Exoskeleton robot for assisting operation of high-voltage chamber handcart circuit breaker

Abstract

The invention relates to the technical field of exoskeleton robots, and discloses an exoskeleton robot assisting in operating a high-voltage chamber handcart circuit breaker, the exoskeleton robot comprises a trunk fixing structure, two arm assemblies and two operating parts, the two arm assemblies are symmetrically arranged on the outer side of the trunk fixing structure, and the trunk fixing structure comprises a waist and hip bandage and a strap; the arm assembly comprises a supporting rod, a large arm connecting rod and a small arm connecting rod, the lower end of the supporting rod is hinged to the waist and hip bandage, and the operation part is arranged at the end of the small arm connecting rod. The operation part comprises a wrist support and an operation piece, the operation piece is integrated with a rotating end and a push-pull end, the rotating end or the push-pull end can be adjusted to the position facing the handcart circuit breaker, and the auxiliary requirements for different maintenance operations are met. The supporting rod, the large arm connecting rod and the small arm connecting rod form a three-section hinged mode, the improvement purpose of common power generation of the whole body is achieved through cooperative power assistance of the three driving pieces of the waist hip, the shoulder and the elbow, and the effective auxiliary effect is achieved for the operation task of the high-voltage chamber handcart circuit breaker.

Description

Technical Field

[0001] The present invention relates to the technical field of exoskeleton robots, and particularly to an exoskeleton robot for assisting in operating a handcart circuit breaker in a high-voltage compartment. Background Art

[0002] At present, high-voltage switchgear cabinets are key components in the power system for controlling, protecting, and monitoring high-voltage electrical equipment. Among them, the main electrical components (such as circuit breakers) of the handcart-type switchgear cabinet are installed on the extractable handcart, which has three states: working position, test position, and maintenance position.

[0003] During the power-on and power-off of lines and equipment and the maintenance of circuit breakers, it is necessary to switch between the above three states. When switching from the working position to the test position, the operator uses a manual crank to separate and close the moving and static contacts, and the manual operation lasts for a long time. When switching from the test position to the maintenance position, the operator needs to hold the handle of the handcart circuit breaker tightly and pull the handcart out of the cabinet and push it into the cabinet from outside the cabinet. However, due to the large weight of the handcart circuit breaker, when pulling it out, the body leans forward and bends down, combined with the actions of bending the elbows and retracting the shoulders backward and inward, and at the same time straightening the waist to exert force to pull out the handcart circuit breaker. When pushing it in, combined with the actions of straightening the elbows and spreading the shoulders forward and outward, and at the same time leaning forward and bending down to push the handcart circuit breaker into the cabinet.

[0004] During large-scale maintenance of the high-voltage compartment, the operator repeats the operation with force, resulting in a large labor intensity and prone to occupational injuries such as sore arms. Existing wearable exoskeleton robots can only assist in the actions of the shoulder and elbow joints and cannot effectively assist in the operation tasks of the handcart circuit breaker in the high-voltage compartment. Summary of the Invention

[0005] The technical problem to be solved by the present invention is that during large-scale maintenance, the operator repeats the operation with force, resulting in a large labor intensity and prone to occupational injuries such as sore arms, and existing wearable exoskeleton robots cannot effectively assist in the operation tasks of the handcart circuit breaker in the high-voltage compartment.

[0006] To solve the above technical problem, the present invention provides a technical solution for an exoskeleton robot for assisting in operating a handcart circuit breaker in a high-voltage compartment:

[0007] The exoskeleton robot for assisting in operating a handcart circuit breaker in a high-voltage compartment includes a torso fixing structure, two arm assemblies, and two operating parts. The two arm assemblies are symmetrically arranged on the outside of the torso fixing structure;

[0008] The torso fixing structure includes a waist-hip strap and a back strap. The waist-hip strap is connected to the back strap. The waist-hip strap has a waist restraint space, and the torso between the waist and the shoulders is restrained and fixed by the back strap and the waist-hip strap during wearing;

[0009] The arm assembly includes a support rod, a large arm connecting rod and a small arm connecting rod, the lower end of the support rod is hinged on the waist-hip strap, and a waist-hip driving member is installed between the support rod and the waist-hip strap; the large arm connecting rod is hinged on the upper end of the support rod, and a shoulder driving member is installed between the large arm connecting rod and the support rod;

[0010] The forearm connecting rod is hinged to the end of the large arm connecting rod away from the support rod, an elbow driving member is installed between the forearm connecting rod and the large arm connecting rod, and the operating part is arranged at the end of the forearm connecting rod away from the large arm connecting rod;

[0011] The operating part includes a wrist support and an operating piece. A wrist joint movable part is provided between the wrist support and the forearm connecting rod. The operating piece can be rotatably installed on the wrist support. The operating piece has a rotating end and a push-pull end that are relatively arranged. The operating state is switched by rotating the operating piece. The operating piece also has a rotating driver, which is transmission-connected to the rotating end.

[0012] Furthermore, the movable part of the wrist joint includes an annular groove and a slider, the annular groove is fixedly connected to the end of the forearm connecting rod away from the upper arm connecting rod, the length direction of the forearm connecting rod is arranged perpendicular to the radial plane where the annular groove is located, the slider is slidably matched with the annular groove, and the wrist support is fixedly connected to the slider.

[0013] Furthermore, a handle is provided at the end of the wrist support away from the forearm connecting rod, the handle and the annular groove are arranged at intervals along the length direction of the forearm connecting rod, and the operating member is arranged on a side of the wrist support away from the handle.

[0014] Furthermore, the rotating end is a hexagonal socket, the push-pull end is a C-shaped structure, and the push-pull end has a C-shaped bayonet, and the C-shaped bayonet is used to engage with the handle of the trolley circuit breaker.

[0015] Furthermore, the support rod is a telescopic support rod, which includes a first section and a second section. The first section is transmission-connected to the waist-hip driving member, the second section is slidingly connected to the first section along the axial direction of the support rod, and the second section rotates relative to the first section around the circumferential direction of the support rod.

[0016] Furthermore, a waist base is fixedly provided on the outer side of the waist-hip strap, a rotating plate is hingedly mounted on the waist base, a rotating axis of the rotating plate extends parallel to the width direction of the trunk fixing structure, and the waist-hip driving member is mounted on the rotating plate.

[0017] Further, the waist and hip driving member is a waist and hip motor, and the axis direction of the waist and hip driving member is arranged perpendicular to the plate surface of the rotating plate; the shoulder driving member is a shoulder motor, and the axis of the shoulder driving member coincides with the hinge axis between the large arm connecting rod and the support rod; the elbow driving member is an elbow motor, and the axis of the elbow driving member coincides with the hinge axis between the small arm connecting rod and the large arm connecting rod.

[0018] Further, a flexible belt is also connected between the upper part of the support rod and the shoulder strap.

[0019] Further, the shoulder strap is of a Y-shaped structure, and two arc-shaped plates are provided on the upper part of the shoulder strap. The two arc-shaped plates are arranged at intervals along the length direction of the trunk fixing structure, and the arc-shaped plates are used for shoulder positioning and cooperation.

[0020] Further, the large arm connecting rod is provided with a large arm connecting sleeve, and the small arm connecting rod is provided with a small arm connecting sleeve.

[0021] Compared with the prior art, an exoskeleton robot for assisting in operating a high-voltage chamber handcart circuit breaker of the present invention has the beneficial effects that: the exoskeleton robot for assisting in operating a high-voltage chamber handcart circuit breaker includes a trunk fixing structure, two arm assemblies and two operating parts. The two arm assemblies are symmetrically arranged on the outer side of the trunk fixing structure. The exoskeleton robot adopts a design of imitating the human body's double-arm structure, which is more in line with the natural operating posture. The trunk fixing structure includes a waist and hip binding belt and a shoulder strap connected to each other. The waist and hip binding belt has a waist restraint space, and is jointly fixed with the shoulder strap through the waist restraint space. During operation, the reaction force is transmitted and dispersed from the arm assembly to the trunk main body, reducing the fatigue of local muscles such as the waist or shoulders and ensuring the reliability of the overall force on the trunk.

[0022] Among them, the arm assembly includes a support rod, a large arm connecting rod and a small arm connecting rod. The lower end of the support rod is installed on the waist and hip binding belt through a waist and hip driving member, the large arm connecting rod is installed on the upper end of the support rod through a shoulder driving member, and the small arm connecting rod is installed on the end of the large arm connecting rod through an elbow driving member. A three-segment hinge form is formed by using the support rod - large arm connecting rod - small arm connecting rod, and the cooperation of three driving members of the waist and hip, shoulder and elbow ensures that the waist, shoulder and elbow joints of the operator can jointly exert force. The movement form of the arm assembly matches the movement track of the handcart pushing and pulling operation, and at the same time provides a more ergonomic assisting effect. It is precisely to optimize the traditional shoulder or elbow assistance into a power chain composed of the trunk + forelimbs, alleviating the muscle damage of the shoulder, elbow and arm during repeated pushing and pulling, reducing the labor intensity and avoiding occupational injuries such as arm soreness.

[0023] In addition, the operation part is arranged at the end of the forearm link away from the upper arm link. The operation part includes a wrist bracket and an operating member. A wrist joint movable part is arranged between the wrist bracket and the forearm link. The operating member has a rotatable end and a push-pull end arranged oppositely, and a rotary driver. The operation part realizes an axis torsion movement similar to that of the human wrist through the wrist joint movable part, can flexibly adjust the operation angle and direction, and the operating member integrates the rotatable end and the push-pull end. According to the actual switching scenario, the rotatable end or the push-pull end can be adjusted to face the position of the trolley circuit breaker, meeting the auxiliary requirements for different operations in the overhaul of the trolley circuit breaker.

[0024] When it is necessary to switch on or off the trolley circuit breaker, the rotatable end is adjusted to the front end of the arm assembly and inserted into the corresponding interface of the trolley circuit breaker, and the rotary driver is used to drive the rotatable end to rotate to replace the on-off operation of the manual crank. When it is necessary to push or pull the trolley circuit breaker, the push-pull end is adjusted to the front end of the arm assembly and clamped onto the handle of the trolley circuit breaker. Through the coordinated assistance of the three driving members of the waist-hip, shoulder and elbow, the improvement purpose from "partial load reduction" to "full body joint effort" is achieved, especially for the operation task of the trolley circuit breaker in the high-voltage compartment, which has an effective auxiliary effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a three-dimensional schematic diagram of the exoskeleton robot for assisting in operating the trolley circuit breaker in the high-voltage compartment in an embodiment of the present invention;

[0026] Figure 2 is a side view schematic diagram of the exoskeleton robot for assisting in operating the trolley circuit breaker in an embodiment of the present invention;

[0027] Figure 3 is a partial enlarged view of the operation part in an embodiment of the present invention;

[0028] Figure 4 is a connection schematic diagram between the torso fixing structure and the support rod in an embodiment of the present invention;

[0029] In the figure: 1, torso fixing structure; 10, waist restraint space; 11, waist-hip strap; 12, back strap; 120, arc plate; 13, waist base; 14, rotating plate; 2, arm assembly; 21, support rod; 210, flexible belt; 211, first section; 212, second section; 22, upper arm link; 23, forearm link; 24, waist-hip driving member; 25, shoulder driving member; 26, elbow driving member; 27, upper arm connecting sleeve; 28, forearm connecting sleeve; 3, operation part; 31, wrist bracket; 310, grip; 32, operating member; 321, rotatable end; 322, push-pull end; 323, rotary driver; 33, wrist joint movable part; 331, annular groove; 332, slider. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0030] The following will further describe in detail the specific embodiments of the present invention in conjunction with the accompanying drawings and embodiments. The following embodiments are used to illustrate the present invention, but are not used to limit the scope of the present invention.

[0031] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. in the present invention is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0032] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, the meaning of "a plurality" is two or more, unless otherwise specifically defined.

[0033] In the present invention, unless otherwise clearly specified and defined, the terms "mounted", "connected", "connected to", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] As Figures 1 to 4 shown, an exoskeleton robot for assisting in operating a handcart circuit breaker in a high-voltage chamber according to an embodiment of the present invention includes a torso fixing structure 1, two arm assemblies 2, and two operating parts 3. The two arm assemblies 2 are symmetrically arranged outside the torso fixing structure 1; the torso fixing structure 1 includes a waist-hip strap 11 and a back strap 12. The waist-hip strap 11 is connected to the back strap 12. The waist-hip strap 11 has a waist restraint space 10, and the torso between the waist and the shoulders is restrained and fixed by the back strap 12 and the waist-hip strap 11 during wearing.

[0035] The arm assembly 2 includes a support rod 21, an upper arm connecting rod 22 and a lower arm connecting rod 23. The lower end of the support rod 21 is hinged on the waist-hip strap 11, and a waist-hip driving component 24 is installed between the support rod 21 and the waist-hip strap 11; the upper arm connecting rod 22 is hinged at the upper end of the support rod 21, and a shoulder driving component 25 is installed between the upper arm connecting rod 22 and the support rod 21; the lower arm connecting rod 23 is hinged at the end of the upper arm connecting rod 22 away from the support rod 21, and an elbow driving component 26 is installed between the lower arm connecting rod 23 and the upper arm connecting rod 22. The operating part 3 is arranged at the end of the lower arm connecting rod 23 away from the upper arm connecting rod 22.

[0036] The operating part 3 includes a wrist support 31 and an operating member 32. A wrist joint movable part 33 is provided between the wrist support 31 and the forearm connecting rod 23. The operating member 32 can be rotatably installed on the wrist support 31. The operating member 32 has a rotating end 321 and a push-pull end 322 that are relatively arranged. The operating state is switched by rotating the operating member 32; the operating member 32 also has a rotating driver 323, which is transmission-connected to the rotating end 321.

[0037] The exoskeleton robot for assisting in operating the high-voltage room trolley circuit breaker comprises a trunk fixing structure 1, two arm assemblies 2 and two operating parts 3. The two arm assemblies 2 are symmetrically arranged on the outside of the trunk fixing structure 1. The exoskeleton robot adopts a humanoid double-arm structure design, which is more in line with the natural operating posture. The trunk fixing structure 1 comprises a connected waist-hip strap 11 and a shoulder strap 12. The waist-hip strap 11 has a waist constraint space 10, which is fixed with the shoulder strap 12 through the waist constraint space 10. During operation, the reaction force is transmitted and dispersed from the arm assembly 2 to the trunk body, reducing the fatigue of local muscles such as the waist or shoulders, and ensuring the reliability of the overall force of the trunk.

[0038] Among them, the arm assembly 2 includes a support rod 21, an upper arm connecting rod 22 and a lower arm connecting rod 23. The lower end of the support rod 21 is installed on the waist-hip strap 11 through a waist-hip driving member 24, the upper arm connecting rod 22 is installed on the upper end of the support rod 21 through a shoulder driving member 25, and the lower arm connecting rod 23 is installed on the end of the upper arm connecting rod 22 through an elbow driving member 26. The support rod 21-upper arm connecting rod 22-lower arm connecting rod 23 is used to form a three-section hinged form, and the three driving members of the waist-hip, shoulder and elbow are combined to assist in the coordinated assistance, ensuring that the waist, shoulder and elbow joints of the operator can work together. The activity form of the arm assembly 2 matches the motion trajectory of the push-pull operation of the trolley, and at the same time provides a more ergonomic assistance effect. It is precisely by optimizing the traditional shoulder or elbow assistance to a power chain consisting of the trunk + forelimbs that alleviates the muscle damage of the shoulders, elbows, and arms during repeated pushing and pulling, reduces the labor intensity, and avoids occupational injuries such as arm soreness.

[0039] In addition, the operating part 3 is provided at the end of the forearm link 23 far from the upper arm link 22. The operating part 3 includes a wrist bracket 31 and an operating member 32. A wrist joint moving part 33 is provided between the wrist bracket 31 and the forearm link 23. The operating member 32 has a rotation end 321 and a push-pull end 322 arranged oppositely, and a rotation driver 323. The operating part 3 realizes an axis torsion action similar to that of a human wrist through the wrist joint moving part 33, can flexibly adjust the operating angle and direction, and the operating member 32 integrates the rotation end 321 and the push-pull end 322. According to the actual switching scenario, the rotation end 321 or the push-pull end 322 can be adjusted to face the position of the trolley circuit breaker, meeting the auxiliary requirements for different operations in the maintenance of the trolley circuit breaker.

[0040] When the trolley circuit breaker needs to be switched on or off, the rotation end 321 is adjusted to the front end of the arm assembly 2 and inserted into the corresponding interface of the trolley circuit breaker, and the rotation driver 323 is used to drive the rotation end 321 to rotate to replace the on-off operation of the manual crank. When the trolley circuit breaker needs to be pushed or pulled, the push-pull end 322 is adjusted to the front end of the arm assembly 2 and clamped on the handle of the trolley circuit breaker. Through the coordinated assistance of the three driving parts of the waist and hip, shoulder and elbow, the improvement purpose from "partial load reduction" to "whole body joint effort" is achieved, especially for the operation task of the trolley circuit breaker in the high-voltage compartment, which has an effective auxiliary effect.

[0041] In this embodiment, the wrist joint moving part 33 includes a ring groove 331 and a slider 332. The ring groove 331 is fixedly connected to the end of the forearm link 23 far from the upper arm link 22. The length direction of the forearm link 23 is perpendicular to the radial plane where the ring groove 331 is located. The slider 332 is slidably matched with the ring groove 331, and the wrist bracket 31 is fixedly connected to the slider 332. The wrist joint moving part 33 is designed in the form of a ring groove 331 and a slider 332, and the radial plane where the ring groove 331 is located is perpendicular to the length direction of the forearm link 23. The wrist bracket 31 is assembled and connected to the ring groove 331 through the slider 332, so that the wrist bracket 31 and the operating member 32 can rotate flexibly around the forearm link 23, which is more in line with the rotation movement track of the human wrist joint, and can play a role in reliably transmitting the pushing and pulling force between the arm assembly 2 and the operating part 3.

[0042] As a further preferred solution, a grip 310 is provided at the end of the wrist bracket 31 far from the forearm link 23. The grip 310 and the ring groove 331 are arranged at intervals along the length direction of the forearm link 23, and the operating member 32 is arranged on the side of the wrist bracket 31 far from the grip 310. The operating member 32 and the grip 310 are respectively arranged on both sides of the wrist bracket 31, providing a reliable grasping point for the operator. It not only ensures the consistency of the operating member 32 and the hand movement of the operator, but also improves the position stability of the wrist bracket 31 and the operating member 32. The grip 310 can be made of insulating material to reduce the possibility of the operator directly contacting the live parts.

[0043] Specifically, the rotating end 321 is a hexagon socket, and the push-pull end 322 is a C-shaped structure. The push-pull end 322 has a C-shaped bayonet, which is used to engage with the handle of the trolley circuit breaker. The rotating end 321 is a hexagon socket, which is compatible with the common hexagonal bolts or nuts of the trolley circuit breaker, and the rotation operation can be completed without additional tools; the push-pull end 322 is a C-shaped bayonet structure, which realizes self-locking grasping through the bayonet engagement, avoiding easy slipping during the push-pull process, and achieving the purpose of high-precision matching between the operating member 32 and the physical interface of the high-voltage trolley circuit breaker.

[0044] like Figure 4 As shown, the support rod 21 is a telescopic support rod, and the support rod 21 includes a first section 211 and a second section 212. The first section 211 is transmission-connected to the waist-hip driving member 24, and the second section 212 is slidably connected to the first section 211 along the axis direction of the support rod 21, and the second section 212 is rotatably matched with the first section 211 around the circumferential direction of the support rod 21. By slidingly connecting the second section 212 with the first section 211 along the axis direction of the support rod 21, the length of the support rod 21 can be flexibly adjusted, and the telescopic length of the support rod 21 can be locked in combination with a fastener (not shown in the figure), so as to meet the wearing needs of workers of different heights, and at the same time, it can adapt to the trunk posture when bending and straightening; the rotational match of the second section 212 relative to the first section 211 can adapt to the large-scale free movement of the human shoulder joint and arm, reducing the restriction on the range of human activities.

[0045] In this embodiment, with reference to the front, back, left, and right positions of the operator, it is defined that: the length direction of the trunk fixing structure 1 is the left-right direction, and the width direction of the trunk fixing structure 1 is the front-back direction. A waist base 13 is also fixedly provided on the outside of the waist-hip strap 11, and a rotating plate 14 is hingedly installed on the waist base 13. The rotation axis of the rotating plate 14 extends parallel to the width direction of the trunk fixing structure 1, and the waist-hip driving member 24 is installed on the rotating plate 14. The waist base 13 and the rotating plate 14 form a first rotating pair located between the support rod 21 and the waist-hip strap 11, which can adapt to operators with different shoulder widths and body shapes. The waist-hip driving member 24, as the second rotating pair between the support rod 21 and the waist-hip strap 11, can assist the personnel in bending and straightening the waist. Especially in the process of pushing in and pulling out the trolley circuit breaker, the waist-hip driving member 24 can effectively assist the waist joint.

[0046] Preferably, the waist-hip driving member 24 is a waist-hip motor, and the axis direction of the waist-hip driving member 24 is arranged perpendicular to the plate surface of the rotating plate 14; the shoulder driving member 25 is a shoulder motor, and the axis of the shoulder driving member 25 coincides with the hinge axis between the big arm connecting rod 22 and the support rod 21; the elbow driving member 26 is an elbow motor, and the axis of the elbow driving member 26 coincides with the hinge axis between the small arm connecting rod 23 and the big arm connecting rod 22. The waist-hip motor, the shoulder motor, and the elbow motor all have dynamic assistance and locking functions, which can reliably drive the arm assembly 2 to assist in moving, and can also achieve the effect of static stable support.

[0047] Wherein, a flexible belt 210 is also connected between the upper part of the support rod 21 and the back strap. The flexible belt 210 is made of a soft and non-stretchable material and is used to connect and restrain the support rod 21. On the one hand, it prevents the support rod 21 from deviating excessively from the human torso and ensures the freedom of movement of the support rod 21. On the other hand, during the process of pushing and pulling the trolley circuit breaker, the flexible belt 210 forms an auxiliary force-bearing path of "support rod 21 - back strap 12 - torso".

[0048] In addition, the back strap is of a Y-shaped structure, and two arc-shaped plates are provided on the upper part of the back strap. The two arc-shaped plates are arranged at intervals along the length direction of the torso fixing structure 1, and the arc-shaped plates are used for shoulder positioning and matching. The back strap 12 is of a Y-shaped structure, and the arc-shaped plate 120 on the upper part of the back strap 12 has a better matching degree with the contour of the human shoulder, ensuring the compactness and comfort during wearing. The big arm connecting rod 22 is provided with a big arm connecting sleeve 27, and the small arm connecting rod 23 is provided with a small arm connecting sleeve 28. The reliable connection and fixation of the big arm connecting rod 22 and the small arm connecting rod 23 with the human arm are ensured through the big arm connecting sleeve 27 and the small arm connecting sleeve 28.

[0049] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art of this technology, without departing from the technical principle of the present invention, several improvements and replacements can be made, and these improvements and replacements should also be regarded as the protection scope of the present invention.

Claims

1. An exoskeleton robot for assisting in operating a high-voltage room trolley circuit breaker, characterized in that: It comprises a trunk fixing structure, two arm components and two operating parts, wherein the two arm components are symmetrically arranged on the outside of the trunk fixing structure; The torso fixing structure includes a waist-hip strap and a back strap, wherein the waist-hip strap is connected to the back strap, and the waist-hip strap has a waist restraining space, and when worn, the back strap and the waist-hip strap restrain and fix the torso between the waist and the shoulder; The arm assembly includes a support rod, a large arm connecting rod and a small arm connecting rod, the lower end of the support rod is hinged on the waist-hip strap, and a waist-hip driving member is installed between the support rod and the waist-hip strap; the large arm connecting rod is hinged on the upper end of the support rod, and a shoulder driving member is installed between the large arm connecting rod and the support rod; The forearm connecting rod is hinged to the end of the large arm connecting rod away from the support rod, an elbow driving member is installed between the forearm connecting rod and the large arm connecting rod, and the operating part is arranged at the end of the forearm connecting rod away from the large arm connecting rod; The operating part includes a wrist support and an operating piece. A wrist joint movable part is provided between the wrist support and the forearm connecting rod. The operating piece can be rotatably installed on the wrist support. The operating piece has a rotating end and a push-pull end that are relatively arranged. The operating state is switched by rotating the operating piece. The operating piece also has a rotating driver, which is transmission-connected to the rotating end.

2. The exoskeleton robot for assisting in operating a high-voltage room trolley circuit breaker according to claim 1 is characterized in that: The movable part of the wrist joint includes an annular groove and a slider. The annular groove is fixedly connected to the end of the forearm connecting rod away from the upper arm connecting rod. The length direction of the forearm connecting rod is arranged perpendicular to the radial plane where the annular groove is located. The slider is slidably matched with the annular groove, and the wrist support is fixedly connected to the slider.

3. The exoskeleton robot for assisting in operating a high-voltage room trolley circuit breaker according to claim 2 is characterized in that: A handle is provided at the end of the wrist support away from the forearm connecting rod, the handle and the annular groove are arranged at intervals along the length direction of the forearm connecting rod, and the operating member is arranged on a side of the wrist support away from the handle.

4. The exoskeleton robot for assisting in operating a high-voltage room trolley circuit breaker according to claim 1 is characterized in that: The rotating end is a hexagon socket, the push-pull end is a C-shaped structure, and the push-pull end has a C-shaped bayonet, and the C-shaped bayonet is used for clamping and cooperating with the handle of the trolley circuit breaker.

5. The exoskeleton robot for assisting in operating a high-voltage room trolley circuit breaker according to claim 1 is characterized in that: The support rod is a telescopic support rod, which includes a first section and a second section. The first section is transmission-connected to the waist-hip driving member, the second section is slidingly connected to the first section along the axial direction of the support rod, and the second section is rotationally matched with the first section around the circumferential direction of the support rod.

6. The exoskeleton robot for assisting in operating a high-voltage room trolley circuit breaker according to claim 5 is characterized in that: A waist base is also fixedly provided on the outer side of the waist-hip strap, and a rotating plate is hingedly installed on the waist base. The rotating axis of the rotating plate extends parallel to the width direction of the trunk fixing structure, and the waist-hip driving member is installed on the rotating plate.

7. The exoskeleton robot for assisting in operating a high-voltage room trolley circuit breaker according to claim 6 is characterized in that: The waist-hip driving component is a waist-hip motor, and the axial direction of the waist-hip driving component is arranged perpendicular to the plate surface of the rotating plate; the shoulder driving component is a shoulder motor, and the axis of the shoulder driving component coincides with the hinge axis between the upper arm connecting rod and the support rod; the elbow driving component is an elbow motor, and the axis of the elbow driving component coincides with the hinge axis between the forearm connecting rod and the upper arm connecting rod.

8. The exoskeleton robot for assisting in operating a high-voltage chamber trolley circuit breaker according to any one of claims 1 to 7, characterized in that: A flexible belt is also connected between the upper part of the support rod and the shoulder strap.

9. The exoskeleton robot for assisting in operating a high-voltage chamber trolley circuit breaker according to any one of claims 1 to 7, characterized in that: The shoulder strap is a Y-shaped structure, and two arc-shaped plates are arranged on the upper part of the shoulder strap. The two arc-shaped plates are arranged at intervals along the length direction of the trunk fixing structure, and the arc-shaped plates are used for shoulder positioning and cooperation.

10. The exoskeleton robot for assisting in operating a high-voltage chamber trolley circuit breaker according to any one of claims 1 to 7, characterized in that: The boom connecting rod is provided with a boom connecting sleeve, and the forearm connecting rod is provided with a forearm connecting sleeve.

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