CN108340391A - Flexible drive bionics massage manipulator based on Pneumatic artificial muscle - Google Patents
Flexible drive bionics massage manipulator based on Pneumatic artificial muscle Download PDFInfo
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- CN108340391A CN108340391A CN201810181576.0A CN201810181576A CN108340391A CN 108340391 A CN108340391 A CN 108340391A CN 201810181576 A CN201810181576 A CN 201810181576A CN 108340391 A CN108340391 A CN 108340391A
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- palm
- finger tip
- flexible
- finger
- bending vibration
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H7/00—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
- A61H7/007—Kneading
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0012—Constructional details, e.g. manipulator supports, bases making use of synthetic construction materials, e.g. plastics, composites
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5071—Pressure sensors
Abstract
The present invention relates to a kind of flexible drive bionics massage manipulator based on Pneumatic artificial muscle, belongs to flexible drive and technical field of bio-simulation machinery.The parallel flexible driving unit being made of Pneumatic artificial muscle, can realize the multifreedom motion of each finger so that manipulator has high flexibility.Manipulator provided by the invention has 16 freedom of motion, functional integration is high, it is flexible big, compact-sized, it can be achieved that the pushing away of simulation human hand, by, the massaging actions such as rub, pinch.Meanwhile the present invention perceives human body different parts tissue hardness to adjusting massage dynamics by tactilely-perceptible unit, improves the intelligence degree of manipulator.On this basis, it can further be integrated with near-infrared blood vessel imaging module, infrared thermal imaging module etc., effective characterization method and evaluation mechanism are provided for human body massaging qualities, massage effect is further promoted, therefore there is significant application value in fields such as home-services robot, medical rehabilitation, Chinese physical therapies.
Description
Technical field
The present invention relates to flexible drives and technical field of bio-simulation machinery, more particularly to a kind of based on the soft of Pneumatic artificial muscle
Property driving bionics massage manipulator.The present invention can be with near-infrared blood vessel imaging module, infrared thermal imaging module, six degree of freedom platform
Etc. modules further integrate, diversified massaging action is accurately positioned and realized to patient's lesions position, to optimization massage
Effect establishes effect assessment and monitoring mechanism, alleviates masseur's operating pressure and be of great significance.To disclose Chinese traditional massage mechanism
Effective laboratory facilities are provided with curative effect affecting laws.
Background technology
Massage is a kind of soft tissue, fascia, ligament acting on human body privileged site by external force caused by " gimmick ",
To soften tissue, improve blood circulation, reach the method for physical therapy purpose.It is simple and effective, and few wound, is current
A kind of naturopathy that comparison is advocated.With the development of medical technology, body massaging technology has obtained more next in clinical practice
More it is widely applied.At present in clinical application still based on manually massaging, in massage processes, masseur needs specific according to patient
The state of an illness, with different tact skills --- such as exert a force position, size, direction, frequency, can be only achieved ideal treatment
Effect.So massage needs masseur to put into great effort and muscle power, and more ground masseur at present the more demanding of masseur
Quantity cannot be satisfied doctors and patients' demand.Therefore, research and development one kind can alleviate masseur's operating pressure, improve massage efficiency, be promoted
The auxiliary intelligence massaging manipulator of massage effect seems particularly necessary.
One complete massaging manipulator must have enough dexterities and intelligent, be related to bioengineering, micro-
The multiple fields such as Mechatronic Systems, bionics and intelligent control are the complex engineerings of a multidisciplinary span.Often use volume
Small, compact-sized novel flexible driver is driven, and to realize the multifreedom motion of finger, promotes manual dexterity
Property.And tactilely-perceptible link use fexible film touch sensor, with it is small, easy for installation, on tissue influence
The advantages that small and easy of integration, can be obviously improved massaging hand intelligence degree.But from the point of view of present circumstances, the instrument that occurs in the market
Mostly it is the instrument of approximate simulation massage manipulation, such as massager and massage armchair of various brands, gimmick is single, can only play guarantor
The effect be good for, loosen and relieved fatigue, to treating the effect unobvious of disease.And domestic scholars are driven about based on novel flexible
The research of the joint prosthesis of device is scarcely out of swaddling-clothes, and research, which focuses primarily upon, realizes that the structure design of joint prosthesis and theory are built
Mould.Shen Yonggen proposes a kind of posture adjustable type medical treatment arm-massage machine people；Cheng Lan proposes a kind of Width adjustable medical treatment arm
Massage robot；Terrestrial facies dragon proposes a kind of novel massage manipulator of massage armchair.But the massaging manipulator massage designed by them
It has a single function, it is whole generally using rigidity driving and transmission mechanism, it is flexible not good enough, and mechanism is complicated, volume is bigger than normal, does not account for
How sensing is integrated in structure, growing diversified massage requirements cannot be met.And in massage processes, not only need
It realizes excessively diversified massaging action, also to realize the tactilely-perceptible function of similar human hand, promote the intelligence of massaging manipulator
Degree can be changed.Secondly, existing massaging manipulator belongs to opened loop control more, is not carried out the real-time detection to contact force, also not
The Efficient Characterization to tissue hardness can be realized, to which massage force is effectively predicted and be controlled.
To sum up, exploitation can integrate flexible actuator and tactilely-perceptible unit, and can carry out closed loop to massaging action and dynamics
The massaging manipulator of control is very necessary.
Invention content
The purpose of the present invention is to provide a kind of the flexible drive bionics massage manipulator based on Pneumatic artificial muscle, solution
Existing massaging manipulator massage functions are single, flexible deficiency, it is difficult to the problems such as controlling its massage force.The present invention by
Parallel flexible driving unit, tactilely-perceptible unit, ultrasonic drive unit, piezoelectric vibrator unit, flexible artificial skin, palm group
At.The advantages such as big, compact, compact-sized, response quickly and highly flexible using Pneumatic artificial muscle power-mass ratio,
And tactilely-perceptible unit, ultrasonic drive unit, piezoelectric vibrator unit, flexible artificial skin, palm are combined, it can not only simulate human hand
It realizes diversified massaging action, can also be achieved prediction and control to massage force.In addition, size design reference man of the present invention
The statistics size of hand, overall dimensions are slightly larger than human hand actual size, and compact is compact-sized, are convenient for over all Integration.Meanwhile
Based on this, it can be applied in combination with near-infrared blood vessel imaging module, infrared thermal imaging module etc., formation can be realized comprehensively
The highly integrated device of diversification massage and massage effect feedback, effective characterization method and evaluation are provided for human body massage effect
Mechanism also provides effective experimental approach to disclose Chinese traditional massage mechanism and curative effect affecting laws.
The above-mentioned purpose of the present invention is achieved through the following technical solutions：
Flexible drive bionics massage manipulator based on Pneumatic artificial muscle, is mainly driven by compressed air, packet
Include parallel flexible driving unit, tactilely-perceptible unit, ultrasonic drive unit, piezoelectric vibrator unit, flexible artificial skin, bionic hand
The palm, the parallel flexible driving unit are distributed on five fingers, and the parallel flexible driving unit on middle finger is mounted on thumb
Refer in mounting base 15, remaining four parallel flexible driving unit is mounted in the palm body of bionical palm；Tactilely-perceptible unit
Attach to palm centre of the palm plane and five finger fingertip surfaces；Piezoelectric vibrator unit is installed on inside finger tip；Ultrasound-driven list
Member is installed on the nearly thumb end of palm pedestal 14, and the ultrasound electric machine 16 in ultrasonic drive unit is passed with non-contact type magnetic angular displacement
Sensor 18 is mounted in the back of the hand groove at nearly thumb end, and thumb mounting base 15 is installed on the side of palm pedestal 14 and pastes therewith
It closes；Flexible artificial skin 1 is wrapped in palm, finger surface；
The parallel flexible driving unit includes 7, finger tip pedestals 5 of Pneumatic artificial muscle of three elongation types, finger tip
The threaded hole for the threaded hole and a close circumferential edges that there are three the processing of 5 bottom surface of pedestal is distributed in 120 degree of circular symmetrics, three
Root Pneumatic artificial muscle 7 is distributed in 120 ° of circular symmetrics, is connected by screw thread pair and 5 rigidity of finger tip pedestal；To artificial pneumatic flesh
When meat is passed through compressed air, axial elongation；Gas is discharged, is returned to original state；
The tactilely-perceptible unit include finger tip fexible film piezoresistance sensor 3, palm fexible film piezoresistance sensor 22,
Miniature reflective laser displacement sensor 6, finger tip head cover 4,4 inner surface of finger tip head cover are threaded, pass through with finger tip pedestal 5
Screw thread is rigidly connected；Finger tip fexible film piezoresistance sensor 3, palm fexible film piezoresistance sensor 22 are distinguished by seccotine
Attach to the spherical surface of finger tip head cover 4, in the plane of the palm centre of the palm, miniature reflective laser displacement sensor 6 by screw thread with
Finger tip pedestal 5 is connected；
The ultrasonic drive unit includes ultrasound electric machine 16, cyclic annular bipolar magnet 17, non-contact type magnetic angle displacement transducer
Device 18, thumb mounting base 15, the output shaft 20 of ultrasound electric machine 16 with the hole of thumb mounting base 15 interference fit by realizing ultrasound
Motor 16 is connected with thumb mounting base 15, and non-contact type magnetic angular displacement sensor 18 is fixed on the nearly thumb of palm by seccotine
On the rectangular recess inner wall of finger tip, the drive shaft 19 of 17 endoporus of cyclic annular bipolar magnet and ultrasound electric machine is interference fitted；
The piezoelectric vibrator unit includes the first bending vibration module 25, the second bending vibration module 26.First, second bending vibration module
25,26 axle center is threaded through-hole, from top to bottom successively be machined with externally threaded center stand column 27 and pass through screw thread pair
Rigid connection, and be placed in the annular groove of finger tip pedestal 5；First bending vibration module 25, the second bending vibration module 26 are used to produce
Raw bending vibration propagates to finger tip head cover 4, and the bending vibration that the bending vibration of the first bending vibration module 25 generation and the second bending vibration module 26 generate exists
It is spatially existingPhase difference；
The flexibility artificial skin 1 is the integral type variable density soft body structure that is prepared by 3D printing, it can be achieved that flexibility is led
Draw and elastic recovery, can close envelope in palm, finger surface；Flexible artificial skin is equipped with notch, and envelope is in five
The finger tip surface of a finger is the Non-smooth surface topographical surface that graininess protrusion micro array structure 2 is distributed with；It will be soft using seccotine
Property artificial skin 1 and palm pedestal 14 be connected；
The bionical palm includes palm body and terminal plate 12, and wherein palm body is by 14, four upper branch of palm pedestal
Strut 8 and tail portion 13 are constituted, and bionical palm is the integral structure of 3D printing, and there are four heavy for 12 4 right angle processing of terminal plate
Head bore is connected by screw thread pair and palm pedestal 14.
5 bottom center of finger tip pedestal of the parallel flexible driving unit is equipped with what lower support bar 28 was formed with sliding sleeve 29
Prismatic pair, sliding sleeve 29 can be moved up and down along lower support bar 28；The every Pneumatic artificial muscle 7 of parallel flexible driving unit by
The spring steel wire 32 of outer layer, the rubber tube 33 of internal layer, upper connection end cap 31, lower connection end cap 34, pipe fitting 36 form, described
For upper and lower connection end cap 31,34 together with 33 pressure injection of rubber tube, spring steel wire 32 is closely sleeved on 33 outer surface of rubber tube,
It is welded respectively with upper and lower connection end cap 31,34 at the both ends of spring steel wire 32；Pipe fitting 36 is connected with fluid inlet 35 by screw thread pair
It connects, for being passed through compressed air.
The tactilely-perceptible unit external envelope formula be distributed in finger tip, the centre of the palm surface, utilize piezoresistive effect measure massage
The contact force of manipulator and tissue simultaneously feeds back to controller；Wherein, the finger tip fexible film pressure drag of tactilely-perceptible unit passes
3 envelop-type of sensor is distributed on the spherical surface of finger tip head cover 4；It is passed through compressed air, parallel flexible driving unit axial elongation,
To drive finger tip axial elongation, when finger tip indentation tissue generates juxtaposition metamorphose, finger tip fexible film piezoresistance sensor 3
It measures contact force size and feeds back to controller；Meanwhile being installed on the miniature reflective laser displacement sensor on finger tip pedestal 5
6 measurement parallel drive unit axial elongations simultaneously feed back to controller, and the ratio by contacting force value and axial elongation characterizes
The hardness at the tissue position of finger tip pressing provides ginseng for subsequently selected, the different massaging actions of control massage force size
It considers, further promotes the intelligence degree for freeing massaging manipulator.
After receiving voltage signal excitation, output shaft 20 rotates ultrasound electric machine 16 in the ultrasonic drive unit
Output torque expands the movement of thumb to drive thumb mounting base 15 and cyclic annular bipolar magnet 17 to realize rotary motion
Range is easy to implement the five fingers kneading etc. and refers to combination massaging action more.Non-contact type magnetic angular displacement sensor 18 is by detecting ring
The rotational angle of shape bipolar magnet 17 measures the precise angular displacement of thumb mounting base 15 and feeds back to controller, is advantageously implemented
Thumb position rotation angle is accurately controlled.
The first bending vibration module 25 and the second bending vibration module 26 in the piezoelectric vibrator unit, which are used to generate to be bent, shakes
It is dynamic, and can be by the Vibration propagation to finger tip head cover 4；Applying in the first bending vibration module 25 and the second bending vibration module 26 respectively hasThe high-frequency voltage signal of phase difference will inspire two in sky in the first bending vibration module 25 and the second bending vibration module 26 respectively
Between all have on the upper and timeThe high frequency flexural vibration mode of phase difference so that the particle in center stand column 27 is planar made
Elliptic motion, and moved by 360 degree high-frequency rotatings that rubbing action drives finger tip head cover 4 to do around axis micro- a small range, thus
While realizing macroscopical massaging action, it is aided with the microcosmic high-frequency vibration of finger tip.
The flexible artificial skin 1 is the integral type variable density soft body structure prepared using latex material 3D printing, is leaned on
The packed density of nearly finger belly side material is less than close to the packed density for carrying on the back side material is referred to, and is advantageously implemented finger inwardly
Bending motion.Flexible artificial skin 1 and palm pedestal 14 are connected by the way of strength glue, to prevent flexible artificial skin
Skin 1 falls off in massage processes；Flexible artificial skin 1 is equipped with notch, therefrom draws convenient for the electric appliance cable of motor, sensor etc.
Go out.Envelope is that graininess protrusion micro array structure 2 is distributed in the finger tip surface of five fingers, can increase and be connect with tissue
Frictional force when touching.
The bionical palm is the integral structure using nylon material 3D printing, has enough strength and toughnesses.
It is internal with groove structure, alleviates the overall weight of massaging manipulator, while convenient in massaging hand laid inside pneumatic tube
The auxiliary elements such as road.The conducting wire of the elements such as sensor, ultrasound electric machine 16 from groove draw with the terminal plate 12 on front row
Binding post 21 connects.8 upper end ballhead of upper support bar is in contact with the bowl-shape face 30 of 29 lower end of sliding sleeve, can be driven in parallel flexible
Moving cell adaptively adjusts the position of spherical pair when moving, to improve the rigidity and robust motion of the driving unit.Tail
The end in portion 13 is equipped with circular groove 24 and three threaded holes in the distribution of 120 degree of circular symmetric formulas, can be outer with bionic arm etc.
Portion's transmission mechanism connection, to make massaging hand obtain the space of bigger.
The beneficial effects of the present invention are：Compared with traditional massaging manipulator, structure of the invention is compact, whole device size
It is integrated convenient for multimode slightly larger than human hand actual size.By the combination of multiple parallel flexible driving units, massaging manipulator can
Realize stable humanoid massage's gimmick.In addition, the ratio characterization of contact force and axial elongation as obtained by sensor measurement refers to
The hardness for holding the tissue position of pressing, in this, as the ginseng of the subsequently selected different massage manipulation massage force sizes of control
It considers, realizes the prediction and closed-loop control to massage force, further promote the intelligence degree for freeing massaging manipulator.And it can
To be applied in combination with near-infrared blood vessel imaging module, infrared thermal imaging module etc., be configured to realize diversification massage and by
Rub the highly integrated device of staining effect, so as to preferably detect human vas, tissue physiology's state in massage processes.
The present invention to optimization massage effect, establish effect assessment and monitoring mechanism, alleviation masseur's operating pressure is of great significance, be
It discloses Chinese traditional massage mechanism and curative effect affecting laws provides effective laboratory facilities.
Description of the drawings
Attached drawing described herein is used to provide further understanding of the present invention, and is constituted part of this application, this hair
Bright illustrative example and its explanation is not constituted improper limitations of the present invention for explaining the present invention.
Fig. 1 is the overall appearance structural representation of the present invention；
Fig. 2 is the bionical palm of the present invention, finger surface structure schematic diagram；
Fig. 3 is the bionical palm of the present invention, finger structure front view；
Fig. 4 is the bionical palm of the present invention, finger structure rearview；
Fig. 5 is the bionical palm surface structure schematic diagram of the present invention；
Fig. 6 is the bionical palm structure sectional view of the present invention；
Fig. 7 is the A-A schematic cross-sectional views of Fig. 6；
Fig. 8 is the bionic finger component explosive view of the present invention；
Fig. 9 is the finger tip base construction schematic diagram of the present invention；
Figure 10 is the schematic top plan view of Fig. 9；
Figure 11 is the Pneumatic artificial muscle structural schematic diagram of the present invention；
Figure 12 is the piezoelectric ceramics polarization subregion schematic diagram of the first, second bending vibration module of the present invention.
In figure：1, flexible artificial skin；2, graininess protrusion micro array structure；3, finger tip fexible film piezoresistance sensor；
4, finger tip head cover；5, finger tip pedestal；6, miniature reflective laser displacement sensor；7, Pneumatic artificial muscle；8, upper support bar；9、
Spring washer；10, hexagon thin nut；11, soket head cap screw；12, terminal plate；13, tail portion；14, palm pedestal；15, thumb is pacified
Fill seat；16, ultrasound electric machine；17, cyclic annular bipolar magnet；18, non-contact type magnetic angular displacement sensor；19, drive shaft；20, defeated
Shaft；21, binding post；22, palm fexible film piezoresistance sensor；23, " Z " shape rectangular recess；24, circular groove；25,
One bending vibration module；26, the second bending vibration module；27, center stand column；28, lower support bar；29, sliding sleeve；30, bowl-shape face；31, upper company
Connect end cap；32, spring steel wire；33, rubber tube；34, lower connection end cap；35, fluid inlet；36, pipe fitting；37, piezoelectric ceramics
Piece；38, electrode slice.
Specific implementation mode
The detailed content and its specific implementation mode further illustrated the present invention below in conjunction with the accompanying drawings.
Shown in Fig. 1 to Figure 12, the flexible drive bionics massage manipulator of the invention based on Pneumatic artificial muscle, packet
Include parallel flexible driving unit, tactilely-perceptible unit, ultrasonic drive unit, piezoelectric vibrator unit, flexible artificial skin, bionic hand
The palm.Palm pedestal 14, thumb mounting base 15 and every 8 join domain of upper support bar are machined with 3 in 120 degree of circular symmetrics point
The counter sink of cloth is matched with the size of Pneumatic artificial muscle 7, lower connection end cap 34, and 34 distal outer surface of lower connection end cap adds
Work has external screw thread.Parallel flexible driving unit end coordinates with 8 peripheral through holes transition of upper support bar, and passes through hexagon thin nut 10
It fixes and locks with spring washer 9, it is ensured that parallel drive unit is closely connect with palm.It is passed through compressed air, parallel flexible driving
Unit axial elongation, to drive finger tip axial elongation, when finger tip indentation tissue generates juxtaposition metamorphose, fexible film passes
Sensor measures contact force size using piezoresistive effect and feeds back to controller.Meanwhile being installed on the miniature reflective of finger tip pedestal
Laser displacement sensor 6 measures parallel drive unit axial elongation and feeds back to controller, is stretched with axial by contacting force value
The hardness number at the tissue position of the ratio characterization finger tip pressing of long amount, and the value is timely feedbacked to controller.Controller
The massage force size of different actions is determined according to program as reference quantity, to by changing more Pneumatic artificial muscles
Ventilatory capacity realize specify dynamics multiple degrees of freedom massaging action.Realization refer to by, refer to rub make when, pass through finger tip fexible film
Piezoresistance sensor 3 timely feedbacks, and realizes the closed-loop control of massage force.In addition, flexible 1 envelope of artificial skin is in the five fingers finger tip
The graininess protrusion micro array structure 2 of surface distribution, can increase frictional force when being contacted with tissue.Meanwhile finger tip
Piezoelectric vibrator unit is receiving phase differenceTwo high-frequency voltage signals excitation after, can inspire two spatially and
All have on timeThe high frequency flexural vibration mode of phase difference, to drive finger tip to make the high-frequency vibration of micro- a small range.Into one
Step ground, realization macro and micro servo is combined with macroscopical massaging action.To realize that the five fingers kneading etc. refers to combination massaging action more, can lead to
16 output shaft 20 of ultrasound electric machine of overdriving rotates output torque, to drive thumb mounting base 15 and cyclic annular bipolar magnet 17 real
Existing rotary motion, expands the motion range of thumb.Meanwhile it being detected by non-contact type magnetic angular displacement sensor 18 cyclic annular bipolar
The rotational angle of magnet 17 measures the precise angular displacement of thumb mounting base 15 and timely feedbacks, and is revolved to thumb position to realize
The closed-loop control of gyration.It, can be flexible by being pasted onto the palm in the centre of the palm when realizing the massaging actions such as the full palm presses, the full palm pushes away
Film piezoresistance sensor 22 detects contact force size and timely feedbacks, to realize the closed-loop control of massage force.To by
Human vas, tissue physiology's state are preferably detected during rubbing, it can be with near-infrared blood vessel imaging module, infrared thermal imaging mould
Block etc. is applied in combination, and is configured to realize the highly integrated device that diversified massaging action, massage effect are fed back comprehensively.
The parallel flexible driving unit includes three elongation type pneumatic artificial-muscles, 7, finger tip pedestals 5.Finger tip base
5 bottom center of seat are equipped with the prismatic pair that upper support bar 8 is formed with sliding sleeve 29, and sliding sleeve 29 can be moved up and down along upper support bar 8.
Bottom surface is machined with 3 threaded holes and a spiral shell close to circumferential edges in 120 degree of circular symmetric distributions around upper support bar 8
Pit.Upper cylindrical partial outer face is machined with external screw thread and side is provided with groove, is convenient for the electric wire of piezoelectric vibrator unit
Cable exports inside finger tip.Annular groove is machined with inside column part, for placing piezoelectric vibrator unit, groove floor center
To be machined with externally threaded center stand column 27.Every Pneumatic artificial muscle 7 by outer layer spring steel wire 32, internal layer rubber tube 33, on
Connection end cap 31, lower connection end cap 34 form, and two end caps are with 33 pressure injection of internal layer rubber tube at an entirety, outer layer spring steel wire
32 are closely looped around 33 outer surface of internal layer rubber tube, and both ends are welded with end cap, and fluid inlet 35 is for being passed through compressed air.Three
Root Pneumatic artificial muscle 7 is distributed in 120 ° of circular symmetrics, and upper connection end cap 31 is rigidly connected with finger tip pedestal 5 by screw thread pair.
When being passed through compressed air to Pneumatic artificial muscle 7, axial elongation；Gas is discharged, is returned to original state.Pass through control three
The size of the ventilatory capacity of root pneumatic muscles can realize the axial elongation and space multi-direction bending of driving unit.With high resiliency
Pneumatic artificial muscle be multiple freedom parallel mechanism flexible unit body, pass through application multiple parallel flexible driving units group
Close the plurality of massage operations, it can be achieved that the finger of simulation people.
The tactilely-perceptible unit includes finger tip fexible film piezoresistance sensor 5, palm fexible film piezoresistance sensor, micro-
Type reflective laser displacement sensor 6, finger tip head cover 4.Flexible thin film sensor compliance is good, small, convenient and flexible installation.
Finger tip fexible film piezoresistance sensor 3, palm fexible film piezoresistance sensor 22 are spherical with finger tip head cover respectively by seccotine
Surface, centre of the palm plane fit closely, and miniature reflective laser displacement sensor 6 is by screw thread pair and finger tip pedestal 5 close to circumference
The threaded hole at edge is rigidly connected.4 inner surface of finger tip head cover is threaded, and is rigidly connected by screw thread pair with finger tip pedestal 5.
3 envelop-type of finger tip fexible film piezoresistance sensor is distributed in the spherical surface of finger tip head cover 4, is passed through compressed air, parallel flexible
Driving unit axial elongation, to drive finger tip axial elongation, when finger tip indentation tissue generates juxtaposition metamorphose, flexible thin
Film sensors measure contact force size using piezoresistive effect and feed back to controller.Meanwhile it being installed on miniature anti-on finger tip pedestal 5
It penetrates formula laser displacement sensor 6 to measure parallel drive unit axial elongation and feed back to controller, passes through contact force and axial direction
The hardness number at the tissue position of the ratio characterization finger tip pressing of elongation is subsequently selected, the different massaging actions of control
Massage force size provides reference quantity, improves the intelligence degree of bionics massage manipulator.Realization refer to by, refer to rub make when,
By timely feedbacking for finger tip fexible film piezoresistance sensor 3, the closed-loop control of massage force is realized.Palm fexible film pressure drag
Sensor 22 is distributed in palm planar central, when realizing the massaging actions such as the full palm presses, the full palm pushes away, centre of the palm plane and human body group
When knitting contact, measures the contact force of palm and tissue using piezoresistive effect and timely feedback, realize the closed loop of massage force
Control.
The ultrasonic drive unit includes ultrasound electric machine 16, cyclic annular bipolar magnet 17, non-contact type magnetic angle displacement transducer
Device 18, thumb mounting base 15.15 upper surface center of thumb mounting base is equipped with upper support bar 8,8 upper end ballhead of upper support bar and cunning
The bowl-shape face 30 for covering 29 lower ends is in contact, and the position of spherical pair can be adaptively adjusted when parallel drive flexible unit moves,
Improve the rigidity and robust motion of the driving unit.It is machined with rectangular recess inside it, thumb installation is mounted on convenient for placing
The pneumatic line of parallel flexible driving unit on seat 15.The output shaft 20 of ultrasound electric machine 16 by in thumb mounting base 15
Hole interference fit, which is realized, to be connected firmly, and 18 compact of non-contact type magnetic angular displacement sensor is easy for installation, makes it by seccotine
The rectangular recess inner wall at thumb close with palm end connects firmly.17 endoporus of cyclic annular bipolar magnet by with by 16 drive shaft 19 of ultrasound electric machine
Interference fit is realized and is connected firmly.For ultrasound electric machine 16 after receiving voltage signal excitation, output shaft 20 rotates output torque, to
Thumb connecting seat 15 and cyclic annular bipolar magnet 17 is driven to realize rotary motion, so as to realize that the five fingers kneading etc. refers to combination more
Massaging action.Non-contact type magnetic angular displacement sensor 18 measures thumb by detecting the rotational angle of cyclic annular bipolar magnet 17
Refer to the angular displacement of mounting base 15 and timely feedback, to realize the closed-loop control to thumb position rotation angle.
The piezoelectric vibrator unit includes the first bending vibration module 25 and the second bending vibration module 26.Two bending vibration module axle center are equal
Be threaded through-hole, from top to bottom successively be machined with externally threaded center stand column 27 and be rigidly connected by screw thread pair, and put
It sets in the annular groove of finger tip pedestal 5.The first bending vibration module 25, the second bending vibration module 26 include two panels piezoelectric ceramics
Electrode slice 38 is clipped in the middle by piece 37 and a piece of electrode slice 38, the two panels piezoelectric ceramic piece 37, and every piezoelectric ceramic piece 37 is equal
The polarization subregion for having two polarization directions in left and right opposite, and two panels piezoelectric ceramic piece 37 is in the polarization side of the polarization subregion of the same side
To opposite.First bending vibration module 25 and the second bending vibration module 26 are used to generate bending vibration, and by Vibration propagation to finger tip top
Lid 4.Applying phase difference on two panels electrode slice 38 respectively isHigh-frequency voltage signal, will respectively in two bending vibration modules swash
Send out two spatially and temporally on be all with phase differenceHigh frequency flexural vibration mode so that in center stand column 27
Particle planar makees elliptic motion, and makees 360 degree of high frequencies of micro- a small range around axis by rubbing action driving finger tip head cover 4
Rotary motion, to while realizing macroscopical massaging action, be aided with the microcosmic high-frequency vibration of finger tip.
The flexibility artificial skin 1 is the integral type variable density soft body structure prepared using latex material 3D printing, thick
Degree be 2mm, flexibility, elasticity with height, can tight in palm finger surface.It will be flexible artificial using seccotine
1 end of skin is sticked together with palm, prevents flexible artificial skin 1 from falling off in massage processes.Flexible artificial skin 1 except
It four finger finger tips other than thumb and is all provided with close to the position of thumb mounting base 15 jagged, convenient for ultrasound electric machine 16, flexible passes
The electric appliance cable of sensor, piezoelectric vibrator unit etc. is drawn from finger interior.Filling of the artificial skin close to finger belly side material
Density is less than close to the packed density for carrying on the back side material is referred to, and is advantageously implemented the bending motion of finger inwardly.Its envelope is in five
The finger tip surface of a finger is the Non-smooth surface topographical surface that graininess protrusion micro array structure 2 is distributed with, and can be increased and human body
Frictional force when tissue contact, further strengthens massage effect.
The bionical palm includes palm body and terminal plate 12, and wherein palm body is by 14, four upper branch of palm pedestal
Strut 8 and tail portion 13 are constituted.The terminal plate is equipped with two rows of binding posts 21, four right angles processing there are four counter sink, with
Four soket head cap screws 11 coordinate, to be rigidly connected with palm body.The palm body is using nylon material 3D printing
Integral structure, have enough toughness and intensity.Palm is internally provided with " Z " shape rectangle groove 23, can mitigate massage
The overall weight of manipulator, meanwhile, convenient for installing the auxiliary elements such as pneumatic circuit inside massaging hand.The nearly thumb end of palm is equipped with
Two rectangular recess, the groove on the back of the hand is for placing ultrasound electric machine 16 and non-contact type magnetic angular displacement sensor
18, the groove for being located at palmar side is connected with " Z " shape rectangle groove 23, is used for the pneumatic tube of thumb parallel drive unit
Pass goes out.Palm thumb end side surface is equipped with circular through hole, convenient for ultrasound electric machine 16 output shaft 20 by and with thumb mounting base
15 connections.The electric appliance cable of the elements such as sensor, ultrasound electric machine 16 draws from palm groove, 1 notch of flexible artificial skin successively
Go out, connect with the front-seat binding post 21 of the tail portion 13 on the terminal plate 12, the conducting wire on the heel row binding post 21 of tail portion 13 from
The upper rear is bypassed to be connect with control cabinet (not shown) that subsequently can be in mechanism.8 bar upper end ballheads of the upper support with
The bowl-shape face 30 of 29 lower end of sliding sleeve is in contact, and the position of spherical pair can be adaptively adjusted when parallel drive flexible unit moves
It sets, to improve the rigidity and robust motion of the driving unit.The tail end is machined with circular groove 24 and 3 are in
120 degree of circular symmetric formulas distribution threaded hole, to be connect with ex-ternal transmissions mechanism (not shown)s such as bionic arms, to make by
The hand that rubs obtains the space of bigger.
Embodiment：
Referring to figs. 1 to Figure 12, the flexible drive bionics massage manipulator of the invention based on Pneumatic artificial muscle, the machinery
The overall dimensions of hand are slightly larger than human hand actual size, are suitable for the massage of human body each tissue site, are especially suitable for back, neck
Massage.The direct effect of the present invention is to provide intelligentized assistant massaging device for manual massage, can alleviate masseur's work
Pressure improves massage efficiency.The manipulator is shaken by parallel flexible driving unit, tactilely-perceptible unit, ultrasonic drive unit, piezoelectricity
Subelement, flexible artificial skin and bionical palm composition.The parallel flexible driving unit being made of Pneumatic artificial muscle, Neng Goushi
The multifreedom motion of existing each finger.Manipulator provided by the invention has 16 freedom of motion, functional integration is high,
It is flexible big, compact-sized, it can be achieved that the pushing away of simulation human hand, by, the massaging actions such as rub, pinch.Meanwhile the present invention passes through tactilely-perceptible
Unit perceives human body different parts tissue hardness to adjusting massage dynamics, improves the intelligence degree of manipulator.In this base
On plinth, it can further integrate with near-infrared blood vessel imaging module, infrared thermal imaging module etc., be provided with for human body massaging qualities
Characterization method and evaluation mechanism are imitated, further promotes massage effect, therefore in home-services robot, medical rehabilitation, middle medical knowledge
The fields such as treatment have significant application value.
Flexible drive bionics massage manipulator based on Pneumatic artificial muscle, including parallel flexible driving unit, tactile feel
Know unit, ultrasonic drive unit, piezoelectric vibrator unit, flexible artificial skin, bionical palm.Wherein, thumb parallel flexible drives
Unit is mounted in thumb mounting base 15, remaining parallel flexible driving unit is mounted in palm body.Tactilely-perceptible unit is glutinous
Invest palm centre of the palm plane and the five fingers finger tip surface.Piezoelectric vibrator unit is installed on inside finger tip.Ultrasonic drive unit is installed
In the nearly thumb end of palm, wherein ultrasound electric machine 16 is mounted on the back of the hand at nearly thumb end with non-contact type magnetic angular displacement sensor 18
In groove, thumb mounting base 15 is installed on nearly thumb end side surface and is bonded therewith.Flexible artificial skin 1 is wrapped in palm, finger
Surface.Manipulator is mainly driven by compressed air.
In specific massage processes, first, it is passed through compressed air so that parallel flexible driving unit axial elongation, to band
Dynamic finger tip axial elongation.When finger tip indentation tissue generates juxtaposition metamorphose, finger tip fexible film piezoresistance sensor 3 utilizes pressure
Inhibition effect measures contact force size and feeds back to controller.Meanwhile the miniature reflective laser displacement for being installed on finger tip pedestal 5 passes
Sensor 6 measures parallel drive unit axial elongation and feeds back to controller, by the ratio for contacting force value and axial elongation
The hardness number at the tissue position of finger tip pressing is characterized, and the value is timely feedbacked to controller.Controller is as ginseng
The massage force size that different actions are determined according to program is considered, to pass through the ventilatory capacity for changing more Pneumatic artificial muscles 7
Realize the multiple degrees of freedom massaging action for the dynamics of specifying.
If want to realize to the finger of tissue by, refer to and rub massage, controller is by adjusting the logical of more Pneumatic artificial muscles 7
Tolerance realize the finger of the dynamics of specifying by, refer to and rub works, and timely feedbacking by finger tip fexible film piezoresistance sensor 3, realization
The closed-loop control of finger tip massage dynamics.In addition, the graininess protrusion microarray knot of 1 the five fingers finger tip surface of flexible artificial skin distribution
Structure 2 can increase frictional force when being contacted with tissue.While realizing macroscopical massaging action, the piezoelectric vibrator of finger tip
Unit is receiving phase differenceTwo high-frequency voltage signals excitation after, can inspire two spatially and temporally on all
HaveThe high frequency flexural vibration mode of phase difference, to drive finger tip to make the high-frequency vibration of micro- a small range.
If wanting to realize that the five fingers kneading etc. refers to combination massage more, controller is logical by more Pneumatic artificial muscles 7 of adjusting
Tolerance realizes that the more fingers for the dynamics of specifying combine massaging action.If it is impossible to meet movements to want for the original space of thumb at this time
It asks, then it can be by driving 16 output shaft 20 of ultrasound electric machine to rotate output torque, to drive thumb connecting seat 15 and cyclic annular pair
Pole magnet 17 realizes rotary motion, expands the motion range of thumb.Meanwhile it being examined by non-contact type magnetic angular displacement sensor 18
The rotational angle of cyclic annular bipolar magnet 17 is surveyed to measure the precise angular displacement of thumb mounting base 15 and timely feedback, and passes through finger tip
Fexible film piezoresistance sensor 3 timely feedbacks finger tip massage dynamics, realizes closed to thumb position rotation angle respectively
Ring controls and the closed-loop control of finger tip massage dynamics.
If wanting to realize the palm class massage manipulations such as the full palm presses, the full palm pushes away, it is single that controller keeps five parallel flexibles to drive
The original state of member is constant, and only realizes the pushing of palm part, the actions such as flat-pushing.By the palm for being adhered to centre of the palm plane
Fexible film piezoresistance sensor 22 detects contact force size and timely feedbacks, to realize the closed-loop control of massage force.To
Human vas, tissue physiology's state are preferably detected in massage processes, can with near-infrared blood vessel imaging module, it is infrared heat at
As module etc. is applied in combination, be configured to realize comprehensively diversified massaging action, massage effect feedback highly integrated device.
The foregoing is merely the preferred embodiments of the present invention, are not intended to restrict the invention, for the technology of this field
For personnel, the invention may be variously modified and varied.All any modification, equivalent substitution, improvement and etc. made for the present invention,
It should all be included in the protection scope of the present invention.
Claims (7)
1. a kind of flexible drive bionics massage manipulator based on Pneumatic artificial muscle, it is characterised in that：By compressed air into
Row driving, including parallel flexible driving unit, tactilely-perceptible unit, ultrasonic drive unit, piezoelectric vibrator unit, flexible artificial skin
Skin, bionical palm, the parallel flexible driving unit are distributed on five fingers, the parallel flexible driving unit on middle finger
In thumb mounting base (15), remaining four parallel flexible driving unit is mounted in the palm body of bionical palm；It touches
Feel that perception unit attaches to palm centre of the palm plane and five finger fingertip surfaces；Piezoelectric vibrator unit is installed on inside finger tip；
Ultrasonic drive unit is installed on the nearly thumb end of palm pedestal (14), the ultrasound electric machine (16) in ultrasonic drive unit with it is non-contact
Formula magnetism angular displacement sensor (18) is mounted in the back of the hand groove at nearly thumb end, and thumb mounting base (15) is installed on palm pedestal
(14) side is simultaneously bonded therewith；Flexible artificial skin (1) is wrapped in palm, finger surface；
The parallel flexible driving unit is：There are three the screw threads in the distribution of 120 degree of circular symmetrics for the processing of finger tip pedestal (5) bottom surface
Hole and a threaded hole close to circumferential edges, three Pneumatic artificial muscles (7) are distributed in 120 ° of circular symmetrics, pass through screw thread
It is rigidly connected with finger tip pedestal (5)；
The ultrasonic drive unit is：The output shaft (20) of ultrasound electric machine (16) is matched by the hole interference with thumb mounting base (15)
Conjunction realization ultrasound electric machine (16) is connected with thumb mounting base (15), and non-contact type magnetic angular displacement sensor (18) passes through strength
Glue is fixed on the rectangular recess inner wall at the nearly thumb end of palm, the driving of cyclic annular bipolar magnet (17) endoporus and ultrasound electric machine (16)
Axis (19) is interference fitted；
The piezoelectric vibrator unit is：The axle center of first, second bending vibration module (25,26) is threaded through-hole, on to
Under successively be machined with externally threaded center stand column (27) and be rigidly connected by screw thread pair, and be placed on the ring of finger tip pedestal (5)
In connected in star；First bending vibration module (25), the second bending vibration module (26) generate bending vibration and propagate to finger tip head cover (4), and first is curved
The bending vibration that the bending vibration and the second bending vibration module (26) that module of shaking (25) generates generate spatially existsPhase difference；
The flexibility artificial skin (1) is the integral type variable density soft body structure prepared by 3D printing, it can be achieved that flexible drawing
And elastic recovery, can close envelope in palm, finger surface；Flexible artificial skin is equipped with notch, and envelope is in five
The finger tip surface of finger is the Non-smooth surface topographical surface that graininess protrusion micro array structure (2) is distributed with；It will be soft using seccotine
Property artificial skin (1) with palm pedestal 14 be connected.
2. the flexible drive bionics massage manipulator according to claim 1 based on Pneumatic artificial muscle, it is characterised in that：
Finger tip pedestal (5) bottom center of the parallel flexible driving unit is equipped with the shifting of lower support bar (28) and sliding sleeve (29) composition
Dynamic pair, sliding sleeve (29) can be moved up and down along lower support bar 28；The every Pneumatic artificial muscle (7) of parallel flexible driving unit
By the spring steel wire (32) of outer layer, the rubber tube (33) of internal layer, upper connection end cap (31), lower connection end cap (34), pipe fitting
(36) it forms, for the upper and lower connection end cap (31,34) with rubber tube (33) pressure injection at an entirety, spring steel wire (32) is close
It is looped around rubber tube (33) outer surface, the both ends of spring steel wire (32) are welded with upper and lower connection end cap (31,34) respectively；Pipe connects
Head (36) is connect with fluid inlet (35) by screw thread pair, for being passed through compressed air.
3. the flexible drive bionics massage manipulator according to claim 1 based on Pneumatic artificial muscle, it is characterised in that：
The tactilely-perceptible unit external envelope formula be distributed in finger tip, the centre of the palm surface；Wherein, finger tip head cover (4) inner surface is machined with
Screw thread is rigidly connected with finger tip pedestal (5) by screw thread；By seccotine by finger tip fexible film piezoresistance sensor (3), palm
Fexible film piezoresistance sensor (22) attaches to the spherical surface of finger tip head cover (4), in the plane of the palm centre of the palm respectively, microreflection
Formula laser displacement sensor (6) is connected by screw thread and finger tip pedestal (5)；It is passed through compressed air, parallel flexible driving unit axis
To elongation, to drive finger tip axial elongation, when finger tip indentation tissue generates juxtaposition metamorphose, finger tip fexible film pressure drag
Sensor (3) measures contact force size using piezoresistive effect and feeds back to controller；Meanwhile it being installed on finger tip pedestal (5)
Miniature reflective laser displacement sensor (6) measures parallel drive unit axial elongation and feeds back to controller, passes through contact
The ratio of force value and axial elongation characterizes the hardness at the tissue position of finger tip pressing.
4. the flexible drive bionics massage manipulator according to claim 1 based on Pneumatic artificial muscle, it is characterised in that：
The output shaft (20) of ultrasound electric machine (16) in the ultrasonic drive unit rotates output torque, to drive thumb mounting base
(15) and cyclic annular bipolar magnet (17) realizes that rotary motion, non-contact type magnetic angular displacement sensor (18) are cyclic annular by detecting
The rotational angle of bipolar magnet (17) measures the precise angular displacement of thumb mounting base (15) and feeds back to controller, is conducive to reality
Now thumb position rotation angle is accurately controlled.
5. the flexible drive bionics massage manipulator according to claim 1 based on Pneumatic artificial muscle, it is characterised in that：
The first bending vibration module (25) and the second bending vibration module (26) in the piezoelectric vibrator unit generate bending vibration, and propagate to
Finger tip head cover (4)；Applying in the first bending vibration module (25) and the second bending vibration module (26) respectively hasThe high frequency of phase difference
Voltage signal will inspire two spatially and temporally in the first bending vibration module (25) and the second bending vibration module (26) respectively
On all haveThe high frequency flexural vibration mode of phase difference so that the particle in center stand column (27) planar makees elliptic motion,
And drive finger tip head cover (4) to do 360 degree of high-frequency rotating movements around axis by rubbing action, to realize macroscopical massaging action
Meanwhile being aided with the microcosmic high-frequency vibration of finger tip.
6. the flexible drive bionics massage manipulator according to claim 1 based on Pneumatic artificial muscle, it is characterised in that：
The flexible artificial skin (1) is the integral type variable density soft body structure prepared using latex material 3D printing, close to finger belly
The packed density of side material is less than close to the packed density for referring to back of the body side material；By flexible people by the way of strength glue
Work skin (1) is connected with palm pedestal (14), to prevent flexible artificial skin (1) from falling off in massage processes；Flexible artificial skin
Skin (1) is equipped with notch.
7. the flexible drive bionics massage manipulator according to claim 1 based on Pneumatic artificial muscle, it is characterised in that：
The bionical palm includes palm body and terminal plate (12), and wherein palm body is by palm pedestal (14), four upper support bars
(8) and tail portion (13)；Bionical palm is the integral structure using nylon material 3D printing, and (12) four right angles of terminal plate add
There are four counter sinks for work, are connected by screw thread pair and palm pedestal (14)；It is internal to have a groove structure, on upper support bar (8)
End ballhead is in contact with the bowl-shape face (30) of sliding sleeve (29) lower end, and the end of tail portion (13) is equipped with circular groove (24) and three
The threaded hole being distributed in 120 degree of circular symmetric formulas.
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