Exoskeleton power-assisted robot based on power line patrol

Abstract

The invention provides an exoskeleton power-assisted robot based on electric power line patrol, and relates to the technical field of special operation robots, the exoskeleton power-assisted robot comprises a robot body, the robot body comprises a backpack frame, a regulation and control system, a wearable mechanical arm and a power-assisted lifting mechanism, and one side of the backpack frame is connected with straps; a control system is installed on the outer side of the bearing frame, a supporting plate is welded to the bottom end of the wearable mechanical arm, the wearable mechanical arm is connected with the control system part through the supporting plate, and a large arm joint is installed at one end of the wearable mechanical arm. The basic height of the whole wearable mechanical arm can be controlled by means of the regulation and control system, so that the wearable mechanical arm is suitable for people with different arm lengths and habits, the force application point position is increased, meanwhile, force application and wearing can be more convenient, a supported rod piece can be rotated in a larger range and higher precision, and operation is more flexible.

Description

Technical Field

[0001] The present invention relates to the technical field of special operation robots, in particular to an exoskeleton-assisted robot based on power line inspection. Background Art

[0002] Power line inspection is a key link in ensuring the normal operation of the power supply system. Through regular inspections, problems such as damage, aging, and looseness of power facilities and equipment can be discovered in a timely manner to avoid power supply hazards and safety accidents caused by them. Inspections can also discover potential leakage, short circuits and other problems, and repair them in a timely manner to ensure the stability and reliability of the power supply system. Exoskeleton robots have been widely used in special operations. For power line inspection tasks, they can help operators easily carry heavy objects, such as tools and equipment required for power line inspection, thereby reducing the physical burden of operators and enabling them to complete tasks more quickly. At the same time, exoskeleton robots can also help operators avoid muscle strain and occupational diseases caused by maintaining the same posture for a long time.

[0003] However, the wearing process of the exoskeleton assisted robot used for power line inspection in the prior art is time-consuming and laborious, and since the exoskeleton robot itself has a large weight, even if it is equipped with multiple power systems after wearing it, it is still relatively laborious to drive the mechanical arm through the wearer's arm, and the operation is difficult. During the power line inspection process, lifting actions are often required, such as using a lifting insulating operating rod (up to 3-5 meters in length) to connect wires, replace insulators or remove foreign objects. Conventional assisted robots have poor operating flexibility and can only swing the rod, but it is difficult to perform a larger range and higher precision rotation process. Summary of the invention

[0004] In view of the shortcomings of the prior art, the purpose of the present invention is to provide an exoskeleton-assisted robot based on power line inspection to solve the problems raised in the above-mentioned background technology. The present invention can be applied to special work tasks that require long-term lifting. With the help of the control system, the basic height of the entire wearable robotic arm can be controlled, so that it is suitable for people with different arm lengths. It can be more convenient to apply force and wear, and can rotate the lifted rods in a larger range and with higher precision.

[0005] In order to achieve the above-mentioned purpose, the present invention is implemented through the following technical scheme: an exoskeleton assisted robot based on power line inspection includes a robot body, the robot body includes a backpack frame, a control system, a wearable mechanical arm and a power-assisted lifting mechanism, one side of the backpack frame is connected to a shoulder strap, the outer side of the backpack frame is installed with a control system, a support plate is welded to the bottom end of the wearable mechanical arm, and the wearable mechanical arm is connected to the control system part through the support plate, one end of the wearable mechanical arm is installed with an upper arm joint, the middle of the wearable mechanical arm is installed with a forearm joint, and the end of the wearable mechanical arm is installed with a wrist joint, a lifting rod is installed between the forearm joint and the wrist joint, the power-assisted lifting mechanism is installed at the end of the wrist joint, the power-assisted lifting mechanism includes a clamping assembly and a control assembly, the backpack frame is fixedly connected to one or two independent wearable mechanical arms at the same time through the control system, and the clamping assembly is used to insert and fix the rod.

[0006] Furthermore, the shell of the backpack frame is provided with a groove, a top fixing plate is welded to the top of the groove, a bottom fixing plate is welded to the bottom of the groove, a screw rod is inserted between the top fixing plate and the bottom fixing plate, and an adjustment knob is integrally formed on the top of the screw rod.

[0007] Furthermore, an end plate is installed on one side of the upper arm joint, a support plate is welded on the surface of the end plate, a lifting block is integrally formed at the end of the support plate, a threaded hole is opened in the middle of the lifting block, and the support plate is an overall triangular structure.

[0008] Furthermore, the lifting block is embedded in the groove, the screw rod passes through the threaded hole, and a plurality of holes are provided on the side of the adjusting knob.

[0009] Furthermore, an extension plate is welded to the side of the lifting rod, a pressure plate is integrally formed at the end of the extension plate, and a sponge pad is attached to the inner side of the pressure plate.

[0010] Furthermore, there are two pressure plates and two lifting rods, and the lifting rods are independently controlled by a power system built into the wearable robotic arm. A gap is provided between the two pressure plates, and the two pressure plates are respectively used to block the two sides of the forearm of the wearer.

[0011] Furthermore, a transmission sleeve is threadedly connected to the end of the wrist joint, the clamping assembly is inserted into the interior of the transmission sleeve, a plug-in slot is opened on the side of the transmission sleeve, and the control assembly passes through the interior of the plug-in slot.

[0012] Furthermore, the clamping assembly includes a turntable and a driven shaft, the driven shaft is integrally formed at the bottom of the turntable, a driven gear is welded on the surface of the driven shaft, a panel is integrally formed on the outer side of the top of the turntable, an electric push rod is screwed on the inner side of the panel, a clamping plate is screwed on the end of the electric push rod, the clamping plate has an arc-shaped structure as a whole, and a plug-in hole is opened at the middle bottom of the turntable.

[0013] Furthermore, the plug-in hole is used to insert rod-type tools for line patrol, and the control assembly includes an annular plate, a guide ring and a handle, the handle is welded to the inner side of the annular plate, the outer side of the annular plate is integrally formed with an external gear ring, the top of the annular plate is welded with a column, and the top of the column is welded with a guide ring.

[0014] Furthermore, a guide sleeve is provided on the surface of the transmission sleeve, the guide ring passes through the inside of the guide sleeve, the annular plate and the outer gear ring both pass through the inside of the plug-in groove, the outer gear ring is used to engage with the driven gear, and the bottom end of the driven shaft is provided with a support bearing, and the bottom of the support bearing is embedded in the bottom end of the inner wall of the transmission sleeve.

[0015] Beneficial effects of the present invention:

[0016] 1. This exoskeleton-assisted robot based on power line inspection can be used in special tasks that require long-term lifting. With the help of the control system, the basic height of the entire wearable robotic arm can be controlled, making it suitable for people with different arm lengths.

[0017] 2. The exoskeleton assisted robot based on power line inspection can control the synchronous lifting and lowering of two pressure plates in the forearm area of ​​the robot arm through the lifting rod. After wearing it, the wearer can directly control the swing of the robot arm by leaning against the pressure plates on both sides through the forearm area, which increases the force application points and makes it more convenient to apply force and wear it.

[0018] 3. The exoskeleton assisted robot based on power line inspection uses the power-assisted lifting mechanism on the top to lift the rod for a long time, thereby realizing the function of assisting the wearer in lifting, and the gripping structure can rotate the lifted rod in a larger range and with higher precision. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic structural diagram of the appearance of an exoskeleton-assisted robot based on power line inspection of the present invention;

[0020] Figure 2 It is a schematic diagram of the structure of the control system part of the present invention;

[0021] Figure 3 This is a structural diagram of the upper arm joint part at the bottom of the wearable mechanical arm of the present invention;

[0022] Figure 4 It is a structural schematic diagram of the pressure plate part of the present invention;

[0023] Figure 5 This is a schematic diagram of the structure of the power-assisting lifting mechanism of the present invention;

[0024] Figure 6 It is a structural schematic diagram of the clamping assembly part of the present invention;

[0025] Figure 7 It is a structural schematic diagram of the control component part of the present invention;

[0026] In the figure: 1. Carrying frame; 2. Control system; 3. Wearable mechanical arm; 4. Power-assisted lifting mechanism; 5. Strap; 6. Top fixing plate; 7. Bottom fixing plate; 8. Groove; 9. Screw; 10. Adjustment knob; 11. Upper arm joint; 12. End plate; 13. Support plate; 14. Lifting block; 15. Threaded hole; 16. Lower arm joint; 17. Wrist joint; 18. Lifting rod; 19. Extension plate; 20. Pressure plate; 21. Transmission sleeve; 22. Plug-in slot; 23. Clamping assembly; 24. Control assembly; 25. Turntable; 26. Enclosure; 27. Electric push rod; 28. Clamping plate; 29. ​​Plug-in hole; 30. Driven shaft; 31. Driven gear; 32. Support bearing; 33. Ring plate; 34. Column; 35. Guide ring; 36. Handle; 37. External gear ring; 38. Guide sleeve. DETAILED DESCRIPTION

[0027] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0028] See also Figures 1 to 7The present invention provides the following technical solutions: an exoskeleton-assisted robot based on power line inspection includes a robot body, the robot body includes a backpack frame 1, a control system 2, a wearable mechanical arm 3 and a power-assisted lifting mechanism 4, one side of the backpack frame 1 is connected with a shoulder strap 5, the outer side of the backpack frame 1 is installed with a control system 2, the bottom end of the wearable mechanical arm 3 is welded with a support plate 13, and the wearable mechanical arm 3 is partially connected to the control system 2 through the support plate 13, one end of the wearable mechanical arm 3 is installed with an upper arm joint 11, the middle of the wearable mechanical arm 3 is installed with a lower arm joint 16, and the end of the wearable mechanical arm 3 is installed with a wrist joint 17, a lifting rod 18 is installed between the lower arm joint 16 and the wrist joint 17, the power-assisted lifting mechanism 4 is installed at the end of the wrist joint 17, the power-assisted lifting mechanism 4 includes a clamping component 23 and a control component 24, the backpack frame 1 is fixedly connected with one or two independent wearable mechanical arms 3 at the same time through the control system 2, and the clamping component 23 is used to insert and fix the rod. The exoskeleton-assisted robot is used in power line inspection. After the operator puts on the exoskeleton-assisted robot, it can help provide lifting assistance.

[0029] When the present invention is used, it is worn on the person who needs to use it through the shoulder strap 5 on the carrying frame 1, and then the control system 2 is manually adjusted according to the person's own height until the wearable mechanical arm 3 is adjusted to a comfortable height position, and then the palm part can be directly grasped into the control component 24, and the forearm part of the wearer is inserted into the inner side of the pressure plate 20, and the wearable mechanical arm 3 can be controlled subsequently, and the upper arm joint 11, the lower arm joint 16 and the wrist joint 17 are equipped with independent driving systems to assist the wearer to drive and control the entire wearable mechanical arm 3. During the line patrol process of the wearable mechanical arm 3, the insulating operating rod is embedded in the clamping component 23, and in the initial stage, the wearable mechanical arm 3 is lifted by manual control, and the top of the insulating operating rod is docked with the cable, and then only the wearable mechanical arm 3 can be relied on to support and lift the rod, and the clamping component 23 is finely controlled by the control component 24, so as to realize special task operations such as wire detection or foreign body removal.

[0030] In this embodiment, the case of the backpack frame 1 is provided with a groove 8, the top of the groove 8 is welded with a top fixing plate 6, the bottom of the groove 8 is welded with a bottom fixing plate 7, a screw rod 9 is inserted between the top fixing plate 6 and the bottom fixing plate 7, and an adjustment knob 10 is formed integrally on the top of the screw rod 9. An end plate 12 is installed on one side of the upper arm joint 11, a support plate 13 is welded on the surface of the end plate 12, and a lifting block 14 is formed integrally at the end of the support plate 13, a threaded hole 15 is formed in the middle of the lifting block 14, and the support plate 13 is in a triangular structure as a whole. The lifting block 14 is embedded in the groove 8, the screw rod 9 passes through the threaded hole 15, and a plurality of holes are formed on the side of the adjustment knob 10. It can be applied to special tasks that require long-term lifting. With the help of the control system 2, the basic height of the entire wearable mechanical arm 3 can be controlled, so that it is suitable for people with different arm lengths.

[0031] Specifically, by using an external tool and inserting it into the slot on the side of the adjusting knob 10, the adjusting knob 10 can be rotated, and the adjusting knob 10 part drives the screw rod 9 to rotate, and the screw rod 9 and the support plate 13 of the triangular structure are driven at the same time to achieve the purpose of lifting, so as to directly change the connection height position between the entire wearable robotic arm 3 and the backpack frame 1, thereby adjusting the initial point position of the entire wearable robotic arm 3 to adjust it according to the usage habits of different wearers.

[0032] In this embodiment, an extension plate 19 is welded to the side of the lifting rod 18, and a pressure plate 20 is integrally formed at the end of the extension plate 19, and a sponge pad is attached to the inner side of the pressure plate 20. The number of the pressure plate 20 and the lifting rod 18 are both two, and the lifting rod 18 is independently controlled by the power system built into the wearable mechanical arm 3. A gap is set between the two pressure plates 20, and the two pressure plates 20 are respectively used to block the two sides of the forearm of the wearer. In the forearm area of ​​the mechanical arm, the two pressure plates 20 can be controlled to rise and fall synchronously through the lifting rod 18. After wearing, the wearer can control the mechanical arm to swing directly by leaning against the pressure plates 20 on both sides of the forearm area, which increases the force application point and makes it more convenient to apply force and wear.

[0033] Specifically, when wearing the power-assisting robot, the force transmission area between the wearer and the wearable robotic arm 3 is set in the two pressure plates 20 corresponding to the control component 24 and the lifting rod 18. By holding the area of ​​the control component 24, the wrist joint 17 is mainly controlled, and the forearm can drive and control the forearm joint 16 area by leaning against the pressure plates 20 on both sides or toward the lifting rod 18, and the shoulder part directly drives and controls the upper arm joint 11 part, so that the entire wearable robotic arm 3 can be driven from multiple positions, and each drive does not require targeted binding. Therefore, when taking off the wearable robotic arm 3 later, the forearm area is directly moved from the outside direction between the two pressure plates 20 to be directly separated from the pressure plate 20 area, and the palm part can be directly pulled out from the bottom due to its higher flexibility. The whole taking-off process is efficient and convenient, and will not affect the accuracy of control after wearing.

[0034] In this embodiment, the end of the wrist joint 17 is screwed with a transmission sleeve 21, the clamping assembly 23 is inserted into the transmission sleeve 21, the side of the transmission sleeve 21 is provided with a plug-in slot 22, and the control assembly 24 passes through the inside of the plug-in slot 22. The clamping assembly 23 includes a turntable 25 and a driven shaft 30, the driven shaft 30 is integrally formed at the bottom of the turntable 25, a driven gear 31 is welded on the surface of the driven shaft 30, a shroud 26 is integrally formed on the outside of the top of the turntable 25, an electric push rod 27 is screwed on the inside of the shroud 26, a clamping plate 28 is screwed on the end of the electric push rod 27, and the clamping plate 28 is in an arc-shaped structure as a whole, and a plug-in hole 29 is provided at the middle bottom of the turntable 25. The plug-in hole 29 is used to insert a rod-type tool for line inspection. The control assembly 24 includes an annular plate 33, a guide ring 35 and a handle 36. The handle 36 is welded to the inner side of the annular plate 33. The outer side of the annular plate 33 is integrally formed with an outer gear ring 37. A column 34 is welded to the top of the annular plate 33, and a guide ring 35 is welded to the top of the column 34. A guide sleeve 38 is also provided on the surface of the transmission sleeve 21. The guide ring 35 passes through the inside of the guide sleeve 38. The annular plate 33 and the outer gear ring 37 both pass through the inside of the plug-in slot 22. The outer gear ring 37 is used to mesh with the driven gear 31. The bottom end of the driven shaft 30 is sleeved with a support bearing 32, and the bottom of the support bearing 32 is embedded in the bottom end of the inner wall of the transmission sleeve 21. The rod is lifted for a long time with the help of the auxiliary lifting mechanism 4 at the top, thereby realizing the function of auxiliary lifting and powering for the wearer, and the holding structure part can rotate the lifted rod in a larger range and with higher precision.

[0035] Specifically, when the wearable robotic arm 3 is used for assisted lifting, the bottom of the insulating rod for line inspection is first inserted into the inside of the plug hole 29, the electric push rod 27 is started, and the two clamps 28 are clamped and fixed to the bottom of the rod. Then, the wrist joint 17 can be driven and the entire rod can be rotated through the control component 24. During the control process, the wearer holds the handle 36 area with the palm part, and the wrist joint 17 can be driven by applying force through the handle 36, or the annular plate 33 can be controlled to rotate. The rotation range of the annular plate 33 is limited by the rotation of the wrist part. Therefore, the outer gear ring 37 can only mesh part of the gear teeth with the driven gear 31. The driven gear 31 is a small gear. Through the rotation of the outer gear ring 37, the driven gear 31 can be controlled to rotate for multiple circles, thereby driving the driven shaft 30 and the top turntable 25 and the insulating rod to rotate for multiple circles, and finally achieving the effect that the rotation angle of the wearer's wrist is small but the insulating rod can be controlled to rotate at a large angle or even multiple circles.

[0036] The basic principles and main features of the present invention and the advantages of the present invention are shown and described above. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-mentioned exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention.

[0037] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. An exoskeleton-assisted robot based on power line inspection includes a robot body, characterized in that: The robot body comprises a carrying frame (1), a control system (2), a wearable mechanical arm (3) and a power-assisted lifting mechanism (4); a shoulder strap (5) is connected to one side of the carrying frame (1); the control system (2) is installed on the outer side of the carrying frame (1); a support plate (13) is welded to the bottom end of the wearable mechanical arm (3), and the wearable mechanical arm (3) is connected to the control system (2) part via the support plate (13); a large arm joint (11) is installed at one end of the wearable mechanical arm (3); and a support plate (13) is installed in the middle of the wearable mechanical arm (3). There is a forearm joint (16), and a wrist joint (17) is installed at the end of the wearable mechanical arm (3), a lifting rod (18) is installed between the forearm joint (16) and the wrist joint (17), the power-assisted lifting mechanism (4) is installed at the end of the wrist joint (17), the power-assisted lifting mechanism (4) includes a clamping component (23) and a control component (24), the carrying frame (1) is fixedly connected to one or two independent wearable mechanical arms (3) at the same time through a control system (2), and the clamping component (23) is used to insert and fix the rod.

2. The exoskeleton-assisted robot based on power line inspection according to claim 1 is characterized in that: The surface shell of the backpack frame (1) is provided with a groove (8), a top fixing plate (6) is welded to the top of the groove (8), a bottom fixing plate (7) is welded to the bottom of the groove (8), a screw rod (9) is inserted between the top fixing plate (6) and the bottom fixing plate (7), and an adjusting knob (10) is integrally formed on the top of the screw rod (9).

3. The exoskeleton-assisted robot based on power line inspection according to claim 2 is characterized in that: An end plate (12) is installed on one side of the upper arm joint (11), a support plate (13) is welded to the surface of the end plate (12), a lifting block (14) is integrally formed at the end of the support plate (13), a threaded hole (15) is provided in the middle of the lifting block (14), and the support plate (13) is in a triangular structure as a whole.

4. The exoskeleton-assisted robot based on power line inspection according to claim 3 is characterized in that: The lifting block (14) is embedded in the groove (8), the screw rod (9) passes through the threaded hole (15), and a plurality of holes are formed on the side of the adjusting knob (10).

5. The exoskeleton-assisted robot based on power line inspection according to claim 2 is characterized in that: An extension plate (19) is welded to the side of the lifting rod (18), a pressure plate (20) is integrally formed at the end of the extension plate (19), and a sponge pad is attached to the inner side of the pressure plate (20).

6. The exoskeleton-assisted robot based on power line inspection according to claim 5 is characterized in that: The number of the pressure plates (20) and the lifting rods (18) are both two, and the lifting rods (18) are independently controlled by a power system built into the wearable mechanical arm (3). A gap is provided between the two pressure plates (20), and the two pressure plates (20) are respectively used to block the two sides of the forearm of the wearer.

7. The exoskeleton-assisted robot based on power line inspection according to claim 1 is characterized in that: A transmission sleeve (21) is threadedly connected to the end of the wrist joint (17), the clamping assembly (23) is inserted into the interior of the transmission sleeve (21), a plug-in slot (22) is provided on the side of the transmission sleeve (21), and the control assembly (24) passes through the interior of the plug-in slot (22).

8. The exoskeleton-assisted robot based on power line inspection according to claim 7 is characterized in that: The clamping assembly (23) comprises a turntable (25) and a driven shaft (30), wherein the driven shaft (30) is integrally formed at the bottom of the turntable (25), a driven gear (31) is welded on the surface of the driven shaft (30), a shroud (26) is integrally formed on the outer side of the top of the turntable (25), an electric push rod (27) is screwed on the inner side of the shroud (26), a clamping plate (28) is screwed on the end of the electric push rod (27), and the clamping plate (28) is in an arc-shaped structure as a whole, and a plug-in hole (29) is provided at the middle bottom of the turntable (25).

9. The exoskeleton-assisted robot based on power line inspection according to claim 8 is characterized in that: The plug-in hole (29) is used for inserting a rod-type tool for line patrol. The control assembly (24) comprises an annular plate (33), a guide ring (35) and a handle (36). The handle (36) is welded to the inner side of the annular plate (33). The outer side of the annular plate (33) is integrally formed with an outer toothed ring (37). The top of the annular plate (33) is welded with a column (34), and the top of the column (34) is welded with a guide ring (35).

10. The exoskeleton-assisted robot based on power line inspection according to claim 9 is characterized in that: The surface of the transmission sleeve (21) is also provided with a guide sleeve (38), the guide ring (35) passes through the inside of the guide sleeve (38), the annular plate (33) and the outer gear ring (37) both pass through the inside of the plug-in groove (22), the outer gear ring (37) is used to mesh with the driven gear (31), and the bottom end of the driven shaft (30) is sleeved with a support bearing (32), and the bottom of the support bearing (32) is embedded in the bottom end of the inner wall of the transmission sleeve (21).

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