CN108578171B - Robot arm of intelligent rehabilitation training - Google Patents
Robot arm of intelligent rehabilitation training Download PDFInfo
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- CN108578171B CN108578171B CN201810234612.5A CN201810234612A CN108578171B CN 108578171 B CN108578171 B CN 108578171B CN 201810234612 A CN201810234612 A CN 201810234612A CN 108578171 B CN108578171 B CN 108578171B
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Classifications
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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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- 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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
-
- C—CHEMISTRY; METALLURGY
- C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
- C08K—Use of inorganic or non-macromolecular organic substances as compounding ingredients
- C08K3/00—Use of inorganic substances as compounding ingredients
- C08K3/02—Elements
- C08K3/04—Carbon
- C08K3/041—Carbon nanotubes
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- C—CHEMISTRY; METALLURGY
- C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
- C08K—Use of inorganic or non-macromolecular organic substances as compounding ingredients
- C08K3/00—Use of inorganic substances as compounding ingredients
- C08K3/34—Silicon-containing compounds
-
- C—CHEMISTRY; METALLURGY
- C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
- C08K—Use of inorganic or non-macromolecular organic substances as compounding ingredients
- C08K9/00—Use of pretreated ingredients
- C08K9/04—Ingredients treated with organic substances
-
- 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
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1683—Surface of interface
- A61H2201/169—Physical characteristics of the surface, e.g. material, relief, texture or indicia
-
- C—CHEMISTRY; METALLURGY
- C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
- C08K—Use of inorganic or non-macromolecular organic substances as compounding ingredients
- C08K2201/00—Specific properties of additives
- C08K2201/001—Conductive additives
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- C—CHEMISTRY; METALLURGY
- C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
- C08K—Use of inorganic or non-macromolecular organic substances as compounding ingredients
- C08K2201/00—Specific properties of additives
- C08K2201/011—Nanostructured additives
Abstract
The invention discloses a robot arm for intelligent rehabilitation training, which comprises a handle, an upper limb bracket, a servo motor, a supporting arm and a sliding arm; all the servo motors are connected through supporting arms to drive triaxial rehabilitation movement; the inside of the handle is of a hollow structure, a battery and a controller are arranged in a hidden manner, flexible force-sensitive sensors are respectively arranged on the outer surface of the handle and the inner surface of the upper limb bracket, and sensitive elements of the flexible force-sensitive sensors are flexible force-sensitive composite materials and are prepared from 7-phenyl-1-heptanol modified carboxyl graphitized carbon nano tube materials, nano silicon carbide powder and trisilanolphenyl-cage polysilsesquioxane. The invention has simple structure, is easy for industrialized batch production, is widely used for rehabilitation training of upper limbs and wrists, converts force signals into electric signals by utilizing excellent mechanical properties and electrical properties of flexible force-sensitive composite materials, and is convenient for realizing automatic detection and intelligent control.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a robot arm for intelligent rehabilitation training.
Background
The rehabilitation robot is taken as an important branch of the medical robot, the research of the rehabilitation robot penetrates through the fields of rehabilitation medicine, mechanical mechanics, material science, computer science and the like, and the comprehensive application of the technologies of equipment, electronics, sensors, automation, the Internet of things and the like becomes an important research hotspot in the technical field of robots. At present, rehabilitation robots are widely applied to the aspects of artificial limbs, rehabilitation nursing, rehabilitation training and the like.
Data published by the world health organization, more than 1500 tens of thousands of people are affected by stroke and cardiovascular and cerebrovascular diseases each year, with 85% of stroke survivors suffering from acute upper limb dysfunction, rehabilitation training being the most effective method for such conditions. Apoplexy hemiplegia is frequently occurred in middle-aged and elderly people, the upper limbs of patients are not easy to recover, especially the functions of hands, elbow joints and wrist joints are most difficult to recover, and the rehabilitation training can reduce disability rate and improve the function recovery probability. Most of the rehabilitation methods for stroke patients in clinic depend on one-to-one physical treatment of patients by doctors, the effect is not obvious and quantitative and objective evaluation is lacking. Therefore, the intelligent device for satisfying the rehabilitation training of the arms of the patients has great commercial value and social significance.
The rehabilitation robot can not leave the pressure sensing detection, and the flexible bending performance of the pressure sensor is required by the robot hand grabbing, the rehabilitation training arm, the gait analysis, the flexible wearable and the like. However, most of the existing pressure sensors are mainly made of rigid semiconductor silicon materials, and are integrated on a printed circuit board, so that bending and elongation characteristics of the pressure sensors are remarkably reduced.
In the prior art, for example, CN 102274106B discloses a multifunctional moment sensing arm rehabilitation device of a rehabilitation robot, a full bridge circuit consisting of four strain gauges on the sides of a left central beam and a right central beam of a moment measuring mechanism is amplified by an amplifying circuit to output a voltage value, and the moment sensing is realized according to the magnitude of active torque and passive torque in the rehabilitation training.
The flexible force sensor is a flexible device for sensing the distribution of surface acting force, and has wide application in the field of rehabilitation robots. For example: attaching a flexible force-sensitive sensor to a robot finger, so that the clamping force on the finger can be measured; the device is attached to the body of the athlete, can measure the muscle stretch characteristics of the athlete during the exercise, and provides quantitative data for scientific training; the gait recognition device is attached to the sole of a person, and can perform gait analysis and gait recognition.
There have been reported in the literature, for example, CN 107086268A discloses a thin film composite material with a soft touch function, which is obtained by uniformly spreading a piezoelectric ceramic powder and a conductive polymer powder between an upper polyimide film and a lower polyimide film in a blending, grinding and dispersing manner; the polymer-based force-sensitive composite material is a common sensitive material of a pressure sensor, and the traditional force-sensitive composite material has the defects of high filling concentration and low sensitivity.
Disclosure of Invention
1. The object of the invention.
The invention aims at overcoming the defects of the prior art, and provides an intelligent rehabilitation training robot arm which comprises a flexible force sensor and is used for rehabilitation training of upper limbs and wrists, the mechanism is simple, and the intelligent rehabilitation training robot arm is suitable for mass production. The novel force-sensitive material is prepared by using the carbon nano tube as the conductive filler, so that better flexibility and higher sensitivity are realized, and a force signal is converted into an electric signal, so that automatic detection and intelligent control are realized.
2. The technical scheme of the invention is as follows.
A robot arm for intelligent rehabilitation training comprises a handle, an upper limb bracket, a servo motor, a supporting arm and a sliding arm; all the servo motors are connected through supporting arms to drive triaxial rehabilitation movement; the inside of the handle is of a hollow structure, a battery and a controller are arranged in a hidden mode, the controller is electrically connected with the servo motor, a control signal is output, the controller is electrically connected with the flexible force sensor, and a detection signal is input; the outer surface of the handle and the inner surface of the upper limb bracket are respectively provided with a flexible force-sensitive sensor, and the sensitive elements are made of flexible force-sensitive composite materials.
Still further, the servo motor comprises a Z-axis servo motor, an X-axis servo motor and a Y-axis servo motor, and the support arms comprise a first support arm, a second support arm and a third support arm;
the Z-axis servo motor drives the handle to rotate around the Z axis through the first supporting arm;
the X-axis servo motor is connected with the Z-axis servo motor through a second supporting arm, wherein the second supporting arm is an L-shaped supporting arm, and the X-axis servo motor drives the L-shaped supporting arm to rotate around the X axis;
the X-axis servo motor is fixedly connected with the upper limb bracket through a third supporting arm, wherein the third supporting arm is S-shaped;
the Y-axis servo motor is fixed on the outer surface of the upper limb bracket, wherein the upper limb bracket is semicircular, and the axis of the upper limb bracket is parallel to the axis of the Y-axis servo motor.
Further, the sliding arm is fixedly connected with the upper limb bracket and is parallel to the axis of the Y-axis servo motor; the sliding arm is matched with a fixing frame clamping groove on the outer part of the robot arm, and the Y-axis servo motor drives the sliding arm to slide in the fixing frame clamping groove.
Further, the servo motor is hinged with the support arm or the sliding arm through a seamless gear respectively.
Furthermore, the flexible force-sensitive composite material is prepared from 7-phenyl-1-heptanol modified carboxyl graphitized carbon nano tube material, nano silicon carbide powder and trisilanolphenyl-cage polysilsesquioxane by a solution method;
1-5 parts of 7-phenyl-1-heptanol modified carboxyl graphitized carbon nanotube material, 2-3 parts of nano silicon carbide powder and 110 parts of trisilicon phenyl-cage polysilsesquioxane.
Further, the preparation method of the 7-phenyl-1-heptanol modified carboxyl graphitized carbon nano tube material comprises the following steps:
1) Adding 100g of carboxyl graphitized carbon nano tube into 400ml of n-heptane/DMF mixed solution, and performing ultrasonic dispersion at 45 ℃ for 30min to obtain a monodisperse liquid of the carboxyl graphitized carbon nano tube; the volume ratio of the n-heptane to the DMF mixed solution is calculated, and the n-heptane to DMF=3:1-2; the ultrasonic power in the ultrasonic process is 300W; the energy provided by ultrasonic waves in the ultrasonic dispersion process peels off the carboxyl graphitized carbon nano tube to form monodisperse carboxyl graphitized carbon nano tube dispersion liquid;
2) Adding 0.2g of concentrated sulfuric acid into the monodispersed liquid of the carboxyl graphitized carbon nano tube, heating to 60 ℃, then dropwise adding 7-10ml of DMF solution of 7-phenyl-1-heptanol with the concentration of 20wt%, stirring for 2 hours, then desolventizing and vacuum drying to obtain the 7-phenyl-1-heptanol modified carboxyl graphitized carbon nano tube material.
Still further, the carboxyl group content of the carboxyl group-graphitized carbon nanotube is 0.36 to 1.0wt%, preferably 0.61wt%.
The conductivity of the composite material is finally determined by the property of the carbon nanotube conductive network, and when the concentration is low, the conductive network is sparse, and the overall influence of the change of the conductive network structure is large. The content of the 7-phenyl-1-heptanol modified carboxyl graphitized carbon nano tube material in the composite material can influence the conductivity of the final composite material of the composite material, thereby influencing the resistance strain sensitivity coefficient. According to the preferred scheme, the weight of the 7-phenyl-1-heptanol modified carboxyl graphitized carbon nano tube material in the flexible force-sensitive composite material for the intelligent robot is 2 parts; 2 parts by weight of nano silicon carbide powder; 110 parts by weight of trisilanolphenyl-cage polysilsesquioxane.
The invention adopts trisilyl-cage polysilsesquioxane as a base material, and the trisilyl-cage polysilsesquioxane belongs to an organic-inorganic hybrid material, has a three-dimensional polyhedral structure, has an inorganic core formed by inorganic siloxane and an organic shell formed by trisilyl, and can improve the dispersibility and compatibility of the 7-phenyl-1-heptanol modified carboxyl graphitized carbon nano tube material in the base material.
In order to fully utilize the excellent performance of the graphitized carbon nanotubes, the graphitized carbon nanotubes must be uniformly dispersed in the polymer matrix, otherwise, the agglomeration of the graphitized carbon nanotubes can affect the conductive network inside the composite material and the transmission of the loads of the carbon nanotubes and the polymer, and the consistency and the repeatability of the composite material are poor. Although the graphitized carbon nanotubes can solve the problem of compatibility with trisilylphenyl-cage polysilsesquioxane as a base material to a certain extent after carboxylation treatment, and the problem of easy self-polymerization and difficulty in uniform dispersion in a polar organic solution after stripping, agglomeration phenomenon can also occur if the concentration of the graphitized carbon nanotubes is increased or due to solvent volatilization in the preparation process of a solution method. According to the invention, long-chain alkane is used for carrying out esterification connection on 7-phenyl-1-heptanol containing phenyl and carboxyl in the carboxyl graphitized carbon nano tube, one end of the prepared 7-phenyl-1-heptanol modified carboxyl graphitized carbon nano tube material is fixed on the carbon nano tube, and the other end of the long-chain alkane can fully extend in a solvent to form certain steric hindrance, so that the secondary agglomeration of the carbon nano tube is avoided; in addition, the long-chain alkane molecular structure has certain flexibility, and the prepared flexible force-sensitive composite material for the intelligent robot has good flexibility; has excellent tensile mechanical properties.
Further, the preparation method of the flexible force-sensitive composite material comprises the following steps:
1) Ultrasonically dispersing a 7-phenyl-1-heptanol modified carboxyl graphitized carbon nano tube material in a toluene/DMF mixed solution at 40 ℃ for 30min to obtain a first dispersion solution;
2) Dispersing trisilanolphenyl-cage polysilsesquioxane in DMF solution, and preserving heat at 40 ℃ to obtain a second dispersion solution;
3) And (3) dropwise adding the first dispersion solution into the second dispersion solution, simultaneously adding nano silicon carbide powder for ultrasonic treatment for 24 hours in the dropwise adding process, and then decompressing to remove the solvent to obtain the flexible force-sensitive composite material.
3. The invention has the technical effects.
Compared with the prior art, the invention has the following advantages: the utility model provides a robot arm of intelligent rehabilitation training, includes handle, upper limbs bracket, servo motor, support arm, sliding arm, and the inside hollow structure that is of handle, hidden battery, the controller of setting, simple structure, easily industrialization batch production utilize servo motor drive triaxial rehabilitation motion, extensively are used for upper limbs and wrist rehabilitation training, utilize the excellent mechanical properties of flexible force-sensitive combined material and electrical property, with strength signal conversion to the signal of electricity, realize automated inspection and intelligent control.
The flexible force-sensitive composite material has high elasticity and force-sensitive characteristics, has obvious high elasticity, and a tensile stress strain curve shows that even if 60% elongation occurs, the stress strain still maintains a good linear relation; the nano silicon carbide powder has excellent force sensitivity, the addition of the nano silicon carbide powder enhances the resistance strain sensitivity coefficient K epsilon, which is 52.2 at the highest, and the change sensitivity coefficient is 2/3 of the maximum value of the monocrystalline silicon, so that the nano silicon carbide powder is comparable to the monocrystalline silicon.
Drawings
Fig. 1 is a schematic diagram of a robot arm structure for intelligent rehabilitation training of the present invention.
FIG. 2 is a sectional scanning electron microscope image of the flexible force-sensitive composite material prepared in example 1.
FIG. 3 is a cross-sectional scanning electron microscope image of the flexible force-sensitive composite material prepared in comparative example 1.
FIG. 4 is a tensile stress strain curve of the flexible force sensitive composite material obtained in the examples.
FIG. 5 is a graph showing the piezoresistive properties of the flexible force sensitive composite material obtained in the example.
Detailed Description
The present invention will be further described with reference to the following specific embodiments for more clearly describing the objects, technical solutions and advantages of the present invention. It should be understood that the description is only illustrative and is not intended to limit the scope of the invention.
The carboxyl graphitized carbon nano tube is from Beijing De island gold technology Co., ltd, and the carboxyl content is 0.36-1.0wt%; nano silicon carbide powder is from Beijing De Kodak gold technology Co., ltd; trisilanolphenyl-cage polysilsesquioxane was obtained from fosman technology (beijing) and has CAS number 444315-26-8 and product number 9502013.
Example 1
An intelligent rehabilitation training robot arm, as shown in figure 1, comprises a handle 11, an upper limb bracket 12, servo motors 21, 22 and 23, supporting arms 31, 32 and 33 and a sliding arm 34; all the servo motors are connected through supporting arms to drive triaxial rehabilitation movement; the inside of the handle is of a hollow structure, a battery and a controller are arranged in a hidden mode, the controller is electrically connected with the servo motor, a control signal is output, the controller is electrically connected with the flexible force sensor, and a detection signal is input; the outer surface of the handle and the inner surface of the upper limb bracket are respectively provided with a flexible force-sensitive sensor, and the sensitive elements are made of flexible force-sensitive composite materials.
Preparing a 7-phenyl-1-heptanol modified carboxyl graphitized carbon nano tube material:
1) 100g of carboxyl graphitized carbon nano-tube (with the tube diameter of 20-30nm and the carboxyl content of 0.6%wt) is added into 400ml of n-heptane/DMF mixed solution (calculated according to the volume ratio, n-heptane: DMF=3:2), and ultrasonic dispersion is carried out for 30min at 45 ℃ to obtain a monodisperse liquid of the carboxyl graphitized carbon nano-tube, and the ultrasonic power in the ultrasonic process is 300W;
2) Adding 0.2g concentrated sulfuric acid (98%wt) into the monodispersed liquid of the carboxyl graphitized carbon nano tube, heating to 60 ℃, then dripping 8ml of DMF solution of 7-phenyl-1-heptanol with the concentration of 20%wt, stirring for 2 hours, then decompressing and desolventizing at 70 ℃ and vacuum drying at 45 ℃ until the weight is constant, thus obtaining the 7-phenyl-1-heptanol modified carboxyl graphitized carbon nano tube material.
Preparing a flexible force-sensitive composite material:
1) 2.0g of 7-phenyl-1-heptanol modified carboxyl graphitized carbon nanotube material is ultrasonically dispersed for 30min at 40 ℃ in 10ml of a mixed solution of toluene/DMF (toluene/DMF=1:1) according to the volume ratio, so as to obtain a first dispersion solution;
2) Dispersing 110g of trisilylphenyl-cage polysilsesquioxane in 300ml of DMF solution, and preserving heat at 40 ℃ to obtain a second dispersion solution;
3) The first dispersion solution was added dropwise to the second dispersion solution, and 2.0g of nano silicon carbide powder (particle diameter 40nm, specific surface area 39.8m were added simultaneously during the addition 2 And/g) carrying out ultrasonic treatment for 24 hours, and then decompressing and removing the solvent at 65 ℃ to obtain the flexible force-sensitive composite material.
As shown in FIG. 2, in the cross-sectional scanning electron microscope of the flexible force-sensitive composite material prepared in example 1, white spots are 7-phenyl-1-heptanol modified carboxyl graphitized carbon nanotubes, dark color is trisilanolphenyl-cage polysilsesquioxane base material, and therefore, the 7-phenyl-1-heptanol modified carboxyl graphitized carbon nanotubes are uniformly distributed in the base material, and no carbon nanotube agglomeration phenomenon occurs.
Example 2
An intelligent rehabilitation training robot arm, as shown in figure 1, comprises a handle 11, an upper limb bracket 12, servo motors 21, 22 and 23, supporting arms 31, 32 and 33 and a sliding arm 34; all the servo motors are connected through supporting arms to drive triaxial rehabilitation movement; the inside of the handle is of a hollow structure, a battery and a controller are arranged in a hidden mode, the controller is electrically connected with the servo motor, a control signal is output, the controller is electrically connected with the flexible force sensor, and a detection signal is input; the outer surface of the handle and the inner surface of the upper limb bracket are respectively provided with a flexible force-sensitive sensor, and the sensitive elements are made of flexible force-sensitive composite materials.
7-phenyl-1-heptanol modified carboxygraphitized carbon nanotube material was prepared as in example 1.
Preparing a flexible force-sensitive composite material:
1) 1.0g of 7-phenyl-1-heptanol modified carboxyl graphitized carbon nanotube material is ultrasonically dispersed for 30min at 40 ℃ in 10ml of a mixed solution of toluene/DMF (toluene/DMF=1:1) according to the volume ratio, so as to obtain a first dispersion solution;
2) Dispersing 110g of trisilylphenyl-cage polysilsesquioxane in 300ml of DMF solution, and preserving heat at 40 ℃ to obtain a second dispersion solution;
3) The first dispersion solution was added dropwise to the second dispersion solution, and 3.0g of nano silicon carbide powder (particle diameter 40nm, specific surface area 39.8m were added simultaneously during the addition 2 And/g) carrying out ultrasonic treatment for 24 hours, and then decompressing and removing the solvent at 65 ℃ to obtain the flexible force-sensitive composite material.
Example 3
An intelligent rehabilitation training robot arm, as shown in figure 1, comprises a handle 11, an upper limb bracket 12, servo motors 21, 22 and 23, supporting arms 31, 32 and 33 and a sliding arm 34; all the servo motors are connected through supporting arms to drive triaxial rehabilitation movement; the inside of the handle is of a hollow structure, a battery and a controller are arranged in a hidden mode, the controller is electrically connected with the servo motor, a control signal is output, the controller is electrically connected with the flexible force sensor, and a detection signal is input; the outer surface of the handle and the inner surface of the upper limb bracket are respectively provided with a flexible force-sensitive sensor, and the sensitive elements are made of flexible force-sensitive composite materials.
7-phenyl-1-heptanol modified carboxygraphitized carbon nanotube material was prepared as in example 1.
Preparing a flexible force-sensitive composite material:
1) 5.0g of 7-phenyl-1-heptanol modified carboxyl graphitized carbon nanotube material is ultrasonically dispersed for 30min at 40 ℃ in 10ml of a mixed solution of toluene/DMF (toluene/DMF=1:1) according to the volume ratio, so as to obtain a first dispersion solution;
2) Dispersing 110g of trisilylphenyl-cage polysilsesquioxane in 300ml of DMF solution, and preserving heat at 40 ℃ to obtain a second dispersion solution;
3) The first dispersion solution was added dropwise to the second dispersion solution, and 3.0g of nano silicon carbide powder (particle diameter 40nm, specific surface area 39.8m were added simultaneously during the addition 2 And/g) carrying out ultrasonic treatment for 24 hours, and then decompressing and removing the solvent at 65 ℃ to obtain the flexible force-sensitive composite material.
Comparative example 1
In order to highlight the influence of 7-phenyl-1-heptanol on the carboxyl graphitized carbon nano tube in the invention, the effect of 7-phenyl-1-heptanol modified carboxyl graphitized carbon nano tube is studied by adopting a single-factor variable method, the carboxyl graphitized carbon nano tube is directly adopted to replace the 7-phenyl-1-heptanol modified carboxyl graphitized carbon nano tube material in the embodiment 1 as a raw material, and the rest raw materials, the consumption and the preparation method are completely consistent with those in the embodiment 1 to prepare the flexible force-sensitive composite material.
As shown in fig. 3, in the section scanning electron microscope image of the flexible force-sensitive composite material prepared in comparative example 1, white spots are carboxyl graphitized carbon nanotubes, dark color is trisilylphenyl-cage polysilsesquioxane base material, and it can be seen that the carboxyl graphitized carbon nanotubes are uniformly distributed in the base material as a whole, but the phenomenon of partial aggregation of the carboxyl graphitized carbon nanotubes occurs, probably due to the increase in concentration of the carboxyl graphitized carbon nanotubes caused by rapid removal of a solvent in the process of decompression and desolventizing, so that the phenomenon of partial aggregation occurs.
Comparative example 2
The effect of the silicon carbide powder was studied by a single-factor variable method, and compared with example 1, no nano silicon carbide powder was added, and the rest was completely identical to example 1.
Mechanical properties of flexible force sensitive composites: according to the testing method, the national standard GB/T528-2009 determination of tensile stress and strain properties of vulcanized rubber or thermoplastic rubber is referred to, firstly, a material is pressed and formed, then, the material is cut into strips with the length of 24mm multiplied by 4mm multiplied by 1mm, two ends of the strip are clamped by a clamp, the strip is slowly stretched (0.1 mm/s), meanwhile, the displacement and the tensile force of the stretching are recorded, and a tensile stress and strain curve is drawn.
As shown in fig. 4, in comparison of mechanical properties of the flexible force-sensitive composite materials prepared in example 1 and comparative examples 1 and 2, it can be seen that the force-sensitive material prepared in the invention has excellent tensile mechanical properties and obvious high elasticity, and the stress strain of the material prepared in example 1 basically maintains a linear relationship in a stress range of 0-0.75 MPa; the tensile stress strain curve shows that even if 60% elongation occurs, the stress strain still maintains a good linear relationship; whereas comparative examples 1 and 2 are only linearly dependent on stress at 30% strain.
Electrical properties of the flexible force sensitive composite: as shown in FIG. 5, in order to compare the electrical properties of the flexible force-sensitive composite materials prepared in example 1 and comparative examples 1 and 2, it can be seen from the piezoresistive characteristic curves that the resistance value of the flexible force-sensitive composite material prepared in example decreases with the increase of pressure, the linearity is good in a certain range, and the sensitivity is high. Comparative examples 1 and 2 were poor, and in particular, after the pressure of comparative example 2 was 5N, the sensitivity of the resistance to pressure change was lowered; the addition of the nano silicon carbide powder plays a role in improving the force sensitivity to a certain extent.
The invention discovers that graphitized carbon nanotubes with different carboxyl contents have larger influence on the resistance strain sensitivity coefficient K epsilon of the prepared composite material in the research and development process, the influence of the carboxyl content on the resistance strain sensitivity coefficient K epsilon is researched by adopting the preparation method of the embodiment 1 as a template and adopting a single factor variable method, and the result is shown in the table 1.
TABLE 1 resistance strain sensitivity coefficient K epsilon corresponding to different carboxyl contents
| Carboxyl content/%wt | 0.25 | 0.36 | 0.60 | 1.0 | 1.28 |
| Resistance strain sensitivity coefficient K epsilon | 34.1 | 43.2 | 52.2 | 40.6 | 33.0 |
Therefore, the invention adopts the carboxyl graphitized carbon nano tube with the carboxyl content of 0.60 percent by weight, the maximum resistance strain sensitivity is 52.2, the variable sensitivity coefficient is 2/3 of the maximum value of monocrystalline silicon, the degree of the invention is comparable to that of monocrystalline silicon, the monocrystalline silicon is a commonly used material in semiconductor force sensitive devices, and the maximum resistance strain sensitivity coefficient can reach 78.5.
Example 4
An intelligent rehabilitation training robot arm, as shown in figure 1, comprises a handle 11, an upper limb bracket 12, servo motors 21, 22 and 23, supporting arms 31, 32 and 33 and a sliding arm 34; all the servo motors are connected through supporting arms to drive triaxial rehabilitation movement; the inside of the handle is of a hollow structure, a battery and a controller are arranged in a hidden mode, the controller is electrically connected with the servo motor, a control signal is output, the controller is electrically connected with the flexible force sensor, and a detection signal is input; the outer surface of the handle and the inner surface of the upper limb bracket are respectively provided with a flexible force-sensitive sensor, and the sensitive elements are made of flexible force-sensitive composite materials.
The servo motors comprise a Z-axis servo motor 21, an X-axis servo motor 22 and a Y-axis servo motor 23, and the support arms comprise a first support arm 31, a second support arm 32 and a third support arm 33;
the Z-axis servo motor drives the handle to rotate around the Z axis through the first supporting arm;
the X-axis servo motor is connected with the Z-axis servo motor through a second supporting arm, wherein the second supporting arm is an L-shaped supporting arm, and the X-axis servo motor drives the L-shaped supporting arm to rotate around the X axis;
the X-axis servo motor is fixedly connected with the upper limb bracket through a third supporting arm, wherein the third supporting arm is S-shaped;
the Y-axis servo motor is fixed on the outer surface of the upper limb bracket, wherein the upper limb bracket is semicircular, and the axis of the upper limb bracket is parallel to the axis of the Y-axis servo motor.
The sliding arm is fixedly connected with the upper limb bracket and is parallel to the axis of the Y-axis servo motor; the sliding arm is matched with a fixing frame clamping groove on the outer part of the robot arm, and the Y-axis servo motor drives the sliding arm to slide in the fixing frame clamping groove.
The servo motor is hinged with the support arm or the sliding arm through a seamless gear respectively.
Although embodiments of the present invention have been described in detail, it should be understood that various changes, substitutions, and alterations can be made hereto without departing from the spirit and scope of the invention.
Claims (6)
1. The utility model provides an intelligent rehabilitation training's robotic arm which characterized in that: comprises a handle, an upper limb bracket, a servo motor, a supporting arm and a sliding arm; all the servo motors are connected through supporting arms to drive triaxial rehabilitation movement; the inside of the handle is of a hollow structure, a battery and a controller are arranged in a hidden mode, the controller is electrically connected with the servo motor, a control signal is output, the controller is electrically connected with the flexible force sensor, and a detection signal is input; the outer surface of the handle and the inner surface of the upper limb bracket are respectively provided with a flexible force-sensitive sensor, and the sensitive elements are made of flexible force-sensitive composite materials;
the flexible force-sensitive composite material is prepared from 7-phenyl-1-heptanol modified carboxyl graphitized carbon nano tube material, nano silicon carbide powder and trisilicon phenyl-cage polysilsesquioxane by a solution method;
1-5 parts of 7-phenyl-1-heptanol modified carboxyl graphitized carbon nanotube material, 2-3 parts of nano silicon carbide powder and 110 parts of trisilicon phenyl-cage polysilsesquioxane;
the preparation method of the 7-phenyl-1-heptanol modified carboxyl graphitized carbon nano tube material comprises the following steps:
1) Adding 100g of carboxyl graphitized carbon nano tube into 400ml of n-heptane/DMF mixed solution, and performing ultrasonic dispersion at 45 ℃ for 30min to obtain a monodisperse liquid of the carboxyl graphitized carbon nano tube; the n-heptane/DMF mixed solution is calculated according to the volume ratio:
dmf=3:1-2; the ultrasonic power in the ultrasonic process is 300W;
2) Adding 0.2g of concentrated sulfuric acid into the monodispersed liquid of the carboxyl graphitized carbon nano tube, heating to 60 ℃, then dropwise adding 7-10ml of DMF solution of 7-phenyl-1-heptanol with the concentration of 20wt%, stirring for 2 hours, then desolventizing and vacuum drying to obtain the 7-phenyl-1-heptanol modified carboxyl graphitized carbon nano tube material;
according to the weight portion, 2 portions of 7-phenyl-1-heptanol modified carboxyl graphitized carbon nano tube material, 2 portions of nano silicon carbide powder and 110 portions of trisilylphenyl-cage polysilsesquioxane are calculated in the flexible force-sensitive composite material;
the preparation method of the flexible force-sensitive composite material comprises the following steps:
1) Ultrasonically dispersing a 7-phenyl-1-heptanol modified carboxyl graphitized carbon nano tube material in a toluene/DMF mixed solution at 40 ℃ for 30min to obtain a first dispersion solution;
2) Dispersing trisilanolphenyl-cage polysilsesquioxane in DMF solution, and preserving heat at 40 ℃ to obtain a second dispersion solution;
3) And (3) dropwise adding the first dispersion solution into the second dispersion solution, simultaneously adding nano silicon carbide powder for ultrasonic treatment for 24 hours in the dropwise adding process, and then decompressing to remove the solvent to obtain the flexible force-sensitive composite material.
2. The intelligent rehabilitation training robot arm of claim 1 wherein: the servo motor comprises a Z-axis servo motor, an X-axis servo motor and a Y-axis servo motor, and the support arms comprise a first support arm, a second support arm and a third support arm;
the Z-axis servo motor drives the handle to rotate around the Z axis through the first supporting arm;
the X-axis servo motor is connected with the Z-axis servo motor through a second supporting arm, wherein the second supporting arm is an L-shaped supporting arm, and the X-axis servo motor drives the L-shaped supporting arm to rotate around the X axis;
the X-axis servo motor is fixedly connected with the upper limb bracket through a third supporting arm, wherein the third supporting arm is S-shaped;
the Y-axis servo motor is fixed on the outer surface of the upper limb bracket, wherein the upper limb bracket is semicircular, and the axis of the upper limb bracket is parallel to the axis of the Y-axis servo motor.
3. The intelligent rehabilitation training robot arm of claim 2 wherein: the sliding arm is fixedly connected with the upper limb bracket and is parallel to the axis of the Y-axis servo motor; the sliding arm is matched with a fixing frame clamping groove on the outer part of the robot arm, and the Y-axis servo motor drives the sliding arm to slide in the fixing frame clamping groove.
4. The intelligent rehabilitation training robot arm of claim 2 wherein: the servo motor is hinged with the support arm or the sliding arm through a seamless gear respectively.
5. The intelligent rehabilitation training robot arm of claim 1 wherein: the carboxyl graphitized carbon nano tube material has the carboxyl content of 0.36-1.0wt%.
6. The intelligent rehabilitation training robot arm of claim 1 wherein: the carboxyl group content of the carboxyl graphitized carbon nano tube material is 0.60 weight percent.
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| CN112674993A (en) * | 2021-01-18 | 2021-04-20 | 新乡医学院三全学院 | Intelligent lower limb function compensation and gait orthosis |
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