Wearable motion-assisting exoskeleton system for ocean diving operation

Abstract

The present invention relates to a wearable motion-assisting exoskeleton system for ocean diving operation, comprising a waist belt, a first power system and a second power system. One end of a front-side steel wire rope of the first power system is fixed to the front side of a knee pad, the other end of the front-side steel wire rope is wound on a track G1 of a wire winding disc, and a tail-end wire head X1 penetrates through a first wire head; one end of a rear-side steel wire rope is fixed to the rear side of the knee pad, the other end of the rear-side steel wire rope is wound on a track G2 of the wire winding disc, and a tail-end wire head X2 penetrates through a second wire head; and the first wire head is fixedly mounted at a recess E1 of the track G1, and the second wire head is fixedly mounted at a recess E2 of the track G2. The second power system and the first power system are consistent in structure, and are symmetrically distributed on two sides of the waist belt. According to the present invention, the connection mode is switched by means of the structure of specially-made wire heads, thereby achieving stable power transmission of the exoskeleton when motion assistance is needed, and the motion of lower limbs in a non-assistance state is not limited by the mechanical limitation of lasso transmission.

Description

A wearable motion-assisted exoskeleton system for ocean diving operations Technical Field

[0001] The present invention belongs to the technical field of wearable robots and relates to a wearable motion-assisted exoskeleton system for ocean diving operations. Background Art

[0002] The wearable motion-assistance exoskeleton system for marine diving operations is an innovative wearable robotic device designed to enhance a diver's underwater mobility and efficiency. It is suitable for a variety of underwater missions, including submarine rescue, shipwreck salvage, offshore oil and gas pipeline inspection and construction, marine civil engineering, underwater scientific exploration, and military applications. However, due to regulations for descents and ascents, and decompression procedures, divers' underwater operating time is strictly limited to prevent the ingested gases from entering their tissues in the high-pressure underwater environment and causing decompression sickness (DCS), posing a significant risk to their own safety. Excessive physical exertion further increases metabolic consumption and gas intake, further compressing their operating time and exacerbating the negative effects of DCS. The underwater diving-assistance exoskeleton assists divers' underwater movement, improving their efficiency within the specified timeframe. Furthermore, the exoskeleton's driving force further reduces the diver's muscle tissue effort, reducing metabolic consumption and delaying the onset of DCS, significantly enhancing the efficiency and risk of DCS. Technical Solutions

[0003] In order to solve the above technical problems, the present invention proposes a wearable motion-assisted exoskeleton system for marine diving operations. It switches the connection mode through a special wire head structure, realizing the mutual conversion between the wire rope and the winding drum between fixed connection and movable connection, thereby achieving stable power transmission of the exoskeleton when motion assistance is required, and in the non-assisted state, the movement of the lower limbs is not mechanically restricted by the lasso transmission, and can move freely to cope with complex and changeable underwater operation tasks, greatly improving safety.

[0004] The technical solution of the present invention to solve the above problems is: a wearable motion-assisted exoskeleton system for marine diving operations, which is special in that:

[0005] comprising a waist belt, a first power system, and a second power system;

[0006] The first power system includes a knee pad, a front steel wire rope, a rear steel wire rope and a drive assembly;

[0007] The drive assembly includes a reel assembly and a power device;

[0008] The wire reel assembly includes a winding reel, a first wire end, and a second wire end. The side wall of the winding reel is provided with a track G1 and a track G2;

[0009] One end of the front steel wire rope is fixed to the front side of the knee pad, and the other end is wound on the track G1 of the winding disk, and at the same time, the tail end X1 further passes through the first end; one end of the rear steel wire rope is fixed to the rear side of the knee pad, and the other end is wound on the track G2 of the winding disk, and at the same time, the tail end X2 further passes through the second end; the first end is fixedly mounted at the groove E1 of the G1 track, and the second end is fixedly mounted at the groove E2 of the G2 track. The first end and the second end are both embedded and fixed in the track, and the inner diameter of the through hole is large enough to allow the front steel wire rope or the rear steel wire rope to pass through, while preventing the tail end X1 or the tail end X2 of the steel wire rope from passing through;

[0010] The power device drives the wire drum assembly to rotate;

[0011] The second power system has the same structure as the first power system, and the two are symmetrically installed on both sides of the belt.

[0012] Furthermore, the above-mentioned cable drum assembly also includes an upper end cover, a front section shell, a rear section shell, and a flange;

[0013] The front section housing and the rear section housing are enclosed from both sides to form a circular housing, and are fixed to the flange by bolts. The upper end cover is also fixed to the circular housing composed of the front section housing and the rear section housing by bolts. At the same time, the upper end cover, the winding drum, the flange and the circular housing are coaxial in space. The winding drum is located in the circular housing, the axial direction of the wire outlet hole C1 of the front section housing is tangent to the track G1 of the winding drum, and the axial direction of the wire outlet hole C2 of the rear section housing is tangent to the track G2 of the winding drum.

[0014] Furthermore, the first power system further includes a front wire tube fixing seat and a rear wire tube fixing seat;

[0015] The cable drum assembly further includes a front cable tube, a rear cable tube, a first cable tube fixing clamp, a second cable tube fixing clamp, a first clamping bolt, and a second clamping bolt;

[0016] The first wire tube fixing clamp is fixed to the wire outlet hole C1 of the front shell by bolts, and the second wire tube fixing clamp is fixed to the wire outlet hole C2 of the rear shell by bolts;

[0017] One end of the front wire tube is connected to the first wire tube fixing clamp and is fastened by a first clamping bolt, and the other end is connected to the front wire tube fixing seat and is fastened by a mechanical jack screw; one end of the rear wire tube is connected to the second wire tube fixing clamp in the wire drum assembly of the drive assembly and is fastened by a second clamping bolt, and the other end is connected to the rear wire tube fixing seat of the drive assembly and is fastened by a mechanical jack screw; the front wire rope passes through the front wire tube fixing seat, the front wire tube and the first wire tube fixing clamp in sequence, and the rear wire rope passes through the rear wire tube fixing seat, the rear wire tube and the second wire tube fixing clamp in sequence.

[0018] Furthermore, a front tension sensor and a rear tension sensor are fixed on the front and rear sides of the knee pad respectively; the front steel wire rope is connected to the knee pad through the front tension sensor, and the rear steel wire rope is connected to the knee pad through the rear tension sensor.

[0019] Furthermore, the waist belt comprises a first waist belt front panel, a second waist belt front panel, a first waist belt side panel, a second waist belt side panel and a waist belt back panel;

[0020] The front wire tube fixing seat of the first power system is fixed to the first waist belt front plate by bolts, and the driving component of the first power system is fixed to the waist belt back plate by bolts.

[0021] Furthermore, the power device includes a motor housing, a waterproof motor and a fixing flange; the fixing flange is fixedly connected to the bottom end of the waterproof motor by bolts, and the motor housing covers the waterproof motor and is fixedly connected to the fixing flange by bolts;

[0022] The flange of the wire drum assembly is fixedly connected to the motor housing by bolts, and the winding drum is fixedly connected to the output shaft of the waterproof motor by bolts; the rear wire tube fixing seat is fixed to the motor housing by bolts.

[0023] Furthermore, the above-mentioned drive assembly includes an upper connecting bracket, a lower connecting bracket, and a main bracket; the upper connecting bracket and the lower connecting bracket are both fixed to the upper and lower flange edges of the motor housing, and the upper connecting bracket and the lower connecting bracket are both connected to the main bracket at the same time, and the main bracket is fixedly connected to the belt back plate of the belt by bolts.

[0024] Furthermore, the above-mentioned wearable motion-assisted exoskeleton system for marine diving operations also includes a buoyancy harness, a diving cylinder and fins; the buoyancy harness and the diving cylinder are tied and connected. Beneficial effects

[0025] Advantages of the present invention:

[0026] The present invention provides a wearable motion-assisting exoskeleton system for marine diving operations. The front and rear steel wire ropes used in its power system are not fixedly connected to the winding drum. Instead, the connection mode is switched through a special wire head structure, thereby realizing the mutual conversion between the steel wire rope and the winding drum between a fixed connection and a movable connection, thereby achieving stable power transmission of the exoskeleton when motion assistance is required. In the non-assisted state, the movement of the lower limbs is not mechanically constrained by the transmission system and can move freely to cope with complex and changeable underwater operation tasks (for example, in addition to alternating kicks, the thigh movement forms also include breaststroke kicks, ground-touching walking and other irregular movements), and safety is guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] FIG1 is a diagram of a wearable motion-assisting exoskeleton system for ocean diving provided by the present invention worn by a human body;

[0028] FIG2 is a diagram showing the overall structure of the system and the composition of the first power system;

[0029] Figure 3 is a structural diagram of the drive assembly;

[0030] FIG4 is an exploded view of the cable drum assembly;

[0031] Figure 5 is an exploded view of the power unit;

[0032] Figure 6 is a cross-sectional view of the drive assembly (excluding the upper connecting bracket, the lower connecting bracket and the main bracket);

[0033] Figure 7 is a structural diagram of the front shell;

[0034] Figure 8 is a structural diagram of the rear shell;

[0035] FIG9 is an isometric view and a cross-sectional view of the wire tube fixing clamp;

[0036] Figure 10 is an isometric view and a cross-sectional view of the clamping bolt;

[0037] Figure 11 is a structural diagram of the winding drum;

[0038] Figure 12 is a schematic diagram of the switching of the connection mode between the wire rope and the winding drum.

[0039] Among them, 1. Buoyancy harness, 2. Diving cylinder, 3. Waist belt, 3-1. First waist belt front plate, 3-2. Second waist belt front plate, 3-3. First waist belt side plate, 3-4. Second waist belt side plate, 3-5 Waist belt back plate, 4. Fins, 5-1. First power system, 5-2. Second power system, 6. Front tension sensor, 7. Rear tension sensor, 8. Knee pads, 9-1. Front wire rope, 9-2. Rear wire rope, 10-1. Front line tube, 10-2. Rear line tube, 11. Front line tube fixing seat, 12. Drive assembly, 13. Upper connecting bracket, 14. Lower connecting bracket, 15. Main bracket, 16. Rear wire tube fixing seat, 17. Wire reel assembly, 18. Power unit, 19. Upper end cover, 20. Winding reel, 21. Front section housing, 22. Rear section housing, 23. Flange, 24-1. First wire end, 24-2. Second wire end, 25-1. First wire tube fixing clamp, 25-2. Second wire tube fixing clamp, 26-1. First clamping bolt, 26-2. Second clamping bolt, 27. Motor housing, 28. Waterproof motor, 29. Fixing flange. Modes for Carrying Out the Invention

[0040] 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 part of the embodiments of the present invention, not all of the embodiments. 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. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the invention for which protection is claimed, but merely represents selected embodiments of the present invention.

[0041] Example

[0042] 1 and 2 , the present invention proposes a wearable motion-assisted exoskeleton system for marine diving operations, comprising a waist belt 3, a first power system 5-1 and a second power system 5-2. The first power system 5-1 and the second power system 5-2 are used to provide power for the wearer's leg movements underwater.

[0043] 2 and 3 , the first power system 5 - 1 includes a kneepad 8 , a front steel wire rope 9 - 1 , a rear steel wire rope 9 - 2 , and a drive assembly 12 . The drive assembly 12 includes a cable drum assembly 17 and a power device 18 .

[0044] 1 , 2 , 4 , 11 and 12 , the wire reel assembly 17 includes a wire reel 20 , a first wire end 24 - 1 and a second wire end 24 - 2 . Tracks G1 and G2 are provided on the side walls of the wire reel 20 . One end of the front steel wire rope 9-1 is fixed to the front side of the knee pad 8, and the other end is wound on the track G1 of the winding drum 20, and at the same time, the tail end X1 further passes through the first wire end 24-1; one end of the rear steel wire rope 9-2 is fixed to the rear side of the knee pad 8, and the other end is wound on the track G2 of the winding drum 20, and at the same time, the tail end X2 further passes through the second wire end 24-2; the first wire end 24-1 is fixedly installed at the groove E1 of the G1 track, and the second wire end 24-2 is fixedly installed at the groove E2 of the G2 track. The first wire end 24-1 and the second wire end 24-2 are both embedded and fixed in the track, and the inner diameter of the through hole allows the front steel wire rope 9-1 or the rear steel wire rope 9-2 to pass through, while preventing the tail end X1 or the tail end X2 of the steel wire rope from passing through; the power device 18 drives the drum assembly 17 to rotate;

[0045] The second power system 5 - 2 has the same structure as the first power system 5 - 1 , and the two are spatially symmetrically distributed about the sagittal plane of the human body.

[0046] As a preferred embodiment of the present invention, referring to Figures 1 and 2 , the wearable exoskeleton system for marine diving operations further comprises a buoyancy harness 1, a diving cylinder 2, and fins 4. The buoyancy harness 1 and the diving cylinder 2 are securely connected and worn directly by the wearer. The waist belt 3 is adjustable according to the wearer's body size and is secured around the wearer's waist. The fins 4 are worn independently by the wearer and are not connected to other components.

[0047] As a preferred embodiment of the present invention, referring to FIG4 , the wire reel assembly 17 further includes an upper end cover 19, a front housing 21, a rear housing 22, and a flange 23. The front housing 21 and the rear housing 22 are enclosed from both sides to form a circular housing and are fixed to the flange 23 by bolts. The upper end cover 19 is fixed to the circular housing composed of the front housing 21 and the rear housing 22 by bolts. At the same time, the upper end cover 19, the winding reel 20, the flange 23, and the circular housing are spatially coaxial. The winding reel 20 is located within the circular housing. The axial direction of the wire outlet hole C1 of the front housing 21 is tangent to the track G1 of the winding reel 20, and the axial direction of the wire outlet hole C2 of the rear housing 22 is tangent to the track G2 of the winding reel 20.

[0048] As a preferred embodiment of the present invention, referring to Figures 2 and 3 , the first power system 5-1 further includes a front conduit fixing seat 11 and a rear conduit fixing seat 16. Referring to Figures 2, 4, and 7-10 , the cable drum assembly 17 further includes a front conduit 10-1, a rear conduit 10-2, a first conduit fixing clamp 25-1, a second conduit fixing clamp 25-2, a first clamping bolt 26-1, and a second clamping bolt 26-2. The first conduit fixing clamp 25-1 is bolted to the cable outlet hole C1 of the front housing 21, and the second conduit fixing clamp 25-2 is bolted to the cable outlet hole C2 of the rear housing 22. One end of the front wire tube 10-1 is connected to the first wire tube fixing clamp 25-1 and is tightened by the first clamping bolt 26-1, and the other end is connected to the front wire tube fixing seat 11 and is tightened by a mechanical jack screw; one end of the rear wire tube 10-2 is connected to the second wire tube fixing clamp 25-2 in the wire drum assembly 17 of the drive assembly 12 and is tightened by the second clamping bolt 26-2, and the other end is connected to the rear wire tube fixing seat 16 of the drive assembly 12 and is tightened by a mechanical jack screw; the front wire rope 9-1 passes through the front wire tube fixing seat 11, the front wire tube 10-1 and the first wire tube fixing clamp 25-1 in sequence, and the rear wire rope 9-2 passes through the rear wire tube fixing seat 16, the rear wire tube 10-2 and the second wire tube fixing clamp 25-2 in sequence.

[0049] As a preferred embodiment of the present invention, referring to FIG2 , a front tension sensor 6 and a rear tension sensor 7 are respectively fixed on the front and rear sides of the knee pad 8; the front steel wire rope 9-1 is connected to the knee pad 8 through the front tension sensor 6, and the rear steel wire rope 9-2 is connected to the knee pad 8 through the rear tension sensor 7.

[0050] As a preferred embodiment of the present invention, referring to Figure 2 , the waist belt 3 includes a first waist belt front plate 3-1, a second waist belt front plate 3-2, first waist belt side plates 3-3, second waist belt side plates 3-4, and a waist belt back plate 3-5. The front cable tube mounting base 11 of the first power system 5-1 is secured to the first waist belt front plate 3-1 of the waist belt 3 via bolts, and the drive assembly 12 of the first power system 5-1 is secured to the waist belt back plate 3-5 via bolts.

[0051] As a preferred embodiment of the present invention, referring to Figures 3, 4, and 5, the power unit 18 includes a motor housing 27, a waterproof motor 28, and a fixing flange 29. The fixing flange 29 is bolted to the bottom end of the waterproof motor 28, and the motor housing 27 encloses the waterproof motor 28 and is bolted to the fixing flange 29. Referring to Figure 6, the flange 23 of the wire drum assembly 17 is bolted to the motor housing 27, and the winding drum 20 is bolted to the output shaft of the waterproof motor 28. The rear wire tube fixing base 16 is also bolted to the motor housing 27.

[0052] As a preferred embodiment of the present invention, referring to FIG3 , the drive assembly 12 includes an upper connecting bracket 13, a lower connecting bracket 14, and a main bracket 15; the upper connecting bracket 13 and the lower connecting bracket 14 are both fixed to the upper and lower flange edges of the motor housing 27, and the upper connecting bracket 13 and the lower connecting bracket 14 are both connected to the main bracket 15 at the same time, and the main bracket 15 is fixedly connected to the belt back plate 3-5 of the belt 3 by bolts.

[0053] The working mode of the wearable motion-assisted exoskeleton system for marine diving operations proposed in this application is as follows: for the wearer's alternating kicking movements underwater, the first power system 5-1 and the second power system 5-2 can both provide assistance in the flexion / extension directions for the corresponding legs. Taking the first power system 5-1 as an example, the waterproof motor 28 in the power device 18 of the drive component 12 outputs torque, driving the winding drum 20 in the drum assembly 17 to rotate forward or reverse, as shown in Figure 12; because the first wire head 24-1 and the second wire head 24-2 allow the front side steel wire rope 9-1 and the rear side steel wire rope 9-2 to pass through, and prevent the tail end wire heads X1 and X2 of the steel wire rope from passing through, when the winding drum 20 rotates counterclockwise until the first wire head 24-1 contacts the tail end wire head X1 of the front side steel wire rope 9-1, and the winding drum 20 continues to rotate counterclockwise, it can be regarded as the first The wire end 24-1 forms a fixed connection with the tail end X1 of the front steel wire rope 9-1. At this time, the winding drum 20 pulls the front steel wire rope 9-1 to rotate counterclockwise and receives more rope length into the track G1, so that the straight-line distance between the front wire tube fixing seat 11 and the front tension sensor 6 is shortened, and the exoskeleton system provides assistance for hip flexion; similarly, when the winding drum 20 rotates clockwise until the second wire end 24-2 contacts the tail end X2 of the rear steel wire rope 9-2, and the winding drum 20 continues to rotate clockwise, it can be regarded as that the second wire end 24-2 forms a fixed connection with the tail end X2 of the rear steel wire rope 9-2. At this time, the winding drum 20 pulls the rear steel wire rope 9-2 to rotate clockwise and receives more rope length into the track G2, so that the straight-line distance between the rear wire tube fixing seat 16 and the rear tension sensor 7 is shortened, and the exoskeleton system provides assistance for hip extension.

[0054] In particular, when the waterproof motor 28 controls the winding drum 20 to be in a certain position, there is a situation where the first thread end 24-1 does not contact the tail thread end X1 of the front steel wire rope 9-1, and the second thread end 24-2 does not contact the tail thread end X2 of the rear steel wire rope 9-2. At this time, the winding drum 20 is said to be in a neutral position, and the tail thread ends X1 and X2 of the front steel wire rope 9-1 and the rear steel wire rope 9-2 are movably connected to the winding drum 20 and can move flexibly relative to the winding drum 20, and the front steel wire rope 9-1 and the rear steel wire rope 9-2 have no rope tension. The wearer can freely drag the front steel wire rope 9-1 to achieve hip extension movement, or drag the rear steel wire rope 9-2 to achieve hip flexion movement without any mechanical constraints; when the hip extension movement reaches a certain amplitude, the tail thread end X1 of the front steel wire rope 9-1 begins to contact the first thread end 24-1, or the hip flexion movement reaches a certain amplitude. The amplitude is such that when the tail end X2 of the rear steel wire rope 9-2 begins to contact the second wire end 24-2, it is now subject to unidirectional mechanical constraint again. The movement amplitude corresponding to the mechanical constraint can be adjusted by adjusting the size of the central angle formed by the first wire end 24-1, the second wire end 24-2 and the center of the winding drum 20, so as to cover and meet the needs of free movement of the lower limbs; through this neutral position, the front steel wire rope 9-1 and the rear steel wire rope 9-2 can be converted between a fixed connection and a movable connection with the winding drum 20, thereby achieving stable power transmission of the exoskeleton when movement assistance is required, and in the non-assisted state, the movement of the lower limbs is not mechanically restricted by the transmission system, and can move freely to cope with complex and changeable underwater work tasks (for example, in addition to alternating kicks, the thigh movement also includes breaststroke legs, ground walking and other irregular movements).

[0055] The above descriptions are merely embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied to other related system fields, are also included in the scope of protection of the present invention.

Claims

1. A wearable motion-assisted exoskeleton system for marine diving operations, characterized in that: It comprises a waist belt (3), a first power system (5-1) and a second power system (5-2); The first power system (5-1) comprises a knee pad (8), a front steel wire rope (9-1), a rear steel wire rope (9-2) and a drive assembly (12); The driving assembly (12) comprises a wire drum assembly (17) and a power device (18); The wire reel assembly (17) comprises a wire reel (20), a first wire end (24-1), and a second wire end (24-2); a track G1 and a track G2 are provided on a side wall of the wire reel (20); One end of the front steel wire rope (9-1) is fixed to the front side of the knee pad (8), and the other end is wound around the track G1 of the winding drum (20), and the tail end thread X1 further passes through the first thread end (24-1); one end of the rear steel wire rope (9-2) is fixed to the rear side of the knee pad (8), and the other end is wound around the track G2 of the winding drum (20), and the tail end thread end X2 further passes through the second thread end (24-2); the first thread end (24-1) is fixedly mounted at the groove E1 of the G1 track, and the second thread end (24-2) is fixedly mounted at the groove E2 of the G2 track, and the first thread end (24-1) and the second thread end (24-2) are both embedded and fixed in the track, and the inner diameter of the through hole allows the front steel wire rope (9-1) or the rear steel wire rope (9-2) to pass through, while preventing the tail end thread end X1 or the tail end thread end X2 of the steel wire rope from passing through; The power device (18) drives the wire drum assembly (17) to rotate; The second power system (5-2) has the same structure as the first power system (5-1), and the two are symmetrically distributed and installed on both sides of the waist belt (3).

2. The wearable motion-assisted exoskeleton system for marine diving operations according to claim 1 is characterized in that: The cable drum assembly (17) further comprises an upper end cover (19), a front section outer shell (21), a rear section outer shell (22), and a flange (23); The front section housing (21) and the rear section housing (22) are enclosed from both sides to form a circular housing, and are fixed to the flange (23) by bolts. The upper end cover (19) is fixed to the circular housing composed of the front section housing (21) and the rear section housing (22) by bolts. At the same time, the upper end cover (19), the winding drum (20), the flange (23) and the circular housing are coaxial in space. The winding drum (20) is located in the circular housing. The axial direction of the outlet hole C1 of the front section housing (21) is tangent to the track G1 of the winding drum (20), and the axial direction of the outlet hole C2 of the rear section housing (22) is tangent to the track G2 of the winding drum (20).

3. The wearable motion-assisted exoskeleton system for marine diving operations according to claim 2 is characterized in that: The first power system (5-1) further comprises a front wire tube fixing seat (11) and a rear wire tube fixing seat (16); The wire reel assembly (17) further comprises a front wire tube (10-1), a rear wire tube (10-2), a first wire tube fixing clamp (25-1), a second wire tube fixing clamp (25-2), a first clamping bolt (26-1) and a second clamping bolt (26-2); The first wire tube fixing clamp (25-1) is fixed to the wire outlet hole C1 of the front section housing (21) by means of bolts, and the second wire tube fixing clamp (25-2) is fixed to the wire outlet hole C2 of the rear section housing (22) by means of bolts; One end of the front wire tube (10-1) is connected to the first wire tube fixing clamp (25-1) and is fastened by a first clamping bolt (26-1), and the other end is connected to the front wire tube fixing seat (11) and is fastened by a mechanical top screw; one end of the rear wire tube (10-2) is connected to the second wire tube fixing clamp (25-2) in the wire drum assembly (17) of the drive assembly (12) and is fastened by a second clamping bolt (26-2), and the other end is connected to the rear wire tube fixing seat (16) of the drive assembly (12) and is fastened by a mechanical top screw; the front steel wire rope (9-1) passes through the front wire tube fixing seat (11), the front wire tube (10-1) and the first wire tube fixing clamp (25-1) in sequence, and the rear steel wire rope (9-2) passes through the rear wire tube fixing seat (16), the rear wire tube (10-2) and the second wire tube fixing clamp (25-2) in sequence.

4. The wearable motion-assisted exoskeleton system for marine diving operations according to claim 3 is characterized in that: A front tension sensor (6) and a rear tension sensor (7) are respectively fixed to the front and rear sides of the knee pad (8); the front steel wire rope (9-1) is connected to the knee pad (8) through the front tension sensor (6), and the rear steel wire rope (9-2) is connected to the knee pad (8) through the rear tension sensor (7).

5. The wearable motion-assisted exoskeleton system for marine diving operations according to claim 4 is characterized in that: The waist belt (3) comprises a first waist belt front plate (3-1), a second waist belt front plate (3-2), a first waist belt side plate (3-3), a second waist belt side plate (3-4) and a waist belt back plate (3-5); The front side wire tube fixing seat (11) of the first power system (5-1) and the first waist belt front plate (3-1) of the waist belt (3) are fixed by bolts, and the driving assembly (12) of the first power system (5-1) and the waist belt back plate (3-5) are fixed by bolts.

6. The wearable motion-assisted exoskeleton system for marine diving operations according to claim 5 is characterized in that: The power device (18) comprises a motor housing (27), a waterproof motor (28) and a fixing flange (29); the fixing flange (29) is fixedly connected to the bottom end of the waterproof motor (28) by bolts, and the motor housing (27) covers the waterproof motor (28) and is fixedly connected to the fixing flange (29) by bolts; The flange (23) of the wire drum assembly (17) is fixedly connected to the motor housing (27) by bolts, and the wire winding drum (20) is fixedly connected to the output shaft of the waterproof motor (28) by bolts; the rear wire tube fixing seat (16) is fixedly connected to the motor housing (27) by bolts.

7. The wearable motion-assisted exoskeleton system for marine diving operations according to claim 6 is characterized in that: The driving assembly (12) comprises an upper end connecting bracket (13), a lower end connecting bracket (14), and a main bracket (15); The upper connecting bracket (13) and the lower connecting bracket (14) are both fixed to the upper and lower flange edges of the motor housing (27). The upper connecting bracket (13) and the lower connecting bracket (14) are also connected to the main bracket (15). The main bracket (15) is fixedly connected to the belt back plate (3-5) of the belt (3) by bolts.

8. The wearable motion-assisted exoskeleton system for marine diving operations according to any one of claims 1 to 7, characterized in that: It also comprises a buoyancy harness (1), a diving cylinder (2) and fins (4); the buoyancy harness (1) and the diving cylinder (2) are tied and connected.

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