Exoskeleton power-assisted high-altitude rescue device based on negative pressure adsorption principle

Abstract

The invention discloses an exoskeleton power-assisted high-altitude rescue device based on a negative pressure adsorption principle, belongs to the technical field of high-altitude power-assisted rescue and self-rescue, and aims to solve the problems that an existing device is limited in scene, trapped persons are difficult to transfer in time and the like. The device is composed of a bottom supporting platform, upper limb handles, a negative pressure adsorption unit and an exoskeleton assisting unit. The left side and the right side of the upper limb handle are each provided with a negative pressure adsorption unit, the two negative pressure adsorption units are transversely arranged in the bottom supporting platform and connected through the exoskeleton assisting unit, and the exoskeleton assisting unit is worn on the human body to assist climbing. The negative pressure adsorption unit enables an annular suction cup to provide continuous adsorption force through circulating suction, the negative pressure adsorption unit is matched with a multi-material wall surface through friction fixation of a hook claw, and an air pressure adjusting mechanism of the negative pressure adsorption unit can control the adsorption force to achieve suction and loosening. The exoskeleton units decompose climbing actions through a connecting rod mechanism driven by a lead screw, and physical output is reduced. The device can move upwards for rescue or move downwards for self-rescue according to a device flow chart, and the stability, safety and efficiency of high-altitude operation can be improved.

Description

Technical Field

[0001] The invention relates to an exoskeleton-assisted high-altitude rescue device comprising an auxiliary power-assisting unit and a negative pressure adsorption unit, and belongs to the technical field of high-altitude assisted rescue and self-rescue. Background Art

[0002] Fire rescue in high-rise buildings has always been a challenge for both firefighters and self-rescue personnel. Due to the high number of floors, the time-consuming and difficult evacuation of personnel in high-rise buildings, an uncontrollable fire can result in catastrophic casualties and property damage. High-altitude rescue refers to rescue operations conducted at heights exceeding 50 meters vertically, exceeding the 19 stories of conventional buildings. With the rapid growth of high-rise residential buildings in my country in recent years, the development of appropriate high-altitude rescue equipment is urgently needed to ensure the success rate of both self-rescue and rescue efforts.

[0003] The primary function of high-altitude rescue equipment should be to rescue or transfer trapped people, and to ensure the safety of people's lives. Existing high-altitude fire rescue equipment emphasizes fire extinguishing, but lacks the functions of assisting rescue and self-rescue for people, and the operating height is limited, making it impossible to promptly remove trapped people from the high-altitude area of ​​the accident. There are mainly three methods: (1) Professional manual climbing rescue. Professional firefighters have undergone rigorous training, have rich experience and skills, and are usually equipped with advanced rescue equipment and tools. The advantage is that they can ensure the safety and reliability of rescue operations, but the disadvantage is that the efficiency of high-altitude operations is low and it is difficult to ensure the safety of firefighters; (2) Using ladder fire trucks. The fire truck invented by patent CN201822223221.1 is equipped with a telescopic ladder, which can be equipped with a lifting bucket turntable and a fire extinguishing device. The advantages are high rescue efficiency, can be used in various complex environments, and are relatively safe. The disadvantage is that the operating height is limited; (3) UAV rescue. One type uses drones to carry high-altitude rescue platforms to designated locations as temporary accommodation for trapped people, rescue workers, and rescue equipment, such as patents CN202222043088.8 and CN202210573697.6; the other type uses aircraft to carry fire-fighting materials and spray or drop them at high altitudes for fire extinguishing, such as patents CN201910201693.3 and CN202420244950.8. This type of device cannot transfer or rescue trapped people away from the fire floor in time, and the air is very turbulent when a fire occurs, and the air density also changes accordingly, which may cause the drone or aircraft to lose control during operation, making it difficult to ensure flight stability. Summary of the Invention

[0004] The present invention discloses an exoskeleton-assisted high-altitude rescue device based on the negative pressure adsorption principle, which overcomes the problems of existing high-altitude rescue devices such as limited scenarios and inability to transfer or rescue trapped people in a timely manner. The innovative design combines the negative pressure adsorption principle with exoskeleton assistance to improve the adsorption stability and safety of the device during high-altitude operations. The exoskeleton assistance unit in the present invention can be used to develop a high-altitude rescue platform and improve climbing efficiency.

[0005] The present invention addresses the problems existing in existing high-altitude rescue devices and makes fundamental innovations. The basic ideas are as follows: ① The circularly arranged suction cups provide uninterrupted negative pressure adsorption force through the high-frequency and high-speed linear suction motion of the piston, combined with the friction fixation of the central hook of the suction cup, which is suitable for walls of multiple materials such as glass and concrete. ② An air pressure regulating mechanism is designed in the negative pressure adsorption unit to control the adsorption force by changing the size of the negative pressure enclosed space, thereby realizing the adsorption and release of the suction cup. ③ An exoskeleton power-assisting unit driven by a screw is designed to decompose the human climbing action into a multi-joint linkage process, reducing the user's physical exertion.

[0006] To achieve the above-mentioned purpose and principle, the technical solution of the present invention is as follows:

[0007] An exoskeleton high-altitude rescue device based on the negative pressure adsorption principle consists of four units: a bottom support platform, upper limb handles, a negative pressure adsorption unit, and an exoskeleton power unit.

[0008] The negative pressure adsorption unit is the basic unit of the negative pressure adsorption force of the device. One set of negative pressure adsorption units is arranged on the left and right sides of the upper limb handles of the device, and two sets of negative pressure adsorption units are arranged horizontally inside the bottom support platform. The upper limb handles and the bottom support platform are connected by the exoskeleton power-assisting unit to form an integral whole of the device. The exoskeleton power-assisting unit is worn on the body through a belt to assist the user in completing climbing movements.

[0009] The upper limb handle includes a lock, a handle box, an upper motor and a negative pressure adsorption unit;

[0010] The handle box is the force-bearing position for the rescued person's palm to grasp. The starting upper motor transmits power to the eccentric shaft through the key connection, and the negative pressure adsorption unit starts to work, so that the upper limb handles arranged on the left and right are adsorbed on the wall, providing safe and reliable support for the user to escape;

[0011] The negative pressure adsorption unit is the main power source for achieving wall adhesion and ensuring safety factor. It has three functions: adsorption, air pressure adjustment, and friction fixation. The negative pressure adsorption unit includes an eccentric shaft, a rotating swash plate, a right-angle buckle, a ball, a countersunk bolt, a piston, a piston slider, a return baffle, a piston cylinder, an airway, a suction cup, a hook, a friction plate, a crank arm, a connecting rod, a hook slider, a center rod, a cylindrical cam, an adjustment motor, a small screw, a sleeve, and a box body.

[0012] The first function of the negative pressure adsorption unit is adsorption. The eccentric shaft drives the swash plate to rotate. The swash plate and the eccentric shaft are fixed at a 28° welding angle. Eight circularly arranged right-angle clips contact the swash plate through ball bearings and return baffles at the ends, converting the rotational motion of the swash plate into linear motion of the right-angle clips. The right-angle clips are connected to the piston via countersunk bolts, causing the piston to perform high-frequency, high-speed linear suction motion along the fixed piston cylinder. Air is sucked in from the suction cup with a one-way valve, passes through the airway, and briefly forms a negative pressure in the piston cylinder, thereby achieving the ability to adhere to the wall. The larger the welding angle, the longer the linear suction stroke and the greater the negative pressure adsorption force in the piston cylinder.

[0013] Eight suction cups are arranged in a ring at the front end of the box. The eight suction cups take turns to suck in air, ensuring uninterrupted adsorption force and ensuring the safety factor of the device when operating at high altitude;

[0014] The right-angle clip is connected to the piston via a countersunk bolt. The slider connection between the piston and the piston cylinder restricts the rotation of the right-angle clip, allowing only forward and backward movement. The swash plate is a key component for converting rotary power into linear power. Its annular step-shaped design prevents the right-angle clip from disengaging.

[0015] The second function of the negative pressure adsorption unit is air pressure regulation. This is achieved by adjusting the motor to drive the small screw to rotate forward and reverse. Based on the screw-nut transmission principle, the sleeve moves left and right, thereby covering the adjustment holes on the piston cylinder. By adjusting the number of covered adjustment holes, the size of the negative pressure enclosed space drawn by the piston is changed, and the air pressure threshold is changed, so that the adsorption force of the suction cup can be changed, thereby giving the piston cylinder the ability to adjust the air pressure and realize the adsorption and release of the suction cup.

[0016] The sleeve material is divided into two layers, the inner layer is made of hard metal and the outer layer is made of rubber. The inner hard metal layer ensures the transmission between the small screw and the outer rubber layer can fit tightly to the hole wall and effectively isolate the gas flow.

[0017] The third function of the negative pressure adsorption unit is friction fixation. This is achieved by transmitting rotational force to the cylindrical cam via the eccentric shaft. The cylindrical cam converts the rotational motion into reciprocating linear motion of the center rod. The hook slider is welded to the box body. The linear motion of the connecting rod and the center rod controls the opening and closing of the crank arm, adjusting the friction resistance between the friction disk and the wall surface, and achieving friction fixation and release of the hook against the wall, thereby further improving the safety factor of the device during high-altitude operations.

[0018] The bottom support platform includes a safety guardrail, an inverted trapezoidal platform, a large gear, a lower motor, a small gear and a negative pressure adsorption unit;

[0019] The safety guardrail is lifted and the entire bottom support platform is gradually lowered to the target position. The lower motor is started to drive the large gear to rotate, and the gears are engaged to transmit the power to the two small gears respectively. The small gears are connected to the eccentric shaft through a key to provide rotational force. Two sets of negative pressure adsorption units arranged laterally and parallel to each other inside enable the inverted trapezoidal platform to be adsorbed on the wall, providing a safe and reliable foot support platform for users when escaping. The inverted trapezoidal platform can accommodate multiple rescued people or rescue supplies at the same time.

[0020] The exoskeleton power-assistance unit is the main component for achieving effortless climbing and connecting other units. It has two functions: restraint protection and connecting rod power-assistance. The exoskeleton power-assistance unit includes a U-shaped hook, a safety rope, a shoulder plate, a locking ring, a wrist strap, a power-assistance connecting rod, a hinge seat, a diamond-shaped connecting rod, a guide rail, a bearing, a large lead screw, a power-assistance motor, a main bevel gear, a side bevel gear, a small slider, a large slider, a back plate, a hinge, a waist belt, a connecting steel cable, and a foot fixing seat.

[0021] The first function of the exoskeleton power unit: restraint protection, is achieved by connecting the upper limb handles to the exoskeleton power unit through a safety rope and the user wearing a waist belt and foot mounts. The waist belt is connected to the back plate through a hinge upwards and connected to the foot mounts through a connecting steel cable downwards. The foot mounts are welded to the bottom support platform, allowing the device to climb even in areas with sudden changes in wall structure, while restraining the user's body movement and ensuring safety during high-altitude operations.

[0022] The back plate is the mounting base of the power-assisting unit, and a set of connecting rod mechanisms are placed on its left and right sides respectively. They are coaxially installed and each is driven by a screw. The left and right connecting rod mechanisms are respectively equipped with wrist straps, which can respectively drive the upper arms on both sides to move, thereby reducing the user's physical exertion;

[0023] The second function of the exoskeleton power-assisting unit is the connecting rod power-assistance, which drives the main bevel gear to rotate through the power-assisting motor, and then the side bevel gears on the two lead screws are driven by the meshing of the gears, so that the two large lead screws rotate at the same time; the small slider moves left and right as the large lead screw rotates, and the distal end of the diamond-shaped connecting rod will produce a corresponding up and down movement, so that the large slider moves up and down along the guide rail; the power-assisting connecting rod is a parallel four-bar mechanism, and the connecting rods on both sides are respectively connected to the hinge seats of the shoulder plate through hinges, so that the connecting rods on both sides can rotate around the hinge seats. As the active rod large slider moves up and down, the wristband on the driven rod will drive the user's left arm to extend and the right arm to bend, thereby relying on the power-assisting motor to drive the connecting rod mechanism to help the rescuer complete the climbing action, achieving effortless climbing;

[0024] The method of using the exoskeleton-assisted high-altitude rescue device based on the negative pressure adsorption principle is as follows:

[0025] Step 1: Secure the bottom platform. Place the upper limb handles and exoskeleton power unit on the bottom support platform, start the lower motor, and slowly bring the bottom support platform closer to the wall by holding the safety railing on the roof. The two negative pressure adsorption units arranged horizontally inside the bottom support platform will start working to firmly adsorb it.

[0026] Step 2: Put on the fixing device. After the rescued personnel / rescue materials are moved to the bottom support platform, the user puts on the belt, wrist straps and foot fixing seat;

[0027] Step 3: Adjust the upper limbs. Start the upper motor, and the negative pressure adsorption units in the left and right upper limb handles begin to work, causing them to adhere to the wall. The air pressure adjustment mechanism inside the negative pressure adsorption units changes the suction force of the upper limb handles, making it easier for the user to hold the handle box and place the upper limb handles on both sides of the head.

[0028] Step 4: Start the exoskeleton power assist. After the preparations are completed, start the power assist motor to directly drive the main bevel gear to rotate, and the exoskeleton power assist unit begins to work, driving the user's left and right arms to retract downward and extend upward respectively, achieving assisted climbing;

[0029] Step 5: Secure the upper limbs and move the platform downward. While the exoskeleton assists the user in climbing the wall, the four-point negative pressure adsorption units need to continuously adjust their suction strength. After adjusting the position of the upper limb handles, increase the suction strength of the two upper limb handles, slowly reduce the suction strength of the bottom support platform, and continue to move the bottom support platform downward.

[0030] Step 6: Fix the platform and move the upper limbs downward. After the user's body is fully upright, increase the suction of the bottom support platform, alternately reduce the suction of the upper limb handles on both sides, and control the upper limb handles to move downward alternately. Repeat this process to achieve the overall downward movement of the device. Similarly, control the upper limb handles to move alternately horizontally and then adjust the bottom support platform to achieve left and right movement.

[0031] Step 7: Shut down the device. Once away from the accident floor, secure the bottom support platform, shut down the power motor, and retract the upper handlebars. The user loosens the waist belt, wrist straps, and footrests and leaves the bottom support platform. Next, hold onto the safety railing and shut down the upper and lower motors in sequence. Finally, retract the entire device, and the rescue mission is complete.

[0032] The beneficial effects of the present invention are:

[0033] 1. This invention designs a structure that matches an annular stepped swash plate with a right-angle buckle, converting high-speed rotational power into high-frequency, high-speed linear suction motion of the piston, generating negative pressure adsorption force to achieve wall adhesion.

[0034] 2. The present invention has designed an air pressure adjustment mechanism, which adaptively adjusts the adsorption force by blocking the number of airway holes, thereby achieving control of the adsorption and release of the suction cup;

[0035] 3. The suction cup designed in this invention is fixed by friction with the central hook, which can adapt to various wall surfaces such as glass and concrete. The four-point layout significantly improves the anti-fall ability and provides high-stability adsorption.

[0036] 4. The present invention is designed with a screw-driven exoskeleton power unit that can decompose the climbing action. The motor coordinates the suction release and limb movement timing, greatly reducing the user's physical exertion and making it more efficient and labor-saving.

[0037] 5. The present invention can be worn by professional rescuers to move upwards for rescue, and can also be used by trapped people to move downwards from the accident area for self-rescue. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 An overall diagram of an exoskeleton high-altitude rescue device based on the negative pressure adsorption principle;

[0039] Figure 2 Diagram of the structure of the upper limb handle II;

[0040] Figure 3 Internal structure diagram of negative pressure adsorption unit III;

[0041] Figure 4 Partial cross-sectional view of negative pressure adsorption unit III;

[0042] Figure 5 Enlarged view of the air pressure regulating device of negative pressure adsorption unit III;

[0043] Figure 6 Structural diagram of the hook 8;

[0044] Figure 7 Overall structure diagram of bottom support platform I;

[0045] Figure 8 Internal structure diagram of bottom support platform I;

[0046] Figure 9 The overall structure diagram of the exoskeleton power-assisting link IV;

[0047] Figure 10 A partial enlarged view of the exoskeleton power-assisting link IV;

[0048] Figure 11 Flowchart of device usage;

[0049] The numbers in the figure are: Ⅰ-bottom support platform, Ⅱ-upper limb handle, Ⅲ-negative pressure adsorption unit, Ⅳ exoskeleton power unit; 1-eccentric shaft, 2-rotating swash plate, 3-right angle buckle, 301-ball, 302-countersunk bolt, 4-piston, 401-piston slider, 402-return baffle, 5-piston cylinder, 6-airway, 7-suction cup, 8-claw, 801-friction disc, 802-crank arm, 803 connecting rod, 804-claw slider, 805-center rod, 9-cylindrical cam, 10-adjustment motor, 11-small screw, 12-sleeve, 13-box, 14-safety guardrail , 15-inverted trapezoidal platform, 16-large gear, 17-lower motor, 18-small gear, 19-U-shaped hook, 20-safety rope, 21-shoulder plate, 22-locking ring, 23-wrist strap, 24-power-assist connecting rod, 25-hinge seat, 26-diamond connecting rod, 27-guide rail, 28-bearing, 29-large screw, 30-power-assist motor, 31-main bevel gear, 32-side bevel gear, 33-small slider, 34-large slider, 35-back plate, 36-hinge, 37-waist belt, 38-connecting steel cable, 39-foot fixing seat, 40-lock buckle, 41-handle box, 42-upper motor. Specific implementation methods

[0050] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0051] Example 1: A residential building with 26 floors, 78m-90m high, with exterior walls made of tempered glass, is used. Residents on floors 18 and above perform self-rescue from the top down.

[0052] like Figure 1-11 An exoskeleton high-altitude rescue device based on the negative pressure adsorption principle consists of four units: a bottom support platform I, an upper limb handle II, a negative pressure adsorption unit III, and an exoskeleton assist unit IV.

[0053] The method of using the exoskeleton-assisted high-altitude rescue device based on the negative pressure adsorption principle is as follows:

[0054] Step 1: Secure the bottom platform. Place the upper limb handles II and exoskeleton assist unit IV on the bottom support platform I. Start the lower motor 17. Lift the safety guardrail 14 on the roof and slowly bring the bottom support platform I closer to the wall. The two negative pressure adsorption units III arranged laterally inside the bottom support platform I will start working to firmly adsorb it.

[0055] The bottom support platform I includes a safety guardrail 14, an inverted trapezoidal platform 15, a large gear 16, a lower motor 17, a small gear 18 and a negative pressure adsorption unit III;

[0056] The safety guardrail 14 is lifted to gradually lower the entire bottom support platform I to the target position, and the lower motor 17 is started to drive the large gear 16 to rotate. The gears are engaged and transmit the power to the two small gears 18 respectively. The small gears 18 provide rotational force to the eccentric shaft 1 through a key connection. Two sets of negative pressure adsorption units III arranged laterally and parallel to each other inside enable the inverted trapezoidal platform 15 to be adsorbed on the wall, providing a safe and reliable foot support platform for users when escaping; the inverted trapezoidal platform 15 can simultaneously accommodate multiple rescued people or rescue supplies;

[0057] Step 2: Wear the fixing device. After the rescued personnel / rescue materials are moved to the bottom support platform I, the user puts on the waist belt 37, wrist strap 23 and foot fixing seat 39;

[0058] The exoskeleton power-assistance unit IV is the main component for achieving effortless climbing and connecting other units. It has two functions: restraint protection and connecting rod power assistance. The exoskeleton power-assistance unit IV includes a U-shaped hook 19, a safety rope 20, a shoulder plate 21, a locking ring 22, a wrist strap 23, a power-assistance connecting rod 24, a hinge seat 25, a diamond-shaped connecting rod 26, a guide rail 27, a bearing 28, a large screw 29, a power-assistance motor 30, a main bevel gear 31, a side bevel gear 32, a small slider 33, a large slider 34, a back plate 35, a hinge 36, a waist belt 37, a connecting steel cable 38, and a foot fixing seat 39.

[0059] The first function of the exoskeleton power unit IV, restraint protection, is achieved by connecting the upper limb handles II to the exoskeleton power unit IV through a safety rope 20 and by the user wearing a waist belt 37 and foot mounts 39. The waist belt 37 is connected to the back plate 35 upwards via a hinge 36 and is connected to the foot mounts 39 downwards via a connecting steel cable 38. The foot mounts 39 are welded to the bottom support platform I. This allows the device to climb even in areas with sudden changes in wall structure, and restricts the user's body movement, ensuring safety during high-altitude operations.

[0060] Step 3: Adjust the upper limbs. The upper motor 42 is activated, and the negative pressure adsorption units III within the left and right upper limb handles II begin to operate, adsorbing them to the wall. The air pressure adjustment mechanism within the negative pressure adsorption units III changes the suction force of the upper limb handles II, making it easier for the user to hold the handle box 41 and place the upper limb handles II on both sides of the head.

[0061] The upper limb handle II includes a lock 40, a handle box 41, an upper motor 42 and a negative pressure adsorption unit III;

[0062] The handle box 41 is the force-bearing position for the rescued person's palm to grasp. The starting upper motor 42 transmits power to the eccentric shaft 1 through the key connection, and the negative pressure adsorption unit III starts to work, so that the upper limb handles II arranged on the left and right are adsorbed on the wall, providing safe and reliable support for the user to escape;

[0063] The negative pressure adsorption unit III is the main power source for achieving wall adhesion and ensuring safety. It has three functions: adsorption, air pressure regulation, and friction fixation. The negative pressure adsorption unit III includes an eccentric shaft 1, a rotating swash plate 2, a right-angle buckle 3, a ball 301, a countersunk bolt 302, a piston 4, a piston slider 401, a return baffle 402, a piston cylinder 5, an air channel 6, a suction cup 7, a hook 8, a friction disc 801, a crank arm 802, a connecting rod 803, a hook slider 804, a center rod 805, a cylindrical cam 9, an adjustment motor 10, a small screw 11, a sleeve 12, and a box 13.

[0064] The first function of the negative pressure adsorption unit III is adsorption. The eccentric shaft 1 drives the swash plate 2 to rotate. The swash plate 2 is fixed to the eccentric shaft 1 at a 28° weld angle. Eight circularly arranged right-angle clips 3 contact the swash plate 2 via balls 301 and return baffles 402 at their ends, converting the rotational motion of the swash plate 2 into linear motion of the right-angle clips 3. The right-angle clips 3 are connected to the piston 4 via countersunk bolts 302, causing the piston 4 to perform high-frequency, high-speed linear suction motion along the fixed piston cylinder 5. Air is drawn in from the suction cup 7 with a one-way valve, passes through the air passage 6, and briefly forms a negative pressure within the piston cylinder 5, thereby achieving the ability to adhere to the wall. The larger the weld angle, the longer the linear suction stroke and the greater the negative pressure adsorption force within the piston cylinder 5.

[0065] Eight suction cups 7 are arranged in a ring at the front end of the box 13. The eight suction cups 7 take turns to suck air in order to ensure uninterrupted adsorption force, thereby ensuring the safety factor of the device when operating at high altitude;

[0066] The right-angle clip 3 is connected to the piston 4 via a countersunk bolt 302. The piston slider 401 connected between the piston 4 and the piston cylinder 5 restricts the rotation of the right-angle clip 3, thus allowing only forward and backward movement of the right-angle clip 3. The swash plate 2 is a key component for converting rotary power into linear power. It is designed in an annular step shape to prevent the right-angle clip 3 from detaching.

[0067] The second function of the negative pressure adsorption unit III is air pressure regulation. This is achieved by adjusting the motor 10 to drive the small screw 11 to rotate forward and reverse, and based on the screw-nut transmission principle, the sleeve 12 moves left and right, thereby covering the adjustment holes on the piston cylinder 5. By adjusting the number of covered adjustment holes, the size of the negative pressure enclosed space sucked by the piston 4 is changed, and the air pressure threshold is changed, so that the adsorption force of the suction cup 7 can be changed, thereby giving the piston cylinder 5 the ability to adjust the air pressure, and realizing the adsorption and release of the suction cup 7.

[0068] The sleeve 12 is made of two layers, the inner layer is made of hard metal and the outer layer is made of rubber. The inner hard metal layer ensures the transmission between the small screw 11 and the outer rubber layer can fit tightly to the hole wall to effectively isolate the gas flow.

[0069] The third function of the negative pressure adsorption unit III is friction fixation. This is achieved by transmitting a rotational force to the cylindrical cam 9 via the eccentric shaft 1. The cylindrical cam 9 converts the rotational motion into the reciprocating linear motion of the center rod 805. The hook slider 804 is welded to the housing 13. The linear motion of the connecting rod 803 and the center rod 805 controls the opening and closing of the crank arm 802, adjusting the frictional resistance between the friction disk 801 and the wall surface, thereby achieving friction fixation and release of the hook 8 against the wall, thereby further improving the safety factor of the device during high-altitude operations.

[0070] Step 4: Start the exoskeleton assist. After the preparatory work is completed, start the assist motor 30 to directly drive the main bevel gear 31 to rotate, and the exoskeleton assist unit IV begins to work, driving the user's left and right arms to retract downward and extend upward respectively, achieving assisted climbing;

[0071] The back plate 35 is the mounting base of the power assist unit. A set of connecting rod mechanisms are placed on its left and right sides, which are coaxially mounted and driven by screws. The left and right connecting rod mechanisms are respectively installed with wrist straps 23, which can respectively drive the upper arms on both sides to move, thereby reducing the user's physical exertion.

[0072] The second function of the exoskeleton power-assisting unit IV is connecting rod power-assistance, which is to drive the main bevel gear 31 to rotate through the power-assisting motor 30, and then the side bevel gears 32 on the two screws are driven by the meshing of the gears, so that the two large screws 29 rotate simultaneously; the small slider 33 moves left and right with the rotation of the large screw 29, and the distal end of the diamond-shaped connecting rod 26 will produce a corresponding up and down movement, so that the large slider 34 moves up and down along the guide rail 27; the power-assisting connecting rod 24 is a parallel four-bar mechanism, and the connecting rods on both sides are respectively connected to the hinge seats 25 of the shoulder plate 21 by hinges, so that the connecting rods on both sides can rotate around the hinge seats 25. As the active rod large slider 34 moves up and down, the wristband 23 on the driven rod will drive the user's left arm to extend and the right arm to bend, thereby relying on the power-assisting motor 30 to drive the connecting rod mechanism to help the rescuer complete the climbing action and achieve effortless climbing;

[0073] Step 5: Secure the upper limbs and move the platform downward. While the exoskeleton assist unit IV assists the user in climbing the wall, the four-point negative pressure adsorption units III need to continuously adjust their respective suction strengths. After adjusting the position of the upper limb handles II, increase the suction strength of the two upper limb handles II, slowly reduce the suction strength of the bottom support platform I, and continue to move the bottom support platform I downward;

[0074] Step 6: Fix the platform and move the upper limbs downward. After the user's body is fully upright, increase the suction of the bottom support platform I, alternately reduce the suction of the upper limb handles II on both sides, and control the upper limb handles II to move downward alternately. Repeat this process to achieve the overall downward movement of the device. Similarly, control the upper limb handles II to move alternately horizontally and then adjust the bottom support platform I to achieve left and right movement.

[0075] Step 7: Shut down the device. After moving away from the accident floor, secure the bottom support platform I, shut down the power-assist motor 30, and retract the upper limb handle II downward. The user loosens the waist belt 37, wrist strap 23, and foot mount 39 and leaves the bottom support platform I. Next, hold the safety guardrail 14 and shut down the upper motor 42 and lower motor 17 in sequence. Finally, retract the entire device, and the rescue mission is complete.

[0076] Example 2: A residential building with 26 floors, 78m-90m high, and exterior walls made of tempered glass, is used to rescue residents on floors 18 and above from the bottom up.

[0077] like Figure 1-11 An exoskeleton high-altitude rescue device based on the negative pressure adsorption principle consists of four units: a bottom support platform I, an upper limb handle II, a negative pressure adsorption unit III, and an exoskeleton assist unit IV.

[0078] The method of using the exoskeleton-assisted high-altitude rescue device based on the negative pressure adsorption principle is as follows:

[0079] Step 1: Secure the bottom platform. Place the upper limb handles II and exoskeleton assist unit IV on the bottom support platform I. Start the lower motor 17. Lift the safety guardrail 14 on the roof and slowly bring the bottom support platform I closer to the wall. The two negative pressure adsorption units III arranged laterally inside the bottom support platform I will start working to firmly adsorb it.

[0080] The bottom support platform I includes a safety guardrail 14, an inverted trapezoidal platform 15, a large gear 16, a lower motor 17, a small gear 18 and a negative pressure adsorption unit III;

[0081] The safety guardrail 14 is lifted to gradually lower the entire bottom support platform I to the target position, and the lower motor 17 is started to drive the large gear 16 to rotate. The gears are engaged and transmit the power to the two small gears 18 respectively. The small gears 18 provide rotational force to the eccentric shaft 1 through a key connection. Two sets of negative pressure adsorption units III arranged laterally and parallel to each other inside enable the inverted trapezoidal platform 15 to be adsorbed on the wall, providing a safe and reliable foot support platform for users when escaping; the inverted trapezoidal platform 15 can simultaneously accommodate multiple rescued people or rescue supplies;

[0082] Step 2: Wear the fixing device. After the rescued personnel / rescue materials are moved to the bottom support platform I, the user puts on the waist belt 37, wrist strap 23 and foot fixing seat 39;

[0083] The exoskeleton power-assistance unit IV is the main component for achieving effortless climbing and connecting other units. It has two functions: restraint protection and connecting rod power assistance. The exoskeleton power-assistance unit IV includes a U-shaped hook 19, a safety rope 20, a shoulder plate 21, a locking ring 22, a wrist strap 23, a power-assistance connecting rod 24, a hinge seat 25, a diamond-shaped connecting rod 26, a guide rail 27, a bearing 28, a large screw 29, a power-assistance motor 30, a main bevel gear 31, a side bevel gear 32, a small slider 33, a large slider 34, a back plate 35, a hinge 36, a waist belt 37, a connecting steel cable 38, and a foot fixing seat 39.

[0084] The first function of the exoskeleton power unit IV, restraint protection, is achieved by connecting the upper limb handles II to the exoskeleton power unit IV through a safety rope 20 and by the user wearing a waist belt 37 and foot mounts 39. The waist belt 37 is connected to the back plate 35 upwards via a hinge 36 and is connected to the foot mounts 39 downwards via a connecting steel cable 38. The foot mounts 39 are welded to the bottom support platform I. This allows the device to climb even in areas with sudden changes in wall structure, and restricts the user's body movement, ensuring safety during high-altitude operations.

[0085] Step 3: Adjust the upper limbs. The upper motor 42 is activated, and the negative pressure adsorption units III within the left and right upper limb handles II begin to operate, adsorbing them to the wall. The air pressure adjustment mechanism within the negative pressure adsorption units III changes the suction force of the upper limb handles II, making it easier for the user to hold the handle box 41 and place the upper limb handles II on both sides of the head.

[0086] The upper limb handle II includes a lock 40, a handle box 41, an upper motor 42 and a negative pressure adsorption unit III;

[0087] The handle box 41 is the force-bearing position for the rescued person's palm to grasp. The starting upper motor 42 transmits power to the eccentric shaft 1 through the key connection, and the negative pressure adsorption unit III starts to work, so that the upper limb handles II arranged on the left and right are adsorbed on the wall, providing safe and reliable support for the user to escape;

[0088] The negative pressure adsorption unit III is the main power source for achieving wall adhesion and ensuring safety. It has three functions: adsorption, air pressure regulation, and friction fixation. The negative pressure adsorption unit III includes an eccentric shaft 1, a rotating swash plate 2, a right-angle buckle 3, a ball 301, a countersunk bolt 302, a piston 4, a piston slider 401, a return baffle 402, a piston cylinder 5, an air channel 6, a suction cup 7, a hook 8, a friction disc 801, a crank arm 802, a connecting rod 803, a hook slider 804, a center rod 805, a cylindrical cam 9, an adjustment motor 10, a small screw 11, a sleeve 12, and a box 13.

[0089] The first function of the negative pressure adsorption unit III is adsorption. The eccentric shaft 1 drives the swash plate 2 to rotate. The swash plate 2 is fixed to the eccentric shaft 1 at a 28° weld angle. Eight circularly arranged right-angle clips 3 contact the swash plate 2 via balls 301 and return baffles 402 at their ends, converting the rotational motion of the swash plate 2 into linear motion of the right-angle clips 3. The right-angle clips 3 are connected to the piston 4 via countersunk bolts 302, causing the piston 4 to perform high-frequency, high-speed linear suction motion along the fixed piston cylinder 5. Air is drawn in from the suction cup 7 with a one-way valve, passes through the air passage 6, and briefly forms a negative pressure within the piston cylinder 5, thereby achieving the ability to adhere to the wall. The larger the weld angle, the longer the linear suction stroke and the greater the negative pressure adsorption force within the piston cylinder 5.

[0090] Eight suction cups 7 are arranged in a ring at the front end of the box 13. The eight suction cups 7 take turns to suck air in order to ensure uninterrupted adsorption force, thereby ensuring the safety factor of the device when operating at high altitude;

[0091] The right-angle clip 3 is connected to the piston 4 via a countersunk bolt 302. The piston slider 401 connected between the piston 4 and the piston cylinder 5 restricts the rotation of the right-angle clip 3, thus allowing only forward and backward movement of the right-angle clip 3. The swash plate 2 is a key component for converting rotary power into linear power. It is designed in an annular step shape to prevent the right-angle clip 3 from detaching.

[0092] The second function of the negative pressure adsorption unit III is air pressure regulation. This is achieved by adjusting the motor 10 to drive the small screw 11 to rotate forward and reverse, and based on the screw-nut transmission principle, the sleeve 12 moves left and right, thereby covering the adjustment holes on the piston cylinder 5. By adjusting the number of covered adjustment holes, the size of the negative pressure enclosed space sucked by the piston 4 is changed, and the air pressure threshold is changed, so that the adsorption force of the suction cup 7 can be changed, thereby giving the piston cylinder 5 the ability to adjust the air pressure, and realizing the adsorption and release of the suction cup 7.

[0093] The sleeve 12 is made of two layers, the inner layer is made of hard metal and the outer layer is made of rubber. The inner hard metal layer ensures the transmission between the small screw 11 and the outer rubber layer can fit tightly to the hole wall to effectively isolate the gas flow.

[0094] The third function of the negative pressure adsorption unit III is friction fixation. This is achieved by transmitting a rotational force to the cylindrical cam 9 via the eccentric shaft 1. The cylindrical cam 9 converts the rotational motion into the reciprocating linear motion of the center rod 805. The hook slider 804 is welded to the housing 13. The linear motion of the connecting rod 803 and the center rod 805 controls the opening and closing of the crank arm 802, adjusting the frictional resistance between the friction disk 801 and the wall surface, thereby achieving friction fixation and release of the hook 8 against the wall, thereby further improving the safety factor of the device during high-altitude operations.

[0095] Step 4: Start the exoskeleton assist. After the preparatory work is completed, start the assist motor 30 to directly drive the main bevel gear 31 to rotate, and the exoskeleton assist unit IV begins to work, driving the user's left and right arms to retract downward and extend upward respectively, achieving assisted climbing;

[0096] The back plate 35 is the mounting base of the power assist unit. A set of connecting rod mechanisms are placed on its left and right sides, which are coaxially mounted and driven by screws. The left and right connecting rod mechanisms are respectively installed with wrist straps 23, which can respectively drive the upper arms on both sides to move, thereby reducing the user's physical exertion.

[0097] The second function of the exoskeleton power-assisting unit IV is connecting rod power-assistance, which is to drive the main bevel gear 31 to rotate through the power-assisting motor 30, and then the side bevel gears 32 on the two screws are driven by the meshing of the gears, so that the two large screws 29 rotate simultaneously; the small slider 33 moves left and right with the rotation of the large screw 29, and the distal end of the diamond-shaped connecting rod 26 will produce a corresponding up and down movement, so that the large slider 34 moves up and down along the guide rail 27; the power-assisting connecting rod 24 is a parallel four-bar mechanism, and the connecting rods on both sides are respectively connected to the hinge seats 25 of the shoulder plate 21 by hinges, so that the connecting rods on both sides can rotate around the hinge seats 25. As the active rod large slider 34 moves up and down, the wristband 23 on the driven rod will drive the user's left arm to extend and the right arm to bend, thereby relying on the power-assisting motor 30 to drive the connecting rod mechanism to help the rescuer complete the climbing action and achieve effortless climbing;

[0098] Step 5: Secure the platform and move the upper limbs upward. While the exoskeleton power unit IV assists the user in climbing the wall, the four-point negative pressure adsorption units III need to continuously adjust their respective suction forces. Strengthen the suction force of the bottom support platform I, alternately reduce the suction force of the upper limb handles II on both sides, and control the alternating upward movement of the upper limb handles II on both sides.

[0099] Step 6: Fix the upper limbs and move the platform upward. After adjusting the position of the upper limb handles II, increase the suction of the two upper limb handles II, slowly reduce the suction of the bottom support platform I, and continuously move the bottom support platform I upward. Repeat this process to achieve the upward movement of the entire device. Similarly, control the horizontal movement of the upper limb handles II on both sides and adjust the bottom support platform I to achieve left and right movement.

[0100] Step 7: Shut down the device. After reaching the accident floor, secure the bottom support platform I, shut down the power-assist motor 30, and retract the upper limb handle II downward. The user loosens the waist belt 37, wrist strap 23, and foot mount 39 and leaves the bottom support platform I. Next, hold the safety guardrail 14 and shut down the upper motor 42 and lower motor 17 in sequence. Finally, retract the entire device, and the rescue mission is complete.

Claims

1. An exoskeleton-assisted high-altitude rescue device based on the negative pressure adsorption principle, characterized in that: It includes bottom support platform (Ⅰ), upper limb handle (Ⅱ), negative pressure adsorption unit (Ⅲ), and exoskeleton power unit (Ⅳ); The bottom support platform (I) is located at the bottom of the device, the upper limb handles (II) are located at the top of the device and are symmetrical on the left and right. A set of negative pressure adsorption units (III) are arranged on the left and right of the upper limb handles (II), and two sets of negative pressure adsorption units (III) are arranged horizontally inside the bottom support platform (I). They are generally installed in a four-point manner. The upper limb handles (II) and the bottom support platform (I) are connected by an exoskeleton power-assisting unit (IV) to form an integral device. The exoskeleton power-assisting unit (IV) is worn on the person through a belt to assist the user in completing the climbing action.

2. The exoskeleton-assisted high-altitude rescue device based on the negative pressure adsorption principle according to claim 1 is characterized in that: The bottom support platform (I) includes a safety guardrail (14), an inverted trapezoidal platform (15), a motor (16), a large gear (17), a small gear (18) and a negative pressure adsorption unit (III); The safety guardrail (14) is welded and fixed to the surface of the inverted trapezoidal platform (15). The two negative pressure adsorption units (III) are arranged symmetrically inside the inverted trapezoidal platform (15). The power of the negative pressure adsorption unit (III) comes from the motor (16) driving the large gear (17) to rotate, and is respectively transmitted to the two small gears (18) through gear meshing. The small gears (18) provide rotational force to the negative pressure adsorption unit (III) through key connection.

3. The exoskeleton-assisted high-altitude rescue device based on the negative pressure adsorption principle according to claim 1 is characterized in that: The upper limb handle (II) includes a lock (40), a handle box (41), a motor (42) and a negative pressure adsorption unit (III); The lock buckle (40) is welded and fixed to the surface of the handle box (41), and the motor (42) and the negative pressure adsorption unit (III) are arranged inside the handle box (41) in front and back, and the motor (42) directly transmits power to the negative pressure adsorption unit (III); The handle box (41) is a force-bearing position for the rescued person's palm to grasp, providing safe and reliable support for the rescued person during the escape process; the lock buckle (40) is connected to the exoskeleton power-assisting unit (IV) worn by the user by passing the safety rope (20) through it and locking it, thereby further ensuring the safety of the user.

4. The exoskeleton-assisted high-altitude rescue device based on the negative pressure adsorption principle according to claims 1-3 is characterized in that: The negative pressure adsorption unit (III) comprises an eccentric shaft (1), a rotating swash plate (2), a right-angle buckle (3), a ball bearing (301), a countersunk bolt (302), a cylinder body (4), a slider (401), a return baffle (402), a piston cylinder (5), an air passage (6), a suction cup (7), a hook (8), a friction disc (801), a crank arm (802), a connecting rod (803), a slider (804), a center rod (805), a cylindrical cam (9), a motor (10), a screw rod (11), a sleeve (12), and a housing (13); The first function of the negative pressure adsorption unit (III) is adsorption. The eccentric shaft (1) drives the rotating swash plate (2) to rotate. The rotating swash plate (2) and the eccentric shaft 1 are welded and fixed at an angle of 20 degrees. The eight circularly arranged right-angle buckles (3) contact the rotating swash plate (2) through the balls (301) and the return baffle (402) at the end, converting the rotational motion of the rotating swash plate (2) into the linear motion of the right-angle buckle (3). The right-angle buckle (3) is connected to the cylinder body (4) through the countersunk bolt (402), so that the cylinder body (4) performs a high-frequency and high-speed linear suction motion along the fixed piston cylinder (5), so that air is sucked from the suction cup (7) with a one-way valve, passes through the airway (6), and forms a negative pressure in the piston cylinder (5) in a short time, thereby realizing the ability to adhere to the wall and adsorb. The larger the welding angle, the longer the linear suction stroke, and the greater the negative pressure adsorption force in the piston cylinder (5); The right-angle buckle (3) is connected to the cylinder body (4) by a countersunk bolt (302). Since the slider (401) between the cylinder body (4) and the piston cylinder (5) limits the rotation of the right-angle buckle (3), only the right-angle buckle (3) is allowed to move forward and backward; the eccentric shaft (1) is welded and fixed to the rotating swash plate (2) at an angle of 20 degrees. The rotating swash plate (2) is a key component for converting rotary power into linear power. It is designed in an annular step shape to prevent the right-angle buckle (3) from detaching; The second function of the negative pressure adsorption unit III is air pressure regulation, which is to drive the screw (11) to rotate forward and backward through the motor (10), and to move the sleeve (12) left and right based on the screw nut transmission principle, thereby covering the regulating air holes on the piston cylinder (5). By covering the number of regulating air holes, the size of the negative pressure enclosed space sucked by the cylinder body (4) is changed and the air pressure threshold is changed, so that the adsorption force of the suction cup (7) is variable, thereby giving the piston cylinder (5) the ability to adjust the air pressure, and realizing the adsorption and release of the suction cup; The sleeve (12) is made of two layers, the inner layer is made of hard metal and the outer layer is made of rubber. The inner hard metal layer ensures the transmission between the inner hard metal layer and the screw rod (11), and the outer rubber layer can fit closely to the hole wall and effectively isolate the gas flow. The third function of the negative pressure adsorption unit (III): friction fixation, is to transmit the rotational force to the cylindrical cam (9) through the eccentric shaft (1), and the cylindrical cam (9) converts the rotational motion into the reciprocating linear motion of the center rod (805), and the slider (804) is welded and fixed on the box (13). The opening and closing of the crank arm (802) is controlled by the linear motion of the connecting rod (803) and the center rod (805), and the friction resistance between the friction disk (801) and the wall is adjusted to achieve friction fixation and release of the hook (8) to the wall, thereby further improving the safety factor of the device during high-altitude operation.

5. The exoskeleton-assisted high-altitude rescue device based on the negative pressure adsorption principle according to claim 1 is characterized in that: The exoskeleton power-assisting unit (IV) comprises a U-shaped hook (19), a safety rope (20), a shoulder plate (21), a locking ring (22), a wrist strap (23), a power-assisting connecting rod (24), a hinge seat (25), a diamond connecting rod (26), a guide rail (27), a bearing (28), a screw rod (29), a motor (30), a main bevel gear (31), a side bevel gear (32), a slider (33), a slider (34), a back plate (35), a hinge (36), a waist belt (37), a connecting steel cable (38), and a foot fixing seat (39); The first function of the exoskeleton power-assisting unit (IV): restraint protection, is achieved by connecting the upper limb handle (II) with the exoskeleton power-assisting unit (IV) through a safety rope (20) and by the user wearing a waist belt (37) and a foot fixing seat (39). The waist belt (37) is connected to the back plate (35) upward through a hinge (36) and is connected to the foot fixing seat (39) downward through a connecting steel cable (38). The foot fixing seat (39) is welded and fixed to the bottom support platform (I), so that the device can achieve climbing even at places where the wall structure suddenly changes, and the user's body displacement is constrained, ensuring the safety of high-altitude operations; The back plate (35) is the mounting base of the power-assisting unit, and a set of connecting rod mechanisms are placed on the left and right sides thereof, which are coaxially mounted and driven by screw rods respectively. The left and right connecting rod mechanisms are respectively equipped with wrist straps (23), which can respectively drive the upper arms on both sides to move, thereby reducing the user's physical exertion; The second function of the exoskeleton power-assisting unit (IV) is connecting rod power-assisting, which is to drive the main bevel gear (31) to rotate through the motor (30), and then drive the side bevel gears (32) on the two screw rods by the meshing of the gears at the same time, so that the two screw rods (29) rotate at the same time; the slider (33) moves left and right as the screw rod (29) rotates, and the distal end of the diamond connecting rod (26) will produce a corresponding up and down movement, so that the slider (34) moves up and down along the guide rail (27); the power-assisting connecting rod (24) is a parallel four-bar mechanism, and the connecting rods on both sides are respectively connected to the hinge seat (25) of the shoulder plate (21) through a hinge, so that the connecting rods on both sides can rotate around the hinge seat (25), and as the active rod slider (34) moves up and down, the wristband (23) on the driven rod will drive the user's left arm to extend, and the right arm will bend, thereby relying on the motor (30) to drive the connecting rod mechanism to help the rescuer complete the climbing action, realizing labor-saving climbing.

6. The method for using the exoskeleton-assisted high-altitude rescue device based on the negative pressure adsorption principle according to claims 1-5, characterized in that: The lower motor (17) is started to make the bottom support platform (I) adsorbed on the wall. After the rescued person / materials are moved to the platform, the user puts on the waist belt (37), wrist strap (23) and foot fixing seat (39); the upper motor (42) is started to make the left and right upper limb handles (II) adsorbed on the wall. The suction force is adjusted by the negative pressure adsorption unit (III) to adjust the upper limbs; after the preparation work is completed, the power-assisting motor (30) is started, and the exoskeleton power-assisting unit (IV) drives the arms to extend and retract to achieve power-assisted climbing. After leaving the accident floor, the bottom support platform (I) is fixed, the power-assisting motor (30) is turned off, and the upper limb handles (II) are retracted; the user takes off the equipment and leaves the platform, holds the safety guardrail (14), turns off the upper motor (42) and the lower motor (17) in sequence, retracts the device, and the rescue is completed; According to the needs of upward rescue or downward self-rescue in the use scenario, two sets of schemes for controlling suction release and limb movement timing are designed. If it is upward rescue, first fix the platform, move the upper limb upward, then fix the upper limb and move the platform upward; If you need to move downward for self-rescue, first fix the upper limbs, move the platform downward, then fix the platform and move the upper limbs downward; similarly, control the handles (Ⅱ) on both sides of the upper limbs to move alternately horizontally, and then adjust the bottom support platform (Ⅰ) to achieve left and right movement.

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