A wearable and adjustable extraterrestrial limb robotic arm ground simulation platform

Abstract

The present invention belongs to the technical field of extraterrestrial limb robot simulation platform, specifically, a wearable and adjustable extraterrestrial limb robot arm ground simulation platform, the robot arm is installed on a backpack, and the wearer carries the backpack with integrated robot arm to complete the human-machine collaborative task; the backpack includes a box body, a backpack structure, and a linear guide assembly, and the back and top surfaces of the box body are equipped with linear guide assemblies, and the position of the robot arm can be adjusted by the linear guide assembly to adapt to wearers of different body shapes. The present invention is aimed at large-scale manned space in-orbit repair and maintenance ground test applications. In order to meet the gravity compensation function, a retractable support rod assembly is installed on the bottom of the box body, and the support effect is achieved by adjusting the length of the support rod. A mobile chassis is provided at the bottom of the simulation platform to ensure the support effect while also taking into account mobility. The present invention has a novel structure, flexible movement, wearable adjustability and gravity compensation functions, and can be applied to wearers of different body proportions to carry out ground simulation experiments.

Description

Technical Field

[0001] The invention belongs to the technical field of extraterrestrial limb robot simulation platforms, in particular to a wearable and adjustable extraterrestrial limb robot arm ground simulation platform. Background Art

[0002] Large manned spacecraft - space stations provide a living space for astronauts to stay in space, and also provide a microgravity experimental environment for multi-scientific research such as space astronomical observation, earth science, biomedicine and materials science. The structure of the space station is complex, and astronauts need to go out of the cabin regularly for repair and maintenance to ensure the stability and reliability of its on-orbit operation. At present, the space station is equipped with a large robotic arm, which plays an important role in carrying large payloads and assisting astronauts in extravehicular operations. However, for refined repair and maintenance, large robotic arms are no longer applicable. The space extralimb robotic arm is a new type of intelligent wearable robot that can be combined with a space suit and worn on astronauts. It has the characteristics of moving with people, dexterous operation, and collaboration with people. Therefore, the space extralimb robotic arm has good application prospects in assisting astronauts to perform on-orbit repair and maintenance.

[0003] The space exo-limb manipulator is a wearable robot, which needs to undergo a lot of human testing on the ground before launch to verify its function, adaptability and reliability. Currently, most exo-limb manipulators are customized and only suitable for a small number of wearers, and are not wearable. In addition, the exo-limb manipulator has a certain weight, which will bring a certain burden when worn on the human body; how to offset the gravity of the exo-limb manipulator to the greatest extent without affecting the flexible operation of the manipulator is also a key consideration in ground simulation tests. Summary of the invention

[0004] In view of the above problems existing in the existing exo-limb manipulators, the present invention aims to provide a wearable and adjustable space exo-limb manipulator ground simulation platform. The simulation platform adopts an adjustable wearable interface design, has adjustment capabilities, and can be widely applied to wearers of different body proportions, and then conduct experimental tests.

[0005] The objective of the present invention is achieved through the following technical solutions:

[0006] The present invention includes a mechanical arm, a connecting plate, a backpack, a retractable support rod assembly and a mobile base, wherein the backpack includes a box body and a backpack structure, the backpack structure is worn on the wearer, the box body is slidably connected to the backpack structure and can slide up and down relative to the backpack structure; the upper end of the retractable support rod assembly is connected to the bottom surface of the box body, and the lower end of the retractable support rod assembly is connected to the mobile base, and the box body on wearers of different heights is supported by the extension and retraction of the retractable support rod assembly, and the mobile base provides a degree of freedom of movement for the simulation platform; one end of the connecting plate is slidably connected to the top surface of the box body and can slide left and right relative to the top surface of the box body, the mechanical arm is slidably connected to the other end of the connecting plate and can slide back and forth relative to the other end of the connecting plate, and the relative position of the mechanical arm and the wearer is adjusted by the relative sliding between the box body and the backpack structure, the relative sliding between the connecting plate and the box, and the relative sliding between the mechanical arm and the connecting plate.

[0007] Wherein: a box back side linear guide assembly is installed on the back side of the box facing the wearer, and the box back side linear guide assembly includes a box back side linear guide and a box back side slide group, the box back side linear guide is installed on the back side of the box, and the backpack structure is slidably connected to the box back side linear guide via the box back side slide group.

[0008] The U-shaped groove bearings and the protruding locking pins are located in the U-shaped grooves on the linear guide rails on the back of the box body, and the two ends of the linear guide rails on the back of the box body are provided with limit bolts at the linear guide rails on the back of the box body.

[0009] A box top surface linear guide assembly is installed on the box top surface, and the box top surface linear guide assembly includes a box top surface linear guide and a box top surface slide group. The box top surface linear guide is installed on the box top surface, and one end of the connecting plate is slidably connected to the box top surface linear guide through the box top surface slide group.

[0010] The U-shaped groove bearings and the protruding locking pins are located in the U-shaped grooves on the linear guide rails on the top surface of the box body, and the two ends of the linear guide rails on the top surface of the box body are provided with limit bolts of the linear guide rails on the top surface of the box body.

[0011] The backpack structure includes a handle, a shoulder adjustment strap, a waist adjustment strap, an inner support frame and a strap, one end of the strap is connected to the inner support frame, the other end of the strap is connected to the box, the inner support frame is slidably connected to the box, and a handle, a shoulder adjustment strap and a waist adjustment strap are respectively provided on the inner support frame, and the inner support frame, the shoulder adjustment strap and the waist adjustment strap are all filled with ergonomic shoulder, back, waist and abdomen fillable supports.

[0012] The retractable support rod assembly includes a support rod, a support rod sleeve and a locking and releasing handle. The support rod sleeve is a hollow structure, and a ball head mounting cap for connecting to the mobile base is provided at the lower end. The upper end of the support rod sleeve is connected to the locking and releasing handle. The support rod is placed in the locking and releasing handle. The extension and retraction of the support rod is adjusted by the locking and releasing handle, thereby realizing auxiliary support for wearers of different heights.

[0013] The locking and releasing handle comprises a locking and releasing frame, a movable paddle, a limiting paddle, a locking spring, a pin shaft, a movable handle and a reset spring. The locking and releasing frame is a frame structure, and the interior is divided into a space above the partition and a space below the partition by a partition. The top of the locking and releasing frame, the partition and the bottom of the locking and releasing frame are all provided with support rod through holes for the support rod to pass through; a movable paddle boss A and a movable paddle boss B are respectively provided on both sides of the support rod through hole on the upper surface of the partition, and a limiting paddle boss is provided at the bottom of the locking and releasing frame in the space below the partition, and the limiting paddle boss is located on one side of the support rod through hole opened at the bottom of the locking and releasing frame; the movable paddle is located in the space above the partition, and the limiting paddle is located in the space below the partition, and the support rod is respectively passed through by the movable paddle and the limiting paddle; A mobile handle mounting shaft hole is provided, and a mounting shaft is provided on the mobile handle, and the mounting shaft is accommodated in the mobile handle mounting shaft hole. When the mobile handle is pressed downward relative to the locking release frame, a lever is formed at the mobile handle mounting shaft hole. One end of the mobile handle is a hand-holding end, and the other end of the mobile handle is provided with a pin shaft resting on the mobile paddle boss A. One end of the mobile paddle abuts on the pin shaft, and the other end abuts on the mobile paddle boss B. A return spring is sleeved on the support rod between the mobile paddle and the top of the locking release frame; one end of the limit paddle abuts on the limit paddle boss, and the other end of the limit paddle extends to the outside of the locking release frame. A locking spring is sleeved on the support rod between the limit paddle and the partition, and the limit paddle is inclined to the horizontal plane under the action of the locking spring.

[0014] The mobile base includes a spherical hinge base, a mobile chassis and universal wheels. The spherical hinge base is fixedly connected to the upper surface of the mobile chassis, and a plurality of universal wheels are installed on the lower surface of the mobile chassis. The spherical hinge base includes a main body and a spherical opening groove. The main body is fixedly connected to the upper surface of the mobile chassis, and the main body is provided with a spherical opening groove for connecting with a telescopic support rod assembly.

[0015] The connecting plate is "L"-shaped, and a bolt mounting hole B is provided at one end of the "L" shape, and a slide groove is provided at the other end of the "L" shape along the front-to-back direction of the box body. The robotic arm can be relatively movably installed on the slide groove and remain fixed to the connecting plate after moving into position.

[0016] The advantages and positive effects of the present invention are:

[0017] 1. The installation position of the robot arm of the present invention is located above the wearer's shoulder, and can cooperate with the wearer's arm to complete collaborative tasks. By adjusting the installation position of the robot arm, the range of its working space can be adjusted to meet different task requirements.

[0018] 2. The wearable interface of the present invention has an adjustable function, and the installation position of the mechanical arm can be adjusted according to the body proportions of the wearer to adapt to different body shapes of human bodies.

[0019] 3. The backpack structure of the present invention is provided with straps, shoulder adjustment straps, abdomen adjustment straps, an inner support frame and ergonomic sponge fillers. The inner support frame uses carbon fiber material to ensure lightness, high strength and durability; the shoulder adjustment straps adjust the fit between the backpack structure and the human body to improve the stability of the backpack; the abdomen adjustment straps ensure that the upper body of the human body is upright and increase safety; the ergonomic shoulder, back, waist and abdomen fillers ensure wearing comfort.

[0020] 4. The backpack of the present invention adopts an openable box body, and the power supply and controller etc. can be stored inside the box body to realize the built-in cable.

[0021] 5. The telescopic support rod assembly of the present invention has a telescopic function, and the length of the telescopic rod can be adjusted according to the height of the wearer, thereby achieving auxiliary support and gravity offset functions.

[0022] 6. The mobile chassis of the present invention is equipped with three universal wheels, which ensure that the support rod can offset the gravity and can move smoothly with the person.

[0023] 7. The mechanical arm of the present invention is installed on an L-shaped connecting plate, which is connected to the box body. The lower part of the L-shaped connecting plate is placed at the shoulder backpack structure. The gravity of the mechanical arm will be evenly distributed on the shoulder and the box body, ensuring the comfort of human body bearing. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of the wearer and the present invention;

[0025] Figure 2 It is a schematic diagram of the overall structure of the present invention;

[0026] Figure 3A This is one of the structural schematic diagrams of the assembly of the box body and the linear guide rail of the present invention;

[0027] Figure 3B This is the second structural schematic diagram of the assembly of the box body and the linear guide rail of the present invention;

[0028] Figure 4A It is one of the structural schematic diagrams of the assembly of the backpack structure and the slide assembly of the present invention;

[0029] Figure 4B The second structural schematic diagram of the backpack structure and the slide assembly of the present invention;

[0030] Figure 5A It is one of the structural schematic diagrams of the slide assembly of the present invention;

[0031] Figure 5BThis is the second structural schematic diagram of the slide assembly of the present invention;

[0032] Figure 6 It is a structural schematic diagram of the telescopic support rod assembly of the present invention;

[0033] Figure 7 It is a structural schematic diagram of the assembly of the locking and releasing handle and the support rod of the present invention;

[0034] Figure 8 for Figure 7 A schematic diagram of the structure of the middle locking release frame;

[0035] Fig. 9 It is a structural schematic diagram of the mobile base of the present invention;

[0036] Fig.10 for Fig. 9 Structural diagram of the middle spherical hinge base;

[0037] Fig.11 It is a structural schematic diagram of the assembly of the connecting plate and the mechanical arm of the present invention;

[0038] Fig.12 for Fig.11 Structural diagram of the middle connecting plate;

[0039] Among them: 1 is the wearer, 2 is the mechanical arm, 3 is the connecting plate, 4 is the linear guide rail assembly on the top surface of the box, 5 is the backpack, 6 is the retractable support rod assembly, 7 is the mobile base, 8 is the backpack structure, 9 is the box, 10 is the linear guide rail assembly on the back of the box, 11 is the slide group on the back of the box, 12 is the linear guide rail on the back of the box, 13 is the fixing plate, 14 is the linear guide rail limit bolt on the top surface of the box, 15 is the slide group on the top surface of the box, 16 is the back of the box, 17 is the linear guide rail limit bolt on the back of the box, 18 is the spherical hinge seat, 19 is the front of the box, 20 is the box buckle, 21 is the handle, 22 is the shoulder adjustment belt, 23 is the pressure plate, 24 is the waist adjustment belt, 25 is the inner support frame, 26 is the strap hole, 27 is the slide body, 28 is the mounting threaded hole, 29 is the U-shaped groove bearing mounting threaded hole, 30 is the locking wrench, 31 is the locking positioning spring, 32 is a locking pin, 33 is a U-shaped groove bearing, 34 is a guide groove, 35 is an opening, 36 is a support rod, 37 is a support rod sleeve, 38 is a ball head mounting cap, 39 is a spherical hinge base, 40 is a mobile chassis, 41 is a universal wheel, 42 is a locking release handle, 43 is a locking release frame, 44 is a moving paddle, 45 is a limit paddle, 46 is a locking spring, 47 is a pin shaft, 48 is a moving handle, and 49 is a reset spring , 50 is the ball head of the support rod, 51 is the through hole of the support rod, 52 is the limiting paddle boss, 53 is the shaft hole for installing the movable handle, 54 is the partition, 55 is the movable paddle boss A, 56 is the body, 57 is the spherical opening groove, 58 is the bolt mounting through hole A, 59 is the linear guide rail on the top surface of the box body, 60 is the movable paddle boss B, 61 is the space above the partition, 62 is the space below the partition, 63 is the slide groove, and 64 is the bolt mounting through hole B. DETAILED DESCRIPTION

[0040] The present invention will be further described below in conjunction with the accompanying drawings.

[0041] like Figure 1 , Figure 2As shown, the present invention includes a mechanical arm 2, a connecting plate 3, a backpack 5, a retractable support rod assembly 6 and a mobile base 7, wherein the mechanical arm 2 is installed on the connecting plate 3 and is located on the shoulder of the wearer 1; the backpack 5 includes a box body 9 and a backpack structure 8, the backpack structure 8 is worn on the wearer 1, the box body 9 is slidably connected to the backpack structure 8, and can slide up and down relative to the backpack structure 8; the upper end of the retractable support rod assembly 6 is connected to the bottom surface of the box body 9, and the lower end of the retractable support rod assembly 6 is connected to the mobile base 7, and the retractable support rod assembly 6 can be adjusted to different positions by telescoping. The box 9 on the wearer 1 is supported, and the mobile base 7 provides freedom of movement for the simulation platform, realizing the dual functions of support and movement; one end of the connecting plate 3 is slidably connected to the top surface of the box 9, and can slide left and right relative to the top surface of the box 9, and the mechanical arm 2 is slidably connected to the other end of the connecting plate 3, and can slide back and forth relative to the other end of the connecting plate 3. The relative position of the mechanical arm 2 and the wearer 1 is adjusted by the relative sliding between the box 9 and the backpack structure 8, the relative sliding between the connecting plate 3 and the box 9, and the relative sliding between the mechanical arm 2 and the connecting plate 3.

[0042] like Figure 1 , Figure 2 , Figure 3A and Figure 3B As shown, the box body 9 of this embodiment is a hollow rectangular parallelepiped, which is an open-and-close box body, and plays a supporting and storage role (storing power supplies, controllers, etc.); the front face 19 of the box body is connected to the left and right side faces through hinges and box body buckles 20, and an opening 35 is provided on the front face 19 of the box body to ensure that the cables of the robot arm 2 can pass through. Two groups of box back linear guide assemblies 10 with the same structure are symmetrically installed on the left and right sides of the box back 16 of the box 9 facing the wearer 1, and each group of box back linear guide assemblies 10 includes a box back linear guide 12 and a box back slide group 11. The box back linear guide 12 is fixed to the box back 16, and the length direction of the box back linear guide 12 is the same as the height direction of the box 9. The backpack structure 8 is slidably connected to the two box back linear guides 12 through the two box back slide groups 11; the box back linear guide 12 is provided with a U-shaped groove along the length direction, and both ends of the U-shaped groove are provided with box back linear guide limit bolts 17, which can protect the box back slide group 11 from moving freely on the box back linear guide 12 and prevent the box back slide group 11 from detaching from the box back linear guide 12.

[0043] like Figure 1 , Figure 2 , Figure 3A , Figure 3B , Figure 5A and Figure 5BAs shown, the slide group 11 on the back of the box in this embodiment includes a slide body 27, a locking wrench 30, a locking positioning spring 31, a locking pin 32 and a U-shaped groove bearing 33. The slide body 27 is rectangular, and a U-shaped groove bearing mounting threaded hole 29 is opened in the middle, and mounting threaded holes 28 are opened on the left and right sides of the U-shaped groove bearing mounting threaded hole 29. A plurality of U-groove bearings 33 are installed on the slide body 27 along the length direction of the linear guide 12 on the back side of the box body. The U-groove bearings 33 are asymmetrically arranged to ensure the clearance fit between the slide group 11 on the back side of the box body and the linear guide 12 on the back side of the box body. The opening positions of the U-groove bearing mounting threaded holes 29 correspond one to one to the U-groove bearings 33, and the U-groove bearings 33 are installed at the U-groove bearing mounting threaded holes 29 by bolts; that is, the plurality of U-groove bearings 33 are divided into two groups, and the U-groove bearings 33 in the two groups are alternately arranged. In this embodiment, each group of U-groove bearings 33 has two, and the line connecting the center points of the two U-groove bearings 33 in each group is parallel and parallel to the center line of the slide body 27 in the length direction. The slide body 27 is respectively provided with a connecting guide groove 34 and a through hole. The guide groove 34 is provided on one side where the U-shaped groove bearing 33 is installed. One end of the locking pin 32 can be movably located in the guide groove 34, and the other end of the locking pin 32 protrudes from the guide groove 34. The locking pin 32 is provided with an internal threaded hole, and one end of the locking wrench 30 is provided with an external thread. One end of the locking wrench 30 is inserted into the guide groove 34 through the through hole and is threadedly connected with the internal threaded hole on the locking pin 32. The other end of the locking wrench 30 is a hand-held end. A locking and positioning spring 31 sleeved on the locking bayonet 32 ​​is provided in the guide groove 34, and the two ends of the locking and positioning spring 31 are respectively in contact with the locking bayonet 32 ​​and the groove arm of the guide groove 34; each U-shaped groove bearing 33 and the protruding locking bayonet 32 ​​are located in the U-shaped groove on the rear linear guide rail 12 of the box body, and when the rear slideway group 11 of the box body determines the position on the rear linear guide rail 12 of the box body, the rear slideway group 11 of the box body can be fixed with the rear linear guide rail 12 of the box body. In this embodiment, two rear slideway groups 11 of the box body are slidably connected to each rear linear guide rail 12 of the box body.

[0044] like Figure 1 , Figure 2 , Figure 3A , Figure 3B , Figure 4A , Figure 4B , Figure 5A and Figure 5BAs shown, the backpack structure 8 of this embodiment includes a handle 21, a shoulder adjustment belt 22, a waist adjustment belt 24, an inner support frame 25 and a binding belt. The left and right sides of one side of the inner support frame 25 are fixedly connected to two box back slide sets 11 through two pressing plates 23, and the pressing plates 23 are connected to the mounting threaded holes 28 opened on the slide body 27 in the box back slide set 11 through bolts. The handle 21 is connected to the top of the inner support frame 25, and binding holes 26 are respectively opened on the inner support frame 25 on the left and right sides below the handle 21. Correspondingly, concave fixing plates 13 are fixedly connected on the left and right sides of the box 9 through bolts, one end of the binding belt is connected to the binding hole 26 on the inner support frame 25, and the other end of the binding belt is connected to the fixing plate 13 on the side of the box 9. The inner support frame 25 is slidably connected to the linear guide rail 12 on the back of the box through the slide group 11 on the back of the box, which can realize the up and down movement and locking between the box 9 and the backpack structure 8; the shoulder adjustment belt 22 and the waist adjustment belt 24 are respectively provided on the other side of the inner support frame 25 facing the wearer 1, and the inner support frame 25, the shoulder adjustment belt 22 and the waist adjustment belt 24 are filled with ergonomic shoulder, back, waist and abdomen fillable supports. The inner support frame 25 of this embodiment uses carbon fiber material to ensure light weight, high strength and durability; the shoulder adjustment belt 22 adjusts the fit of the backpack structure 8 to the body of the wearer 1 to improve the stability of the backpack 5. The waist adjustment belt 24 ensures that the upper body of the human body is upright and increases safety; the ergonomic shoulder, back, waist and abdomen fillable supports provide wearing comfort.

[0045] like Figure 1 , Figure 2 , Figure 3A and Figure 3B As shown, a group of box top surface linear guide assembly 4 is installed on the box top surface of the box 9 of this embodiment, and the box top surface linear guide assembly 4 includes a box top surface linear guide 59 and a box top surface slide group 15. The box top surface linear guide 59 is fixedly connected to the box top surface, and the length direction of the box top surface linear guide 59 is the same as the length direction of the box 9. One end of the connecting plate 3 is slidably connected to the box top surface linear guide 59 through the box top surface slide group 15; the box top surface linear guide 59 is provided with a U-shaped groove along the length direction, and both ends of the U-shaped groove are provided with box top surface linear guide limit bolts 14, which can protect the box top surface slide group 15 from freely moving on the box top surface linear guide 59 and prevent the box top surface slide group 15 from detaching from the box top surface linear guide 59.

[0046] like Figure 1 , Figure 2 , Figure 3A , Figure 3B , Figure 5A and Figure 5BAs shown, the box top surface slide group 15 of this embodiment includes a slide body 27, a locking wrench 30, a locking positioning spring 31, a locking pin 32 and a U-shaped groove bearing 33. The slide body 27 is rectangular, and a U-shaped groove bearing mounting threaded hole 29 is opened in the middle, and mounting threaded holes 28 are opened on the left and right sides of the U-shaped groove bearing mounting threaded hole 29. A plurality of U-shaped groove bearings 33 are installed on the slide body 27 along the length direction of the linear guide 59 on the top surface of the box body. The U-shaped groove bearings 33 are asymmetrically arranged to ensure the clearance fit between the slide group 15 on the top surface of the box body and the linear guide 59 on the top surface of the box body. The opening position of the U-shaped groove bearing mounting threaded hole 29 corresponds to the U-shaped groove bearing 33 one by one, and the U-shaped groove bearing 33 is installed at the U-shaped groove bearing mounting threaded hole 29 by bolts; that is, the plurality of U-shaped groove bearings 33 are divided into two groups, and the U-shaped groove bearings 33 in the two groups are alternately arranged. In this embodiment, each group of U-shaped groove bearings 33 has two, and the line connecting the center points of the two U-shaped groove bearings 33 in each group is parallel and parallel to the center line of the length direction of the slide body 27. The slide body 27 is respectively provided with a connecting guide groove 34 and a through hole. The guide groove 34 is provided on one side where the U-shaped groove bearing 33 is installed. One end of the locking pin 32 is movably located in the guide groove 34, and the other end of the locking pin 32 protrudes from the guide groove 34. The locking pin 32 is provided with an internal threaded hole, and one end of the locking wrench 30 is provided with an external thread. One end of the locking wrench 30 is inserted into the guide groove 34 through the through hole and is threadedly connected to the internal threaded hole on the locking pin 32. The other end of the locking wrench 30 is a hand-held end. A locking positioning spring 31 is provided in the guide groove 34 and is sleeved on the locking pin 32. The two ends of the locking positioning spring 31 are respectively abutted against the locking pin 32 and the groove arm of the guide groove 34; each U-shaped groove bearing 33 and the protruding locking pin 32 are located in the U-shaped groove on the top surface linear guide 59 of the box body. When the top surface slide group 15 of the box body is positioned on the top surface linear guide 59 of the box body, the top surface slide group 15 of the box body can be kept fixed with the top surface linear guide 59 of the box body.

[0047] like Figure 1 , Figure 2 , Figure 3A , Figure 3B , Fig.11 and Fig.12 As shown, the connecting plate 3 of the present embodiment is "L"-shaped, and a bolt mounting through hole B64 is provided at one end of the "L" shape, which is connected to the mounting threaded hole 28 on the slide body 27 in the slide group 15 on the top surface of the box body through bolts; a slide groove 63 is provided at the other end of the "L" shape along the front and rear directions of the box body 9, and the robot arm 2 can be relatively movably installed on the slide groove 63, and the front and rear installation positions of the robot arm 2 can be adjusted according to needs, and remain fixed to the connecting plate 3 after moving into place.

[0048] like Figure 1 , Figure 2 , Figure 3A and Figure 6 to Figure 8As shown, the telescopic support rod assembly 6 of the present embodiment includes a support rod 36, a support rod sleeve 37 and a locking and releasing handle 42. The support rod sleeve 37 is a hollow steel tube, a ball head mounting cap 38 is provided at the lower end, and is connected to the movable base 7 through a spherical hinge joint. The upper end of the support rod sleeve 37 is connected to the locking and releasing handle 42. A support rod ball head 50 is provided at the top of the support rod 36, and a detachable spherical hinge seat 18 is provided on the bottom surface of the box body 9. The support rod ball head 50 is connected to the spherical hinge seat 18 to achieve auxiliary support and ensure the gravity offset effect; the support rod 36 is placed in the locking and releasing handle 42, and the extension and retraction of the support rod 36 is adjusted by the locking and releasing handle 42, thereby achieving an auxiliary support effect for wearers of different heights.The locking release handle 42 of the present embodiment includes a locking release frame 43, a moving paddle 44, a limiting paddle 45, a locking spring 46, a pin 47, a moving handle 48 and a reset spring 49. The locking release frame 43 is a frame structure, and the interior is divided into a space 61 above the partition and a space 62 below the partition by a partition 54. The locking release frame 43 below the space 62 below the partition is sleeve-shaped and is used to connect with the support rod sleeve 37, or the sleeve-shaped structure below the space 62 below the partition is an integrated structure with the support rod sleeve 37; the top of the locking release frame 43, the partition 54 and the bottom (i.e., the sleeve-shaped) of the locking release frame 43 are all provided with a space for The support rod through hole 51 through which the support rod 36 passes; a movable paddle boss A55 and a movable paddle boss B60 are respectively provided on both sides of the support rod through hole 51 on the upper surface of the partition 54, and a limiting paddle boss 52 is provided at the bottom of the locking release frame 43 in the space 62 below the partition, and the limiting paddle boss 52 is located on one side of the support rod through hole 51 opened at the bottom of the locking release frame 43; the movable paddle 44 is located in the space 61 above the partition, and the limiting paddle 45 is located in the space 62 below the partition, and the support rod 36 is respectively passed through the movable paddle 44 and the limiting paddle 45; a movable handle mounting shaft hole 53 is provided on the locking release frame 43, and a movable handle 48 is provided on the movable handle 48 A mounting shaft is provided, and the mounting shaft is accommodated in the mounting shaft hole 53 of the moving handle. When the moving handle 48 is pressed downward relative to the locking release frame 43, a lever is formed at the mounting shaft hole 53 of the moving handle. One end of the moving handle 48 is a hand-holding end, and the other end of the moving handle 48 is provided with a pin shaft 47 resting on the moving paddle boss A55; the moving paddle boss A55 is close to the mounting shaft hole 53 of the moving handle, and the moving paddle boss B60 is far away from the mounting shaft hole 53 of the moving handle, and the height of the moving paddle boss B60 is higher than the moving paddle boss A; one end of the moving paddle 44 abuts on the pin shaft 47, and the other end abuts on the moving paddle boss B6 0, a return spring 49 is sleeved on the support rod 36 between the movable paddle 44 and the top of the locking release frame 43, and the upper and lower ends of the return spring 49 are respectively in contact with the top of the locking release frame 43 and the upper surface of the movable paddle 44; one end of the limiting paddle 45 is in contact with the limiting paddle boss 52, and the other end of the limiting paddle 45 extends to the outside of the locking release frame 43, and a locking spring 46 is sleeved on the support rod 36 between the limiting paddle 45 and the partition 54, and the upper and lower ends of the locking spring 46 are respectively in contact with the upper surfaces of the partition 54 and the limiting paddle 45, and the limiting paddle 45 is inclined to the horizontal plane under the action of the locking spring 46.

[0049] like Figure 1 , Figure 2 , Figure 6 , Fig. 9 and Fig.10As shown, the mobile base 7 of this embodiment includes a spherical hinge base 39, a mobile chassis 40 and a universal wheel 41. The mobile chassis 40 is triangular in shape. The spherical hinge base 39 is fixedly connected to the middle position of the upper surface of the mobile chassis 40. The lower surface of the mobile chassis 40 is installed with multiple (three in this embodiment, located at the three corners of the triangle) universal wheels 41 to ensure the mobility and stability of the simulation platform; the spherical hinge base 39 includes a main body 56 and a spherical opening groove 57. The main body 56 is fixedly connected to the upper surface of the mobile chassis 40. The main body 56 is provided with a spherical opening groove 57 for connecting with the ball head mounting cap 38 in the telescopic support rod assembly 6. The center of the spherical opening groove 57 cooperates with the support rod ball head 50 to form a spherical pair; the main body 56 outside the spherical opening groove 57 is provided with a bolt mounting through hole A58 for fixing with the upper surface of the mobile chassis 40. Each universal wheel 41 has a locking design. When the operator reaches the task position, the universal wheel 41 can be locked to keep it stable; when the operator moves, the universal wheel 41 is in a free state to achieve free movement.

[0050] The robot arm 2 of the present invention adopts a small or medium-sized six-degree-of-freedom dexterous robot arm in the prior art, and the robot arm 2 has a compact structure and light weight.

[0051] The working principle of the present invention is:

[0052] The extra-space limb manipulator ground simulation platform of the present invention is a wearable robot, which has the functions of adjustable wearing position of the manipulator 2 and gravity compensation. The adjustable wearing position of the manipulator 2 is manifested as follows: the box 9 is connected to the backpack structure 8 through two sets of box back linear guide rail assemblies 10, the backpack structure 8 and the box back slideway group 11 in the box back linear guide rail assembly 10 are fastened together by bolts and a pressure plate 23, the box back 16 and the box back linear guide 12 in the box back linear guide rail assembly 10 are fastened together by bolts and nuts, the box back slideway group 11 is provided with a U-shaped groove bearing 33 and a locking pin 32, the U-shaped groove bearing 33 is in rolling contact with the box back linear guide rail 12, and the locking pin 32 is in rolling contact with the box back linear guide rail 12. Under the action of the locking positioning spring 31, the pin 32 abuts against one side of the U-shaped groove on the linear guide 12 on the back of the box, so that the slide group 11 on the back of the box can be locked on the linear guide 12 on the back of the box; when the slide group 11 on the back of the box needs to move, the locking wrench 30 is pulled outward to overcome the elastic force of the locking positioning spring 31, so that the locking pin 32 no longer contacts one side of the U-shaped groove on the linear guide 12 on the back of the box, and the slide group 11 on the back of the box can move on the linear guide 12 on the back of the box, so that the relative positions of the box 9 and the backpack structure 8 in the up and down directions can be adjusted. A set of box top surface linear guide rail assembly 4 is also installed on the top surface of the box, wherein the box top surface linear guide rail 59 is fixed on the side of the box, and the movement and locking between the box top surface slide group 15 and the box top surface linear guide rail 59 are the same as the movement and locking between the box back surface slide group 11 and the box back surface linear guide rail 12; the "L"-shaped connecting plate 3 is fixed together with the slide body 27 in the box top surface slide group 15 by bolts to ensure the left and right movement of the "L"-shaped connecting plate 3. The other end of the "L"-shaped connecting plate 3 is provided with a slide groove 63 for installing and fixing the mechanical arm 2, and at the same time, it can ensure that the base of the mechanical arm 2 moves in the front and rear directions. Therefore, the installation position of the mechanical arm 2 can be changed in three directions in space, thereby realizing the adjustment of the position of the mechanical arm 2 relative to the wearer 1.

[0053] The gravity compensation function is as follows: a spherical hinge seat 18 is installed on the bottom surface of the box body, and the spherical hinge seat 18 cooperates with the support rod ball head 50 at the upper end of the support rod 36 in the telescopic support rod assembly 6. The support rod ball head 50 has an internal thread inside, and the top of the support rod 36 has an external thread, and the two are fixedly connected by threads. A ball head mounting cap 38 is provided at the lower end of the support rod sleeve 37 in the telescopic support rod assembly 6, and the ball head mounting cap 38 cooperates with the spherical hinge base 39 on the mobile chassis 40. Three universal wheels 41 are provided below the mobile chassis 40 to achieve stable support and movement functions. At the same time, the retractable support rod assembly 6 has a retractable function, the support rod 36 is placed in the support rod sleeve 37 and the locking release handle 42, and the locking release handle 42 is provided with a limit paddle 45 and a movable paddle 44, one end of the limit paddle 45 is placed on the limit paddle boss 52, and the other end extends out of the locking release frame 43 and is located outside. Under the action of the locking spring 46, the limit paddle 45 is arranged in a non-horizontal manner, resulting in a large friction force between the support rod through hole wall on the limit paddle 45 and the support rod 36, thereby ensuring the fastening of the support rod 36; when the limit paddle 45 is manually pushed to a horizontal position, a gap is formed between the support rod through hole wall on the limit paddle 45 and the support rod 36, thereby realizing the inward retraction movement of the support rod 36. On the other hand, when the movable handle 48 in the locking and releasing handle 42 is pressed downward, it forms a lever with the movable handle mounting shaft hole 43 on the locking and releasing frame 43. Under the action of the lever principle, the right hole wall of the support rod through hole on the movable paddle 44 (close to the movable handle 48) and the support rod 36 form a large friction force, pushing the support rod 36 to move upward, thereby realizing the outward extension movement of the support rod 36, and then the extension length of the support rod 36 can be adjusted according to the height of the wearer 1 to achieve the supporting effect.

[0054] The present invention can adjust the position of the mechanical arm 2 and the length of the telescopic support rod assembly 6 by manual operation, and has the characteristics of simple operation, safety and reliability.

Claims

1. A wearable and adjustable extraterrestrial limb manipulator ground simulation platform, characterized in that: The invention comprises a mechanical arm (2), a connecting plate (3), a backpack (5), a retractable support rod assembly (6) and a mobile base (7), wherein the backpack (5) comprises a box body (9) and a backpack structure (8), the backpack structure (8) is worn on the wearer (1), the box body (9) is slidably connected to the backpack structure (8) and can slide up and down relative to the backpack structure (8); the upper end of the retractable support rod assembly (6) is connected to the bottom surface of the box body (9), and the lower end of the retractable support rod assembly (6) is connected to the mobile base (7), and the retractable support rod assembly (6) can be used to adjust the height of the wearer (1) to different heights. The box (9) on the wearer's body is supported, and the mobile base (7) provides the simulation platform with a degree of freedom of movement; one end of the connecting plate (3) is slidably connected to the top surface of the box (9) and can slide left and right relative to the top surface of the box (9); the mechanical arm (2) is slidably connected to the other end of the connecting plate (3) and can slide forward and backward relative to the other end of the connecting plate (3); the relative position of the mechanical arm (2) and the wearer (1) is adjusted by relative sliding between the box (9) and the backpack structure (8), between the connecting plate (3) and the box (9), and between the mechanical arm (2) and the connecting plate (3).

2. The wearable and adjustable extraterrestrial limb manipulator ground simulation platform according to claim 1 is characterized in that: A box back linear guide assembly (10) is installed on the box back (16) facing the wearer (1) of the box (9), and the box back linear guide assembly (10) includes a box back linear guide (12) and a box back slide assembly (11). The box back linear guide (12) is installed on the box back (16), and the backpack structure (8) is slidably connected to the box back linear guide (12) via the box back slide assembly (11).

3. The wearable and adjustable extraterrestrial limb manipulator ground simulation platform according to claim 2 is characterized in that: The box back slide group (11) comprises a slide body (27), a locking wrench (30), a locking positioning spring (31), a locking pin (32) and a U-shaped groove bearing (33). A plurality of U-shaped groove bearings (33) are mounted on the slide body (27) along the length direction of the box back linear guide rail (12). The U-shaped groove bearings (33) are arranged asymmetrically. The slide body (27) is provided with interconnected guide grooves (34) and through holes. One end of the locking pin (32) is movably located in the guide groove (34). The other end of the locking pin (32) protrudes from the guide groove (34). The locking wrench (31) is provided with a locking pin (32) and a U-shaped groove bearing (33). One end of the locking wrench (30) is inserted into the guide groove (34) through the through hole and connected to the locking pin (32); the other end of the locking wrench (30) is a hand-held end; a locking positioning spring (31) sleeved on the locking pin (32) is provided in the guide groove (34); the two ends of the locking positioning spring (31) are respectively abutted against the locking pin (32) and the groove arm of the guide groove (34); each of the U-shaped groove bearings (33) and the protruding locking pin (32) are located in the U-shaped groove on the rear linear guide rail (12) of the box body; and both ends of the rear linear guide rail (12) of the box body in the length direction are provided with rear linear guide rail limit bolts (17).

4. The wearable and adjustable extraterrestrial limb manipulator ground simulation platform according to claim 1, characterized in that: A box top surface linear guide assembly (4) is installed on the box top surface of the box body (9), and the box top surface linear guide assembly (4) comprises a box top surface linear guide (59) and a box top surface slide assembly (15). The box top surface linear guide (59) is installed on the box top surface, and one end of the connecting plate (3) is slidably connected to the box top surface linear guide (59) via the box top surface slide assembly (15).

5. The wearable and adjustable extraterrestrial limb manipulator ground simulation platform according to claim 4 is characterized in that: The box top surface slide group (15) comprises a slide body (27), a locking wrench (30), a locking positioning spring (31), a locking pin (32) and a U-shaped groove bearing (33). A plurality of U-shaped groove bearings (33) are mounted on the slide body (27) along the length direction of the box top surface linear guide rail (59). The U-shaped groove bearings (33) are arranged asymmetrically. The slide body (27) is provided with interconnected guide grooves (34) and through holes. One end of the locking pin (32) is movably located in the guide groove (34), and the other end of the locking pin (32) protrudes from the guide groove (34). The locking wrench (31) is provided with a locking pin (32) and a locking pin (32) that protrudes from the guide groove (34). One end of the locking wrench (30) is inserted into the guide groove (34) through the through hole and connected to the locking pin (32); the other end of the locking wrench (30) is a hand-held end; a locking positioning spring (31) sleeved on the locking pin (32) is provided in the guide groove (34); the two ends of the locking positioning spring (31) are respectively abutted against the locking pin (32) and the groove arm of the guide groove (34); each of the U-shaped groove bearings (33) and the protruding locking pin (32) are located in the U-shaped groove on the box top surface linear guide (59); and both ends of the box top surface linear guide (59) in the length direction are provided with box top surface linear guide limit bolts (14).

6. The wearable and adjustable extraterrestrial limb manipulator ground simulation platform according to claim 1, characterized in that: The backpack structure (8) comprises a handle (21), a shoulder adjustment belt (22), a waist adjustment belt (24), an inner support frame (25) and a strap, one end of the strap is connected to the inner support frame (25), and the other end of the strap is connected to the box body (9), the inner support frame (25) is slidably connected to the box body (9), and the handle (21), the shoulder adjustment belt (22) and the waist adjustment belt (24) are respectively provided on the inner support frame (25), and the inner support frame (25), the shoulder adjustment belt (22) and the waist adjustment belt (24) are all filled with ergonomic shoulder, back, waist and abdomen fillable supports.

7. The wearable and adjustable extraterrestrial limb manipulator ground simulation platform according to claim 1, characterized in that: The telescopic support rod assembly (6) comprises a support rod (36), a support rod sleeve (37) and a locking and releasing handle (42); the support rod sleeve (37) is a hollow structure, and a ball head mounting cap (38) for connecting to the mobile base (7) is provided at the lower end; the locking and releasing handle (42) is connected to the upper end of the support rod sleeve (37); the support rod (36) is placed in the locking and releasing handle (42); the extension and retraction of the support rod (36) is adjusted by the locking and releasing handle (42), thereby achieving an auxiliary support function for wearers of different heights.

8. The wearable and adjustable extraterrestrial limb manipulator ground simulation platform according to claim 7, characterized in that: The locking release handle (42) comprises a locking release frame (43), a movable paddle (44), a limit paddle (45), a locking spring (46), a pin shaft (47), a movable handle (48) and a reset spring (49); the locking release frame (43) is a frame structure, the interior of which is divided into a space above the partition (61) and a space below the partition (62) by a partition (54); the top of the locking release frame (43), the partition (54) and the bottom of the locking release frame (43) are all provided with a support rod through hole (51) for the support rod (36) to pass through; the upper surface of the partition (54) A movable paddle boss A (55) and a movable paddle boss B (60) are respectively provided on both sides of the support rod through hole (51); a limit paddle boss (52) is provided at the bottom of the locking release frame (43) in the space (62) below the partition; the limit paddle boss (52) is located on one side of the support rod through hole (51) opened at the bottom of the locking release frame (43); the movable paddle (44) is located in the space (61) above the partition; the limit paddle (45) is located in the space (62) below the partition; the support rod (36) is respectively composed of the movable paddle (44) and the limit paddle (45) ) passes through; the locking release frame (43) is provided with a moving handle mounting shaft hole (53), the moving handle (48) is provided with a mounting shaft, the mounting shaft is accommodated in the moving handle mounting shaft hole (53), when the moving handle (48) is pressed down relative to the locking release frame (43), a lever is formed at the moving handle mounting shaft hole (53), one end of the moving handle (48) is a hand-grip end, the other end of the moving handle (48) is provided with a pin shaft (47) resting on the moving paddle boss A (55), one end of the moving paddle (44) abuts against the pin shaft ( One end of the limit paddle (45) abuts against the limit paddle boss (52), and the other end of the limit paddle (45) abuts against the movable paddle boss B (60), and a return spring (49) is sleeved on the support rod (36) between the movable paddle (44) and the top of the locking release frame (43); one end of the limit paddle (45) abuts against the limit paddle boss (52), and the other end of the limit paddle (45) extends to the outside of the locking release frame (43), and a locking spring (46) is sleeved on the support rod (36) between the limit paddle (45) and the partition (54), and the limit paddle (45) is inclined to the horizontal plane under the action of the locking spring (46).

9. The wearable and adjustable extraterrestrial limb manipulator ground simulation platform according to claim 1, characterized in that: The movable base (7) comprises a spherical hinge base (39), a movable chassis (40) and universal wheels (41); the upper surface of the movable chassis (40) is fixedly connected to the spherical hinge base (39), and the lower surface of the movable chassis (40) is installed with a plurality of universal wheels (41); the spherical hinge base (39) comprises a main body (56) and a spherical opening groove (57); the main body (56) is fixedly connected to the upper surface of the movable chassis (40), and the main body (56) is provided with a spherical opening groove (57) for connecting with a telescopic support rod assembly (6).

10. The wearable and adjustable extraterrestrial limb manipulator ground simulation platform according to claim 1, characterized in that: The connecting plate (3) is L-shaped, one end of the L-shape is provided with a bolt mounting through hole B (64), and the other end of the L-shape is provided with a slide groove (63) along the front-rear direction of the box body (9). The mechanical arm (2) can be relatively movably mounted on the slide groove (63) and remains fixed to the connecting plate (3) after being moved into position.

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