the gravitational potential energy of the human body's legs and the hip and knee joint exoskeleton components 3 into the elastic potential energy of the energy storage component 4. At this time, the energy storage component 4 is stretched and tensioned, and the waist belt component 5 is subjected to a forward tensioning constraint force, giving the human body a forward force. At the same time, the hip and knee joint exoskeleton components 3 are also subjected to an upward pulling force. In this embodiment, the hip and knee joint exoskeleton components 3 can adopt existing exoskeleton components.

[0060] like Figure 8 and Figure 9As shown, the backpack assembly 6 is a backpack assembly that can be quickly converted between carrying a wounded person and carrying an object, including a quick-release pin 6.1, a pin 6.2, a hole 6.3, a rear backpack plate assembly 6.4, a front backpack plate assembly 6.5, a left backpack plate 6.6, a right backpack plate 6.7, a main backpack plate 6.8 and a shoulder strap 6.9, the shoulder strap 6.9 is fixedly connected to the front side of the main backpack plate 6.8, the main backpack plate 6.8 is vertically arranged, the front backpack plate assembly 6.5 is horizontally arranged and fixedly connected to the rear side of the main backpack plate 6.8, the left backpack plate 6.6 and the right backpack plate 6.7 are fixedly connected to the front side of the main backpack plate 6.8, and the shoulder strap 6.9 is fixedly connected to the front side of the main backpack plate 6.8. .7 are both vertically arranged and fixedly connected to the left and right sides of the front backpack panel assembly 6.5, and the front sides of the left backpack panel 6.6 and the right backpack panel 6.7 are fixedly connected to the main backpack panel 6.8. The rear backpack panel assembly 6.4 is rotationally connected to the rear side of the front backpack panel assembly 6.5. The rear backpack panel assembly 6.4 rotates around the front backpack panel assembly 6.5 to a horizontal or vertical state. When the rear backpack panel assembly 6.4 rotates to a horizontal state, the backpack assembly 6 is used to carry the wounded; when the rear backpack panel assembly 6.4 rotates to a vertical state, the backpack assembly 6 is used to carry objects. The left and right sides of the rear backpack panel assembly 6.4 are provided with a first pin hole and a hole 6.3, and the left and right sides of the front backpack panel assembly 6.5 are provided with a second pin hole. As Figure 8 The figure shows the patient's carrying posture, with the rear backpack assembly 6.4 in a horizontal state. The rear backpack assembly 6.4 and the front backpack assembly 6.5 are fixed by the pin 6.2 and the quick-release pin 6.1. The quick-release pin 6.1 is inserted and connected in the first pin hole and the second pin hole. When the patient is carrying the patient, the upper surfaces of the rear backpack assembly 6.4 and the front backpack assembly 6.5 can be on the same plane. After the quick-release pin 6.1 is pulled out, the rear backpack assembly 6.4 can rotate around the pin 6.2. When the hole 6.3 is aligned with the second pin hole inserted with the quick-release pin 6.1 in the previous patient carrying posture, the quick-release pin 6.1 is inserted again to fix the rear backpack assembly 6.4 and the front backpack assembly 6.5. The rear backpack assembly 6.4 is in a vertical state, and the posture is converted to the following: Figure 9The object-carrying posture shown is as follows: in this posture, the rear backpack assembly 6.4, the front backpack assembly 6.5, the left backpack 6.6, the right backpack 6.7, and the main backpack 6.8 form a box-type structure with no top cover. The left backpack 6.6 and the right backpack 6.7 are used to protect objects and injured people. The main backpack 6.8 and the shoulder strap 6.9 are in contact with the human body. The main backpack 6.8 can be carried on the back of the human torso via the shoulder strap 6.9. The shoulder strap 6.9 is worn on the shoulders of the human body and includes a left shoulder strap and a right shoulder strap. Adjustment buckles can also be fixedly installed on the left and right shoulder straps to facilitate the user to adjust the length of the shoulder strap 6.9 according to usage requirements. In this embodiment, the left and right sides of the rear backpack assembly 6.4 have side panels. The side panels on both sides are provided with a first pin hole and a hole 6.3, and the side panels are rotatably connected to the front backpack assembly 6.5 via a pin 6.2. The left and right sides of the front backpack assembly 6.5 are provided with supporting side panels, the rear side of the supporting side panels extends a certain distance out of the front backpack assembly 6.5, and an L-shaped groove is provided at the extension. The rear backpack assembly 6.4 rotates at the L-shaped groove, and when the rear backpack assembly 6.4 is in a horizontal state, the front side of the side panel close to the front backpack assembly 6.5 is supported on the L-shaped groove.

[0061] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multifunctional intelligent exoskeleton robot, characterized in that: include: A waist belt assembly (5) is worn on the torso of a user and is provided with a back assembly (6) carried on the back of the torso of the user, wherein the back assembly (6) is fixedly connected to an air water collection assembly (7) and a suspension arm assembly (8); Two sets of hip and knee joint exoskeleton components (3) are worn on the legs of a user, the two sets of hip and knee joint exoskeleton components (3) are connected to a waist belt component (5) via an energy storage component (4), and the hip and knee joint exoskeleton components (3) are provided with a quickly detachable floating component (1) and a bulletproof component (2), and the bulletproof component (2) is wrapped around the knee joints of the user's legs; Two sets of ankle exoskeleton components (9) worn on the user's feet; The quickly detachable floating assembly (1) comprises a magnet plate (1.1) and a floating plate (1.2); the magnet plate (1.1) is sewn into the floating plate (1.2) and is fixedly connected to the stainless steel portion of the hip and knee joint exoskeleton assembly (3) by magnetic force; the connection is reliable and can assist soldiers in underwater combat and rescue; The backpack assembly (6) comprises a rear backpack plate assembly (6.4), a front backpack plate assembly (6.5), a left backpack plate (6.6), a right backpack plate (6.7), a main backpack plate (6.8) and a shoulder strap (6.9), wherein the shoulder strap (6.9) is fixedly connected to the front side of the main backpack plate (6.8), the main backpack plate (6.8) is arranged vertically, the front backpack plate assembly (6.5) is arranged horizontally and fixedly connected to the lower rear side of the main backpack plate (6.8), and the left backpack plate (6.9) is fixedly connected to the front side of the main backpack plate (6.8). The backpack plate (6.6) and the right backpack plate (6.7) are both vertically arranged and fixedly connected to the left and right sides of the front backpack plate assembly (6.5), respectively; the front sides of the left backpack plate (6.6) and the right backpack plate (6.7) are both fixedly connected to the main backpack plate (6.8); the rear backpack plate assembly (6.4) is rotatably connected to the rear side of the front backpack plate assembly (6.5); and the rear backpack plate assembly (6.4) rotates around the front backpack plate assembly (6.5) to a horizontal or vertical state; The rear backpack assembly (6.4) is rotatably connected to the front backpack assembly (6.5) via a pin (6.2); a first pin hole and a hole (6.3) are provided on the rear backpack assembly (6.4); and a second pin hole is provided on the front backpack assembly (6.5); When the rear backpack assembly (6.4) is rotated to a horizontal state, the quick-release pin (6.1) is inserted and connected to the first pin hole and the second pin hole, thereby achieving a fixed connection between the rear backpack assembly (6.4) and the front backpack assembly (6.5); When the rear backpack assembly (6.4) is rotated to a vertical state, the rear backpack assembly (6.4) and the front backpack assembly (6.5) are fixedly connected by inserting the quick-release pin (6.1) into the hole (6.3) and the second pin hole; The carrying component (6) has the ability to quickly switch between carrying objects and carrying people, and can simultaneously have the functions of carrying objects and carrying people; The air water collection component (7) is a box-type structure with no top cover and composed of five radiant cooling plates, which can realize air water collection in uninhabited areas outdoors; The boom assembly (8) is mounted on the main back plate (6.8) via a quick-release pin, so that auxiliary soldiers can rescue tank wounded and sick personnel in the narrow space of the tank; the boom assembly (8) comprises a support, a motor (8.1) and a boom (8.2), wherein the motor (8.1) is mounted on the support, and the support is mounted on the main back plate (6.8) of the back assembly (6) via a quick-release pin, and the output end of the motor (8.1) is fixedly connected to the boom (8.2).

2. The multifunctional intelligent exoskeleton robot according to claim 1, characterized in that: The bulletproof component (2) comprises a ceramic layer (2.1), a carbon fiber layer (2.2) and an aramid layer (2.3); the ceramic layer (2.1) is U-shaped and is connected to the hip and knee joint exoskeleton component (3) via a quick-release pin; the carbon fiber layer (2.2) is bonded to the inner side of the ceramic layer (2.1); and the aramid layer (2.3) is bonded to the inner side of the carbon fiber layer (2.2).

3. The multifunctional intelligent exoskeleton robot according to claim 1, characterized in that: The five radiant cooling plates are respectively a first radiant cooling plate (7.1), a second radiant cooling plate (7.2), a third radiant cooling plate (7.3), a fourth radiant cooling plate (7.4) and a fifth radiant cooling plate (7.5); the bottoms of the first radiant cooling plate (7.1), the second radiant cooling plate (7.2), the third radiant cooling plate (7.3) and the fourth radiant cooling plate (7.4) are all bonded to the fifth radiant cooling plate (7.5); and the fifth radiant cooling plate (7.5) is connected to the back assembly (6) via a quick-release pin.

4. The multifunctional intelligent exoskeleton robot according to claim 1, characterized in that: The ankle joint exoskeleton component (9) comprises Pebax foam (9.1), a carbon fiber plate (9.2) and a restraint belt (9.3), wherein the carbon fiber plate (9.2) is arranged inside the Pebax foam (9.1), and the restraint belt (9.3) is fixedly connected to the Pebax foam (9.1) and is used to restrain the ankle joint exoskeleton component (9) and the user's foot.

5. The multifunctional intelligent exoskeleton robot according to claim 1, characterized in that: The energy storage component (4) is constrained on the hip and knee joint exoskeleton component (3) and the waist belt component (5) by self-tie. When the user lifts his legs, the energy storage component (4) contracts. When the user extends his legs forward, the energy storage component (4) stretches, drives the user to move forward and stores energy.

6. The multifunctional intelligent exoskeleton robot according to claim 5, characterized in that: The energy storage component (4) adopts an elastic rope, the two ends of which are fixedly connected to the upper parts of the two sets of hip and knee joint exoskeleton components (3), and the middle part of the elastic rope is fixedly connected to the back side of the user's back on the waist belt component (5).

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