A high-altitude maintenance assisting exoskeleton robot

Abstract

The present invention discloses an exoskeleton robot for assisting high-altitude maintenance, the robot comprises a calf ring, a calf bent rod, a spring pedal, a thigh mechanism, a cross frame mechanism, a supporting mechanism and a clamping claw mechanism, the calf ring is fixedly connected to the calf bent rod, the spring pedal is hinged to the calf bent rod, the thigh mechanism is hinged to one end of the calf bent rod away from the spring pedal, one end of the thigh mechanism away from the calf bent rod is rotatably connected to the cross frame mechanism, the cross frame mechanism is rotatably connected to the supporting mechanism, and the clamping claw mechanism is fixedly connected to the spring pedal; the present invention relates to the technical field of exoskeleton robots, and the present invention can provide auxiliary support for workers performing high-altitude maintenance operations to allow them to sit down, and at the same time, the waist of the workers is evenly stressed and tightened to ensure that the workers' waists are not squeezed while being tightened, which not only provides convenience for high-altitude maintenance operations, but also greatly reduces the risk of falling from a height.

Description

Technical Field

[0001] The invention relates to the technical field of exoskeleton robots, and in particular to an exoskeleton robot for high-altitude maintenance assistance. Background Art

[0002] An exoskeleton robot is an intelligent mechanical structure worn on the outside of the user's body. Based on the principles of bionics, it coordinates human movements through mechanical components to enhance the body's basic abilities or provide rehabilitation training. In essence, it is a type of wearable robot that can achieve human-machine integration.

[0003] In many high-altitude maintenance operations, such as high-altitude circuit maintenance, workers often lack auxiliary support points at high altitudes and can only be suspended in mid-air with safety belts, which makes maintenance difficult. In addition, the current high-altitude maintenance operations rely too much on safety ropes for protection, which have a single means of protection and low risk resistance. Summary of the invention

[0004] The purpose of the present invention is to provide a high-altitude maintenance assisting exoskeleton robot to solve the problems in the prior art.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an aerial maintenance assisted exoskeleton robot comprises a calf ring, a calf bent rod, a spring pedal, a thigh mechanism, a cross frame mechanism, a supporting mechanism and a clamping mechanism, the calf ring is fixedly connected to the calf bent rod, the spring pedal is hinged to the calf bent rod, the thigh mechanism is hinged to one end of the calf bent rod away from the spring pedal, one end of the thigh mechanism away from the calf bent rod is rotatably connected to the cross frame mechanism, the cross frame mechanism is rotatably connected to the supporting mechanism, and the clamping mechanism is fixedly connected to the spring pedal.

[0006] This exoskeleton robot is used to assist in maintenance work at heights. Workers put on the exoskeleton robot from bottom to top, with their calves passing through calf rings and their feet stepping on spring pedals. The calf crankshaft is connected to the thigh mechanism to fix the thigh position. The calf crankshaft, thigh mechanism and cross frame mechanism can cooperate with the simulated movement of the human leg. Workers can sit on the support mechanism, which is convenient for workers to have power support when working at heights. The support mechanism tightens the worker's waist and cooperates with the clamping mechanism to clamp the position in the air, reducing the risk of falling from heights.

[0007] Furthermore, the thigh mechanism includes a thigh ring, a thigh bent rod, a first motor and a transverse rotation axis. The thigh ring is fixedly connected to the thigh bent rod, the thigh bent rod is hinged to the end of the calf bent rod away from the spring pedal, the end of the thigh bent rod away from the calf bent rod is rotationally connected to the transverse rotation axis, the first motor is fixedly connected to the thigh bent rod, the output end of the first motor is transmission-connected to the transverse rotation axis, and the transverse rotation axis is rotationally connected to the cross frame mechanism.

[0008] The thigh part is fixed by a thigh ring, and the thigh crank is driven by a first motor to rotate with the horizontal axis as the center, so as to simulate the opening and closing movement of the worker's legs.

[0009] Furthermore, the cross frame mechanism includes a cross beam, a second motor, a steel cable and a turntable. The cross beam is rotatably connected to the transverse rotation axis, the second motor is fixedly connected to the cross beam, the output end of the second motor is fixedly connected to the steel cable, the end of the steel cable away from the second motor is fixedly connected to the thigh ring, the turntable is fixedly connected to the cross beam, and the turntable is rotatably connected to the support mechanism.

[0010] The second motor pulls the thigh ring through the steel cable, causing the entire lower limb part of the robot exoskeleton to rotate around the axis of the steel cable, simulating the worker's leg-lifting movement. When working at high altitudes, the worker can sit on the support mechanism and rotate around the center of the turntable through the support mechanism, simulating the worker's waist twisting movement.

[0011] Furthermore, the supporting mechanism includes an articulated chassis, a telescopic cylinder, an articulated top plate, a curved seat, a hinge shaft, a back plate, a first spring, a sliding seat and a waist-fixing mechanism. The articulated chassis is rotatably connected to the supporting mechanism, the telescopic cylinder is hinged to the articulated chassis, the output end of the telescopic cylinder is hinged to the articulated top plate, the curved seat is fixedly connected to the articulated top plate and the hinge shaft, the back plate is hinged to the hinge shaft, a slide groove is provided on the back plate, the first spring is fixedly connected to the slide groove and the sliding seat, the sliding seat is slidably connected to the slide groove, and the sliding seat is rotatably connected to the waist-fixing mechanism.

[0012] The worker tightens his waist through the waist-fixing mechanism. When standing, the backboard fits the back and the curved seat fits the buttocks. When a support point is needed for high-altitude work, the worker can sit back and articulate with the articulated chassis through the telescopic cylinder. The output end of the telescopic cylinder is articulated with the articulated top plate, so that the hinge axis rotates around the backboard. The curved seat and the backboard form a right angle, providing a support point for the worker to sit and work in the air.

[0013] Furthermore, the waist fixing mechanism includes an annular shell, a third motor, a bevel gear head, a bevel gear ring platform, an arc track seat, an enclosing seat, a fastening mechanism and a top shell. The annular shell is rotatably connected to the sliding seat, the third motor is fixedly connected to the annular shell, a through hole is provided on the annular shell, the output end of the third motor is rotatably connected to the through hole, the output end of the third motor is fixedly connected to the bevel gear head, the bevel gear ring platform is rotatably connected to the annular shell, the bevel gear ring platform is meshed with the tooth surface of the bevel gear head, a vortex track is provided on the bevel gear ring platform, a first groove and a first protrusion are provided on the arc track seat, a second groove and a second protrusion are provided on the enclosing seat, the first groove and the second groove are both slidably connected to the vortex track, the top shell is fixedly connected to the annular shell, a first displacement groove and a second displacement groove are provided on the top shell, the first protrusion is slidably connected to the first displacement groove, the second protrusion is slidably connected to the second displacement groove, the enclosing seat is fixedly connected to the fastening mechanism, and the arc track seat is slidably connected to the fastening mechanism.

[0014] When a worker wears the exoskeleton robot, he passes his waist through the waist-fixing mechanism. The output torque of the third motor is meshed with the bevel tooth surface of the bevel gear ring table through the bevel gear head installed at the output end, so that the bevel gear ring table rotates around the center of the ring shell through the vortex track set on the bevel gear ring table. The starting point of the vortex track is on the outside of the bevel gear ring table and the end point is at the center of the bevel gear ring table. The vortex track is a vortex-shaped slide track. Because the first groove of the arc track seat and the second groove of the enclosing seat are slidably connected with the vortex track, the first protrusion and the second protrusion are restricted in freedom by the first displacement groove and the second displacement groove, and can only be displaced along the first displacement groove and the second displacement groove. When the vortex track rotates, as the slide point from the starting point to the end point on the vortex track passes through the first groove and the second groove, the first groove and the second groove are driven to displace along the first displacement groove and the second displacement groove toward the center of the vortex track, the arc track seat and the enclosing seat close toward the center of the ring shell, and the fastening mechanism slides along the arc track seat to fix the worker's waist.

[0015] Furthermore, the fastening mechanism includes a base plate, a spring hinge, a sliding shaft and a pressing mechanism. The base plate is provided with several groups, and several groups of base plates are fixedly connected to the spring hinges. The sliding shaft and the pressing mechanism are provided with several groups, and several groups of sliding shafts are fixedly connected to the base plate and the pressing mechanism. The sliding shaft is slidably connected to the arc rail seat.

[0016] Before the fastening mechanism is closed, the spring hinge itself is in a linear state due to its elasticity, and the sliding shafts at both ends are in contact with the arc rail seats at both ends respectively. When the arc rail seat and the enclosing seat are closed toward the center of the circle, several sliding shafts slide along the arc rail seat, and several groups of pressing mechanisms contact the waist of the worker, so that the force balance and tightening of the worker's waist is achieved.

[0017] Furthermore, the pressing mechanism includes a base, a length measuring motor, a second spring and a suction cup. The base is fixedly connected to the sliding shaft, the length measuring motor is slidably connected to the base, the output end of the length measuring motor is fixedly connected to the base, the second spring is fixedly connected to the base and the length measuring motor, and the suction cup is fixedly connected to one end of the length measuring motor away from the second spring.

[0018] When the pressing mechanism tightens the worker's waist, it contacts the worker's waist through several groups of suction cups. As the third motor continues to output torque, the arc track seat and the enclosing seat continue to close toward the center of the circle, and the radius of the virtual ring formed by the arc track seat and the enclosing seat decreases. After the suction cup contacts the worker's waist, the length measuring motor is pushed by the waist to slide along the base, and is fixedly connected to the base and the length measuring motor through the second spring, so that the suction cup tightens the waist. The output end of the length measuring motor is fixed on the base, and the sliding caused by tightening the waist detected by the main body is converted into an electrical signal and sent to the third motor. The third motor stops outputting torque, and the tightening mechanism completes the uniform tightening of the waist.

[0019] Furthermore, the clamping mechanism includes a servo cylinder, an articulated frame, an articulated clamping jaw and a strong magnet. The articulated frame is fixedly connected to the servo cylinder and the spring pedal, the articulated clamping jaw is articulated to the articulated frame, the output end of the servo cylinder is transmission-connected to the articulated clamping jaw, the strong magnet is fixedly connected to the articulated clamping jaw, a right-angle groove is provided on the strong magnet, the right-angle groove includes two intersecting right-angle surfaces, and the intersection line of the two right-angle surfaces of the right-angle groove is located in the rotation plane of the articulated clamping jaw.

[0020] The output end of the servo cylinder pushes the articulated jaw to hinge and rotate on the articulated frame, and the articulated jaw clamps and closes to grasp. By passing current into the strong magnet, the strong magnet generates a strong magnetic force to adsorb metal parts in the high-altitude working environment. The right-angle grooves on the strong magnet can better clamp metal parts of different shapes, and the larger contact area makes the clamping more secure.

[0021] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention designs a supporting mechanism, and the worker tightens his waist through the waist-fixing mechanism. When standing, the backboard fits the back, and the curved seat fits the buttocks. When a support point is needed for aerial work, the worker can sit back and articulate with the articulated chassis through the telescopic cylinder, and the output end of the telescopic cylinder is articulated with the articulated top plate, so that the hinge axis rotates around the backboard, and the curved seat and the backboard form a right angle, providing a support point for the worker to sit and work in the air; the present invention designs a waist-fixing mechanism, and when the worker wears the exoskeleton robot, he passes his waist through the waist-fixing mechanism, and the first The output torque of the three motors is meshed with the bevel tooth surface of the bevel gear ring table through the bevel gear head installed at the output end, so that the bevel gear ring table rotates around the center of the ring shell, and passes through the vortex track set on the bevel gear ring table. The starting point of the vortex track is on the outside of the bevel gear ring table, and the end point is at the center of the bevel gear ring table. The vortex track is a slide track of the eddy current device, which can only move along the first displacement groove and the second displacement groove. Because the first groove of the arc track seat and the second groove of the enclosing seat are slidably connected with the vortex track, the first protrusion and the second protrusion are restricted in freedom by the first displacement groove and the second displacement groove. When the vortex track rotates, as the vortex track is moved by the starting The sliding point from the point to the end point passes through the first groove and the second groove, driving the first groove and the second groove to move along the first displacement groove and the second displacement groove toward the center of the vortex track, the arc track seat and the enclosing seat close toward the center of the ring shell, the fastening mechanism slides along the arc track seat to fix the worker's waist, several groups of pressing mechanisms contact the worker's waist, and several groups of suction cups contact the worker's waist. As the third motor continues to output torque, the arc track seat and the enclosing seat continue to close toward the center of the circle, and the radius of the virtual ring formed by the arc track seat and the enclosing seat decreases. After the suction cup contacts the worker's waist, the length measuring motor is pushed by the waist to slide along the base , the second spring is fixedly connected to the base and the length measuring motor, so that the suction cup tightens the waist, the output end of the length measuring motor is fixed on the base, and the sliding caused by tightening the waist detected by the main body is converted into an electrical signal and sent to the third motor, the third motor stops outputting torque, and the tightening mechanism completes the uniform tightening of the waist; the present invention can provide auxiliary support for workers performing high-altitude maintenance operations to sit down, and at the same time, the waist of the workers is tightened evenly to ensure that the workers are not squeezed while tightening their waists, which not only provides convenience for high-altitude maintenance operations, but also greatly reduces the risk of falling from a height. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 It is a schematic diagram of the supporting mechanism structure of the present invention;

[0024] Figure 3 It is a schematic diagram of the structure of the waist-fixing mechanism of the present invention;

[0025] Figure 4 It is a partial cross-sectional view of the waist-fixing mechanism of the present invention;

[0026] Figure 5 for Figure 4 A local enlarged schematic diagram of area A;

[0027] Figure 6 is a schematic diagram of the first groove structure of the present invention;

[0028] Figure 7 is a schematic diagram of the second groove structure of the present invention;

[0029] Figure 8 for Figure 4 A local enlarged schematic diagram of region B;

[0030] Fig. 9 for Figure 4 A local enlarged schematic diagram of region C;

[0031] Fig.10 It is a schematic diagram of the structure of the clamping mechanism of the present invention.

[0032] In the figure: 1, calf ring; 2, calf bending rod; 3, spring pedal; 4, thigh mechanism; 41, thigh ring; 42, thigh bending rod; 43, first motor; 44, horizontal axis; 5, horizontal frame mechanism; 51, crossbeam; 52, second motor; 53, steel cable; 54, turntable; 6, support mechanism; 61, articulated chassis; 62, telescopic cylinder; 63, articulated top plate; 64, curved seat; 65, hinge axis; 66, back plate; 661, slide groove; 67, first spring; 68, slide seat; 69, waist fixing mechanism; 691, ring shell; 6911, through hole; 692, third motor; 693, cone gear head; 694, cone gear ring platform; 694 1. Vortex track; 695. Arc track seat; 6951. First groove; 6952. First protrusion; 696. Enclosed seat; 6961. Second groove; 6962. Second protrusion; 697. Fastening mechanism; 6971. Bottom plate; 6972. Spring hinge; 6973. Sliding shaft; 6974. Pressing mechanism; 6975. Base; 6976. Length measuring motor; 6977. Second spring; 6978. Suction cup; 698. Top shell; 6981. First displacement slot; 6982. Second displacement slot; 7. Clamping mechanism; 71. Servo cylinder; 72. Articulated frame; 73. Articulated clamping jaw; 74. Strong magnet; 741. Right-angle slot. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] like Figure 1 As shown, the present invention provides a technical solution for a high-altitude maintenance power-assisting exoskeleton robot: it includes a calf ring 1, a calf bent rod 2, a spring pedal 3, a thigh mechanism 4, a cross frame mechanism 5, a support mechanism 6 and a clamping mechanism 7. The calf ring 1 is fixedly connected to the calf bent rod 2, the spring pedal 3 is hinged to the calf bent rod 2, the thigh mechanism 4 is hinged to one end of the calf bent rod 2 away from the spring pedal 3, one end of the thigh mechanism 4 away from the calf bent rod 2 is rotatably connected to the cross frame mechanism 5, the cross frame mechanism 5 is rotatably connected to the support mechanism 6, and the clamping mechanism 7 is fixedly connected to the spring pedal 3.

[0035] This exoskeleton robot is used to assist in maintenance work at heights. The worker puts on the exoskeleton robot from bottom to top, passes the calf through the calf ring 1, and steps on the spring pedal 3. The thigh position is fixed by connecting the thigh mechanism 4 through the calf bending rod 2. The calf bending rod 2, the thigh mechanism 4, and the cross frame mechanism 5 can cooperate with the simulated movement of the human leg. The worker can sit on the support mechanism 6, which is convenient for the worker to have auxiliary support when working at heights. The support mechanism 6 tightens the worker's waist and cooperates with the clamping claw mechanism 7 to clamp the position in the high altitude to reduce the risk of falling from heights.

[0036] like Figure 1 As shown, the thigh mechanism 4 includes a thigh ring 41, a thigh bent rod 42, a first motor 43 and a transverse rotation axis 44, the thigh ring 41 is fixedly connected to the thigh bent rod 42, the thigh bent rod 42 is hinged to the end of the calf bent rod 2 away from the spring pedal 3, the end of the thigh bent rod 42 away from the calf bent rod 2 is rotationally connected to the transverse rotation axis 44, the first motor 43 is fixedly connected to the thigh bent rod 42, the output end of the first motor 43 is transmission connected to the transverse rotation axis 44, and the transverse rotation axis 44 is rotationally connected to the cross frame mechanism 5.

[0037] The thigh part is fixed by the thigh ring 41, and a direction-changing worm is arranged at the output end of the first motor 43 to drive the thigh curved rod 42 to rotate with the horizontal rotation axis 44 as the center, so as to simulate the opening and closing movement of the worker's legs.

[0038] like Figure 1 As shown, the cross frame mechanism 5 includes a cross beam 51, a second motor 52, a steel cable 53 and a turntable 54. The cross beam 51 is rotatably connected to the transverse rotation axis 44, the second motor 52 is fixedly connected to the cross beam 51, the output end of the second motor 52 is fixedly connected to the steel cable 53, the end of the steel cable 53 away from the second motor 52 is fixedly connected to the thigh ring 41, the turntable 54 is fixedly connected to the cross beam 51, and the turntable 54 is rotatably connected to the support mechanism 6.

[0039] The second motor 52 pulls the thigh ring 41 through the steel cable 53, causing the entire lower limb part of the robot exoskeleton to rotate around the axis of the steel cable 53, simulating the worker's leg-lifting movement. When working at high altitudes, the worker can sit on the support mechanism 6, which can rotate around the center of the turntable 54 through the support mechanism 6, simulating the worker's waist twisting movement.

[0040] like Figure 2 As shown, the support mechanism 6 includes an articulated chassis 61, a telescopic cylinder 62, an articulated top plate 63, a curved seat 64, a hinge shaft 65, a back plate 66, a first spring 67, a slide seat 68 and a waist fixing mechanism 69. The articulated chassis 61 is rotatably connected to the support mechanism 6, the telescopic cylinder 62 is articulated to the articulated chassis 61, the output end of the telescopic cylinder 62 is articulated to the articulated top plate 63, the curved seat 64 is fixedly connected to the articulated top plate 63 and the hinge shaft 65, the back plate 66 is articulated to the hinge shaft 65, a slide groove 661 is provided on the back plate 66, the first spring 67 is fixedly connected to the slide groove 661 and the slide seat 68, the slide seat 68 is slidably connected to the slide groove 661, and the slide seat 68 is rotatably connected to the waist fixing mechanism 69.

[0041] The worker tightens his waist through the waist-fixing mechanism 69. When standing, the backboard 66 fits the back and the curved seat 64 fits the buttocks. When a support point is needed for high-altitude work, the worker can sit back and articulate with the articulated chassis 61 through the telescopic cylinder 62. The output end of the telescopic cylinder 62 is articulated with the articulated top plate 63, so that the hinge shaft 65 rotates around the backboard 66. The curved seat 64 and the backboard 66 form a right angle, providing a support point for the worker to sit down and work in the air.

[0042] like Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7As shown, the waist fixing mechanism 69 includes an annular shell 691, a third motor 692, a bevel gear head 693, a bevel gear ring platform 694, an arc track seat 695, an enclosing seat 696, a fastening mechanism 697 and a top shell 698. The annular shell 691 is rotatably connected to the slide seat 68, the third motor 692 is fixedly connected to the annular shell 691, a through hole 6911 is provided on the annular shell 691, the output end of the third motor 692 is rotatably connected to the through hole 6911, the output end of the third motor 692 is fixedly connected to the bevel gear head 693, the bevel gear ring platform 694 is rotatably connected to the annular shell 691, the bevel gear ring platform 694 is meshed with the tooth surface of the bevel gear head 693, and a vortex track 6941 is provided on the bevel gear ring platform 694 The arc track seat 695 is provided with a first groove 6951 and a first protrusion 6952, the enclosing seat 696 is provided with a second groove 6961 and a second protrusion 6962, the first groove 6951 and the second groove 6961 are both slidably connected to the spiral track 6941, the top shell 698 is fixedly connected to the ring shell 691, the top shell 698 is provided with a first displacement groove 6981 and a second displacement groove 6982, the first protrusion 6952 is slidably connected to the first displacement groove 6981, the second protrusion 6962 is slidably connected to the second displacement groove 6982, the enclosing seat 696 is fixedly connected to the fastening mechanism 697, and the arc track seat 695 is slidably connected to the fastening mechanism 697.

[0043] When a worker wears the exoskeleton robot, he puts his waist through the waist-fixing mechanism 69, and the third motor 692 outputs torque through the bevel gear head 693 installed at the output end, meshing with the bevel gear surface of the bevel gear ring platform 694, so that the bevel gear ring platform 694 rotates around the center of the ring shell 691, through the vortex track 6941 set on the bevel gear ring platform 694, the starting point of the vortex track 6941 is outside the bevel gear ring platform 694, and the end point is at the center of the bevel gear ring platform 694. The vortex track 6941 is a vortex-shaped slide track. Because the first groove 6951 of the arc track seat 695 and the second groove 6961 of the enclosing seat 696 are slidably connected with the vortex track, the first protrusion 6952 and the second protrusion The freedom of block 6962 is restricted by the first displacement groove 6981 and the second displacement groove 6982, and it can only move along the first displacement groove 6981 and the second displacement groove 6982. When the vortex track 6941 rotates, as the slide point from the starting point to the end point on the vortex track 6941 passes through the first groove 6951 and the second groove 6961, the first groove 6951 and the second groove 6961 are driven to move along the first displacement groove 6981 and the second displacement groove 6982 toward the center of the vortex track 6941, the arc track seat 695 and the enclosing seat 696 are closed toward the center of the ring shell 691, and the fastening mechanism 697 slides along the arc track seat 695 to fix the worker's waist.

[0044] like Figure 8As shown, the fastening mechanism 697 includes a base plate 6971, a spring hinge 6972, a sliding shaft 6973 and a pressing mechanism 6974. The base plate 6971 is provided with several groups, and several groups of base plates 6971 are fixedly connected to the spring hinge 6972. The sliding shaft 6973 and the pressing mechanism 6974 are provided with several groups, and several groups of sliding shafts 6973 are fixedly connected to the base plate 6971 and the pressing mechanism 6974. The sliding shaft 6973 is slidably connected to the arc rail seat 695.

[0045] Before the fastening mechanism 697 is closed, the spring hinge 6972 is in a linear state due to its own elasticity, and the sliding shafts 6973 at both ends are in contact with the arc track seats 695 at both ends respectively. When the arc track seat 695 and the enclosing seat 696 are closed toward the center of the circle, several sliding shafts 6973 slide along the arc track seat 695, and several groups of pressing mechanisms 6974 contact the waist circumference of the worker, achieving force balance and tightening on the worker's waist.

[0046] like Fig. 9 As shown, the pressing mechanism 6974 includes a base 6975, a length measuring motor 6976, a second spring 6977 and a suction cup 6978. The base 6975 is fixedly connected to the sliding shaft 6973, the length measuring motor 6976 is slidably connected to the base 6975, the output end of the length measuring motor 6976 is fixedly connected to the base 6975, the second spring 6977 is fixedly connected to the base 6975 and the length measuring motor 6976, and the suction cup 6978 is fixedly connected to one end of the length measuring motor 6976 away from the second spring 6977.

[0047] When the pressing mechanism 6974 tightens the worker's waist, it contacts the worker's waist through several groups of suction cups 6978. As the third motor 692 continues to output torque, the arc track seat 695 and the enclosing seat 696 continue to close toward the center of the circle, and the radius of the virtual ring formed by the arc track seat 695 and the enclosing seat 696 decreases. After the suction cup 6978 contacts the worker's waist, the length measuring motor 6976 is pushed by the waist to slide along the base 6975, and is fixedly connected to the base 6975 and the length measuring motor 6976 through the second spring 6977, so that the suction cup 6978 tightens the waist. The output end of the length measuring motor 6976 is fixed on the base 6975, and the sliding caused by tightening the waist detected by the body is converted into an electrical signal and sent to the third motor 692. The third motor 692 stops outputting torque, and the tightening mechanism 697 completes the uniform tightening of the waist.

[0048] like Fig.10As shown, the clamping mechanism 7 includes a servo cylinder 71, an articulated frame 72, an articulated clamping jaw 73 and a strong magnet 74. The articulated frame 72 is fixedly connected to the servo cylinder 71 and the spring pedal 3, the articulated clamping jaw 73 is articulated to the articulated frame 72, the output end of the servo cylinder 71 is transmission-connected to the articulated clamping jaw 73, the strong magnet 74 is fixedly connected to the articulated clamping jaw 73, a right-angle groove 741 is provided on the strong magnet 74, the right-angle groove 741 includes two intersecting right-angle surfaces, and the intersection line of the two right-angle surfaces of the right-angle groove 741 is located in the rotation plane of the articulated clamping jaw 73.

[0049] The output end of the servo cylinder 71 pushes the articulated jaw 73 to hinge and rotate on the articulated frame 72, and the articulated jaw 73 clamps and closes to grasp. By passing current into the strong magnet 74, the strong magnet 74 generates a strong magnetic force to adsorb on the metal parts in the high-altitude working environment. The right-angle groove 741 set on the strong magnet 74 can better clamp metal parts of different shapes, and the clamping is more secure through a larger contact area.

[0050] Working principle of the present invention: This exoskeleton robot is used to assist in high-altitude maintenance work. The thigh crank 42 rotates with the horizontal axis 44 as the center of the circle to simulate the opening and closing movement of the legs. The thigh ring 41 is pulled by the steel cable 53 to make the entire lower limb part of the robot exoskeleton rotate around the axis of the steel cable 53 to simulate the leg lifting movement. The support mechanism 6 can rotate around the center of the turntable 54 to simulate the twisting movement of the waist. The waist is tightened by the waist fixing mechanism 69. When standing, the backboard 66 fits the back and the curved seat 64 fits the buttocks. When a support point is needed for high-altitude work, the robot can sit back and connect the telescopic cylinder 62 with the articulated chassis 61. , the top plate 63 is hinged so that the curved seat 64 and the back plate 66 form a right angle, providing a support point for workers to sit and work in the air, which is convenient for workers to have power support when working at high altitudes. The output torque of the third motor 692 is meshed with the conical tooth surface of the conical gear ring platform 694 through the conical gear head 693. The conical gear ring platform 694 rotates around the center of the ring shell 691. The starting point of the vortex track 6941 is on the outside of the conical gear ring platform 694, and the end point is at the center of the conical gear ring platform 694. The vortex track 6941 is a slide track of the vortex installation, which can only move along the first displacement groove 6981 and the second displacement groove 6982. Due to the first groove of the arc track seat 695 The first protrusion 6951 and the second groove 6961 of the enclosing seat 696 are slidably connected with the vortex track, and the first protrusion 6952 and the second protrusion 6962 are restricted in freedom by the first displacement groove 6981 and the second displacement groove 6982. When the vortex track 6941 rotates, as the slide point from the starting point to the end point on the vortex track 6941 passes through the first groove 6951 and the second groove 6961, the first groove 6951 and the second groove 6961 are driven to move toward the center of the vortex track 6941 along the first displacement groove 6981 and the second displacement groove 6982, and the radius of the virtual ring formed by the arc track seat 695 and the enclosing seat 696 is reduced. The suction cup 6978 is small, and after contacting the waist, the length measuring motor 6976 is pushed by the waist to slide along the base 6975, and the waist is tightened by the elastic compression of the second spring 6977 itself. The output end of the length measuring motor 6976 is fixed on the base 6975, and the sliding caused by tightening the waist detected by the body is converted into an electrical signal and sent to the third motor 692. The third motor 692 stops outputting torque, and the tightening mechanism 697 completes the uniform tightening of the waist. The right-angle groove 741 set on the strong magnet 74 can better clamp metal parts of different shapes, and the larger contact area makes the clamping more secure, reducing the risk of falling from height.

[0051] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A high-altitude maintenance assisting exoskeleton robot, characterized in that: The robot comprises a shank ring (1), a shank bending rod (2), a spring pedal (3), a thigh mechanism (4), a cross frame mechanism (5), a support mechanism (6) and a clamping mechanism (7), wherein the shank ring (1) is fixedly connected to the shank bending rod (2), the spring pedal (3) is hinged to the shank bending rod (2), the thigh mechanism (4) is hinged to an end of the shank bending rod (2) away from the spring pedal (3), an end of the thigh mechanism (4) away from the shank bending rod (2) is rotatably connected to the cross frame mechanism (5), the cross frame mechanism (5) is rotatably connected to the support mechanism (6), and the clamping mechanism (7) is fixedly connected to the spring pedal (3); The support mechanism (6) comprises an articulated chassis (61), a telescopic cylinder (62), an articulated top plate (63), a curved seat (64), a hinge shaft (65), a back plate (66), a first spring (67), a sliding seat (68) and a waist fixing mechanism (69); the articulated chassis (61) is rotatably connected to the support mechanism (6); the telescopic cylinder (62) is articulated to the articulated chassis (61); an output end of the telescopic cylinder (62) is connected to the articulated top plate ( 63), the curved seat (64) is fixedly connected to the hinged top plate (63) and the hinge shaft (65), the back plate (66) is hinged to the hinge shaft (65), a slide groove (661) is provided on the back plate (66), the first spring (67) is fixedly connected to the slide groove (661) and the slide seat (68), the slide seat (68) is slidably connected to the slide groove (661), and the slide seat (68) is rotatably connected to the waist fixing mechanism (69); The waist-fixing mechanism (69) comprises an annular shell (691), a third motor (692), a bevel gear head (693), a bevel gear ring platform (694), an arc track seat (695), an enclosing seat (696), a fastening mechanism (697) and a top shell (698); the annular shell (691) is rotatably connected to the slide seat (68); the third motor (692) is fixedly connected to the annular shell (691); a through hole (6911) is provided on the annular shell (691); an output end of the third motor (692) is rotatably connected to the through hole (6911); an output end of the third motor (692) is fixedly connected to the bevel gear head (693); the bevel gear ring platform (694) is rotatably connected to the annular shell (691); the bevel gear ring platform (694) meshes with the tooth surface of the bevel gear head (693); and a vortex track (694) is provided on the bevel gear ring platform (694). 1), the arc track seat (695) is provided with a first groove (6951) and a first protrusion (6952), the enclosing seat (696) is provided with a second groove (6961) and a second protrusion (6962), the first groove (6951) and the second groove (6961) are both slidably connected to the vortex track (6941), the top shell (698) is fixedly connected to the ring shell (691), the top shell (698) is provided with a first displacement groove (6981) and a second displacement groove (6982), the first protrusion (6952) is slidably connected to the first displacement groove (6981), the second protrusion (6962) is slidably connected to the second displacement groove (6982), the enclosing seat (696) is fixedly connected to the fastening mechanism (697), and the arc track seat (695) is slidably connected to the fastening mechanism (697).

2. The high-altitude maintenance assisting exoskeleton robot according to claim 1, characterized in that: The thigh mechanism (4) comprises a thigh ring (41), a thigh bending rod (42), a first motor (43) and a transverse rotation axis (44); the thigh ring (41) is fixedly connected to the thigh bending rod (42); the thigh bending rod (42) is hinged to one end of the calf bending rod (2) away from the spring pedal (3); one end of the thigh bending rod (42) away from the calf bending rod (2) is rotationally connected to the transverse rotation axis (44); the first motor (43) is fixedly connected to the thigh bending rod (42); the output end of the first motor (43) is transmission-connected to the transverse rotation axis (44); and the transverse rotation axis (44) is rotationally connected to the cross frame mechanism (5).

3. The high-altitude maintenance assisting exoskeleton robot according to claim 2, characterized in that: The cross frame mechanism (5) comprises a cross beam (51), a second motor (52), a steel cable (53) and a turntable (54); the cross beam (51) is rotatably connected to the transverse rotation axis (44); the second motor (52) is fixedly connected to the cross beam (51); an output end of the second motor (52) is fixedly connected to the steel cable (53); an end of the steel cable (53) away from the second motor (52) is fixedly connected to the thigh ring (41); the turntable (54) is fixedly connected to the cross beam (51); and the turntable (54) is rotatably connected to the support mechanism (6).

4. The high-altitude maintenance assisting exoskeleton robot according to claim 1, characterized in that: The fastening mechanism (697) comprises a base plate (6971), a spring hinge (6972), a sliding shaft (6973) and a pressing mechanism (6974); the base plate (6971) is provided with a plurality of groups, and the plurality of groups of the base plate (6971) and the spring hinge (6972) are fixedly connected; the sliding shaft (6973) and the pressing mechanism (6974) are provided with a plurality of groups, and the plurality of groups of the sliding shaft (6973) and the pressing mechanism (6974) are fixedly connected; and the sliding shaft (6973) is slidably connected to the arc rail seat (695).

5. The high-altitude maintenance assisting exoskeleton robot according to claim 4, characterized in that: The pressing mechanism (6974) comprises a base (6975), a length measuring motor (6976), a second spring (6977) and a suction cup (6978); the base (6975) is fixedly connected to the sliding shaft (6973); the length measuring motor (6976) is slidably connected to the base (6975); the output end of the length measuring motor (6976) is fixedly connected to the base (6975); the second spring (6977) is fixedly connected to the base (6975) and the length measuring motor (6976); and the suction cup (6978) is fixedly connected to one end of the length measuring motor (6976) away from the second spring (6977).

6. The high-altitude maintenance assisting exoskeleton robot according to claim 1, characterized in that: The clamping mechanism (7) comprises a servo cylinder (71), an articulated frame (72), an articulated clamping jaw (73) and a strong magnet (74). The articulated frame (72) is fixedly connected to the servo cylinder (71) and the spring pedal (3). The articulated clamping jaw (73) is articulated to the articulated frame (72). The output end of the servo cylinder (71) is transmission-connected to the articulated clamping jaw (73). The strong magnet (74) is fixedly connected to the articulated clamping jaw (73). A right-angle groove (741) is provided on the strong magnet (74). The right-angle groove (741) comprises two intersecting right-angle surfaces. The intersection line of the two right-angle surfaces of the right-angle groove (741) is located in the rotation plane of the articulated clamping jaw (73).

Images