An induction electromagnetic exoskeleton grounding device

Abstract

The invention discloses an induction electromagnetic exoskeleton grounding device, which comprises a mechanism bracket fixedly connected to an exoskeleton ankle bracket, a shell being fixedly installed on the mechanism bracket, a moving iron core being arranged in the installation shell, a guide grounding contact being arranged at one end of the moving iron core, a grounding structure which is electrically conductive to the exoskeleton ankle bracket being formed by the mechanism bracket and the installation shell, an electromagnetic coil being fixed on the outer periphery of the installation shell, a controllable telescopic grounding structure being formed by the guide grounding contact and a spring on the moving iron core, when an electric shock occurs, electromagnetic attraction is generated by energizing the electromagnetic coil to attract the moving iron core to move toward the lower end of the mechanism morphology, the grounding contact is grounded to perform a discharge operation, after the discharge is completed, the electromagnetic coil is powered off and the grounding contact is reset under the action of the spring, the structure is simple, the response speed is fast, and no permanent magnet electromagnetic control iron core is required, the iron core can be automatically reset after the discharge is completed, no maintaining force is required, the installation is compact, and no interference is caused to the exoskeleton.

Description

Technical Field

[0001] The invention belongs to the technical field of exoskeleton safety, and in particular relates to an induction electromagnetic exoskeleton grounding device. Background Art

[0002] Most exoskeletons are made of metal. When using the exoskeleton, if the user accidentally gets an electric shock, the efficiency of the person's electric shock stress response will be reduced due to wearing the exoskeleton. In order to prevent the accidental electric shock of the exoskeleton from causing harm to the user, a grounding device is set on the outside of the exoskeleton ankle to effectively protect the safety of equipment and personnel and reduce the level of harm. At present, it is mainly the end or discharge of some large equipment, such as a permanent magnet high-speed operating mechanism driven by two coils in parallel (Wei Xinlao, Wan Runnan. Permanent magnet high-speed operating mechanism driven by two coils in parallel [J]. Journal of Harbin University of Science and Technology, 2017, 22 (01): 1-7.). The coil ejection device is composed of two coils (closing coil and opening coil) and a moving body with a soft magnetic material as a force-bearing component. Generally, a magnetic field generated by a pulse or alternating current is applied to drive the soft magnetic material force-bearing component, thereby realizing the required action of the mechanism. It works by using the magnetic coupling mechanism between the closing and opening and accelerated objects. This type of device is currently mostly used in the separation and combination of large equipment. Due to the large size of the device and the large magnetic flux demand, a special capacitor is required for current release. The device has a high threshold and requires a special large current path controller. At the same time, in order to maintain the separation and combination state, this operating mechanism is also equipped with a special mechanical locking device, which greatly increases the complexity of the mechanism and reduces the reliability of use. Therefore, this device has been used in specific devices and scenarios and cannot be miniaturized, generalized or diversified. At the same time, due to the large size and weight of the current equipment, a larger permanent magnet is required to provide a maintaining force. During movement, a larger reverse magnetic field is required to achieve the movement of the mechanism. The reverse magnetic field generated by the reverse magnetic force will cause the demagnetization of the permanent magnet and cannot be applied to exoskeletons. Summary of the invention

[0003] The purpose of the present invention is to provide an induction electromagnetic exoskeleton grounding device to overcome the shortcomings of the prior art, to achieve miniaturization of the electromagnetic operating mechanism, to achieve instantaneous electromagnetic adsorption in a monostable state so that the grounding contact contacts the ground to release the current caused by accidental touch, as well as the controller reaction threshold and reaction efficiency when electric shock occurs.

[0004] In order to achieve the above object, the present invention adopts the following technical scheme:

[0005] An induction electromagnetic exoskeleton grounding device comprises a mechanism bracket fixedly connected to an exoskeleton ankle bracket, a mounting shell fixedly connected to the mechanism bracket fixed on the mechanism bracket, the mounting shell is a cavity shell with an opening at one end, an outer shell cover is provided at the open end of the mounting shell, the outer shell cover is fixedly connected to the mounting shell, a through hole is provided on the outer shell cover, a moving iron core is provided in the mounting shell, a guide grounding contact is provided at one end of the moving iron core, a spring is sleeved on the guide grounding contact, one end of the spring is in contact with an end face of one end of the moving iron core, and the other end of the spring is in contact with an inner side of the outer shell cover, one end of the guide grounding contact passes through the through hole on the outer shell cover, and an electromagnetic coil is fixed to the outer periphery of the mounting shell.

[0006] Furthermore, an outer side of the opening end of the installation shell is provided with an external thread, and one end of the outer shell cover is provided with an internal thread, and the installation shell and the outer shell cover are connected by threads.

[0007] Furthermore, a coil slot is provided on the outer side of the installation shell, and the electromagnetic coil is diffracted in the coil slot on the outer side of the installation shell.

[0008] Furthermore, a terminal connected to the electromagnetic coil in the coil slot is provided on the coil slot of the mounting shell.

[0009] Furthermore, it also includes a controller connected to the electromagnetic coil through a control switch, and the controller is fixed on the mechanism bracket.

[0010] Furthermore, the controller may be a PLC controller, a voltage sensing switch or a current sensing switch.

[0011] Furthermore, the exoskeleton ankle bracket is rotatably connected to the exoskeleton frame, a cavity is provided in the middle of the exoskeleton ankle bracket, a connecting mechanism bracket is fixed in the cavity in the middle of the exoskeleton ankle bracket, a power supply accommodating cavity is provided in the connecting mechanism bracket, a power supply is provided in the power supply accommodating cavity, and the power supply is connected to the electromagnetic coil.

[0012] Furthermore, the mechanism bracket is integrally formed with the mounting shell, or a clamp structure is fixedly connected to the mechanism bracket, and the mounting shell is fixedly connected to the mechanism bracket through the clamp structure on the mechanism bracket through the clamp.

[0013] Furthermore, a rubber sheath is provided on the outer side of the installation shell.

[0014] Compared with the prior art, the present invention has the following beneficial technical effects:

[0015] The present invention discloses an induction electromagnetic exoskeleton grounding device, which comprises a mechanism support fixedly connected to an exoskeleton ankle support, a mounting shell fixedly connected to the mechanism support, an outer shell cover fixedly connected to the mechanism support, a through hole provided on the outer shell cover, a moving iron core provided in the mounting shell, a guide grounding contact provided at one end of the moving iron core, a grounding structure electrically conductive with the exoskeleton ankle support formed by the mechanism support and the mounting shell, a moving iron core provided in the mounting shell, an electromagnetic coil fixed at the outer periphery of the mounting shell, a controllable retractable grounding structure formed by the guide grounding contact on the moving iron core and a spring, and when an electric shock occurs When the discharge operation is completed, the electromagnetic coil is powered off and the electromagnetic attraction disappears. The elastic potential energy is provided by the compressed spring, and the moving iron core is reset together with the grounding contact. The device has a simple structure and a fast response speed. It does not require a permanent magnet electromagnetic control core, and does not need to consider the problem of permanent magnet failure. It can automatically reset after the discharge is completed, and does not need to provide a maintaining force. It has a simple structure and compact installation, and will not interfere with the exoskeleton.

[0016] Furthermore, an outer side of the opening end of the mounting shell is provided with an external thread, and one end of the outer shell cover is provided with an internal thread. The mounting shell and the outer shell cover are connected by threads, and the structure is simple, which is convenient for replacing moving iron cores of different lengths.

[0017] Furthermore, a coil slot is provided on the outer side of the mounting shell, which has a simple and compact structure and is safe and reliable.

[0018] Furthermore, a terminal connected to the electromagnetic coil in the coil slot is provided on the coil slot of the mounting shell, so as to facilitate electrical connection and installation.

[0019] Furthermore, it also includes a controller connected to the electromagnetic coil through a control switch, the controller is fixed on the mechanism bracket, and the controller is used for control, which has a fast response speed and is safe and reliable.

[0020] Furthermore, a rubber sheath is provided on the outside of the installation shell to prevent the installation shell from being damaged by bumps. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 Schematic diagram of the installation of the exoskeleton in an embodiment of the present invention.

[0022] Figure 2 It is a schematic diagram of the integrated structure of the mechanism bracket and the mounting shell in an embodiment of the present invention.

[0023] Among them, 1-exoskeleton frame, 2-mounting shell, 3-coil shell, 4-terminal, 5-shell cover, 6-guide grounding contact, 7-mechanism bracket, 8-exoskeleton ankle bracket, 9-spring, 10-electromagnetic coil, 11-moving iron core. DETAILED DESCRIPTION

[0024] The present invention is further described in detail below in conjunction with the accompanying drawings:

[0025] like Figure 1 As shown, an induction electromagnetic exoskeleton grounding device includes a mechanism bracket 7 fixedly connected to an exoskeleton ankle bracket 8, the exoskeleton ankle bracket 8 and the mechanism bracket 7 can be electrically conductive, a mounting shell 2 conductively connected to the mechanism bracket 7 is fixed on the mechanism bracket 7, the mounting shell 2 is a cavity shell with an opening at one end, an outer shell cover 5 is provided at the open end of the mounting shell 2, the outer shell cover 5 is fixedly connected to the mounting shell 2, a through hole is provided on the outer shell cover 5, a moving iron core 11 is provided in the mounting shell 2, a guide grounding contact 6 is provided at one end of the moving iron core 11, a spring 9 is sleeved on the guide grounding contact 6, one end of the spring 9 is in contact with the end surface of one end of the moving iron core 11 The outer shell cover 5 has an inner side, and the other end of the spring 9 contacts the inner side of the outer shell cover 5. One end of the guide grounding contact 6 passes through the through hole on the outer shell cover 5. An electromagnetic coil 10 is fixed to the outer periphery of the mounting shell 2. When not in operation, it does not contact the ground. The moving iron core 11 contacts the inner end face of the cavity of the mounting shell 2 under the action of the spring 9 and reaches the bottom position. When action is required, the electromagnetic coil 10 is energized to make the moving iron core 11 slide in the mounting shell 2, thereby driving the guide grounding contact 6 to retract and extend, so that the end of the guide grounding contact 6 can contact the ground, and electricity can be conducted between the exoskeleton ankle support 8, the mechanism support 7, the mounting shell 2 and the guide grounding contact 6.

[0026] Specifically, an external thread is provided on the outside of the opening end of the mounting shell 2, and an internal thread is provided on one end of the outer shell cover 5. The mounting shell 2 and the outer shell cover 5 are connected by threads. According to different height requirements, the moving iron core 11 with a supplementary length can be added.

[0027] A coil slot is provided on the outside of the mounting housing 2, and the electromagnetic coil 10 is diffracted in the coil slot on the outside of the mounting housing 2. The structure is simple, and the electromagnetic coil does not need to be installed separately. The structure is compact and stable. A terminal 4 is provided on the coil slot of the mounting housing 2 for quick connection between the controller and the electromagnetic coil 10. The terminal 4 connects the electromagnetic coil 10 in the coil slot.

[0028] Specifically, the electromagnetic coil 10 of the present application is controlled by a controller, and the input end of the controller is connected to the mechanism bracket 7. When an electric shock occurs, the connection mechanism bracket 7 conducts electricity. When the voltage or current is greater than the set threshold, the controller turns on the control switch of the electromagnetic coil 10, and energizes the electromagnetic coil 10 to generate electromagnetic attraction to attract the moving iron core 11 to move toward the lower end of the mechanism morphology. When moving downward, it drives the grounding contact 6 to the ground for discharge operation, and compresses the spring 9 at the same time; when the discharge operation is completed, the electromagnetic coil 10 is powered off and the electromagnetic attraction disappears. The elastic potential energy is provided by the compressed spring 9, and the moving iron core 11 is reset together with the grounding contact 6. Specifically, the controller can adopt a PLC controller, a voltage sensing switch or a current sensing switch. The controller is integrated on the mechanism bracket 7, with a simple structure and no need for external installation control.

[0029] The exoskeleton ankle bracket 8 is used to connect the exoskeleton frame 1, and the exoskeleton frame 1 is rotatably connected to the exoskeleton ankle bracket 8. A cavity is provided in the middle of the exoskeleton ankle bracket 8, and the connecting mechanism bracket 7 is fixed in the cavity in the middle of the exoskeleton ankle bracket 8. The connecting mechanism bracket 7 is provided with a power supply accommodating cavity for fixing and installing a power supply, and the power supply is connected to the electromagnetic coil 10 to provide power for the electromagnetic coil 10 to be turned on.

[0030] like Figure 2 As shown, the mechanism bracket 7 and the mounting shell 2 are integrally formed, or a clamp structure is fixedly connected to the mechanism bracket 7, and the mounting shell 2 is fixedly connected to the mechanism bracket 7 via the clamp structure on the mechanism bracket 7. By connecting via the clamp structure, the mounting height of the mounting shell 2 can be adjusted, which is suitable for adjusting different exoskeleton sole heights.

[0031] A rubber sheath is provided on the outside of the installation shell 2 to prevent the upper end of the installation shell 2 from being bumped. The device has a simple structure and is easy to install. When electrical work is required, the device mechanism bracket 7 and the exoskeleton ankle bracket 8 are installed and fixed. When the exoskeleton is electrocuted, when either the current or the voltage reaches the set threshold, the controller controls the release current coil to generate an electromagnetically attracted moving iron core, and the grounding contact releases the grounding release current voltage.

[0032] The exoskeleton ankle support 8 can also meet the grounding requirement by directly touching the ground. In certain circumstances, when the required working conditions require the lifting of heavy objects, or the working environment requires quietness, high requirements on the flatness of the working ground, etc., it is necessary to cover the sole of the exoskeleton with a sufficiently thick shock-absorbing buffer layer such as rubber or nylon. These buffer layers have good insulation properties. Based on this requirement, an induction electromagnetic exoskeleton grounding device is invented.

Claims

1. An induction electromagnetic exoskeleton grounding device, characterized in that: The invention comprises a mechanism support (7) fixedly connected to an exoskeleton ankle support (8); a mounting shell (2) fixedly connected to the mechanism support (7) is fixedly connected to the mechanism support (7); the mounting shell (2) is a cavity shell with an opening at one end; a shell cover (5) is provided at the open end of the mounting shell (2); the shell cover (5) is fixedly connected to the mounting shell (2); a through hole is provided on the shell cover (5); a moving iron core (11) is provided in the mounting shell (2); a guide grounding contact (6) is provided at one end of the moving iron core (11); a spring (9) is sleeved on the guide grounding contact (6); one end of the spring (9) contacts the end surface of one end of the moving iron core (11); the other end of the spring (9) contacts the inner side of the shell cover (5); one end of the guide grounding contact (6) passes through the through hole on the shell cover (5); an electric spring (9) is fixedly connected to the outer periphery of the mounting shell (2); and a guide grounding contact (6) is provided on the outer periphery of the mounting shell (2). The magnetic coil (10) also includes a controller connected to the electromagnetic coil (10) via a control switch, and the controller is fixed on the mechanism bracket (7); the electromagnetic coil (10) is controlled by the controller, and the input end of the controller is connected to the mechanism bracket (7). When an electric shock occurs, the connection mechanism bracket (7) conducts electricity. When the voltage or current is greater than a set threshold, the controller turns on the control switch of the electromagnetic coil (10), energizes the electromagnetic coil (10) to generate electromagnetic attraction to attract the moving iron core (11) to move toward the lower end of the mechanism morphology, and when moving downward, drives the grounding contact (6) to ground to perform a discharge operation, and compresses the spring (9) at the same time; when the discharge operation is completed, the electromagnetic coil (10) is powered off, the electromagnetic attraction disappears, and the elastic potential energy is provided by the compressed spring (9), and the moving iron core (11) and the grounding contact (6) are reset.

2. The induction electromagnetic exoskeleton grounding device according to claim 1, characterized in that: An external thread is provided on the outside of the opening end of the mounting shell (2), an internal thread is provided on one end of the outer shell cover (5), and the mounting shell (2) and the outer shell cover (5) are connected via threads.

3. The induction electromagnetic exoskeleton grounding device according to claim 1, characterized in that: A coil slot is provided on the outside of the mounting shell (2), and the electromagnetic coil (10) is diffracted in the coil slot on the outside of the mounting shell (2).

4. The induction electromagnetic exoskeleton grounding device according to claim 3, characterized in that: A terminal (4) connected to the electromagnetic coil (10) in the coil slot is provided on the coil slot of the mounting housing (2).

5. The induction electromagnetic exoskeleton grounding device according to claim 1, characterized in that: The controller may be a PLC controller, a voltage sensing switch or a current sensing switch.

6. The induction electromagnetic exoskeleton grounding device according to claim 1, characterized in that: The exoskeleton ankle bracket (8) is rotatably connected to the exoskeleton frame (1); a cavity is provided in the middle of the exoskeleton ankle bracket (8); a connecting mechanism bracket (7) is fixed in the cavity in the middle of the exoskeleton ankle bracket (8); a power supply accommodating cavity is provided in the connecting mechanism bracket (7); a power supply is provided in the power supply accommodating cavity; and the power supply is connected to the electromagnetic coil (10).

7. The induction electromagnetic exoskeleton grounding device according to claim 1, characterized in that: The mechanism bracket (7) and the installation shell (2) are integrally formed, or a clamp structure is fixedly connected to the mechanism bracket (7), and the installation shell (2) is fixedly connected to the mechanism bracket (7) via the clamp structure on the mechanism bracket (7) via the clamp.

8. The induction electromagnetic exoskeleton grounding device according to claim 1, characterized in that: A rubber sheath is provided on the outside of the mounting shell (2).

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