Bionic adaptive climbing hand exoskeleton device based on brick wall geometric features

Abstract

The application discloses a kind of based on brick wall geometric features's bionic adaptive climbing hand exoskeleton device, belong to bionic machinery and emergency rescue and high-altitude operation protective equipment technical field.The device, compliance spine array assembly includes several side-by-side interval set spine and several side-by-side interval set tension spring;Spine has pitch rotation degree of freedom, present bionic eagle claw state bending;The front end of several tension springs is connected with the rear end of several spine one by one, rear end is connected with the middle part of main body fixed assembly;In natural state, the tension of several tension springs makes corresponding several spine keep downward buckling tendency;Wrist fixed assembly and the rear part of main body fixed assembly are rotatably connected, so that main body fixed assembly has pitch rotation degree of freedom relative to wrist fixed assembly.The present application can be realized in city brick wall etc.Rough vertical surface provides safe, stable climbing anchorage point, has independent compliance, can bear transient impact load and can easily detach.

Description

Technical Field

[0001] This invention relates to the field of biomimetic machinery and emergency rescue and high-altitude operation protective equipment technology, and in particular to a biomimetic adaptive climbing exoskeleton device based on the geometric features of a brick wall. Background Technology

[0002] In complex, unstructured environments such as urban fire rescue, non-destructive testing of building exteriors, high-altitude emergency repairs, and geological exploration, workers often need to climb vertical, rough building exteriors (such as brick walls, block walls, etc.) or rock faces by hand or with the aid of simple tools. In such scenarios, a wearable end effector is needed that can withstand the enormous weight of the human body and achieve a high-strength, stable interlock with the rough surface.

[0003] However, existing micro-spiked grippers or traditional climbing aids present an irreconcilable contradiction between "high load-bearing capacity," "surface conformal compliance," and "human-machine interaction detachment efficiency." First, traditional rigid climbing hand hooks or ice axes, due to the rigid connection of their individual tips, lack independent compliance. When facing real brick surfaces with tiny protrusions, they are prone to multi-spiked geometric interference, resulting in "one point locked, the rest suspended," a very small effective contact area, low ultimate load-bearing capacity, and easy slippage. Second, to improve multi-spiked interference, some existing technologies have introduced flexible bases or small, interlaced spring steel sheets. However, these structures often cannot stably withstand the transient impact loads of hundreds of kilograms experienced by adults climbing, making them prone to fatigue fracture. Furthermore, high-strength mechanical interlocking is often accompanied by difficulty in detachment. During the dynamic cycle of climbing, if the equipment is too tightly stuck, construction workers or rescuers need to expend a great deal of energy to forcibly "pull" out the gripper, severely reducing climbing and rescue efficiency. Therefore, there is an urgent need for a new type of civilian wearable climbing device that can withstand high loads at the human body level, achieve high adaptability in microstructure, and be easily detached. Summary of the Invention

[0004] This invention aims to at least partially solve one of the technical problems in related technologies. To this end, one objective of this invention is to propose a biomimetic adaptive climbing exoskeleton device based on the geometric features of brick walls, which can provide safe and stable climbing anchor points on rough facades such as urban brick walls, possessing independent adaptability, the ability to withstand transient impact loads, and easy detachment.

[0005] A biomimetic adaptive climbing exoskeleton device based on the geometric features of a brick wall according to an embodiment of the present invention includes: Main body fixing components; A compliant spike array assembly includes a plurality of spikes arranged side-by-side at intervals and a plurality of tension springs arranged side-by-side at intervals. The spikes are all biomimetic claw-shaped bends, and their rear portions are rotatably connected to the front portion of a main body fixing assembly, allowing each spike to independently have pitch and rotation degrees of freedom relative to the main body fixing assembly. The front ends of each tension spring are correspondingly connected to the rear ends of the spikes, and the rear ends of the tension springs are connected to the middle portion of the main body fixing assembly. In its natural state, the tension of the tension springs causes the corresponding spikes to maintain a downward gripping tendency. A wrist fixation component is rotatably connected to the rear of the main body fixation component, so that the main body fixation component has pitch and rotation degrees of freedom relative to the wrist fixation component.

[0006] In this invention, the biomimetic adaptive climbing exoskeleton based on the geometric features of a brick wall is used by the user who swings their wrist to slap the device against the wall, causing the spiked ends to hook onto the gaps along the upper edge of the bricks. While suspended, the device experiences a downward pull from the user's weight, causing the rear ends of the spiked ends to pull on the tension springs and rotate. Each spike adjusts its posture and engages with the minute rough surfaces of the gaps along the upper edge of the bricks, converting the downward pull into a high-strength, large-area mechanical interlock. The multiple spikes and tension springs ensure the user's center of gravity remains stable. When climbing, as the climber pulls the biomimetic adaptive climbing hand exoskeleton device based on the geometry of the brick wall downwards to move the body upwards, the user slaps the biomimetic adaptive climbing hand exoskeleton device based on the geometry of the brick wall on the other hand towards the higher brick wall and fixes it in place; the user instinctively lifts the wrist of the lower hand upwards, causing the wrist fixing component to tilt and rotate, and can then easily pull the spiked plate vertically upwards from the brick seam.

[0007] The biomimetic adaptive climbing exoskeleton device based on the geometric features of brick walls, as described in this invention, has the following advantages: Firstly, it possesses independent compliance; several spiked plates independently have pitch and rotation degrees of freedom relative to the main fixing component, preventing interference between the spiked plates and exhibiting excellent shape compliance, conforming to the complex and rough surface of the brick wall, resulting in a large effective contact area, reducing slippage, and improving climbing safety. Secondly, it can stably withstand transient impact loads of hundreds of kilograms during climbing, making it less prone to fatigue fracture. Thirdly, detachment is easy; the wrist fixing component is rotatably connected to the rear of the main fixing component. When a climber needs to detach one wrist from the brick wall, using the front end of the spiked plate as a fulcrum, actively lifting the wrist upwards drives the wrist fixing component to pitch and rotate, easily pulling the spiked plate vertically upwards from the brick seam, achieving detachment, reducing the user's physical exertion during high-altitude climbing, facilitating detachment, and improving climbing and rescue efficiency.

[0008] In some embodiments, the main body fixing assembly includes a main body structure, a rotation fulcrum shaft, a tension spring fixing shaft, and a wrist connecting shaft; the rotation fulcrum shaft, the tension spring fixing shaft, and the wrist connecting shaft are respectively arranged laterally in the front, middle, and rear parts of the main body structure, and are respectively connected to the rear parts of the plurality of spikes, the rear ends of the plurality of tension springs, and the wrist fixing assembly.

[0009] In some embodiments, the main structure is a sheet metal part, and the rotating fulcrum shaft and the tension spring fixing shaft are located inside the main structure.

[0010] In some embodiments, the spikes are made of steel.

[0011] In some embodiments, the compliant spike array assembly further includes a plurality of pads distributed between adjacent spikes and connected to the pivot axis.

[0012] In some embodiments, the gasket is made of polytetrafluoroethylene (PTFE).

[0013] In some embodiments, a positioning barb is also included, which is disposed at the lower part of the main body structure.

[0014] In some embodiments, the longitudinal distance between the tip of the spike and the tip of the positioning barb is configured to match the vertical spacing of a standard building brick.

[0015] In some embodiments, there are two positioning barbs, which are arranged on both sides of the main structure.

[0016] In some embodiments, the wrist fixation assembly includes a wrist fixation plate and a wrist fixation strap, the front end of the wrist fixation plate being rotatably sleeved on the wrist connecting shaft, and the wrist fixation strap being disposed on the wrist fixation plate.

[0017] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0018] Figure 1 This is a three-dimensional schematic diagram of one orientation of the biomimetic adaptive climbing exoskeleton device based on the geometric features of a brick wall according to an embodiment of the present invention. Figure 2 This is a three-dimensional schematic diagram from another angle of the biomimetic adaptive climbing exoskeleton device based on the geometric features of a brick wall according to an embodiment of the present invention. Figure 3 This is a three-dimensional schematic diagram of the compliant spike array assembly according to an embodiment of the present invention; Figure 4 This is a three-dimensional schematic diagram of the positioning barb and wrist fixing component according to an embodiment of the present invention.

[0019] Figure Labels A biomimetic adaptive climbing exoskeleton device 1000 based on the geometric features of a brick wall includes: a main body fixing component 1; a main body structure 101; a rotation fulcrum shaft 102; a tension spring fixing shaft 103; a wrist connecting shaft 104; a spare mounting hole 105; a compliant spike array component 2; spike plates 201; hook parts 2011; tension springs 202; gaskets 203; a wrist fixing component 3; a wrist fixing plate 301; a wrist fixing strap 302; a positioning barb 4; a base 401; a barb main body 402; a fixing hole 403; and a socket hole 404. Detailed Implementation

[0020] Embodiments of the present invention are described in detail below. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0021] The following is combined Figures 1 to 4This invention describes a biomimetic adaptive climbing hand exoskeleton device 1000 based on the geometric features of brick walls. It is mainly used as an external auxiliary equipment and is worn on the wrist of the user (firefighters or workers working on high-altitude exterior walls). It provides a safe and stable climbing anchor point for rough facades such as urban brick walls, and solves the technical limitations of existing climbing equipment, such as the difficulty in balancing high load-bearing capacity and high compliance, low effective engagement rate due to multiple barbs, and the high energy consumption of debonding during dynamic climbing.

[0022] like Figures 1 to 4 As shown, the biomimetic adaptive climbing hand exoskeleton device 1000 based on the geometric features of a brick wall in this embodiment of the invention adopts a compact layout that conforms to the human hand's force exertion habits, including a main body fixing component 1, an compliant spike array component 2, and a wrist fixing component 3.

[0023] The main fixing component 1 provides a high-strength load-bearing foundation and multi-level connection points for the biomimetic adaptive climbing hand exoskeleton device 1000 based on the geometric features of brick walls. It is the load-bearing skeleton of the biomimetic adaptive climbing hand exoskeleton device 1000 based on the geometric features of brick walls, bearing the load of the user during the climbing process, and is designed to transfer the huge transient and static load brought by the body weight.

[0024] The compliant spike array assembly 2 is used to withstand the main normal tensile force during climbing and achieve microscopic adaptive contact with rough wall surfaces. The compliant spike array assembly 2 includes several spikes 201 arranged side-by-side at intervals and several tension springs 202 arranged side-by-side at intervals. The spaced arrangement of the spikes 201 and tension springs 202 not only ensures that the actions of each spike 201 and tension spring 202 do not interfere with each other, but also greatly reduces metal friction loss under high-frequency use. Each spike 201 is biomimeticly curved in an eagle claw shape; that is, the front end of each spike 201 has a curved biomimetic structure similar to the claw of a raptor, to obtain the optimal cutting angle and a more secure grip. The rear of several spikes 201 are rotatably connected to the front of the main fixing component 1, so that the spikes 201 have independent pitch and rotation degrees of freedom relative to the main fixing component 1; the front ends of several tension springs 202 are connected to the rear ends of several spikes 201, and the rear ends of several tension springs 202 are connected to the middle of the main fixing component 1; in this way, the spikes 201 and tension springs 202 form an all-metal rigid transmission frame, abandoning the traditional flexible deformation material. This design ensures that a single spike can withstand tens of kilograms of ultimate shear stress (fully meeting the needs of human body load-bearing and construction operations), and ensures that each spike 201 has independent compliance. Under the downward pull of human body gravity, the tension springs 202 allow each spike 201 to adjust independently according to the extremely irregular surface morphology in the brick joint, realizing large-area multi-point interlocking with the wall bricks under high load, effectively improving the ultimate load-bearing capacity and making it less prone to slippage. In its natural state, the tension of several tension springs 202 causes the corresponding several spikes 201 to maintain a downward gripping tendency. This helps the spikes 201 to firmly grip the gaps in the wall tiles and prevents them from slipping off. When climbing, the climber hangs the biomimetic adaptive climbing exoskeleton device 1000, based on the geometric features of the brick wall, on the rough brick surface and applies their own weight. If the tip of any single spike encounters a hard protrusion and is obstructed, the obstructed spike 201 will overcome the tension of the corresponding tension spring 202 and rotate backward and upward, while simultaneously stretching the corresponding tension spring 202 to grip the hard protrusion. Meanwhile, the adjacent unobstructed spikes 201 continue to penetrate into the pits inside the brick joints under the continuous traction of their respective tension springs 202, until all spikes 201 form stable and effective contact with the rough wall surface. This achieves a large-area, multi-point interlocking between the compliant spike array assembly 2 and the brick wall under high load. This mechanism of "metal rigid bearing + tension spring 202 flexible compliance" allows the biomimetic adaptive climbing exoskeleton device 1000, based on the geometric features of the brick wall, to perfectly conform to the extremely irregular surface morphology of the brick while bearing the weight of the human body, effectively improving the ultimate bearing capacity and making it less prone to slippage.

[0025] The wrist fixation component 3 is rotatably connected to the rear of the main body fixation component 1, allowing the main body fixation component 1 to have pitch and rotation degrees of freedom relative to the wrist fixation component 3. The wrist fixation component 3 provides a human-machine interface. In use, the wrist fixation component 3 is fixed to the user's wrist, allowing the climber to wear the biomimetic adaptive climbing hand exoskeleton device 1000 based on the geometry of the brick wall. Because high-altitude work and climbing are extremely physically demanding, the wrist fixation component 3 is rotatably connected to the rear of the main body fixation component 1, adapting to the movement of the human wrist joint. This cleverly utilizes the natural movement trajectory of the wrist joint and the mechanical lever principle to achieve extremely low-power lever detachment based on ergonomics. Specifically, when climbing, the user can swing one wrist to slap the biomimetic adaptive climbing hand exoskeleton device 1000, which is based on the geometric features of the brick wall, against the brick wall. When the climber needs to detach one wrist from the brick wall, he can use the front end of the spike plate 201 as a fulcrum to actively lift his wrist upward and drive the wrist fixing component 3 to pitch and rotate, thereby reducing the user's physical exertion during high-altitude climbing.

[0026] In this embodiment of the invention, the biomimetic adaptive climbing exoskeleton device 1000 based on the geometric features of a brick wall is used by the user swinging their wrist to slap the device against the wall, causing the spiked pieces 201 to hook onto the gaps along the upper edge of the brick wall. During suspension, the device experiences a downward pull from the user's weight, causing the rear ends of the spiked pieces 201 to pull on the tension springs 202 and rotate. Each spiked piece 201 adjusts its posture and engages with the minute rough surfaces of the gaps along the upper edge of the brick wall, converting the downward pull into a high-strength, large-area mechanical interlock. The multiple spiked pieces 201 and the tension springs 202 ensure the user's center of gravity remains stable. When climbing, as the climber pulls the biomimetic adaptive climbing hand exoskeleton device 1000 based on the geometric features of the brick wall downwards to move the body upwards, the user slaps the biomimetic adaptive climbing hand exoskeleton device 1000 based on the geometric features of the brick wall on the other hand against the brick wall at a higher position and fixes it in place; the user instinctively lifts the wrist of the lower hand upwards, causing the wrist fixing component 3 to tilt and rotate, and can easily pull the spiked plate 201 vertically upwards from the brick seam.

[0027] The biomimetic adaptive climbing exoskeleton device 1000 based on the geometric features of a brick wall, according to an embodiment of the present invention, has the following advantages: Firstly, it has independent compliance; several spiked pieces 201 independently have pitch and rotation degrees of freedom relative to the main fixing component 1, which can prevent interference between the spiked pieces 201, and has excellent shape compliance, conforming to the complex and rough surface of the brick wall, with a large effective contact area, making it less prone to slippage and improving climbing safety. Secondly, it can stably withstand the transient impact load of hundreds of kilograms during climbing, and is not prone to fatigue fracture. Thirdly, it is easy to detach; the wrist fixing component 3 is rotatably connected to the rear of the main fixing component 1. When the climber needs to detach one wrist from the brick wall, using the front end of the spiked piece 201 as a fulcrum, actively lifting the wrist upwards will drive the wrist fixing component 3 to pitch and rotate, and the spiked piece 201 can be easily pulled vertically upwards from the brick joint, achieving detachment, reducing the user's physical exertion during high-altitude climbing, and improving climbing and rescue efficiency.

[0028] In some embodiments, the main body fixing assembly 1 includes a main body structure 101, a rotation fulcrum shaft 102, a tension spring fixing shaft 103, and a wrist connecting shaft 104. The rotation fulcrum shaft 102, the tension spring fixing shaft 103, and the wrist connecting shaft 104 are respectively arranged laterally at the front, middle, and rear of the main body structure 101, and are respectively connected to the rear of a plurality of spike pieces 201, the rear end of a plurality of tension springs 202, and the wrist fixing assembly 3. The main body structure 101, as the core of the main body fixing assembly 1, combines lightweight design with extremely high yield strength. For example, the main body structure 101 has a hollow portion to reduce its weight. The rotation fulcrum shaft 102, the tension spring fixing shaft 103, and the wrist connecting shaft 104 are all load-bearing shafts. The rotation fulcrum shaft 102 serves as the rotation center of the plurality of spike pieces 201, the tension spring fixing shaft 103 serves as a mechanical anchor point at one end of the tension spring 202, and the wrist connecting shaft 104 is used to connect the human-machine interface strap structure. The design of the fully rigid main body fixing component 1 ensures that the overall structure will not twist or deform under high-intensity extreme operations.

[0029] In some embodiments, the main structure 101 is a sheet metal part, such as an aluminum alloy sheet metal part, which combines lightweight and extremely high yield strength. The rotation fulcrum shaft 102 and the tension spring fixing shaft 103 are located inside the main structure 101, which is reasonably positioned to prevent interference with the user's hand during use.

[0030] In some embodiments, the sheet metal part can be an aluminum alloy sheet metal part, the main structure 101 is an integrally formed part or a spliced ​​part, the two sides of the main structure 101 have inner flanges, the two ends of the rotation fulcrum shaft 102 and the two ends of the tension spring fixing shaft 103 are respectively supported and fixed on the inner flanges of the two sides of the main structure 101, which is reasonably set to prevent interference with the user's hands during use.

[0031] In some embodiments, the main structure 101 is provided with a spare mounting hole 105 for installing gripping tools. The spare mounting hole 105 can be used to install protective tools, such as specially made fire gloves, which can add climbing functionality to the existing protective measures.

[0032] In some embodiments, the spike 201 is made of steel, which has high strength to prevent fatigue fracture during use and ensure user safety.

[0033] In some embodiments, the rear end of the spike 201 is provided with a hook portion 2011 connected to the tension spring 202, which has a simple structure and is easy to install.

[0034] In some embodiments, the compliant spike array assembly 2 further includes a plurality of pads 203, which are distributed between adjacent spikes 201 and connected to the rotation pivot shaft 102. The pads 203 not only ensure that the actions of each spike 201 do not interfere with each other, but also greatly reduce the frictional loss of the spikes 201 under high-frequency use.

[0035] In some embodiments, the gasket 203 is made of polytetrafluoroethylene (PTFE), which reduces the friction between PTFE and the spiked plate 201, thereby reducing the wear and tear on the spiked plate 201 caused by friction.

[0036] In some embodiments, a positioning barb 4 is also included, which is rigid and disposed at the lower part of the main body structure 101 to provide macroscopic positioning against shaking.

[0037] In this embodiment, the user swings their wrist, slapping the biomimetic adaptive climbing exoskeleton device 1000 based on the geometric features of the brick wall against the wall, causing the front end of the spiked piece 201 to hook into the gap at the top edge of the brick. At this point, the entire biomimetic adaptive climbing exoskeleton device 1000 is pressed against the wall, and the positioning hook 4 at the bottom of the main structure 101 can easily engage with the lower edge (or the gap below) of the same brick. Meanwhile, the upper spiked piece 201 bears the downward pulling force, and the positioning hook 4 acts as a wall anchor point to resist the normal thrust, forming a double locking mechanism of "pull up and push down" for a single brick, completely eliminating swaying during climbing. During climbing, when the climber pulls the biomimetic adaptive climbing hand exoskeleton device 1000, based on the geometry of the brick wall, downwards to move the body upwards, the user slaps the other hand's biomimetic adaptive climbing hand exoskeleton device 1000 against a higher brick wall and secures it. The user instinctively lifts the wrist of the lower hand, causing the wrist fixing component 3 to tilt and rotate, allowing the positioning hook 4 to detach from the lower edge of the brick wall first. After the positioning hook 4 is released, the climber can easily pull the spiked piece 201 vertically upwards from the brick seam, completing one climbing cycle. Therefore, the positioning hook 4 ensures that the biomimetic adaptive climbing hand exoskeleton device 1000 adheres more firmly to the brick wall during use, effectively ensuring the user's safety during climbing.

[0038] In some embodiments, the longitudinal distance between the tip of the spike 201 and the tip of the positioning barb 4 is configured to match the spacing between the upper and lower edges of a standard building brick. Thus, the biomimetic adaptive climbing exoskeleton 1000 based on the geometry of the brick wall is more suited to the use scenario where the wall bricks are standard building bricks, making detachment of the positioning barb 4 easier and more stable when attached to the wall.

[0039] In some embodiments, there are two positioning barbs 4, which are arranged on the lateral sides of the main structure 101, so that the user can attach it to the wall more securely.

[0040] In some embodiments, the positioning hook 4 includes a base 401 and a hook body 402 connected to each other in an L-shape. The base 401 is fixed to the main structure 101, and the hook body 402 is sleeved on the wrist connecting shaft 104. Specifically, the base 401 is provided with a fixing hole 403 for fixing to the main structure 101, and the lower part of the root of the hook body 402 is provided with a sleeve hole 404 for sleeved on the wrist connecting shaft 104. The positioning hook 4 is detachably connected to the main structure 101 through the fixing hole 403 (e.g., bolt connection), so that the positioning hook 4 can be replaced if worn without affecting the overall function. In addition, the model of the positioning hook 4 can be adjusted according to the size of the target brick wall to adapt to more scenarios. The positioning hook 4 is fixedly connected to the wrist connecting shaft 104 through the sleeve hole 404, which can be used to fix the positioning hook 4, making it more stable in use.

[0041] In some embodiments, the wrist fixation assembly 3 includes a wrist fixation plate 301 and a wrist fixation strap 302. The front end of the wrist fixation plate 301 is rotatably sleeved on the wrist connecting shaft 104. The wrist fixation strap 302 is disposed on the wrist fixation plate 301 and is used to securely fasten the biomimetic adaptive climbing hand exoskeleton device 1000 based on the geometric features of the brick wall to the wrist interface of the special fire-fighting gloves or high-altitude work clothes.

[0042] In use, the user's wrist can be secured by passing through the wrist restraint strap 302. For example, the wrist restraint strap 302 can be made of a flexible material for greater comfort and stability. The wrist fixation plate 301 increases the contact area at the connection point of the wrist restraint strap 302, resulting in a more secure fixation; simultaneously, such as... Figure 1 As shown, the wrist fixation plate 301 has a certain length, which is more ergonomic and makes it more comfortable for the user to wear.

[0043] In some embodiments, such as Figure 1 As shown, the wrist fixation strap 302 is set on the outer surface of the wrist fixation plate 301, making it more comfortable and convenient for users to wear and use the biomimetic adaptive climbing hand exoskeleton device 1000 based on the geometric features of the brick wall.

[0044] The following describes in detail the process of using the biomimetic adaptive climbing exoskeleton device 1000 based on the geometric features of a brick wall, according to a specific embodiment of the present invention, during external wall climbing operations: (1) Contact with the wall and deep engagement: The operator swings his wrist so that the upper spike plate 201 first catches the gap on the upper edge of the brick. As the body weight is applied downward, the high-strength tension spring 202 plays an independent conforming role, and each spike plate 201 quickly adjusts its posture and engages with the deep micro-concave surface, converting the downward pulling force of the human body into a high-strength mechanical interlock.

[0045] (2) Dual torque locking: With downward pulling, the biomimetic adaptive climbing exoskeleton device 1000 based on the geometric features of the brick wall fits tightly against the brick wall, and the two positioning hooks 4 at the bottom are engaged with the lower edge of the same brick (or the brick joint below). At this time, the upper array bears the main pulling force, and the two positioning hooks 4 at the bottom act as wall anchor points to resist the normal thrust, forming a three-point absolutely stable locking of "pulling up and pushing down", which completely eliminates lateral slippage and normal sway during the climbing process and ensures the stability of the operator's center of gravity.

[0046] (3) Lever-type passive release: Dynamic climbing requires frequent and effortless release. When the climber exerts force to support themselves upward and prepares to take the next step, there is no need to press any mechanical switch. They only need to instinctively lift their wrist upward, using the brick seam (the engagement point of the spike plate 201) as a physical fulcrum. This action will cause the lowest wrist connecting shaft 104 to rotate outward, prying the bottom positioning hook 4 to disengage from the lower edge of the brick first. After the lower lock is released, the upper spike plate 201 can be pulled vertically out of the brick seam without resistance. This purely mechanical passive release mechanism of "pulling down to lock and lifting the wrist to release" minimizes the physical energy consumption during high-altitude climbing.

[0047] In summary, compared with the prior art, the biomimetic adaptive climbing hand exoskeleton device 1000 based on the geometric features of brick walls of the present invention has the following significant advantages: Overcoming the physical contradiction between high load and high compliance: This invention abandons traditional flexible deformation materials and creatively adopts an all-metal rigid transmission frame consisting of a "high-strength steel biomimetic eagle claw + high-stiffness independent tension spring". This design ensures that a single spike 201 can withstand tens of kilograms of ultimate shear stress (fully meeting the needs of human weight-bearing and construction operations), while the independent extension and retraction of the tension spring 202 perfectly solves the inherent geometric interference problem of the rigid multi-spiked array. This allows the equipment to maintain excellent shape compliance under extremely high contact mechanical loads, greatly improving the effective engagement probability and climbing safety.

[0048] The specialized double-locking mechanism against the brick wall ensures ultimate stability: This invention fully utilizes the geometric patterns of the urban architectural environment, specifically matching the spacing of the upper and lower gripping points to the dimensions of standard bricks. During climbing, the upper adaptive array provides high-strength "tension anchoring," while the two lower rigid positioning hooks 4 provide anti-overturning "thrust anchoring points." This ingenious distribution of static fulcrums transforms the torque that would otherwise easily lead to slippage into a positive compressive force on the wall, making the entire biomimetic adaptive climbing exoskeleton device 1000, based on the geometric features of the brick wall, as stable as if welded together during dynamic climbing, effectively preventing loss of balance for rescue or construction personnel working at heights.

[0049] Ergonomically designed, low-power lever-based decoupling: High-altitude work and climbing are extremely physically demanding. This invention cleverly utilizes the natural movement trajectory of the wrist joint and the principle of mechanical levers. When decoupling is needed, no complex mechanical trigger is required; the instinctive "wrist lift" action alone allows the upper engagement point to act as a lever fulcrum, easily prying open the lower positioning hook 4 and then pulling out the upper spike plate 201 without resistance. This one-way passive decoupling mechanism, which "pulls down to lock and lifts the wrist to release," minimizes the physical exertion during equipment decoupling, significantly improving the continuous climbing ability and operational endurance of high-altitude workers and outdoor climbers.

[0050] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A biomimetic adaptive climbing exoskeleton device based on the geometric features of a brick wall, characterized in that, include: Main body fixing components; A compliant spike array assembly includes a plurality of spikes arranged side-by-side at intervals and a plurality of tension springs arranged side-by-side at intervals. The spikes are all biomimetic claw-shaped bends, and their rear portions are rotatably connected to the front portion of a main body fixing assembly, allowing each spike to independently have pitch and rotation degrees of freedom relative to the main body fixing assembly. The front ends of each tension spring are correspondingly connected to the rear ends of the spikes, and the rear ends of the tension springs are connected to the middle portion of the main body fixing assembly. In its natural state, the tension of the tension springs causes the corresponding spikes to maintain a downward gripping tendency. A wrist fixation component is rotatably connected to the rear of the main body fixation component, so that the main body fixation component has pitch and rotation degrees of freedom relative to the wrist fixation component.

2. The biomimetic adaptive climbing exoskeleton device based on the geometric features of a brick wall according to claim 1, characterized in that, The main fixing assembly includes a main structure, a rotating fulcrum shaft, a tension spring fixing shaft, and a wrist connecting shaft; the rotating fulcrum shaft, the tension spring fixing shaft, and the wrist connecting shaft are respectively arranged laterally at the front, middle, and rear of the main structure, and are respectively connected to the rear of the plurality of spikes, the rear end of the plurality of tension springs, and the wrist fixing assembly.

3. The biomimetic adaptive climbing exoskeleton device based on the geometric features of a brick wall according to claim 2, characterized in that, The main structure is a sheet metal part, and the rotating fulcrum shaft and the tension spring fixing shaft are located inside the main structure.

4. The biomimetic adaptive climbing exoskeleton device based on the geometric features of a brick wall according to claim 1, characterized in that, The spikes are made of steel.

5. The biomimetic adaptive climbing exoskeleton device based on the geometric features of a brick wall according to claim 1, characterized in that, The compliant spike array assembly also includes a plurality of pads distributed between adjacent spikes and connected to the pivot axis.

6. The biomimetic adaptive climbing exoskeleton device based on the geometric features of a brick wall according to claim 5, characterized in that, The gasket is made of polytetrafluoroethylene.

7. The biomimetic adaptive climbing exoskeleton device based on the geometric features of a brick wall according to any one of claims 2-6, characterized in that, It also includes a positioning barb, which is disposed at the lower part of the main structure.

8. The biomimetic adaptive climbing exoskeleton device based on the geometric features of a brick wall according to claim 7, characterized in that, The longitudinal distance between the tip of the spike and the tip of the positioning barb is configured to match the spacing between the top and bottom edges of a standard building brick.

9. The biomimetic adaptive climbing exoskeleton device based on the geometric features of a brick wall according to claim 7, characterized in that, There are two positioning barbs, which are arranged on both sides of the main structure.

10. The biomimetic adaptive climbing exoskeleton device based on the geometric features of a brick wall according to any one of claims 1-6, characterized in that, The wrist fixation assembly includes a wrist fixation plate and a wrist fixation strap. The front end of the wrist fixation plate is rotatably sleeved on the wrist connecting shaft, and the wrist fixation strap is disposed on the wrist fixation plate.

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