Lifting-assist exoskeleton robot

Abstract

This invention discloses a lifting-assisted exoskeleton robot, including a back frame module, a first arm module, and a second arm module. The first arm module includes a first mounting base, a shoulder motor, a first rotating part, a large arm component, an elbow motor, a second rotating part, and a forearm component, used to provide lifting assistance for the right arm. The second arm module includes a second arm motor, a drive rod, a second mounting base, and a second arm rod, used to provide downward assistance for the left arm. By coordinating downward and lifting actions, the long rod can be lifted, enabling single-person operation and improving the convenience and safety of operation.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to an exoskeleton robot that provides lifting assistance. Background Technology

[0002] Existing long-pole lifting methods generally require the use of ladder trucks or A-frame ladders. For example, with the advancement of national modernization, the voltage levels of power transmission and distribution, and substations in various regions are constantly increasing, with ultra-high voltage levels such as 220kV, 300kV, and 500kV becoming increasingly widespread. During the maintenance of 220kV and above substations and transmission lines, an essential operation is voltage testing and grounding, which involves verifying whether the line is energized after power is cut off and grounding the line using a grounding wire. Currently, the most common grounding method is the insulating pole grounding method, which uses a long insulating pole matching the height of the line to lift the grounding wire and attach it to the target line requiring grounding. In current operating procedures, the height of 220kV and above voltage level lines generally exceeds 8m, and the grounding wire is generally a copper wire of 35 square millimeters or more (weighing approximately 360g per meter). Using an 8m long insulating pole to lift a 35 square millimeter copper wire exceeding 8m in length is extremely heavy and cannot be completed by a single person. Therefore, currently, ladder trucks or A-frame ladders are mostly used, and after raising the vehicle to a certain height, an insulated pole of about 4 meters is used to complete the task. However, the use of ladder trucks and A-frame ladders brings a series of cumbersome operations and safety hazards. Therefore, there is a demand in the market for an exoskeleton robot that can provide lifting assistance. Summary of the Invention

[0003] This invention provides a lifting-assist exoskeleton robot that overcomes the shortcomings of the prior art.

[0004] The technical solution adopted by this invention to solve its technical problem is: a lifting-assisted exoskeleton robot, comprising:

[0005] Back frame module;

[0006] The first arm module includes a first mounting base, a shoulder motor, a first rotating part, a large arm component, an elbow motor, a second rotating part, and a forearm component. The first mounting base rotates relative to the back frame module and forms a degree of freedom for chest expansion movement through rotation. The shoulder motor is mounted on the first mounting base and is driven by the first rotating part. The large arm component is connected to the first rotating part, and the shoulder motor drives the first rotating part and the large arm component to perform shoulder rotation movements. The elbow motor is mounted on the large arm component and is driven by the second rotating part. The forearm component is driven by the second rotating part and the forearm component is connected to the second rotating part, and the elbow motor drives the second rotating part and the forearm component to perform elbow rotation movements.

[0007] The second arm module includes a second arm motor, a drive rod, a second mounting base, and a second arm. The second arm motor is mounted on the back frame component and is driven by the drive rod. The second mounting base is mounted on the drive rod, and the second arm is rotatably connected to the second mounting base. A gripper is mounted on the second arm, which can slide relative to the second arm and rotate around the second arm. The gripper has a downward pressing part.

[0008] In one embodiment: the upper arm component is rotatably connected to the first rotating part via an outward pivot, which allows the upper arm component to extend outward relative to the first rotating part; the lower arm component is connected to the second rotating part via an inner and outer pivot, which allows the lower arm component to retract inward and extend outward relative to the second rotating part.

[0009] In one embodiment: the boom component includes a boom rod and a boom support plate that can slide relative to the boom rod, the boom rod is connected to a first rotating part, and the elbow motor is mounted on the boom rod; the forearm component includes a forearm rod and a forearm support plate that can slide relative to the forearm rod, the forearm rod is connected to a second rotating part.

[0010] In one embodiment: the boom is provided with a boom length adjustment mechanism, which includes an adjustment rod slidably connected to the boom. The boom length is adjusted by sliding the adjustment rod and the boom. The boom and the adjustment rod are respectively connected to the first rotating part and the elbow motor.

[0011] In one embodiment: the upper arm component is equipped with a first sensor for sensing the movement position of the upper arm, and the lower arm component is equipped with a second sensor for sensing the movement position of the lower arm.

[0012] In one embodiment: the second boom is connected to the gripper via a bushing, and a third sensor for sensing the angle of the second boom is installed at the lower end of the bushing.

[0013] In one embodiment, the second arm is connected to the second mounting part via an inclined, restricted pivot.

[0014] In one embodiment: the back frame module includes a housing and a back plate, the back plate and the housing are arranged vertically and connected together by a height adjustment mechanism; the back plate is provided with a shoulder width adjustment mechanism, the shoulder width adjustment mechanism includes a rear shoulder slider that can slide relative to the back plate, the rear shoulder slider and the first mounting base are connected together by a rear shoulder pivot.

[0015] One embodiment also includes:

[0016] The connecting strap module connects to the back frame module and connects the back frame module to the user via the connecting strap module.

[0017] One embodiment also includes:

[0018] The control module connects the shoulder motor, elbow motor, and second arm motor.

[0019] Compared with the prior art, this technical solution has the following advantages: the first arm module includes shoulder and elbow motors and is used to complete the lifting assistance of the right arm, and the second arm module includes a second arm motor and is used to complete the downward pressing assistance of the left arm. Thus, the long pole can be lifted by the combination of pressing and lifting, realizing the possibility of single-person operation and improving the convenience and safety of operation. Attached Figure Description

[0020] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0021] Figure 1 This is one of the three-dimensional schematic diagrams of an exoskeleton robot in a specific implementation.

[0022] Figure 2 This is the second three-dimensional schematic diagram of the exoskeleton robot in a specific implementation.

[0023] Figure 3 This is one of the three-dimensional schematic diagrams of the right arm module in a specific implementation.

[0024] Figure 4 This is the second perspective view of the right arm module in a specific implementation.

[0025] Figure 5 This is a three-dimensional schematic diagram of the left arm module in a specific implementation.

[0026] Figure 6 This is a three-dimensional schematic diagram of the back frame module in a specific implementation.

[0027] Labeling: Left arm module 1, Right arm module 2, Back frame module 3, Connecting strap module 5; First mounting base 11, Shoulder motor 12, First rotating part 13, Upper arm assembly 14, Elbow motor 15, Second rotating part 16, Forearm assembly 17, Shoulder rear pivot 111, Outward pivot 141, Upper arm rod 142, Upper arm support plate 143, Inner and outer pivot 171, Forearm rod 172, Forearm support plate 173, First sensor 144, Second sensor 174, Power switch 181, Gear adjustment 182, 183; 21, 22, 23, 24, 25 ... Detailed Implementation

[0028] Please refer to Figures 1 to 6An exoskeleton robot for lifting assistance, particularly an exoskeleton robot for lifting assistance with insulated poles, comprises a left arm module (first arm module) 1, a right arm module (second arm module) 2, a back frame module 3, a control module, and a connecting strap module 5 for securing the exoskeleton robot to the user. Specifically: the right arm module 1 includes shoulder and elbow motors and is used to provide lifting assistance for the right arm; the left arm module 2 includes a second arm motor and is used to provide downward pressure assistance for the left arm; the back frame module 3 is the main load-bearing skeleton; the control module includes a battery, wiring, and a control board and is used for motion control; the connecting strap module 5 is used to secure the exoskeleton robot to the user, including shoulder straps, a waist belt, upper arm straps, and forearm straps.

[0029] The back frame module 3 includes a housing 31 and a back plate 32. The back plate 32 and the housing 31 are arranged vertically and connected together by a height adjustment mechanism 33. The height adjustment mechanism 33 includes a lower rod fixed to the housing 31 and an upper rod fixed to the back plate 32. The upper and lower rods can be slidably sleeved together. An adjustment pin is inserted into one of a through hole in the upper rod and multiple adjustment holes spaced vertically on the lower rod, allowing the robot to adapt to users of different heights. The upper and lower rods can be rectangular carbon fiber tubes. A button 331 and a spring can be added as needed. The button 331 is rotatably connected to the upper rod. Rotating the button 331 drives the adjustment pin to be pulled out or inserted (specific structures include a handle with a cam structure). The spring abuts against the adjustment pin. During use: opening the height adjustment button unlocks the robot; after unlocking, sliding the button vertically adjusts the height; after adjustment, opening the button in the opposite direction locks the height adjustment again. The housing 31 includes an upper back shell and a lower back shell fixed together, both of which are plastic shells. The circuit board and wiring of the control module are installed in the cavity of the housing 31. The upper back shell also has a rectangular recess for accommodating the battery pack of the control module. The battery pack can be quickly removed and replaced by a clip. The battery pack is electrically connected to the circuit board and various motors via wiring. The back plate 32 is provided with a shoulder width adjustment mechanism 34, which includes a first guide rail on the back plate 32 and a shoulder slider 341 slidably connected to the first guide rail. The sliding connection allows for shoulder width adjustment to accommodate users with different shoulder widths. Wherein: as needed, a locking mechanism that can be released and locked is provided between the shoulder rear slider 341 and the first guide rail. The locking mechanism includes a locking pin, a spring and a shoulder rear button. The locking pin passes through the through hole of the slider and one of the multiple adjustment holes on the back plate. The spring abuts against the locking pin. The shoulder rear button is connected to the locking pin. Then, the locking pin locks the shoulder rear slider under the action of the spring. When the shoulder rear button is pressed, the shoulder rear slider can slide left and right to realize the shoulder width adjustment.

[0030] The right arm module 1 includes a first mounting base 11, a shoulder motor 12, a first rotating part 13, an upper arm component 14, an elbow motor 15, a second rotating part 16, and a forearm component 17. Its structure fits the degrees of freedom of movement of the human arm in all directions, and motors are set in the directions of upper arm flexion and extension and forearm flexion and extension to provide upward lifting assistance.

[0031] The first mounting base 11 is rotatably connected to the end of the shoulder slider 341 via a shoulder rear pivot 111. The rotation formed by the shoulder rear pivot 111 constitutes the degree of freedom of chest expansion movement. The shoulder motor 12 is mounted on the first mounting base 11. The shoulder motor 12 is connected to the first rotating part 13. The first rotating part 13 includes a disc and a lug protruding from the disc. The upper arm component 14 is rotatably connected to the lug of the first rotating part 13 via an abduction pivot 141 (e.g., along the front-back direction). The shoulder motor 12 can drive the first rotating part 13 and the upper arm component 14 to perform shoulder rotation movement together (the axis is approximately left-right). The abduction pivot 141 enables the upper arm component 14 to abduct relative to the first rotating part 13. Among them: the shoulder joint degrees of freedom realized by the above connection include 1 active degree of freedom + 2 passive degrees of freedom + 1 sliding degree of freedom: (1) the shoulder motor 12 is set as the active degree of freedom in the flexion and extension direction of the shoulder joint; (2) the shoulder rear rotation axis 111 is the complete chest expansion movement degree of freedom, and the output end of the shoulder motor 12 is set with a restricted abduction rotation axis 141, with a restricted angle of free inward and 20° outward; (3) the upper arm component 14 includes an upper arm rod 142 connected to the first rotating part 13 and an upper arm support plate 143 that can slide relative to the upper arm rod 142. Specifically, the upper arm rod 142 is provided with a second slide rail, and the upper arm support plate 143 is slidably connected to the second slide rail and can slide freely to compensate for the change in rod length caused by insufficient shoulder rotation degree of freedom.

[0032] The elbow motor 15 is installed at the lower part of the boom 142 of the boom component 14. The elbow motor 15 is connected to the second rotating part 16. The second rotating part 16 includes a disc and a lug protruding from the disc. The forearm component 17 is rotatably connected to the lug of the second rotating part 16 through the inner and outer rotating shafts 171. The elbow motor 15 drives the second rotating part 16 and the forearm component 17 to rotate together. The inner and outer rotating shafts 171 enable the forearm component 17 to move inward and outward relative to the second rotating part 16 (e.g., in the front-back direction). Among them: the elbow joint degrees of freedom realized by the above connection include 1 active degree of freedom + 1 passive degree of freedom + 1 sliding degree of freedom: (1) The elbow motor 15 is set as the active degree of freedom in the flexion and extension direction of the elbow joint; (2) The inner and outer rotating shafts 171 are set as the restricted passive degree of freedom at the output end of the elbow motor 15, and the restricted angle is free inward and 30° outward; (3) The forearm component 17 includes a forearm rod 172 connected to the second rotating part 16 and a forearm support plate 173 that can slide relative to the forearm rod 172. If the forearm rod 17 is provided with a third guide rail, the forearm support plate 173 is connected to the forearm rod through the third guide rail and can slide freely to compensate for the change in rod length caused by insufficient elbow rotation degree of freedom.

[0033] The upper arm component 14 is equipped with a first sensor 144 for sensing the position of the upper arm movement, and the forearm component 17 is equipped with a second sensor 174 for sensing the position of the forearm movement. The sensors are such as IMU sensors.

[0034] Furthermore, the boom 14 is also equipped with a boom length adjustment mechanism, which includes an adjustment rod slidably connected to the boom 142. The boom length is adjusted by sliding the adjustment rod and the boom 142. The boom 142 and the adjustment rod are respectively connected to the first rotating part and the elbow motor. The boom length adjustment mechanism is also equipped with a locking pin, a spring, and a button. Pressing the button unlocks the boom and adjusts the boom length. Releasing the button after adjustment locks it back in place. Additionally, control buttons are installed on the elbow motor, namely a power switch 181 and a gear adjustment button 182. A clamp 183 for fixing the wiring harness is also installed on the boom structure to organize the wiring harness.

[0035] The left arm module 2 includes a left arm motor (second arm motor) 21, a drive rod 22, a second mounting base 23, and a left arm rod (second arm rod) 24. The left arm motor 21 is mounted on the back frame component 3, such as on the lower rod of the back frame component 3. The lower rod has multiple mounting adjustment positions 332, which can be installed on a suitable mounting adjustment position 332 as needed to adjust the installation height to accommodate users of different heights. The left arm motor 21 is connected to the drive rod 22, which, if made of carbon fiber tubing, serves as a force transmission structure. The second mounting base 23 is fixed to the end of the drive rod 22, and the second mounting base 23 and the drive rod 22 are arranged perpendicularly. The left arm rod 24 is rotatably connected to the second mounting base 23 via a restricted rotating shaft 241. The restricted rotating shaft 241 is an inclined restricted rotating shaft, whose rotation angle is restricted outward and free inward. The structure after the shaft rotates is as follows: Figure 2 As shown, the left arm lever 24 is tilted inward and upward towards the user's body to allow for fine-tuning of the vertical movement after the insulating rod is raised. A gripper 25 is mounted on the left arm lever 24 via a bushing 242. The gripper 25 can slide relative to and rotate around the left arm lever 24. The gripper 25 has a downward pressing part, such as a circular cavity 251 within the gripper 25. A trigger button 252 is located at the gripper 25, controlling the left arm motor 21, shoulder motor 12, and elbow motor 15. During use, the user holds the gripper 25 with their left hand and uses the circular cavity 251 of the gripper 25 to grip the end of the insulating rod. The counter-clockwise rotation torque of the left arm motor 21 assists in pressing the insulating rod downward. The circular cavity can be a slot, hole, or notch, etc.

[0036] The outer circumference of the left arm 24 is cylindrical. The bushing 242 has two degrees of freedom relative to the left arm 24: sliding freedom along the left arm 24 and rotational freedom around the left arm 24. Furthermore, as needed, a pair of angular contact bearings can be used to connect the gripper 25 and the bushing 242 to achieve rotational freedom of the gripper 25 relative to the bushing 242. This means that when a person grips the gripper, they can achieve freedom in three directions: forward and backward movement, left and right rotation, and rotation around the left arm 24, satisfying the position adjustment requirements in various directions after the insulating rod is raised.

[0037] A third sensor 243 is installed at the lower end of the bushing 242. The third sensor 243 is used to sense the angle of the left arm 24. This sensor is an IMU sensor.

[0038] The connecting module includes a flexible strap 51, a flexible waist belt 52, and a flexible shoulder strap 53. Both the upper arm support plate 143 and the forearm support plate 173 have openings for the flexible strap 51 to pass through (for installation and binding). The flexible strap 51 is used to bind the upper arm support plate and forearm support plate to the upper arm and forearm of the human body to ensure the coordination between the exoskeleton and human movement. Metal waist belt sections 54 are provided on both sides of the shell 31 to match the shape of the human waist. The ends of the waist belt sections have elongated holes for installing the flexible waist belt 52. A waist width adjustment button is provided on the back shell in the middle of the waist belt section. Pressing the button unlocks the latch, allowing the waist belt section to slide left and right in the back shell to adjust the waist width. After adjustment, releasing the button causes the latch to relock the waist belt section under the return action of the spring, completing the waist width adjustment. The flexible shoulder strap 53 connects the flexible waist belt 52 (or, the waist belt section) and the back plate.

[0039] The control module connects to the power switch, various sensors, and a trigger button. The battery pack provides power to each motor and the control board. The control board controls each motor based on the sensors and starts each motor by triggering the button.

[0040] In use, the exoskeleton is worn on the user's body and secured in place. Then, the insulating rod placed on the ground is picked up. The left hand grasps the left-side gripper 25, inserting the end of the insulating rod into the circular cavity 251 of the gripper 25. The right hand grasps the insulating rod approximately 1 meter from the end. The left thumb presses the trigger button 252 next to the gripper 25. Upon triggering, the right arm shoulder and elbow motors assist upwards, while the left arm motor rotates downwards, helping to lift the insulating rod from horizontal to a specified angle (generally 45° to 60°) and maintaining this angle to complete the grounding wire connection. This invention's insulating rod lifting assist exoskeleton robot, on the one hand, can assist in lifting insulating rods, allowing a single person to perform grounding operations on 220kV and above voltage lines on the ground; on the other hand, it has a simple and reliable structure, high flexibility, and excellent assisting effect.

[0041] The above description is merely a preferred embodiment of the present invention, and therefore should not be construed as limiting the scope of the present invention. All equivalent changes and modifications made in accordance with the scope of the patent and the contents of the specification should still fall within the scope of the present invention.

Claims

1. A lifting-assisted exoskeleton robot, characterized in that: include: Back frame module; The first arm module includes a first mounting base, a shoulder motor, a first rotating part, a large arm component, an elbow motor, a second rotating part, and a forearm component. The first mounting base rotates relative to the back frame module and forms a degree of freedom for chest expansion movement through rotation. The shoulder motor is mounted on the first mounting base and is driven by the first rotating part. The large arm component is connected to the first rotating part, and the shoulder motor drives the first rotating part and the large arm component to perform shoulder rotation. The elbow motor is mounted on the large arm component and is driven by the second rotating part. The forearm component is driven by the second rotating part and the forearm component is connected to the second rotating part, and the elbow motor drives the second rotating part and the forearm component to perform elbow rotation. and The second arm module includes a second arm motor, a drive rod, a second mounting base, and a second arm. The second arm motor is mounted on the back frame component and is driven by the drive rod. The second mounting base is mounted on the drive rod, and the second arm is rotatably connected to the second mounting base. A gripper is mounted on the second arm, which can slide relative to the second arm and rotate around the second arm. The gripper has a downward pressing part.

2. The lifting-assist exoskeleton robot according to claim 1, characterized in that: The boom assembly is rotatably connected to the first rotating part via an outward pivot, allowing the boom assembly to extend outward relative to the first rotating part; the forearm assembly is connected to the second rotating part via an inner and outer pivot, allowing the forearm assembly to retract inward and extend outward relative to the second rotating part.

3. The lifting-assist exoskeleton robot according to claim 1, characterized in that: The boom assembly includes a boom rod and a boom support plate that can slide relative to the boom rod. The boom rod is connected to a first rotating part, and the elbow motor is mounted on the boom rod. The forearm assembly includes a forearm rod and a forearm support plate that can slide relative to the forearm rod. The forearm rod is connected to a second rotating part.

4. The lifting-assist exoskeleton robot according to claim 3, characterized in that: The boom is equipped with a boom length adjustment mechanism, which includes an adjustment rod that slides onto the boom. The boom length is adjusted by sliding the adjustment rod and the boom. The boom and the adjustment rod are respectively connected to the first rotating part and the elbow motor.

5. The lifting-assist exoskeleton robot according to claim 1, characterized in that: The upper arm component is equipped with a first sensor to sense the movement position of the upper arm, and the lower arm component is equipped with a second sensor to sense the movement position of the lower arm.

6. The lifting-assist exoskeleton robot according to claim 1, characterized in that: The second boom is connected to the gripper via a bushing, and a third sensor for sensing the angle of the second boom is installed at the lower end of the bushing.

7. The lifting-assist exoskeleton robot according to claim 1, characterized in that: The second boom is connected to the second mounting section via a tilted, restricted pivot.

8. The lifting-assist exoskeleton robot according to claim 1, characterized in that: The back frame module includes a housing and a back plate, which are arranged vertically and connected together by a height adjustment mechanism. The back plate is provided with a shoulder width adjustment mechanism, which includes a rear shoulder slider that can slide relative to the back plate. The rear shoulder slider and the first mounting base are connected together by a rear shoulder pivot.

9. The lifting-assist exoskeleton robot according to claim 1, characterized in that: Also includes: The connecting strap module connects to the back frame module and connects the back frame module to the user via the connecting strap module.

10. The lifting-assist exoskeleton robot according to claim 1, characterized in that: Also includes: The control module connects the shoulder motor, elbow motor, and second arm motor.

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