Wearable individual heavy firepower exoskeleton assisting system

Abstract

The invention discloses a wearable individual soldier heavy firepower exoskeleton assisting system, and relates to the technical field of individual soldier equipment assisting.The system comprises a wearable mechanism which comprises two supporting seats and two waist supporting plates; a supporting mechanism is arranged on the waist supporting plate and comprises an adjustable manipulator; the two buffering mechanisms are arranged on the two supporting seats respectively and comprise buffering shells connected in a hinged mode, accompanying clamping blocks connected in a sliding mode are arranged in the buffering shells, and containing grooves are formed in the accompanying clamping blocks to form containing spaces; a connecting plate and a buffer unit are arranged between the buffer shell and the accompanying clamping block in the buffer shell; a first guide groove and four second guide grooves are formed in the connecting plate, the buffer unit is provided with a first connecting part and a second connecting part, the first connecting part penetrates through the first guide groove and is connected with the corresponding accompanying clamping block, and the second connecting part corresponds to the second guide groove and is in sliding connection with the second guide groove; the recoil force of a single-soldier weapon launching shell is consumed through the buffering mechanism, and therefore the weapon shooting stability and maneuverability are improved.

Description

Technical Field

[0001] The present invention generally relates to the field of individual soldier equipment assistance technology, and specifically relates to a wearable individual soldier heavy firepower exoskeleton assistance system. Background Art

[0002] As modern warfare becomes increasingly complex, its high-intensity combat environments place higher demands on individual combat capabilities. Traditional individual equipment, due to the limitations of human physiology, often struggles in actual combat when carrying heavy weapons and performing high-load missions. Soldiers struggle to maintain firepower output while also maintaining adequate protection and battlefield mobility.

[0003] As an advanced technology that enhances human capabilities, individual exoskeleton systems significantly improve soldiers' strength, endurance, and protective capabilities through mechanical structures and power systems, and have become a hot research and development topic in the military science and technology field. The use of heavy firepower has increased significantly, especially when facing targets such as armored clusters and fortified structures. Furthermore, when operating weapons such as anti-tank rocket launchers and large-caliber machine guns, soldiers must withstand the immense recoil and impact loads, which can easily cause muscle strain, scapular bruising, or shoulder dislocation in the shoulder. This results in poor maneuverability of these heavy firepower weapons in actual combat, leading to a high risk of battlefield casualties. Summary of the Invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, it is desired to provide a wearable individual heavy firepower exoskeleton assist system that improves the stability and maneuverability of weapon shooting.

[0005] This application provides a wearable individual heavy firepower exoskeleton power assist system, comprising: A donning mechanism connected to the upper limbs of the human body, comprising two support seats corresponding to the shoulders of the human body and two waist support plates corresponding to the waist of the human body; a supporting mechanism is provided on the waist support plate, and the supporting mechanism includes an adjustable manipulator; Two buffer mechanisms, each disposed on the two support seats, cooperate with the manipulator to clamp individual weapons; the buffer mechanism comprises: two hingedly connected buffer shells, each provided with a slidably connected accompanying clamping block, each provided with a receiving groove, the receiving grooves of the two accompanying clamping blocks being arranged opposite to each other and forming a receiving space for placing individual weapons; a connecting plate and at least one deformable buffer unit are provided between the buffer shells and the accompanying clamping blocks therein; The connecting plate is provided with a first guide groove and four second guide grooves, the length direction of the first guide groove is arranged parallel to the sliding direction of the accompanying clamping block, and the length direction of the second guide groove is arranged perpendicular to the length direction of the first guide groove; the buffer unit has a first connecting portion and four second connecting portions, the first connecting portion passes through the first guide groove and is connected to the corresponding accompanying clamping block, and the second connecting portions correspond to the second guide grooves one by one and are slidably connected; When the individual weapon clamped between the manipulator and the accommodating space fires a shell, the individual weapon and the accompanying clamping block slide synchronously along the buffer shell, thereby driving the first connecting part to move along the first guide groove and the second connecting part to move along the second guide groove, so that the buffer unit is deformed to dissipate the recoil force generated by the individual weapon firing the shell.

[0006] According to the technical solution provided in the embodiment of the present application, the buffer unit includes: A pair of buffer structures, each comprising two buffer connecting rods, the buffer connecting rods of the two buffer structures being cross-arranged and hingedly connected via a first pin, the end of the first pin forming the first connecting portion; the end of the buffer connecting rod being hingedly connected to a second pin, the end of the second pin forming the second connecting portion; The damper is arranged between two second pin shafts connected by two buffer connecting rods of the same buffer structure; a shock absorbing spring is sleeved on the damper.

[0007] According to the technical solution provided in the embodiment of the present application, rolling bearings are respectively provided at the end of the first pin shaft and the end of the second pin shaft.

[0008] According to the technical solution provided in the embodiment of the present application, the wearing mechanism includes: A backboard, one side of which is adapted to fit the back of a human body, and the other side of which is provided with a back support body; one side of the back support body is provided with a height adjustment sleeve; A back support, the back support being arranged at one end of the height adjustment sleeve away from the back support body, and the back support being rotatably connected to the two support seats; A lumbar support tube, the lumbar support tube being connected to the back support body via a lumbar connecting tube; the lumbar support tube being provided with two lumbar supports, the lumbar supports being connected one-to-one with the lumbar support plate, and the lumbar support plate being connected to the back plate via a lumbar connecting belt; A waist support pad is provided on a side of the back plate away from the back support, and is used to fit the waist of a human body; A pair of shoulder straps, both of which are arranged on the back plate and corresponding to the shoulders of the human body; the free ends of the shoulder straps are connected to the breastplate through locking members; the shoulder straps are also provided with shoulder pads, which can contact the shoulders of the human body; A pair of waist belts are both arranged on the back support body, the free ends of the two waist belts are connected by the locking member, and the waist belts are connected to the breastplate through the locking member.

[0009] According to the technical solution provided in the embodiment of the present application, a power supply is also provided on the back panel and is arranged on the same side as the back support body. The power supply is used to power the electrical components of the wearable individual heavy firepower exoskeleton power assistance system.

[0010] According to the technical solution provided in the embodiment of the present application, the support seat includes: A first adjustment arm, a second adjustment arm, and a third adjustment arm are rotatably connected in sequence, wherein the first adjustment arm is rotatably connected to the back support, and the third adjustment arm is connected to the waist support plate; The first adjustment arm is used to adjust the folding or unfolding state of the corresponding buffer mechanism relative to the back plate; the second adjustment arm is used to adjust the azimuth angle of the corresponding buffer mechanism; and the third adjustment arm is used to adjust the pitch angle of the corresponding buffer mechanism.

[0011] According to the technical solution provided in the embodiment of the present application, the support mechanism also includes The fixed arm, the rotary arm and the right-angle arm are connected in rotation in sequence, the free end of the fixed arm is connected to the corresponding waist support plate, and the free end of the right-angle arm is connected to the manipulator in a transmission manner; The fixed arm is used to drive the rotating arm to rotate, and the right-angle arm is used to adjust the pitch angle of the individual weapon clamped by the manipulator.

[0012] According to the technical solution provided in the embodiment of the present application, a pad is provided on the inner wall of the accompanying clamping block.

[0013] According to the technical solution provided in the embodiment of the present application, a first clamping member is provided on one buffer shell of the same buffer mechanism, and a second clamping member is provided on the other buffer shell; When the first clamping member and the second clamping member are clamped together, the two buffer shells of the same buffer mechanism are locked to clamp the individual weapon located in the accommodating space.

[0014] According to the technical solution provided in the embodiment of the present application, it also includes: a lower limb mechanism rotatably connected to the waist support plate; The lower limb mechanism includes: a thigh exoskeleton, a calf exoskeleton and a plantar structure that are rotatably connected in sequence. The free end of the thigh exoskeleton is rotatably connected to the lumbar support plate. The connection position between the thigh exoskeleton and the lumbar support plate and the connection position between the thigh exoskeleton and the calf exoskeleton are respectively provided with a driving structure, and the driving structure is used to drive the corresponding thigh exoskeleton or calf exoskeleton to rotate; the plantar structure is used to fit with the human foot.

[0015] It can be seen from the above technical solution that this application has at least the following beneficial effects: The present application provides a wearable individual heavy-fire exoskeleton power-assisting system, comprising: a wearing mechanism, the wearing mechanism is connected to the upper limbs of the human body, the wearing mechanism comprises two support seats arranged corresponding to the shoulders of the human body and two waist support plates arranged corresponding to the waist of the human body; a supporting mechanism is provided on the waist support plate, and the supporting mechanism comprises an adjustable manipulator; two buffer mechanisms, which are respectively arranged on the two support seats, and the buffer mechanism and the manipulator are used in conjunction to clamp individual weapons; the buffer mechanism comprises: two hinged buffer shells, a slidingly connected accompanying clamping block is provided in the buffer shell, and a accommodating groove is provided on the accompanying clamping block, and the accommodating grooves of the two accompanying clamping blocks are arranged oppositely and form an accommodating space for placing individual weapons; a connecting plate and at least one are provided between the buffer shell and the accompanying clamping block inside the buffer shell. a deformable buffer unit; a first guide groove and four second guide grooves are provided on the connecting plate, the length direction of the first guide groove is parallel to the sliding direction of the accompanying clamping block, and the length direction of the second guide groove is perpendicular to the length direction of the first guide groove; the buffer unit has a first connecting part and four second connecting parts, the first connecting part passes through the first guide groove and is connected to the corresponding accompanying clamping block, and the second connecting part corresponds to the second guide groove one by one and is slidably connected; when the individual weapon clamped by the manipulator and the accommodating space fires a shell, the individual weapon and the accompanying clamping block slide synchronously along the buffer shell, thereby driving the first connecting part to move along the first guide groove and the second connecting part to move along the second guide groove, so that the buffer unit is deformed to dissipate the recoil force generated by the individual weapon firing the shell.

[0016] The present application uses a wearing mechanism to closely fit the upper limbs and waist of the human body, and uses the adjustable manipulator on the waist support plate and the buffer mechanism on the support seat to clamp the individual weapon. The buffer shell connected in an articulated manner, the accompanying clamping block connected in a sliding manner, and the buffer unit connected to the accompanying clamping block and the connecting plate in the buffer mechanism work together. When the individual weapon fires a shell and generates recoil, the individual weapon and the accompanying clamping block slide synchronously. Since the first connecting part of the buffer unit is connected to the corresponding accompanying clamping block, the accompanying clamping block can drive the first connecting part of the buffer unit to move along the first guide groove when sliding. In addition, the second connecting part moves along the second guide groove, thereby causing the buffer unit to deform. That is, based on the principle of energy conversion, the deformation of the buffer unit can convert the kinetic energy of the recoil generated by the individual weapon firing the shell into other forms of energy (such as heat energy) of the buffer unit, thereby effectively dissipating the recoil, which not only reduces the impact force borne by the wearer when shooting, reduces fatigue and injury risks, but also improves the stability and accuracy of shooting. At the same time, the adjustable manipulator adapts to different combat scenarios and weapon types, enhances the flexibility and practicality of individual equipment, and helps soldiers fight efficiently in complex battlefield environments. BRIEF DESCRIPTION OF THE DRAWINGS Other features, objects and advantages of the present application will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings.

[0017] Figure 1 This is a schematic diagram of the overall structure of the wearable individual heavy firepower exoskeleton assistance system.

[0018] Figure 2 Schematic diagram of the structure of the buffer mechanism.

[0019] Figure 3 Schematic diagram of the structure of the buffer unit.

[0020] Figure 4 Schematic diagram of the support structure.

[0021] Figure 5 It is a front view schematic diagram of the wearing mechanism.

[0022] Figure 6 Schematic diagram of the rear view of the wearing mechanism.

[0023] Figure 7 It is a structural diagram of the support seat.

[0024] Figure 8 Schematic diagram of the structure of the lower limb mechanism.

[0025] Numbers in the figure: 1.1, fixed housing; 1.2, slider guide; 1.3, accompanying clamping block; 1.4, gasket; 1.5, hinge; 1.6, connecting plate; 1.7, buffer unit; 1.7.1, rolling bearing; 1.7.2, buffer connecting rod; 1.7.3, second pin shaft; 1.7.4, damper; 1.7.5, shock-absorbing spring; 1.8, second clamping part; 2.1, fixed arm; 2.2, synchronous belt; 2.3, first stepper motor; 2.4, transmission shaft; 2.5, slewing arm; 2.6, first hysteresis brake; 2.7, right-angle arm; 2.8, second hysteresis brake; 2.9, lifting rack; 2.10, ball bushing guide assembly; 2.11, second stepper motor; 2.12, manipulator; 3.1, shoulder strap; 3.2, shoulder pad; 3.3, locking piece; 3 .4. Breastplate; 3.5. Waist belt; 3.6. Lumbar support plate; 3.7. Lumbar support; 3.8. Lumbar support tube; 3.9. Lumbar pad; 3.10. Back plate; 3.11. Support seat; 3.11.1. Transmission flange; 3.11.2. Third hysteresis brake; 3.11.3. First adjustment arm; 3.11.4. Second adjustment arm; 3.11.5 Third adjustment arm; 3.12. Frame cover; 3.13. Back support; 3.14. Power supply; 3.15. Lumbar and back connecting belt; 3.16. Lumbar connecting tube; 3.17. Height adjustment sleeve; 4.1. Hip joint motor; 4.2. Calf joint motor; 4.3. Foot strap; 4.4. Plantar structure; 4.5. Foot buckle; 4.6. Ankle connecting rod; 4.7. Calf exoskeleton; 4.8. Thigh exoskeleton. DETAILED DESCRIPTION

[0026] The present application will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely for the purpose of explaining the relevant invention and are not intended to limit the invention. It should also be noted that, for ease of description, only portions relevant to the invention are shown in the accompanying drawings.

[0027] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0028] To make the description of the following embodiments clear and concise, a brief introduction to the related technologies is first given: Individual combat refers to the ability and operational mode of a single soldier to independently carry out combat missions in a battlefield or mission environment. Individual equipment is a complete set of equipment and devices designed for a single soldier, including combat, protection, communication, and support functions.

[0029] Take the PF-98A 120mm rocket launcher as an example. The rocket launcher weighs 7kg, the armor-piercing round weighs 7.91kg, the multi-purpose round weighs 7.42kg, and the assault round weighs 8.6kg. As a battalion-level anti-tank weapon, the PF-98A rocket launcher squad consists of 7 to 8 people, and the company-level squad also requires 2 to 3 people. At the company level, a two-person team, the main gunner carries the rocket launcher, and the assistant gunner carries two packaged rockets and some necessary equipment. Each person will carry a load of approximately 30kg. Long-term heavy marches for the PF-98A rocket launcher will significantly increase the incidence of muscle strain and knee joint injuries. In addition, the linear impact force generated by the weapon during firing directly acts on the shoulder, which may cause muscle strain, scapular bruising, or shoulder dislocation. During the firing process, the assistant must first secure the U-shaped bracket, while the shooter raises the PF-98A to aim. After aiming, the assistant must lock the U-shaped bracket to its proper height before loading and firing the ammunition. After firing, the U-shaped bracket must be retracted. This series of steps results in the PF-98A's maneuverability being poor in actual combat, increasing the risk of battlefield casualties. Therefore, while the PF-98A possesses powerful destructive capabilities, its weight, recoil, and maneuverability are key factors limiting its combat effectiveness.

[0030] In view of this, the present application provides a wearable individual heavy-fire exoskeleton assist system, which fits tightly to the upper limbs and waist of the human body through the wearing mechanism, and uses the adjustable manipulator on the waist support plate and the buffer mechanism on the support seat to clamp the individual weapon. Among them, the hinged buffer shell, the slidingly connected accompanying clamping block and the buffer unit connected to the accompanying clamping block and the connecting plate in the buffer mechanism work together. When the individual weapon fires a shell and generates recoil, the individual weapon and the accompanying clamping block slide synchronously. Since the first connecting part of the buffer unit is connected to the corresponding accompanying clamping block, the accompanying clamping block can drive the buffer when it slides. The first connecting part of the buffer unit moves along the first guide groove, and the second connecting part moves along the second guide groove, thereby causing the buffer unit to deform. That is, based on the principle of energy conversion, the deformation of the buffer unit can convert the kinetic energy of the recoil generated by the individual weapon firing the shell into the elastic potential energy of the buffer unit, thereby effectively dissipating the recoil force, which not only reduces the impact force borne by the wearer when shooting, reduces fatigue and injury risks, but also improves the stability and accuracy of shooting. At the same time, the adjustable manipulator adapts to different combat scenarios and weapon types, enhances the flexibility and practicality of individual equipment, and helps soldiers fight efficiently in complex battlefield environments.

[0031] In order to make the wearable individual heavy firepower exoskeleton power assist system provided in the embodiment of the present application clearer and easier to understand, the system is introduced below with reference to the accompanying drawings. Figure 1As shown in the figure, this figure is a schematic diagram of the overall structure of the wearable individual heavy firepower exoskeleton power assist system provided in an embodiment of the present application, which includes: The donning mechanism is connected to the upper limbs of the human body and includes two support seats 3.11 corresponding to the shoulders of the human body and two waist support plates 3.6 corresponding to the waist of the human body; a support mechanism is provided on the waist support plates 3.6, and the support mechanism includes an adjustable manipulator 2.12; Two buffer mechanisms, one mounted on each of the two support bases 3.11, cooperate with the manipulator 2.12 to clamp individual weapons. The buffer mechanisms include: two hingedly connected buffer shells 1.1, each housing a slidably connected accompanying clamping block 1.3. Each accompanying clamping block 1.3 has a receiving groove. The receiving grooves of the two accompanying clamping blocks 1.3 are arranged opposite each other to form a receiving space for the individual weapon. A connecting plate 1.6 and at least one deformable buffer unit 1.7 are provided between the buffer shells 1.1 and the accompanying clamping blocks 1.3 therein. The connecting plate 1.6 is provided with a first guide groove and four second guide grooves. The length direction of the first guide groove is parallel to the sliding direction of the accompanying clamping block 1.3, and the length direction of the second guide groove is perpendicular to the length direction of the first guide groove. The buffer unit 1.7 has a first connecting portion and four second connecting portions. The first connecting portion passes through the first guide groove and is connected to the corresponding accompanying clamping block 1.3. The second connecting portions correspond to the second guide grooves one by one and are slidably connected. When the individual weapon clamped between the manipulator 2.12 and the accommodating space fires a shell, the individual weapon and the accompanying clamping block 1.3 slide synchronously along the buffer shell 1.1, thereby driving the first connecting part to move along the first guide groove and the second connecting part to move along the second guide groove, causing the buffer unit 1.7 to deform to dissipate the recoil force generated by the individual weapon firing the shell.

[0032] It should be noted that the wearing mechanism is used to fix the system and the upper limbs of the human body together, providing stable support to ensure that the system can move synchronously with the movement of the human body. There are two support seats 3.11, which are set corresponding to the shoulders of the human body, supporting the buffer mechanism. The support seats 3.11 can also disperse part of the load borne by the shoulders, reducing the load on the shoulders of the human body to a certain extent. There are two lumbar support plates 3.6, which are set on both sides of the human waist to support the corresponding support mechanism.

[0033] The support mechanism includes a manipulator 3.12, mounted on a waist support plate 3.6, for gripping the center or head of an individual weapon. The adjustable function of manipulator 3.12 allows manipulator 3.16 to adapt to different types of individual weapons, such as rifles and machine guns. Manipulator 3.16 works in conjunction with a buffer mechanism, which grips the tail of the individual weapon, ensuring it remains stable during firing.

[0034] There are two buffer mechanisms, each mounted on a corresponding support base 3.11 on each shoulder. Each buffer mechanism includes two hingedly connected buffer shells 1.1. The two buffer shells 1.1 can be hingedly connected by a hinge 1.5, meaning one buffer shell 1.1 can rotate relative to the other buffer shell 1.1 around the hinge 1.5, allowing individual weapons to be mounted within the two buffer shells 1.1. Each buffer shell 1.1 is provided with a slider guide 1.2 extending along the length of the buffer shell 1.1. For example, there are two slider guides 1.2, one located on each of the two corresponding side walls of the buffer shell 1.1. The accompanying clamping block 1.3 is provided with two matching sliding protrusions. The sliding protrusions on the accompanying clamping block 1.3 can slide along the slider guides 1.2 on the corresponding buffer shell 1.1, achieving a sliding connection between the accompanying clamping block 1.3 and the buffer shell 1.1. The accompanying clamping block 1.3 is provided with a receiving groove, which is arranged relative to each other to form a receiving space for placing individual weapons.

[0035] The connecting plate 1.6 is arranged inside the buffer shell 1.1, and the connecting plate 1.6 has a first guide groove and four second guide grooves; here, the length direction of the first guide groove is parallel to the sliding direction of the accompanying clamping block 1.3 (that is, along the recoil direction of the weapon), and the length direction of the second guide groove is perpendicular to the first guide groove (that is, the vertical direction), which is used to guide the lateral movement of the buffer unit 1.7.

[0036] The number of the buffer unit 1.7 is at least one, such as Figure 2As shown, there are two buffer units 1.7, and the buffer units 1.7 have a first connecting part and four second connecting parts. The first connecting part passes through the first guide groove and is fixedly connected to the accompanying clamping block 1.3, and can slide along the first guide groove following the sliding of the accompanying clamping block 1.3. The four second connecting parts are respectively slidably connected to the four second guide grooves and can move in a direction perpendicular to the recoil force. Here, the buffer unit 1.7 has the ability to deform. When the first connecting part and the second connecting part move, the buffer unit 1.7 can be deformed to dissipate the recoil force generated by the individual weapon firing the shell; the transmission path of the force is: the recoil force of the individual weapon → the accompanying clamping block 1.3 → the first connecting part of the buffer unit 1.7 → the second connecting part of the buffer unit 1.7, that is, the deformation process of the buffer unit converts the kinetic energy of the recoil force into its own elastic potential energy (or thermal energy), thereby dissipating the impact force, reducing the direct impact on the soldier's shoulders and waist, and effectively reducing the impact of the recoil on the shooting accuracy, especially when using continuous or heavy weapons, which can significantly improve the soldier's sustained combat capability and hit rate.

[0037] Here, this system is suitable for scenarios where heavy individual weapons need to be carried or used for a long time, such as: the use of high-powered weapons such as machine guns and rocket launchers in infantry assault operations; scenarios where special forces need stable shooting when performing infiltration missions; environments that require rapid response and accurate shooting in street fighting or complex terrain, etc.

[0038] Furthermore, if Figure 3 As shown, the buffer unit 1.7 includes: A pair of buffer structures, each buffer structure including two buffer connecting rods 1.7.2, the buffer connecting rods 1.7.2 of the two buffer structures are arranged crosswise and hingedly connected by a first pin, the end of the first pin forming a first connecting portion; the end of the buffer connecting rod 1.7.2 is hingedly connected to a second pin 1.7.3, the end of the second pin 1.7.3 forming a second connecting portion; The damper 1.7.4 is arranged between two second pin shafts 1.7.3 connected by two buffer connecting rods 1.7.2 of the same buffer structure; a shock absorbing spring 1.7.5 is sleeved on the damper 1.7.4.

[0039] It should be noted that each buffer unit 1.7 includes a pair of buffer structures, and each buffer structure includes two buffer links 1.7.2, which are cross-arranged in an X-shape. The intersection of the two buffer links 1.7.2 is hingedly connected by a first pin shaft, so that the intersection forms a rotatable fulcrum. Here, the intersection of the two buffer structures can share the same first pin shaft for hinged connection, or two first pin shafts can be used to realize hinged connection respectively, and then the two first pin shafts are connected. This allows the two buffer structures to deform synchronously to achieve the purpose of stable energy consumption, and the end of the first pin shaft forms the above-mentioned first connecting portion, which can pass through the first guide groove on the connecting plate 1.6, and is fixedly connected to the accompanying clamping block 1.3, and can slide synchronously with the accompanying clamping block 1.3. In addition, a second pin is hinged at the end of each buffer link 1.7.2, and the end of the second pin forms the above-mentioned second connecting portion, which is respectively slidably connected to the four second guide grooves of the connecting plate 1.6. When the first pin slides along the first guide groove, it can drive the second pin to slide along the corresponding second guide groove, so that the buffer unit 1.7 is deformed.

[0040] The damper 1.7.4 is installed between the two second pins of the same buffer structure. The damper 1.7.4 can be a hydraulic damper or a mechanical damper. The hydraulic damper can dissipate energy through internal fluid friction, while the mechanical damper can dissipate energy through mechanical resistance.

[0041] The shock absorbing spring 1.7.5 is mounted on the damper 1.7.4 and operates in parallel with the damper 1.7.4. The shock absorbing spring 1.7.5 stores energy when the buffer unit 1.7 is deformed, and when released, it cooperates with the damper 1.7.4 to realize a cycle of buffering and resetting.

[0042] In addition, rolling bearings 1.7.1 are respectively provided at the ends of the first pin shaft and the second pin shaft 1.7.3, which are used to reduce the sliding friction between the corresponding pin shaft and the guide groove (first guide groove, second guide groove), so that the corresponding pin shaft can move more smoothly along the corresponding guide rail, thereby improving the response speed of the buffer mechanism, reducing mechanical wear, and extending the service life of the buffer unit 1.7.

[0043] Specifically, when the individual weapon is fired and recoil is generated, the accompanying clamping block 1.3 is pushed by the recoil and slides backward along the first guide groove (in the direction of the recoil) through the first connecting portion (first pin). The angle of the cross-arranged buffer links 1.7.2 changes due to the backward movement of the first pin, that is, they gradually "unfold" from the cross state (similar to the opening of scissors), driving the second pin to slide to both sides along the second guide groove (perpendicular to the direction of the recoil); in addition, when the second pin slides, the distance between the two second pins arranged on the same side of the same buffer unit 1.7 increases, stretching the damper 1.7.4 to generate resistance inside, converting kinetic energy into heat energy dissipation. The shock-absorbing spring 1.7.5 is stretched or compressed along with the damper 1.7.4, storing elastic potential energy and slowing down the impact speed. After the recoil peak, the shock-absorbing spring 1.7.5 releases energy to push the buffer unit 1.7 to reset, and the damper 1.7.4 suppresses the oscillation during reset to avoid secondary impact.

[0044] The buffer unit 1.7 converts one-dimensional impact into two-dimensional movement, combines low-friction design with composite shock-absorbing elements, and improves buffering efficiency while ensuring structural reliability and durability.

[0045] Further, if Figure 5 and Figure 6 As shown, the wearing mechanism includes: Backboard 3.10, one side of which is adapted to fit against the back of the human body, and the other side of which is provided with a back support body; one side of the back support body is provided with a height adjustment sleeve 3.17; The back support 3.13 is provided at one end of the height adjustment sleeve 3.17 away from the back support body, and the back support 3.13 is rotatably connected to the two support bases 3.11; The lumbar support tube 3.8 is connected to the back support body via a lumbar connecting tube 3.16; the lumbar support tube 3.8 is provided with two lumbar supports 3.7, which are connected to the lumbar support plates 3.6 in a one-to-one correspondence, and the lumbar support plates 3.6 are connected to the back plate 3.10 via a waist and back connecting belt 3.15; The waist pad 3.9 is arranged on the side of the back plate 3.10 away from the back support 3.13, and the waist pad 3.9 is used to fit the waist of the human body; A pair of shoulder straps 3.1 are provided on a back plate 3.10 and corresponding to the shoulders of a human body; the free ends of the shoulder straps 3.1 are connected to a breastplate 3.4 via a locking member 3.3; the shoulder straps 3.1 are also provided with shoulder pads 3.2, which are capable of contacting the shoulders of a human body; A pair of waist belts 3.5 are both provided on the back support body. The free ends of the two waist belts 3.5 are connected by a locking member 3.3, and the waist belts 3.5 are connected to the breastplate 3.4 via the locking member 3.3.

[0046] It should be noted that the wearing mechanism is used to transmit the weight of the exoskeleton and the recoil of the weapon to the strong parts of the human body such as the shoulders, waist, and back to evenly distribute the load. It can also be matched with soldiers of different body sizes through adjustable components.

[0047] The back plate 3.10 can fit the back of the human body. It adopts an arc-shaped curved surface design that fits the curve from the thoracic spine to the lumbar spine of the human body. The surface is covered with a breathable sponge or gel layer to improve comfort and reduce the concentration of pressure on the back. In addition, the back plate 3.10 serves as the main component for bearing the back load, transmitting the force of the shoulder support seat 3.11 and the waist support plate 3.6 to the entire torso. The back support body is a tubular or truss structure that provides longitudinal support rigidity. Its upper end is connected to the height adjustment sleeve 3.17, and its lower end is connected to the waist connection tube 3.16. The height adjustment sleeve 3.17 is mounted on one side of the back support body. The height adjustment sleeve 3.17 can move relative to the back support body and fix the adjusted position by bolt locking or slot positioning to adapt to the shoulder position of soldiers of different heights.

[0048] The back support 3.13 has its lower end fixed to the top of the height adjustment sleeve 3.17, and its upper end is provided with a frame cover 3.12, which serves as a support carrier and is used to connect with the corresponding support base 3.11.

[0049] The lumbar support tube 3.8 is a tubular structure, welded or bolted to the back support body via a lumbar connecting tube 3.16, forming a supporting frame structure. The ends of the lumbar support tube 3.8 extend to either side of the body's waist. Lumbar supports 3.7 are fixed to each end of the lumbar support tube 3.8 and are used to mount the lumbar support plate 3.6. The lumbar support plate 3.6 is connected to the lower portion of the back plate 3.10 via a waist-back connecting strap 3.15. The waist-back connecting strap 3.15, for example, is an elastic nylon strap or adjustable webbing. This allows the lumbar support plate 3.6 to tilt forward with the torso when the soldier bends, while maintaining its lateral position through tension.

[0050] The lumbar support pad 3.9 is mounted below the back plate 3.10, corresponding to the human lumbar spine. Its butterfly-shaped design conforms to the curve of the waist. It can also be filled with memory foam or air cushions for enhanced comfort. The lumbar support pad 3.9 buffers vertical pressure from the exoskeleton (such as the weight of the equipment) on the lumbar spine, reducing the risk of chronic injury. It also works with the lumbar support plate 3.6 during shooting to provide stable support for the torso and prevent lumbar sway caused by recoil.

[0051] Two shoulder straps 3.1 extend from the top of the back panel 3.10 to the shoulders. The free ends of the shoulder straps 3.1 are connected to the chest armor 3.4 via locking members 3.3, forming a fixed structure that wraps around the chest. Here, the locking members 3.3 are, for example, quick-release buckles or Velcro. Furthermore, a length adjustment buckle is provided in the middle of the shoulder straps 3.1 to adjust the tightness according to the width of the shoulders.

[0052] The shoulder pad 3.2 is mounted on the shoulder strap 3.1. Here, the shoulder pad 3.2 is, for example, a rectangular sponge pad (about 2-3 cm thick) covered with a breathable mesh fabric. The shoulder pad has a large contact area (about 15 cm x 10 cm) and distributes the shoulder load to the trapezius muscle area.

[0053] Two waist belts 3.5 extend from either side of the back support to the abdomen, connecting to the lower portion of the chest plate 3.4 via locking elements 3.3 to form a closed chest-waist loop. The waist belts 3.5 secure the exoskeleton to the waist, preventing side-to-side movement. They also work in conjunction with the shoulder straps 3.1 and chest plate 3.4 to transfer the load from the shoulders to the pelvis (the body's largest load-bearing structure), reducing pressure on the spine.

[0054] Furthermore, if Figure 6 As shown, the back plate 3.10 is also provided with a power supply 3.14 provided on the same side as the back support body. The power supply 3.14 is used to power the electrical components of the wearable individual heavy firepower exoskeleton power assist system. Here, the power supply 3.14 is, for example, a rechargeable lithium battery.

[0055] Furthermore, if Figure 7 As shown, the support base 3.11 includes: The first adjusting arm 3.11.3, the second adjusting arm 3.11.4 and the third adjusting arm 3.11.5 are rotatably connected in sequence. The first adjusting arm 3.11.3 is rotatably connected to the back support 3.13, and the third adjusting arm 3.11.5 is connected to the waist support plate 3.6; The first adjustment arm 3.11.3 is used to adjust the folding or unfolding state of the corresponding buffer mechanism relative to the back plate 3.10; the second adjustment arm 3.11.4 is used to adjust the azimuth angle of the corresponding buffer mechanism; and the third adjustment arm 3.11.5 is used to adjust the pitch angle of the corresponding buffer mechanism.

[0056] It should be noted that the support seat 3.11 is a key hub connecting the back support 3.13 and the buffer mechanism, and is used to achieve multi-dimensional posture adjustment of the buffer mechanism.

[0057] The first adjusting arm 3.11.3 is rotatably connected to the back support 3.13, and the other end is rotatably connected to the second adjusting arm 3.11.4, and is used to realize the folding (folding toward the back panel 3.10) and unfolding (expanding toward the outside of the body) of the buffer mechanism; the two ends of the second adjusting arm 3.11.4 are rotatably connected to the first adjusting arm 3.11.3 and the third adjusting arm 3.11.5 respectively, and the rotation axis is perpendicular to the back support 3.13, and is used to adjust the azimuth angle (horizontal rotation angle) of the buffer mechanism; one end of the third adjusting arm 3.11.3 is rotatably connected to the second adjusting arm 3.11.4, and the other end is fixedly installed with the buffer mechanism, and is used to adjust the pitch angle (vertical angle) of the buffer mechanism.

[0058] The transmission flange 3.11.1 is located at the pivotal connection between the first adjustment arm 3.11.3 of the support base 3.11 and the back frame 3.13. One side of the transmission flange 3.11.1 is fixedly connected to the frame cover 3.12 of the back frame 3.13, while the other side is pivotally connected to the first adjustment arm 3.11.3 via a bearing. The transmission flange 3.11.1 is used to transmit torque between the back frame 3.13 and the first adjustment arm 3.11.3, allowing the first adjustment arm 3.11.3 to fold or unfold around the back frame 3.13.

[0059] The third hysteresis brake 3.11.2 is arranged at the rotational connection between the second adjusting arm 3.11.4 and the third adjusting arm 3.11.5 of the support base 3.11. The inner ring of the third hysteresis brake 3.11.2 is fixedly connected to the second adjusting arm 3.11.4, and its outer ring is fixedly connected to the third adjusting arm 3.11.5. The third hysteresis brake 3.11.2 provides damping force when the third adjusting arm 3.11.5 adjusts the pitch angle to prevent sudden changes in angle caused by recoil or rapid adjustment, thereby ensuring the stability of the pitch angle of the buffer mechanism, especially suppressing the up and down shaking of the buffer mechanism during shooting, and improving the effectiveness of recoil buffering.

[0060] Furthermore, if Figure 4 As shown, the support mechanism also includes The fixed arm 2.1, the slewing arm 2.5 and the right-angle arm 2.7 are connected in rotation in sequence. The free end of the fixed arm 2.1 is connected to the corresponding waist support plate 3.6, and the free end of the right-angle arm 2.7 is connected to the manipulator 3.12 in a transmission manner. The fixed arm 2.1 is used to drive the rotating arm 2.5 to rotate, and the right-angle arm 2.7 is used to adjust the pitch angle of the individual weapon clamped by the manipulator 3.12.

[0061] It should be noted that one end of the fixed arm 2.1 is fixedly connected to the waist support plate 3.6 by a bolt or a pin, and the other end is connected to the rotating arm 2.5 for driving the rotating arm 2.5 to rotate around the axis of the fixed arm 2.1 (rotate in the horizontal direction); the two ends of the rotating arm 2.5 are respectively connected to the fixed arm 2.1 and the right-angle arm 2.7 for rotation, and the rotation axis is perpendicular to the waist support plate 3.6 (i.e., the vertical direction), and is used to rotate around the axis of the fixed arm 2.1 to adjust the horizontal azimuth angle of the manipulator 3.12; one end of the right-angle arm 2.7 is connected to the rotating arm 2.5 for rotation (the rotation axis is horizontal), and the other end is connected to the manipulator 3.12 through a transmission mechanism (such as a gear, a connecting rod), and is used to swing up and down around the horizontal axis to adjust the pitch angle of the manipulator 3.12.

[0062] Among them, the synchronous belt 2.2 is located between the fixed arm 2.1 and the rotating arm 2.5 of the support mechanism, and is wrapped around the outside of the transmission shaft 2.4; one end of the synchronous belt 2.2 is connected to the output shaft of the first stepper motor 2.3 in the fixed arm 2.1, and the other end is connected to the rotating arm 2.5 through the transmission shaft 2.4, which is used to transmit the power of the first stepper motor 2.3, drive the rotating arm 2.5 to rotate horizontally around the axis of the fixed arm 2.1, and realize the azimuth angle adjustment of the manipulator 2.12.

[0063] The first stepper motor 2.3 is installed inside the fixed arm 2.1, close to the end connected to the lumbar support plate 3.6; the output shaft of the first stepper motor 2.3 is connected to the transmission shaft 2.4 through the synchronous belt 2.2. The first stepper motor 2.3 serves as a power source, driving the transmission shaft 2.4 to rotate through the synchronous belt 2.2, thereby driving the rotating arm 2.5 to rotate.

[0064] The transmission shaft 2.4 passes through the connection between the fixed arm 2.1 and the rotating arm 2.5 and is perpendicular to the waist support plate 3.6. One end of the transmission shaft 2.4 is connected to the first stepper motor 2.3 through the synchronous belt 2.2, and the other end is fixedly connected to the rotating arm 2.5. The transmission shaft 2.4 transmits the torque of the first stepper motor 2.3, drives the rotating arm 2.5 to rotate around the vertical axis, and converts the rotational motion of the motor into horizontal rotation of the rotating arm 2.5, thereby realizing azimuth adjustment of the manipulator 2.12 and enhancing the flexibility of weapon clamping.

[0065] A first hysteresis brake 2.6 is disposed at the pivoting connection between the pivoting arm 2.5 and the right-angle arm 2.7. The inner ring of the first hysteresis brake 2.6 is fixedly connected to the pivoting arm 2.5, while the outer ring is fixedly connected to the right-angle arm 2.7. The first hysteresis brake 2.6 provides a damping force when the right-angle arm 2.7 adjusts its elevation angle, suppressing mechanical vibration and preventing positional shifts due to inertia during adjustment. This ensures smooth adjustment of the elevation angle of the right-angle arm 2.7, improves the stability of the manipulator 2.12 in gripping the weapon, and, in particular, reduces angular fluctuations caused by recoil during shooting.

[0066] A second hysteresis brake 2.8 is mounted at the transmission connection between the right-angle arm 2.7 and the manipulator 2.12. The inner ring of the second hysteresis brake 2.8 is fixedly connected to the end of the right-angle arm 2.7, and the outer ring is connected to the drive component of the manipulator 2.12. The second hysteresis brake 2.8 provides constant resistance when the manipulator 2.12 is gripping a weapon, preventing the manipulator from accidentally loosening or over-rotating due to the weight of the weapon or recoil, thereby enhancing the gripping reliability of the manipulator 2.12. It also provides a damping effect to mitigate the impact of the manipulator resetting after firing, protecting the transmission mechanism.

[0067] The lifting rack 2.9 is vertically arranged inside the right-angle arm 2.7 and parallel to the ball bushing guide assembly 2.10. One end of the lifting rack 2.9 is connected to the bottom of the manipulator 2.12, and the other end is engaged with the gear of the second stepper motor 2.11. The second stepper motor 2.11 drives the gear to rotate, driving the rack to move up and down, thereby realizing the vertical lifting and lowering of the manipulator 2.12, and accurately adjusting the height of the manipulator 2.12 to adapt to individual weapons of different heights such as rocket launchers and machine guns, thereby improving the versatility and ease of operation of the system.

[0068] The ball bushing guide assembly 2.10 is arranged inside the right-angle arm 2.7 parallel to the lifting rack 2.9, and its two ends are fixed to the inner wall of the right-angle arm 2.7. The ball bushing guide assembly 2.10 is slidably connected to the guide slider of the manipulator 2.12, providing linear guidance for the lifting movement of the manipulator 2.12 and limiting its lateral deviation.

[0069] The second stepper motor 2.11 is installed at the bottom of the right-angle arm 2.7, and the gear end is engaged with the lifting rack 2.9. The gear of the output shaft of the second stepper motor 2.11 is directly engaged with the lifting rack 2.9 to drive the lifting rack 2.9 to move up and down, thereby realizing the height adjustment of the manipulator 2.12.

[0070] Furthermore, if Figure 2 As shown, a pad 1.4 is provided on the inner wall of the accompanying clamping block 1.3. Here, the pad 1.4 is made of rubber, for example. The pad 1.4 is used to increase the static friction between the buffer mechanism and the individual weapon, thereby ensuring the stability of holding the individual weapon.

[0071] Furthermore, if Figure 2 As shown, in the same buffer mechanism, one buffer shell 1.1 is provided with a first clamping member, and the other buffer shell 1.1 is provided with a second clamping member 1.8; When the first clamping member and the second clamping member 1.8 are clamped together, the two buffer shells 1.1 of the same buffer mechanism are locked to clamp the individual weapon located in the accommodating space.

[0072] It should be noted that the first clip is arranged at the end of a buffer shell 1.1 in the same buffer mechanism, and the second clip 1.8 is correspondingly arranged at the end of another buffer shell 1.1. The two are symmetrical and adapted to ensure that the two buffer shells 1.1 can be precisely docked when closed, thereby clamping the individual weapon located in the accommodation space.

[0073] Here, the first clip is, for example, an elastic clip (such as a hook-shaped structure made of plastic or metal), and the second clip is, for example, a slot (a groove with a slope guide). During operation, the two buffer shells 1.1 are pushed together, and the elastic clip is elastically deformed under the action of the slope and snaps into the slot to form a locked state; press the release button at the tail of the clip to disengage the clip from the slot, thereby separating the buffer shell 1.1.

[0074] Further, if Figure 8 As shown, it also includes: a lower limb mechanism rotatably connected to the waist support plate 3.6; The lower limb mechanism includes: a thigh exoskeleton 4.8, a calf exoskeleton 4.7 and a plantar structure 4.4, which are connected in rotation in sequence. The free end of the thigh exoskeleton 4.8 is rotatably connected to the waist support plate 3.6. The connection position of the thigh exoskeleton 4.8 and the waist support plate 3.6 and the connection position of the thigh exoskeleton 4.8 and the calf exoskeleton 4.7 are respectively provided with a driving structure, which is used to drive the corresponding thigh exoskeleton 4.8 or calf exoskeleton 4.7 to rotate; the plantar structure 4.4 is used to fit with the human foot.

[0075] It should be noted that the free end of thigh exoskeleton 4.8 is pivotally connected to lumbar support plate 3.6 (simulating the human hip joint). As the starting point of the lower limb mechanism, thigh exoskeleton 4.8 transmits power from the waist and drives calf movement. Calf exoskeleton 4.7 is pivotally connected to thigh exoskeleton 4.8 (simulating the human knee joint). Calf exoskeleton 4.7 receives thigh movement and further adjusts calf posture. Foot structure 4.4 is pivotally connected to calf exoskeleton 4.7 (simulating the human ankle joint). Foot structure 4.4 directly mates with the human foot, providing support and ground feedback to ensure walking stability.

[0076] The drive structure is the power core of the lower limb mechanism, and it realizes active rotation of the joints through transmission components such as motors and gears. Among them, the first drive structure is located at the connection between the thigh exoskeleton 4.8 and the waist support plate 3.6 (hip joint location), which is used to drive the thigh exoskeleton 4.8 to rotate around the waist support plate 3.6 to realize forward and backward swinging movements of the lower limbs (such as striding when walking). The second drive structure is located at the connection between the thigh exoskeleton 4.8 and the calf exoskeleton 4.7 (knee joint location), which is used to drive the calf exoskeleton 4.7 to rotate around the thigh exoskeleton 4.8 to realize flexion and extension of the knee joint (such as squatting and standing up). Here, the drive structure is usually powered by the power supply 3.14. Through the coordinated action of the control system, the torque and speed can be automatically adjusted according to the human body's movement intention, improving wearing comfort and power assistance efficiency.

[0077] The sole structure 4.4, as the end component of human-computer interaction, matches the shape of the human foot (such as the curvature of the insole) to reduce friction and fatigue during exercise.

[0078] The hip joint motor 4.1 is installed at the junction of the thigh exoskeleton 4.8 and the waist support plate 3.6 to simulate the position of the human hip joint. The output shaft of the hip joint motor 4.1 is directly connected to the thigh exoskeleton 4.8 via gears or a coupling. As the power source for the lower limb mechanism, the hip joint motor 4.1 drives the thigh exoskeleton 4.8 to rotate around the waist support plate 3.6, enabling forward and backward swinging movements of the lower limbs, such as walking and running. This assists the soldier in carrying the weight of the exoskeleton and weapons, reduces leg muscle fatigue, improves travel speed and endurance, and significantly enhances mobility, especially when carrying a heavy load.

[0079] Calf joint motor 4.2 is located at the junction of thigh exoskeleton 4.8 and calf exoskeleton 4.7, simulating the position of the human knee joint. Its output shaft is connected to calf exoskeleton 4.7 via a gear or connecting rod mechanism. Calf joint motor 4.2 drives calf exoskeleton 4.7 around thigh exoskeleton 4.8, enabling knee flexion and extension movements such as squatting and standing up. It coordinates with hip joint motor 4.1 to achieve complex gaits, adapting to varying terrains such as climbing slopes and overcoming obstacles. It also locks the joint angle to enhance lower body stability during shooting.

[0080] Foot strap 4.3 is positioned above plantar structure 4.4, corresponding to the instep and ankle of the human foot. One end of foot strap 4.3 is secured to the edge of plantar structure 4.4, while the other end is connected to ankle connecting rod 4.6 of calf exoskeleton 4.7 via Velcro or a buckle. Foot strap 4.3 secures the foot to plantar structure 4.4, ensuring synchronization of lower limb movements with the body, preventing the foot from slipping on plantar structure 4.4 during movement, and improving walking stability. The elasticity of the strap also reduces damage to the foot from ground impact.

[0081] The foot buckle 4.5 is located at the front of the sole structure 4.4, corresponding to the toes. It engages with the ankle connecting rod 4.6 at the front of the calf exoskeleton 4.7 via a slot. The foot buckle 4.5 is used to lock the relative position of the sole structure 4.4 and the calf exoskeleton 4.7 during marching or shooting, preventing the foot from excessively bending.

[0082] Ankle connecting rod 4.6 connects the calf exoskeleton 4.7 to the plantar structure 4.4 and is located on the outside of the ankle. The upper end of ankle connecting rod 4.6 is pivotally connected to the lower end of calf exoskeleton 4.7 to simulate the ankle joint. Its lower end is clipped to plantar structure 4.4 via foot buckle 4.5 and secured to plantar structure 4.4 via foot strap 4.3. Ankle connecting rod 4.6 is used to transfer force between calf exoskeleton 4.7 and plantar structure 4.4, allowing the ankle joint to rotate within a certain range (e.g., when standing on tiptoe or landing).

[0083] The specific working process of this wearable individual heavy firepower exoskeleton power assist system is as follows: 1. Wearing and fixing stage: The soldier fits the back plate 3.10 against his back. The locking elements 3.3 of the shoulder straps 3.1, waist belt 3.5, and chest armor 3.4 form a closed-loop shoulder-chest-waist fixation. The shoulder pads 3.2 and waist pads 3.9 distribute the load to the trapezius muscles and lumbar spine, reducing localized pressure. The height adjustment sleeve 3.17 adjusts the height of the back support 3.13 according to the soldier's height, aligning the support base 3.11 with the shoulder to ensure the proper positioning of the buffer mechanism. The thigh exoskeleton 4.8 is rotationally connected to the waist support plate 3.6 via the hip joint motor 4.1. The calf exoskeleton 4.7 is connected to the thigh exoskeleton 4.8 via the calf joint motor 4.2. The foot structure 4.4 is secured to the soldier's foot via the foot strap 4.3 and foot buckle 4.5, forming a waist-leg-foot power transmission chain.

[0084] 2. Weapon Clamping Stage: A soldier places the tail of an individual weapon, such as a bazooka, into the compartments of two buffer housings 1.1. The housings 1.1 are then pushed shut via hinges 1.5, locking the first and second clamps 1.8 together to secure the weapon's tail. Pads 1.4 on the inner wall of the travel clamping block 1.3 prevent the weapon from sliding through friction, while the slider guide 1.2 inside the buffer housing 1.1 guides the travel clamping block 1.3 along the first guide groove in the direction of recoil. A first stepper motor 2.3, via a timing belt 2.2, drives a pivot arm 2.5, adjusting the horizontal azimuth of a manipulator 2.12 to align it with the center or head of the weapon. A second stepper motor 2.11 drives a lifting rack 2.9 up and down, while a ball bushing guide assembly 2.10 ensures vertical movement of the manipulator 2.12, precisely gripping the weapon. A right-angle arm 2.7, damped by first and second hysteresis brakes 2.6 and 2.8, locks the elevation angle, keeping the weapon level.

[0085] 3. Shooting buffer stage: When the weapon is fired, the recoil pushes the weapon and accompanying clamping block 1.3 to slide backward along the slider guide 1.2 of the buffer housing 1.1 in the direction of the first guide groove. The accompanying clamping block 1.3 drives the buffer link 1.7.2 of the buffer unit 1.7 to move via the first pin of the first connection part: the cross-arranged buffer link 1.7.2 "unfolds" due to the backward movement of the first pin, and the second pin 1.7.3 slides to both sides along the second guide groove perpendicular to the direction of recoil. The damper 1.7.4 is stretched or compressed, and internal fluid friction or mechanical resistance converts kinetic energy into heat energy. The shock-absorbing spring 1.7.5 stores elastic potential energy and slows down the impact speed. The rolling bearing 1.7.1 reduces friction between the pin and the guide rail, ensuring that the buffer unit 1.7 responds quickly and consumes energy efficiently. The buffer unit 1.7 converts one-dimensional recoil into two-dimensional motion: longitudinal sliding and lateral expansion. Through a combined mechanism of "mechanical deformation + damping energy dissipation + spring cushioning," this significantly reduces the impact force transmitted to the soldier's shoulder, preventing muscle strain or joint damage. The lumbar support plate 3.6 and lumbar pad 3.9 work together to transfer some of the recoil force to the waist and back via the waist-back connecting strap 3.15, further distributing the load.

[0086] 4. Posture adjustment stage: The first adjustment arm 3.11.3 rotates around the back bracket 3.13 via the transmission flange 3.11.1, allowing the buffer mechanism to fold close to the back or unfold and extend outward to accommodate marching or firing positions. The second adjustment arm 3.11.4 adjusts the buffer mechanism's azimuth and horizontal rotation, cooperating with the support mechanism to aim the weapon at targets in different directions. The third adjustment arm 3.11.5 uses the third hysteresis brake 3.11.2 to adjust the buffer mechanism's vertical tilt, adapting to uneven terrain or for upward or downward shooting. During firing, if the weapon angle needs to be adjusted, the first stepper motor 2.3 and the second stepper motor 2.11 drive the slewing arm 2.5 and the right-angle arm 2.7 in real time. The damping action of the hysteresis brake enables smooth fine-tuning to ensure aiming accuracy.

[0087] 5. The mobile coordination stage includes the lower limb mechanism: Hip joint motor 4.1 and calf joint motor 4.2 drive the thigh exoskeleton 4.8 and calf exoskeleton 4.7 based on the soldier's movement intent, simulating a human gait to achieve forward and backward swings, flexion and extension, assisting in carrying the weight of equipment and reducing leg fatigue. The plantar structure 4.4 is linked to the calf exoskeleton 4.7 via the ankle connecting rod 4.6. The foot strap 4.3 and buckle 4.5 ensure synchronized movement of the foot and exoskeleton, improving stability in complex terrain. When firing while moving, the lower limb mechanism provides reverse torque by locking the hip and knee joint angle motors, transforming the entire exoskeleton into a stable support platform. This, combined with the buffer mechanism, simultaneously absorbs recoil, achieving "stable shooting in motion."

[0088] The above description is merely a preferred embodiment of the present application and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of the invention herein is not limited to the technical solutions formed by the specific combination of the above-mentioned technical features, but also encompasses other technical solutions formed by any combination of the above-mentioned technical features or their equivalents without departing from the inventive concept. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features having similar functions disclosed in this application.

Claims

1. A wearable individual heavy firepower exoskeleton power assist system, characterized in that: include: A wearing mechanism connected to the upper limbs of a human body, the wearing mechanism comprising two support seats (3.11) arranged corresponding to the shoulders of the human body and two waist support plates (3.6) arranged corresponding to the waist of the human body; a supporting mechanism is provided on the waist support plates (3.6), and the supporting mechanism comprises an adjustable manipulator (2.12); Two buffer mechanisms, each of which is disposed on the two support seats (3.11), and the buffer mechanism and the manipulator (2.12) are used in conjunction with each other to clamp individual weapons; the buffer mechanism comprises: two hingedly connected buffer shells (1.1), a slidingly connected accompanying clamping block (1.3) is provided in the buffer shell (1.1), a receiving groove is provided on the accompanying clamping block (1.3), and the receiving grooves of the two accompanying clamping blocks (1.3) are arranged relative to each other to form a receiving space for placing individual weapons; a connecting plate (1.6) and at least one deformable buffer unit (1.7) are provided between the buffer shell (1.1) and the accompanying clamping block (1.3) therein; The connecting plate (1.6) is provided with a first guide groove and four second guide grooves, the length direction of the first guide groove is arranged parallel to the sliding direction of the accompanying clamping block (1.3), and the length direction of the second guide groove is arranged perpendicular to the length direction of the first guide groove; the buffer unit (1.7) has a first connecting portion and four second connecting portions, the first connecting portion passes through the first guide groove and is connected to the corresponding accompanying clamping block (1.3), and the second connecting portion corresponds to the second guide groove one by one and is slidably connected; When the individual weapon clamped between the manipulator (2.12) and the accommodating space fires a shell, the individual weapon and the accompanying clamping block (1.3) slide synchronously along the buffer shell (1.1), thereby driving the first connecting portion to move along the first guide groove and the second connecting portion to move along the second guide groove, causing the buffer unit (1.7) to deform, thereby dissipating the recoil force generated by the individual weapon firing the shell.

2. A wearable individual heavy firepower exoskeleton power assist system according to claim 1, characterized in that: The buffer unit (1.7) comprises: A pair of buffer structures, each of the buffer structures comprising two buffer connecting rods (1.7.2), the buffer connecting rods (1.7.2) of the two buffer structures being cross-arranged and hingedly connected via a first pin shaft, the end of the first pin shaft forming the first connecting portion; the end of the buffer connecting rod (1.7.2) being hingedly connected to a second pin shaft (1.7.3), the end of the second pin shaft (1.7.3) forming the second connecting portion; A damper (1.7.4), the damper (1.7.4) being arranged between two second pins (1.7.3) connected to two buffer connecting rods (1.7.2) of the same buffer structure; a shock absorbing spring (1.7.5) being sleeved on the damper (1.7.4).

3. A wearable individual heavy firepower exoskeleton power assist system according to claim 2, characterized in that: The end of the first pin shaft and the end of the second pin shaft (1.7.3) are respectively provided with rolling bearings (1.7.1).

4. A wearable individual heavy firepower exoskeleton power assist system according to claim 1, characterized in that: The wearing mechanism comprises: A backboard (3.10), one side of the backboard (3.10) being adapted to fit against the back of a human body, and the other side being provided with a back support body; one side of the back support body being provided with a height adjustment sleeve (3.17); a back support (3.13), the back support (3.13) being arranged at one end of the height adjustment sleeve (3.17) away from the back support body, and the back support (3.13) being rotatably connected to the two support seats (3.11); A lumbar support tube (3.8), the lumbar support tube (3.8) being connected to the back support body via a lumbar connecting tube (3.16); two lumbar supports (3.7) being provided on the lumbar support tube (3.8), the lumbar supports (3.7) being connected to the lumbar support plate (3.6) in a one-to-one correspondence, and the lumbar support plate (3.6) being connected to the back plate (3.10) via a lumbar and back connecting belt (3.15); A waist support pad (3.9), the waist support pad (3.9) being arranged on a side of the back plate (3.10) away from the back support (3.13), the waist support pad (3.9) being used to fit the waist of a human body; A pair of shoulder straps (3.1), both of which are arranged on the back plate (3.10) and corresponding to the shoulders of a human body; the free ends of the shoulder straps (3.1) are connected to the breastplate (3.4) via a locking member (3.3); the shoulder straps (3.1) are also provided with shoulder pads (3.2), and the shoulder pads (3.2) are capable of contacting the shoulders of a human body; A pair of waist belts (3.5), both of which are arranged on the back support body, the free ends of the two waist belts (3.5) are connected through the locking piece (3.3), and the waist belts (3.5) are connected to the breastplate (3.4) through the locking piece (3.3).

5. A wearable individual heavy firepower exoskeleton power assist system according to claim 4, characterized in that: The back plate (3.10) is also provided with a power supply (3.14) arranged on the same side as the back support body, and the power supply (3.14) is used to supply power to electrical components of the wearable individual heavy firepower exoskeleton power-assisting system.

6. A wearable individual heavy firepower exoskeleton power assist system according to claim 4, characterized in that: The support seat (3.11) comprises: A first adjustment arm (3.11.3), a second adjustment arm (3.11.4), and a third adjustment arm (3.11.5) that are rotatably connected in sequence, wherein the first adjustment arm (3.11.3) is rotatably connected to the back support (3.13), and the third adjustment arm (3.11.5) is connected to the waist support plate (3.6); The first adjustment arm (3.11.3) is used to adjust the folding or unfolding state of the corresponding buffer mechanism relative to the back plate (3.10); the second adjustment arm (3.11.4) is used to adjust the azimuth angle of the corresponding buffer mechanism; and the third adjustment arm (3.11.5) is used to adjust the pitch angle of the corresponding buffer mechanism.

7. The wearable individual heavy firepower exoskeleton power assist system according to claim 1, characterized in that: The support mechanism also includes The fixed arm (2.1), the slewing arm (2.5), and the right-angle arm (2.7) are rotatably connected in sequence, the free end of the fixed arm (2.1) is connected to the corresponding waist support plate (3.6), and the free end of the right-angle arm (2.7) is transmission-connected to the manipulator (3.12); The fixed arm (2.1) is used to drive the rotating arm (2.5) to rotate, and the right-angle arm (2.7) is used to adjust the pitch angle of the individual weapon clamped by the manipulator (3.12).

8. The wearable individual heavy firepower exoskeleton power assist system according to claim 1, characterized in that: A liner (1.4) is provided on the inner wall of the accompanying clamping block (1.3).

9. The wearable individual heavy firepower exoskeleton power assist system according to claim 1, characterized in that: A first clamping member is provided on one buffer shell (1.1) in the same buffer mechanism, and a second clamping member (1.8) is provided on the other buffer shell (1.1); When the first clamping member and the second clamping member (1.8) are clamped together, the two buffer shells (1.1) of the same buffer mechanism are locked to clamp the individual weapon located in the accommodating space.

10. The wearable individual heavy firepower exoskeleton assist system according to claim 1, characterized in that: It also includes: a lower limb mechanism rotatably connected to the waist support plate (3.6); The lower limb mechanism comprises: a thigh exoskeleton (4.8), a calf exoskeleton (4.7), and a sole structure (4.4) that are rotatably connected in sequence; the free end of the thigh exoskeleton (4.8) is rotatably connected to the waist support plate (3.6); the connection position of the thigh exoskeleton (4.8) and the waist support plate (3.6) and the connection position of the thigh exoskeleton (4.8) and the calf exoskeleton (4.7) are respectively provided with a driving structure, the driving structure being used to drive the corresponding thigh exoskeleton (4.8) or calf exoskeleton (4.7) to rotate; and the sole structure (4.4) is used to fit with the human foot.

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