CN115737377A - Parallel multi-air-cavity soft robot driving device and application thereof - Google Patents

Abstract

The invention relates to a driving device for a parallel multi-air cavity soft robot. The driving device includes a soft cavity, a skeleton arranged in the cavity, and a limiting structure. Two air cavities arranged in parallel are arranged inside the cavity, each Each air cavity is provided with an independent air passage, and is connected to a driving gas source through a trachea, the skeleton is located outside the air cavity, and the restricting structure is fixed on one side outside the cavity, and is used to limit the cavity connected to it lengthen or shorten. Compared with the prior art, the parallel multi-cavity soft robot driving device of the present invention can not only drive the fingers to bend, but also drive the fingers to swing from side to side, which enriches the hand movements, makes the finger movements more comprehensive and the rehabilitation effect is better.

Description

A parallel multi-cavity soft robot driving device and its application

technical field

The invention relates to the technical field of medical devices, in particular to a parallel multi-cavity soft robot driving device and its application.

Background technique

Human beings perceive and move through their hands, especially the palm, which is extremely important for people's daily life. However, when a finger is injured or a patient with cerebral infarction, it will lead to hand dysfunction and affect the quality of life. It has been clinically proven that during the early rehabilitation period after a patient's limb injury, continuous passive exercise can compensate for the lack of active movement of the patient, increase the range of motion of the limb, and reduce the corresponding complications. Therefore, there are a large number of auxiliary rehabilitation medical treatments on the market. instrument.

However, the current auxiliary rehabilitation medical devices have relatively single functions. For example, the driving device for fingers or palms can only drive the fingers to perform two movements of bending and straightening, and cannot realize the basic function of opening and merging the palms. The driving function is not complete, which will affect the rehabilitation effect to a certain extent. For another example, rehabilitation equipment for upper or lower limbs can only perform joint bending training, but cannot perform swing training, nor can it perform comprehensive rehabilitation.

Therefore, there is an urgent need in this field for a parallel multi-cavity soft robot driving device with more complete functions.

Contents of the invention

The object of the present invention is to provide a parallel multi-cavity soft robot driving device in order to overcome the above-mentioned defects in the prior art.

The purpose of the present application is also to provide a rehabilitation glove.

In order to realize the purpose of the present invention, the application provides the following technical solutions.

In the first aspect, the present application provides a parallel multi-cavity soft robot driving device, the parallel multi-air cavity soft robot driving device includes a soft cavity, a skeleton and a restrictive structure arranged in the cavity, the cavity There are two air chambers arranged in parallel inside, each air chamber is provided with an independent air channel, and is connected to the driving air source through a trachea, the skeleton is located outside the air chamber, and the restricting structure is fixed on the outside of the chamber One side, and is used to limit the elongation or shortening of the cavity connected to it.

In an implementation manner of the first aspect, each air pipe is provided with a control air valve, and the parallel multi-cavity soft robot driving device includes a controller for driving the switch of the control air valve.

In an implementation manner of the first aspect, the cross sections of the two air cavities are the same.

In an implementation manner of the first aspect, the material of the restriction structure is a material that is bendable but restricts expansion and contraction.

In an implementation manner of the first aspect, the material of the cavity is a stretchable flexible material.

In the second aspect, the present application also provides the application of the above-mentioned parallel multi-air cavity soft robot driving device. The driving device is used to make a bionic hand.

In an implementation manner of the second aspect, the parallel multi-cavity soft robot driving device is used to drive the movement of joints in upper limbs and lower limbs, or the parallel multi-gas chamber soft robot driving device is used to make a bionic hand.

Compared with prior art, the beneficial effect of the present invention is:

The parallel multi-air chamber soft robot driving device of the present invention can not only drive the joints to bend under positive pressure, but also drive the joints to straighten under negative pressure, and at the same time drive the joints to swing from side to side, which enriches the joint movements, makes the joint movement more comprehensive, and facilitates rehabilitation. The effect is better.

Description of drawings

Fig. 1 is the structural representation of recovery glove in embodiment 1;

Fig. 2 is the structural representation of A-A in Fig. 1;

Fig. 3 is the side view sectional structural diagram of index finger in embodiment 1;

4 is a schematic diagram of the state when the thumb is swinging from side to side in Example 1;

Fig. 5 is the structural representation of recovery glove in embodiment 2;

Fig. 6 is a schematic structural diagram of the wrist rehabilitation driver in Embodiment 3.

In the accompanying drawings, 1 is the rehabilitation glove, 2 is the cavity, 3 is the air cavity, 4 is the trachea, 5 is the second cavity, 6 is the second air cavity, 7 is the restriction structure, 8 is the glove, and 9 is the skeleton , 10 is the second frame, 11 is the airway, 12 is the second airway, 13 is the second restriction structure, 14 is the third cavity, 15 is the third air cavity, 16 is the third skeleton, 17 is the third airway.

Detailed ways

Unless otherwise defined, the technical terms or scientific terms used in the specification and claims shall have the ordinary meanings understood by those skilled in the technical field to which the present invention belongs. All the numerical values from the lowest value to the highest value listed in this article refer to all values obtained in increments of one unit between the lowest value and the highest value when the difference between the lowest value and the highest value is more than two units. value.

Specific implementations of the present invention will be described below. It should be noted that in the process of specific descriptions of these implementations, for the sake of concise description, it is impossible for this specification to describe all the features of the actual implementations in detail. Without departing from the spirit and scope of the present invention, those skilled in the art can modify and replace the embodiments of the present invention, and the obtained embodiments are also within the protection scope of the present invention.

The traditional driving device can only drive the finger to do bending motion, but cannot realize the left and right swing of the finger. There is a problem of single function, and the rehabilitation effect cannot be optimal. The purpose of this application is to provide the parallel multi-cavity soft robot driving device including a soft cavity, a skeleton and a restrictive structure arranged in the cavity, and two parallel air cavities are arranged inside the cavity, each air cavity The cavities are provided with independent air passages, and each air cavity is independently connected to the driving gas source through a trachea. The skeleton is located outside the air cavity, and the restricting structure is fixed on one side outside the cavity, and is used to limit the connection with it. The cavity lengthens or shortens. When one of the air chambers is fed with gas and the other air chamber is not fed with gas, the driving device of the parallel multi-cavity soft robot will deviate in the direction of the air chamber on the non-ventilated side. Therefore, when the two air cavities are alternately inflated and deflated, the parallel multi-cavity soft robot driving device can realize the left and right swing, thereby driving the finger to swing left and right. When gas is fed into the two air cavities at the same time, the entire parallel multi-air cavity soft robot driving device bends to drive fingers to bend. The driving air source used in this application can be an air pump for inflation, or a vacuum pump for air extraction, or a device integrating air inflation and air extraction.

In a specific embodiment, each air pipe is provided with a control air valve, and the parallel multi-cavity soft robot driving device includes a controller for driving and controlling the switch of the air valve.

In a specific implementation manner, the cross-sections of the two air cavities are the same. The cross-section in this application refers to the shape and size of the cross-section, and this setting can ensure that the inflation volume of the air cavity is consistent. When the two are inflated at the same time, it is guaranteed that the parallel multi-cavity soft robot driving device can only be bent.

In a specific implementation, the limiting mechanism in each driving device is integrated and fixed on one side outside the cavity. In addition, the number of limiting structures in each driving device can also be N, where N is the The number of joints corresponding to the above-mentioned driving device, if applied to rehabilitation gloves, the number of limiting mechanisms is 2 or 3, among which, the thumb has 2 knuckles, the required limiting structure is 2, and the remaining fingers have 3 For finger joints, the number of restriction structures required is 3, and the positions of the restriction structures correspond to the finger joints. Similarly, the number of restricting structures is also N when it is used on upper limbs or lower limbs, and there is no special requirement for the length of the restricting structures. After the limiting structure is fixed to the outside of the cavity, the fixed part of the cavity and the limiting structure cannot be elongated, while other parts of the same cross-section of the cavity can be elongated as the air cavity is inflated, so the entire parallel multi-cavity software can be promoted. The robot drive is bent.

In a specific embodiment, the material of the restriction structure is a material that is bendable but restricts expansion and contraction, for example, one of engineering plastics, nylon, and fiber cloth can be selected.

In a specific embodiment, the material of the cavity is a stretchable flexible material, such as one of silica gel, rubber or PVC.

In a specific embodiment, the material of the framework is a rigid material, such as stainless steel, aluminum alloy and the like.

The parallel multi-cavity soft robot driving device is used to drive the movement of the middle joints of upper limbs and lower limbs, or the parallel multi-gas cavity soft robot driving device is used to make a bionic hand. Wherein, the middle joints of the upper limbs include one or more of shoulder joints, elbow joints, wrist joints or finger joints;

The middle joints of the lower limbs include one or more of hip joints, knee joints or ankle joints.

Example

The embodiments of the present invention will be described in detail below. This embodiment is implemented under the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following Example.

Example 1

A kind of rehabilitation glove, its structure is shown in Figure 1, and this rehabilitation glove 1 comprises a five-finger glove 8, 1 parallel multi-air cavity soft robot driving device and 4 bending driving devices, wherein, the parallel multi air cavity soft robot driving device Corresponding to the thumb of the glove 8 is fixed, and the glove 8 of the other four fingers is respectively fixed with a bending drive device.

The driving device of the parallel multi-air cavity soft robot includes a cavity body 2. Two air cavities 3 with the same cross-section are arranged in parallel inside the cavity body 2. The air cavity 3 extends along the length direction of the thumb. The top ends of the two air cavities 3 are Closed, the ends of the two air chambers 3 are provided with air passages 11 and are independently connected to an air pipe 4, the other end of each air pipe 4 is connected to the driving air source, and a control air valve is set on the connecting pipeline with the driving air source (on the figure Drive air source and control air valve not shown), the control air valve is controlled by the controller. On the side where the cavity 2 and the glove 8 are fixed, there are two restricting structures 7 made of fiber cloth. As shown in Figure 2, the two restricting structures 7 correspond to the two joints of the thumb respectively. It can make the cavity 2 connected to it unable to elongate. Inside the cavity 2, a skeleton 9 is provided outside the two air cavities 3, and the skeleton 9 can limit the radial or radial contraction of the cavity.

The bending driving device includes a second cavity 5, and a second air cavity 6 is arranged in the second cavity 5, and the second air cavity 6 extends along the length direction of the finger. The top of the second air chamber 6 is closed, and the end of the second air chamber 6 is provided with a second air channel 12, and is connected to a trachea 4, and the other end of the trachea 4 is connected to the driving gas source, and on the connecting pipeline with the driving gas source Set the control air valve (the driving air source and control air valve are not shown in the figure) The control air valve is controlled by the controller. On the side where the second cavity 5 and the glove 8 are fixed, a whole second restricting structure 13 is provided. As shown in FIG. 3 , the second restricting structure 13 can make one side of the second cavity 5 unable to elongate . A second frame 10 is also provided inside the second cavity 5 and outside the second air cavity 6 , and the second frame 10 can limit the radial expansion or contraction of the second cavity 5 .

An insertion port (not shown in the figure) can be provided on the airway 11 and the second airway 12 to facilitate the connection of the trachea 4 .

The material used in the cavity 2 and the second cavity 5 is silica gel, which has a certain degree of ductility (elasticity), and the limiting structure 7 is made of fiber cloth.

The rehabilitation glove 1 can independently drive the thumb to perform bending movement and left-right swinging movement, and at the same time can independently drive the other four fingers to perform bending movement. The specific principles are as follows:

During use, the user's five fingers are inserted into the glove 8 respectively. When the thumb needs to swing from side to side, the principle is shown in Figure 4. When the control air valve on the trachea 4 indicated by a is opened, and the control air valve on the trachea 4 indicated by b is closed, the driving air source is inflated to the left air cavity 3, while the right air cavity 3 is not inflated. After the left air cavity 3 is inflated, the cavity 2 is squeezed, so that the left side of the cavity 2 is elongated, and the right part of the cavity 2 will not elongate because it is not inflated, so the entire parallel multi-cavity soft robot driving device Bend to the right, driving the thumb to swing to the right. Then the driving air source stops inflating the left air chamber 3, and the air in the left air chamber 3 is discharged, then closes the control air valve on the air pipe 4 indicated by a, and simultaneously opens the control air valve on the air pipe 4 indicated by b to drive The air source inflates the air chamber 3 on the right side, but the air chamber 3 on the left side does not inflate. At this time, the whole parallel multi-chamber soft robot driving device bends to the left. In the process of repeating the above, the thumb swings from side to side.

When the thumb needs to be bent, the control air valves corresponding to the two air chambers 3 are opened at the same time, that is, the driving air source is inflated into the two air chambers 3 at the same time. Since the two air cavities 3 have the same structure, the inflation pressure is consistent, and the skeleton 9 can limit the radial expansion of the cavity 2, so the entire cavity 2 can only be elongated and cannot be shifted left and right. At the same time, due to the existence of the restricting structure 7, the cavity 2 fixed to the restricting structure 7 cannot be elongated, which makes on the same section, one side of the cavity 2 cannot be elongated, and the other parts are elongated, so the cavity 2 The whole body bends to the side that cannot be stretched, thereby driving the thumb to bend.

When other fingers need to be bent, open the control air valve between the second air chamber 6 and the driving air source, and the driving air source inflates the second air chamber 6 so that the second cavity 5 is elongated (due to the second skeleton 10 limit the expansion of the second cavity 5), and at the same time, due to the existence of the second limiting structure 13, the second cavity 5 fixed to the second limiting structure 13 cannot be stretched, which makes the second cavity 5 on the same section One side of the cavity 5 cannot be stretched, and the other part is stretched, so the second cavity 5 as a whole bends to the side that cannot stretch, thereby driving the fingers to bend.

If the driving air source is changed from an air pump (inflation) to a vacuum pump (air extraction), and the material of the restriction structure 7 and the second restriction structure 13 is replaced with engineering plastics (that is, it cannot be shortened), then the reverse bending of the fingers can be realized. The principle is the same as above.

Example 2

A kind of rehabilitation glove 1, its structure is shown in Figure 5, this rehabilitation glove 1 comprises a five-finger glove 8 and 5 parallel multi-air cavity soft robot driving devices, even when in use, each finger can perform bending and swing training, Its principle is the same as that of the parallel multi-cavity soft robot driving device corresponding to the thumb in Embodiment 1.

Example 3

A kind of rehabilitation drive device for wrist joint, its structure is shown in Figure 6, and this drive device comprises the 3rd cavity 14, is provided with two parallel and the 3rd air cavity 15 of the same size in the 3rd cavity 14, The front ends of the two third air chambers 15 are closed, and a third air channel 17 is provided at the rear ends, and are independently connected to a driving air source through an air pipe 4 , and an independent control air valve is set on the air pipe 4 . A third frame 16 is arranged around the two third air cavities 15 inside the third cavity 14 , and the third frame 16 can limit the radial expansion of the third cavity 14 . A third limiting structure (not shown in the figure) is provided outside the third cavity 14 .

The working principle of the rehabilitation driving device is similar to that of the thumb rehabilitation driving device in Embodiment 1, and can drive the wrist joint to perform swinging and bending motions.

The above description of the embodiments is for those of ordinary skill in the art to understand and apply the present application. It will be apparent to those skilled in the art that various modifications to these embodiments can be easily made, and the general principles described here can be applied to other embodiments without creative effort. Therefore, the present application is not limited to the embodiments here, and improvements and modifications made by those skilled in the art based on the content disclosed in the present application without departing from the scope and spirit of the present application are within the scope of the present application.

Claims (7)

1. The utility model provides a parallelly connected many air cavities software robot drive arrangement which characterized in that, drive arrangement includes the cavity of software, sets up skeleton and limit structure in the cavity, the cavity is inside to be equipped with two parallel arrangement's air cavity, and every air cavity all sets up independent air flue to connect the drive air supply through the trachea, the skeleton is located the outside of air cavity, limit structure fixes one side outside the cavity, and is used for the restriction to extend or shorten rather than the cavity of being connected.

2. The parallel multi-air-cavity soft robot driving device as claimed in claim 1, wherein a control air valve is provided on each air pipe, and the driving device comprises a controller for driving the control air valve to open and close.

3. The parallel multi-air-cavity soft robot driving device of claim 1, wherein the cross sections of the two air cavities are the same.

4. The parallel multi-air-cavity soft robot driving device of claim 1, wherein the limiting structure is made of a material that can be bent but can limit the expansion and contraction.

5. The parallel multi-air-cavity soft robot driving device of claim 1, wherein the cavity is made of a flexible material.

6. Use of the parallel multi-air-cavity soft robot driving device according to any one of claims 1-5, wherein the driving device is used for driving the movement of joints in upper limbs and lower limbs, or the driving device is used for making a bionic hand.

7. The use of the parallel multi-air cavity soft robot driving device according to claim 6, wherein the joints in the upper limbs comprise one or more of shoulder joints, elbow joints, wrist joints or finger joints;

the joints in the lower limb comprise one or more of a hip joint, a knee joint or an ankle joint.

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