Baby sleep

I co sleep and my baby boy won’t stop kicking and when I get him asleep in the crib he will wake up from movements, he is almost 6 months, I am at a lost and haven’t slept in days, weeks, months, only getting about 1-3 hours of sleep a night, I don’t know how I can stop the kicking and hitting me all night, I have tried to get him to sleep on own but again he is waking himself up from movements, I thought the movements where to slow down from this age but they have gotten worst. I need help