Upper limb exoskeleton robot for distribution line hot-line work and system thereof

Abstract

The invention discloses an upper limb exoskeleton robot for live working of a distribution line. The upper limb exoskeleton robot comprises a supporting framework; the joint movement unit is arranged on the supporting framework and used for providing lifting assistance for the arms of the operating personnel; the wearing fixing unit is arranged on the supporting framework and used for wearing and fixing the upper limb exoskeleton machine for the distribution line hot-line work and the exoskeleton robot system comprising the upper limb exoskeleton machine, the structural design is reasonable, safety is high, an exoskeleton adopts an active assistance mode, the big arms of an operator are lifted, and the working efficiency is improved. The problem that an operator needs to lift for a long time in the live working process and is difficult to work continuously due to the fact that the load is high is solved, a flexible integrated insulation cape and an integrated whole-body safety belt can be worn on the outer portion of the exoskeleton, the protection safety of the operator is further enhanced, and the operator is prevented from being injured by an electrified body in the working process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of live working equipment of distribution line, more particularly, to a kind of upper limb exoskeleton robot for live working of distribution line and system thereof. BACKGROUND

[0002] Live working has become a routine mode of distribution network maintenance in China, and live working personnel need to hold working tools for a long time, and also need to maintain an unhealthy posture supported by electric pole or working platform, which consumes a lot of physical strength, and long-term work may endanger the occupational safety and health of personnel. Exoskeleton is a wearable equipment outside the operator's body, which can provide additional power and ability to the human body on the basis of providing functions such as protection, body support, etc., and further realize the enhancement of human physical ability and sensory extension.

[0003] The existing upper limb exoskeleton products are mainly for rehabilitation training exoskeleton or consumer-level power-assisted exoskeleton, and there is no exoskeleton device specially applied to live working scene. Through research, it is found that the existing active upper limb power-assisted exoskeleton usually has a large volume at the shoulder and back, and has many exposed conductive components, which is not suitable for working in the compact environment of distribution live line. According to the power safety regulations, a full-body safety belt should be worn during high-altitude work, and the existing exoskeleton fixed bandage design cannot meet the safety requirements of live working. SUMMARY

[0004] Therefore, the present application aims to provide an upper limb exoskeleton robot for live working of distribution line and system thereof, which aims to solve the problems in the prior art.

[0005] According to a first aspect of the present application, an upper limb exoskeleton robot for live working of distribution line is provided, comprising:

[0006] a support framework;

[0007] a joint movement unit arranged on the support framework, for providing lifting assistance for the arm of the working personnel;

[0008] a wearing fixing unit arranged on the support framework, for wearing and fixing the upper limb exoskeleton robot.

[0009] Preferably, the joint movement unit comprises a driving motor, a joint swing arm and an arm fixator, the rotating shaft of the driving motor is fixedly connected with the joint swing arm, and the arm fixator is slidably arranged on the joint swing arm.

[0010] Preferably, a long strip-shaped sliding groove is arranged on the joint swing arm, and the arm fixator is slidably connected with the long strip-shaped sliding groove through a sliding shaft.

[0011] Preferably, the support framework comprises a waist support, a back support and a shoulder support, and the waist support and the shoulder support are connected through the back support.

[0012] Preferably, the number of the joint movement units is two, and the two joint movement units are respectively arranged on two sides of the shoulder support.

[0013] Preferably, a back anti-falling hanging point is arranged on the back support, and a waist anti-falling hanging point is arranged on the waist support.

[0014] Preferably, the wearable fixing unit comprises a shoulder fixing belt, a waist fixing belt, and a leg fixing belt.

[0015] Preferably, a power supply module and a control module are further included, the power supply module is arranged on the support framework, the power supply module is electrically connected with the control module and the joint movement unit respectively, and the control module is used for controlling the action of the joint movement unit.

[0016] According to a second aspect of the present application, an upper limb exoskeleton robot system for live working of power distribution lines is provided, comprising:

[0017] an upper limb exoskeleton robot for live working of power distribution lines;

[0018] a flexible insulated cape for being sleeved outside the upper limb exoskeleton robot for live working of power distribution lines;

[0019] a protective rope belt connected to the upper limb exoskeleton robot for live working of power distribution lines.

[0020] Preferably, the flexible insulated cape is provided with insulated magic tape belts on the left and right sides below the front and rear parts, respectively, for being connected with the upper limb exoskeleton robot.

[0021] The present application provides an upper limb exoskeleton robot for live working of power distribution lines and an exoskeleton robot system comprising the same, which has a reasonable structure design and high safety, adopts an active assistance mode to lift the upper arm of a worker, alleviates the problem that the worker needs to lift and wear a high load for a long time during live working, and makes it difficult to continuously work, and wearable flexible integrated insulated capes and integrated whole-body safety belts are arranged outside the exoskeleton, which further enhances the protection safety of the worker and prevents the live body from causing damage to the worker during working. BRIEF DESCRIPTION OF DRAWINGS

[0022] The above and other objects, features and advantages of the present application will become more apparent from the following description of embodiments of the present application with reference to the accompanying drawings.

[0023] Figures 1-2 The three-dimensional structure schematic diagram of the upper limb exoskeleton robot for live working of power distribution lines according to the embodiments of the present application is shown from different perspectives.

[0024] Figures 3-4A structural schematic diagram of an upper-limb exoskeleton robot system for live working on power distribution lines according to an embodiment of the present application is shown from different perspectives.

[0025] Figure 5 A structural schematic diagram of a flexible insulated cloak according to an embodiment of the present application is shown.

[0026] In the figure: support framework 1, waist support 11, waist anti-falling hanging point 111, back support 12, back anti-falling hanging point 121, shoulder support 13, joint movement unit 2, driving motor 21, joint swing arm 22, arm fixer 23, mounting arm 24, mounting seat 25, wearing fixation unit 3, shoulder fixation belt 31, waist fixation belt 32, leg fixation belt 33, power supply module 4, control module 5, upper-limb exoskeleton robot 100, flexible insulated cloak 200, protective rope belt 300. DETAILED DESCRIPTION

[0027] Various embodiments of the present application will be described in greater detail below with reference to the accompanying drawings. In each of the drawings, the same elements are denoted by the same or similar reference numerals. Each part in the drawings is not drawn to scale for the sake of clarity.

[0028] As shown in Figures 1-5 , the present application provides an upper-limb exoskeleton robot 100 for live working on power distribution lines, which comprises a support framework 1, a joint movement unit 2, and a wearing fixation unit 3.

[0029] The support framework 1 comprises a waist support 11, a back support 12, and a shoulder support 13, and the waist support 11 and the shoulder support 13 are connected via the back support 12. The waist support 11, the back support 12, and the shoulder support 13 are all made of hard material, such as high-strength plastic or carbon fiber material. The shoulder support 13 is respectively provided with a mounting arm 24, and the two mounting arms 24 are symmetrically arranged left and right, and the joint movement unit 2 is mounted on the mounting arm 24.

[0030] The joint movement unit 2 is arranged on the support framework 1 and is used to provide lifting assistance for the arms of the working personnel. The joint movement unit 2 comprises a driving motor 21, a joint swing arm 22, and an arm fixer 23, the rotating shaft of the driving motor 21 is fixedly connected with the joint swing arm 22, and the arm fixer 23 is slidably arranged on the joint swing arm 22.

[0031] Specifically, each mounting arm 24 is respectively provided with a mounting seat 25, the upper end of the mounting seat 25 is connected to the mounting arm 24, and the lower end is provided with a driving motor 21, the rotating shaft of the driving motor 21 is fixedly connected with the joint swing arm 22, for example, through bolt connection. The joint swing arm 22 is provided with an elongated sliding groove, and the arm fixer 23 is slidably connected to the elongated sliding groove through a sliding shaft. The arm fixer 23 is an elastic binding belt, and the two ends of the binding belt are attached by magic tape, so as to fix the operator's arm. Of course, the binding belt can also be designed in a buckle structure, which is not limited here.

[0032] The wearing fixing unit 3 is arranged on the support framework 1 and is used for wearing and fixing the upper limb exoskeleton robot 100.

[0033] The back support 12 is provided with a back anti-falling hanging point 121, and the waist support 11 is provided with a waist anti-falling hanging point 111. The two ends of the back support 12 are respectively provided with a back anti-falling hanging point 121, and the waist anti-falling hanging point 111 includes a U-shaped plate and a fixing block, which are connected by bolts. The U-shaped plate can be fixed on the back support 12 by bolts or directly integrated and fixed on the back support 12. The back anti-falling hanging point 121 and the waist anti-falling hanging point 111 can be used to protect the connection of the rope belt 300.

[0034] The wearing fixing unit 3 includes a shoulder fixing belt 31, a waist fixing belt 32, and a leg fixing belt 33. The shoulder fixing belt 31 is two, which limits the left and right shoulders, and the upper end of the shoulder fixing belt 31 is connected to the shoulder support 13 and the lower end is connected to the waist support 11. The waist fixing belt 32 is connected to the two ends of the waist support 11, and the leg fixing belt 33 is a ring structure.

[0035] The upper limb exoskeleton robot 100 for live-line work of power distribution lines in this embodiment has compatibility when the full-body safety belt is worn at the same time, and does not have problems such as wearing interference, limited anti-falling hanging protection function, or poor comfort, and can meet the safety requirements of live-line work.

[0036] The upper limb exoskeleton robot 100 for live-line work of power distribution lines also includes a power supply module 4 and a control module 5. The power supply module 4 is arranged on the support framework 1, the power supply module 4 is electrically connected with the control module 5 and the joint motion unit 2 respectively, and the control module 5 is used to control the action of the joint motion unit 2. In this embodiment, the power supply module 4 is arranged at the middle position of the outer surface of the waist support 11, the control module 5 is a remote controller, and is arranged on an insulating rod or a front shoulder of the upper limb exoskeleton robot 100 during use. The controller selects different gear power modes by pressing keys, and controls the driving motor 21 to output a specific torque.

[0037] The application further discloses an upper limb exoskeleton robot system for live working of a power distribution line.

[0038] The upper limb exoskeleton robot for live working of the power distribution line;

[0039] The flexible insulating shoulder cape is used for being sleeved outside the upper limb exoskeleton robot for live working of the power distribution line;

[0040] The protection rope belt is connected to the upper limb exoskeleton robot for live working of the power distribution line.

[0041] The flexible insulating shoulder cape is used for being sleeved outside the upper limb exoskeleton robot for live working of the power distribution line;

[0042] The flexible insulating shoulder cape is made of EVA resin or other materials with good flexibility and insulation, and the surface of the finished product should be flat, uniform and smooth, without small holes, local bumps, foreign matter, folds, gaps and the like, and the joint part should be seamlessly made, so that the wearing is comfortable and does not affect the normal activity in the operation.

[0043] For the 10kV flexible insulating shoulder cape, the thickness of the insulating material should meet the requirements that the layer withstand voltage is not less than 20kV / 3min and the breakdown voltage is not less than 30kV.

[0044] The protection rope belt 300 can be a fall protection rope or a fence safety belt. According to the on-site operation requirements, the fall protection rope or the fence safety belt can be connected. When climbing the pole, the waist fall prevention hanging points 111 on both sides are connected to the fence safety belt, and the back fall prevention hanging point 121 is connected to the fall prevention safety rope. When the insulating boom truck or the insulating platform is operated, the waist fall prevention hanging points 111 and the back fall prevention hanging point 121 can be connected to the fall prevention safety rope.

[0045] The upper limb exoskeleton robot system for live working of the power distribution line in the embodiment can be used by referring to the following steps:

[0046] 1. The operator first wears the exoskeleton shoulder cape, first loosens the waist fixing belt 32, then wears the shoulder strap to the shoulder, then tightens the waist fixing belt 32, then tightens the shoulder strap limiting device, loosens the self-locking buckle of the waist fixing belt 32, adjusts to the waist of the wearer according to the wearer, then adjusts the hand fixing device to the upper arm of the wearer, and uses the elastic self-locking belt to bind the upper arm of the wearer, completes the installation, and after the exoskeleton is worn, the leg safety rope is passed through the left and right legs of the wearer and is tightened. Then, the battery is inserted into the power supply module 4, and the exoskeleton is worn.

[0047] 2, after wearing, the operator will put both arms into the flexible insulation shawl 200 double sleeve, and lock the front button, then assisted by the external personnel will be the operator armpit bandage, prevent loosening, and the back insulation shawl flat, and the shawl back lower bandage and waist fixing belt 32 fixed, prevent the exoskeleton external cable or conductive components bare shawl outside;

[0048] 3, after wearing, open the battery switch, and open the switch of the control module 5 and set the assist mode, complete the upper limb exoskeleton start, can carry on the work.

[0049] The application provides an upper limb exoskeleton machine for live working of a power distribution line and an exoskeleton robot system comprising the same, and has the advantages of reasonable structure design and high safety, the exoskeleton adopts an active assist mode, lifts the upper arm of an operator, reduces the problem that the operator is difficult to continuously work due to the high load and long time lifting during live working, and the exoskeleton is externally provided with a flexible integrated insulation shawl and an integrated whole-body safety belt, further enhancing the protection safety of the operator and preventing the live body from causing damage to the operator during working.

[0050] It should be noted that the relational terms herein such as first and second and the like are used only to differentiate one entity or action from another, and do not necessarily require or imply that any such actual relationship or order exists between or among the entities or actions. Also, the terms "comprises", "comprising", or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element preceded by "comprises... a" does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article, or apparatus that comprises the recited element.

[0051] Finally, it should be noted that: obviously, the above embodiments are only examples for clearly illustrating the present application, and are not limitations on the embodiments. Based on the above description, other different forms of changes or variations can be made by those skilled in the art. Here, all the embodiments need not and cannot be exhausted. The obvious changes or variations derived therefrom are still within the protection scope of the present application.

Claims

1. An upper-limb exoskeleton robot for live-line work on power distribution lines, characterized in that, The utility model relates to an upper limb exoskeleton robot for live working of power distribution line, which comprises a supporting framework, an articulation unit arranged on the supporting framework and used to provide lifting assistance for the arm of a worker, and a wearing fixing unit arranged on the supporting framework and used to fix the upper limb exoskeleton robot. The articulation unit comprises a driving motor, an articulation swing arm and an arm fixing device, the rotating shaft of the driving motor is fixedly connected with the articulation swing arm, and the arm fixing device is slidably arranged on the articulation swing arm. The articulation swing arm is provided with an elongated sliding groove, and the arm fixing device is slidably connected with the elongated sliding groove through a sliding shaft. The supporting framework comprises a waist support, a back support and a shoulder support, and the waist support and the shoulder support are connected through the back support.

2. The power distribution line live working upper extremity exoskeleton robot according to claim 1, characterized by, The number of the articulation units is two, and the two articulation units are arranged on the two sides of the shoulder support, respectively.

3. The upper-limb exoskeleton robot for live working on power distribution lines according to claim 2, characterized by, The back support is provided with a back anti-falling hanging point, and the waist support is provided with a waist anti-falling hanging point.

4. The power distribution line live working upper extremity exoskeleton robot according to claim 1, characterized by, The wearing fixing unit comprises a shoulder fixing belt, a waist fixing belt and a leg fixing belt.

5. The power distribution line live working upper extremity exoskeleton robot according to claim 4, characterized by, The utility model further comprises a power supply module and a control module, the power supply module is arranged on the supporting framework, the power supply module is electrically connected with the control module and the articulation unit, respectively, and the control module is used to control the action of the articulation unit.

6. The power distribution line live working upper extremity exoskeleton robot according to claim 4, characterized by, The utility model relates to an upper limb exoskeleton robot for live working of power distribution line, which comprises a supporting framework, an articulation unit arranged on the supporting framework and used to provide lifting assistance for the arm of a worker, and a wearing fixing unit arranged on the supporting framework and used to fix the upper limb exoskeleton robot.

7. The upper-limb exoskeleton robot for live working on power distribution lines according to claim 1, characterized by The utility model relates to an upper limb exoskeleton robot for live working of power distribution line, which comprises a supporting framework, an articulation unit arranged on the supporting framework and used to provide lifting assistance for the arm of a worker, and a wearing fixing unit arranged on the supporting framework and used to fix the upper limb exoskeleton robot.

8. The power distribution line live working upper extremity exoskeleton robot according to claim 1, characterized by, The utility model relates to an upper limb exoskeleton robot for live working of power distribution line, which comprises a supporting framework, an articulation unit arranged on the supporting framework and used to provide lifting assistance for the arm of a worker, and a wearing fixing unit arranged on the supporting framework and used to fix the upper limb exoskeleton robot.

9. An upper limb exoskeleton robot system for live working on a power distribution line, characterized by, The utility model relates to an upper limb exoskeleton robot for live working of power distribution line, which comprises a supporting framework, an articulation unit arranged on the supporting framework and used to provide lifting assistance for the arm of a worker, and a wearing fixing unit arranged on the supporting framework and used to fix the upper limb exoskeleton robot. The utility model relates to an upper limb exoskeleton robot for live working of power distribution line, which comprises a supporting framework, an articulation unit arranged on the supporting framework and used to provide lifting assistance for the arm of a worker, and a wearing fixing unit arranged on the supporting framework and used to fix the upper limb exoskeleton robot. The utility model relates to an upper limb exoskeleton robot for live working of power distribution line, which comprises a supporting framework, an articulation unit arranged on the supporting framework and used to provide lifting assistance for the arm of a worker, and a wearing fixing unit arranged on the supporting framework and used to fix the upper limb exoskeleton robot. The utility model relates to an upper limb exoskeleton robot for live working of power distribution line, which comprises a supporting framework, an articulation unit arranged on the supporting framework and used to provide lifting assistance for the arm of a worker, and a wearing fixing unit arranged on the supporting framework and used to fix the upper limb exoskeleton robot.

10. The power distribution line live working upper extremity exoskeleton robot system according to claim 9, characterized by, The utility model relates to an upper limb exoskeleton robot for live working of power distribution line, which comprises a supporting framework, an articulation unit arranged on the supporting framework and used to provide lifting assistance for the arm of a worker, and a wearing fixing unit arranged on the supporting framework and used to fix the upper limb exoskeleton robot. The utility model relates to an upper limb exoskeleton robot for live working of power distribution line, which comprises a supporting framework, an articulation unit arranged on the supporting framework and used to provide lifting assistance for the arm of a worker, and a wearing fixing unit arranged on the supporting framework and used to fix the upper limb exoskeleton robot. The utility model relates to an upper limb exoskeleton robot for live working of power distribution line, which comprises a supporting framework, an articulation unit arranged on the supporting framework and used to provide lifting assistance for the arm of a worker, and a wearing fixing unit arranged on the supporting framework and used to fix

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