Upper limb exoskeleton robot for live working of power distribution lines and system thereof

Abstract

The utility model discloses a power distribution line live working upper limb exoskeleton robot, include: support framework, joint motion unit is located in the support framework, is used for providing the lifting power for the arm of operating personnel, wear fixed unit is located in the support framework, is used for the wear fixed power distribution line live working upper limb exoskeleton machine of upper limb exoskeleton robot and including its exoskeleton robot system, and the structure design is reasonable, and the safety is high, and the exoskeleton adopts the active assistance mode, and the operating personnel big arm is lifted, and the problem that operating personnel needs long time to lift and wear high load in the process of live working is alleviated and is difficult to continue operating, and exoskeleton exterior wearable flexible integrated insulation cape and integrated whole body safety belt, further strengthen the protection safety of operating personnel, prevent the damage of live body to personnel in the operation process.

Description

Technical Field

[0001] This utility model relates to the field of equipment technology for live-line working on power distribution lines, and more specifically, to an upper limb exoskeleton robot and its system for live-line working on power distribution lines. Background Technology

[0002] Live-line working has become a routine mode of power distribution network maintenance in my country. Live-line workers need to hold tools for extended periods and maintain a poor posture while supported by poles or platforms, resulting in extreme physical exertion. Prolonged work can endanger occupational safety and health. Exoskeletons are wearable devices that provide protection, body support, and additional power and capabilities, thereby enhancing physical strength and extending sensory experience.

[0003] Existing upper limb exoskeleton products are mainly for rehabilitation training or consumer-grade assistive exoskeletons, with no exoskeleton devices specifically designed for live-line work scenarios. Research indicates that existing active upper limb assistive exoskeletons typically have large shoulder and back sections and numerous exposed conductive components, making them unsuitable for work in confined environments with live electrical lines. Electrical safety regulations require full-body safety harnesses for working at heights; existing exoskeleton strap designs cannot meet the safety requirements for live-line work. Utility Model Content

[0004] In view of this, the purpose of this utility model is to provide an upper limb exoskeleton robot and its system for live-line work on power distribution lines, in order to solve the problems existing in the prior art.

[0005] According to a first aspect of the present invention, an upper limb exoskeleton robot for live-line work on power distribution lines is provided, comprising:

[0006] Supporting framework;

[0007] The joint motion unit, located on the supporting frame, is used to provide lifting assistance for the operator's arm;

[0008] A wearable fixation unit is provided on the supporting frame and is used for wearing and fixing the upper limb exoskeleton robot.

[0009] Preferably, the joint motion unit includes a drive motor, a joint arm, and an arm fixation device. The drive motor's shaft is fixedly connected to the joint arm, and the arm fixation device is slidably disposed on the joint arm.

[0010] Preferably, the joint arm is provided with a long strip-shaped groove, and the arm fixation device is slidably connected to the long strip-shaped groove via a sliding shaft.

[0011] Preferably, the support frame includes a lumbar support, a back support, and a shoulder support, with the lumbar support and shoulder support connected via the back support.

[0012] Preferably, there are two joint motion units, and the two joint motion units are respectively located on both sides of the shoulder support.

[0013] Preferably, the back support is provided with a back anti-fall hook, and the waist support is provided with a waist anti-fall hook.

[0014] Preferably, the wearing and fixing unit includes a shoulder fixing strap, a waist fixing strap, and a leg fixing strap.

[0015] Preferably, it further includes a power supply module and a control module. The power supply module is disposed on the support frame and is electrically connected to the control module and the joint motion unit respectively. The control module is used to control the movement of the joint motion unit.

[0016] According to a second aspect of this utility model, an upper limb exoskeleton robot system for live-line work on power distribution lines is provided, comprising:

[0017] Upper limb exoskeleton robot for live-line work on power distribution lines;

[0018] A flexible insulating shawl, for wearing over the outside of the upper limb exoskeleton robot used for live-line work on the power distribution line;

[0019] A protective rope is attached to the upper limb exoskeleton robot used for live-line work on the power distribution line.

[0020] Preferably, the flexible insulating shawl has insulating Velcro straps on the lower left and right sides of the front and rear of the shawl for connecting to the upper limb exoskeleton robot.

[0021] This utility model proposes an upper limb exoskeleton robot for live-line work on power distribution lines and an exoskeleton robot system including the exoskeleton. The structure is reasonably designed and highly safe. The exoskeleton uses an active assist method to support the operator's upper arm, reducing the problem that the operator needs to support the arm for a long time and wear heavy loads during live-line work, which makes it difficult to work continuously. In addition, the exoskeleton can be worn with a flexible integrated insulating shawl and an integrated full-body safety belt, further enhancing the operator's protection and safety and preventing injury to the operator from live conductors during the operation. Attached Figure Description

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

[0023] Figure 1-2A three-dimensional structural schematic diagram of an upper limb exoskeleton robot for live-line work on power distribution lines according to an embodiment of the present invention is shown from different perspectives.

[0024] Figure 3-4 The structural schematic diagrams of the upper limb exoskeleton robot system for live-line work on power distribution lines according to embodiments of the present invention are shown from different perspectives.

[0025] Figure 5 A schematic diagram of the structure of a flexible insulating shawl according to an embodiment of the present invention is shown.

[0026] In the diagram: Support frame 1, waist support 11, waist anti-fall attachment point 111, back support 12, back anti-fall attachment point 121, shoulder support 13, joint motion unit 2, drive motor 21, joint swing arm 22, arm fixator 23, mounting arm 24, mounting base 25, wear fixation unit 3, shoulder fixation strap 31, waist fixation strap 32, leg fixation strap 33, power supply module 4, control module 5, upper limb exoskeleton robot 100, flexible insulated shawl 200, protective rope strap 300. Detailed Implementation

[0027] Various embodiments of the present invention will now be described in more detail with reference to the accompanying drawings. In the various drawings, the same elements are indicated by the same or similar reference numerals. For clarity, the various parts in the drawings are not drawn to scale.

[0028] like Figure 1-5 As shown, this utility model provides an upper limb exoskeleton robot 100 for live-line work on power distribution lines. The upper limb exoskeleton robot 100 for live-line work on power distribution lines includes a support frame 1, a joint motion unit 2, and a wearable fixation unit 3.

[0029] The support frame 1 includes a lumbar support 11, a back support 12, and a shoulder support 13, with the lumbar support 11 and the shoulder support 13 connected via the back support 12. The lumbar support 11, back support 12, and shoulder support 13 are all made of rigid materials, such as high-strength plastic or carbon fiber. Each shoulder support 13 is equipped with a mounting arm 24, arranged symmetrically on both sides, and the joint motion unit 2 is mounted on the mounting arm 24.

[0030] The joint motion unit 2, mounted on the support frame 1, provides lifting assistance to the operator's arm. The joint motion unit 2 includes a drive motor 21, a joint swing arm 22, and an arm fixation device 23. The shaft of the drive motor 21 is fixedly connected to the joint swing arm 22, and the arm fixation device 23 is slidably mounted on the joint swing arm 22.

[0031] Specifically, each mounting arm 24 is equipped with a mounting base 25. The upper end of the mounting base 25 is connected to the mounting arm 24, and the lower end is equipped with a drive motor 21. The shaft of the drive motor 21 is fixedly connected to the articulated swing arm 22, for example, by bolts. The articulated swing arm 22 is provided with a long strip-shaped groove, and the arm fixator 23 is slidably connected to the long strip-shaped groove via a sliding shaft. The arm fixator 23 is an elastic binding strap, with both ends of the binding strap fastened with Velcro, thereby fixing the operator's arm. Of course, the binding strap can also be designed with a buckle structure, which is not limited here.

[0032] Wearing and fixing unit 3 is disposed on the support frame 1 and is used for wearing and fixing the upper limb exoskeleton robot 100.

[0033] The back support 12 is provided with a back fall arrest point 121, and the waist support 11 is provided with a waist fall arrest point 111. Each end of the back support 12 has a back fall arrest point 121, and the waist fall arrest point 111 includes a U-shaped plate and a fixing block, which are connected by bolts. The U-shaped plate can be fixed to the back support 12 by bolts or directly integrally machined and fixed to the back support 12. The back fall arrest point 121 and the waist fall arrest point 111 can be used to connect the safety rope 300.

[0034] The wearable fixing unit 3 includes shoulder fixing straps 31, waist fixing straps 32, and leg fixing straps 33. There are two shoulder fixing straps 31, which respectively limit the movement of the left and right shoulders. The upper end of the shoulder fixing strap 31 is connected to the shoulder support 13, and the lower end is connected to the waist support 11. The waist fixing strap 32 is connected to both ends of the waist support 11, and the leg fixing strap 33 has a ring-shaped structure.

[0035] The upper limb exoskeleton robot 100 for live-line work in this embodiment has a fixed strap design that is compatible with wearing a full-body safety belt at the same time. It does not have problems such as wearing interference, limited fall suspension 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 on power distribution lines also includes a power supply module 4 and a control module 5. The power supply module 4 is mounted on the support frame 1 and is electrically connected to both the control module 5 and the joint motion unit 2. The control module 5 controls the movement of the joint motion unit 2. In this embodiment, the power supply module 4 is located in the middle of the outer surface of the waist support 11. The control module 5 is a remote control, which is mounted on an insulating rod or on the front shoulder of the upper limb exoskeleton robot 100 during use. The controller selects different assist modes via buttons and controls the drive motor 21 to output specific torque.

[0037] This utility model also discloses an upper limb exoskeleton robot 100 system for live-line work on power distribution lines, comprising:

[0038] 100-ton upper limb exoskeleton robot for live-line work on power distribution lines;

[0039] A flexible insulating shawl 200 is used to be worn over the outside of the upper limb exoskeleton robot 100 for live-line work on the power distribution line.

[0040] The protective rope 300 is connected to the upper limb exoskeleton robot 100 used for live-line work on the power distribution line.

[0041] The flexible insulating shawl 200 has insulating Velcro straps on the lower left and right sides of the front and rear sections for connecting to the upper limb exoskeleton robot 100. In this embodiment, the flexible insulating shawl 200 is a one-piece structure with an insulating snap fastener on the chest area.

[0042] Flexible insulating shawl 200 is made of EVA resin or other soft and insulating materials. The surface of the finished insulating shawl should be flat, uniform and smooth, without small holes, local bulges, foreign objects, folds, gaps, etc. The joints should be made seamlessly, comfortable to wear and not affect normal activities during work.

[0043] For 10kV flexible insulating shawl 200, the thickness of the insulating material should meet the requirements of a layer-wise withstand voltage of not less than 20kV / 3min and a breakdown voltage of not less than 30kV.

[0044] The protective rope 300 can be a fall protection rope or a fence safety belt. It can be connected to either the fall protection rope or the fence safety belt according to the needs of the on-site operation. When climbing the pole, the fall protection attachment points 111 on both sides of the waist are connected to the fence safety belt, and the fall protection attachment point 121 on the back is connected to the fall protection safety rope. When operating on an insulated bucket truck or insulated platform, both the fall protection attachment points 111 on the waist and the fall protection attachment point 121 on the back can be connected to the fall protection safety rope.

[0045] The upper limb exoskeleton robot system for live-line work on power distribution lines in this embodiment can be used with reference to the following steps:

[0046] 1. The worker first puts on the exoskeleton cape, then unfastens the waist restraint belt 32, then puts the shoulder straps on the shoulders, then fastens the waist restraint belt 32, then fastens the shoulder strap limiter, and then unfastens the self-locking buckle of the waist restraint belt 32. Adjust it to the lower back of the worker according to their needs. Then adjust the hand restraints to the upper arms of the worker and use elastic self-locking straps to secure the upper arms. After the exoskeleton is put on, pass the leg safety ropes through the worker's left and right legs and tighten them. Then insert the battery into the power supply module 4 to complete the exoskeleton donning.

[0047] 2. After putting on the shawl, the worker puts both arms into the sleeves of the flexible insulating shawl 200 and locks the front button. Then, with the help of external personnel, the worker's armpit straps are tied to prevent them from coming loose. The worker then flattens the back of the insulating shawl and fixes the lower back strap of the shawl to the waist fixing strap 32 to prevent the external cables or conductive parts of the exoskeleton from being exposed outside the shawl.

[0048] 3. After putting on the exoskeleton, turn on the battery switch and the control module 5 switch and set the assist mode to complete the power-on of the upper limb exoskeleton, and you can start working.

[0049] This utility model proposes an upper limb exoskeleton robot for live-line work on power distribution lines and an exoskeleton robot system including the exoskeleton. The structure is reasonably designed and highly safe. The exoskeleton uses an active assist method to support the operator's upper arm, reducing the problem that the operator needs to support the arm for a long time and wear heavy loads during live-line work, which makes it difficult to work continuously. In addition, the exoskeleton can be worn with a flexible integrated insulating shawl and an integrated full-body safety belt, further enhancing the operator's protection and safety and preventing injury to the operator from live conductors during the operation.

[0050] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0051] Finally, it should be noted that the above embodiments are merely examples for clearly illustrating the present invention and are not intended to limit the implementation. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations. However, obvious variations or modifications derived therefrom are still within the protection scope of this invention.

Claims

1. An upper-limb exoskeleton robot for live-line work on power distribution lines, characterized in that, include: Supporting framework; The joint motion unit, located on the supporting frame, is used to provide lifting assistance for the operator's arm; A wearable fixation unit is provided on the supporting frame and is used for wearing and fixing the upper limb exoskeleton robot.

2. The upper limb exoskeleton robot for live-line work on power distribution lines according to claim 1, characterized in that, The joint motion unit includes a drive motor, a joint arm, and an arm fixation device. The drive motor's shaft is fixedly connected to the joint arm, and the arm fixation device is slidably mounted on the joint arm.

3. The upper limb exoskeleton robot for live-line work on power distribution lines according to claim 2, characterized in that, The joint arm is provided with a long strip-shaped groove, and the arm fixation device is slidably connected to the long strip-shaped groove via a sliding shaft.

4. The upper limb exoskeleton robot for live-line work on power distribution lines according to claim 1, characterized in that, The support frame includes a lumbar support, a back support, and a shoulder support, with the lumbar support and shoulder support connected by the back support.

5. The upper limb exoskeleton robot for live-line work on power distribution lines according to claim 4, characterized in that, The number of joint motion units is two, and the two joint motion units are respectively located on both sides of the shoulder support.

6. The upper limb exoskeleton robot for live-line work on power distribution lines according to claim 4, characterized in that, The back support is equipped with a back anti-fall hook, and the waist support is equipped with a waist anti-fall hook.

7. The upper limb exoskeleton robot for live-line work on power distribution lines according to claim 1, characterized in that, The wearable fixing unit includes a shoulder fixing strap, a waist fixing strap, and a leg fixing strap.

8. The upper limb exoskeleton robot for live-line work on power distribution lines according to claim 1, characterized in that, It also includes a power supply module and a control module. The power supply module is located on the support frame and is electrically connected to the control module and the joint motion unit respectively. The control module is used to control the movement of the joint motion unit.

9. An upper limb exoskeleton robot system for live-line work on power distribution lines, characterized in that, include: The upper limb exoskeleton robot for live-line work on power distribution lines as described in any one of claims 1-8; A flexible insulating shawl, for wearing over the outside of the upper limb exoskeleton robot used for live-line work on the power distribution line; A protective rope is attached to the upper limb exoskeleton robot used for live-line work on the power distribution line.

10. The upper limb exoskeleton robot system for live-line work on power distribution lines according to claim 9, characterized in that, The flexible insulated shawl has insulated Velcro straps on the lower left and right sides of the front and back for connecting to the upper limb exoskeleton robot.

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