Power inspection exoskeleton modular structure

Abstract

The invention discloses an electric power inspection exoskeleton modular structure, and belongs to the technical field of human body exoskeleton machine assistance, the electric power inspection exoskeleton modular structure comprises a supporting system, the supporting system comprises a back supporting plate, a waist supporting frame and thigh supporting rods, and a main body supporting frame is formed; the modular interface system comprises at least one group of mechanical interfaces, electrical interfaces and data interfaces which are uniformly distributed on a force transmission path of the support system; the functional module comprises a plurality of interchangeable power assisting modules, operation modules and protection modules, and the functional module is detachably connected with the supporting system through the modular interface system; a hybrid drive system includes a rigid driver and a flexible driver for providing position control and compliance force control, respectively. By means of the modular interface system, plug-and-play of functional modules such as power assisting, operation and protection is achieved, needed exoskeleton configuration can be rapidly assembled, multiple sets of exoskeleton equipment do not need to be arranged, and the equipment utilization rate and task adaptability are greatly improved.

Description

Technical Field

[0001] This invention belongs to the field of exoskeleton robotic assistive technology, specifically relating to a modular exoskeleton structure for inspection and maintenance operations in the power industry. Background Technology

[0002] Power line inspection is the work of checking, maintaining, and managing the safety of power equipment and lines. Its purpose is to ensure the safe and reliable operation of the power system and is a crucial link in ensuring the safe and stable operation of the power grid. Inspection personnel often need to carry heavy equipment and work for extended periods on complex terrain (such as mountains and towers), performing inspections and repairs on equipment at height, resulting in high labor intensity. To reduce the burden on personnel, exoskeleton technology has been introduced into the field of power line inspection. Existing power line inspection exoskeletons mostly adopt an integrated design, fixing assistance, operation, and protection functions onto a rigid main structure.

[0003] For example, Chinese patent CN117506865A discloses a multifunctional exoskeleton for overhead power line inspection and maintenance, comprising: an exoskeleton body, two walking devices, two support rods, two robotic arms, and a fall protection module. The exoskeleton body is for personnel to wear and has a receiving cavity. The two walking devices are respectively located on both sides below the exoskeleton body, providing walking assistance to the personnel after being worn on the legs. The two support rods are respectively located on both sides of the two walking devices and are adjustable in angle. The two robotic arms are respectively located on both sides above the exoskeleton body, and a trimming module is connected to the robotic arms. This solution integrates the walking devices, trimming module, and fall protection module onto the exoskeleton body, adapting to various working conditions, simplifying the tool preparation process for personnel before inspection, and reducing the risk of falls for personnel through the support rods.

[0004] Chinese patent CN120461396B discloses a lightweight modular structure for an integrated power inspection exoskeleton, relating to the field of intelligent power equipment technology. The structure includes a shell mechanism with an assembly mechanism fixedly connected to its front end. The assembly mechanism has a ring-shaped main body. This addresses the problems of existing exoskeletons, which are heavy and thus burden the user, and require external power modules for driving the mechanical components. This method also prevents the replacement of backup power supplies and drive units, and hinders rapid switching to meet different torque requirements. By using an arc-shaped locking mechanism and limit components, along with a hexagonal locking structure between limit blocks and limit slots, the exoskeleton enables rapid replacement of servo motors and energy storage components. Different torque motors or backup batteries can be switched without tools, solving the problem of existing exoskeletons relying on a single power source and being unable to adapt to complex working conditions, thus improving operational continuity.

[0005] Chinese patent publication number CN119927874A discloses an exoskeleton-assisted robot for power line inspection, including a robot body. The robot body includes a back frame, a control system, a wearable robotic arm, and an assistive lifting mechanism. A shoulder strap is connected to one side of the back frame, and the control system is installed on the outer side of the back frame. A support plate is welded to the bottom of the wearable robotic arm, and the wearable robotic arm is partially connected to the control system through the support plate. A large arm joint is installed at one end of the wearable robotic arm. This invention is suitable for special tasks requiring long-term lifting. The control system can control the basic height of the entire wearable robotic arm, thus making it suitable for people with different arm lengths and habits. It increases the points of force application and makes it easier to apply force and wear. It can perform a wider range and higher precision rotation of the lifting rod, making the operation more flexible.

[0006] However, the aforementioned patents have not addressed the following shortcomings in the existing technology: The inability to flexibly configure functions according to specific inspection tasks, such as routine inspections, precision testing, and emergency repairs, leads to low equipment utilization and necessitates the use of multiple exoskeletons, resulting in high costs. Fixed structures are difficult to adapt to workers of different heights and body types, resulting in poor ergonomics and affecting wearing comfort and assistive efficiency. Damage to any functional module can render the entire system unusable, leading to high maintenance costs. Furthermore, technological upgrades require replacing the entire system, hindering iterative development. Therefore, a power line inspection exoskeleton structure is needed that can be quickly configured according to task and personnel needs, possesses good support and flexibility of movement, and is easy to maintain and upgrade. Summary of the Invention

[0007] The purpose of this invention is to overcome the shortcomings of the prior art and provide a modular exoskeleton structure for power line inspection, which solves the technical problems mentioned in the background art.

[0008] The objective of this invention is achieved as follows: a modular exoskeleton structure for power line inspection, comprising a support system including a back support plate, a lumbar support frame, and thigh support rods, forming a main support frame; further comprising: a modular interface system including at least one set of mechanical, electrical, and data interfaces, evenly distributed along the force transmission path of the support system; functional modules including various interchangeable assist modules, work modules, and protection modules, which are detachably connected to the support system via the modular interface system; and a hybrid drive system including rigid actuators and flexible actuators, used to provide position control and compliant force control, respectively. In use, firstly, the user wears the basic exoskeleton frame constituted by the support system. Then, according to task requirements, the appropriate functional modules are selected (e.g., for high-altitude operations, robotic arm modules and fall protection modules are selected). Finally, these modules are quickly installed onto the corresponding interface positions of the support system via the modular interface system. The support system, as the skeleton, bears the main load; the modular interface system, like joints and nerves, is responsible for the stable mechanical connection, power transmission, and data exchange between the modules and the main body; and the functional modules are replaceable organs providing specific functions. The hybrid drive system is like a muscle, which drives the corresponding joint movements according to different commands to achieve the goals of assistance and operation.

[0009] By redefining the exoskeleton from an integrated, fixed structure into a modular structure comprised of a support system, a modular interface system, interchangeable functional modules, and a hybrid drive system, plug-and-play functionality is achieved. This allows a single exoskeleton to adapt to various inspection tasks (such as daily inspections, equipment testing, and emergency repairs) by replacing modules, significantly improving equipment utilization. The interfaces are arranged along the force transmission path, ensuring that external forces are efficiently transmitted to the support system and even the human body after adding modules, guaranteeing structural stability and safety.

[0010] Furthermore, the mechanical interface is connected to a coupling mechanism, allowing the functional module to be fine-tuned in at least three degrees of freedom to adapt to the physiological characteristics and working postures of different users. In use, this coupling mechanism is essentially a lockable miniature adjustment frame, achieving multi-degree-of-freedom adjustment through combinations of sliding joints, rotary joints, etc. After adjustment, it is fixed by a locking mechanism to ensure stability during operation. The module is not completely locked after being installed on the interface. The user or system can adjust the adjustment knob or electric push rod on the coupling mechanism to allow the module to translate or deflect within a range of millimeters to centimeters. This solves the mismatch problem between a one-size-fits-all exoskeleton and individual user differences (height, arm length, body shape). Through fine-tuning, the module, such as a robotic arm, can be positioned in the most suitable posture for the current user's operation, greatly improving ergonomics and comfort, and reducing motion interference and energy loss.

[0011] Furthermore, the mechanical interface includes: a base connecting plate, fixedly mounted on the support system or functional module, having a central positioning hole and multiple circumferentially arranged snap-fit ​​slots; a module connecting plate, fixedly mounted on the support system or functional module, having a positioning shaft that mates with the central positioning hole and a snap-fit ​​protrusion that mates with the snap-fit ​​slots; and a locking mechanism, employing a shape memory alloy driven pin, which deforms under energized conditions to achieve tight locking between the connections.

[0012] The working principle is as follows: For initial connection, the positioning shaft of the module connecting plate is inserted into the positioning hole of the base connecting plate for rough positioning. Then, the module is rotated, causing the elastic clip to slide into the clip slot. A "click" sound indicates a successful initial connection. For locking, the system is powered on, and a small current passes through the SMA pin. Due to Joule heating (shape memory effect), the pin contracts, generating a strong tensile force that tightly pulls the base connecting plate and the module connecting plate together, eliminating gaps and achieving a rigid connection. The snap-fit ​​design enables blind insertion and quick docking of modules without tools, improving assembly speed. The SMA pin contracts after being powered on, generating a huge locking force, far exceeding that of ordinary spring clips, ensuring absolute reliability of the connection under harsh conditions such as vibration and impact. It automatically releases after power failure, facilitating disassembly.

[0013] Furthermore, the electrical interface employs a waterproof multi-pin connector for power transmission and data communication based on the CAN bus protocol. The data interface utilizes a magnetic coupling communication design, including a wireless data transmission module to maintain basic data communication even when the physical connection of the interface is not fully in place. By employing magnetic coupling communication as a redundant backup for wired communication, the interface includes a pair of coupled magnetic core coils located on both sides of the interface. When the two sides are close together, data signals can be transmitted contactlessly through the magnetic field based on the principle of electromagnetic induction. It typically conducts before the electrical interface during the insertion process, achieving pre-connection. Even in harsh environments, when the physical pins of the electrical interface experience poor contact due to contamination or slight misalignment, magnetic coupling communication can still establish a data link within a certain distance for module identification and transmission of critical control commands, greatly enhancing system security.

[0014] Furthermore, the assistive module includes: a lumbar assist module for providing lumbar support and bending assistance; an upper limb lifting assist module for providing arm lifting assistance; and a lower limb walking assist module for providing walking assistance. The operation module includes: a robotic arm module with at least 5 degrees of freedom and a tool changer at its end; a detection instrument module integrating an infrared thermal imager and a partial discharge sensor; and a trimming module for clearing obstacles around the power line. The protection module includes: a fall protection module connected to a speed differential controller and a safety rope; a rescue module integrating a GPS positioning module and an emergency communication module; and an environmental adaptation module including a heating module, ventilation components, and lighting components. Through these modular design elements, the exoskeleton directly addresses the pain points of power line inspection, upgrading it from a simple assistive device into a mobile work platform adaptable to various professional tasks.

[0015] The working principle is as follows, taking the robotic arm module as an example: Implementation: The inspection personnel installed the robotic arm module onto the shoulder interface of the back support plate.

[0016] Operation: The operator controls the robotic arm via a handle or electromyography (EMG) signal. Its end effector, a tool changer, can grip specialized tools such as wrenches and insulated rods. A hybrid drive system ensures precise movement—rigid drives handle primary positioning—while compliant drives buffer against accidental contact with the environment.

[0017] Furthermore, the rigid actuator employs a combination of a servo motor and a harmonic reducer to drive rigid joints requiring position control; the flexible actuator employs a pneumatic muscle and spring-driven series elastic actuator structure to drive flexible joints requiring compliance and force control. Rigid joints, such as the knee joint, receive angle commands from the servo motor, amplify the torque through the harmonic reducer, and drive the relative movement of the thigh and lower leg, achieving precise gait control. Flexible joints, such as the shoulder joint, are controlled by the system providing different air pressure commands to the pneumatic muscles, causing them to contract or relax, thus moving the joint. The deformation of the series elastic actuator is detected by sensors and fed back to the system in real time for precise control of the output force, making interaction with the human arm safer.

[0018] Furthermore, it also includes: a distributed sensing system comprising force sensors, angle sensors, and electromyography (EMG) sensors embedded in each module. Each module has its own sensors, reducing the complexity of system wiring and improving reliability and module independence; and an intelligent control system that uses a central pattern generator-based heuristic algorithm to coordinate the movement of multiple modules. Through biomimetic control algorithms, it generates stable, smooth, and adaptive rhythmic movements (such as walking), which are more adaptable to complex terrain than traditional trajectory tracking control, making the movement of multiple modules coordinated and natural, like a natural reflex of the human body. In use, each module senses force, angle, and EMG sensors to collect data in real time, and the CPG algorithm controls the movement. The algorithm is implemented by a set of mutually coupled nonlinear oscillators, which act as the central pattern generator to generate coordinated motion signals. These signals are adjusted in real time based on sensor feedback, such as ground reaction force, and then sent to rigid and flexible actuators respectively to achieve coordinated, assisted movement throughout the body.

[0019] Furthermore, the support system is made of carbon fiber composite material, achieving extreme lightweighting. While ensuring support strength and rigidity, it minimizes the basic load on the wearer, which is crucial for power workers who need to conduct long-term, long-distance inspections, adapting to different power inspection task requirements and improving equipment availability.

[0020] The beneficial effects of this invention are as follows: Through a modular interface system, plug-and-play functionality for modules such as assistance, operation, and protection is achieved. Inspection personnel can quickly assemble the required exoskeleton configuration according to the day's task type, eliminating the need for multiple exoskeleton devices and significantly improving equipment utilization and task adaptability. The multi-degree-of-freedom coupling mechanism of the mechanical interface allows for fine-tuning of the module's posture, enabling the exoskeleton to better fit users of different body types and heights, reducing interference and energy loss during movement, and improving wearing comfort and assistance. The modular design means that only the corresponding module needs to be replaced for localized faults, significantly reducing maintenance costs and time. Simultaneously, it facilitates subsequent development of more advanced functional modules for upgrades, extending the overall platform's lifespan. Attached Figure Description

[0021] Figure 1 This is a first three-dimensional structural schematic diagram of the present invention; Figure 2 This is the invention Figure 1 Enlarged view of A in the middle; Figure 3 This is a schematic diagram of the second three-dimensional structure of the present invention; Figure 4 This is the invention Figure 3 Enlarged view of B in the middle; Figure 5 This is the invention Figure 3 Enlarged view of C.

[0022] In the diagram: 1. Support plate, 2. Waist support frame, 3. Leg support rod, 4. Mechanical interface, 5. Electrical interface, 6. Data interface, 7. Rigid actuator, 8. Flexible actuator, 9. Base connecting plate, 10. Center positioning hole, 11. Snap-on slot, 12. Module connecting plate, 13. Positioning shaft, 14. Snap-on protrusion, 15. Pin, 16. Waist assist module, 17. Upper limb lifting assist module, 18. Lower limb walking assist module, 19. Robotic arm module, 20. Intelligent control system. Detailed Implementation

[0023] The present invention will now be described in further detail with reference to the accompanying drawings. It should be noted that all directional terms such as up, down, front, back, left, and right appearing in the present invention are not intended to limit the present invention, but are only used to more clearly explain and interpret the present invention. Example 1

[0024] like Figure 1-5 As shown, this embodiment discloses a modular structure for a power line inspection exoskeleton, including a support system comprising a back support plate, a lumbar support frame, and thigh support rods, forming a main support frame; and a modular interface system including at least one set of mechanical, electrical, and data interfaces, evenly distributed along the force transmission path of the support system; functional modules including various interchangeable assist modules, work modules, and protection modules, which are detachably connected to the support system via the modular interface system; and a hybrid drive system including rigid actuators and flexible actuators, used to provide position control and compliant force control, respectively. In use, first, the user wears the basic exoskeleton frame composed of the support system. Then, according to task requirements, the appropriate functional modules are selected (e.g., for high-altitude operations, a robotic arm module and a fall protection module are selected). Finally, these modules are quickly installed onto the corresponding interface positions of the support system via the modular interface system. The support system, as the skeleton, bears the main load; the modular interface system, like joints and nerves, is responsible for the stable mechanical connection, power transmission, and data exchange between the modules and the main body; and the functional modules are replaceable organs providing specific functions. The hybrid drive system is like a muscle, which drives the corresponding joint movements according to different commands to achieve the goals of assistance and operation.

[0025] By redefining the exoskeleton from an integrated, fixed structure into a modular structure comprised of a support system, a modular interface system, interchangeable functional modules, and a hybrid drive system, plug-and-play functionality is achieved. This allows a single exoskeleton to adapt to various inspection tasks (such as daily inspections, equipment testing, and emergency repairs) by replacing modules, significantly improving equipment utilization. The interfaces are arranged along the force transmission path, ensuring that external forces are efficiently transmitted to the support system and even the human body after adding modules, guaranteeing structural stability and safety. Example 2

[0026] like Figure 1-5 As shown, this embodiment discloses a modular structure for a power line inspection exoskeleton, including a support system comprising a back support plate, a lumbar support frame, and thigh support rods, forming a main support frame; and a modular interface system including at least one set of mechanical, electrical, and data interfaces, evenly distributed along the force transmission path of the support system; functional modules including various interchangeable assist modules, work modules, and protection modules, which are detachably connected to the support system via the modular interface system; and a hybrid drive system including rigid actuators and flexible actuators, used to provide position control and compliant force control, respectively. In use, first, the user wears the basic exoskeleton frame composed of the support system. Then, according to task requirements, the appropriate functional modules are selected (e.g., for high-altitude operations, a robotic arm module and a fall protection module are selected). Finally, these modules are quickly installed onto the corresponding interface positions of the support system via the modular interface system. The support system, as the skeleton, bears the main load; the modular interface system, like joints and nerves, is responsible for the stable mechanical connection, power transmission, and data exchange between the modules and the main body; and the functional modules are replaceable organs providing specific functions. The hybrid drive system is like a muscle, which drives the corresponding joint movements according to different commands to achieve the goals of assistance and operation.

[0027] By redefining the exoskeleton from an integrated, fixed structure into a modular structure comprised of a support system, a modular interface system, interchangeable functional modules, and a hybrid drive system, plug-and-play functionality is achieved. This allows a single exoskeleton to adapt to various inspection tasks (such as daily inspections, equipment testing, and emergency repairs) by replacing modules, significantly improving equipment utilization. The interfaces are arranged along the force transmission path, ensuring that external forces are efficiently transmitted to the support system and even the human body after adding modules, guaranteeing structural stability and safety.

[0028] For better performance, the mechanical interface is connected to a coupling mechanism that allows the functional module to be fine-tuned in at least three degrees of freedom to adapt to the physiological characteristics and working postures of different users. In use, this coupling mechanism is essentially a lockable miniature adjustment frame, achieving multi-degree-of-freedom adjustment through a combination of sliding joints, rotary joints, etc. Once adjusted, it is secured by a locking mechanism to ensure stability during operation. The module is not completely locked after being installed on the interface. The user or system can adjust the adjustment knob or electric push rod on the coupling mechanism to allow the module to translate or deflect within a range of millimeters to centimeters. This solves the mismatch problem between a one-size-fits-all exoskeleton and individual user differences (height, arm length, body shape). Through fine-tuning, the module, such as a robotic arm, can be positioned in the most suitable posture for the current user, greatly improving ergonomics and comfort, and reducing motion interference and energy loss.

[0029] For better performance, the mechanical interface includes: a base connecting plate, fixedly mounted on the support system or functional module, having a central positioning hole and multiple circumferentially arranged snap-fit ​​slots; a module connecting plate, fixedly mounted on the support system or functional module, having a positioning shaft that mates with the central positioning hole and a snap-fit ​​protrusion that mates with the snap-fit ​​slots; and a locking mechanism, employing a shape memory alloy driven pin that deforms under energized conditions to achieve tight locking between the connections.

[0030] The working principle is as follows: For initial connection, the positioning shaft of the module connecting plate is inserted into the positioning hole of the base connecting plate for rough positioning. Then, the module is rotated, causing the elastic clip to slide into the clip slot. A "click" sound indicates a successful initial connection. For locking, the system is powered on, and a small current passes through the SMA pin. Due to Joule heating (shape memory effect), the pin contracts, generating a strong tensile force that tightly pulls the base connecting plate and the module connecting plate together, eliminating gaps and achieving a rigid connection. The snap-fit ​​design enables blind insertion and quick docking of modules without tools, improving assembly speed. The SMA pin contracts after being powered on, generating a huge locking force, far exceeding that of ordinary spring clips, ensuring absolute reliability of the connection under harsh conditions such as vibration and impact. It automatically releases after power failure, facilitating disassembly.

[0031] For better performance, the electrical interface uses a waterproof multi-pin connector for power transmission and data communication based on the CAN bus protocol. The data interface employs a magnetic coupling communication design, including a wireless data transmission module to maintain basic data communication even when the physical connection of the interface is not fully in place. By using magnetic coupling communication as a redundant backup for wired communication, the interface includes a pair of coupled magnetic core coils located on both sides of the interface. When the two sides are close together, data signals can be transmitted contactlessly through the magnetic field via electromagnetic induction. This pre-connection typically occurs before the electrical interface during the insertion process. Even in harsh environments, when the physical pins of the electrical interface experience poor contact due to contamination or slight misalignment, magnetic coupling communication can still establish a data link within a certain distance for module identification and transmission of critical control commands, greatly improving system security.

[0032] For better performance, the assistive modules include: a lumbar assist module for providing lumbar support and bending assistance; an upper limb lifting assist module for providing arm lifting assistance; and a lower limb walking assist module for providing walking assistance. The operational modules include: a robotic arm module with at least 5 degrees of freedom and a tool changer at its end; a detection instrument module integrating an infrared thermal imager and a partial discharge sensor; and a trimming module for clearing obstacles around the power lines. The protection modules include: a fall protection module connected to a speed differential controller and a safety rope; a rescue module integrating a GPS positioning module and an emergency communication module; and an environmental adaptation module including a heating module, ventilation components, and lighting components. These modular designs directly address the pain points of power line inspection, upgrading the exoskeleton from a simple assistive device into a mobile operational platform adaptable to various professional tasks.

[0033] The working principle is as follows, taking the robotic arm module as an example: Implementation: The inspection personnel installed the robotic arm module onto the shoulder interface of the back support plate.

[0034] Operation: The operator controls the robotic arm via a handle or electromyography (EMG) signal. Its end effector, a tool changer, can grip specialized tools such as wrenches and insulated rods. A hybrid drive system ensures precise movement—rigid drives handle primary positioning—while compliant drives buffer against accidental contact with the environment.

[0035] For better performance, the rigid actuator employs a combination of a servo motor and a harmonic reducer to drive rigid joints requiring position control. The flexible actuator uses a pneumatic muscle and spring-driven series elastic actuator structure to drive flexible joints requiring compliance and force control. Rigid joints, such as the knee joint, are controlled by a servo motor receiving angle commands, which amplify the torque through the harmonic reducer, driving relative movement between the thigh and lower leg for precise gait control. Flexible joints, such as the shoulder joint, are controlled by a system that provides different air pressure commands to the pneumatic muscles, causing them to contract or relax, thus moving the joint. The deformation of the series elastic actuator is detected by sensors and fed back to the system in real time for precise control of the output force, enhancing safety during interaction with the human arm.

[0036] For better performance, a distributed sensing system and an intelligent control system are also included. The distributed sensing system comprises force sensors, angle sensors, and electromyography (EMG) sensors embedded in each module. Each module has its own sensors, reducing the complexity of system wiring and improving reliability and module independence. The intelligent control system uses a central pattern generator-inspired algorithm to coordinate the movement of multiple modules. Through biomimetic control algorithms, it generates stable, smooth, and adaptive rhythmic movements (such as walking), which are more adaptable to complex terrain than traditional trajectory tracking control, making the movement of multiple modules coordinated and natural, like a natural human reflex. In use, each module senses force, angle, and EMG sensors to collect data in real time. The CPG algorithm is used for control, implemented by a set of mutually coupled nonlinear oscillators acting as the central pattern generator to generate coordinated motion signals. These signals are adjusted in real time based on sensor feedback, such as ground reaction force, and then sent to rigid and flexible actuators respectively to achieve coordinated, assisted movement throughout the body.

[0037] For better performance, the support system is made of carbon fiber composite material, achieving extreme lightweighting. While ensuring support strength and rigidity, it minimizes the basic load on the wearer, which is crucial for power workers who need to conduct long-term, long-distance inspections. This adapts to different power inspection task requirements and improves equipment availability.

[0038] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A modular exoskeleton structure for power line inspection, comprising a support system, said support system including a back support plate, a waist support frame, and leg support rods, forming a main support frame; characterized in that, Also includes: A modular interface system, including at least one set of mechanical interfaces, electrical interfaces and data interfaces, is evenly distributed along the force transmission path of the support system; The functional modules include various interchangeable assist modules, operation modules, and protection modules, and the functional modules are detachably connected to the support system through the modular interface system. Hybrid drive systems include rigid actuators and flexible actuators, which are used to provide position control and compliant force control, respectively.

2. The modular structure of the power line inspection exoskeleton according to claim 1, characterized in that, The mechanical interface is connected to a coupling mechanism, which allows the functional module to make fine-tuning adjustments in at least three degrees of freedom to adapt to the physiological characteristics and working postures of different users.

3. The modular structure of the power line inspection exoskeleton according to claim 1, characterized in that, The mechanical interface includes: The base connecting plate is fixedly mounted on the support system or functional module and has a central positioning hole and multiple circumferentially arranged snap-fit ​​slots. The module connection plate is fixedly mounted on the support system or functional module, and is provided with a positioning shaft that mates with the central positioning hole and a snap protrusion that mates with the snap groove; The locking mechanism uses a shape memory alloy driven pin, which deforms when energized to achieve a tight lock between the connections.

4. The modular structure of the power line inspection exoskeleton according to claim 1, characterized in that, The electrical interface uses a waterproof multi-pin connector for power transmission and data communication based on the CAN bus protocol; the data interface adopts a magnetic coupling communication design and includes a wireless data transmission module to maintain basic data communication even when the physical connection of the interface is not fully in place.

5. The modular exoskeleton structure for power line inspection according to claim 1 or 2, characterized in that, The assistive modules include: a lumbar assistive module for providing lumbar support and bending assistance; an upper limb lifting assistive module for providing arm lifting assistance; and a lower limb walking assistive module for providing walking assistance.

6. The modular exoskeleton structure for power line inspection according to claim 1 or 2, characterized in that, The operation module includes: a robotic arm module with at least 5 degrees of freedom and a tool changer at the end of the robotic arm module; a detection instrument module integrating an infrared thermal imager and a partial discharge sensor; and a trimming module for clearing obstacles around the line.

7. The modular exoskeleton structure for power line inspection according to claim 1 or 2, characterized in that, The protection module includes: a fall protection module, which is connected to a speed differential controller and a safety rope; a rescue module, which integrates a GPS positioning module and an emergency communication module; and an environmental adaptation module, which includes a heating module, a ventilation component, and a lighting component.

8. The modular exoskeleton structure for power line inspection according to claim 1 or 2, characterized in that, The rigid actuator adopts a combination structure of servo motor and harmonic reducer to drive rigid joints that require position control; the flexible actuator adopts a pneumatic muscle and spring series elastic actuator structure to drive flexible joints with compliance and force control.

9. The modular exoskeleton structure for power line inspection according to claim 1 or 2, characterized in that, Also includes: The distributed sensing system includes force sensors, angle sensors, and electromyography sensors embedded in each module; the intelligent control system uses a central pattern generator heuristic algorithm to coordinate and control the movement of multiple modules.

10. The modular structure of the power line inspection exoskeleton according to claim 1, characterized in that, The support system is made of carbon fiber composite material to adapt to different power inspection tasks.

Images