CN113814962B

CN113814962B - Intelligent climbing exoskeleton system

Info

Publication number: CN113814962B
Application number: CN202111136203.XA
Authority: CN
Inventors: 王�锋; 王新辉; 刘勇; 潘晨; 郭栋; 陆晟韬
Original assignee: Yangzhou Guangyuan Group Co ltd; Yangzhou Power Supply Branch Of State Grid Jiangsu Electric Power Co ltd
Current assignee: Yangzhou Guangyuan Group Co ltd; Yangzhou Power Supply Branch Of State Grid Jiangsu Electric Power Co ltd
Priority date: 2021-09-27
Filing date: 2021-09-27
Publication date: 2022-12-13
Anticipated expiration: 2041-09-27
Also published as: CN113814962A

Abstract

An intelligent climbing exoskeleton system. The intelligent climbing exoskeleton system is convenient to wear, saves labor and improves safety. The upper limb exoskeleton comprises a case and a pair of mechanical gloves, wherein shoulder joint components are respectively arranged at two ends of the top of the case, U-shaped pipe frames are arranged at the bottoms of the shoulder joint components, the shoulder joint components correspond to the mechanical gloves one by one, steel wire ropes used for connecting the mechanical gloves extend out of the shoulder joint components, a controller is arranged in the case, and the controller is used for controlling the retraction and extension actions of the steel wire ropes; the lower limb exoskeleton comprises a pair of lower limb components, the pair of lower limb components are connected to two ends of the pipe frame respectively, and the lower limb components are used for being connected with legs of a human body through leg straps. The invention utilizes mechanical gloves and the like to help the climbing operation personnel to save physical strength consumption of climbing operation and solve the backup safety problem in the bare-handed climbing process of the operation personnel.

Description

Intelligent climbing exoskeleton system

Technical Field

The invention relates to electric power auxiliary equipment, in particular to an intelligent climbing exoskeleton system suitable for aerial work.

Background

Along with the high-speed development of economy and the enhancement of environmental protection dynamics, the ground distance of overhead engineering equipment is higher and higher, and the working strength that staff such as construction, installation, fortune were examined climbed on overhead equipment is also bigger and bigger.

The staff bare-handed climbing on equipment such as iron tower, scaffold frame, framework and hanging ladder carries out high altitude construction and has following shortcoming:

firstly, when climbing workers climb on the overhead equipment by hands, climbing operation is high in risk, backup insurance is lacked, and once operation is lost, life safety of the workers can be endangered;

secondly, the physical strength of the climbing operation personnel is extremely consumed in the climbing operation, and the operation labor intensity is high;

thirdly, the number of times of single-day manual climbing operation is limited by the personal physical strength of the operators who climb the height, and the continuous operation labor efficiency is low.

Disclosure of Invention

Aiming at the problems, the invention provides the intelligent climbing exoskeleton system which is convenient to wear, saves manpower and improves safety.

The technical scheme of the invention is as follows: comprises an upper limb exoskeleton and a lower limb exoskeleton, wherein the upper limb exoskeleton comprises a case and a pair of mechanical gloves,

the two ends of the top of the case are respectively provided with a shoulder joint component, the bottom of the case is provided with a U-shaped pipe frame,

the shoulder joint components correspond to the mechanical gloves one by one, steel wire ropes used for connecting the mechanical gloves extend out of the shoulder joint components, and a controller is arranged in the case and used for controlling the retraction and release actions of the steel wire ropes;

the lower limb exoskeleton comprises a pair of lower limb components, the pair of lower limb components are respectively connected to two ends of the pipe support, and the lower limb components are used for being connected with legs of a human body through leg bridles.

The mechanical gloves comprise finger ends, interphalangeal parts, finger roots and metacarpal bones which are sequentially arranged, the finger ends are T-shaped blocks, a first clamping groove is formed in the middle of the front end of each interphalangeal part, and the middle vertical section of each finger end is movably located in the first clamping groove of each interphalangeal part;

a second clamping groove is arranged in the middle of the front end of the finger root, the rear end of the finger is movably positioned in the second clamping groove,

the metacarpal bones are square blocks, the front ends of the metacarpal bones are provided with third clamping grooves, and the rear ends of the finger roots are movably located in the third clamping grooves;

a thumb and a back stop are movably arranged on the metacarpal bone, the thumb is positioned on the front side of the metacarpal bone, and the back stop is positioned on the back side of the metacarpal bone;

the pair of thumbs are symmetrically arranged on two sides of the metacarpal bones, a connecting rod is arranged between the pair of thumbs, and two sides of each thumb are respectively provided with a thumb strap fixing ring;

the back baffle is U-shaped, two ends of the back baffle are movably connected to two sides of the metacarpal bones, the back baffle is connected with a steel wire rope connecting pipe through a nylon sling, and the steel wire rope connecting pipe is connected with a steel wire rope;

palm band fixing rings are respectively arranged on two sides of the finger root and are used for connecting the palm bands;

the inner side of the finger root is provided with a pressure sensor which is used for connecting a controller,

the rear end of the finger root is provided with a mechanical glove travel switch which is used for connecting a controller.

Still include the electromagnetism ware, the electromagnetism ware is established in the metacarpal bone, one side that the back of the body kept off is equipped with the switch, the switch is used for controlling the electromagnetism ware.

The electromagnetic relay is arranged in the middle of the accommodating groove, the pair of finger-end clamping bamboo shoots are positioned in the accommodating groove and positioned on two sides of the electromagnetic relay, the finger-end clamping bamboo shoots are connected with the electromagnetic relay through springs, and the electromagnetic relay is connected with a controller;

the thumb is provided with a thumb clamping groove, the thumb clamping groove corresponds to the finger end clamping bamboo shoots one by one, and the finger end clamping bamboo shoots are connected in the thumb clamping groove.

The wrist strap fixing device is characterized by further comprising a wrist bone, wherein the rear end of the metacarpal bone is provided with a clamping groove IV, the wrist bone is movably connected into the clamping groove IV of the metacarpal bone, the wrist bone is plate-shaped, two ends of the wrist bone are respectively provided with a side baffle, a wrist strap fixing hole is formed in the side baffle, and the wrist strap fixing hole is used for connecting a strap.

The wrist bone travel switch is arranged on the wrist bone and connected with the controller.

A partition plate is arranged in the case, a control device is arranged at the upper part of the partition plate, a battery is arranged at the lower part of the partition plate, the controller is positioned at the lower part of the partition plate, the controller further controls the steel wire rope to act through the control device, and the battery is used for supplying power to the control device;

two ends of the top of the case are respectively provided with a through hole, and the through holes are used for a steel wire rope to pass through;

two ends of the case are respectively provided with a chest strap fixing ring and a waist strap fixing ring below the through hole;

the surface of the case is provided with a main switch which is used for opening and closing the battery.

The control device comprises a driving motor, a motor gear, a pair of intermediate gears and a pair of retraction components, the retraction components comprise a winch, a winch gear, a transmission shaft and a clutch,

the driving motor is used for driving a motor gear, the motor gear is positioned between a pair of intermediate gears, the intermediate gears are positioned between a pair of retraction assemblies, the intermediate gears are meshed with the winch gear,

the transmission shaft is horizontally arranged and movably connected to the upper part of the case, one end of the transmission shaft extends into the winch, the other end of the transmission shaft extends into the winch gear, and the winch is used for winding a steel wire rope;

the transmission shaft has two sections, the clutch is arranged in the middle of the transmission shaft and used for separating and connecting the transmission shaft, and the controller is used for controlling the clutch.

Still include the brake ware, the brake ware passes through the support and connects on the baffle, be equipped with the brake disc on the capstan winch, the brake ware connection director, the brake ware is used for braking the brake disc.

The shoulder joint component comprises a shoulder joint support, a shoulder joint pulley shaft and a shoulder joint pulley, the shoulder joint support and the shoulder joint pulley support are sequentially connected to the outer side of the through hole of the case from inside to outside, the shoulder joint pulley shaft is vertically arranged,

the shoulder joint pulley is connected in the shoulder joint pulley support through a shoulder joint pulley shaft, and the steel wire rope moves around the shoulder joint pulley.

The shoulder joint dustproof cover is connected to the outer portion of the shoulder joint pulley support.

The pair of shoulder joint rolling rods are parallel and movably connected in the shoulder joint dust cover, and the steel wire rope is positioned between the pair of shoulder joint rolling rods.

The shoulder joint travel switch is arranged on the shoulder joint support and is used for contacting the case,

the shoulder joint travel switch is connected with the controller.

The lower limb assembly comprises a support ring, a thigh tube and a shank tube, the support ring is connected to the tube frame, the upper end of the support ring is provided with a hook for placing mechanical gloves, and the lower end of the support ring is provided with a connecting plate;

the thigh tube is movably connected with a connecting plate of the support ring, the thigh tube and the shank tube are movably connected, and the bottom of the shank tube is connected with the pedal;

leg band fixing rings are arranged on the thigh tube and/or the shank tube.

The thigh pipe comprises a first pipe body and a second pipe body which are arranged up and down and are provided with external threads, and the first pipe body and the second pipe body are connected in the thigh adjusting nut through threads respectively.

The buffer also comprises a buffer, the buffer comprises a placing cylinder, a buffer spring and a fastening cap, the upper end of the placing cylinder is movably connected with the connecting plate, the lower end of the placing cylinder is provided with an opening,

a positioning cylinder is arranged in the opening of the mounting cylinder, the buffer spring is sleeved on the positioning cylinder and positioned in the opening,

the top end of the first pipe body is provided with a step circle, the diameter of the step circle is smaller than the inner diameter of the placement cylinder, the step circle is used for contacting the buffer spring, the positioning cylinder is used for extending into the first pipe body,

the fastening cap is provided with a stepped hole with a large upper part and a small lower part, the pipe body is positioned in the small stepped hole of the fastening cap, and the mounting cylinder is connected in the large stepped hole of the fastening cap through threads.

The buffer device is characterized by further comprising a check ring, wherein the check ring is arranged at the top of the step circle, the inner diameter of the check ring is equal to the inner diameter of the first pipe body, the check ring extends into the opening, the buffer spring is sleeved on the check ring, and the positioning cylinder extends into the check ring.

The calf tube is connected with the pedal through the calf rod, the calf tube is provided with internal threads, the calf rod is provided with external threads, and the calf tube is connected with the calf rod through the threads.

In the work, the upper limb exoskeleton is connected to the back of an operator through the bear strap and the waist strap, and the lower limb exoskeleton is connected to the legs of the operator through the leg strap, so that the upper limb exoskeleton is easy to put on and take off;

the upper limb exoskeleton comprises a case and a pair of mechanical gloves, and after an operator wears the mechanical gloves, the operator can control and adjust the length of the steel wire rope through the action of the mechanical gloves so that the steel wire rope is matched with the length of the arm of the human body, and the operation can be conveniently carried out.

The lower limb exoskeleton comprises a pair of lower limb components, and is used for bearing the weight of the case through the lower limb components when an operator walks, so that the bearing weight of the human body is reduced.

The invention utilizes mechanical gloves and the like to help the climbing operation personnel to save physical strength consumed by climbing operation and solve the backup safety problem in the bare-handed climbing process of the operation personnel.

Drawings

Figure 1 is a schematic view of the structure of the present invention,

figure 2 is a left side view of figure 1,

figure 3 is a schematic structural view of the exoskeleton of the upper limb,

figure 4 is a left side view of figure 3,

figure 5 is a schematic diagram of the internal structure of the chassis,

figure 6 is a schematic diagram of the structure of the lower extremity exoskeleton,

figure 7 isbase:Sub>A cross-sectional view taken along planebase:Sub>A-base:Sub>A of figure 6,

figure 8 is a cross-sectional view taken along plane B-B of figure 6,

figure 9 is a schematic view of the attachment structure of a mechanical glove,

figure 10 is a left side view of figure 9,

figure 11 is a right side view of figure 9,

figure 12 is a view of the bent state of figure 9,

figure 13 is a schematic view of the internal structure of the finger tip,

figure 14 is a schematic perspective view of a mechanical glove,

figure 15 is a schematic perspective view of a mechanical glove,

figure 16 is a first collapsed position of the lower extremity exoskeleton,

figure 17 is a second collapsed position of the lower extremity exoskeleton,

figure 18 is a graph of the folding action of the lower extremity exoskeleton,

figure 19 is a schematic view of the structure of the buffer,

FIG. 20 is a schematic view of the wear of the worker;

figure 1 is an upper extremity exoskeleton,

2 is a lower limb exoskeleton, 20 is a lower limb assembly, 21 is a support ring, 211 is a hook, 212 is a connecting plate, 22 is a thigh pipe, 221 is a pipe body I, 2210 is a step circle, 222 is a pipe body II, 23 is a shank pipe, 24 is a pedal, 25 is a leg belt fixing ring, 26 is a thigh adjusting nut, 27 is a buffer, 271 is a mounting cylinder, 2710 is a positioning cylinder, 272 is a buffer spring, 273 is a fastening cap, 28 is a retaining ring, and 29 is a shank;

3 is a case, 31 is a partition, 32 is a battery, 33 is a through hole, 34 is a chest strap fixing ring, 35 is a waist strap fixing ring, 36 is a lower limb fixing ring,

4 is a mechanical glove, 41 is a finger tip, 42 is a finger space, 420 is a first clamping groove, 43 is a root, 430 is a second clamping groove, 44 is a metacarpal bone, 441 is a third clamping groove, 442 is a fourth clamping groove, 45 is a thumb, 450 is a thumb clamping groove, 46 is a back block, 47 is a connecting rod, 48 is a thumb belt fixing ring, 49 is a nylon hanging strip, 410 is a steel wire rope connecting pipe, 411 is a palm belt fixing ring, 412 is a pressure sensor, 413 is a mechanical glove travel switch, 414 is an electromagnetic device, 415 is a switch, 416 is an electromagnetic relay, 417 is an end clamping bamboo shoot, 418 is a containing groove, 419 is a spring,

5 is a shoulder joint component, 51 is a shoulder joint support, 52 is a shoulder joint pulley support, 53 is a shoulder joint pulley shaft, 54 is a shoulder joint pulley, 55 is a shoulder joint dust cover, 56 is a shoulder joint rolling rod, 57 is a shoulder joint travel switch, 58 is a fixing bolt,

6 is a pipe frame, 7 is a steel wire rope,

8 is a carpal bone, 81 is a side baffle, 82 is a carpal bone belt fixing hole, 83 is a carpal bone travel switch,

reference numeral 9 denotes a control device, 91 denotes a drive motor, 92 denotes a motor gear, 93 denotes an intermediate gear, 94 denotes a retraction assembly, 941 denotes a winch, 942 denotes a winch gear, 943 denotes a transmission shaft, 944 denotes a clutch, 95 denotes a brake, 96 denotes a carrier, and 97 denotes a brake disc.

Detailed Description

The invention, as shown in fig. 1-20, comprises an upper limb exoskeleton 1 and a lower limb exoskeleton 2, wherein the upper limb exoskeleton comprises a case 3 and a pair of mechanical gloves 4,

the shoulder joint assemblies 5 are respectively arranged at two ends of the top of the case 3, the U-shaped pipe frame 6 is arranged at the bottom of the case, and the pipe frame 6 is connected in a lower limb fixing ring 36 on the bottom surface of the case, so that the subsequent rotation action is facilitated;

the shoulder joint assemblies 5 correspond to the mechanical gloves 4 one by one, steel wire ropes 7 used for connecting the mechanical gloves extend out of the shoulder joint assemblies 5, and a controller is arranged in the case and used for controlling the winding and unwinding actions of the steel wire ropes;

the lower limb exoskeleton 2 comprises a pair of lower limb components 20, wherein the pair of lower limb components 20 are respectively connected to two ends of the pipe frame 6 and are used for being connected with legs of a human body through leg straps.

In work, as shown in fig. 20, the upper limb exoskeleton is connected to the back of an operator through a chest strap and a waist strap, and the lower limb exoskeleton is connected to the legs of the operator through a leg strap, so that the upper limb exoskeleton is easy to put on and take off;

The invention utilizes mechanical gloves and the like to help the climbing operation personnel to save physical strength consumption of climbing operation and solve the backup safety problem in the bare-handed climbing process of the operation personnel.

As shown in fig. 9-15, the mechanical glove 4 includes a finger end 41, a finger space 42, a finger root 43 and a metacarpal bone 44, which are sequentially arranged, the finger end 41 is a T-shaped block, a first clamping groove 420 is arranged in the middle of the front end of the finger space 42, and a middle vertical section of the finger end 41 is movably located in the first clamping groove 420 between the fingers;

a second clamping groove 430 is arranged in the middle of the front end of the finger root 43, the rear end of the finger space 42 is movably positioned in the second clamping groove 420,

the metacarpal bones 44 are square blocks, the front ends of the metacarpal bones 44 are provided with clamping grooves III 441, and the rear ends of the finger roots 43 of the clamping grooves III 441 are movably positioned in the clamping grooves III 441; the finger tip, the finger space, the finger root and the metacarpal bone are connected in pairs through the pin shafts, so that the movement is convenient.

A thumb 45 and a back stop 46 are movably arranged on the metacarpal 44, the thumb is positioned on the front side of the metacarpal, and the back stop is positioned on the back side of the metacarpal;

the thumbs 45 are finger-shaped plates, each thumb comprises a pair of thumbs, the pair of thumbs are symmetrically arranged on two sides of the metacarpal bone, a connecting rod 47 is arranged between the pair of thumbs, and two sides of each thumb are respectively provided with a thumb strap fixing ring 48;

the pair of thumbs connected through the connecting rod is arranged, so that a climbing object can be conveniently grasped, and the action is reliable;

the thumb binding belt fixing ring is convenient for connecting the thumb binding belt and fixing the thumb of the operator;

the back block 46 is U-shaped, two ends of the back block are movably connected to two sides of a metacarpal bone, the back block is connected with a steel wire rope connecting pipe 410 through a nylon hanging strip 49, and the steel wire rope connecting pipe is connected with a steel wire rope 7;

palm strap fixing rings 411 are respectively arranged on two sides of the finger root and are used for connecting palm straps; the palm strap is arranged, so that the palm of the operator can be conveniently fixed; in application, palm strap fixing rings can be arranged on two sides of the finger space.

The inner side of the finger root is provided with a pressure sensor 412, the pressure sensor is used for connecting a controller,

the rear end of the finger root is provided with a mechanical glove travel switch 413 (for example, a button travel switch, when an operator flattens the palm, the mechanical glove travel switch enters the third clamping groove to be extruded, and subsequent actions are triggered), and the mechanical glove travel switch is used for being connected with a controller.

The mechanical arm sleeve is sleeved in the work, and the finger ends, the finger spaces, the finger roots and the metacarpal bones are connected in pairs in sequence to match with the actions of the palms of the human bodies, so that the mechanical arm sleeve is convenient to disassemble and assemble;

the pressure sensor senses the human body climbing action, intelligently analyzes the action of the human body in the climbing process, and then controls the driving motor to control the steel wire rope to generate synchronous action with the human body, so that the human body climbing is assisted.

The mechanical glove travel switch is convenient for sensing the action (stretching or clenching) of the palm, and the intelligent control is realized through the controller;

the nylon crane connected with the steel wire rope connecting pipe is used for buffering the acting force of the steel wire rope, and the damage to operators is avoided.

Still include electromagnetism ware 414, the electromagnetism ware is established in the metacarpal bone, one side that keeps off on the back is equipped with switch 415, the switch is used for controlling the electromagnetism ware.

Like this, have the electromagnetism ware in mechanical gloves's the metacarpal bone, through the switch adsorbable iron spare surface (iron metal such as angle steel, channel-section steel, band iron) at the climbing, improve the reliability of adsorbing the connection to improve the security.

The electromagnetic relay further comprises an electromagnetic relay 416 and a pair of finger-end clamping bamboo shoots 417, wherein a containing groove 418 is formed in the horizontal section of each finger end, the electromagnetic relay 416 is arranged in the middle of the containing groove, the pair of finger-end clamping bamboo shoots 417 is positioned in the containing groove and positioned on two sides of the electromagnetic relay, the finger-end clamping bamboo shoots 417 are connected with the electromagnetic relay through springs 419, and the electromagnetic relay is connected with a controller;

the thumb 45 is provided with a thumb clamping groove 450, the thumb clamping groove 450 corresponds to the finger end clamping bamboo shoots 417 one by one, and the finger end clamping bamboo shoots are used for being connected in the thumb clamping groove.

The mechanical glove can be bent along with a hand to make a holding action, the finger end clamping bamboo shoots of the mechanical glove are inserted into the finger clamping grooves of the mechanical glove to form a locking state, when the hand is stretched horizontally, the stroke switch of the mechanical glove triggers the controller, and the controller instructs the electromagnetic relays in the finger end clamping bamboo shoots of the mechanical glove to act and retract the finger end clamping bamboo shoots to release the locking fixed state.

Through the connection form who sets up finger end card bamboo shoot and thumb draw-in groove, when grabbing the climbing thing, improve the locking reliability, protection operation personnel safety.

Still include the carpal bone 8, the rear end of metacarpal bone 44 is equipped with draw-in groove four 442, 8 swing joint of carpal bone are in the draw-in groove four 442 of metacarpal bone, the carpal bone 8 is platelike, the both ends of carpal bone are equipped with the side respectively and keep off 81, be equipped with carpal bone band fixed orifices 82 on the side fender, the carpal bone band fixed orifices is used for connecting the band.

The wrist bone is arranged, so that the wrist can be placed and supported conveniently, and the wrist is fixed through the binding belt, and the support stability is improved. Meanwhile, the palm extends into the back block and is fixed by a palm binding belt;

By arranging the carpal stroke switch (such as a button type stroke switch), when an operator separates the hand from the mechanical gloves, the carpal stroke switch triggers the controller to lock the driving motor, and then the winch is locked.

As shown in fig. 3-5, a partition 31 is provided in the case, the upper part of the partition is a control device 9, the lower part of the partition is a battery 32, the controller is located at the lower part of the partition, the controller further controls the action of the steel wire rope 7 through the control device 9, and the battery 32 is used for supplying power to the control device; in application, power is supplied to components such as an electromagnetic relay;

two ends of the top of the case are respectively provided with a through hole 33 for a steel wire rope to pass through;

a chest strap fixing ring 34 and a waist strap fixing ring 35 are respectively arranged at the two ends of the case below the through holes;

When the case works, the chest strap is connected with the chest strap fixing ring through the chest strap, and the waist strap is connected with the waist strap fixing ring and further connected to an operator;

the control device, the battery and the like are separated in the case through the partition plate, so that power supply operation is facilitated.

The control device 9 comprises a driving motor 91, a motor gear 92, a pair of intermediate gears 93 and a pair of retraction assemblies 94, the retraction assemblies 94 comprise a winch 941, a winch gear 942, a transmission shaft 943 and a clutch 944,

the driving motor 91 is used for driving a motor gear 92, the motor gear 92 is positioned between a pair of intermediate gears 93, the pair of intermediate gears 93 are positioned between a pair of retraction components 94, the intermediate gears 93 are meshed with a winch gear 942,

the transmission shaft 943 is horizontally arranged and movably connected to the upper part of the case 91, one end of the transmission shaft extends into a winch 941, and the other end of the transmission shaft extends into a winch gear 942, and the winch is used for winding a steel wire rope 7;

the drive shaft 943 has two stages, and the clutch 944 is provided at the center of the drive shaft for engaging and disengaging the drive shaft, and the controller is provided for controlling the clutch.

When controlling means moved, driving motor passed through the motor gear and then driven a pair of intermediate gear, rethread intermediate gear and the capstan winch gear engagement action that corresponds, the capstan winch gear through the jackshaft and then drive the capstan winch and receive and release wire rope.

The transmission shaft is provided with two sections, so that the transmission shaft can be conveniently separated and jointed through the clutch, and the pair of retraction and extension components are adapted to different action forms of two mechanical gloves of an operator, namely one palm is stretched flat, and the other palm holds a climbing object;

when the steel wire rope is stretched, the mechanical glove travel switch transmits information to the controller, so that the corresponding clutch acts to drive the motor to act, and further the steel wire rope is loosened;

when the climbing object is held, the mechanical glove travel switch transmits information to the controller, so that the corresponding clutch acts to drive the motor to act, and further the steel wire rope is tightened.

In the application, when the pressure value of a pressure sensor in the mechanical arm sleeve is more than or equal to 5kg in the upward action state, the hand of a human body is sensed to be held tightly, the mechanical arm sleeve locks a climbing object, the clutch acts, the driving motor shaft and the winch shaft are connected, the driving motor further drives the winch, the steel wire rope is tightened through the shoulder joint, and the steel wire rope tightens the nylon sling to perform upward lifting action.

Still include brake 95, the brake passes through support 96 and connects on baffle 31, be equipped with brake disc 97 on the capstan winch, brake connection director, brake 95 is used for braking brake disc 97.

The operating personnel loosens the palm of holding the climbing object in the climbing process, and the controller thinks that the human body stops the climbing action after perceiving from manipulator cover pressure sensor numerical value, then instructs driving motor stall, and the brake ware brakes the dish of stopping, improves the security.

The shoulder joint assembly 5 comprises a shoulder joint support 51, a shoulder joint pulley support 52, a shoulder joint pulley shaft 53 and a shoulder joint pulley 54, the shoulder joint support 51 and the shoulder joint pulley support 52 are sequentially connected to the outer side of the through hole 33 of the case 3 from inside to outside, the shoulder joint support 51 and the shoulder joint pulley support 52 are connected through a fixing bolt 58,

the shoulder joint pulley shaft 53 is vertically arranged,

the shoulder joint pulley 54 is connected in the shoulder joint pulley support 52 through a shoulder joint pulley shaft 53, and the steel wire rope 7 acts around the shoulder joint pulley.

The shoulder joint assembly is arranged outside the case, so that the shoulder joint pulley rotates around the shoulder joint pulley block, the steel wire rope can conveniently move along the shoulder joint pulley, and the reliability of the steel wire rope winding and unwinding is ensured.

A shoulder joint dust cover 55 is also included, the shoulder joint dust cover 55 being attached to the exterior of the shoulder pulley mount 52.

Through setting up shoulder joint dust cover, play dustproof, rain-proof effect.

The shoulder joint dustproof cover is characterized by further comprising a pair of shoulder joint rolling rods 56, the shoulder joint rolling rods 56 are parallelly and movably connected in the shoulder joint dustproof cover, and the steel wire rope 7 is located between the shoulder joint rolling rods.

Through setting up a pair of shoulder joint roll bar, be convenient for fix a position, directional wire rope, improve wire rope and remove the reliability.

And further comprises a shoulder joint travel switch 57, the shoulder joint travel switch is arranged on the shoulder joint support, the shoulder joint travel switch is used for contacting the case,

the shoulder joint travel switch is connected with the controller.

By arranging the shoulder joint travel switch (such as a button travel switch), when the arm falls and hangs down, the driving motor is locked, and then the winch is locked, so that the safety is further improved.

When the operator needs to carry the case to walk, the operator can manually pull out the lower limb exoskeleton, step the pedals on the soles of the human bodies, tie the lower limb exoskeleton on the legs of the human bodies by leg straps, and support the weight of the case through the lower limb exoskeleton when the operator walks freely in the open air, thereby achieving the labor-saving effect.

As shown in fig. 16-18, the lower extremity exoskeleton can be folded and carried under normal conditions,

the first mode is as follows: when the U-shaped opening of the pipe frame faces forwards, the pair of lower limb assemblies are directly turned upwards around the pipe frame, so that the lower limb assemblies are positioned on two sides of a human body, and the lower limb assemblies are directly turned downwards when the pipe frame is used;

the second mode is as follows: overturn the pipe support earlier for the U-shaped mouth of pipe support sets up towards the back, will directly upwards overturn around the pipe support to the low limbs subassembly again, and at this moment, the low limbs subassembly is located behind one's back, adapts to different operating mode requirements.

As shown in fig. 6-8, the lower limb assembly comprises a support ring 21, a thigh tube 22 and a shank tube 23, the support ring 21 is connected to the tube frame 6, the upper end of the support ring 21 is provided with a hook 211 for placing a mechanical glove 4, and the lower end is provided with a connecting plate 212;

the thigh tube 22 is movably connected with a connecting plate 212 of the support ring 21, the thigh tube 22 and the calf tube 23 are movably connected, and the bottom of the calf tube 23 is connected with the pedal 24;

a leg strap fixing ring 25 is arranged on the thigh tube 22 and/or the shank tube 23.

The lower limb assembly is connected to the pipe frame through the support ring, so that the disassembly and the assembly are convenient; meanwhile, the lower part of the support ring is sequentially and movably connected with the thigh pipe and the shank pipe, so that the action requirement of an operator is met;

the leg strap fixing ring is arranged to facilitate connection of the leg strap, and the leg strap is connected with the leg of the human body through the leg strap, so that connection is reliable; meanwhile, the pedals are arranged at the bottoms of the shank pipes, so that the weight of the case is borne when an operator walks, the bearing weight of the operator is reduced, and the labor is saved and the reliability is realized.

In application, the bottom of the pedal is provided with a rubber pad, so that the skid resistance is improved.

The thigh pipe 22 comprises a first pipe body 221 and a second pipe body 222 which are arranged up and down and are provided with external threads, and the first pipe body 221 and the second pipe body 222 are connected in the thigh adjusting nut 26 through threads respectively.

The thigh pipe is divided into a split type (namely, the pipe body I and the pipe body II) and is connected in the thigh adjusting nut through threads, so that the length of the thigh pipe is convenient to adjust, and the thigh pipe is suitable for requirements of different operators (namely, the thigh pipe is corresponding).

As shown in fig. 19, the shock absorber 27 is further included, the shock absorber includes a mounting cylinder 271, a buffer spring 272 and a fastening cap 273, the upper end of the mounting cylinder 271 is movably connected with the connecting plate 212, the lower end is provided with an opening,

a positioning barrel 2710 is arranged in the opening of the setting barrel 271, the buffer spring 272 is sleeved on the positioning barrel 2710 and is positioned in the opening,

the top end of the first pipe body 221 is provided with a step circle 2210, the diameter of the step circle is smaller than the inner diameter of the mounting cylinder 271, the step circle is used for contacting the buffer spring, the positioning cylinder is used for extending into the first pipe body 221,

the fastening cap 273 has a stepped hole with a large upper part and a small lower part, the first pipe body 221 is located in the small stepped hole of the fastening cap 273, the mounting cylinder 271 is connected in the large stepped hole of the fastening cap 273 through a screw thread, and at this time, the stepped circle is located in the fastening cap.

The buffer is arranged, so that the acting force during walking is buffered, and the service life is prolonged.

The buffer is sleeved with the buffer spring on the positioning cylinder in the mounting cylinder, the step on the first pipe body is in circular contact with the support, and then the buffer is locked through the fastening cap, so that the buffer reliability is guaranteed.

The positioning cylinder movably extends into the first pipe body, so that the stability of action is ensured.

The anti-explosion pipe is characterized by further comprising a check ring 28, wherein the check ring is arranged at the top of the step circle, the inner diameter of the check ring is equal to that of the first pipe body 221, the check ring extends into the opening, the buffer spring is sleeved on the check ring, and the positioning barrel 2710 extends into the check ring.

The check ring is arranged, namely the length of the first pipe body is prolonged, so that the first pipe body can reliably extend into the positioning cylinder; simultaneously, improve the reliability of relative movement between a body one and the arrangement section of thick bamboo, guarantee buffering stability.

The crus tube 23 is connected with the pedal through the crus rod 29, the crus tube 23 is provided with internal threads, the crus rod 29 is provided with external threads, and the crus tube and the crus rod are connected through the threads.

Like this, be convenient for through threaded connection between them, and then adjust length, adapt to different operation personnel's demand (corresponding shank promptly).

The disclosure of the present application also includes the following points:

(1) The drawings of the embodiments disclosed herein only relate to the structures related to the embodiments disclosed herein, and other structures can refer to general designs;

(2) In case of conflict, the embodiments and features of the embodiments disclosed in this application can be combined with each other to arrive at new embodiments;

the above embodiments are only embodiments disclosed in the present disclosure, but the scope of the disclosure is not limited thereto, and the scope of the disclosure should be determined by the scope of the claims.

Claims

1. An intelligent climbing exoskeleton system is characterized by comprising an upper limb exoskeleton and a lower limb exoskeleton, wherein the upper limb exoskeleton comprises a case and a pair of mechanical gloves,

the shoulder joint components correspond to the mechanical gloves one by one, steel wire ropes for connecting the mechanical gloves extend out of the shoulder joint components, and a controller is arranged in the case and used for controlling the retraction and release actions of the steel wire ropes;

the lower limb exoskeleton comprises a pair of lower limb components, the pair of lower limb components are respectively connected to two ends of the pipe frame, and the lower limb components are used for being connected with legs of a human body through leg straps;

the mechanical gloves comprise finger ends, interphalangeal fingers, finger roots and metacarpals which are sequentially arranged, wherein the finger ends are T-shaped blocks, a first clamping groove is formed in the middle of the front end of each interphalangeal finger, and a middle vertical section of each finger end is movably located in the first clamping groove in each interphalangeal finger;

palm strap fixing rings are respectively arranged on two sides of the finger root and are used for connecting the palm straps;

2. The intelligent climbing exoskeleton system as claimed in claim 1, further comprising an electromagnetic device, wherein the electromagnetic device is arranged in the metacarpal bone, and a switch is arranged on one side of the back shield and used for controlling the electromagnetic device.

3. The intelligent climbing exoskeleton system as claimed in claim 1, further comprising an electromagnetic relay and a pair of finger-end latches, wherein a containing groove is formed in the horizontal section of the finger end, the electromagnetic relay is arranged in the middle of the containing groove, the pair of finger-end latches are located in the containing groove and located on two sides of the electromagnetic relay, the finger-end latches are connected with the electromagnetic relay through springs, and the electromagnetic relay is connected with the controller;

4. The intelligent climbing exoskeleton system of claim 1, further comprising a carpal bone, wherein a fourth clamping groove is formed in the rear end of the metacarpal bone, the carpal bone is movably connected in the fourth clamping groove of the metacarpal bone, the carpal bone is plate-shaped, two ends of the carpal bone are respectively provided with a side baffle, a carpal bone strap fixing hole is formed in each side baffle, and the carpal bone strap fixing holes are used for being connected with a strap.

5. The intelligent climbing exoskeleton system of claim 4 further comprising a carpal travel switch disposed on the carpal bones, the carpal travel switch being connected to the controller.

6. The intelligent climbing exoskeleton system as claimed in claim 1, wherein a partition is arranged in the case, a control device is arranged at an upper part of the partition, a battery is arranged at a lower part of the partition, the controller is located at the lower part of the partition, the controller controls the action of the steel wire rope through the control device, and the battery is used for supplying power to the control device;

a chest strap fixing ring and a waist strap fixing ring are respectively arranged at the two ends of the case below the through holes;

7. The intelligent climbing exoskeleton system of claim 6, wherein the control device comprises a drive motor, a motor gear, a pair of intermediate gears, and a pair of retraction assemblies comprising a winch, a winch gear, a drive shaft, and a clutch,

8. The intelligent climbing exoskeleton system of claim 7,

the brake is connected to the partition plate through a support, a brake disc is arranged on the winch, the brake is connected with the controller, and the brake is used for braking the brake disc.

9. The intelligent climbing exoskeleton system as claimed in claim 1, wherein the shoulder joint assembly comprises a shoulder joint support, a shoulder joint pulley shaft and a shoulder joint pulley, the shoulder joint support and the shoulder joint pulley support are connected with the perforated outer side of the case in sequence from inside to outside, the shoulder joint pulley shaft is vertically arranged,

10. The intelligent climbing exoskeleton system of claim 9 further comprising a shoulder joint dust cover coupled to an exterior of the shoulder joint pulley supports.

11. The intelligent climbing exoskeleton system of claim 10, further comprising a pair of shoulder joint rolling rods, wherein the pair of shoulder joint rolling rods are parallel and movably connected in the shoulder joint dust cover, and the wire rope is located between the pair of shoulder joint rolling rods.

12. The intelligent climbing exoskeleton system of claim 9, further comprising a shoulder joint travel switch disposed on the shoulder joint support, the shoulder joint travel switch configured to contact the chassis,

the shoulder joint travel switch is connected with the controller.

13. The intelligent climbing exoskeleton system as claimed in claim 1, wherein the lower limb assembly comprises a support ring, a thigh tube and a shank tube, the support ring is connected to the tube frame, a hook for placing mechanical gloves is arranged at the upper end of the support ring, and a connecting plate is arranged at the lower end of the support ring;

leg band fixing rings are arranged on the thigh tube and/or the shank tube.

14. The intelligent climbing exoskeleton system of claim 13 further comprising a thigh adjusting nut, wherein the thigh tube comprises a first tube body and a second tube body which are vertically arranged and provided with external threads, and the first tube body and the second tube body are respectively connected in the thigh adjusting nut through threads.

15. The intelligent climbing exoskeleton system as claimed in claim 14, further comprising a buffer, wherein the buffer comprises a mounting tube, a buffer spring and a fastening cap, the upper end of the mounting tube is movably connected with the connecting plate, the lower end of the mounting tube is provided with an opening,

the top end of the first pipe body is provided with a step circle, the diameter of the step circle is smaller than the inner diameter of the mounting cylinder, the step circle is used for contacting the buffer spring, the positioning cylinder is used for extending into the first pipe body,

the fastening cap is provided with a stepped hole with a large upper part and a small lower part, the pipe body is positioned in the small stepped hole of the fastening cap, and the mounting barrel is connected in the large stepped hole of the fastening cap through threads.

16. The intelligent climbing exoskeleton system of claim 15, further comprising a retaining ring, wherein the retaining ring is arranged at the top of the step circle, the inner diameter of the retaining ring is equal to the inner diameter of the first pipe body, the retaining ring extends into the opening, the buffer spring is sleeved on the retaining ring, and the positioning cylinder extends into the retaining ring.

17. The intelligent climbing exoskeleton system of claim 16, further comprising a shank tube, wherein the shank tube is connected with the pedals through the shank tube, the shank tube has internal threads, the shank tube has external threads, and the shank tube are connected through the threads.