Climbing exoskeleton system driven by artificial muscle

Abstract

The application provides a climbing exoskeleton system driven by artificial muscle. The climbing exoskeleton system driven by artificial muscle comprises a mounting structure, a flexible wearing structure arranged on one side of the mounting structure, the flexible wearing structure comprising a wearing main body and a traction part, the wearing main body being provided with a threading hole for threading the traction part, the wearing main body being provided with an accommodation cavity for accommodating a finger part, or at least part of the traction part and the wearing main body surrounding to form the accommodation cavity for accommodating the finger part, wherein the threading hole is arranged around the accommodation cavity, and an adjusting device comprising a movable adjusting structure, the adjusting structure being connected with the traction part to maintain the bending posture of the finger part through the traction part to assist the hand to grip when the adjusting structure adjusts the traction part to a taut state. The application effectively solves the problem that the maintenance personnel has a falling risk in the process of climbing a high-voltage tower for maintenance in the prior art.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of power equipment, in particular to a climbing exoskeleton system driven by artificial muscle. BACKGROUND

[0002] At present, during the daily maintenance and repair of power lines, maintenance personnel often need to climb to high-voltage towers, and the overall climbing time is long and the height is high. Long-time climbing will greatly reduce the hand gripping force and endurance of the maintenance personnel, thereby causing the safety accidents of hand loosening and falling of the maintenance personnel. Although the maintenance personnel will be equipped with a safety rope, the safety rope will pull and suspend the maintenance personnel in the air during the falling process to ensure the personal safety of the maintenance personnel, but in the actual maintenance process, the maintenance personnel will swing in the air due to inertia, impact force and other reasons during the falling process, thereby there is a possibility of colliding with the high-voltage tower and causing accidents.

[0003] In the prior art, in order to improve the maintenance safety of the maintenance personnel, the climbing gloves used by the maintenance personnel during climbing are improved, such as adding a hook-shaped structure to the palm part of the climbing gloves. The hook-shaped structure can be hooked on the rack of the high-voltage tower to prevent the worker from falling.

[0004] However, the protection of the improved method in the prior art is actually poor, and the maintenance personnel still need to hook the hook-shaped structure on the rack of the high-voltage tower during climbing. Once the maintenance personnel loses strength or fails to successfully hook the rack due to fatigue during the hooking process, there is still a risk of falling. SUMMARY

[0005] The main purpose of the present application is to provide a climbing exoskeleton system driven by artificial muscle, so as to solve the problem of falling risk of the maintenance personnel during the process of climbing the high-voltage tower for maintenance and repair in the prior art.

[0006] In order to achieve the above-mentioned purpose, the present application provides a climbing exoskeleton system driven by artificial muscle, which is worn on the arm and comprises: a mounting structure; a flexible wearing structure arranged on one side of the mounting structure, the flexible wearing structure comprising a wearing main body and a traction part, the wearing main body having a through hole for the traction part to pass through; the wearing main body has a receiving cavity for receiving a finger; or at least part of the traction part and the wearing main body surround to form a receiving cavity for receiving a finger; wherein the through hole is arranged around the receiving cavity; an adjusting device comprising an adjustable adjusting structure, the adjusting structure being connected with the traction part, so that when the adjusting structure adjusts the traction part to a taut state, the traction part maintains the bending posture of the finger to assist the hand to grip.

[0007] Further, the wearable main body comprises a finger sleeve part and a finger ring part which are separately arranged, the finger ring part is sleeved on the fingertip and has a through hole, the finger ring part is sleeved on the knuckle and has a through hole, the two ends of the traction part are connected with the adjusting structure, and the through hole arranged on the finger ring part is at least two; wherein, the accommodation cavity is formed around at least part of the traction part, the finger sleeve part and the finger ring part.

[0008] Further, the mounting structure is plate-shaped and has a through hole, the end of the traction part passes through the through hole and is connected with the adjusting structure; wherein, at least part of the mounting structure is made of flexible material.

[0009] Further, the adjusting device further comprises a mounting seat located on the side of the mounting structure away from the flexible wearable structure, and the adjusting structure is movably arranged on the mounting seat; wherein, the adjusting device has an adjusting state and a loosening state, when the adjusting device is in the adjusting state, the adjusting structure moves away from the flexible wearable structure to adjust the traction part to the taut state, and when the adjusting device is in the loosening state, the adjusting structure moves towards the flexible wearable structure to adjust the traction part to the relaxed state.

[0010] Further, the adjusting device further comprises an energy storage structure arranged on the mounting seat, the energy storage structure comprises an energy storage piece and a limiting piece, the energy storage piece is connected with the adjusting structure, and the limiting piece is movably arranged and has a first limiting end and a second limiting end which are arranged at intervals along the movement direction of the adjusting structure; a driving structure, the driving structure is arranged on the mounting seat and is drivingly connected with the adjusting structure to drive the adjusting structure to move close to or away from the flexible wearable structure, the adjusting structure has an energy storage position for stretching the energy storage piece and a release position for releasing the energy storage piece; wherein, when the adjusting device is in the loosening state, the first limiting end avoids the adjusting structure, and when the adjusting structure moves to the energy storage position, the second limiting end limits and stops the adjusting structure; when the adjusting device is in the adjusting state, the second limiting end avoids the adjusting structure, and when the adjusting structure moves to the release position, the first limiting end limits and stops the adjusting structure.

[0011] Further, the mounting seat has a mounting cavity and a mounting surface which are arranged at intervals along the height direction of the mounting seat, one of the driving structure and the energy storage structure is arranged in the mounting cavity, and the other of the driving structure and the driving structure is arranged on the mounting surface; wherein, the adjusting device further comprises a connecting rope, and the driving structure is drivingly connected with the adjusting structure through the connecting rope.

[0012] Further, the driving structure comprises a first artificial muscle and a driving member connected with the first artificial muscle, the driving member is drivingly connected with the adjusting structure through a connecting rope; the mounting surface is provided with at least two mounting protrusions, the at least two mounting protrusions are oppositely arranged to surround a mounting space, the driving member is slidably arranged in the mounting space, the first artificial muscle is arranged between the at least one mounting protrusion and the driving member; wherein the adjusting device further comprises an elastic structure, the elastic structure is arranged between the at least one other mounting protrusion and the driving member, and the elastic structure is used to apply an elastic force to the driving member towards the side of the first artificial muscle to reset the driving member.

[0013] Further, the adjusting structure is slidably arranged in the mounting cavity, the energy storage member is an elastic structure and is arranged between the cavity wall of the mounting cavity and the adjusting structure, the limiting member is a plurality of and comprises a first limiting member and a second limiting member which are arranged at intervals, the first limiting member has a first limiting end, the second limiting member has a second limiting end, a side portion of the first limiting member is provided with a first guide wall surface for contacting the adjusting structure, a side portion of the second limiting member is provided with a second guide wall surface for contacting the adjusting structure, the first guide wall surface and the second guide wall surface are both located between the first limiting end and the second limiting end, and the first guide wall surface and / or the second guide wall surface is an inclined surface or an arc surface; wherein the first limiting member is movably arranged to move to a first limiting position for limiting the adjusting structure or a first avoiding position for avoiding the adjusting structure, the second limiting member is movably arranged to move to a second limiting position for limiting the adjusting structure or a second avoiding position for avoiding the adjusting structure, the adjusting structure moves along the first guide wall surface to push the first limiting member to the first avoiding position; and / or, the adjusting structure moves along the second guide wall surface to push the second limiting member to the second avoiding position.

[0014] Further, the adjusting device further comprises: a mounting frame arranged on the mounting base, the mounting frame is located on one side of the mounting cavity, and the first limiting member and the second limiting member are rotatably arranged on the mounting base; a second artificial muscle and a first reset member, the second artificial muscle is drivingly connected with the first limiting member to drive the first limiting member to rotate to the first limiting position or the first avoiding position, and two ends of the first reset member are connected with the mounting frame and the first limiting member to drive the first limiting member to reset; and / or a third artificial muscle and a second reset member, the third artificial muscle is rotatably connected with the second limiting member to drive the second limiting member to rotate to the second limiting position or the second avoiding position, and two ends of the second reset member are connected with the mounting frame and the second limiting member to drive the second limiting member to reset.

[0015] Further, the climbing exoskeleton system driven by the artificial muscle fast can further comprise: a bending detection device arranged on the mounting structure, a detection end of the bending detection device extending into the accommodation cavity for detecting the bending degree of the fingers; a pressure detection device arranged on the mounting structure, a detection end of the pressure detection device located between the hand and the object to be gripped for detecting the pressure value between the hand and the object to be gripped; a control module connected with the bending detection device, the pressure detection device and the adjusting device, the control module controlling the adjusting device to switch between the adjusting state and the loosening state according to the detection value of the bending detection device and / or the detection value of the pressure detection device; and / or a binding structure arranged on the mounting structure and / or the adjusting device, the binding structure being used for wearing the mounting structure and / or the adjusting device on the arm.

[0016] By using the technical scheme of the present application, the climbing exoskeleton system driven by the artificial muscle fast is worn on the arm, the flexible wearing structure of the climbing exoskeleton system driven by the artificial muscle fast is arranged on one side of the mounting structure, the flexible wearing structure comprises a wearing main body and a traction part, the wearing main body has a penetrating hole for the traction part to penetrate, and the wearing main body has an accommodation cavity for accommodating the fingers; or, at least part of the traction part and the wearing main body surround to form the accommodation cavity for accommodating the fingers. The penetrating hole is arranged around the accommodation cavity, and the adjusting structure of the adjusting device is movably arranged and connected with the traction part, so that the traction part is adjusted to the taut state by the adjusting structure, and the bending posture of the fingers is maintained by the traction part to assist the hand to grip. In this way, during the process that the maintenance personnel grips the object to be gripped to perform the climbing action, the adjusting structure of the adjusting device can adjust the traction part to the taut state, and the fingers in the accommodation cavity are pulled by the traction part in the taut state to maintain the bending posture of the fingers, so that the fingers of the worker only need to exert a small force (to realize the bending action of the fingers) to stably grip, thereby reducing the possibility of the maintenance personnel being exhausted and tired during the climbing process. At the same time, even if the maintenance personnel is exhausted and tired, the traction part can maintain the bending posture of the fingers, avoiding the hand from falling off the object to be gripped, thereby greatly reducing the possibility of the maintenance personnel falling, and further solving the problem of the falling risk of the maintenance personnel during the process of climbing the high-voltage tower for maintenance and repair in the prior art, and ensuring the personal safety of the maintenance personnel. BRIEF DESCRIPTION OF DRAWINGS

[0017] The accompanying drawings, which form a part of the present application, are used to provide further understanding of the present application, and the illustrative embodiments of the present application and their description are used to explain the present application, and do not constitute improper limitations on the present application. In the drawings:

[0018] Figure 1Fig. 1 shows a palm direction overall mechanism schematic view of a climbing exoskeleton system using artificial muscle fast drive worn on the arm portion according to the present application;

[0019] Figure 2 Fig. 2 shows a dorsal direction overall mechanism schematic view of a climbing exoskeleton system using artificial muscle fast drive worn on the arm portion in Fig. 1; Figure 1

[0020] Figure 3 Fig. 3 shows a front view of a climbing exoskeleton system using artificial muscle fast drive in Fig. 1; Figure 1

[0021] Figure 4 Fig. 4 shows a rear view of a climbing exoskeleton system using artificial muscle fast drive in Fig. 1; Figure 1

[0022] Figure 5 Fig. 5 shows a perspective structure schematic view of an adjusting device of a climbing exoskeleton system using artificial muscle fast drive in Fig. 1; Figure 1

[0023] Figure 6 Fig. 6 shows a bottom view of an adjusting device of a climbing exoskeleton system using artificial muscle fast drive in Fig. 1; Figure 5

[0024] Figure 7 Fig. 7 shows a perspective structure schematic view of an adjusting structure of a climbing exoskeleton system using artificial muscle fast drive in Fig. 1. Figure 1

[0025] Wherein, the above figures include the following reference signs:

[0026] 1, mounting structure; 101, through hole;

[0027] 2, flexible wearing structure; 210, wearing main body; 211, wearing hole; 212, finger sleeve portion; 213, finger ring portion; 214, traction portion; 215, accommodating cavity;

[0028] ​​​​​​3, adjusting device; 310, adjusting structure; 320, mounting seat; 321, mounting cavity; 322, mounting surface; 323, mounting protrusion; 3231, avoiding hole; 3232, mounting plate; 330, energy storage structure; 331, energy storage piece; 332, limiting piece; 332a, first limiting end; 333, first limiting piece; 3331, first guide wall surface; 3332, first mounting hole; 3333, second mounting hole; 334, second limiting piece; 340, driving structure; 341, first artificial muscle; 342, driving piece; 350, connecting rope; 351, elastic structure; 360, mounting frame; 361, second artificial muscle; 362, first reset piece; 363, third artificial muscle; 364, second reset piece; 370, guide rod; 380, mounting rod;

[0029] 4, bending detection device;

[0030] 5, pressure detection device;

[0031] 6, bandage structure. DETAILED DESCRIPTION

[0032] It should be noted that the embodiments and features in the embodiments in the present application can be combined with each other without conflict. The present application will be described in detail below with reference to the drawings and in combination with embodiments.

[0033] It should be noted that, unless otherwise specified, all technical and scientific terms used in the present application have the same meaning as generally understood by those skilled in the art to which the present application belongs.

[0034] In the present application, unless otherwise specified, the orientation words such as "up, down" are generally directed to the directions shown in the drawings, or are directed to the vertical, perpendicular or gravity directions; similarly, for the convenience of understanding and description, "left, right" are generally directed to the left and right shown in the drawings; "inner, outer" refer to the inner and outer relative to the contour of each component, but the above orientation words are not used to limit the present application.

[0035] In order to solve the problem that the maintenance personnel has a falling risk in the process of climbing a high-voltage tower for maintenance and maintenance in the prior art, the present application provides a climbing exoskeleton system driven by artificial muscle.

[0036] As Figures 1 to 7As shown, the climbing exoskeleton system driven by the artificial muscle is worn on the arm and includes a mounting structure 1, a flexible wearing structure 2 and an adjusting device 3. The flexible wearing structure 2 is arranged on one side of the mounting structure 1 and includes a wearing main body 210 and a traction part 214. The wearing main body 210 has a penetrating hole 211 for the traction part 214 to penetrate. The wearing main body 210 has an accommodation cavity 215 for accommodating a finger part. Alternatively, an accommodation cavity 215 for accommodating a finger part is formed around at least part of the traction part 214 and the wearing main body 210. The penetrating hole 211 is arranged around the accommodation cavity 215. The adjusting device 3 includes an adjusting structure 310 movably arranged and connected with the traction part 214. When the adjusting structure 310 adjusts the traction part 214 to a taut state, the adjusting device 3 maintains the bending posture of the finger part through the traction part 214 to assist the hand to grip.

[0037] By using the technical scheme, the climbing exoskeleton system driven by the artificial muscle is worn on the arm. The flexible wearing structure 2 of the climbing exoskeleton system driven by the artificial muscle is arranged on one side of the mounting structure 1. The flexible wearing structure 2 includes a wearing main body 210 and a traction part 214. The wearing main body 210 has a penetrating hole 211 for the traction part 214 to penetrate. The wearing main body 210 has an accommodation cavity 215 for accommodating a finger part. Alternatively, an accommodation cavity 215 for accommodating a finger part is formed around at least part of the traction part 214 and the wearing main body 210. The penetrating hole 211 is arranged around the accommodation cavity 215. The adjusting structure 310 of the adjusting device 3 is movably arranged and connected with the traction part 214. When the adjusting structure 310 adjusts the traction part 214 to a taut state, the adjusting device 3 maintains the bending posture of the finger part through the traction part 214 to assist the hand to grip. In this way, during the process that the maintenance personnel grips the object to be gripped to perform the climbing action, the adjusting structure 310 of the adjusting device 3 can adjust the traction part 214 to a taut state and pull the finger in the accommodation cavity 215 through the traction part 214 in the taut state to maintain the bending posture of the finger. Therefore, the finger part of the worker only needs to exert a small force (to realize the bending action of the finger part) to stably grip, thereby reducing the possibility of the maintenance personnel being exhausted and tired during the climbing process. At the same time, even if the maintenance personnel is exhausted and tired, the traction part 214 can maintain the bending posture of the finger to avoid the hand from falling off the object to be gripped, thereby greatly reducing the possibility of the maintenance personnel falling, and further solving the problem of the falling risk of the maintenance personnel during the process of climbing the high-voltage tower for maintenance and repair in the prior art, and ensuring the personal safety of the maintenance personnel.

[0038] In this embodiment, the traction part 214 is a flexible rope.

[0039] Specifically, the design of the flexible rope body can reduce the force transmission rigidity of the whole system to match the actual action of the maintenance personnel, thereby improving the climbing comfort of the worker.

[0040] Optionally, the wearing body 210 includes a finger sleeve part 212 and a finger ring part 213 which are separately arranged, the finger ring part 213 is sleeved on the fingertip and has a penetrating hole 211, the finger ring part 213 is sleeved on the finger joint and has a penetrating hole 211, both ends of the traction part 214 are connected with the adjusting structure 310, and the penetrating hole 211 arranged on the finger ring part 213 is at least two. Among them, the traction part 214, the finger sleeve part 212 and the finger ring part 213 are arranged around to form a containing cavity 215. In this way, the above arrangement not only ensures that the wearing body 210 has high enough structural strength, but also makes the wearing body 210 more portable and flexible, that is, by penetrating the traction part 214 on the finger sleeve part 212 and the finger ring part 213, the wearing body 210 forms a woven structure, and the woven structure of the wearing body 210 not only facilitates the maintenance personnel to wear, but also reduces the contact area between the wearing body 210 and the maintenance personnel, thereby improving the wearing comfort of the maintenance personnel.

[0041] In the embodiment, the penetrating hole 211 arranged on the finger ring part 213 is two.

[0042] Specifically, one end of the traction part 214 penetrates one of the penetrating holes 211 on the finger ring part 213, the penetrating hole 211 on the finger sleeve part 212 and the other penetrating hole 211 on the finger ring part 213 in sequence, and then the two ends of the traction part 214 are connected with the adjusting structure 310.

[0043] In the embodiment, the finger sleeve part 212 is made of elastic material, and the finger ring part 213 is an open finger ring to adapt to fingers of different thicknesses, thereby improving the universality of the climbing exoskeleton system driven by the artificial muscle.

[0044] In the embodiment, the wearing body 210 is three, and the three wearing bodies 210 are respectively worn on the middle finger, the index finger and the thumb of the hand. Specifically, in the actual climbing and gripping action of human beings, the middle finger, the index finger and the thumb account for seventy to eighty percent of the gripping ability of the hand. The above arrangement of the wearing body 210 not only ensures that the gripping action of the hand is assisted enough, but also greatly reduces the wearing difficulty (only three fingers need to be worn) and the overall weight of the flexible wearing structure 2. Compared with the structure in the prior art, the climbing exoskeleton system driven by the artificial muscle in the embodiment has more obvious wearing comfort and smaller wearing quality.

[0045] In the embodiment, the installation structure 1 is plate-shaped and has a through hole 101, and the end of the traction part 214 passes through the through hole 101 and is connected with the adjusting structure 310. At least part of the installation structure 1 is made of a flexible material. In this way, the through hole 101 can separate the plurality of traction parts 214 to avoid the plurality of traction parts 214 from being entangled with each other before being tightened, thereby improving the operation stability of the climbing exoskeleton system driven by the artificial muscle.

[0046] In the embodiment, the installation structure 1 is provided with a palm part and is made of silica gel. The installation structure 1 made of silica gel is soft and has a large friction coefficient, which can increase the friction between the hand and the object to be gripped while protecting the palm.

[0047] In the embodiment, the installation structure 1 is provided with a Teflon tube inside, and the through hole 101 is the inner hole of the Teflon tube. Specifically, the Teflon tube is a plastic with a low friction coefficient, which can provide a low-friction path for the traction part 214 to protect the traction part 214.

[0048] As shown in Figures 5 to 7 The adjusting device 3 further includes a mounting seat 320, the mounting seat 320 is located on the side of the installation structure 1 away from the flexible wearing structure 2, and the adjusting structure 310 is movably arranged on the mounting seat 320. The adjusting device 3 has an adjusting state and a loosening state. When the adjusting device 3 is in the adjusting state, the adjusting structure 310 moves away from the flexible wearing structure 2 to adjust the traction part 214 to a tightened state. When the adjusting device 3 is in the loosening state, the adjusting structure 310 moves towards the flexible wearing structure 2 to adjust the traction part 214 to a relaxed state. In this way, the above-mentioned arrangement provides a mounting base for the adjusting structure 310 through the mounting seat 320, and makes the position between the adjusting device 3 and the flexible wearing structure 2 more compact and reasonable. At the same time, the adjusting device 3 in the loosening state makes the traction part 214 in the relaxed state, so as to facilitate the maintenance and repair operation of the maintenance personnel in the non-climbing state.

[0049] In the embodiment, the adjusting device 3 is actually worn on the arm part.

[0050] As shown in Figures 5 to 7As shown, the adjusting device 3 further comprises an energy storage structure 330 and a driving structure 340, the energy storage structure 330 is arranged on the mounting base 320, the energy storage structure 330 comprises an energy storage piece 331 and a limiting piece 332, the energy storage piece 331 is connected with the adjusting structure 310, the limiting piece 332 is movably arranged and has a first limiting end 332a and a second limiting end which are arranged at intervals along the movement direction of the adjusting structure 310. The driving structure 340 is arranged on the mounting base 320 and is drivingly connected with the adjusting structure 310, so as to drive the adjusting structure 310 to move close to or away from the flexible wearing structure 2, and the adjusting structure 310 has an energy storage position for stretching the energy storage piece 331 and a release position for releasing the energy storage piece 331. Wherein, when the adjusting device 3 is in the loosening state, the first limiting end 332a avoids the adjusting structure 310, and after the adjusting structure 310 moves to the energy storage position, the second limiting end is limited and stopped by the adjusting structure 310; when the adjusting device 3 is in the adjusting state, the second limiting end avoids the adjusting structure 310, and after the adjusting structure 310 moves to the release position, the first limiting end 332a is limited and stopped by the adjusting structure 310. In this way, through the cooperation between the driving structure 340, the limiting piece 332 and the energy storage piece 331, the energy storage and release mechanism can be actually realized, so as to improve the state switching speed of the adjusting device 3, and further improve the hand gripping reliability of the maintenance personnel.

[0051] Specifically, when the adjusting device 3 is switched from the adjusting state to the loosening state, the adjusting structure 310 moves to the energy storage position and stretches the energy storage piece 331 towards the flexible wearing structure 2, and during the movement of the adjusting structure 310, the first limiting end 332a avoids the adjusting structure 310, and when the adjusting structure 310 moves to the energy storage position, the second limiting end is limited and stopped by the adjusting structure 310, so as to avoid the adjusting structure 310 being pulled by the energy storage piece 331, and further improve the stability of the adjusting device 3 in the loosening state. In the loosening state, the traction part 214 is in a relaxed state as a whole, so as to ensure that the hand of the maintenance personnel can move freely.

[0052] Specifically, when the adjusting device 3 is switched from the loosening state to the adjusting state, the second limiting end avoids the adjusting structure 310, the energy storage piece 331 pulls the adjusting structure 310 to move away from the flexible wearing structure 2 to the release position, and the first limiting end 332a is limited and stopped by the adjusting structure 310, and the traction part 214 is in a taut state as a whole at this time, so as to maintain the finger bending posture of the maintenance personnel and assist the maintenance personnel in gripping, and through the limiting and stopping of the first limiting end 332a by the adjusting structure 310, the finger of the maintenance personnel can be prevented from being pulled to drive the traction part 214 to move the adjusting structure 310, and further improve the stability of the maintenance personnel in gripping and the safety of the work of the maintenance personnel.

[0053] Specifically, the flexible wearing structure 2 and the adjusting device 3 of the climbing exoskeleton system driven by the artificial muscle are both two, which are worn on the left hand and the right hand of the human body, and in the actual climbing action of the human body, the left hand and the right hand are alternately gripped, when the left hand grips and the right hand stops gripping, the adjusting device 3 on the left hand switches to the adjusting state, and the adjusting device 3 on the right hand switches to the loosening state, that is, the traction part 214 on the left hand is in the taut state and pulls the fingers to bend under the action of the energy storage part 331, at this time, the first limiting end 332a is limited and stopped by the adjusting structure 310 in the release position, so as to ensure that the traction part 214 has high traction reliability, and the driving structure 340 on the right hand drives the adjusting structure 310 to move to stretch the energy storage part 331 to store energy, at this time, the second limiting end is limited and stopped by the adjusting structure 310 in the energy storage position, so as to ensure that the energy storage part 331 has high energy storage reliability. At the same time, the traction part 214 is in the relaxed state, so that the fingers of the maintenance personnel can move freely, when the left hand stops gripping and the right hand grips, the states of each device are opposite to the above description, which will not be repeated here. It can be seen that the energy storage part 331 can complete the corresponding energy storage under the next gripping action of the hand, and a large amount of potential energy can be released at the gripping moment of the hand to complete the traction auxiliary action instantaneously. Compared with the motor direct drive mode, the adjusting device in the embodiment has a faster driving response speed.

[0054] Optionally, the mounting seat 320 has a mounting cavity 321 and a mounting surface 322, the mounting cavity 321 and the mounting surface 322 are arranged in the height direction of the mounting seat 320, one of the driving structure 340 and the energy storage structure 330 is arranged in the mounting cavity 321, and the other of the driving structure 340 and the driving structure 340 is arranged on the mounting surface 322. Wherein, the adjusting device 3 further comprises a connecting rope 350, and the driving structure 340 is drivingly connected with the adjusting structure 310 through the connecting rope 350. In this way, the above arrangement makes the arrangement positions of the driving structure 340 and the energy storage structure 330 more compact and reasonable, not only reduces the design size of the mounting seat 320 and improves the wearing comfort of the maintenance personnel, but also realizes the hollow design of the mounting seat 320, greatly reduces the overall weight of the adjusting device, and reduces the wearing load of the maintenance personnel. At the same time, the connecting rope 350 can reduce the transmission rigidity of the adjusting device 3 while transmitting the adjusting force, so as to further match the arm action of the worker.

[0055] As Figures 5 to 7As shown, the driving structure 340 comprises a first artificial muscle 341 and a driving piece 342 connected with the first artificial muscle 341, and the driving piece 342 is drivingly connected with the adjusting structure 310 through a connecting rope 350. The mounting surface 322 is provided with at least two mounting protrusions 323, the at least two mounting protrusions 323 are oppositely arranged to surround a mounting space, the driving piece 342 is slidably arranged in the mounting space, and the first artificial muscle 341 is arranged between the at least one mounting protrusion 323 and the driving piece 342. The adjusting device 3 further comprises an elastic structure 351 arranged between the at least one other mounting protrusion 323 and the driving piece 342, and the elastic structure 351 is used to apply an elastic force to the driving piece 342 to move towards the side of the first artificial muscle 341, so as to reset the driving piece 342. In this way, while the two mounting protrusions 323 are used to realize the mounting of the driving structure 340, the first artificial muscle 341 and the driving piece 342 not only realize the driving function of the driving structure 340, but also further reduce the overall weight and driving rigidity of the adjusting device 3, and further improve the wearing and climbing experience of the maintenance personnel. At the same time, the elastic structure 351 can realize the automatic resetting of the driving piece 342, so as to adapt to the driving characteristics of the first artificial muscle 341, and further realize the uninterrupted operation of the adjusting device 3.

[0056] Specifically, the artificial muscle is a flexible driver with high energy density, small mass, low price, small noise, long service life and small hysteresis, which can reduce the overall weight and force transmission rigidity of the adjusting device 3.

[0057] Specifically, when the adjusting device 3 is switched to the loosening state, the first artificial muscle 341 is energized to contract and drive the driving piece 342 to slide while overcoming the elastic resetting force of the elastic structure 351, and the driving piece 342 drives the adjusting structure 310 to move to the energy storage position through the connecting rope 350; when the adjusting device 3 is switched to the adjusting state, the first artificial muscle 341 is de-energized, and the elastic structure 351 drives the driving piece 342 to reset to prepare for the next movement.

[0058] In the embodiment, the mounting surface 322 is provided with two mounting protrusions 323, and the two mounting protrusions 323 are oppositely arranged to surround a mounting space.

[0059] It should be noted that the number of mounting protrusions 323 is not limited, and can be adjusted according to the working conditions and use requirements. Alternatively, the mounting protrusions 323 are three, or four, or five, or six, or seven, or more.

[0060] In the embodiment, the mounting space is further provided with a guide rod 370, and the driving piece 342 is in a block shape and is arranged on the guide rod 370 to guide the movement of the driving piece 342 through the guide rod 370.

[0061] In the embodiment, two oppositely arranged mounting plates 3232 are arranged on the mounting protrusion 323 on the flexible wearing structure 2, a mounting rod 380 is arranged between the two oppositely arranged mounting plates 3232, and the mounting protrusion 323 is provided with an avoiding hole 3231, the connecting rope 350 passes through the avoiding hole 3231 and is wound on the mounting rod 380, so as to support the connecting rope 350 by the mounting rod 380.

[0062] Optionally, the adjusting structure 310 is slidably arranged in the mounting cavity 321, the energy storage member 331 is an elastic structure and is arranged between the cavity wall of the mounting cavity 321 and the adjusting structure 310, the limiting member 332 is a plurality of limiting members including the first limiting member 333 and the second limiting member 334 which are arranged at intervals, the first limiting member 333 has a first limiting end 332a, the second limiting member 334 has a second limiting end, the side of the first limiting member 333 is provided with a first guide wall surface 3331 for contacting the adjusting structure 310, the side of the second limiting member 334 is provided with a second guide wall surface for contacting the adjusting structure 310, the first guide wall surface 3331 and the second guide wall surface are both located between the first limiting end 332a and the second limiting end, and the first guide wall surface 3331 and / or the second guide wall surface is an inclined surface or an arc surface. The first limiting member 333 is movably arranged to move to a first limiting position for limiting the adjusting structure 310 or a first avoiding position for avoiding the adjusting structure 310, the second limiting member 334 is movably arranged to move to a second limiting position for limiting the adjusting structure 310 or a second avoiding position for avoiding the adjusting structure 310, the adjusting structure 310 moves along the first guide wall surface 3331 to push the first limiting member 333 to the first avoiding position, and / or the adjusting structure 310 moves along the second guide wall surface to push the second limiting member 334 to the second avoiding position. In this way, when the adjusting device 3 is in the adjusting position or the loosening position, the first limiting member 333 only needs to be adjusted to the corresponding first limiting position or the first avoiding position, and the second limiting member 334 only needs to be adjusted to the corresponding second limiting position or the second avoiding position. Meanwhile, the arrangement of the first guide wall surface 3331 and the second guide wall surface enables the first limiting member 333 and the second limiting member 334 to be automatically adjusted to the corresponding positions under the movement of the adjusting structure 310, thereby reducing the adjustment difficulty of the first limiting member 333 and the second limiting member 334.

[0063] Optionally, the energy storage member 331 is a spring.

[0064] Specifically, when the adjusting device 3 is switched from the adjusting state to the loosening state, only the first limiting member 333 needs to be adjusted to the first avoiding position, the adjusting structure 310 is separated from the first limiting member 333, and is moved towards the energy storage position under the driving action of the driving structure 340. In this process, the adjusting structure 310 will be in contact with the second guide wall surface of the second limiting member 334, and the second limiting member 334 is pushed to move to the second avoiding position, until the adjusting structure 310 is separated from the second guide wall surface, and then the second limiting member 334 is reset to the second limiting position and is limited and stopped by the adjusting structure 310 moving to the energy storage position. It can be seen that the second limiting member 334 does not need to be actively driven in this process.

[0065] Specifically, when the adjusting device 3 is switched from the loosening state to the adjusting state, only the second limiting member 334 needs to be adjusted to the second avoiding position, the adjusting structure 310 is separated from the second limiting member 334, and is moved towards the release position under the action of the energy storage member 331. In this process, the adjusting structure 310 will be in contact with the first guide wall surface 3331 of the first limiting member 333, and the first limiting member 333 is pushed to move to the first avoiding position, until the adjusting structure 310 is separated from the first guide wall surface 3331, and then the first limiting member 333 is reset to the first limiting position and is limited and stopped by the adjusting structure 310 moving to the release position. It can be seen that the first limiting member 333 does not need to be actively driven in this process.

[0066] As Figures 5 to 7As shown, the adjusting device 3 further comprises a mounting frame 360, a second artificial muscle 361 and a first reset member 362, and a third artificial muscle 363 and a second reset member 364, which are arranged on the mounting seat 320. The mounting frame 360 is located on one side of the mounting cavity 321, and the first limiting member 333 and the second limiting member 334 are rotatably arranged on the mounting seat 320. The second artificial muscle 361 is drivingly connected with the first limiting member 333, so as to drive the first limiting member 333 to rotate to the first limiting position or the first avoiding position. The two ends of the first reset member 362 are respectively connected with the mounting frame 360 and the first limiting member 333, so as to drive the first limiting member 333 to reset. And / or, the third artificial muscle 363 and the second reset member 364. The third artificial muscle 363 is rotatable with the second limiting member 334, so as to drive the second limiting member 334 to rotate to the second limiting position or the second avoiding position. The two ends of the second reset member 364 are respectively connected with the mounting frame 360 and the second limiting member 334, so as to drive the second limiting member 334 to reset. In this way, the above arrangement of the second artificial muscle 361, the first reset member 362, the third artificial muscle 363 and the second reset member 364 can realize the active driving and automatic resetting of the first limiting position of the first limiting member 333, and the active driving and automatic resetting of the second limiting position of the second limiting member 334, thereby improving the automation degree of the adjusting device 3. At the same time, the above arrangement of the mounting frame 360 can further reduce the overall weight of the adjusting device 3.

[0067] Specifically, when the adjusting device 3 is switched from the adjusting state to the loosening state, the second artificial muscle 361 is energized to contract and pull the first limiting member 333 to rotate to the first avoiding position. The adjusting structure 310 is separated from the first limiting member 333, and moves towards the energy storage position under the driving action of the driving structure 340. In this process, the second artificial muscle 361 is in a de-energized state, the adjusting structure 310 will contact the second guiding wall surface of the second limiting member 334, and push the second limiting member 334 to rotate to the second avoiding position. Until the adjusting structure 310 is separated from the second guiding wall surface, the second limiting member 334 is reset to rotate to the second limiting position under the driving of the second reset member 364, and is limited and stopped by the adjusting structure 310 moving to the energy storage position.

[0068] Specifically, when the adjusting device 3 is switched from the loosened state to the adjusted state, the third artificial muscle 363 is powered to contract and pull the second limiting piece 334 to rotate to the second avoiding position, the adjusting structure 310 is separated from the second limiting piece 334, and moves towards the released position under the action of the energy storage piece 331, in the process, the adjusting structure 310 will be in contact with the first guide wall surface 3331 of the first limiting piece 333, and push the first limiting piece 333 to rotate to the first avoiding position, until the adjusting structure 310 is separated from the first guide wall surface 3331, the first limiting piece 333 is reset to rotate to the first limiting position by the first reset piece 362, and is limited and stopped by the adjusting structure 310 moving to the released position.

[0069] As shown in Figure 7 The first limiting piece 333 includes a plate-shaped body and a limiting protrusion arranged on the plate-shaped body, the limiting protrusion is used for limiting and stopping with the outer surface of the mounting seat, so that the first limiting piece 333 stays in the first limiting position, the plate-shaped body has a right-angled triangular protrusion, when the first limiting piece 333 is in the first limiting position, the right-angled triangular protrusion extends into the mounting cavity 321, the inclined surface (oblique side) of the right-angled triangular protrusion is the first guide wall surface 3331, the plane (right-angled side adjacent to the oblique side) of the right-angled triangular protrusion is the first limiting end 332a, two second mounting holes 3333 are arranged on two sides of the triangular protrusion respectively, one second mounting hole 3333 is used for mounting the second artificial muscle 361, and the other second mounting hole 3333 is used for mounting the first reset piece 362, the plate-shaped body is further provided with the first mounting hole 3332 between the two second mounting holes 3333, the first mounting hole 3332 is used for connecting with the mounting seat 320, so that the first limiting piece 333 is rotatably arranged on the mounting seat 320.

[0070] It should be noted that the second limiting piece 334 is the same as the first limiting piece 333 in structure, and only the installation direction is opposite (that is, the inclined surfaces of the triangular protrusions of the two limiting pieces are oppositely arranged, so that the first guide wall surface 3331 (inclined surface) and the second guide wall surface (inclined surface) are both located between the first limiting end 332a (plane, right-angled side) and the second limiting end (plane, right-angled side).

[0071] Optionally, the climbing exoskeleton system driven by artificial muscle fast also comprises a bending detection device 4, a pressure detection device 5 and a control module. The bending detection device 4 is arranged on the mounting structure 1, and the detection end of the bending detection device 4 extends into the accommodating cavity 215 for detecting the bending degree of the fingers. The pressure detection device 5 is arranged on the mounting structure 1, and the detection end of the pressure detection device 5 is located between the hand and the object to be gripped for detecting the pressure value between the hand and the object to be gripped. The control module is connected with the bending detection device 4, the pressure detection device 5 and the adjusting device 3, and the control module controls the adjusting device 3 to switch between the adjusting state and the loosening state according to the detection value of the bending detection device 4 and / or the detection value of the pressure detection device 5; and / or, the binding structure 6 is arranged on the mounting structure 1 and / or the adjusting device 3, and the binding structure 6 is used to wear the mounting structure 1 and / or the adjusting device 3 on the arm. In this way, the above-mentioned arrangement of the bending detection device 4, the pressure detection device 5 and the control module makes the state switching of the adjusting device 3 more rapid, reliable and accurate. At the same time, the binding structure 6 not only enables the mounting structure 1 and the adjusting device 3 to be worn quickly, but also can adapt to hands and arms of different sizes to improve the versatility of the climbing exoskeleton system driven by artificial muscle fast.

[0072] Specifically, when the hand performs a gripping action, the control module needs to switch the adjusting device 3 to the adjusting state according to the two detection values of the bending detection device 4 and the pressure detection device 5, that is, when the bending detection device 4 detects that the fingers are bent to a certain posture and the pressure detection device 5 detects that there is a certain pressure between the palm and the object to be gripped, the adjusting device 3 is switched to the adjusting state, so as to avoid the adjusting device 3 from being switched to the adjusting state when the maintenance personnel bend their fingers without climbing, or when the palm of the maintenance personnel touches the object but does not want to grip.

[0073] Specifically, the control module only switches the adjusting device 3 to the loosening state according to the detection value of the pressure detection device 5, that is, when the detection value of the pressure detection device 5 is 0, the control module switches the adjusting device 3 to the loosening state (mainly because the fingers of the maintenance personnel cannot be restored to the non-bending state when the adjusting device 3 is in the adjusting state).

[0074] Specifically, the use mode and operation principle of the climbing exoskeleton system driven by artificial muscle fast in the embodiment are as follows:

[0075] Use mode: place the mounting structure 1 on the palm, and sequentially put the three flexible wearing structures 2 on the middle finger, the index finger and the thumb, and bind the binding structure 6, and bind the adjusting device 3 on the lower arm of the arm through the binding structure 6, so as to complete the wearing.

[0076] Working principle: in the initial state (not gripping), the detection value of the pressure detection device 5 is 0, the control module controls the adjustment device 3 to be in the loosening state, the traction part 214 is relaxed, and the fingers of the maintenance personnel can be arbitrarily active, at this time, the first artificial muscle 341 is energized to contract and pull the adjustment structure 310 to move to the energy storage position, the first limiting piece 333 is in the first avoiding position, the second limiting piece 334 is in the second limiting position and limits and stops with the adjustment structure 310, so as to ensure the energy storage reliability of the energy storage piece 331.

[0077] When the maintenance personnel perform a gripping action, the bending detection device 4 detects that the fingers are bent to a certain posture, the pressure detection device 5 detects that there is a certain pressure between the palm and the object to be gripped, the control module controls the first artificial muscle 341 to be de-energized and reset under the action of the elastic structure 351, controls the third artificial muscle 363 to be energized and controls the second artificial muscle 361 to be de-energized, the first limiting piece 333 rotates and resets to the first limiting position under the resetting force of the first reset piece 362, the second limiting piece 334 rotates to the second avoiding position under the pulling force of the third artificial muscle 363, the second limiting piece 334 is separated from the adjustment structure 310, and the energy storage piece 331 drives the adjustment structure 310 to move towards the release position. In this process, the adjustment structure 310 first pushes the first limiting piece 333 to rotate to the first avoiding position along the first guide wall surface 3331, so as to smoothly move to the release position, then the first limiting piece 333 rotates to the first limiting position again under the resetting force of the first reset piece 362 and limits and stops with the adjustment structure 310, so as to ensure that the adjustment structure 310 can stably maintain the fingers in the bent posture through the traction part 214.

[0078] It should be noted that the states of the adjustment devices 3 worn on the left and right hands are opposite, that is, when the left hand is gripping and the adjustment device 3 of the left hand is in the adjusting state, the adjustment device 3 of the right hand is in the loosening state, so that the maintenance personnel can move the right hand and the fingers of the right hand to perform the next gripping. When the right hand is gripping and the adjustment device 3 of the right hand is in the adjusting state, the adjustment device 3 of the left hand is in the loosening state, so that the maintenance personnel can move the left hand and the fingers of the left hand to perform the next gripping.

[0079] Compared with the prior art, the present scheme has the following advantages:

[0080] 1. Higher wearing comfort, smaller contact area with the hand, and higher flexibility, which can fully adapt to any active action of the maintenance personnel;

[0081] 2. Excellent anti-falling performance, which can assist in gripping during each gripping action of the maintenance personnel, greatly avoiding the exhaustion and fatigue of the maintenance personnel. At the same time, even if the maintenance personnel are exhausted and tired, the traction part can forcibly assist in gripping to avoid falling;

[0082] 3. The weight is very light, whether it is a flexible wearing structure or an adjusting device, weight reduction is adopted (woven structure of the flexible wearing structure, three-finger design, hollow mounting seat of the adjusting device, artificial muscle driving, etc.), which greatly reduces the wearing burden of the maintenance personnel;

[0083] 4. The system transmission rigidity is small, that is, a large number of flexible transmission and driving structures (artificial muscle, traction part, etc.) are adopted in the whole system, which can fully adapt to the action of the maintenance personnel and provide a margin of activity;

[0084] 5. The response speed is fast, that is, the adjusting structure adopts an energy storage and release mechanism, a large amount of energy is stored before the maintenance personnel grips, and then a large amount of energy is released instantaneously when gripping to perform traction;

[0085] 6. The adjusting device state switching is extremely accurate, that is, a double sensor design is adopted to obtain the gripping information of the hand from more dimensions and accurately judge whether the maintenance personnel is currently performing a climbing action.

[0086] From the above description, it can be seen that the above-mentioned embodiments of the present application achieve the following technical effects:

[0087] The climbing exoskeleton system driven by the artificial muscle is worn on the arm, the flexible wearing structure of the climbing exoskeleton system driven by the artificial muscle is arranged on one side of the mounting structure, the flexible wearing structure includes a wearing main body and a traction part, the wearing main body has a threading hole for threading the traction part, and the wearing main body has an accommodation cavity for accommodating the fingers; or, at least part of the traction part and the wearing main body are arranged around to form an accommodation cavity for accommodating the fingers. Wherein, the threading hole is arranged around the accommodation cavity, and the adjusting structure of the adjusting device is movably arranged and connected with the traction part, so that the traction part is adjusted to a taut state by the adjusting structure, and the bending posture of the fingers is maintained by the traction part to assist the hand to grip. In this way, during the process that the maintenance personnel grips the object to be gripped to perform a climbing action, the adjusting structure of the adjusting device can adjust the traction part to a taut state, and the fingers in the accommodation cavity are pulled by the traction part in the taut state to maintain the bending posture of the fingers, so that the fingers of the worker only need to exert a small force (to realize the bending action of the fingers), and the gripping can be stably performed, thereby reducing the possibility of exhaustion and fatigue of the maintenance personnel during climbing. At the same time, even if the maintenance personnel is exhausted and tired, the traction part can maintain the bending posture of the fingers, avoiding the hand from falling off the object to be gripped, thereby greatly reducing the possibility of falling of the maintenance personnel, and solving the problem of falling risk of the maintenance personnel during climbing the high-voltage tower for maintenance in the prior art, and ensuring the personal safety of the maintenance personnel.

[0088] Obviously, the above-described embodiments are only some, but not all of the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts should fall within the protection scope of the present application.

[0089] It is to be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments consistent with the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0090] It is to be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments consistent with the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0091] The preferred embodiments of the present application have been described above with the aid of drawing figures, and are not limited to those embodiments; instead, they will include, in addition to the above-described embodiments, all embodiments that are equivalent in whole or in part to the embodiments described and illustrated above, and which fall within the scope of the present application. Accordingly, the scope of the present application is defined only by the following claims.

Claims

1. A climbing exoskeleton system utilizing artificial muscles for rapid actuation, worn on the arm, characterized in that, The climbing exoskeleton system that utilizes artificial muscles for rapid propulsion includes: Installation structure (1); A flexible wearable structure (2) is disposed on one side of the mounting structure (1). The flexible wearable structure (2) includes a wearable body (210) and a traction part (214). The wearable body (210) has a through hole (211) for the traction part (214) to pass through. The wearable body (210) has a receiving cavity (215) for accommodating the fingers; or, at least a portion of the traction part (214) and the wearable body (210) surround to form a receiving cavity (215) for accommodating the fingers; wherein the through hole (211) is provided around the receiving cavity (215); The adjustment device (3) includes a movable adjustment structure (310) connected to the traction part (214) so ​​that when the adjustment structure (310) adjusts the traction part (214) to a taut state, the traction part (214) maintains the bending posture of the fingers to assist the hand in gripping. The adjustment device (3) further includes: a mounting base (320) located on the side of the mounting structure (1) away from the flexible wearable structure (2), and the adjustment structure (310) is movably disposed on the mounting base (320); wherein, the adjustment device (3) has an adjustment state and a release state; when the adjustment device (3) is in the adjustment state, the adjustment structure (310) moves away from the flexible wearable structure (2) to adjust the traction part (214) to the tensioned state; when the adjustment device (3) is in the release state, the adjustment structure (310) moves toward the flexible wearable structure (2) to adjust the traction part (214) to the relaxed state. The adjustment device (3) further includes: an energy storage structure (330) disposed on the mounting base (320), the energy storage structure (330) including an energy storage element (331) and a limiting element (332), the energy storage element (331) being connected to the adjustment structure (310), the limiting element (332) being movably disposed and having a first limiting end (332a) and a second limiting end spaced apart along the movement direction of the adjustment structure (310); and a driving structure (340) disposed on the mounting base (320) and drivenly connected to the adjustment structure (310) for driving the adjustment structure (310) to move closer to or away from the flexible wearable structure (2). The adjustment structure (310) has an energy storage position for stretching the energy storage member (331) and a release position for releasing the energy storage member (331); wherein, when the adjustment device (3) is in the released state, the first limiting end (332a) avoids the adjustment structure (310), and after the adjustment structure (310) moves to the energy storage position, the second limiting end stops the adjustment structure (310); when the adjustment device (3) is in the adjustment state, the second limiting end avoids the adjustment structure (310), and after the adjustment structure (310) moves to the release position, the first limiting end (332a) stops the adjustment structure (310).

2. The climbing exoskeleton system utilizing artificial muscles for rapid propulsion according to claim 1, characterized in that, The wearable body (210) includes a separate finger sleeve part (212) and a finger ring part (213). The finger ring part (213) is sleeved on the fingertip and has the through hole (211). The finger ring part (213) is sleeved on the knuckle and has the through hole (211). Both ends of the traction part (214) are connected to the adjustment structure (310). There are at least two through holes (211) on the finger ring part (213). In this configuration, at least a portion of the traction portion (214), the finger sleeve portion (212), and the finger ring portion (213) surround each other to form a receiving cavity (215).

3. The climbing exoskeleton system utilizing artificial muscles for rapid actuation according to claim 2, characterized in that, The mounting structure (1) is plate-shaped and has a through hole (101). The end of the traction part (214) passes through the through hole (101) and is connected to the adjustment structure (310). At least a portion of the mounting structure (1) is made of a flexible material.

4. The climbing exoskeleton system utilizing artificial muscles for rapid actuation according to claim 1, characterized in that, The mounting base (320) has a mounting cavity (321) and a mounting surface (322), the mounting cavity (321) and the mounting surface (322) are spaced apart along the height direction of the mounting base (320), one of the driving structure (340) and the energy storage structure (330) is disposed in the mounting cavity (321), and the other of the driving structure (340) is disposed on the mounting surface (322); The adjustment device (3) further includes a connecting rope (350), and the drive structure (340) is driven to be connected to the adjustment structure (310) through the connecting rope (350).

5. The climbing exoskeleton system utilizing artificial muscles for rapid actuation according to claim 4, characterized in that, The drive structure (340) includes a first artificial muscle (341) and a drive member (342) connected to the first artificial muscle (341). The drive member (342) is driven to be connected to the adjustment structure (310) via the connecting rope (350). At least two mounting protrusions (323) are provided on the mounting surface (322), and the at least two mounting protrusions (323) are arranged opposite to each other to surround the mounting space. The driving member (342) is slidably disposed in the mounting space. The first artificial muscle (341) is disposed between at least one of the mounting protrusions (323) and the driving member (342). The adjustment device (3) further includes an elastic structure (351), which is disposed between at least one of the mounting protrusions (323) and the drive member (342). The elastic structure (351) is used to apply an elastic force to the drive member (342) to move toward the first artificial muscle (341) so that the drive member (342) is reset.

6. The climbing exoskeleton system utilizing artificial muscles for rapid actuation according to claim 5, characterized in that, The adjustment structure (310) is slidably disposed in the mounting cavity (321), the energy storage component (331) is an elastic structure and is disposed between the cavity wall of the mounting cavity (321) and the adjustment structure (310), and the limiting component (332) is multiple and includes a first limiting component (333) and a second limiting component (334) disposed at intervals. The first limiting member (333) has a first limiting end (332a), and the second limiting member (334) has a second limiting end. The side of the first limiting member (333) is provided with a first guide wall surface (3331) for contacting the adjustment structure (310), and the side of the second limiting member (334) is provided with a second guide wall surface for contacting the adjustment structure (310). The first guide wall surface (3331) and the second guide wall surface are both located between the first limiting end (332a) and the second limiting end. The first guide wall surface (3331) and / or the second guide wall surface are inclined surfaces or arc surfaces. The first limiting member (333) is movably configured to move to a first limiting position that limits the adjustment structure (310) or a first avoidance position that avoids the adjustment structure (310), and the second limiting member (334) is movably configured to move to a second limiting position that limits the adjustment structure (310) or a second avoidance position that avoids the adjustment structure (310), wherein the adjustment structure (310) moves along the first guide wall (3331) to push the first limiting member (333) to the first avoidance position; and / or, the adjustment structure (310) moves along the second guide wall to push the second limiting member (334) to the second avoidance position.

7. The climbing exoskeleton system utilizing artificial muscles for rapid actuation according to claim 6, characterized in that, The adjustment device (3) further includes: A mounting frame (360) is provided on the mounting base (320), the mounting frame (360) is located on one side of the mounting cavity (321), and the first limiting member (333) and the second limiting member (334) are rotatably provided on the mounting base (320); A second artificial muscle (361) and a first reset member (362), wherein the second artificial muscle (361) is drivenly connected to the first limiting member (333) to drive the first limiting member (333) to rotate to a first limiting position or a first clearance position; and both ends of the first reset member (362) are respectively connected to the mounting frame (360) and the first limiting member (333) to drive the first limiting member (333) to reset; and / or, The third artificial muscle (363) and the second reset member (364) rotate together with the second limiting member (334) to drive the second limiting member (334) to rotate to the second limiting position or the second avoidance position. The two ends of the second reset member (364) are respectively connected to the mounting frame (360) and the second limiting member (334) to drive the second limiting member (334) to reset.

8. The climbing exoskeleton system utilizing artificial muscles for rapid actuation according to claim 1, characterized in that, The climbing exoskeleton system that utilizes artificial muscles for rapid propulsion also includes: A bending detection device (4) is provided on the mounting structure (1), and the detection end of the bending detection device (4) extends into the receiving cavity (215) to detect the degree of bending of the finger. A pressure detection device (5) is provided on the mounting structure (1). The detection end of the pressure detection device (5) is located between the hand and the object to be grasped, so as to detect the pressure value between the hand and the object to be grasped. The control module is connected to the bending detection device (4), the pressure detection device (5), and the adjustment device (3). The control module controls the adjustment device (3) to switch between the adjustment state and the release state based on the detection value of the bending detection device (4) and / or the detection value of the pressure detection device (5); and / or, A strap structure (6) is provided on the mounting structure (1) and / or the adjustment device (3) for wearing the mounting structure (1) and / or the adjustment device (3) on the arm.

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