Wearable outer limb robot for assisting rod-holding hot-line work and working method of wearable outer limb robot

Abstract

The invention discloses a wearable outer limb robot for assisting rod-holding hot-line work and a working method thereof.The robot comprises a shoulder wearing assistive device used for being worn and fixed to the human body, and an installation fixing position is installed at the top of the shoulder wearing assistive device; and the end effector is used for assisting an operator to hold the insulating rod to carry out maintenance operation on the electrified power grid. The outer limb robot is worn for assistance, two flexible and light mechanical arms are additionally provided for an operator, the operator is assisted to hold an operating rod and execute corresponding actions in a matched mode, the problems that the operator is insufficient in stability and prone to fatigue when holding a long rod for operation in a special scene are solved, the holding and clamping mechanism of the robot is fast to operate, and the working efficiency is improved. The safety is remarkably improved, lifting driving force can be provided for operators, the operation fatigue of the operators is effectively relieved, live-line power grid maintenance operation is promoted to be converted from a traditional manual mode to a man-machine co-fusion mode, the operation difficulty and labor intensity of the operators are greatly reduced, and then the working efficiency is improved.

Description

Technical Field

[0001] The present invention belongs to the field of collaborative robots, and in particular relates to a wearable exo-limb robot for assisting pole-holding live working and a working method thereof. Background Art

[0002] In recent years, the application of industrial robots in standardized and modular production has greatly improved production efficiency. However, in special scenarios such as power grid maintenance and disaster relief, manual labor is often the only option, and there are high requirements for the number of operators, operating accuracy, physical fitness and other factors. To this end, robotic technology can be used to enhance operating capabilities and assist in tasks, enhance the human body in terms of information perception, motor strength, working range, operating accuracy and flexibility, and assist operators to complete their work safely, independently and accurately. Among them, exo-limb robots, as a new type of robotic technology, provide operating assistance through wearable independent mechanical limbs without restricting human activities, and can provide targeted solutions for the operational needs of special scenarios.

[0003] The human-machine collaborative assistive robots currently being studied at home and abroad are mainly used to assist human movement, with applications such as assistive support, assistive grasping, and assistive handling. However, there is a lack of effective robot solutions in the field of assisting pole holding operations. Among pole holding operations, the insulating pole operation method is a live operation method used for non-stop power distribution network operations. This method uses a combination of "small, precise, and lightweight" tools and does not require large vehicles to enter the site. It is suitable for areas with remote transmission line locations and poor road conditions. However, when operators perform insulating pole operations, the accuracy and stability of the operation are largely limited by their personal professional abilities; long-term continuous operations not only consume a lot of physical strength, but also have certain safety risks.

[0004] Therefore, it is necessary to develop a wearable exo-limb robot and its working method to assist in live-line pole working. Summary of the invention

[0005] The present invention provides a wearable exo-limb robot for assisting live pole working and a working method thereof, which is particularly suitable for assisting workers to complete insulating pole working tasks in live power grid maintenance, so as to overcome the technical defects in actual use proposed in the background technology.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A wearable exo-limb robot for assisting live-line working with poles, including:

[0008] The shoulder wearing aid is used to be worn and fixed on the human body, and a mounting and fixing position is installed on the top of the aid;

[0009] The end effector is used to assist the operator to hold the insulating rod to perform maintenance work on the live power grid;

[0010] The auxiliary operation robot arm is used to adjust the angle and position of the end effector, and its upper and lower ends are respectively installed in combination with the shoulder-worn assistive device and the end effector;

[0011] The number of the auxiliary operation mechanical arms is at least two, and the multiple auxiliary operation mechanical arms are axially symmetrically distributed on both sides of the shoulder wearing assistive device, and the two end effectors that cooperate with each other are centrally symmetrically distributed;

[0012] The end effector comprises a driving motor, a mounting bracket, a transmission mechanism and a clamp, wherein the transmission mechanism comprises two incomplete gear plates meshing with each other, and a guide plate is integrally arranged on the incomplete gear plate, an extrusion groove is arranged on the side of the guide plate away from the axis of the incomplete gear plate, the two incomplete gear plates are rotatably connected to the mounting bracket through a central shaft rod, the driving motor is fixed to the bottom of the mounting bracket, and the output shaft of the driving motor is transmission-connected to the central shaft rod of one of the incomplete gear plates, clamps are hinged on both sides of the front end of the mounting bracket, and a tail plate is integrally arranged at the end of the clamp, the tail plate is slidably matched with the extrusion groove and is subjected to the force of the end of the guide plate, a torsion spring is arranged between the clamp and the mounting bracket, so that the mounting bracket automatically resets after being separated from the force of the end of the guide plate, the inner side of the clamp is arranged in an arc shape, and a clamp cover is commonly arranged between the inner sides of the two clamps, the clamp cover is C-shaped and embedded in the clamping area between the two clamps and the front end notch of the mounting bracket, and the clamp cover is made of rubber material;

[0013] The clamp sleeve and the clamp are detachably mounted, and a pressure sensor is arranged between the clamp sleeve and the clamp.

[0014] Preferably, sleeve plates are integrally provided at the top and bottom of both ends of the clamp sleeve, and a slot matching the inner side of the clamp is formed between the two sleeve plates on the same side. The sleeve plates are detachably installed with the clamp through pins, and the outer side of the clamp sleeve is snap-fitted with the front end of the mounting bracket, and the inner wall of the clamp sleeve is provided with anti-slip grooves.

[0015] Preferably, the end effector also includes a rod traction mechanism, which includes a motor and a conveying roller. The motor output shaft is transmission-connected to the conveying roller, and the motor is fixed on the mounting bracket. The corresponding two conveying rollers on the two cooperating end effectors are used to pull the internal rod of the conveying fixture upward or downward.

[0016] Preferably, the auxiliary operation mechanical arm adopts a five-degree-of-freedom mechanical arm, which includes a connecting rod assembly, a joint driving assembly and a joint rotation assembly;

[0017] The joint drive assembly includes a shoulder joint rotation drive mechanism, a shoulder joint pitch drive mechanism, an elbow joint drive mechanism, a wrist joint pitch drive mechanism and a wrist joint rotation drive mechanism;

[0018] The joint rotation assembly includes a shoulder rotation bearing, a shoulder pitch bracket, an elbow rotation bracket, a wrist pitch bracket and a wrist rotation bearing;

[0019] The connecting rod assembly comprises an upper connecting rod and a lower connecting rod, and the upper connecting rod and the lower connecting rod are movably connected through an elbow joint driving mechanism and an elbow rotating bracket;

[0020] The shoulder rotation bearing is driven by the shoulder joint rotation joint driving mechanism and is connected to the shoulder joint pitch driving motor connection base; the shoulder pitch bracket is driven by the shoulder joint pitch driving mechanism and is connected to the upper connecting rod; the elbow rotation bracket is driven by the elbow joint driving mechanism and is connected to the lower connecting rod; the wrist pitch bracket is driven by the wrist joint pitch driving mechanism and is connected to the wrist joint rotation driving mechanism; the wrist rotation bearing is driven by the wrist joint rotation driving mechanism and is connected to the mounting bracket.

[0021] Preferably, the shoulder joint rotation driving mechanism is embedded in the installation fixing position, and the shoulder joint rotation driving mechanism and the installation fixing position are detachably installed.

[0022] Preferably, the shoulder rotation bearing is connected to the shoulder joint pitch drive mechanism through a shoulder joint pitch drive motor connecting base, the upper connecting rod is connected to the elbow joint drive mechanism through a joint drive motor connecting base, and the lower connecting rod is connected to the wrist joint pitch drive mechanism through a wrist joint rotation drive motor connecting base.

[0023] Preferably, both ends of the upper connecting rod are respectively threadedly connected to the shoulder pitch bracket and the elbow joint drive motor connection base; both ends of the lower connecting rod are respectively threadedly connected to the elbow rotation bracket and the wrist joint rotation drive motor connection base.

[0024] Preferably, the shoulder wearing assistive device is provided with fixing interfaces at the middle of the front side and at both sides of the back side, and nylon webbings are inserted into the fixing interfaces at both sides, and the shoulder wearing assistive device is also provided with a mounting interface.

[0025] The robot also includes a position sensor, a torque sensor and a controller. The controller is fixed at the mounting interface. The input end and output end of the controller are respectively provided with an A / D converter and a D / A converter. The position sensor, the torque sensor and the pressure sensor are all electrically connected to the A / D converter. The drive motor, the motor, the shoulder joint rotation drive mechanism, the shoulder joint pitch drive mechanism, the elbow joint drive mechanism, the wrist joint pitch drive mechanism and the wrist joint rotation drive mechanism are all electrically connected to the D / A converter.

[0026] The number of the position sensors and torque sensors is set to be multiple, and the multiple position sensors and torque sensors are installed one by one on the shoulder joint rotation drive mechanism, the shoulder joint pitch drive mechanism, the elbow joint drive mechanism, the wrist joint pitch drive mechanism and the wrist joint rotation drive mechanism, so as to obtain and control their output position and output torque, and the shoulder joint rotation drive mechanism, the shoulder joint pitch drive mechanism, the elbow joint drive mechanism, the wrist joint pitch drive mechanism and the wrist joint rotation drive mechanism are all independently controlled by the controller.

[0027] The working method of a wearable exo-limb robot for assisting pole-holding live working comprises the following steps:

[0028] S1. Wear the shoulder-wearing auxiliary device of the external limb robot on the shoulders of the operator and lock it, and further install at least two auxiliary operation mechanical arms with end effectors at the installation and fixing positions;

[0029] S2. Using the end effectors arranged in pairs to assist in holding the rods, pick up the insulating rods used for maintenance work on the live power grid, and after placing them upright, adjust the driving components in the joint driving assembly of the auxiliary operation manipulator to change the angle and position of the end effectors so that the clamps on both sides are close to and fit on the outside of the insulating rods;

[0030] S3, firmly clamp the insulating rod, start the driving motor, and make its output shaft drive one of the incomplete gear plates through the central shaft rod. Under the meshing action of the two incomplete gear plates, the two guide plates are expanded to both sides. At this time, the extrusion groove of the guide plate cooperates with the tail plate of the clamp to push the two clamps inward to close. The clamping force can be controlled by controlling the torque of the driving motor. The pressure value sensed by the pressure sensor is used as the clamping force. When the set pressure is reached, the driving motor circuit is interrupted and the pressure is stopped. At this time, the insulating rod is fixed;

[0031] S4. To traction-transmit the insulating rod in the axial direction, start the drive motor first to slightly reverse its output shaft. At this time, the insulating rod is supported by the clamps on both sides and the clamp sleeves on the inner side but no pressure is applied. At this time, start the motor to transmit the insulating rod in its axial direction through the transmission roller, cooperate with the operator to manually support, adjust to the appropriate position, and repeat S3 until the insulating rod is fixed again.

[0032] S5. The operator holds the insulating rod and uses the support of the external limb robot to perform maintenance work on the live power grid.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] 1. Through the assistance of wearing an external limb robot, two additional flexible and lightweight robotic arms are provided for the operators to hold the operating lever and perform corresponding actions with the assistants, solving the problem of insufficient stability and fatigue of operators when holding long poles in special scenarios. The robot's holding and clamping mechanism is quick to operate, significantly improving safety, and can also provide lifting driving force for operators, effectively reducing their fatigue, promoting the transformation of live power grid maintenance operations from traditional manual to "human-machine integration" mode, greatly reducing the difficulty and labor intensity of operators, and thus improving work efficiency;

[0035] 2. By designing shoulder-worn assistive devices based on the human body contour, the pressure of the external limb robot on the human body is dispersed; the auxiliary operation robotic arm is installed above the human shoulders, and the robotic arm will not interfere with the normal activities of the person when the robot is not in use; the clamp of the end effector is designed for holding the operating rod, and by controlling the movement of the robotic arm, it can flexibly assist the person to change the movement and posture of the operating rod. The robot is based on the sampling impedance controller to achieve flexible robot joint drive control, and can further cooperate with the augmented reality human-computer interaction module to use the operator's line of sight input to locate the spatial position of the operation target and guide the spatial movement of the external limb robot, which is easy to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A first-person perspective stereogram of a wearable exo-limb robot for assisting pole-holding live-line working according to the present invention;

[0037] Figure 2 A second-angle stereoscopic image of the wearable exo-limb robot for assisting pole-holding live-line working according to the present invention;

[0038] Figure 3 A top view of a wearable exo-limb robot for assisting pole-holding live working according to the present invention;

[0039] Figure 4 A three-dimensional diagram of the shoulder wearing assistive device structure of the present invention;

[0040] Figure 5 A three-dimensional diagram of the auxiliary operation mechanical arm structure of the present invention;

[0041] Figure 6 A structural stereogram of an embodiment of an end effector provided by the present invention;

[0042] Figure 7 This is a diagram showing the use status of the wearable exo-limb robot for assisting pole-holding live working according to the present invention;

[0043] Figure 8 It is a system control flow chart of the intelligent control system in the present invention.

[0044] In the figure:

[0045] Shoulder wearable aid-1; auxiliary operation manipulator-2; end effector-3; connecting rod assembly-4; joint drive assembly-5; joint rotation assembly-6; shoulder joint rotation drive mechanism-7; shoulder joint pitch drive mechanism-8; controller-9; upper connecting rod-10; lower connecting rod-11; elbow joint drive mechanism-12; wrist joint pitch drive mechanism-13; wrist joint rotation drive mechanism-14; shoulder joint pitch drive motor connection base-15; joint drive motor connection base-16; wrist joint rotation drive motor connection base-17; Shoulder rotation bearing-18; shoulder pitch bracket-19; elbow rotation bracket-20; wrist pitch bracket-21; wrist rotation bearing-22; mounting position-23; fixing interface-24; mounting interface-25; driving motor-26; mounting bracket-27; transmission mechanism-28; clamp-29; clamp sleeve-30; incomplete gear plate-31; guide plate-32; tail plate-33; pressure sensor-34; sleeve plate-35; pin shaft-36; motor-37; transmission roller-38; position sensor-39; torque sensor-40. DETAILED DESCRIPTION

[0046] In conjunction with the drawings in the embodiments of the present invention, the technical solutions in the embodiments of the present invention are clearly and completely described. 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.

[0047] like Figure 1-8 As shown, a wearable external limb robot for assisting pole-holding live-line working comprises:

[0048] The shoulder wearing aid 1 is used to be worn and fixed on the human body, and serves as the main supporting structure of the external limb robot structure, and a mounting and fixing position 23 is installed on the top thereof;

[0049] The end effector 3 is used to assist the operator to hold the insulating rod to perform maintenance work on the live power grid. A special clamp can be installed on it, and it can also be used to grab and transfer other objects;

[0050] The auxiliary operation mechanical arm 2 is used to adjust the angle and position of the end effector 3, and its upper and lower ends are respectively assembled with the shoulder wearing auxiliary device 1 and the end effector 3;

[0051] The number of the auxiliary operation mechanical arms 2 is at least two, and the multiple auxiliary operation mechanical arms 2 are axially symmetrically distributed on both sides of the shoulder wearing assistive device 1, and the two end effectors 3 that cooperate with each other are centrally symmetrically distributed;

[0052] The end effector 3 includes a driving motor 26, a mounting bracket 27, a transmission mechanism 28 and a clamp 29, wherein the transmission mechanism 28 includes two incomplete gear plates 31 meshing with each other, and a guide plate 32 is integrally arranged on the incomplete gear plate 31, and an extrusion groove is arranged on the side of the guide plate 32 away from the axis of the incomplete gear plate 31, and the two incomplete gear plates 31 are rotatably connected to the mounting bracket 27 through a central shaft rod, the driving motor 26 is fixed to the bottom of the mounting bracket 27, and the output shaft of the driving motor 26 is transmission-connected to the central shaft rod of one of the incomplete gear plates 31, the front end of the mounting bracket 27 is hinged with a clamp 29 on both sides, and a tail plate 33 is integrally arranged at the end of the clamp 29, the tail plate 33 is slidably matched with the extrusion groove and is subjected to the force of the end of the guide plate 32, and a clamp 29 is arranged between the clamp 29 and the mounting bracket 27. There is a torsion spring, which makes the mounting bracket 27 automatically reset after being separated from the end force of the guide plate 32. The incomplete gear plate 31 and its synchronously driven guide plate 32 cooperate with the tail plate 33 of the clamp 29 to convert the rotational movement of the output shaft of the drive motor 26 into the opening and closing movement of the two clamps 29. The clamping force can be controlled by controlling the torque of the drive motor 26. The inner side of the clamp 29 is set in an arc shape, and a clamp cover 30 is commonly set between the inner sides of the two clamps 29. The clamp cover 30 is C-shaped and embedded in the clamping area between the two clamps 29 and the front end notch of the mounting bracket 27. The clamp cover 30 is made of rubber. The clamp cover 30 made of soft rubber material can enable the end actuator 3 to hold the operating rod tightly while achieving the effects of anti-slip, buffer protection and insulation operation. It is suitable for operating rods with a certain range of thickness.

[0053] The clamp sleeve 30 and the clamp 29 can be detachably mounted, and a pressure sensor 34 is provided between the clamp sleeve 30 and the clamp 29 .

[0054] Specifically, sleeve plates 35 are integrally provided at the top and bottom of both ends of the clamp sleeve 30, and a slot matching the inner side of the clamp 29 is formed between the two sleeve plates 35 on the same side. The sleeve plates 35 are detachably installed with the clamp 29 through the pin shaft 36. The outer side of the clamp sleeve 30 is snap-fitted with the front end of the mounting bracket 27, and the inner wall of the clamp sleeve 30 is provided with anti-slip grooves.

[0055] Specifically, the end effector 3 also includes a rod traction mechanism, which includes a motor 37 and a conveying roller 38. The output shaft of the motor 37 is transmission-connected to the conveying roller 38, and the motor 37 is fixed on the mounting bracket 27. The two corresponding conveying rollers 38 on the two end effectors 3 that cooperate with each other are used to pull the internal rod of the conveying fixture 29 upward or downward.

[0056] Specifically, the auxiliary operation robot arm 2 adopts a five-degree-of-freedom robot arm, which includes a connecting rod assembly 4, a joint driving assembly 5 and a joint rotating assembly 6, and the joint rotating assembly 6 is used to transmit the rotational motion of the driving motor to the next joint driving structure;

[0057] The joint driving assembly 5 includes a shoulder joint rotation driving mechanism 7, a shoulder joint pitch driving mechanism 8, an elbow joint driving mechanism 12, a wrist joint pitch driving mechanism 13 and a wrist joint rotation driving mechanism 14;

[0058] The joint rotation assembly 6 includes a shoulder rotation bearing 18, a shoulder pitch bracket 19, an elbow rotation bracket 20, a wrist pitch bracket 21 and a wrist rotation bearing 22;

[0059] The connecting rod assembly 4 includes an upper connecting rod 10 and a lower connecting rod 11, and the upper connecting rod 10 and the lower connecting rod 11 are movably connected through an elbow joint driving mechanism 12 and an elbow rotating bracket 20;

[0060] The shoulder rotation bearing 18 is driven by the shoulder joint rotation joint driving mechanism 7 and is connected to the shoulder joint pitch driving motor connecting base 15; the shoulder pitch bracket 19 is driven by the shoulder joint pitch driving mechanism 8 and is connected to the upper connecting rod 10; the elbow rotation bracket 20 is driven by the elbow joint driving mechanism 12 and is connected to the lower connecting rod 11; the wrist pitch bracket 21 is driven by the wrist joint pitch driving mechanism 13 and is connected to the wrist joint rotation driving mechanism 14; the wrist rotation bearing 22 is driven by the wrist joint rotation driving mechanism 14 and is connected to the mounting bracket 27.

[0061] Specifically, the shoulder joint rotation driving mechanism 7 is embedded in the installation fixing position 23, and the shoulder joint rotation driving mechanism 7 and the installation fixing position 23 are detachably installed.

[0062] Specifically, the shoulder rotation bearing 18 is connected to the shoulder joint pitch drive mechanism 8 through the shoulder joint pitch drive motor connecting base 15, the upper connecting rod 10 is connected to the elbow joint drive mechanism 12 through the joint drive motor connecting base 16, and the lower connecting rod 11 is connected to the wrist joint pitch drive mechanism 13 through the wrist joint rotation drive motor connecting base 17.

[0063] Specifically, the two ends of the upper connecting rod 10 are respectively threadedly connected to the shoulder pitch bracket 19 and the elbow joint drive motor connection base 16; the two ends of the lower connecting rod 11 are respectively threadedly connected to the elbow rotation bracket 20 and the wrist joint rotation drive motor connection base 17. The length of the robot arm connecting rod can be adjusted by replacement, which can basically meet the working range of coordinated movement with human hands; the length of the connecting rod assembly 4 can be adjusted by replacement, that is, a certain length of the upper connecting rod 10 and the lower connecting rod 11 are selected and replaced according to actual needs.

[0064] Specifically, the shoulder wearing assistive device 1 is provided with fixing interfaces 24 in the middle of the front and on both sides of the back, and nylon webbing is inserted into the fixing interfaces 24 on both sides, and the shoulder wearing assistive device 1 is also provided with an installation interface 25; the installation fixing position 23 of the auxiliary operation mechanical arm is located directly above the shoulder of the wearer when worn, and the fixing interface 24 is located on the back and both sides of the chest of the human body when worn to facilitate wearing.

[0065] The robot further includes a position sensor 39, a torque sensor 40 and a controller 9. The controller 9 is fixed at the mounting interface 25. An A / D converter and a D / A converter are respectively provided at the input end and the output end thereof. The position sensor 39, the torque sensor 40 and the pressure sensor 34 are all electrically connected to the A / D converter. The drive motor 26, the motor 37, the shoulder joint rotation drive mechanism 7, the shoulder joint pitch drive mechanism 8, the elbow joint drive mechanism 12, the wrist joint pitch drive mechanism 13 and the wrist joint rotation drive mechanism 14 are all electrically connected to the D / A converter.

[0066] The number of position sensors 39 and torque sensors 40 is set to be multiple, and the multiple position sensors 39 and torque sensors 40 are installed one by one on the shoulder joint rotation drive mechanism 7, the shoulder joint pitch drive mechanism 8, the elbow joint drive mechanism 12, the wrist joint pitch drive mechanism 13 and the wrist joint rotation drive mechanism 14, for obtaining and controlling their output position and output torque, and the shoulder joint rotation drive mechanism 7, the shoulder joint pitch drive mechanism 8, the elbow joint drive mechanism 12, the wrist joint pitch drive mechanism 13 and the wrist joint rotation drive mechanism 14 are all independently controlled by the controller 9, and the shoulder joint rotation drive mechanism 7, the shoulder joint pitch drive mechanism 8, the elbow joint drive mechanism 12, the wrist joint pitch drive mechanism 13 and the wrist joint rotation drive mechanism 14 use servo drive motors of different models to achieve precise real-time motion control.

[0067] The working method of a wearable exo-limb robot for assisting pole-holding live working comprises the following steps:

[0068] S1, wear the shoulder wearing aid 1 of the external limb robot on the shoulder of the operator, and lock and fix it, and further install at least two auxiliary operation robot arms 2 with end effectors 3 at the installation and fixing position 23;

[0069] S2. Using the end effectors 3 arranged in pairs to assist in holding the rods, the insulating rods used for maintenance work on the live power grid are picked up and placed upright, and then the driving components in the joint driving assembly 5 of the auxiliary operation manipulator 2 are adjusted to change the angle and position of the end effectors 3 so that the clamps 29 on both sides are close to and fit on the outside of the insulating rods;

[0070] S3, firmly clamp the insulating rod, start the driving motor 26, and make its output shaft drive one of the incomplete gear plates 31 through the central shaft rod. Under the meshing action of the two incomplete gear plates 31, the two guide plates 32 are unfolded to both sides. At this time, the extrusion groove of the guide plate 32 cooperates with the tail plate 33 of the clamp 29 to push the two clamps 29 inward to close. The clamping force can be controlled by controlling the torque of the driving motor 26. The pressure value sensed by the pressure sensor 34 is used as the clamping force. When the set pressure is reached, the circuit of the driving motor 26 is interrupted and the pressure is stopped. At this time, the insulating rod is fixed;

[0071] S4, the insulating rod is pulled and transmitted in the axial direction. First, the driving motor 26 is started to slightly reverse its output shaft. At this time, the insulating rod is supported by the clamps 29 on both sides and the clamp sleeve 30 on the inner side but no pressure is applied. At this time, the motor 37 is started to transmit the insulating rod in its axial direction through the transmission roller 38. After the operator manually supports and adjusts it to the appropriate position, S3 is repeated until the insulating rod is fixed again.

[0072] S5. The operator holds the insulating rod and uses the support of the external limb robot to perform maintenance work on the live power grid.

[0073] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0074] In the specific embodiment given in the present invention, there are two auxiliary operation mechanical arms 2, and the total weight of the shoulder-worn assistive device 1, the two auxiliary operation mechanical arms 2 and the end effector 3 arranged thereon is 3.96 kg; the lengths of the upper connecting rod 10 and the lower connecting rod 11 are 270 mm and 187.5 mm, respectively; in addition, a sampling impedance controller is selected in this application to control the interaction force between the robot and the external environment within a reasonable range, thereby ensuring the safety and effectiveness of the insulating rod operation process; the dual-arm exo-limb robot system has an augmented reality human-computer interaction module, which is used to detect the spatial position of the operating target through eye tracking technology, so that the operator can guide the spatial movement of the exo-limb robot more reasonably and accurately.

[0075] The specific dual-arm exo-limb robot stabilizes the spatial position of the insulating rod based on the sampling impedance control method, which is used to control the interaction force between the robot and the external environment within a reasonable range to ensure the safety of the exo-limb robot and personnel during the insulating rod operation. The reference force F is calculated according to the impedance control model.r , its specific mathematical formula is as follows:

[0076]

[0077] in, and X r are the expected acceleration, velocity, and displacement of the robot end effector, respectively; and X are the actual acceleration, velocity and displacement of the robot end effector, respectively, which can be obtained by the real-time torque information obtained by the position sensor 39 and torque sensor 40 of the joint drive motor through positive dynamics transformation; M d is the inertia coefficient matrix of the external limb robot; B d is the damping coefficient matrix of the exo-limb robot; K d is the stiffness coefficient matrix of the external limb robot. The joint driving torque required by the external limb robot is obtained by inverse dynamics calculation, so that the contact force F between the end of the manipulator and the environment e Tracking F r , in order to demonstrate the flexibility of the external limb robot.

[0078] Specifically, based on the above-given embodiments, further optimization can be provided to set an augmented reality human-computer interaction module, which includes an augmented reality head-mounted display and a depth camera fixed on the top of the head, which can collect the operator's eye movement input and obtain depth images and color images from the perspective of the operation target in real time; the augmented reality human-computer interaction module also includes a user interface, which allows the operator to input command information through sight to locate the position of the operation target in the real-time color image, and locate the spatial position of the operation target in a spatial transformation manner based on the depth information, so as to guide the spatial movement of the external limb robot.

[0079] The operator wears the wearable external limb robot provided by the present invention, and uses a DC switching power supply with an output voltage of 12V and a rated power of 60W as a drive, and establishes data communication between the controller 9 and the robot through a wired series connection drive motor. After the external limb robot is started, the two auxiliary operation mechanical arms 2 move to the front of the operator's line of sight. At this time, the operator picks up the insulating rod and cooperates with the robot to make the auxiliary operation mechanical arms 2; the two end effectors 3 clamp the insulating rod for manipulation. At this time, the two auxiliary operation mechanical arms 2 hold the upper part of the insulating rod in parallel. The shoulder joint drive mechanism and the elbow joint drive mechanism are used to control the position of the insulating rod on the horizontal plane, and the wrist joint drive mechanism is used to control the posture of the insulating rod at the pitch angle. During the operation, the person moves the lower end of the insulating rod to input posture control, and uses the line of sight to locate the spatial position of the operation target through the augmented reality human-computer interaction module. The external limb robot system generates a joint driving force with flexibility based on the sampling impedance control method, so as to enhance the stability of the rod holding control and reduce the force required for the person to operate.

[0080] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. Wearable exo-limb robot for assisting live-line working with poles, including: A shoulder wearing aid (1) is used to be worn and fixed on a human body, and a mounting and fixing position (23) is installed on the top of the shoulder wearing aid (1); The end effector (3) is used to assist the operator in holding the insulating rod to perform maintenance work on the live power grid; An auxiliary operating mechanical arm (2) is used to adjust the angle and position of the end effector (3), and its upper and lower ends are respectively assembled with the shoulder wearing auxiliary device (1) and the end effector (3); The invention is characterized in that: the number of the auxiliary operation mechanical arms (2) is at least two, the plurality of auxiliary operation mechanical arms (2) are axially symmetrically distributed on both sides of the shoulder wearing assistive device (1), and the two end effectors (3) that cooperate with each other are centrally symmetrically distributed; The end effector (3) comprises a driving motor (26), a mounting bracket (27), a transmission mechanism (28) and a fixture (29), wherein the transmission mechanism (28) comprises two incomplete gear plates (31) meshing with each other, and a guide plate (32) is integrally provided on the incomplete gear plate (31), and an extrusion groove is provided on the side of the guide plate (32) away from the axis of the incomplete gear plate (31), the two incomplete gear plates (31) are rotatably connected to the mounting bracket (27) through a central shaft rod, the driving motor (26) is fixed at the bottom of the mounting bracket (27), and the output shaft of the driving motor (26) is transmission-connected to the central shaft rod of one of the incomplete gear plates (31), and the mounting bracket (29) is fixed to the bottom of the driving motor (26), and the output shaft of the driving motor (26) is transmission-connected to the central shaft rod of one of the incomplete gear plates (31), and the mounting bracket (29) is fixed to the bottom of the driving motor (26), and the output shaft of the driving motor (26) is transmission-connected to the central shaft rod of one of the incomplete gear plates (31). Both sides of the front end of the mounting bracket (27) are hinged with clamps (29), and the end of the clamp (29) is integrally provided with a tail plate (33), the tail plate (33) is slidably matched with the extrusion groove and is subjected to the end force of the guide plate (32), a torsion spring is arranged between the clamp (29) and the mounting bracket (27), so that the mounting bracket (27) automatically resets after being separated from the end force of the guide plate (32), the inner side of the clamp (29) is arranged in an arc shape, and a clamp sleeve (30) is arranged between the inner sides of the two clamps (29), the clamp sleeve (30) is C-shaped and embedded in the clamping area between the two clamps (29) and the front end notch of the mounting bracket (27), and the clamp sleeve (30) is made of rubber material; The clamp sleeve (30) and the clamp (29) are detachably mounted, and a pressure sensor (34) is provided between the clamp sleeve (30) and the clamp (29).

2. The wearable exo-limb robot for assisting pole-holding live-line working according to claim 1, characterized in that: The top and bottom of both ends of the clamp sleeve (30) are integrally provided with sleeve plates (35), and a slot matching the inner side of the clamp (29) is formed between the two sleeve plates (35) on the same side. The sleeve plates (35) are detachably mounted on the clamp (29) via a pin shaft (36). The outer side of the clamp sleeve (30) is closely connected to the front end of the mounting bracket (27), and the inner side wall of the clamp sleeve (30) is provided with anti-slip grooves.

3. The wearable exo-limb robot for assisting pole-holding live-line working according to claim 1, characterized in that: The end effector (3) further comprises a rod traction mechanism, which comprises a motor (37) and a conveying roller (38); the output shaft of the motor (37) is in driving connection with the conveying roller (38), and the motor (37) is fixed on the mounting bracket (27); the two corresponding conveying rollers (38) on the two end effectors (3) that cooperate with each other cooperate to pull the internal rod of the conveying fixture (29) upward or downward.

4. The wearable exo-limb robot for assisting live-line working with poles according to claim 1, characterized in that: The auxiliary operation mechanical arm (2) is a five-degree-of-freedom mechanical arm, which includes a connecting rod assembly (4), a joint driving assembly (5) and a joint rotating assembly (6); The joint drive assembly (5) comprises a shoulder joint rotation drive mechanism (7), a shoulder joint pitch drive mechanism (8), an elbow joint drive mechanism (12), a wrist joint pitch drive mechanism (13) and a wrist joint rotation drive mechanism (14); The joint rotation assembly (6) comprises a shoulder rotation bearing (18), a shoulder pitch bracket (19), an elbow rotation bracket (20), a wrist pitch bracket (21) and a wrist rotation bearing (22); The connecting rod assembly (4) comprises an upper connecting rod (10) and a lower connecting rod (11), and the upper connecting rod (10) and the lower connecting rod (11) are movably connected via an elbow joint driving mechanism (12) and an elbow rotating bracket (20); The shoulder rotation bearing (18) is driven by the shoulder joint rotation joint driving mechanism (7) and is connected to the shoulder joint pitch driving motor connecting base (15); the shoulder pitch bracket (19) is driven by the shoulder joint pitch driving mechanism (8) and is connected to the upper connecting rod (10); the elbow rotation bracket (20) is driven by the elbow joint driving mechanism (12) and is connected to the lower connecting rod (11); the wrist pitch bracket (21) is driven by the wrist joint pitch driving mechanism (13) and is connected to the wrist joint rotation driving mechanism (14); the wrist rotation bearing (22) is driven by the wrist joint rotation driving mechanism (14) and is connected to the mounting bracket (27).

5. The wearable exo-limb robot for assisting pole-holding live-line working according to claim 4, characterized in that: The shoulder joint rotation driving mechanism (7) is embedded in the installation fixing position (23), and the shoulder joint rotation driving mechanism (7) and the installation fixing position (23) are detachably installed.

6. The wearable exo-limb robot for assisting pole-holding live-line working according to claim 4, characterized in that: The shoulder rotation bearing (18) is connected to the shoulder joint pitch drive mechanism (8) via a shoulder joint pitch drive motor connection base (15), the upper connecting rod (10) is connected to the elbow joint drive mechanism (12) via a joint drive motor connection base (16), and the lower connecting rod (11) is connected to the wrist joint pitch drive mechanism (13) via a wrist joint rotation drive motor connection base (17).

7. The wearable exo-limb robot for assisting pole-holding live-line working according to claim 4, characterized in that: The two ends of the upper connecting rod (10) are respectively threadedly connected to the shoulder pitch bracket (19) and the elbow joint drive motor connection base (16); the two ends of the lower connecting rod (11) are respectively threadedly connected to the elbow rotation bracket (20) and the wrist joint rotation drive motor connection base (17).

8. The wearable exo-limb robot for assisting pole-holding live-line working according to claim 1, characterized in that: The shoulder wearing aid (1) is provided with fixing interfaces (24) at the middle of the front side and at both sides of the back side, and nylon webbing is inserted into the fixing interfaces (24) at both sides. The shoulder wearing aid (1) is also provided with a mounting interface (25).

9. The wearable exo-limb robot for assisting live-line working with poles according to claim 1, characterized in that: The device also includes a position sensor (39), a torque sensor (40) and a controller (9). The controller (9) is fixed at the mounting interface (25). An A / D converter and a D / A converter are provided at the input and output ends of the controller (9), respectively. The position sensor (39), the torque sensor (40) and the pressure sensor (34) are all electrically connected to the A / D converter. The drive motor (26), the motor (37), the shoulder joint rotation drive mechanism (7), the shoulder joint pitch drive mechanism (8), the elbow joint drive mechanism (12), the wrist joint pitch drive mechanism (13) and the wrist joint rotation drive mechanism (14) are all electrically connected to the D / A converter. The number of the position sensors (39) and the torque sensors (40) is set to be multiple, and the multiple position sensors (39) and the torque sensors (40) are installed one by one on the shoulder joint rotation drive mechanism (7), the shoulder joint pitch drive mechanism (8), the elbow joint drive mechanism (12), the wrist joint pitch drive mechanism (13) and the wrist joint rotation drive mechanism (14) for obtaining and controlling their output positions and output torques, and the shoulder joint rotation drive mechanism (7), the shoulder joint pitch drive mechanism (8), the elbow joint drive mechanism (12), the wrist joint pitch drive mechanism (13) and the wrist joint rotation drive mechanism (14) are all independently controlled by the controller (9).

10. The working method of the wearable exo-limb robot for assisting pole-holding live-line working according to any one of claims 1 to 9, characterized in that: The steps include: S1. Wearing the shoulder-wearing auxiliary device (1) of the external limb robot on the shoulders of the operator and locking it, and further installing at least two auxiliary operation mechanical arms (2) with end effectors (3) at the installation and fixing positions (23); S2. Using the end effectors (3) arranged in pairs to assist in holding the rods, the insulating rod used for maintenance work on the live power grid is picked up and placed upright, and then the driving components in the joint driving assembly (5) of the auxiliary operation robot arm (2) are adjusted to change the angle and position of the end effectors (3) so that the clamps (29) on both sides are close to and fit on the outside of the insulating rod; S3, firmly clamp the insulating rod, start the driving motor (26), and make its output shaft drive one of the incomplete gear plates (31) through the central shaft rod. Under the meshing action of the two incomplete gear plates (31), the two guide plates (32) are unfolded to both sides. At this time, the extrusion groove of the guide plate (32) cooperates with the tail plate (33) of the clamp (29), and the two clamps (29) are pushed inward to close. The clamping force can be controlled by controlling the torque of the driving motor (26). The pressure value sensed by the pressure sensor (34) is used as the clamping force. When the set pressure is reached, the circuit of the driving motor (26) is interrupted and the pressure is stopped. At this time, the insulating rod is fixed; S4, the insulating rod is pulled and transmitted in the axial direction, and the driving motor (26) is first started to slightly reverse the output shaft. At this time, the insulating rod is supported by the clamps (29) on both sides and the clamp sleeve (30) on the inner side but no pressure is applied. At this time, the motor (37) is started to transmit the insulating rod in its axial direction through the transmission roller (38), and the operator manually supports and adjusts it to a suitable position, and then S3 is repeated until the insulating rod is fixed again; S5. The operator holds the insulating rod and uses the support of the external limb robot to perform maintenance work on the live power grid.

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