Hand-arm exoskeleton based on driving and feeling homologous artificial muscle

Abstract

The invention provides a hand-arm exoskeleton based on driving and sensing homologous artificial muscles. The hand-arm exoskeleton comprises a sensing-driving glove and a driver, the sensing-driving glove comprises fingerstalls, a palm part, an artificial muscle sensor, a driving inhaul cable and a pressure sensor; the driver comprises a driving motor, a first driving artificial muscle, a driving sliding block, a reset spring, a rope, an energy storage spring, a locking sliding block and a second driving artificial muscle which are arranged on the rack; the two ends of the first driving artificial muscle are connected with the output end of the driving motor and the driving sliding block correspondingly. The reset spring is arranged between the driving sliding block and the rack; a sliding way is arranged on the machine frame, the energy storage spring, the locking sliding block and the second driving artificial muscle are all located in the sliding way, the driving sliding block and the locking sliding block are connected through a rope, the energy storage spring is connected with the machine frame and the locking sliding block, and the second driving artificial muscle is connected with the locking sliding block and the driving inhaul cable. The sensing-driving glove is driven through the driver, and active locking of the hand is achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of aerial work manipulators, and in particular relates to a hand-arm exoskeleton based on drive-sensory homologous artificial muscles. Background Art

[0002] The existing high-voltage power grid maintenance method is to climb the high-voltage tower with three or four points of support (two feet and at least one hand on the ladder), but due to fatigue and reduced concentration during the climbing process, both hands are easily loosened at the same time (two-point support), causing a fall. The current fall protection device is mainly a fixed fall protection device, which consists of a sliding device, a self-locking device, a connecting ring, a safety hook and other parts, and uses physical principles to achieve self-locking. Once a worker falls, the worker is only pulled and suspended in the air by this safety device composed of a fall arrester (safety rope) and a fixed track. However, since the safety rope is often long and the anti-corrosion coating on the surface of the track will be gradually destroyed by the environment, the fall arrester will be stuck, etc., which will cause the worker to shake during the fall and may hit the high-voltage tower during the swinging process.

[0003] There are the following disadvantages for aerial workers to climb on poles and other equipment with bare hands: 1. The climbing height is high, the operation is dangerous, and the hands lack backup insurance. Once the hands are loose, they will fall; 2. Continuous climbing operations consume a lot of physical strength of workers, and continuous operations lead to a significant reduction in hand grip and endurance, and low work efficiency. Therefore, the development of hand exoskeletons to assist maintenance workers in climbing is of great significance.

[0004] The Chinese invention patent document CN118846479A discloses an "assisted climbing exoskeleton robot for power grids", which includes a back bar, a shoulder bar, a big arm connecting rod, a big arm strap, a big arm plate, a power motor, a force transmission connecting plate, a climbing mechanical arm and a docking device. The main feature of this exoskeleton is that the outer wheel rim is extended by the falling force of the human body, thereby locking the climbing mechanical arm and the pole to prevent falling. However, it still has the following disadvantages: 1) The exoskeleton robot is composed of multiple mechanical parts, which greatly increases the complexity of the equipment and increases the difficulty of operation and maintenance; 2) The weight of the equipment may affect the flexibility and comfort of workers, especially when used for a long time; 3) The exoskeleton robot has no active anti-fall function, and can only rely on the falling force of the human body to let the spring and the passive rigid parts cooperate mechanically to prevent falling. The anti-fall drive is single and can only be driven passively; 4) The system lacks active perception function and has poor reliability.

[0005] The "Anti-falling device for power towers" disclosed in the Chinese invention patent document CN118649371A solves the problem of the overall strength of the steel wire rope being reduced due to the influence of the environment. The main feature of the device is that when the locking block is subjected to the downward pulling force during the fall, the conical section can cooperate with the spring to gather toward the center and lock the safety rope. During the fall, the friction force of the safety rope on the locking block changes direction, causing the locking block to gather and lock, preventing the shell from sliding down. However, it still has the following disadvantages: 1) The structure of the device may limit the freedom of movement of the operator, especially when performing complex operations, which may cause inconvenience and affect work efficiency; 2) The device mainly relies on the passive reaction of the locking block when the operator falls, and lacks an active protection mechanism; 3) The anti-falling mainly relies on the sliding and gravity of the mechanical structure, which limits its adaptability in complex environments; 4) The device lacks a real-time monitoring and feedback mechanism for the operator's status, which limits its application effect in dynamic environments. Summary of the invention

[0006] In order to solve at least one of the above problems existing in the prior art, the present invention provides a hand-arm exoskeleton based on drive-sensory homologous artificial muscles.

[0007] The hand-arm exoskeleton based on drive-sensing homologous artificial muscles provided by the present invention comprises a sensor-drive glove and a drive; The sensor-actuated glove comprises a finger sleeve, a palm, an artificial muscle sensor, a driving cable and a pressure sensor. The finger sleeve is used to be worn on the finger; the two ends of the artificial muscle sensor are respectively connected to the finger sleeve and the palm, and the artificial muscle sensor is used to sense the bending shape of the wearer's hand; the driving cable is wound around the finger sleeve and passes through the palm, and the end of the driving cable passing through the palm is connected to the driver; the pressure sensor is arranged on the palm, and is used to detect the pressure value when the wearer's hand grasps; The driver comprises a frame and a driving motor, a first driving artificial muscle, a driving slider, a reset spring, a rope, an energy storage spring, a locking slider and a second driving artificial muscle arranged on the frame; the two ends of the first driving artificial muscle are respectively connected to the output end of the driving motor and the driving slider; the reset spring is arranged between the driving slider and the frame; a slideway is provided on the frame and below the reset spring, the first driving artificial muscle and the driving slider, the energy storage spring, the locking slider and the second driving artificial muscle are all located in the slideway, the driving slider and the locking slider are connected by the rope, the two ends of the energy storage spring are respectively connected to the frame and the locking slider, one end of the second driving artificial muscle is connected to the locking slider, and the other end extends out of the slideway and is connected to the driving cable.

[0008] Furthermore, the sensor-actuated glove also includes a limit ring, which is located between the finger sleeve and the palm, and is provided with an artificial muscle limit hole and a drive cable limit hole for the artificial muscle sensor and the drive cable to pass through respectively.

[0009] Furthermore, a gap is left on the limiting finger ring.

[0010] Furthermore, a driving cable limiting through hole is provided on the palm, a pipe fitting is provided in the driving cable limiting through hole, and the driving cable passes through the palm from the pipe fitting.

[0011] Furthermore, there can be three finger sleeves, including a thumb sleeve, an index finger sleeve and a middle finger sleeve, and the thumb sleeve, the index finger sleeve and the middle finger sleeve are respectively connected to the palm through corresponding artificial muscle sensors, and driving cables are respectively wound around the thumb sleeve, the index finger sleeve and the middle finger sleeve, and each driving cable passes through the palm and is connected to the driver.

[0012] Furthermore, a hollow portion is provided on the palm portion.

[0013] Furthermore, the driver also includes an energy release switch and an energy storage switch, and the energy release switch and the energy storage switch both include a switch body and a protrusion arranged on the switch body, the switch body is hinged on the frame, the protrusion can protrude into the slide, and the side of the switch body where the protrusion is arranged can rotate outward from the frame to make the protrusion exit the slide.

[0014] Furthermore, both the energy release switch and the energy storage switch are provided with connection seats, and the two connection seats are connected by an elastic member.

[0015] Furthermore, the driver also includes a limit switch motor, and a toggle block is provided at the output end of the limit switch motor. The toggle block can contact the side of the switch body of the energy release switch and the energy storage switch where the protrusion is not provided and apply pressure to rotate the switch body.

[0016] Furthermore, the sensor-actuated glove and the actuator are both provided with straps.

[0017] Compared with the prior art, the present invention can at least achieve the following beneficial effects: (1) The exoskeleton provided by the present invention has a simple structure and is easy to operate and maintain.

[0018] (2) The present invention can perform active locking through a driver, has an active fall prevention function, and uses a dual-drive mode of a sensor-drive glove and a driver to ensure the exoskeleton's response speed and grip safety.

[0019] (3) By setting up artificial muscle sensors and pressure sensors, the present invention can obtain hand grasping information from more dimensions, and realize the same source of drive and sense through artificial muscles, thereby reducing the complexity of the system.

[0020] (4) The present invention reduces the overall stiffness of the exoskeleton by adopting flexible drive. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 Schematic diagram of the structure of the back side of the sensor-actuated glove (right hand glove) in an embodiment of the present invention.

[0022] Figure 2 Schematic diagram of the structure of the front side of the sensor-actuated glove (right hand glove) in an embodiment of the present invention.

[0023] Figure 3 is a structural diagram of a driver in an embodiment of the present invention.

[0024] Figure 4 yes Figure 3 Side view of the drive shown.

[0025] Figure 5 It is a schematic diagram of the structure of the energy release switch and the energy storage switch in the embodiment of the present invention.

[0026] Figure 6 It is a schematic diagram of an energy release switch and an energy storage switch in an embodiment of the present invention when they are in an original unlocked state.

[0027] Figure 7 Schematic diagram of the locking slider passing when the energy release switch is unlocked in the embodiment of the present invention.

[0028] Figure 8 It is a schematic diagram of the locking slide block passing through the energy storage switch in an embodiment of the present invention.

[0029] Fig. 9 It is a schematic diagram of the energy storage switch limiting the locking slider in an embodiment of the present invention.

[0030] Fig.10 Schematic diagram of a hand-arm exoskeleton based on drive-sensory homologous artificial muscles worn on the right hand in an embodiment of the present invention.

[0031] Fig.11 yes Fig.10 Rear view of the structure shown.

[0032] Fig.12 This is a workflow diagram of a hand-arm exoskeleton based on drive-sensory homologous artificial muscles in an embodiment of the present invention.

[0033] In the figure, the sensor-driven glove 1, the finger sleeve 101, the limit finger ring 102, the artificial muscle sensor 103, the strap 104, the drive cable 105, the pressure sensor 106, the pipe 107, and the palm 108; the driver 2, the drive motor 201, the first drive artificial muscle 202, the drive slider 203, the return spring 204, the rope 205, the limit switch motor 206, the frame 207, the energy storage spring 208, the locking slider 209, the energy release switch 210, the energy storage switch 211, the second drive artificial muscle 212, the toggle block 213, the switch body 214, the protrusion 215, the hinge shaft 216, and the connecting seat 217. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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.

[0035] This embodiment provides a hand-arm exoskeleton based on drive-sensing homologous artificial muscles, including a sensor-drive glove 1 and a driver 2 .

[0036] See also Figure 1 , Figure 2 The sensor-actuated glove 1 comprises a finger sleeve 101, a limit finger ring 102, an artificial muscle sensor 103, a strap 104, a drive cable 105, a pressure sensor 106 and a palm portion 108. The finger sleeve 101 is used to be put on the fingertips of the wearer's fingers, and one end of the strap 104 is connected to the palm portion 108, which is used to fix the sensor-actuated glove 1 as a whole on the palm of the wearer to facilitate wearing and taking off. In some embodiments of the present invention, there are three finger sleeves 101, which are respectively used to be put on the thumb, index finger and middle finger of the wearer. In other embodiments, the finger sleeves 101 can also be set to 5, which are respectively used to be put on the five fingers of the wearer.

[0037] The number of the artificial muscle sensors 103 is equal to the number of the finger sleeves 101. One end of each artificial muscle sensor 103 is connected to the finger sleeve 101, and the other end is connected to the palm 108. The artificial muscle sensor 103 is located on the back of the palm 108. The artificial muscle sensor 103 is used to monitor the bending degree of the finger during the flexion and extension of the finger. In some embodiments of the present invention, a fixing hole is provided on the back of the palm 108, and the fixing hole is used to fix the artificial muscle sensor 103. The artificial muscle sensor 103 of the present invention is an artificial muscle. When the artificial muscle is subjected to tension, the twisting degree of the precursor fiber in the artificial muscle increases and a large number of filaments therein are stretched, thereby effectively increasing the flow path of the current, thereby increasing the resistance. Therefore, artificial muscle is used as the artificial muscle sensor 103 to sense the bending shape of the hand.

[0038] Among them, the bending degree of the finger during the flexion and extension of the finger can be learned by the change in the resistance value of the artificial muscle sensor 103. The relationship between the resistance value and the bending degree is known in the art, as can be seen in P. Dai et al., "Supercoiled Polymer Sensors From Twisting and Coiling Silver-Plated Nylon Threads," in IEEE Sensors Journal, vol. 24, no. 19, pp. 29745-29753, 1 Oct. 1, 2024, doi:10.1109 / JSEN.2024.3441630."

[0039] The driving cable 105 is wound around the finger sleeve 101 and passes through the palm portion 108 along the extending direction of the finger sleeve 101 and is connected to the driver 2. Figure 1 and Figure 2There are three finger sleeves 101, corresponding to the thumb, index finger and middle finger respectively, defined as thumb sleeve, index finger sleeve and middle finger sleeve; there are three driving cables 105, defined as thumb driving cable, index finger driving cable and middle finger driving cable; four driving cable limiting through holes are opened on the palm part 108, each driving cable limiting through hole is embedded with a pipe fitting 107, one of the driving cable limiting through holes is opposite to the thumb sleeve, defined as the thumb limiting through hole, the thumb driving cable is wound around the thumb sleeve and passes through the pipe fitting 107 in the thumb limiting through hole to pass through the palm part 10 8, the other three limiting through holes are parallel to each other, defined as the left limiting through hole, the middle limiting through hole and the right limiting through hole, and these three limiting through holes are opposite to the index finger sleeve and the middle finger sleeve, the index finger driving cable is wound around the index finger sleeve and its two ends pass through the palm 108 from the pipe fittings 107 in the left limiting through hole and the middle limiting through hole respectively, the middle finger driving cable is wound around the middle finger sleeve and its two ends pass through the palm 108 from the pipe fittings 107 in the middle limiting through hole and the right limiting through hole respectively; the ends of the thumb driving cable, the index finger driving cable and the middle finger driving cable passing through the palm 108 are all connected to the driver 2. In other embodiments, the number of driving cables 105 can be 2, one of which is used to connect with the thumb sleeve to drive the thumb sleeve, and the other is used to connect with the index finger sleeve and the middle finger sleeve to drive the index finger sleeve and the middle finger sleeve at the same time.

[0040] A limit ring 102 is provided between each finger sleeve 101 and the palm 108 and at a position corresponding to the human knuckle. When worn, the limit ring 102 is placed on the knuckle of the wearer's finger; the artificial muscle sensor 103 and the drive cable 105 connected to the finger sleeve 101 pass through the limit ring 102. In some embodiments of the present invention, a notch is left on the limit ring 102 and on the front side corresponding to the finger. Preferably, the limit ring 102 is C-shaped. The notch in the limit ring 102 can be easily put on and taken off to accommodate fingers of different thicknesses. Furthermore, two drive cable limit holes are opened on each limit ring 102 and on the front side corresponding to the finger for the drive cable 105 to pass through, and an artificial muscle limit hole is opened on each limit ring 102 and on the back side corresponding to the finger for the artificial muscle sensor 103 to pass through.

[0041] When the driving cable 105 is driven, the hand can be locked by the limiting finger ring 102 and the finger sleeve 101, and the pipe 107 can reduce the friction between the driving cable 105 and the hand.

[0042] The pressure sensor 106 is embedded in the palm portion 108. The pressure sensor 106 is used to determine whether the palm is in contact with the climbing pole. The sensor-driven glove 1 integrates a sensor and a driving cable 105, and has the dual functions of hand posture recognition and hand assisted grasping. In addition, a pressure sensor 106 is used to detect the pressure value of the wearer's hand when grasping, and judge the contact between the hand and the climbing pole. An artificial muscle sensor 103 is used to sense the bending shape of the hand, and the two sensors are used to jointly judge the grasping state of the hand.

[0043] In some embodiments of the present invention, a hollow portion is provided on the palm portion 108 to reduce material usage and increase toughness.

[0044] In some embodiments of the present invention, the pressure sensor 106 is a flexible pressure sensor. The flexible pressure sensor is thin and light and can be easily embedded in the palm 108 .

[0045] In some embodiments of the present invention, the palm portion 108 is made of silicone. The silicone palm is cast by silicone and has the characteristics of being easy to make and having elasticity after being worn.

[0046] In some embodiments of the present invention, the pipe 107 is a Teflon tube. The Teflon tube can reduce the friction force on the driving cable when it is pulled.

[0047] In some embodiments of the present invention, the finger sleeve 101 is made of silicone. The silicone material is elastic and easy to stretch, so that the silicone finger sleeve can adapt to palms of different sizes.

[0048] In some embodiments of the present invention, the finger cuff 101 is semi-enclosed.

[0049] This sensor-driven glove 1 is provided with a driving cable 105 and pressure sensors 106 can be provided on the palm 108 and at positions corresponding to the middle finger and index finger. The settings of the straps 104 and finger sleeves 101 can adapt to palms of different sizes, fully considering the lightness and comfort when wearing, and have universal applicability.

[0050] When working, the driver 2 is tied to the arm of the wearer. In some embodiments of the present invention, a strap is also provided on the frame 207, and the driver 2 is tied to the forearm of the wearer through the strap. The sensor-actuated glove 1 and the driver 2 of the present invention can be fixed on the wearer's hand by the strap, and have comfortable wearability.

[0051] See also Figure 3 , Figure 4The driver 2 includes a frame 207, a driving motor 201, a first driving artificial muscle 202, a driving slider 203, a return spring 204, a rope 205, a limit switch motor 206, an energy storage spring 208, a locking slider 209, an energy release switch 210, an energy storage switch 211 and a second driving artificial muscle 212.

[0052] The base of the driving motor 201 is connected to the frame 207, and the output end of the driving motor 201 is connected to the first driving artificial muscle 202; one end of the first driving artificial muscle 202 is connected to the output end of the driving motor 201, and the other end is connected to the driving slider 203; one end of the driving slider 203 is connected to the first driving artificial muscle 202, and the other end is connected to the return spring 204 and the rope 205, and the return spring 204 is connected to the frame 207; one end of the rope 205 is connected to the driving slider 203, and the other end is connected to the locking slider 209 after passing around the rotating shaft set on the frame 207. A slideway is provided on the frame 207 and below the first driving artificial muscle 202, the return spring 204, and the driving slider 203, and the energy storage spring 208, The locking slider 209 and the second driving artificial muscle 212 are both located in the slideway, and the locking slider 209 is slidably set in the slideway, the limit switch motor 206 is fixed on the frame 207, the energy release switch 210 and the energy storage switch 211 are both located on the frame 207, and the energy release switch 210 and the energy storage switch 211 are unlocked by the limit switch motor 206; one end of the energy storage spring 208 is connected to the frame 207, and the other end is connected to the locking slider 209; one end of the locking slider 209 is connected to the energy storage spring 208, and the other end is connected to the rope 205 and the second driving artificial muscle 212. The second driving artificial muscle 212 is the output of the driver 2, and is used to be connected to the driving cable 105 in the sensor-driven glove 1.

[0053] The driver uses the spring energy storage principle to achieve rapid driving. In the energy storage stage, the second driving artificial muscle 212 is pulled by the driving motor 201 to store energy, and the second driving artificial muscle 212 is energized and contracted, which can achieve the effect of dual-drive series connection and a faster driving speed. When the hand is driven, on the basis of the traction of the driving motor 201, the second driving artificial muscle 212 contracts at the same time, which can further lock the hand grip state.

[0054] In some embodiments of the present invention, the driving motor 201 is a steering gear.

[0055] See also Figure 3 , Figure 4 and Figure 5, a toggle block 213 is provided at the output end of the limit switch motor 206; the energy release switch 210 and the energy storage switch 211 are both hinged on the frame 207. The energy release switch 210 and the energy storage switch 211 both include a switch body 214 and a protrusion 215 located on the switch body 214, the protrusion 215 is provided with a curved surface, and the protrusion 215 can protrude in the slideway; the switch body 214 is hinged on the frame 207 through a hinge shaft 216, and the side of the switch body 214 provided with the protrusion 215 can rotate outward from the frame 207, and the switch body 214 is limited on the outer wall of the frame 207 to prevent the switch body 214 from rotating into the frame 207, thereby ensuring the limiting effect of the mechanism; it can The switch bodies 214 of the energy release switch 210 and the energy storage switch 211 are both provided with a connection seat 217, and the connection seats 217 of the two switch bodies 214 are connected by an elastic member (omitted in the figure); the toggle block 213 can contact and apply pressure to the switch bodies 214 of the energy release switch 210 and the energy storage switch 211, and under the pressure of the toggle block 213, the side of the switch body 214 provided with the protrusion 215 rotates outward from the frame 207 (slideway), so that the protrusion 215 does not protrude in the slideway, thereby realizing the release of the switch. Specifically, in some embodiments of the present invention, please refer to Figure 6~Figure 9 , in order to make it easier to see the structure, Figure 6~Figure 9 When the output end of the limit switch motor 206 rotates forward, the toggle block 213 is driven to rotate, and the rotating toggle block 213 presses on the side of the switch body 214 of the energy release switch 210 that is not provided with the protrusion 215, so that the switch body 214 of the energy release switch 210 rotates around the hinge shaft 216, and the protrusion 215 exits the slideway as it rotates, unlocking the energy release switch 210, and the locking slider 209 can pass over the energy release switch 210 in the slideway and continue to move toward the energy storage switch 210. 11 direction sliding; when the output end of the limit switch motor 206 is reversed, the toggle block 213 is driven to rotate, and the rotating toggle block 213 presses on the other side of the switch body 214 of the energy storage switch 211 where the protrusion 215 is not provided, so that the protrusion 215 on the switch body 214 of the energy storage switch 211 exits the slideway as the switch body 214 rotates, unlocking the energy storage switch 211, and the locking slider 209 can pass the energy storage switch 211 and slide toward the energy release switch 210.

[0056] In some embodiments of the present invention, the elastic member is a rubber band.

[0057] In some embodiments of the present invention, the toggle block 213 is rectangular.

[0058] The following describes the workflow of driver 2: (1) When the driver 2 is in the initial reset state, the driving motor 201 and the limit switch motor 206 are in the reset state, the first driving artificial muscle 202 and the second driving artificial muscle 212 are in their original lengths, the driving slider 203 is located at the right end of the frame 207, the locking slider 209 is located at the left end of the frame 207, and the energy release switch 210 and the energy storage switch 211 are both in the original unlocked state. This is the initial reset state of the driver.

[0059] (2) When the driver 2 stores energy, the output end of the limit switch motor 206 rotates, releasing the energy release switch 210. Figure 7 , the switch body 214 of the energy release switch 210 is provided with a side of the protrusion 215 that rotates outward from the frame 207, so that the protrusion 215 exits the slideway without interfering with the sliding of the locking slider 209 in the slideway, so that the locking slider 209 can pass the energy release switch 210 and continue to move to the right; the output end of the drive motor 201 rotates to pull the first driving artificial muscle 202, and the first driving artificial muscle 202 is energized and heat-contracted, and together pulls the driving slider 203 to slide to the left; because the rope 205 bypasses the rotating shaft to connect the driving slider 203 with the locking slider 209, it will drive the locking slider 209 to move to the right at this time, until it passes over the energy release switch 210 and the energy storage switch 211 in turn and is locked by the energy storage switch 211 limit lock and cannot move in the opposite direction; wherein, when the locking slider 209 passes over the energy release switch 210 and slides to the position of the energy storage switch 211, the locking slider 209 contacts the protrusion 215 of the energy storage switch 211 and applies power to the switch body 214, and the switch body 214 rotates around its hinge shaft 216, so that the locking slider 209 can pass over the energy storage switch 211. After passing over the energy storage switch 211, the power applied to the switch body 214 disappears, and the switch body 214 is reset. The protrusion 215 is reset under the drive of the switch body 214, that is, the protrusion 215 on the energy storage switch 211 protrudes in the slideway, which can block the locking slider 209, so that the locking slider 209 cannot move in the opposite direction to the left. Please refer to Figure 8 and Fig. 9 During this energy storage process, the return spring 204 and the energy storage spring 208 are stretched. After completing this energy storage process, the drive motor 201 is reset, the first drive artificial muscle 202 returns to its original length, and the drive slider 203 is pulled back to its original length by the return spring 204, and the energy storage process ends.

[0060] (3) When the driver 2 performs auxiliary grasping, the output end of the limit switch motor 206 rotates in the opposite direction, opening the energy storage switch 211, that is, the protrusion 215 of the energy storage switch 211 exits the slideway as the switch body 214 rotates. At this time, the locking slider 209, under the traction of the energy storage spring 208, successively passes over the energy storage switch 211 and the energy release switch 210 and moves rapidly to the left. At the same time, the second driving artificial muscle 212 is energized and contracts due to heat. Under the joint traction of the locking slider 209 and the second driving artificial muscle 212, the driving cable 105 is pulled, and the finger sleeve 101 is pulled by the driving cable 105 to achieve auxiliary grasping of the hand. The locking slider 209 passes over the energy release switch 210 to the left, and the exoskeleton as a whole is shown as a locked hand grasping state.

[0061] The present invention adopts artificial muscle as driving cable during driving, and is provided with driving artificial muscle driven by motor, adopts electric heating-motor dual source driving, and realizes high-speed auxiliary grasping of hand.

[0062] In one embodiment of the present invention, the wearing position and effect of the exoskeleton refer to Fig.10 , Fig.11 , see Fig.12 In this embodiment, the overall workflow of the exoskeleton provided by the present invention is illustrated by way of example: When the exoskeleton is in the initial state, both hands are in a loose state, and the driver 2 is in an initial reset state. When the wearer's left hand (or right hand) grasps the pole tower foot nail, the pressure sensor 106 and the artificial muscle sensor 103 on the left hand (or right hand) sensor-driving glove 1 will detect the pressure value and resistance value of the wearer's hand grasping. When the pressure value and the resistance value reach the set threshold at the same time, the hand is in a grasping state, and the driver worn on the left hand (or right hand) is triggered and quickly locks the hand grasping state. Then, the unlocked right hand (or left hand) grasps the next level tower pole. When the pressure sensor 106 and the artificial muscle sensor 103 detect that both hands are grasping the pole, the driver worn on the left (right) hand is released, and the driver worn on the right (left) hand is locked, so as to carry out the next climb.

[0063] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined in the present invention 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 in the present invention, but will conform to the widest scope consistent with the principles and novel features disclosed in the present invention.

Claims

1. A hand-arm exoskeleton based on drive-sensory homologous artificial muscles, characterized in that: Includes sensor-actuated gloves and actuators; The sensor-driven glove comprises a finger sleeve, a palm, an artificial muscle sensor, a driving cable and a pressure sensor; the two ends of the artificial muscle sensor are respectively connected to the finger sleeve and the palm, and the artificial muscle sensor is used to sense the bending shape of the wearer's hand; the driving cable is wound around the finger sleeve and passes through the palm, and the end of the driving cable passing through the palm is connected to the driver; the pressure sensor is arranged on the palm, and is used to detect the pressure value when the wearer's hand grasps; The driver includes a frame and a driving motor, a first driving artificial muscle, a driving slider, a reset spring, a rope, an energy storage spring, a locking slider and a second driving artificial muscle arranged on the frame; the two ends of the first driving artificial muscle are respectively connected to the output end of the driving motor and the driving slider; the reset spring is arranged between the driving slider and the frame; a slideway is provided on the frame and below the reset spring, the first driving artificial muscle and the driving slider, the energy storage spring, the locking slider and the second driving artificial muscle are all located in the slideway, the driving slider and the locking slider are connected by the rope, the two ends of the energy storage spring are respectively connected to the frame and the locking slider, one end of the second driving artificial muscle is connected to the locking slider, and the other end extends out of the slideway and is connected to the driving cable.

2. The hand-arm exoskeleton based on the drive-sensory homologous artificial muscle according to claim 1, characterized in that: The sensor-actuated glove also includes a limit finger ring, which is located between the finger sleeve and the palm, and is provided with an artificial muscle limit hole and a drive cable limit hole for the artificial muscle sensor and the drive cable to pass through respectively.

3. The hand-arm exoskeleton based on the drive-sense homologous artificial muscle according to claim 2, characterized in that: A gap is left on the limiting finger ring.

4. The hand-arm exoskeleton based on the drive-sense homologous artificial muscle according to claim 1, characterized in that: A driving cable limiting through hole is provided on the palm, a pipe fitting is arranged in the driving cable limiting through hole, and the driving cable passes through the palm from the pipe fitting.

5. The hand-arm exoskeleton based on the drive-sense homologous artificial muscle according to claim 1, characterized in that: The finger sleeve comprises a thumb sleeve, an index finger sleeve and a middle finger sleeve, which are respectively connected to the palm through corresponding artificial muscle sensors, and driving cables are wound around the thumb sleeve, the index finger sleeve and the middle finger sleeve, and each driving cable passes through the palm and is connected to a driver.

6. The hand-arm exoskeleton based on the drive-sense homologous artificial muscle according to claim 1, characterized in that: A hollow portion is arranged on the palm portion.

7. The hand-arm exoskeleton based on the drive-sense homologous artificial muscle according to claim 1, characterized in that: The driver also includes an energy release switch and an energy storage switch. The energy release switch and the energy storage switch both include a switch body and a protrusion arranged on the switch body. The switch body is hinged on the frame, and the protrusion can protrude into the slide. One side of the switch body where the protrusion is arranged can rotate outward from the frame to allow the protrusion to exit the slide.

8. The hand-arm exoskeleton based on the drive-sense homologous artificial muscle according to claim 7, characterized in that: The energy release switch and the energy storage switch are both provided with connection seats, and the two connection seats are connected by an elastic member.

9. The hand-arm exoskeleton based on the drive-sense homologous artificial muscle according to claim 7, characterized in that: The driver also includes a limit switch motor, the output end of which is provided with a toggle block, which can contact the side of the switch body of the energy release switch and the energy storage switch where no protrusion is provided and apply pressure to rotate the switch body.

10. The hand-arm exoskeleton based on the drive-sense homologous artificial muscle according to any one of claims 1 to 9, characterized in that: The sensor-actuated glove and the actuator are both provided with straps.

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