Electric power maintenance auxiliary exoskeleton device with conical rod

Abstract

The invention relates to the technical field of power equipment, in particular to a conical rod power maintenance auxiliary exoskeleton device. The device comprises an exoskeleton structure, a signal collecting and processing system, joint angle encoder systems and a controller, the signal collecting and processing system is arranged at the signal detection position of the exoskeleton structure, the joint angle encoder systems are arranged on all joints of the exoskeleton structure, and the controller is arranged in a control box on the back of the exoskeleton structure. The exoskeleton structure is a wearable structure, and the signal collecting and processing system and the joint angle encoder system are electrically connected with the controller. By means of the mode that the human physical strength is enhanced through the exoskeleton, the working time of a single person is prolonged, the working efficiency is improved, and the problem of shortage of workers is solved.

Description

Technical Field

[0001] The invention relates to the technical field of electric power equipment, and in particular to a tapered rod electric power maintenance auxiliary exoskeleton device. Background Art

[0002] The distribution network is at the end of the power system and is a key link in ensuring the continuous supply of electricity. Its reliability occupies a very important position in the entire power system. The stable operation of equipment provides a strong guarantee for the efficient operation of the society and the rapid economic growth. Live working with insulated poles is one of the main measures to ensure the efficient operation of the distribution network.

[0003] Insulated pole live working refers to an indirect working method for maintenance and testing of high-voltage electrical equipment without power outage. However, the effective insulation length of the existing insulated operating pole is required to be no less than 0.7m (10kV live working) / 0.9m (35kV live working), and it may even be longer in actual production. In addition, long-term lifting is required during the operation, which increases the labor intensity of the operator, and long-term work may cause serious physical injuries. In addition, there is a high demand for manpower, long operation time, and heavy work tasks. Especially when performing insulated pole operations on high-voltage lines, it is difficult for manual operations to complete accurate and efficient power maintenance tasks.

[0004] In response to this problem, there are currently efforts at home and abroad to use power maintenance robots to assist operations instead of manually holding insulating rods. The application of robots in substations began in the late 1980s, and with the continuous advancement of robot technology, its application has been expanding, from the initial line patrol robots to maintenance robots. At present, maintenance robots for switch cabinets and other equipment have been successfully developed. For example, the Chinese patent with publication number CN114260880A discloses a truss robot system and operation method for automatically operating switch cabinet doors. According to the specifications and models of the switch cabinet during detection, the operating robot is driven to move to the designated workstation, and the multi-dimensionally movable mechanical arm of the operating robot realizes the movement of the end vacuum suction cup device and the automatic switch cabinet door. However, the current mainstream research direction at home and abroad is still mainly patrol robots, and there is still a lack of necessary solutions for high-altitude maintenance operations of distribution networks. 1) Due to the complexity of the distribution network site, numerous lines, and many surrounding lines and equipment, the ordinary robot structure cannot meet the obstacle avoidance requirements well, and the robot's working environment is greatly restricted; 2) The complex working conditions at the operation site will make it difficult to collect input information from the control system, and the robot system control will be unstable, which will eventually lead to problems such as low technical maturity and difficult operation. There is an urgent need for a robot that can replace or assist manual work in the distribution network environment. Summary of the invention

[0005] The technical problem to be solved by the present invention is: to overcome the deficiencies of the prior art and provide a conical rod power maintenance auxiliary exoskeleton device, which enhances human strength by means of the exoskeleton, increases the working time of a single person, improves work efficiency, and solves the problem of staff shortage.

[0006] The technical solution of the present invention is:

[0007] A conical rod power maintenance auxiliary exoskeleton device includes an exoskeleton structure, a signal acquisition and processing system, a joint angle encoder system, and a controller. The signal acquisition and processing system is arranged at the signal detection part of the exoskeleton structure, the joint angle encoder system is arranged on each joint of the exoskeleton structure, and the controller is arranged in a control box on the back of the exoskeleton structure. The exoskeleton structure is a wearable structure. The signal acquisition and processing system and the joint angle encoder system are electrically connected to the controller respectively. The signal acquisition and processing system is used to collect the posture of the human body, the human-machine coupling torque between the exoskeleton structure and the human body, and the pressure of the exoskeleton structure on the ground. The joint angle encoder system is used to collect the angle information of the hip joint and the knee joint in the exoskeleton structure. The controller controls the corresponding joint movements in the exoskeleton structure according to the posture of the human body, the human-machine coupling torque between the exoskeleton structure and the human body, the pressure of the exoskeleton structure on the ground, and the angle information of the hip joint and the knee joint.

[0008] As a further solution of the present invention, the exoskeleton structure includes a lightweight mechanical structure, a driver, and a foot support. The lightweight mechanical structure includes bilateral upper limbs and lower limbs. The driver is respectively connected to the upper limbs and lower limbs. The driver is used to drive the movement of the upper limbs and lower limbs. The foot support is arranged at the bottom end of the foot of the lower limb. The foot support is provided with a locking mechanism, and the locking mechanism is used to fix the conical rod power maintenance auxiliary exoskeleton device to the conical rod.

[0009] As a further solution of the present invention, a signal acquisition and processing system includes a posture sensor, a force sensor, and a ground pressure sensor. The posture sensor is arranged on the upper limbs and lower limbs of the human body, and is used to collect the posture of the human body; the force sensor is arranged on the upper limbs and lower limbs of the lightweight mechanical structure, and is used to collect the human-machine coupling torque; the ground pressure sensor is arranged at the bottom of the foot support of the exoskeleton structure, and is used to collect the pressure of the foot. The posture sensor, force sensor, and ground pressure sensor are electrically connected to the controller respectively.

[0010] As a further solution of the present invention, the joint angle encoder system includes multiple angle encoders, each of which is electrically connected to the controller. The angle encoders are arranged at the hip joints and knee joints of the lower limbs in the lightweight mechanical structure exoskeleton structure, and are used to collect angle information of the hip joints and knee joints and obtain joint angle changes.

[0011] As a further solution of the present invention, the controller includes an admittance controller and a position controller, wherein the admittance controller is used to input the human-machine interaction coupling torque τ ext The initial set trajectory x0 is used to output the reference trajectory x d The output of the admittance controller is the input of the position controller according to the reference trajectory x d The control actuator drives the lower limbs of the exoskeleton to move to the specified position.

[0012] As a further solution of the present invention, the admittance controller is:

[0013]

[0014] The position controller is:

[0015]

[0016] in, are the angle, angular velocity and angular acceleration of the hip and knee joints of the lower limbs in the lightweight mechanical structure of the exoskeleton structure, τ is the input torque of the motor in the exoskeleton drive, and τ ext is the human-computer interaction torque; M(q) represents the inertia matrix, represents the centripetal force and Coriolis moment, G(q) represents the gravity term; for the admittance controller, M, B, and K represent the inertial characteristics, damping characteristics, and stiffness characteristics of the admittance parameters, respectively; e represents the error between the tapered rod power maintenance auxiliary exoskeleton device and the human body trajectory, z1 and z2 are control errors, and K2 is the control parameter.

[0017] As a further solution of the present invention, the tapered rod power maintenance auxiliary exoskeleton device has two working modes, including a climbing working mode and a maintaining operation working mode, and a switch for switching the working mode is provided on the lightweight mechanical structure.

[0018] As a further solution of the present invention, when the conical rod power maintenance auxiliary exoskeleton device is in the climbing working mode, the admittance controller adopts the first admittance parameter of the admittance controller; when it is in the maintaining working mode, the admittance controller adopts the second admittance parameter so that the human body leans on the exoskeleton structure.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] The wearable structure solves the problem of limited working environment; the exoskeleton is operated through human cognition to solve the problem of low technical maturity caused by unclear robot control input; the exoskeleton enhances human strength to increase the working hours of a single person, improve work efficiency and solve the problem of staff shortage.

[0021] The exoskeleton adopts a wearable structure. The operator wears the device before work. During the movement of the exoskeleton device, the angle information of the exoskeleton hip and knee joints and the interactive force information are collected in real time, the movement state of the exoskeleton system is sensed in real time, the wearer's working mode is identified, and the assistance is provided during the process of climbing the tapered pole. When the exoskeleton is lifted to a fixed position, the upper limb assistance device can be fixed through the locking mechanism, and the force of the human shoulder joint is transferred to the device, and then transferred to the tapered pole position through the device to achieve force transfer. Finally, high-efficiency live-line operation combining man and machine is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 Schematic diagram of the conical rod power maintenance exoskeleton system of the present invention.

[0024] Figure 2 It is a schematic diagram of a control system of the present invention. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0026] Example 1

[0027] like Figure 1-2As shown, a conical rod power maintenance auxiliary exoskeleton device includes an exoskeleton structure, a signal acquisition and processing system, a joint angle encoder system, and a controller. The signal acquisition and processing system is arranged at the signal detection part of the exoskeleton structure, the joint angle encoder system is arranged on each joint of the exoskeleton structure, and the controller is arranged in a control box on the back of the exoskeleton structure. The exoskeleton structure is a wearable structure. The signal acquisition and processing system and the joint angle encoder system are electrically connected to the controller respectively. The signal acquisition and processing system is used to collect the posture of the human body, the human-machine coupling torque between the exoskeleton structure and the human body, and the pressure of the exoskeleton structure on the ground. The joint angle encoder system is used to collect the angle information of the hip joint and the knee joint in the exoskeleton structure. The controller controls the corresponding joint movements in the exoskeleton structure according to the posture of the human body, the human-machine coupling torque between the exoskeleton structure and the human body, the pressure of the exoskeleton structure on the ground, and the angle information of the hip joint and the knee joint.

[0028] As a further solution of the present invention, the exoskeleton structure includes a lightweight mechanical structure, a driver, and a foot support. The lightweight mechanical structure includes bilateral upper limbs and lower limbs. The driver is respectively connected to the upper limbs and lower limbs. The driver is used to drive the movement of the upper limbs and lower limbs. The foot support is arranged at the bottom end of the foot of the lower limb. The foot support is provided with a locking mechanism, and the locking mechanism is used to fix the conical rod power maintenance auxiliary exoskeleton device to the conical rod.

[0029] As a further solution of the present invention, a signal acquisition and processing system includes a posture sensor, a force sensor, and a ground pressure sensor. The posture sensor is arranged on the upper limbs and lower limbs of the human body, and is used to collect the posture of the human body; the force sensor is arranged on the upper limbs and lower limbs of the lightweight mechanical structure, and is used to collect the human-machine coupling torque; the ground pressure sensor is arranged at the bottom of the foot support of the exoskeleton structure, and is used to collect the pressure of the foot. The posture sensor, force sensor, and ground pressure sensor are electrically connected to the controller respectively.

[0030] As a further solution of the present invention, the joint angle encoder system includes multiple angle encoders, each of which is electrically connected to the controller. The angle encoders are arranged at the hip joints and knee joints of the lower limbs in the lightweight mechanical structure exoskeleton structure, and are used to collect angle information of the hip joints and knee joints and obtain joint angle changes.

[0031] As a further solution of the present invention, the controller includes an admittance controller and a position controller, wherein the admittance controller is used to input the human-machine interaction coupling torque τ ext The initial set trajectory x0 is used to output the reference trajectory x d The output of the admittance controller is the input of the position controller according to the reference trajectory x d The control actuator drives the lower limbs of the exoskeleton to move to the specified position.

[0032] As a further solution of the present invention, the admittance controller is:

[0033]

[0034] The position controller is:

[0035]

[0036] in, are the angle, angular velocity and angular acceleration of the hip and knee joints of the lower limbs in the lightweight mechanical structure of the exoskeleton structure, τ is the input torque of the motor in the exoskeleton drive, and τ ext is the human-computer interaction torque; M(q) represents the inertia matrix, represents the centripetal force and Coriolis moment, G(q) represents the gravity term; for the admittance controller, M, B, and K represent the inertial characteristics, damping characteristics, and stiffness characteristics of the admittance parameters, respectively; e represents the error between the tapered rod power maintenance auxiliary exoskeleton device and the human body trajectory, z1 and z2 are control errors, and K2 is the control parameter.

[0037] As a further solution of the present invention, the tapered rod power maintenance auxiliary exoskeleton device has two working modes, including a climbing working mode and a maintaining operation working mode, and a switch for switching the working mode is provided on the lightweight mechanical structure.

[0038] The climbing working mode includes the following steps:

[0039] A hip-knee joint motion trajectory is fitted according to the climbing characteristics of the human body, and the hip-knee joint motion trajectory is regarded as the set trajectory;

[0040] If no one is wearing an exoskeleton, the exoskeleton is driven to swing the legs rhythmically according to the climbing action based on the motion trajectory of the hip and knee joints to complete the climbing action; if someone is wearing an exoskeleton, based on the admittance controller, the swing curve of the lower limbs of the exoskeleton will change according to the trajectory of the human body to adapt to the climbing characteristics of the human body;

[0041] After the operator puts on the exoskeleton device, he lifts the foot support to the tapered rod, and changes the reference trajectory flexibly through the coupling torque of the human body, so that the exoskeleton device moves to the tapered rod in a comfortable way for the human body, and the lower limb on the other side of the exoskeleton device plays a supporting role;

[0042] When the footrest is locked, the lower limb on the same side of the footrest plays a supporting role. At the same time, the lower limb on the other side is lifted to the tapered rod following the reference trajectory.

[0043] The lower limbs on both sides are alternately supported and lifted to complete the climbing task.

[0044] Wherein, the maintaining operation working mode includes the following sub-steps:

[0045] After climbing to the designated position, open the locking mechanism;

[0046] The admittance control parameters are adjusted so that the controller is converted into a high stiffness mode and the exoskeleton structure remains unchanged until the specified task is completed.

[0047] As a further solution of the present invention, it also includes a downswing action, and the downswing action includes the following steps:

[0048] After completing the work at the designated location, the locking mechanism is opened;

[0049] Move the footrest and flexibly change the reference trajectory through interactive torque, so that the exoskeleton moves down from the tapered rod in a comfortable way for the human body, and the other leg plays a supporting role;

[0050] When the foot support mechanism is locked, the leg on the same side of the foot support plays a supporting role, while the leg on the other side moves downward from the tapered rod following the reference trajectory;

[0051] Alternate between supporting and lowering on both sides to complete the downswing.

[0052] As a further solution of the present invention, when the conical rod power maintenance auxiliary exoskeleton device is in the climbing working mode, the admittance controller adopts the first admittance parameter of the admittance controller; when it is in the maintaining working mode, the admittance controller adopts the second admittance parameter, so that the human body leans on the exoskeleton structure, and the switch for switching the working mode is arranged on the upper limb of the lightweight mechanical structure, and the switching between the climbing working mode and the maintaining working mode is realized by operating the switch.

[0053] Working principle: During work, workers wear a tapered rod power maintenance auxiliary exoskeleton device, which adopts lightweight mechanical design and drive to provide support and auxiliary force for users. The drive drives the upper and lower limbs of the exoskeleton according to the instructions of the signal acquisition and processing system, thereby assisting users to complete the actions in power maintenance tasks; the posture sensor in the signal acquisition and processing system collects the user's body posture information in real time to ensure that the exoskeleton can accurately follow the user's movements; the force sensor collects the coupling torque between man and machine, reflects the user's movement intention, and enables the exoskeleton to respond to the user's movement needs more naturally; the ground pressure sensor monitoring device exerts pressure distribution on the ground to ensure that the exoskeleton remains stable when walking or working; the distributed pressure sensor on the sole of the foot collects the pressure changes of both feet in real time, and provides feedback to the data processing system for optimizing and adjusting the movement trajectory, making walking or working more stable and efficient; multiple angle encoders are installed on key joints, such as hip joints and knee joints, to collect angle change information of these joints in real time. This information is transmitted to the data processing system, and the system calculates the user's movement trajectory based on this information, thereby guiding the exoskeleton structure to perform corresponding movements; the tapered rod power maintenance auxiliary exoskeleton device collects the user's posture, strength, ground pressure, joint angle and other information in real time, and after analysis and calculation by the data processing system, drives the exoskeleton structure to perform precise movements, thereby providing effective assistance and support to the user, enabling him to complete power maintenance tasks more easily and safely.

[0054] Although the present invention has been described in detail by referring to the accompanying drawings and in combination with the preferred embodiments, the present invention is not limited thereto. Without departing from the spirit and essence of the present invention, a person of ordinary skill in the art may make various equivalent modifications or substitutions to the embodiments of the present invention, and these modifications or substitutions shall be within the scope of the present invention. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, and all of these shall be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A conical rod power maintenance auxiliary exoskeleton device, characterized in that: The invention comprises an exoskeleton structure, a signal acquisition and processing system, a joint angle encoder system, and a controller. The signal acquisition and processing system is arranged at the signal detection part of the exoskeleton structure, the joint angle encoder system is arranged on each joint of the exoskeleton structure, and the controller is arranged in a control box on the back of the exoskeleton structure. The exoskeleton structure is a wearable structure. The signal acquisition and processing system and the joint angle encoder system are electrically connected to the controller respectively. The signal acquisition and processing system is used to collect the posture of the human body, the human-machine coupling torque between the exoskeleton structure and the human body, and the pressure of the exoskeleton structure on the ground. The joint angle encoder system is used to collect the angle information of the hip joint and the knee joint in the exoskeleton structure. The controller controls the corresponding joint movements in the exoskeleton structure according to the posture of the human body, the human-machine coupling torque between the exoskeleton structure and the human body, the pressure of the exoskeleton structure on the ground, and the angle information of the hip joint and the knee joint.

2. A conical rod power maintenance auxiliary exoskeleton device as claimed in claim 1, characterized in that: The exoskeleton structure includes a lightweight mechanical structure, a driver, and a foot support. The lightweight mechanical structure includes bilateral upper limbs and lower limbs. The driver is connected to the upper limbs and lower limbs respectively, and the driver is used to drive the movement of the upper limbs and lower limbs. The foot support is arranged at the bottom end of the foot of the lower limb. The foot support is provided with a locking mechanism, and the locking mechanism is used to fix the conical rod power maintenance auxiliary exoskeleton device to the conical rod. The controller is electrically connected to the driver and is used to control the movement of the conical rod power maintenance auxiliary exoskeleton device.

3. A conical rod power maintenance auxiliary exoskeleton device as claimed in claim 2, characterized in that: The signal acquisition and processing system includes a posture sensor, a force sensor, and a ground pressure sensor. The posture sensor is arranged on the upper limbs and lower limbs of the human body, and the posture sensor is used to collect the posture of the human body; Force sensors are installed on the upper and lower limbs of the lightweight mechanical structure, and are used to collect human-machine coupling torque; ground pressure sensors are installed at the bottom of the foot support of the exoskeleton structure to collect foot pressure. The posture sensor, force sensor, and ground pressure sensor are electrically connected to the controller respectively.

4. A conical rod power maintenance auxiliary exoskeleton device as claimed in claim 2, characterized in that: The joint angle encoder system includes multiple angle encoders, each of which is electrically connected to a controller. The angle encoders are arranged at the hip joint and knee joint of the lower limbs in the lightweight mechanical structure to collect angle information of the hip joint and the knee joint.

5. A conical rod power maintenance auxiliary exoskeleton device as claimed in claim 2, characterized in that: The controller includes an admittance controller and a position controller. The admittance controller is used to adjust the human-machine coupling torque τ according to the human-machine coupling torque τ. ext and the initial set trajectory x0, the output is the reference trajectory x d , the position controller is based on the reference trajectory x d The control actuator drives the lower limbs of the exoskeleton to move to the specified position.

6. A conical rod power maintenance auxiliary exoskeleton device as claimed in claim 5, characterized in that: The admittance controller is: The position controller is: in, are the angle, angular velocity and angular acceleration of the hip and knee joints of the lower limbs in the lightweight mechanical structure of the exoskeleton structure, τ is the input torque of the motor in the exoskeleton drive, and τ ext is the man-machine coupling torque; M(q) represents the inertia matrix, represents the centripetal force and Coriolis moment, G(q) represents the gravity term; for the admittance controller, M, B, and K represent the inertial characteristics, damping characteristics, and stiffness characteristics of the admittance parameters, respectively; e represents the error between the tapered rod power maintenance auxiliary exoskeleton device and the human body trajectory, z1 and z2 are control errors, and K2 is the control parameter.

7. A conical rod power maintenance auxiliary exoskeleton device as claimed in claim 6, characterized in that: The conical rod power maintenance auxiliary exoskeleton device has two working modes, including a climbing working mode and a maintaining operation working mode. A switch for switching the working modes is provided on the lightweight mechanical structure.

8. A conical rod power maintenance auxiliary exoskeleton device as claimed in claim 7, characterized in that: When the conical pole power maintenance auxiliary exoskeleton device is in the climbing working mode, the admittance controller adopts the first admittance parameter of the admittance controller; when it is in the maintaining working mode, the admittance controller adopts the second admittance parameter so that the human body leans on the exoskeleton structure.

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