Lower limb power-assisted exoskeleton robot for electric power high-altitude operation

Abstract

The lower limb assisting exoskeleton robot comprises two sets of skeleton modules which are oppositely arranged, each skeleton module comprises a mounting frame and a skeleton structure arranged at the bottom of the mounting frame, each skeleton module further comprises a waist limiting structure, and each waist limiting structure comprises a front waist limiting rod and a side waist limiting rod; the front waist limiting rods are installed on the front side frame bodies of the corresponding installation frames, the front waist limiting rods of the two skeleton modules extend oppositely till the cantilever ends of the front waist limiting rods are close to each other, and the side waist limiting rods are connected to the corresponding front waist limiting rods and extend towards the rear sides of the front waist limiting rods. The positions of the side waist limiting rods on the corresponding front waist limiting rods are adjustable, and the adjusting direction is parallel to the axial direction of the front waist limiting rods. The waist of an operator can be reliably restrained and protected, the situations of shaking, instability and the like of the operator due to factors such as incoordination of the lower limbs and the upper body are reduced, then the situations of falling and the like of the operator are reduced, and the safety of electric power high-altitude operation is improved.

Description

Technical Field

[0001] The present invention belongs to the power engineering industry, and particularly relates to a lower limb assist exoskeleton robot for high-altitude power operation. Background Art

[0002] During high-altitude power operation, a lower limb exoskeleton robot that supports the lower body through a robot is a human-machine parallel device, which can effectively avoid the situation of human body falling due to its own physical condition or external factors. In addition, by providing shape assistance to the operator through the robot, physical strength can be effectively saved and safety can be protected.

[0003] Although the existing lower limb exoskeleton robots are equipped with protection devices, for example, Chinese Patent CN109730903B discloses a rear fall protection device for a lower limb exoskeleton robot. Based on the lower limb exoskeleton robot, a protection device is provided on the back of the waist support, which can effectively reduce human body injury when the operator falls. However, these devices do not solve the problem of falling caused by factors such as the operator's shaking. Especially for operators who are not familiar with the exoskeleton robot, it is easy to fall due to the incoordination between the lower limbs and the upper body, thus endangering personal safety. Summary of the Invention

[0004] The present invention relates to a lower limb assist exoskeleton robot for high-altitude power operation, which can at least solve some defects of the prior art.

[0005] The present invention relates to a lower limb assist exoskeleton robot for high-altitude power operation, including two sets of bone modules arranged oppositely. The bone module includes a mounting frame and a bone structure provided at the bottom of the mounting frame. The bone module further includes a waist limiting structure, and the waist limiting structure includes a front waist limiting rod and a side waist limiting rod. The front waist limiting rod is installed on the front frame body of the corresponding mounting frame, and the front waist limiting rods of the two sets of bone modules extend towards each other until their cantilever ends are close to each other. The side waist limiting rod is connected to the corresponding front waist limiting rod and extends towards the rear of the front waist limiting rod. The position of the side waist limiting rod on the corresponding front waist limiting rod is adjustable, and the adjustment direction is parallel to the axial direction of the front waist limiting rod.

[0006] As one of the implementation manners, a hook adapted to be hooked and cooperated with a suspension point in the operation area is provided on the side waist limiting rod.

[0007] As one of the implementation manners, the hook is provided at the cantilever end of the side waist limiting rod, and the length of the side waist limiting rod is adjustable.

[0008] As one of the implementation manners, the side waist limiting rod is rotatably connected to the corresponding front waist limiting rod, and the rotation axis is parallel to the axial direction of the front waist limiting rod.

[0009] As one of the implementation modes, the front waist limiting rod has a threaded adjustment section, and the mounting end of the side waist limiting rod is a threaded sleeve screwed onto the threaded adjustment section.

[0010] As one of the implementation methods, the two groups of skeletal modules are connected via a coupling structure, and the coupling structure can adapt to the height difference between the two groups of skeletal structures.

[0011] As one of the embodiments, the coupling structure includes a coupling rod and two sets of angle adjustment mechanisms respectively arranged on two mounting frames, the angle adjustment mechanism includes an angle adjustment drive motor installed on the corresponding mounting frame and a transmission sleeve that is transmission-connected to the angle adjustment drive motor, the axial direction of the transmission sleeve is parallel to the front and rear directions of the mounting frame, the coupling rod is a telescopic rod and its two ends are respectively connected to two transmission sleeves.

[0012] As one of the embodiments, the coupling rod includes a first connecting rod segment and a second connecting rod segment, one end of the first connecting rod segment is provided with an adjustment sleeve, and the other end is connected to one of the transmission sleeves, one end of the second connecting rod segment is inserted into the adjustment sleeve, and the other end is connected to another transmission sleeve, and a telescopic drive device is provided in the adjustment sleeve and its output end is connected or abutted with the insertion end of the second connecting rod segment.

[0013] As one of the implementation modes, the coupling rod is located at the rear side of the side waist limiting rod.

[0014] As one of the implementation modes, the mounting frame is provided with a swing limiting portion for limiting the swing angle of the coupling rod.

[0015] The present invention has at least the following beneficial effects:

[0016] In the present invention, a waist limiting structure is configured on the exoskeleton robot. Through the cooperation of the front waist limiting rod and the side waist limiting rod, the waist of the operator can be reliably restrained, thereby improving the protection effect on the operator, reducing the operator's shaking and instability due to factors such as the lack of coordination between the lower limbs and the upper body, thereby reducing the operator's falls and improving the safety of high-altitude power operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1Schematic diagram of the structure of the lower limb assistive exoskeleton robot provided by the embodiments of the present invention;

[0019] Figure 2 Schematic diagram of the structure of the waist limiting structure;

[0020] Figure 3 Schematic diagram of the structure of the coupling structure;

[0021] Figure 4 Schematic diagram of the structure of the leg fixing unit. Detailed implementation manners

[0022] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Apparently, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0023] As Figure 1 and Figure 2 , the embodiments of the present invention provide a lower limb assistive exoskeleton robot for high-altitude power operation, including two sets of bone modules arranged oppositely. The bone module includes a mounting frame 1 and a bone structure provided at the bottom of the mounting frame 1. The bone module further includes a waist limiting structure 2. The waist limiting structure 2 includes a front waist limiting rod 21 and a side waist limiting rod 22. The front waist limiting rod 21 is installed on the front side frame of the corresponding mounting frame 1, and the front waist limiting rods 21 of the two sets of bone modules extend towards each other until their cantilever ends are close to each other. The side waist limiting rod 22 is connected to the corresponding front waist limiting rod 21 and extends towards the rear side of the front waist limiting rod 21. The position of the side waist limiting rod 22 on the corresponding front waist limiting rod 21 is adjustable, and the adjustment direction is parallel to the axial direction of the front waist limiting rod 21.

[0024] The two bone structures are used to cooperate with the two legs of the operator respectively, and the mounting frame 1 generally corresponds to the waist position of the operator. It can be understood that the front-back direction of the mounting frame 1 corresponds to the front-back direction of the operator. Among them, the front waist limiting rod 21 is installed on the front side frame of the corresponding mounting frame 1 and is used to limit the front side of the operator's waist. The cantilever ends of the two front waist limiting rods 21 are close to each other but do not touch, which can avoid mutual interference with the activities of the two sets of bone modules while ensuring the front side waist limiting effect; the two side waist limiting rods 22 are used to limit the left and right sides of the operator's waist. Since the position of the side waist limiting rod 22 on the corresponding front waist limiting rod 21 is adjustable, the distance between the two front waist limiting rods 21 is adjustable, so as to meet the waist constraints of different operators.

[0025] Among them, the two front waist limiting rods 21 are preferably coaxially arranged; it can be understood that the cantilever end of the front waist limiting rod 21 is the end far from the corresponding mounting bracket 1.

[0026] Preferably, the axis of the side waist limiting rod 22 is perpendicular to the axis of the front waist limiting rod 21.

[0027] For the position adjustment of the side waist limiting rod 22 on the corresponding front waist limiting rod 21, it includes but is not limited to the following methods:

[0028] Such as Figure 1 and Figure 2 , the front waist limiting rod 21 has a threaded adjustment section 211, and the mounting end of the side waist limiting rod 22 is a threaded sleeve 221 screwed on the threaded adjustment section 211. By driving the threaded sleeve 221 to rotate on the threaded adjustment section 211, the threaded sleeve 221 can be driven to generate a displacement movement along the axial direction of the front waist limiting rod 21, thereby realizing the adjustment of the position of the side waist limiting rod 22 on the front waist limiting rod 21.

[0029] At the same time, through the thread fit between the threaded sleeve 221 and the threaded adjustment section 211, it can be ensured that the side waist limiting rod 22 remains stationary after being adjusted in place.

[0030] Meanwhile, the side waist limiting rod 22 is rotatable relative to the front waist limiting rod 21, and the inclination angle of the side waist limiting rod 22 relative to the horizontal plane can be moderately adjusted, further improving the protection flexibility and reliability for the operator.

[0031] Optionally, when the vertical installation position of the front waist limiting rod 21 on the mounting bracket 1 is adjustable, it can further ensure the applicability to different operators and improve the protection effect for the operator; the specific position adjustment method is not elaborated here.

[0032] In one embodiment, such as Figure 1 and Figure 2 , a hook 23 adapted to be hooked and cooperated with the hanging point in the working area is provided on the side waist limiting rod 22. By hooking and cooperating the hook 23 with the hanging point in the working area, the operator's waist can be suspended and fixed by means of the hanging point in the working area, and the anti-fall effect is better, further ensuring the operation safety of the operator.

[0033] Preferably, such as Figure 2 , the hook 23 is arranged at the top of the side waist limiting rod 22, and the hook mouth preferably faces forward, and the hooking and cooperating effect and the anti-fall effect are better.

[0034] Preferably, the hook 23 is provided at the cantilever end of the side waist limit rod 22, and the length of the side waist limit rod 22 is adjustable. Based on this design, on the one hand, the hook 23 can be more accurately connected to the suspension point of the work area by adjusting the length of the side waist limit rod 22. On the other hand, after minimizing the length of the side waist limit rod 22, the side waist limit rod 22 is driven to rotate relative to the front waist limit rod 21, which can avoid interference with other equipment during the rotation of the side waist limit rod 22. Optionally, the side waist limit rod 22 includes a fixed rod section and a movable rod section. One end of the fixed rod section is connected to the front waist limit rod 21, and the movable rod section is screwed to the other end of the fixed rod section. By driving the movable rod section to rotate in and out relative to the fixed rod section, the length of the side waist limit rod 22 can be adjusted.

[0035] When the side waist limit rod 22 is rotatably connected to the front waist limit rod 21, since the angle of the side waist limit rod 22 relative to the horizontal plane is adjustable, this can facilitate the hooking and coordination of the hook 23 with the hanging point in the working area, ensuring that the above-mentioned exoskeleton robot can be suitable for different operators, and improving the adaptability of the hook 23 relative to the hanging point in the working area, which can facilitate operators to perform high-altitude operations.

[0036] In particular, the coupling of the side waist limiting rod 22 in terms of adjustable length and rotatable side waist limiting rod 22 relative to the front waist limiting rod 21 can further improve the flexibility of spatial position adjustment and activity adaptability of the hook 23.

[0037] Continue to optimize the above exoskeleton robot, such as Figure 1 and Figure 3 The two skeletal modules are connected by a coupling structure 3, which can adapt to the height difference between the two skeletal structures. This coupling structure 3 connects the two skeletal modules as a whole, and because of its ability to adapt to the height difference between the two skeletal structures, it can improve the flexibility and coordination of the two skeletal modules.

[0038] In one embodiment, Figure 3 The coupling structure 3 includes a coupling rod 31 and two sets of angle adjustment mechanisms respectively arranged on two mounting frames 1. The angle adjustment mechanism includes an angle adjustment drive motor 32 installed on the corresponding mounting frame 1 and a transmission sleeve 33 that is transmission-connected to the angle adjustment drive motor 32. The axial direction of the transmission sleeve 33 is parallel to the front and rear directions of the mounting frame 1. The coupling rod 31 is a telescopic rod and its two ends are respectively connected to the two transmission sleeves 33.

[0039] Preferably, if Figure 1, the coupling link 31 is located at the rear side of the side waist limiting rod 22. Specifically, the angle adjustment drive motor 32 is arranged on the rear frame of the mounting frame 1, and the coupling link 31 is suspended between the two mounting frames 1 and is disposed opposite to the front waist limiting rod 21 front and back. Based on this design, the rear side of the waist of the operator can be limited by means of the coupling link 31, so as to cooperate with the front waist limiting rod 21 and the side waist limiting rod 22 to form a closed-loop limit for the operator, further improving the protection reliability for the operator. While coupling two sets of bone modules, the rear waist limiting rod is saved, saving costs and reducing the weight of the exoskeleton robot at the same time.

[0040] When the front-back mounting position of the front waist limiting rod 21 on the mounting frame 1 is adjustable, that is, the indirect adjustment between the front waist limiting rod 21 and the coupling link 31, the applicability to different operators can be further ensured, and the protection effect on the operator can be improved; the specific position adjustment method is not elaborated here.

[0041] In the above coupling structure 3, by driving the transmission sleeve 33 to rotate through the angle adjustment drive motor 32, and then driving the coupling link 31 to swing, the purpose of adapting to the height difference change of the two sets of bone structures can be achieved, so as to adapt to the leg activities of the operator and ensure the action coordination between the two sets of bone structures. At the same time, with the power of the angle adjustment drive motor 32, the up-and-down movement of the other side bone module can also be assisted, further saving the physical consumption of the operator.

[0042] For the transmission connection between the angle adjustment drive motor 32 and the transmission sleeve 33, it includes but is not limited to using a gear transmission and other methods.

[0043] Preferably, the angle adjustment drive motor 32 is detachably mounted on the mounting frame 1, including but not limited to being flange-connected to the mounting frame 1 through a connection flange 34.

[0044] Since the coupling link 31 is a telescopic rod, its length is adjusted to adapt to its swinging motion. In one embodiment, such as Figure 1 and Figure 3 , the coupling link 31 includes a first link segment 311 and a second link segment 312. One end of the first link segment 311 is provided with an adjustment sleeve, and the other end is connected to one of the transmission sleeves 33. One end of the second link segment 312 is inserted into the adjustment sleeve, and the other end is connected to the other transmission sleeve 33. An expansion and contraction drive device 313 is arranged in the adjustment sleeve, and its output end is connected or abutted against the insertion end of the second link segment 312.

[0045] Among them, the expansion and contraction drive device 313 can adopt drive devices such as cylinders, hydraulic cylinders, and electric push rods, and its output shaft is coaxial with the first link segment 311 and the second link segment 312.

[0046] Wherein, the outer wall of the second link segment 312 and the inner wall of the adjusting sleeve are preferably in sliding fit to ensure the smooth movement between the first link segment 311 and the second link segment 312.

[0047] In one embodiment, a swing limiting portion for limiting the swing angle of the coupling link 31 is provided on the mounting bracket 1, which can avoid the situation that the height difference between the two bone structures changes greatly due to factors such as the instability of the operator, thereby further improving the operation safety of the operator. Optionally, as Figure 1 , a limiting platform 11 is provided on the mounting bracket 1, and the limiting platform 11 is located directly below the coupling link 31; at the same time, the angle adjustment drive motor 32 can also be installed on the limiting platform 11, or the angle adjustment drive motor 32 can be supported by the limiting platform 11.

[0048] In one embodiment, as Figure 1 , the bone structure includes a hip joint unit 41 and a knee joint unit 42. The hip joint unit 41 is arranged on the mounting bracket 1. The knee joint unit 42 is connected to the hip joint unit 41 through a first support column 43. The knee joint unit 42 is connected with a second support column 44, and leg fixing units are respectively arranged on the first support column 43 and the second support column 44.

[0049] Preferably, as Figure 1 and Figure 4 , the leg fixing unit includes a leg fixing ring 452 and a leg support rod 451. One end of the leg support rod 451 is installed on the corresponding support column, and the leg fixing ring 452 is arranged at the other end of the leg support rod 451.

[0050] Wherein, the leg fixing ring 452 is preferably made of an elastic tightening belt, which can be adaptively sleeved on the leg of the operator.

[0051] Optionally, the leg support rod 451 is rotatably installed on the corresponding support column, which can make the leg fixing ring 452 change the inclination state, improve the position flexibility of the leg fixing ring 452 relative to the support column, and avoid discomfort to the leg when the support column is inclined; including but not limited to making the leg support rod 451 provided with a threaded section 4511 and being threadedly connected to the corresponding support column. Further, as Figure 4 , a support tube 453 can be arranged on the support column. The leg support rod 451 passes through the support tube 453 and is threadedly connected to the support column. A snap ring 454 can be arranged on the leg support rod 451 and a torsion spring 455 can be arranged on the snap ring 454. The other end of the torsion spring 455 is fixed on the inner wall of the support tube 453, and the rotation reset of the leg support rod 451 when it is not fixed can be realized through the torsion spring 455.

[0052] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A lower limb assistive exoskeleton robot for high-altitude power operation, comprising two sets of bone modules arranged oppositely, wherein the bone module includes a mounting frame and a bone structure arranged at the bottom of the mounting frame, and is characterized in that, The skeletal module also includes a waist limiting structure, which includes a front waist limiting rod and a side waist limiting rod. The front waist limiting rod is installed on the front side frame of the corresponding mounting frame, and the front waist limiting rods of the two groups of skeletal modules extend toward each other until their cantilever ends are close to each other. The side waist limiting rod is connected to the corresponding front waist limiting rod and extends to the rear side of the front waist limiting rod. The position of the side waist limiting rod on the corresponding front waist limiting rod is adjustable and the adjustment direction is parallel to the axial direction of the front waist limiting rod.

2. The lower limb assistive exoskeleton robot for high-altitude electric power operation according to claim 1, characterized in that: The side waist limiting rod is provided with a hook suitable for hooking and cooperating with the hanging point of the working area.

3. The lower limb assistive exoskeleton robot for high-altitude electric power operation according to claim 2, characterized in that: The hook is arranged at the cantilever end of the side waist limiting rod, and the length of the side waist limiting rod is adjustable.

4. The lower limb assisted exoskeleton robot for high-altitude electric power operation according to claim 2, characterized in that: The side waist limiting rod is rotatably connected to the corresponding front waist limiting rod, and the rotation axis is parallel to the axial direction of the front waist limiting rod.

5. The lower limb assistive exoskeleton robot for high-altitude electric power operation according to any one of claims 1 to 4, characterized in that: The front waist limiting rod has a threaded adjustment section, and the mounting end of the side waist limiting rod is a threaded sleeve screwed on the threaded adjustment section.

6. The lower limb assistive exoskeleton robot for high-altitude power operation according to claim 1, wherein: The two groups of skeletal modules are connected by a coupling structure, and the coupling structure can adapt to the height difference between the two groups of skeletal structures.

7. The lower limb assistive exoskeleton robot for high-altitude power operation according to claim 6, characterized in that: The coupling structure includes a coupling rod and two sets of angle adjustment mechanisms respectively arranged on two mounting frames. The angle adjustment mechanism includes an angle adjustment drive motor installed on the corresponding mounting frame and a transmission sleeve transmission-connected to the angle adjustment drive motor. The axial direction of the transmission sleeve is parallel to the front and rear directions of the mounting frame. The coupling rod is a telescopic rod and its two ends are respectively connected to two transmission sleeves.

8. The lower limb assistive exoskeleton robot for high-altitude power operation according to claim 7, characterized in that: The coupling rod includes a first connecting rod segment and a second connecting rod segment, one end of the first connecting rod segment is provided with an adjustment sleeve, and the other end is connected to one of the transmission sleeves, one end of the second connecting rod segment is inserted into the adjustment sleeve, and the other end is connected to another transmission sleeve, a telescopic drive device is provided in the adjustment sleeve and its output end is connected or abutted with the insertion end of the second connecting rod segment.

9. The lower limb assistive exoskeleton robot for high-altitude power operation according to claim 6, characterized in that: The coupling rod is located at the rear side of the side waist limiting rod.

10. The lower limb assistive exoskeleton robot for high-altitude power operation according to claim 6, characterized in that: The mounting frame is provided with a swing limiting portion for limiting the swing angle of the coupling rod.

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