CN116945138A - Exoskeleton for grounding work of high-voltage electric equipment - Google Patents
Exoskeleton for grounding work of high-voltage electric equipment Download PDFInfo
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- CN116945138A CN116945138A CN202311211729.9A CN202311211729A CN116945138A CN 116945138 A CN116945138 A CN 116945138A CN 202311211729 A CN202311211729 A CN 202311211729A CN 116945138 A CN116945138 A CN 116945138A
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- 210000000245 forearm Anatomy 0.000 claims abstract description 36
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 35
- 210000001364 upper extremity Anatomy 0.000 claims abstract description 23
- 210000000689 upper leg Anatomy 0.000 claims description 82
- 210000001624 hip Anatomy 0.000 claims description 59
- 210000004394 hip joint Anatomy 0.000 claims description 19
- 210000003141 lower extremity Anatomy 0.000 claims description 18
- 210000002414 leg Anatomy 0.000 claims description 14
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 9
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- 239000003638 chemical reducing agent Substances 0.000 claims description 6
- 210000000629 knee joint Anatomy 0.000 claims description 6
- 210000003857 wrist joint Anatomy 0.000 claims description 6
- 241000469816 Varus Species 0.000 claims description 5
- 210000002683 foot Anatomy 0.000 claims description 5
- 238000005452 bending Methods 0.000 claims description 4
- 241001227561 Valgus Species 0.000 claims description 3
- 210000003205 muscle Anatomy 0.000 abstract description 6
- 210000003414 extremity Anatomy 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000003321 amplification Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
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- 210000004247 hand Anatomy 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
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- 206010033799 Paralysis Diseases 0.000 description 1
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- 230000009977 dual effect Effects 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
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- 208000014674 injury Diseases 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
Abstract
The application discloses an exoskeleton for grounding operation of high-voltage electrical equipment, which comprises: the double-arm auxiliary structure comprises a left arm structure and a right arm structure, wherein the left arm structure and the right arm structure comprise a big arm support assembly and a small arm support assembly, and the big arm support assembly comprises a shoulder joint fixing piece, a shoulder joint driving part, a big arm main body part and a big arm binding assembly; the main body part of the big arm is a length-adjustable structure; the forearm support assembly comprises an elbow joint driving part, a forearm main rod and a forearm binding assembly; the tail end of the left arm structure and/or the right arm structure is provided with an operation terminal clamp for fixing the high-voltage electric rod piece equipment. The application can assist in completing the grounding task of the high-voltage electric equipment, lightens the muscle force in the work of the upper limb hanging rod, and simultaneously reduces the burden caused by the weight of the load.
Description
Technical Field
The application relates to the technical field of human body auxiliary equipment, in particular to an exoskeleton for grounding work of high-voltage electric equipment.
Background
The exoskeleton can form a support for a human body so as to improve the load bearing capacity and the exercise capacity of the human body. Currently, exoskeletons are mainly divided into two types, namely, the exoskeletons can provide joint assistance for assisting disabled people and paralyzed patients of lower limbs to walk, and the exoskeletons can provide auxiliary torque for movement joints to reduce the force of muscles in the movement process; another category is load-supporting exoskeletons that increase load carrying capacity and relieve the wearer's back pressure, which transfer the load weight to the ground through a rigid structure, allowing the wearer to bear more weight. The existing load-bearing walking-assisting exoskeleton mainly comprises power and unpowered, wherein the power exoskeleton mainly detects exoskeleton information through a sensing system and provides power for the movement of the exoskeleton in a motor driving, hydraulic driving or pneumatic driving mode; the unpowered exoskeleton does not comprise an energy system, a driving system and a control system, and only the self structure is used for converting load gravity into acting force between a wearer and the exoskeleton and transmitting the acting force to the sole of the foot, so that the weight of the exoskeleton can be reduced, the reliability is improved, and an important role is played in the development of the exoskeleton gradually.
The high-voltage electric equipment is grounded, the risk of injury to the waist and the upper limbs of the human body is high, the joints of the human body are complex, and the exoskeleton structure which is not matched with the human body can block the human body. Therefore, the design of the upper limb assisting exoskeleton which can be freely operated is important for assisting in completing the grounding task of the high-voltage electric equipment.
Disclosure of Invention
The embodiment of the application provides an exoskeleton for grounding work of high-voltage equipment, which can assist in completing the grounding task of the high-voltage equipment, lighten the muscle force in the work of an upper limb hanging rod and reduce the burden caused by the weight of a load.
In view of this, the present application provides an exoskeleton for grounding operation of a high voltage electrical device, comprising: a dual-arm assist structure, a back support structure connected to the dual-arm assist structure, and a lower limb support structure connected to the back support structure;
the double-arm auxiliary structure comprises a left arm structure and a right arm structure;
the left arm structure and the right arm structure comprise a big arm bracket assembly and a small arm bracket assembly;
the big arm bracket assembly comprises a shoulder joint fixing piece connected with the back supporting structure, a shoulder joint driving part hinged and rotated with the shoulder joint fixing piece along a first axis, a big arm main body part hinged and rotated with the shoulder joint driving part along a second axis and a big arm binding assembly arranged on the big arm main body part;
the main body part of the big arm is of a length-adjustable structure;
the first axis is used for providing freedom degree of inward-folding and outward-unfolding movement of the shoulder joint of the human body;
the second axis is used for providing freedom degree of human shoulder joint buckling and stretching movement;
the forearm support assembly comprises an elbow joint driving part hinged and rotated with the main body part of the big arm along a third axis, a forearm main rod hinged and rotated with the elbow joint driving part along a fourth axis, and a forearm binding assembly arranged on the forearm main rod;
the third axis is used for providing freedom degree of human elbow joint flexion and extension movement;
the fourth axis is used for improving the rotation flexibility of the forearm;
and the tail end of the left arm structure and/or the tail end of the right arm structure are/is provided with an operation terminal clamp for fixing high-voltage rod piece equipment.
Optionally, the operation terminal clamp includes a terminal rotating rod hinged to the arm main rod along a fifth axis, a terminal connecting rod rotating along a sixth axis, and a terminal clamping part fixedly connected with the terminal connecting rod;
the fifth axis is used for providing the freedom degree of the human wrist joint to rotate along the axis;
the sixth axis is used for providing freedom degree of bending and stretching movement of the wrist joint of the human body.
Optionally, the end gripping member comprises a first annular gripping member and a second annular gripping member;
the first annular clamping piece is fixedly connected with the tail end connecting rod;
an annular groove is formed in one end of the second annular clamping piece;
the first annular clamping piece is connected with the second annular clamping piece in a sliding mode through the annular groove, and a spring is arranged at the bottom of the annular groove.
Optionally, the main arm body part includes a main arm connecting rod and a main arm lever;
the big arm connecting rod is hinged with the shoulder joint driving part along a second axis, and a plurality of rows of first through holes are formed at the tail end of the big arm connecting rod;
the main lever of the large arm is correspondingly provided with a first fixing hole matched with the first through hole;
the large arm connecting rod is embedded in the large arm main rod in a sliding manner and is detachably connected with the large arm main rod through a bolt;
the large arm binding assembly is arranged on the large arm main rod.
Optionally, the big arm binding assembly includes a first slider and a first binding band disposed on the first slider;
a first sliding rail is arranged on the main body part of the big arm along the length direction;
the first sliding block is arranged on the first sliding rail in a sliding way;
the forearm binding assembly comprises a second slider and a second binding belt arranged on the second slider;
a second sliding rail is arranged on the small arm main rod along the length direction;
the second sliding block is arranged on the second sliding rail in a sliding way.
Optionally, the shoulder joint driving part comprises a shoulder joint motor and a shoulder joint speed reducer connected with the shoulder joint motor;
the elbow joint driving part comprises an elbow joint motor and an elbow joint speed reducer connected with the elbow joint motor.
Optionally, the back support structure comprises a shoulder support assembly, a back support, a waist belt assembly, shoulder straps, and a control module;
the shoulder bracket assembly comprises a shoulder bracket first connecting piece fixed on the back bracket and a shoulder bracket sliding piece in sliding connection with the shoulder bracket first connecting piece;
the shoulder joint fixing piece is fixed on the shoulder bracket sliding piece;
the waist support is connected with the back support;
the waistband component is connected with the bottom end of the waist support and is used for being matched with the waist of a wearer together with the waist support;
the shoulder straps are connected between the back support and the waist support;
the control module is respectively and electrically connected with the shoulder joint driving part and the elbow joint driving part and is used for realizing control of upper limb driving.
Optionally, the number of the waist supports is two;
the two waist supports extend downwards and obliquely forwards to form a containing space of the hip of the human body.
Optionally, the waistband assembly comprises a flexible waist seal for encircling a waist and a hip assembly for connecting the waist support and the lower limb support structure;
the hip assembly is fixed at the bottom end of the waist support.
Optionally, the back support structure further comprises a power supply;
the power supply is electrically connected with the control module.
Optionally, the lower limb support structure comprises a left leg support structure and a right leg support structure;
the left leg supporting structure and the right leg supporting structure comprise thigh bracket components, shank bracket components and plantar bracket components;
the thigh support assembly is connected with the back support structure and is used for matching the thighs of a wearer and realizing the flexion and extension, adduction and abduction and internal rotation and external rotation movements of the hip joint;
the lower leg support assembly is connected with the thigh support assembly and is used for matching the lower leg of a wearer and realizing the flexion and extension movement of the knee joint;
the plantar support component is connected with the lower leg support component and is used for matching the feet of a wearer and realizing the flexion and extension of the ankle joint and the varus and valgus movement.
Optionally, the thigh support assembly comprises a hip joint fixing block fixedly connected with the back support structure, a thigh first connecting piece hinged and rotated with the hip joint fixing block along a seventh axis, a thigh second connecting piece hinged and rotated with the thigh first connecting piece along an eighth axis, a thigh main body part hinged and rotated with the thigh second connecting piece along a ninth axis, and a third binding belt mounted on the thigh main body part;
the thigh main body part is of a height-adjustable structure;
the seventh axis is used for providing the freedom degree of the human hip joint to flex and stretch along the sagittal plane;
the eighth axis is used for providing freedom of the human hip joint to move inwards and outwards along the coronal plane;
the ninth axis is used for providing freedom of rotation and rotation of the hip joint of the human body along a horizontal plane.
Optionally, the thigh body part comprises a thigh third connector and a thigh main lever;
the thigh third connecting piece is hinged with the thigh second connecting piece along a ninth axis, and a plurality of rows of second through holes are formed at the tail end of the thigh third connecting piece;
the thigh main rod is correspondingly provided with a second fixing hole matched with the second through hole;
the thigh third connecting piece is embedded in the thigh main rod in a sliding way and is detachably connected with the thigh main rod through a bolt;
the third binding band is fixedly connected to the thigh main rod.
Optionally, the lower leg support assembly includes a lower leg body portion hingedly rotated about a tenth axis with the thigh support assembly and a fourth strap mounted on the lower leg body portion;
the main shank body part is of a height-adjustable structure;
the tenth axis is used to provide freedom of flexion-extension movement of the human knee joint along the sagittal plane.
Optionally, the shank main body portion includes a shank main rod and a shank adjusting rod;
the lower leg main rod is hinged with the thigh bracket assembly along a tenth axis;
a plurality of rows of third through holes are formed in the top end of the shank adjusting rod;
a third fixing hole matched with the third through hole is correspondingly formed in the shank main rod;
the shank adjusting rod is embedded in the shank main rod in a sliding manner and is detachably connected with the shank main rod through a bolt;
the fourth binding band is fixedly connected to the shank main rod.
Optionally, the plantar support assembly comprises a plantar first connecting piece hinged and rotated with the lower leg support assembly along an eleventh axis and a plantar plate hinged and rotated with the plantar first connecting piece along a twelfth axis;
the eleventh axis is used for providing freedom degree of flexion and extension movement of the ankle joint of the human body along the sagittal plane;
the twelfth axis is used for providing the freedom degree of the human ankle joint to move along the varus eversion of the coronal plane;
the heel and instep positions of the sole plate are provided with straps.
From the above technical solutions, the embodiment of the present application has the following advantages: this an ectoskeleton for high-voltage electric equipment ground connection work can realize the nimble rotation of human joint through each joint hinge structure, and then improved the matchability between the man-machine to provide helping hand in upper limbs shoulder joint and elbow joint department through shoulder joint drive part and elbow joint drive part, can alleviate the muscle power of upper limbs peg work, reduce the burden on the hands of the wearer through operating terminal anchor clamps simultaneously, and utilize back bearing structure and low limbs bearing structure to transmit upper limbs and load weight to ground, reduce the burden that load weight produced, thereby the auxiliary completion high-voltage electric equipment ground connection task that can be fine improves work efficiency greatly.
Drawings
FIG. 1 is a schematic diagram of an exoskeleton for grounding high voltage electrical devices according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a dual arm assist structure according to an embodiment of the present application;
FIG. 3 is a schematic view of a back support structure according to an embodiment of the present application;
FIG. 4 is a schematic view of a lower limb support structure according to an embodiment of the present application;
wherein, the reference numerals are as follows:
1-double arm assist structure, 2-back support structure, 3-lower limb support structure, 4-first axis, 5-second axis, 6-third axis, 7-fourth axis, 8-fifth axis, 9-sixth axis, 10-seventh axis, 11-large arm support assembly, 111-shoulder mount, 112-shoulder drive member, 1121-shoulder motor, 1122-shoulder decelerator, 113-large arm connecting rod, 114-large arm main rod, 115-large arm binding assembly, 12-small arm support assembly, 121-elbow drive member, 1211-elbow motor, 1212-elbow decelerator, 122-small arm main rod, 123-small arm binding assembly, 13-operation terminal clamp, 131-end rotating rod, a 132-end connecting rod, a 133-end clamping member, a 1331-first annular clamp, a 1332-second annular clamp, a 14-eighth axis, a 15-ninth axis, a 16-tenth axis, a 17-eleventh axis, a 18-twelfth axis, a 21-shoulder support assembly, a 211-shoulder support first connector, a 212-shoulder support slider, a 22-back support, a 23-waist support, a 24-waist support assembly, a 241-flexible waist seal, a 242-hip assembly, a 25-shoulder strap, a 26-control module, a 31-thigh support assembly, a 311-hip joint securing block, a 312-thigh first connector, a 313-thigh second connector, a 314-thigh third connector, a 315-thigh main rod, 316-third strap, 32-shank bracket assembly, 321-shank main rod, 322-shank adjustment rod, 323-fourth strap, 33-plantar bracket assembly, 331-plantar first connector, 332-plantar plate.
Detailed Description
In order to make the present application better understood by those skilled in the art, the following description will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In the description of the present application, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Unless specifically stated or limited otherwise, the terms "mounted," "connected," and "coupled" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
The present application provides an embodiment of an exoskeleton for grounding operation of a high voltage electrical device, and particularly referring to fig. 1 and 2.
The exoskeleton for grounding operation of the high voltage electrical apparatus in this embodiment includes: the double-arm auxiliary structure 1, a back support structure 2 connected with the double-arm auxiliary structure 1 and a lower limb support structure 3 connected with the back support structure 2, wherein the double-arm auxiliary structure 1 comprises a left arm structure and a right arm structure, each of the left arm structure and the right arm structure comprises a big arm bracket assembly 11 and a small arm bracket assembly 12, and the big arm bracket assembly 11 comprises a shoulder joint fixing piece 111 connected with the back support structure 2, a shoulder joint driving part 112 hinged and rotated with the shoulder joint fixing piece 111 along a first axis 4, a big arm main body part hinged and rotated with the shoulder joint driving part 112 along a second axis 5 and a big arm binding assembly 115 mounted on the big arm main body part; the main body part of the large arm is of a length-adjustable structure, the first axis 4 is used for providing the freedom degree of the inward and outward extension movement of the shoulder joint of the human body, and the second axis 5 is used for providing the freedom degree of the flexion and extension movement of the shoulder joint of the human body; the forearm support assembly 12 includes an elbow joint driving part 121 hinged to the main body of the forearm along the third axis 6, a forearm main rod 122 hinged to the elbow joint driving part 121 along the fourth axis 7, and a forearm tying assembly 123 mounted on the forearm main rod 122; the third axis 6 is used for providing the freedom degree of the human elbow joint bending and stretching movement, and the fourth axis 7 is used for improving the rotation flexibility of the forearm; the end of the left arm structure and/or the right arm structure is provided with an operation terminal clamp 13 for fixing the high-voltage pole piece device.
It should be noted that: this an exoskeleton for high-voltage electric equipment ground connection work can realize the nimble rotation of human joint through each joint hinge structure, and then improved the matchability between the man-machine, and provide helping hand in upper limbs shoulder joint and elbow joint department through shoulder joint drive part 112 and elbow joint drive part 121, muscle power in the work of upper limbs peg can be alleviateed, simultaneously burden on the hand of the wearer is reduced through operating terminal anchor clamps 13, and utilize back bearing structure 2 and low limbs bearing structure 3 to transmit upper limbs and load weight to ground, reduce the burden that load weight produced, thereby the auxiliary completion high-voltage electric equipment ground connection task that can be fine, improve work efficiency greatly.
The foregoing is an embodiment one of an exoskeleton for grounding operation of a high-voltage apparatus provided in the embodiments of the present application, and the following is an embodiment two of an exoskeleton for grounding operation of a high-voltage apparatus provided in the embodiments of the present application, and refer to fig. 1 to fig. 4 specifically.
The exoskeleton for grounding operation of the high voltage electrical apparatus in this embodiment includes: the double-arm auxiliary structure 1, a back support structure 2 connected with the double-arm auxiliary structure 1 and a lower limb support structure 3 connected with the back support structure 2, wherein the double-arm auxiliary structure 1 comprises a left arm structure and a right arm structure, each of the left arm structure and the right arm structure comprises a big arm bracket assembly 11 and a small arm bracket assembly 12, and the big arm bracket assembly 11 comprises a shoulder joint fixing piece 111 connected with the back support structure 2, a shoulder joint driving part 112 hinged and rotated with the shoulder joint fixing piece 111 along a first axis 4, a big arm main body part hinged and rotated with the shoulder joint driving part 112 along a second axis 5 and a big arm binding assembly 115 mounted on the big arm main body part; the main body part of the large arm is of a length-adjustable structure, the first axis 4 is used for providing the freedom degree of the inward and outward extension movement of the shoulder joint of the human body, and the second axis 5 is used for providing the freedom degree of the flexion and extension movement of the shoulder joint of the human body; the forearm support assembly 12 includes an elbow joint driving part 121 hinged to the main body of the forearm along the third axis 6, a forearm main rod 122 hinged to the elbow joint driving part 121 along the fourth axis 7, and a forearm tying assembly 123 mounted on the forearm main rod 122; the third axis 6 is used to provide freedom of flexion-extension movement of the human elbow joint; the small arm main lever 122 has a small range of movement angle around the fourth axis 7 relative to the elbow joint driving part 121, so that the rotation flexibility of the small arm compared with the large arm can be improved; the tail end of the left arm structure and/or the tail end of the right arm structure are provided with operation terminal clamps 13 used for fixing high-voltage rod piece equipment, so that the wrist joint can bend, stretch and rotate, and the rod piece can be clamped. Preferably, the number of the operation terminal jigs 13 is one, and the operation terminal jigs 13 are provided at the end of the right arm structure.
It can be understood that the left arm structure and the right arm structure are mirror images of each other and are matched with the upper limbs of a human body, wherein the big arm support assembly 11 is connected with the back support structure 2 and matches with the big arm of a wearer, so that the flexion and extension of the shoulder joint and the inward-retraction and outward-extension movements can be realized, and the assistance is provided for the flexion and extension movements of the shoulder joint; the forearm support assembly 12 is connected with the forearm support assembly 11, matches the forearm of the wearer, and can achieve flexion and extension movements of the elbow joint and provide assistance for flexion and extension movements of the elbow joint. The double-arm auxiliary structure 1 is wearable on the outer sides of the double arms of a human body through the big arm binding assembly 115 and the small arm binding assembly 123, is connected with the back support structure 2 through the shoulder joint fixing piece 111, and can assist the upper limbs to complete the action of hanging rods through assisting the shoulder joint driving part 112 and the elbow joint driving part 121 to the shoulder joint and the elbow joint of the human body, so that the muscle exertion of the human body is reduced to a certain extent; the back supporting structure 2 is matched with the back of a human body, two sides of the back supporting structure are respectively connected with a left arm structure and a right arm structure of the double-arm auxiliary structure 1, the double-arm auxiliary structure 1 is fixed, the lower side of the back supporting structure is fixedly connected with the lower limb supporting structure 3, the weight of the double arms and the load can be transferred to the lower limb, the load on the hands of a wearer is reduced through the operation terminal clamp 13, and the weight of the whole exoskeleton and the load can be transferred to the ground through the double-arm auxiliary structure 1, the back supporting structure 2 and the lower limb supporting structure 3, so that the load on the human body caused by the exoskeleton structure and the load is further reduced.
As shown in fig. 2, the operation terminal clamp 13 includes a distal rotary rod 131 hinged to the arm main rod 122 along the fifth axis 8, a distal connecting rod 132 rotated along the sixth axis 9 with the distal rotary rod 131, and a distal clamping member 133 fixedly connected to the distal connecting rod 132, wherein the distal clamping member 133 can achieve clamping and fixing of the hanging rod; the fifth axis 8 is used for providing freedom of rotation movement of the wrist joint of the human body along the axis; the sixth axis 9 is used to provide freedom of flexion and extension movements of the wrist of the human body.
The end clamping part 133 comprises a first annular clamping piece 1331 and a second annular clamping piece 1332, the first annular clamping piece 1331 is fixedly connected with the end connecting rod 132 through a screw, an annular groove is formed in one end of the second annular clamping piece 1332, the first annular clamping piece 1331 is slidably connected with the second annular clamping piece 1332 through the annular groove, and a spring is arranged at the bottom of the annular groove.
It will be appreciated that when the first annular clamp 1331 is slid into the annular groove of the second annular clamp 1332, the spring is compressed and the end clamp 133 is expanded to fit into the hanger bar; after the hanging rod is put into the hanging rod, the spring can automatically recover the elastic deformation, so that the tail end clamping part 133 is closed, and the hanging rod is clamped.
The main arm body part comprises an arm connecting rod 113 and an arm main rod 114, the arm connecting rod 113 is hinged with the shoulder joint driving part 112 along the second axis 5, and the tail end of the arm connecting rod 113 is provided with a plurality of rows of first through holes; the large arm main rod 114 is correspondingly provided with a first fixing hole matched with the first through hole, and the large arm connecting rod 113 is slidably embedded in the large arm main rod 114 and is detachably connected with the large arm main rod 114 through a bolt; the large arm binding assembly 115 is mounted on the large arm main lever 114, and the elbow joint driving part 121 is hinged with the large arm main lever 114 along the third axis 6.
It will be appreciated that in use, the boom linkage 113 may be embedded within the boom 114 and the adjustment of the exoskeleton boom length may be achieved by changing its connection location with the boom 114 to match the boom lengths of different wearers.
The large arm binding assembly 115 comprises a first sliding block and a first binding belt arranged on the first sliding block, a first sliding rail is arranged on the large arm main body part along the length direction, and the first sliding block is arranged on the first sliding rail in a sliding manner; the forearm tying assembly 123 includes a second slider and a second tie strap disposed on the second slider, and a second slide rail is disposed on the forearm main lever 122 along a length direction, and the second slider is slidably disposed on the second slide rail. Specifically, the first strap and the second strap may each be a flexible fabric.
It should be noted that: the first bandage is wound at the position of the big arm of the human body, so that the wearing of the big arm support assembly 11 is realized, the first bandage forms a sliding degree of freedom with the main body part of the big arm through the first sliding block, the offset of the big arm of the human body relative to the big arm of the exoskeleton can be realized, and the flexibility of the movement of the upper limbs is improved. Similarly, the second binding band is wound at the position of the forearm of the human body, so that the forearm support assembly 12 is worn, and the second binding band and the forearm main rod 122 form a sliding degree of freedom through the second sliding block, so that the deflection of the forearm of the human body relative to the exoskeleton forearm can be realized, and the flexibility of the movement of the upper limb is improved.
The shoulder joint driving part 112 comprises a shoulder joint motor 1121 and a shoulder joint reducer 1122 connected with the shoulder joint motor 1121, the shoulder joint motor 1121 drives the shoulder joint to perform buckling and stretching movement, and the shoulder joint reducer 1122 realizes the amplification of the shoulder joint output moment so as to assist the movement of the shoulder joint of the wearer; the elbow driving part 121 includes an elbow motor 1211 and an elbow decelerator 1212 connected to the elbow motor 1211, and the elbow motor 1211 drives the elbow flexion and extension movement, and performs an amplification of an elbow output moment through the elbow decelerator 1212, thereby assisting the movement of the elbow of the wearer.
The back support structure 2 can transmit the weight of the arms and the load to the lower limbs, reducing the load on the upper limbs of the wearer. As shown in fig. 3, the back support structure 2 includes a shoulder rest assembly 21, a back rest 22, a waist rest 23, a waist belt assembly 24, a shoulder strap 25, and a control module 26, the shoulder rest assembly 21 includes a shoulder rest first link 211 fixed to the back rest 22 and a shoulder rest slide 212 slidably connected to the shoulder rest first link 211, and the shoulder joint mount 111 is fixed to the shoulder rest slide 212; the waist support 23 is connected with the back support 22, and waistband components 24 on two sides of the waist are connected with the bottom end of the waist support 23 and are used for jointly matching with the waist support 23 to the waist of a wearer; the shoulder straps 25 are connected between the back support 22 and the waist support 23 to realize the wearing of the upper limbs; the control module 26 is electrically connected to the shoulder joint driving unit 112 and the elbow joint driving unit 121, respectively, for controlling the driving of the upper limb.
Specifically, the number of the first connecting pieces 211 of the shoulder bracket is two, and the first connecting pieces are respectively positioned at two sides of the back bracket 22 and are fixedly connected to the back bracket 22 through screws; the number of the shoulder bracket sliding parts 212 is also two, which respectively form a transverse sliding mechanism with the two shoulder bracket first connecting parts 211, so that the width of the shoulders of different human bodies can be matched.
The two sides of the top end of the back support 22 are fixedly connected with the first connecting piece 211 of the shoulder support through screws respectively, and the two sides of the bottom end are embedded into the fixed waist support 23 respectively.
The number of the two waist supports 23 is two, the two waist supports are respectively positioned at two sides of the waist of a human body, the upper ends of the two waist supports are embedded into two sides of the bottom end of the back support 22, the lower ends of the two waist supports are fixedly connected with the waistband component 24, the two waist supports 23 extend downwards and obliquely forwards to form a containing space of the hip of the human body, and the waist support can be well adapted to the waist shapes of different human bodies.
The waistband component 24 is arranged at the lower end of the waist support 23, the waistband component 24 comprises a flexible waist seal 241 for surrounding the waist and a hip component 242 for connecting the waist support 23 and the lower limb support structure 3, the flexible waist seal 241 can be made of flexible materials, and is attached to the waist of a human body when being worn, so that the uncomfortable feeling of the waist is reduced; the hip assembly 242 is screwed to the bottom end of the lumbar support 23 to secure the flexible lumbar seal 241 to the lumbar structure of the exoskeleton.
The shoulder belt 25 is positioned on the front side of the trunk of the upper limb of the human body, the upper end of the shoulder belt is sewn and fixed with the empty slots at the top end of the back support 22, and the lower end of the shoulder belt is sewn and fixed with the fixed slots at the upper sides of the two ends of the waist support 23, so that the wearing of the exoskeleton upper limb is realized.
The control module 26 can be arranged on the outer side of the back support 22 through screws, and output torque is calculated through collected sensor data so as to control the shoulder joint and the elbow joint of the upper limb; the back support structure 2 further comprises a power supply, which is electrically connected to the control module 26 for providing power to the exoskeleton.
The lower limb support structure 3 may transfer the exoskeleton overall weight and load weight to the ground to reduce the burden on the wearer. As shown in fig. 4, the lower limb support structure 3 comprises a left leg support structure and a right leg support structure, each of which comprises a thigh support assembly 31, a shank support assembly 32 and a plantar support assembly 33, the thigh support assembly 31 being connected with the back support structure 2 for matching the thighs of a wearer and realizing flexion and extension, adduction and abduction and internal rotation and external rotation movements of the hip joint; the lower leg support assembly 32 is connected with the thigh support assembly 31, and is used for matching the lower leg of a wearer and realizing the flexion and extension movement of the knee joint; the plantar support assembly 33 is connected with the lower leg support assembly 32 for matching the foot of a wearer and achieving flexion and extension of the ankle joint, varus and valgus movements.
The thigh support assembly 31 comprises a hip joint fixing block 311 fixedly connected with the back support structure 2, a thigh first connecting piece 312 hinged and rotated with the hip joint fixing block 311 along a seventh axis 10, a thigh second connecting piece 313 hinged and rotated with the thigh first connecting piece 312 along an eighth axis 14, a thigh main body part hinged and rotated with the thigh second connecting piece 313 along a ninth axis 15 and a third binding band 316 mounted on the thigh main body part, wherein the thigh main body part is a height-adjustable structure, the seventh axis 10 is used for providing the freedom degree of the human hip joint in the buckling and stretching motion along the sagittal plane, the eighth axis 14 is used for providing the freedom degree of the human hip joint in the inward and outward stretching motion along the coronal plane, and the ninth axis 15 is used for providing the freedom degree of the human hip joint in the inward and outward rotation motion along the horizontal plane. Specifically, the hip-joint fixing blocks 311 of the left and right leg support structures are fixedly connected with the waistband assembly 24, respectively.
The thigh main body part comprises a thigh third connecting piece 314 and a thigh main rod 315, the thigh third connecting piece 314 is hinged with the thigh second connecting piece 313 along a ninth axis 15, and the tail end of the thigh third connecting piece 314 is provided with a plurality of rows of second through holes; the thigh main rod 315 is correspondingly provided with a second fixing hole matched with the second through hole, and the thigh third connecting piece 314 is embedded in the thigh main rod 315 in a sliding manner and is detachably connected with the thigh main rod 315 through a bolt; the third strap 316 is fixedly connected to the thigh main rod 315, and specifically, the third strap 316 may be a flexible fabric, which is wrapped around the thigh of the human body, so as to implement wearing of the thigh support assembly 31.
It will be appreciated that in use, the thigh third link 314 may be inserted into the thigh boom 315 and the adjustment of the exoskeleton thigh length achieved by changing its connection location with the thigh boom 315 to match the thigh lengths of different wearers.
The calf support assembly 32 includes a calf body which is a height adjustable structure and a fourth strap 323 which is mounted on the calf body for articulation with the thigh support assembly 31 along a tenth axis 16 for providing freedom of flexion and extension movement of the knee joint of the person along the sagittal plane.
The shank main body part comprises a shank main rod 321 and a shank adjusting rod 322, the shank main rod 321 is hinged with the thigh bracket assembly 31 along the tenth axis 16, and a plurality of rows of third through holes are formed at the top end of the shank adjusting rod 322; the shank main rod 321 is correspondingly provided with a third fixing hole matched with the third through hole, and the shank adjusting rod 322 is slidably embedded in the shank main rod 321 and is detachably connected with the shank main rod 321 through a bolt; the fourth strap 323 is fixedly attached to the shank main rod 321.
It will be appreciated that in use, the shank adjustment lever 322 may be inserted into the shank main lever 321 and the adjustment of the exoskeleton shank length may be achieved by changing its connection position with the shank main lever 321 to match the shank lengths of different wearers.
The plantar support assembly 33 includes a plantar first link 331 hinged to the lower leg support assembly 32 along the eleventh axis 17 and a plantar plate 332 hinged to the plantar first link 331 along the twelfth axis 18, specifically, the plantar first link 331 is hinged to the lower leg adjustment lever 322 along the eleventh axis 17; the eleventh axis 17 is used for providing the freedom degree of the human ankle joint bending and stretching movement along the sagittal plane, the twelfth axis 18 is used for providing the freedom degree of the human ankle joint turning and everting along the coronal plane, the heel and instep positions of the plantar plate 332 are respectively provided with a ballet bar, and the ballet bar is respectively wound on the heel and instep positions of a wearer to realize the wearing of the foot positions of the wearer.
It will be appreciated that the left and right leg support structures are mirror images of each other and are matched with the legs of the lower extremities of the human body, the upper ends of which are fixedly connected with the back support structure 2, and the upper extremities and load weight can be transferred to the ground through the sole plate 332 by wearing the third and fourth straps 316, 323 on the outer sides of the legs of the human body, thereby reducing the load of the overall exoskeleton structure and load on the human body and further reducing the pressure borne by the wearer.
The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.
Claims (16)
1. An exoskeleton for use in grounding operation of a high voltage electrical device, comprising: a dual-arm assist structure, a back support structure connected to the dual-arm assist structure, and a lower limb support structure connected to the back support structure;
the double-arm auxiliary structure comprises a left arm structure and a right arm structure;
the left arm structure and the right arm structure comprise a big arm bracket assembly and a small arm bracket assembly;
the big arm bracket assembly comprises a shoulder joint fixing piece connected with the back supporting structure, a shoulder joint driving part hinged and rotated with the shoulder joint fixing piece along a first axis, a big arm main body part hinged and rotated with the shoulder joint driving part along a second axis and a big arm binding assembly arranged on the big arm main body part;
the main body part of the big arm is of a length-adjustable structure;
the first axis is used for providing freedom degree of inward-folding and outward-unfolding movement of the shoulder joint of the human body;
the second axis is used for providing freedom degree of human shoulder joint buckling and stretching movement;
the forearm support assembly comprises an elbow joint driving part hinged and rotated with the main body part of the big arm along a third axis, a forearm main rod hinged and rotated with the elbow joint driving part along a fourth axis, and a forearm binding assembly arranged on the forearm main rod;
the third axis is used for providing freedom degree of human elbow joint flexion and extension movement;
the fourth axis is used for improving the rotation flexibility of the forearm;
and the tail end of the left arm structure and/or the tail end of the right arm structure are/is provided with an operation terminal clamp for fixing high-voltage rod piece equipment.
2. The exoskeleton for the ground operation of a high voltage electrical apparatus according to claim 1, wherein the operation terminal fixture comprises a distal rotary rod hinged to the arm main rod along a fifth axis, a distal connecting rod rotated along a sixth axis with the distal rotary rod, and a distal clamping member fixedly connected with the distal connecting rod;
the fifth axis is used for providing the freedom degree of the human wrist joint to rotate along the axis;
the sixth axis is used for providing freedom degree of bending and stretching movement of the wrist joint of the human body.
3. The exoskeleton for the grounded operation of a high voltage electrical apparatus of claim 2, wherein the end clamping member comprises a first annular clamp and a second annular clamp;
the first annular clamping piece is fixedly connected with the tail end connecting rod;
an annular groove is formed in one end of the second annular clamping piece;
the first annular clamping piece is connected with the second annular clamping piece in a sliding mode through the annular groove, and a spring is arranged at the bottom of the annular groove.
4. The exoskeleton of claim 1, wherein said main arm body portion comprises a main arm connecting rod and a main arm rod;
the big arm connecting rod is hinged with the shoulder joint driving part along a second axis, and a plurality of rows of first through holes are formed at the tail end of the big arm connecting rod;
the main lever of the large arm is correspondingly provided with a first fixing hole matched with the first through hole;
the large arm connecting rod is embedded in the large arm main rod in a sliding manner and is detachably connected with the large arm main rod through a bolt;
the large arm binding assembly is arranged on the large arm main rod.
5. The exoskeleton for grounding operation of a high voltage electrical apparatus of claim 1 wherein said large arm binding assembly comprises a first slider and a first strap disposed on said first slider;
a first sliding rail is arranged on the main body part of the big arm along the length direction;
the first sliding block is arranged on the first sliding rail in a sliding way;
the forearm binding assembly comprises a second slider and a second binding belt arranged on the second slider;
a second sliding rail is arranged on the small arm main rod along the length direction;
the second sliding block is arranged on the second sliding rail in a sliding way.
6. The exoskeleton for the ground-engaging operation of a high voltage electrical apparatus of claim 1 wherein said shoulder drive means comprises a shoulder motor and a shoulder reducer connected to said shoulder motor;
the elbow joint driving part comprises an elbow joint motor and an elbow joint speed reducer connected with the elbow joint motor.
7. The exoskeleton for the ground-engaging operation of a high voltage electrical apparatus of claim 1 wherein said back support structure comprises a shoulder rest assembly, a back rest, a lumbar rest, a waist belt assembly, a shoulder strap and a control module;
the shoulder bracket assembly comprises a shoulder bracket first connecting piece fixed on the back bracket and a shoulder bracket sliding piece in sliding connection with the shoulder bracket first connecting piece;
the shoulder joint fixing piece is fixed on the shoulder bracket sliding piece;
the waist support is connected with the back support;
the waistband component is connected with the bottom end of the waist support and is used for being matched with the waist of a wearer together with the waist support;
the shoulder straps are connected between the back support and the waist support;
the control module is respectively and electrically connected with the shoulder joint driving part and the elbow joint driving part and is used for realizing control of upper limb driving.
8. The exoskeleton of claim 7 wherein said number of lumbar supports is two;
the two waist supports extend downwards and obliquely forwards to form a containing space of the hip of the human body.
9. The exoskeleton for the ground-engaging operation of a high voltage electrical apparatus of claim 7 wherein said belt assembly comprises a flexible waist seal for surrounding a waist and a hip assembly for connecting said waist support and said lower limb support structure;
the hip assembly is fixed at the bottom end of the waist support.
10. The exoskeleton for grounded operation of a high voltage electrical device of claim 7, wherein the back support structure further comprises a power source;
the power supply is electrically connected with the control module.
11. The exoskeleton for the ground-engaging operation of a high voltage electrical device of claim 1 wherein said lower limb support structure comprises a left leg support structure and a right leg support structure;
the left leg supporting structure and the right leg supporting structure comprise thigh bracket components, shank bracket components and plantar bracket components;
the thigh support assembly is connected with the back support structure and is used for matching the thighs of a wearer and realizing the flexion and extension, adduction and abduction and internal rotation and external rotation movements of the hip joint;
the lower leg support assembly is connected with the thigh support assembly and is used for matching the lower leg of a wearer and realizing the flexion and extension movement of the knee joint;
the plantar support component is connected with the lower leg support component and is used for matching the feet of a wearer and realizing the flexion and extension of the ankle joint and the varus and valgus movement.
12. The exoskeleton of claim 11 wherein said thigh brace assembly includes a hip joint bar fixedly connected to said back support structure, a thigh first link pivotally connected to said hip joint bar along a seventh axis, a thigh second link pivotally connected to said thigh first link along an eighth axis, a thigh body pivotally connected to said thigh second link along a ninth axis, and a third strap mounted on said thigh body;
the thigh main body part is of a height-adjustable structure;
the seventh axis is used for providing the freedom degree of the human hip joint to flex and stretch along the sagittal plane;
the eighth axis is used for providing freedom of the human hip joint to move inwards and outwards along the coronal plane;
the ninth axis is used for providing freedom of rotation and rotation of the hip joint of the human body along a horizontal plane.
13. The exoskeleton of claim 12 wherein said thigh body portion includes a thigh third link and a thigh stem;
the thigh third connecting piece is hinged with the thigh second connecting piece along a ninth axis, and a plurality of rows of second through holes are formed at the tail end of the thigh third connecting piece;
the thigh main rod is correspondingly provided with a second fixing hole matched with the second through hole;
the thigh third connecting piece is embedded in the thigh main rod in a sliding way and is detachably connected with the thigh main rod through a bolt;
the third binding band is fixedly connected to the thigh main rod.
14. The exoskeleton of claim 11 wherein said calf support assembly includes a calf body pivotally rotated about a tenth axis with said thigh support assembly and a fourth strap mounted on said calf body;
the main shank body part is of a height-adjustable structure;
the tenth axis is used to provide freedom of flexion-extension movement of the human knee joint along the sagittal plane.
15. The exoskeleton of claim 14 wherein said shank body portion comprises a shank main stem and a shank adjustment stem;
the lower leg main rod is hinged with the thigh bracket assembly along a tenth axis;
a plurality of rows of third through holes are formed in the top end of the shank adjusting rod;
a third fixing hole matched with the third through hole is correspondingly formed in the shank main rod;
the shank adjusting rod is embedded in the shank main rod in a sliding manner and is detachably connected with the shank main rod through a bolt;
the fourth binding band is fixedly connected to the shank main rod.
16. The exoskeleton for use in grounded operation of a high voltage electrical apparatus of claim 11, wherein the plantar support assembly comprises a plantar first link hingedly rotated with the lower leg support assembly along an eleventh axis and a plantar plate hingedly rotated with the plantar first link along a twelfth axis;
the eleventh axis is used for providing freedom degree of flexion and extension movement of the ankle joint of the human body along the sagittal plane;
the twelfth axis is used for providing the freedom degree of the human ankle joint to move along the varus eversion of the coronal plane;
the heel and instep positions of the sole plate are provided with straps.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311211729.9A CN116945138A (en) | 2023-09-20 | 2023-09-20 | Exoskeleton for grounding work of high-voltage electric equipment |
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| CN202311211729.9A CN116945138A (en) | 2023-09-20 | 2023-09-20 | Exoskeleton for grounding work of high-voltage electric equipment |
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