An integrated power inspection exoskeleton with lightweight modular structure

Abstract

The present invention discloses an integrated power inspection exoskeleton lightweight modular structure, which relates to the technical field of intelligent power equipment, including a shell mechanism, and an assembly mechanism is fixedly connected to the front end surface of the shell mechanism. The main body of the assembly mechanism is a ring structure, which solves the problem that the existing exoskeleton has a large dead weight and thus increases the extra burden on the user. When in use, the driving machinery needs to rely on an external power module for driving. Under this driving mode, it is impossible to replace the backup power supply and the drive unit, and it is impossible to adapt to the problem of rapid switching under different torque requirements. Through the arc-shaped cooperation between the limiting mechanism and the limiting component, and the hexagonal locking structure of the limiting plug and the limiting slot, the servo motor and the energy storage component can be quickly replaced, and different torque motors or backup batteries can be switched without tools, thereby solving the problem that the existing exoskeleton relies on a single power supply and cannot adapt to complex working conditions, thereby improving operation continuity.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent power equipment, and in particular to an integrated power inspection exoskeleton with a lightweight modular structure. Background Art

[0002] As a core link in ensuring the safe operation of the power grid, power inspection requires staff to complete tasks such as equipment status detection, defect identification and environmental monitoring in complex scenarios such as high-voltage equipment areas, transmission towers, and cable tunnels.

[0003] In the prior art, such as Chinese patent publication number: CN119927874A, an exoskeleton-assisted robot based on power line inspection is disclosed, including a robot body, the robot body including a carrying frame, a control system, a wearable mechanical arm and a power-assisted lifting mechanism, one side of the carrying frame is connected to a shoulder strap, the outer side of the carrying frame is installed with a control system, the bottom end of the wearable mechanical arm is welded with a support plate, and the wearable mechanical arm is connected to the control system part through the support plate, and one end of the wearable mechanical arm is installed with a large arm joint. 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 mechanical arm can be controlled, so that it is suitable for people with different arm lengths and habits, increasing the force application points, and also making it more convenient to apply force and wear. The lifted rod can be rotated in a larger range and with higher precision, and the operation is more flexible.

[0004] In the existing technology, the existing power inspection exoskeleton, when in use, increases the extra burden on the user due to its own heavy weight. In addition, when in use, the driving mechanism needs to rely on an external power module for driving. Under this driving mode, it is impossible to replace the backup power supply and drive unit, and it is impossible to adapt to the rapid switching under different torque requirements.

[0005] Therefore, we propose an integrated power inspection exoskeleton lightweight modular structure to solve the problems raised in the above background technology. Summary of the Invention

[0006] The purpose of the present invention is to provide an integrated power inspection exoskeleton with a lightweight modular structure to solve the problem raised in the above background technology that the existing exoskeleton has a large weight, which increases the extra burden on the user, and when in use, the driving machinery needs to rely on an external power module for driving. Under this driving mode, it is impossible to replace the backup power supply and drive unit, and it is impossible to adapt to the problem of rapid switching under different torque requirements.

[0007] To achieve the above objectives, the present invention provides the following technical solutions: an integrated power inspection exoskeleton lightweight modular structure, comprising: a housing mechanism, an assembly mechanism fixedly connected to the front end face of the housing mechanism, the assembly mechanism having an annular main body and an annular groove formed in the front end thereof, the annular groove being a guide groove, and a limit assembly fixedly connected to the front end face of the assembly mechanism;

[0008] The limit assemblies are provided at two locations, and the two limit assemblies are fixedly connected to the left and right sides of the front end surface of the assembly mechanism in opposite directions. The limit assembly is an arc-shaped structure, and an arc-shaped groove is provided inside the limit assembly. A cover body mechanism is installed at the front end of the assembly mechanism. The main body of the cover body mechanism is a rear one-way opening structure, and the limit mechanism is fixedly connected to the rear side surface of the cover body mechanism. There are two limit mechanisms in total, and the two limit mechanisms are fixedly connected to the left and right sides of the rear end surface of the cover body mechanism in opposite directions. The limit mechanism is an arc-shaped structure, and the outer sides of the two limit mechanisms are fixedly connected with a protrusion assembly with an arc structure. The limit mechanism matches the arc groove provided in the limit assembly, and the protrusion assembly fixedly connected to the outer side of the limit mechanism matches the guide groove.

[0009] Preferably, grooves are provided in a circular array on the outer circumference of the cover mechanism, and the grooves are anti-slip grooves. An energy storage component is fixedly connected to the front end surface of the cover mechanism, and the energy storage component is a battery structure, and a charging port is provided on the left side of the outer circumference of the energy storage component.

[0010] Preferably, the charging port is used to charge the interior of the energy storage component, and a limiting support plate is fixedly connected to the outer peripheral surface of the cover mechanism, the main body of the limiting support plate is an arc-shaped structure, and there are two limiting support plates in total.

[0011] Preferably, the two limiting support plates are fixedly connected to the upper and lower side surfaces of the cover body mechanism in opposite directions, and the interiors of the two limiting support plates are provided with limiting slots that are bidirectionally connected on the upper and lower sides, and the main body of the limiting slots is a hexagonal structure.

[0012] Preferably, a support plate assembly is fixedly connected to the inner side of the cover body mechanism, the support plate assembly is a cross-shaped structure, and a servo motor is installed at the front end of the support plate assembly, and an output shaft is provided on the rear side of the servo motor, and the output shaft is connected to the support plate assembly through a bearing seat.

[0013] Preferably, a connecting assembly is connected to the rear output shaft of the servo motor via a spline, the main body of the connecting assembly is a hexagonal structure, and the rear side of the housing mechanism is fixedly connected to a limiting frame, which is an arc-shaped structure.

[0014] Preferably, a connecting plate is fixedly connected to the rear side of the limiting frame, and there are four connecting plates in total, wherein every two longitudinally adjacent connecting plates form a group, and the two groups of connecting plates are fixedly connected to the rear end surfaces of the two limiting frames in opposite directions.

[0015] Preferably, the inner sides of the two groups of connecting plates are rotatably connected to connecting shafts, and there are two connecting shafts in total. The outer sides of the two connecting shafts are also fixedly connected to strap assemblies, which are elastic, and an opening is provided at the bottom end of the outer peripheral surface of the shell mechanism, which is used for the swing of the arm assembly.

[0016] Preferably, the bottom end of the outer circumference of the shell mechanism is fixedly connected to a shield mechanism, and an annular guide groove is provided on the inner wall of the shell mechanism. There are two guide grooves in total, and the two guide grooves are provided in a linear array on the inner wall of the shell mechanism.

[0017] Preferably, the top end of the outer circumference of the shell mechanism is fixedly connected with a guard cover assembly, the top surface of the guard cover assembly is fixedly connected with a connecting plate, the interior of the connecting plate is provided with a through hole for connecting with the outside, and the guard cover mechanism and the front end surface of the guard cover assembly are both provided with a longitudinally arranged guide groove, the inner side of the guide groove is slidably connected with a moving assembly, the outer side of the moving assembly is fixedly connected with two protrusions in opposite directions, and a reset assembly is fixedly connected between the moving assembly and the guide groove, the reset assembly is a telescopic rod structure with a spring, and the front end surface of the moving assembly is fixedly connected with an anti-slip assembly, the bottom end surface of the moving assembly is fixedly connected with a limiting plug block, the limiting plug block is used to pass through the limiting slot and the assembly mechanism, and is used to limit the cover body mechanism, the interior of the shell mechanism is assembled with a rotating mechanism through a guide ring assembly, and the front end surface of the rotating mechanism is provided with a slot assembly matching the connecting assembly, the bottom end of the outer circumference of the rotating mechanism is fixedly connected with a support arm assembly, the support arm assembly is a lightweight hollow structure, and the side of the support arm assembly away from the rotating mechanism is also fixedly connected with a splicing shaft.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. When the present invention is in use, the arc-shaped cooperation between the limiting mechanism and the limiting assembly, and the hexagonal locking structure between the limiting plug and the limiting slot enable the rapid replacement of the servo motor and the energy storage assembly. Different torque motors or backup batteries can be switched without tools, solving the problem that existing exoskeletons rely on a single power supply and cannot adapt to complex working conditions, thereby improving operation continuity.

[0020] 2. When the present invention is used, the shell structure adopts carbon fiber composite materials, combined with the arc-shaped rotation design of the limit frame and the elastic strap assembly, which greatly reduces the weight of the entire machine, and is significantly lighter than the traditional aluminum alloy exoskeleton; the shoulder strap assembly can achieve multi-angle adjustment through the connecting shaft, transfer the load to the lower limbs through the hip joint, reduce the load on the waist muscles, and significantly reduce the fatigue of the user.

[0021] 3. When the present invention is in use, the annular sliding cooperation between the guide groove and the guide ring assembly allows the rotating mechanism to swing adaptively with the human body's movements. The hollow knot of the arm assembly combined with the buffer design of the reset assembly can absorb lateral impact forces during high-altitude operations. At the same time, the precise drive of the servo motor reduces the error rate of the exoskeleton, solving the technical defects of the existing exoskeleton such as stiff movements and concentrated loads. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a disassembled front and side perspective view of a lightweight modular structure of an integrated power inspection exoskeleton according to the present invention;

[0023] Figure 2 This is an overall isometric view of a lightweight modular structure of an integrated power inspection exoskeleton according to the present invention;

[0024] Figure 3 This is a three-dimensional diagram of the combination of a cover mechanism and a limiting mechanism of a lightweight modular structure of an integrated power inspection exoskeleton of the present invention;

[0025] Figure 4 This is a three-dimensional diagram of the shell mechanism and the limit frame combination of the lightweight modular structure of an integrated power inspection exoskeleton of the present invention;

[0026] Figure 5 This is a three-dimensional diagram of the combined rotation mechanism and arm assembly of a lightweight modular structure of an integrated power inspection exoskeleton of the present invention;

[0027] Figure 6 This is a left-side perspective view of the integrated power inspection exoskeleton lightweight modular structure of the present invention;

[0028] Figure 7 The present invention is an integrated power inspection exoskeleton lightweight modular structure Figure 2 A in the middle is an enlarged stereogram;

[0029] Figure 8 The present invention is an integrated power inspection exoskeleton lightweight modular structure Figure 4 The enlarged stereogram at B in the middle;

[0030] In the figure: 1. Shell mechanism; 101. Limiting frame; 1011. Connecting plate; 1012. Connecting shaft; 1013. Strap assembly; 2. Shield mechanism; 201. Guide groove; 2011. Shield assembly; 2012. Connecting member; 3. Limiting guide groove; 301. Moving assembly; 3011. Resetting assembly; 3012. Anti-slip assembly; 3013. Limiting plug; 4. Rotating mechanism; 401. Guide ring assembly; 4011. Slot assembly; 4012, support arm assembly; 4013, splicing shaft; 5. Assembly mechanism; 501, guide groove; 5011, limit assembly; 6. Cover mechanism; 601, anti-slip groove; 6011, energy storage assembly; 6012, charging port; 6013, limit support plate; 6014, limit slot; 7. Limit mechanism; 701, bump assembly; 7011, support plate assembly; 7012, servo motor; 7013, connection assembly. DETAILED DESCRIPTION

[0031] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the implementation regulations described are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0032] Example 1

[0033] See also Figures 1-8 As shown, the present invention provides a technical solution: an integrated power inspection exoskeleton lightweight modular structure, including a shell mechanism 1, an assembly mechanism 5 is fixedly connected to the front end surface of the shell mechanism 1, the main body of the assembly mechanism 5 is an annular structure, and an annular groove is formed in the front end of the assembly mechanism 5, which is a guide groove 501, and a limit assembly 5011 is also fixedly connected to the front end surface of the assembly mechanism 5;

[0034] There are two limit components 5011, and the two limit components 5011 are fixedly connected to the left and right sides of the front end surface of the assembly mechanism 5. The limit components 5011 are arc-shaped structures, and an arc-shaped groove is opened inside the limit components 5011. The front end of the assembly mechanism 5 is installed with a cover body mechanism 6. The main body of the cover body mechanism 6 is a rear one-way opening structure, and the rear side surface of the cover body mechanism 6 is fixedly connected to the limit mechanism 7. There are two limit mechanisms 7, and the two limit mechanisms 7 are fixedly connected to the left and right sides of the rear end surface of the cover body mechanism 6. The limit mechanism 7 is an arc-shaped structure, and the outer sides of the two limit mechanisms 7 are fixedly connected with the arc-shaped protrusion components 701. The limit mechanism 7 is connected to the opening The arc groove provided in the limit component 5011 matches, the protrusion component 701 fixedly connected to the outside of the limit mechanism 7 matches the guide groove 501, and the outer peripheral surface of the cover body mechanism 6 is provided with grooves in a ring array, which are anti-slip grooves 601. The front end face of the cover body mechanism 6 is fixedly connected with an energy storage component 6011, and the energy storage component 6011 is a battery structure, and a charging port 6012 is provided on the left side of the outer peripheral surface of the energy storage component 6011. The charging port 6012 is used to charge the inside of the energy storage component 6011, and a limit support plate 6013 is fixedly connected to the outer peripheral surface of the cover body mechanism 6. The main body of the limit support plate 6013 is an arc structure, and there are two limit support plates 6013.

[0035] In this embodiment, when in use, a double-arc limit mechanism 7 is designed on the rear side of the cover mechanism 6. The inner arc surface of the double-arc limit mechanism 7 and the arc groove of the limit component 5011 at the front end of the assembly mechanism 5 adopt a curved surface conformal design, and the curvature radius of the two completely matches to form a 360° circumferential positioning surface. The outer protrusion component 701 is a semicircular arc protrusion structure, which forms a circular track with the guide groove 501 inside the assembly mechanism 5. When the cover mechanism 6 approaches the assembly mechanism 5, the protrusion component 701 rotates clockwise along the guide groove 501, and the cover mechanism 6 is automatically centered by the friction force of the curved surface until the arc surface of the limit mechanism 7 is completely in contact with the arc groove of the limit component 5011, eliminating the radial gap.

[0036] The moving component 301 passes through the limiting guide groove 3 of the shield mechanism 2 and the shield component 2011. Its main body is a cylindrical structure, and rectangular protrusions are symmetrically arranged on the outside to form a sliding guide with the inner wall of the limiting guide groove 3. The reset component 3011 adopts the structure of a telescopic rod with a built-in spring. One end of the reset component 3011 is fixed to one end of the limiting guide groove 3, and the other end abuts the moving component 301. Under normal conditions, a downward pre-tightening force is provided to enable the limiting plug 3013 at the bottom end of the moving component 301 to be inserted into the limiting slot 6014 of the limiting support plate 6013 of the cover body mechanism 6. The limiting plug 3013 and the limiting slot 6014 are both hexagonal in cross-section. The two form an anti-rotation constraint around the axial direction through the edge bite. At the same time, the arc-shaped outer surface of the limiting support plate 6013 abuts against the front end face of the assembly mechanism 5 to bear the axial tension of the module;

[0037] The servo motor 7012 is fixed to the inner side of the cover mechanism 6 through the cross-shaped support plate assembly 7011. The four support arms of the support plate assembly 7011 are connected to the inner wall of the cover mechanism 6 by bolts to form a rigid support. The output shaft of the servo motor 7012 is processed with an external spline, which is interference fit with the internal spline hole of the connecting assembly 7013. The outer hexagonal cross-section of the connecting assembly 7013 is precisely matched with the hexagonal groove of the slot assembly 4011 of the rotating mechanism 4 to ensure the synchronization of torque transmission. When the power module needs to be replaced, the operator presses the anti-slip assembly 3012 at the front end of the moving assembly 301 with his finger. The surface of this assembly is provided with a grid-like pattern to increase friction. After the force is applied, the moving assembly 301 overcomes the spring preload and slides upward. The limit plug 3013 disengages from the limit slot 6014. At this time, the cover mechanism 6 is rotated counterclockwise, and the protrusion assembly 701 slides in the opposite direction along the guide groove 501 to remove the module. The entire process is automatically aligned, locked and separated through the geometric constraints of the mechanical structure, without the need for additional tools or complicated operations.

[0038] This mechanism constructs a rapid replacement system for modular power units through the triple mechanism of curved surface positioning, hexagonal locking and spring linkage. The curved surface coordination realizes gapless positioning, avoiding the risk of loosening of traditional snap-on interfaces; the hexagonal structure prevents the module from being installed in reverse through a unique directional design, thereby improving operational reliability; the spring-driven limit plug 3013 ensures axial stiffness in the connected state, and provides clear operational feedback during disassembly. Compared with the design of the prior art that relies on screw fixation or a single plug-in interface, this embodiment realizes an efficient operation process of "rotating to position, pressing to lock", solving the problems of time-consuming replacement of traditional exoskeleton power units and fragile interfaces, and is particularly suitable for scenarios where frequent switching of detection equipment is required during power inspections.

[0039] Example 2

[0040] like Figures 1-6 As shown, the two limiting support plates 6013 are fixedly connected to the upper and lower side surfaces of the cover body mechanism 6 in opposite directions, and the interiors of the two limiting support plates 6013 are provided with limiting slots 6014 that are bidirectionally connected on the upper and lower sides. The main body of the limiting slots 6014 is a hexagonal structure, and the inner side of the cover body mechanism 6 is fixedly connected with a support plate assembly 7011, which is a cross-shaped structure, and a servo motor 7012 is installed at the front end of the support plate assembly 7011, and an output shaft is provided on the rear side of the servo motor 7012, which is connected to the support plate assembly 7011 through a bearing seat, and a connecting assembly 7013 is connected to the rear output shaft of the servo motor 7012 through a spline, and the main body of the connecting assembly 7013 is a hexagonal structure, and the rear side of the shell mechanism 1 is fixedly connected with a limiting frame 101, and the limiting frame 101 is an arc-shaped structure.

[0041] In this embodiment, when in use, two groups of arc-shaped limit frames 101 are set on the rear side of the shell mechanism 1. Each group of limit frames 101 is composed of two symmetrical arc-shaped rods. The curvature of the arc-shaped rods is designed according to the curve of the human back to ensure that it fits the shoulder blade area. The limit frame 101 is fixedly connected to the shell mechanism 1 through four connecting plates 1011. The connecting plates 1011 are rectangular sheets. The two groups of longitudinally adjacent connecting plates 1011 are rotatably connected by connecting shafts 1012 to form a hinge structure similar to a hinge. The strap assembly 1013 is an elastic webbing with metal rings at both ends arranged on the outside of the connecting shaft 1012. When worn, it passes around the chest and waist of the human body. The length is adjusted by Velcro to keep a slight distance between the shell mechanism 1 and the back, avoiding rigid contact and maintaining a stable position by the elastic tension of the strap.

[0042] The shield mechanism 2 and the shield assembly 2011 are respectively located at the bottom and top of the shell mechanism 1. The limiting guide groove 3 at the front end of the two is a long strip groove extending longitudinally. The movable assembly 301 is slidably connected in the groove. The rectangular protrusion on the outside of the movable assembly 301 and the inner wall of the limiting guide groove 3 leave a small gap, allowing it to slide in the vertical direction. The surface of the protrusion is hardened to reduce friction. The spring pre-compression of the reset assembly 301 ensures that the movable assembly 301 always has a downward movement trend. When the wearer's waist circumference changes, the movable assembly 301 can be manually pushed to adjust the lateral width of the shell mechanism 1. After the adjustment is completed, the spring force automatically locks it in the appropriate position. The guide groove 201 on the inner wall of the shell mechanism 1 is an annular groove, and the guide ring assembly 401 on the outer periphery of the rotating mechanism 4 is an annular protrusion. The two cooperate to form a sliding pair, allowing the rotating mechanism 4 to swing within a certain angle range. When the wearer bends down, the rotating mechanism 4 swings downward along the guide groove 201, driving the upper limb module to move synchronously, avoiding interference between the shell mechanism 1 and the waist;

[0043] Lightweight design runs through all aspects of the structure: the shell mechanism 1 is made of carbon fiber composite materials, and the hollow sandwich structure reduces material consumption while ensuring strength; the arc-shaped hinged design of the limit frame 101 allows the exoskeleton to swing slightly with human breathing and movement, reducing the sense of restraint of the fixed frame on the human body; the sliding adjustment mechanism of the elastic strap assembly 1013 and the limit guide groove 3 jointly realizes the dual adaptation mechanism of "passive fit + active adjustment", which can not only adapt to the static size differences of wearers of different body shapes, but also adjust the posture according to the dynamic movements of the human body. Compared with the rigid carrying method of traditional exoskeletons, this embodiment reduces the wearer's movement resistance by more than 60% through a bionic hinge structure and elastic connectors. At the same time, the arc-shaped curved surface and breathable gap design improve the wearing comfort, solving the problems of excessive weight and stuffiness in the existing technology. It is especially suitable for power inspection scenarios that require long-term outdoor work.

[0044] Example 3

[0045] like Figure 3-Figure 7 As shown, the rear side of the limit frame 101 is fixedly connected with a connecting plate 1011, and there are four connecting plates 1011 in total, wherein every two longitudinally adjacent connecting plates 1011 form a group, and the two groups of connecting plates 1011 are fixedly connected to the rear end surfaces of the two limit frames 101 in opposite directions, and the inner sides of the two groups of connecting plates 1011 are rotatably connected with connecting shafts 1012, and there are two connecting shafts 1012 in total. The outer sides of the two connecting shafts 1012 are also fixedly connected with strap assemblies 1013, which are elastic, and the bottom of the outer peripheral surface of the shell mechanism 1 is fixedly connected to the outer side of the two connecting shafts 1012. The end is provided with an opening, which is used for the swing of the arm assembly 4012. The bottom end of the outer peripheral surface of the shell mechanism 1 is fixedly connected to the shield mechanism 2. The inner wall of the shell mechanism 1 is provided with a guide groove 201 of an annular structure. There are two guide grooves 201. The two guide grooves 201 are provided in a linear array on the inner wall of the shell mechanism 1. The top end of the outer peripheral surface of the shell mechanism 1 is fixedly connected to the shield assembly 2011. The top surface of the shield assembly 2011 is fixedly connected to a connecting member 2012. The interior of the connecting member 2012 is provided with a for connecting to the outside. The through hole of the shield mechanism 2 and the front end surface of the shield component 2011 are provided with a longitudinal limit guide groove 3, the inner sliding connection of the limit guide groove 3 is provided with a moving component 301, the outer side of the moving component 301 is fixedly connected with two protrusions in opposite directions, and a reset component 3011 is fixedly connected between the moving component 301 and the limit guide groove 3, the reset component 3011 is a telescopic rod structure with a spring, and the front end surface of the moving component 301 is fixedly connected with an anti-slip component 3012, and the bottom end surface of the moving component 301 is fixedly connected with a limit Insert block 3013, the limiting insert block 3013 is used to pass through the limiting slot 6014 and the assembly mechanism 5, and is used to limit the cover mechanism 6. The interior of the shell mechanism 1 is assembled with a rotating mechanism 4 through a guide ring assembly 401. A slot assembly 4011 matching the connecting assembly 7013 is provided on the front end surface of the rotating mechanism 4. The bottom end of the outer peripheral surface of the rotating mechanism 4 is fixedly connected to the support arm assembly 4012. The support arm assembly 4012 is a lightweight hollow structure. The side of the support arm assembly 4012 away from the rotating mechanism 4 is also fixedly connected to the splicing shaft 4013.

[0046] In this embodiment, when in use, the servo motor 7012 is fixed to the inside of the cover mechanism 6 through the cross-shaped support plate assembly 7011. A through hole is provided in the center of the support plate assembly 7011. The output shaft of the servo motor 7012 passes through the through hole and is supported by the bearing seat to ensure rotation accuracy. The external spline of the output shaft cooperates with the internal spline of the connecting assembly 7013. The outer hexagonal cross-section of the connecting assembly 7013 and the hexagonal groove of the slot assembly 4011 of the rotating mechanism 4 adopt a clearance fit, allowing slight adjustment of the angle to accommodate assembly errors. The rotating mechanism 4 is assembled in the guide groove 201 of the housing mechanism 1 through the guide ring assembly 401. The annular protrusion of the guide ring assembly 401 is embedded in the guide groove 201 to form radial support, while allowing the rotating mechanism 4 to rotate around the axial direction and swing along the guide groove 201.

[0047] The support arm assembly 4012 is a hollow truss structure, formed by multiple carbon fiber rods connected by nodes. The internal space can accommodate cables or sensor harnesses, which not only reduces weight but also facilitates pipeline layout. The splicing shaft 4013 at its end is a cylindrical boss with an external thread on the surface, which can be threadedly connected to the adapter of various working tools. The shield mechanism 2 and the shield assembly 2011 are in the limiting guide groove 3. The moving assembly 301 is kept in contact with the limiting support plate 6013 of the cover body mechanism 6 by the spring force of the reset assembly 3011. After the limiting plug 3013 is inserted into the limiting slot 6014, the front end surface of the moving component 301 is flush with the front end surface of the shield mechanism 2. The rubber surface of the anti-slip component 3012 provides a stable finger grip point. When the arm component 4012 is subjected to a lateral impact, the impact force is transmitted to the moving component 301 through the rotating mechanism 4, compressing the spring of the reset component 3011, causing the moving component 301 to slide along the limiting guide groove 3. The impact energy is absorbed by the deformation of the spring. After the impact ends, the spring reset force restores the mechanism to its original position.

[0048] The power transmission chain adopts a rigid spline-slot connection method to ensure the high efficiency and accuracy of torque transmission and avoid the gap problem of traditional belt drive or gear drive; the arm assembly 4012 with a hollow truss structure maintains high rigidity while reducing weight and can withstand high-frequency swing operations; the spring buffer mechanism of the reset assembly 3011 forms a composite structure of "rigid conduction + elastic protection", which not only ensures the operating accuracy of the detection equipment, but also protects the robotic arm and human joints in accidental collisions. Compared with the rigid connection design of the existing exoskeleton upper limb module, this embodiment controls the operating error within a range invisible to the naked eye through the dual mechanisms of load distribution and dynamic buffering, while significantly reducing the risk of damage to the structure caused by impact, solving the problems of cumbersome operation and susceptibility to external interference in the existing technology, and is especially suitable for scenarios with extremely high requirements for precision and safety, such as high-altitude live-line operations.

[0049] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An integrated power inspection exoskeleton lightweight modular structure, comprising a housing mechanism (1), wherein an assembly mechanism (5) is fixedly connected to the front end surface of the housing mechanism (1), characterized in that: The main body of the assembly mechanism (5) is an annular structure, and an annular groove is provided at the front end of the assembly mechanism (5), the annular groove being a guide groove (501), and a limiting component (5011) is fixedly connected to the front end surface of the assembly mechanism (5); The limiting components (5011) are provided at two locations, and the two limiting components (5011) are fixedly connected to the left and right sides of the front end surface of the assembly mechanism (5) in opposite directions. The limiting components (5011) are arc-shaped structures, and an arc-shaped groove is provided inside the limiting components (5011). A cover mechanism (6) is installed at the front end of the assembly mechanism (5). The main body of the cover mechanism (6) is a rear one-way opening structure, and the rear side surface of the cover mechanism (6) is fixedly connected to the limiting mechanism (7). There are two limiting mechanisms (7) in total. The two limiting mechanisms (7) are fixedly connected to the left and right sides of the rear end surface of the cover body mechanism (6) in opposite directions. The limiting mechanisms (7) are arc-shaped structures, and the outer sides of the two limiting mechanisms (7) are fixedly connected with a protrusion assembly (701) with an arc structure. The limiting mechanism (7) matches the arc groove opened in the limiting assembly (5011). The protrusion assembly (701) fixedly connected to the outer side of the limiting mechanism (7) matches the guide groove (501). The outer peripheral surface of the cover body mechanism (6) is fixedly connected to a limiting support plate (6013). The main body of the limiting support plate (6013) is an arc-shaped structure, and there are two limiting support plates (6013). The two limiting support plates (6013) are fixedly connected to the upper and lower side surfaces of the cover body mechanism (6) in opposite directions, and the interiors of the two limiting support plates (6013) are provided with limiting slots (6014) that are bidirectionally connected on the upper and lower sides. The main body of the limiting slots (6014) is a hexagonal structure. The top end of the outer peripheral surface of the shell mechanism (1) is fixedly connected to the shield assembly (2011). The top end surface of the shield assembly (211) is fixedly connected to a connecting member (212). The interior of the connecting member (212) is provided with a through hole for connecting to the outside, and the front end surfaces of the shield mechanism (2) and the shield assembly (211) are both provided with longitudinally arranged limiting slots. The guide groove (3) is provided with a moving component (301) which is slidably connected to the interior of the limiting guide groove (3); the outer side of the moving component (301) is fixedly connected with two protrusions in opposite directions; and a reset component (3011) is fixedly connected between the moving component (301) and the limiting guide groove (3); the reset component (3011) is a telescopic rod structure with a spring; and an anti-slip component (3012) is fixedly connected to the front end surface of the moving component (301); and a limiting plug (3013) is fixedly connected to the bottom end surface of the moving component (301); the limiting plug (3013) is used to pass through the limiting slot (6014) and the assembly mechanism (5), and is used to limit the cover body mechanism (6).

2. The lightweight modular structure of an integrated power inspection exoskeleton according to claim 1 is characterized by: The outer peripheral surface of the cover body mechanism (6) is provided with grooves in an annular array, the grooves being anti-slip grooves (601). An energy storage component (6011) is fixedly connected to the front end surface of the cover body mechanism (6). The energy storage component (6011) is a battery structure, and a charging port (6012) is provided on the left side of the outer peripheral surface of the energy storage component (6011).

3. The lightweight modular structure of an integrated power inspection exoskeleton according to claim 2 is characterized by: The charging port (6012) is used to charge the interior of the energy storage component (6011).

4. The lightweight modular structure of an integrated power inspection exoskeleton according to claim 1 is characterized by: A support plate assembly (7011) is fixedly connected to the inner side of the cover body mechanism (6). The support plate assembly (7011) is a cross-shaped structure, and a servo motor (7012) is installed at the front end of the support plate assembly (7011). An output shaft is provided at the rear side of the servo motor (7012), and the output shaft is connected to the support plate assembly (7011) via a bearing seat.

5. The lightweight modular structure of an integrated power inspection exoskeleton according to claim 4 is characterized by: A connecting assembly (7013) is connected to the rear output shaft of the servo motor (7012) via a spline. The main body of the connecting assembly (7013) is a hexagonal structure. The rear side of the housing mechanism (1) is fixedly connected to a limiting frame (101). The limiting frame (101) is an arc-shaped structure.

6. The lightweight modular structure of an integrated power inspection exoskeleton according to claim 5 is characterized by: A connecting plate (1011) is fixedly connected to the rear side of the limiting frame (101), and the connecting plates (1011) are provided at four locations, wherein two longitudinally adjacent connecting plates (1011) form a group, and the two groups of connecting plates (1011) are fixedly connected to the rear end surfaces of the two limiting frames (101) in opposite directions.

7. The lightweight modular structure of an integrated power inspection exoskeleton according to claim 6 is characterized by: The inner sides of the two groups of connecting plates (1011) are rotatably connected to connecting shafts (1012), and the connecting shafts (1012) are provided at two locations. The outer sides of the two connecting shafts (1012) are also fixedly connected to strap assemblies (1013), and the strap assemblies (1013) are elastic. The bottom end of the outer peripheral surface of the shell mechanism (1) is provided with an opening, and the opening is used for the swing of the arm assembly (4012).

8. The lightweight modular structure of an integrated power inspection exoskeleton according to claim 1 is characterized by: The bottom end of the outer peripheral surface of the shell mechanism (1) is fixedly connected to the shield mechanism (2), and an annular guide groove (201) is provided on the inner wall of the shell mechanism (1). There are two guide grooves (201) in total, and the two guide grooves (201) are provided on the inner wall of the shell mechanism (1) in a linear array.

9. The lightweight modular structure of an integrated power inspection exoskeleton according to claim 1 is characterized by: The interior of the housing mechanism (1) is equipped with a rotating mechanism (4) via a guide ring assembly (401). A slot assembly (4011) matching the connecting assembly (7013) is provided on the front end surface of the rotating mechanism (4). An arm assembly (4012) is fixedly connected to the bottom end of the outer peripheral surface of the rotating mechanism (4). The arm assembly (4012) is a lightweight hollow structure. A splicing shaft (4013) is also fixedly connected to the side of the arm assembly (4012) away from the rotating mechanism (4).

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