CN110236880A - A kind of pneumatic software manipulator of the customized passive type of user - Google Patents
A kind of pneumatic software manipulator of the customized passive type of user Download PDFInfo
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- CN110236880A CN110236880A CN201910506414.4A CN201910506414A CN110236880A CN 110236880 A CN110236880 A CN 110236880A CN 201910506414 A CN201910506414 A CN 201910506414A CN 110236880 A CN110236880 A CN 110236880A
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- 230000004044 response Effects 0.000 claims abstract description 10
- 210000003811 finger Anatomy 0.000 claims description 46
- 210000001145 finger joint Anatomy 0.000 claims description 36
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 19
- 230000033001 locomotion Effects 0.000 claims description 10
- 238000005086 pumping Methods 0.000 claims description 7
- 210000003813 thumb Anatomy 0.000 claims description 6
- 238000007789 sealing Methods 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000005622 photoelectricity Effects 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000004886 process control Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 12
- 238000000034 method Methods 0.000 description 10
- 210000000707 wrist Anatomy 0.000 description 6
- 230000008901 benefit Effects 0.000 description 5
- 238000009958 sewing Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000035876 healing Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 210000001364 upper extremity Anatomy 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- 206010011985 Decubitus ulcer Diseases 0.000 description 1
- 208000004210 Pressure Ulcer Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000006735 deficit Effects 0.000 description 1
- 208000002925 dental caries Diseases 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
- 239000000565 sealant Substances 0.000 description 1
- 229920000260 silastic Polymers 0.000 description 1
- 230000000392 somatic effect Effects 0.000 description 1
Classifications
-
- 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
- A61H1/0285—Hand
- A61H1/0288—Fingers
-
- 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
- A61H2201/1238—Driving means with hydraulic or pneumatic 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
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
- A61H2205/067—Fingers
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of pneumatic software manipulators of the customized passive type of user, including the open gloves of pneumatic software finger, software and fingerstall locating support；Pneumatic software finger is tightly connected by positive and negative air-pressure driver and connection tracheae；Fingerstall locating support is designed according to hand sizes, and the active output strength of pneumatic software finger is passed to finger.Driving control system includes pump, electric Proportion valve, five bit combination switch valves, PWM speed adjusting plate, photoelectrical coupler and single-chip microcontroller.The present invention can stand alone as every finger within the same time and provide buckling or stretching routine auxiliary, while can adjust pneumatic software finger response speed and output strength.The present invention is compared to other software rehabilitation hands, and working principle is simple, and structure is simple, low in cost, consequently facilitating mass production and have the market competitiveness；Driving control system designed by the present invention is all made of small device and element, realizes miniaturization, lightness, Whole Process Control, and cost is relatively low and has portability.
Description
[technical field]
The invention belongs to healing robot technical fields, are related to a kind of pneumatic software manipulator of the customized passive type of user.
[background technique]
Rehabilitation medical is the important component of medical services, with somatic function caused by disease, damage and structural obstructions,
The patient that individual activity and participation ability are limited is service object, to improve the life quality of wound, sick, residual personage and return to society
It can be borrowing-word.By rehabilitation medical, patient can occur to avoid deformity or mitigate disabled degree, and quality of making the life better subtracts
The financial burden of light family and society.Rehabilitation is broadly divided into upper limb and lower limb, and the rehabilitation of upper limb healing especially hand will be to people
Daily life generate significant impact because nearly all movement in daily life requires to complete by hand, and control
The range of the brain centres of hand motion processed is very big.
Method there are many current for the rehabilitation of hand movement function impairment property, it is in recent years real in rehabilitation medical mechanism
Applying most is compelling element.However this method needs a large amount of human resources, in current China's rehabilitation medical
In the case that development is far from satisfying the market demand, this method is difficult to be applicable in.At the same time, miscellaneous mechanical rehabilitation hand
It plays a significant role in hand rehabilitation medical field, it allows physiatrician to provide rehabilitation medical clothes simultaneously for multiple patients
Business can also allow patient oneself to operate and carry out rehabilitation training, or be carried out by its household instead of doctor after simply imparting knowledge to students
Later period rehabilitation greatly improves rehabilitation medical service quality.
But that there are safeties is poor, cannot be bonded completely, be also easy to produce with finger for existing conventional rigid machinery rehabilitation equipment
Pressure sores, weight are excessive, rehabilitation training is dull, the shortcomings such as expensive, unsatisfactory in practical applications.And it is close several
Year, software rehabilitation hand gradually appeared on the market, with light, safety, Gao Shunying with the development of soft robot technology
Property and it is easy to carry the advantages that, but the disadvantages of its active output strength is insufficient, production is complicated, limits the application of its market.
Therefore, conventional rigid machinery rehabilitation equipment disadvantage can be overcome up for design is a, inherit software rehabilitation hand advantage,
And biggish active output strength is provided, production is simple, low-cost software rehabilitation mechanical hand system.
[summary of the invention]
It is an object of the invention to overcome the above-mentioned prior art, it is pneumatically soft to provide a kind of customized passive type of user
Body manipulator, the robot manipulator structure is simple, it is low in cost, light-weight, convenient for wearing, compliance is good, highly-safe, output strength
Greatly, can be good at that hand movement function impaired patients is helped to carry out rehabilitation training.
In order to achieve the above objectives, the present invention is achieved by the following scheme:
A kind of pneumatic software manipulator of the customized passive type of user, comprising:
Software opens gloves, and the finger part of the open gloves of software is connected with pneumatic software finger；
Pneumatic software finger, pneumatic software finger are fixedly connected by fingerstall locating support with the open gloves of software；Pneumatically
Software finger is sealed close to one end of finger tip, and one end far from finger tip connects tracheae, forms air cavity；Tracheae end connects gas circuit and drives
Autocontrol system drives software to open by gas circuit driving control system to gas interacvity air-filling or pumping by pneumatic software finger
It puts glove finger portion and carries out flexure operation；
And fingerstall locating support, fingerstall locating support include finger joint locating support and the back of the hand locating support；Pneumatic software
Finger is connected by finger joint locating support with the finger part of the open gloves of software, and the tracheae of pneumatic software finger tips passes through hand
Back locating support is fixedly mounted on the hand back part of the open gloves of software.
A further improvement of the present invention lies in that:
Pneumatic software finger includes positive and negative air-pressure driver and connection tracheae, and positive and negative air-pressure driver and connection tracheae are successively
Connection forms air cavity, and the head end of the end seal of minor details positive and negative air-pressure driver, head section positive and negative air-pressure driver is connected by tracheae
Connect gas circuit driving control system；It is tightly connected between adjacent positive and negative air-pressure driver by connection tracheae；
There are two positive and negative air-pressure driver, remaining corresponding pneumatic softwares of four fingers for the corresponding pneumatic software finger setting of thumb
There are three positive and negative air-pressure drivers for finger setting.
Finger joint locating support is identical as the structure of the back of the hand locating support, include the open slot for connecting pneumatic software finger,
It connects the pedestal of the open gloves of software and connects the support arm of open slot and pedestal；Make to connect pneumatic software by support arm
There are gaps between finger and the open gloves of software.
The both ends of positive and negative air-pressure driver are provided with support section, and the both ends for connecting tracheae are being tightly connected adjacent two just respectively
The support section of negative pressure driver；The opening groove radius of finger joint locating support is identical as support section radius, and adjacent two is positive and negative
The support section of pneumatic actuator is set to the open slot of finger joint locating support；
The sector that the section of the pedestal of finger joint locating support is 120 °, radius open corresponding finger section on gloves with software
The radius divided is identical.
The back of the hand locating support includes the corresponding single channel locating support of thumb and remaining corresponding townhouse locating support of four fingers, list
The radian and the back of the hand shape and size of the pedestal of road locating support pedestal and townhouse locating support are adapted；Positive and negative air-pressure driver
The tracheae of end, connection gas circuit driving control system is all set in the open slot of the back of the hand locating support.
Gas circuit driving control system includes drive part and control section；
Drive part includes positive pressure gas circuit and negative pressure gas circuit, and positive pressure gas circuit includes sequentially connected pulsometer and electrical ratio
Valve, the gas outlet of electric Proportion valve are separately connected the air inlet of exhaust switch valve and the one or five bit combination switch valve；Negative pressure gas circuit
Including sequentially connected vacuum pump and vacuum proportional valve, the outlet of vacuum proportional valve is separately connected air inlet switch valve and the two or five
The gas outlet of stacked switch valve；The air inlet of the gas outlet of one or five bit combination switch valve and the two or five bit combination switch valve with
The tracheae of pneumatic software finger is connected；
Control section includes Switching Power Supply, single-chip microcontroller and the first PWM speed adjusting plate to interact with single-chip microcontroller, second
PWM speed adjusting plate, electric Proportion valve, vacuum proportional valve, control panel and photoelectrical coupler；
Control panel, the control instruction for selecting to have set, driving manipulator movement；
Single-chip microcontroller adjusts the buckling response speed of pneumatic software finger by the first PWM speed adjusting plate control pressure pump；Pass through
2nd PWM speed adjusting plate control vacuum pump adjusts the stretching, extension response speed of pneumatic software finger；
Electric Proportion valve, for adjusting the buckling output strength of pneumatic software finger；
Vacuum proportional valve, for adjusting the stretching, extension output strength of pneumatic software finger；
Photoelectrical coupler, it is electric for controlling each of the one or five bit combination switch valve and the two or five bit combination switch valve
The switch of magnet valve, and then control the inflation or pumping of each pneumatic software finger；It is also used to control exhaust switch valve and air inlet
The switch of switch valve, and then control the exhaust of positive pressure gas circuit or negative pressure gas circuit air inlet.
It is connected with filter and the first muffler on the air inlet of pulsometer in turn；Is connected on the gas outlet of vacuum pump
Two mufflers.
Exhaust switch valve includes the first bi-bit bi-pass electromagnetic switch valve and throttling exhaust valve, the first bi-bit bi-pass electromagnetic switch
The air inlet of valve is connected with electric Proportion valve, and gas outlet is connected with throttling exhaust valve.
Air inlet switch valve includes the second bi-bit bi-pass electromagnetic switch valve and throttling intake valve, the second bi-bit bi-pass electromagnetic switch
The air inlet of valve is connected with vacuum proportional valve, and gas outlet is connected with throttling intake valve.
Compared with prior art, the invention has the following advantages:
In the pneumatic software manipulator of passive type of the present invention, every pneumatic software finger is all made of the coupling of positive and negative air-pressure driver
Finger-joint forms Pneumatic artificial joint, and pneumatic software finger is mutually indepedent, can stand alone as every finger and provide buckling or stretch
Exhibition movement auxiliary；By Aeroassisted patient digital flexion or elongation, amount of primary power size and positive and negative air-pressure size, positive and negative air-pressure
Driver inner diameter size is directly proportional, and response speed is directly proportional to throughput size；Overcome many of rigid mechanical rehabilitation equipment
Deficiency, have the light, safety of software rehabilitation hand wearing, highly conforming properties and it is easy to carry the advantages that, compared to other software rehabilitations
Hand, working principle is simple, and structure is simple, low in cost, consequently facilitating mass production and have the market competitiveness；
Further, it in the pneumatic software manipulator of passive type of the present invention, using the open glove design of software, breathes freely comfortable,
Convenient for the user's wearing and cleaning-sterilizing of hand movement function obstacle, and retain user's finger pulp and palm to external environment
Sensing capability.
The driving control system of manipulator of the present invention is run jointly using two groups of micropumps (pulsometer or vacuum pump) with five hytes
The collocation for closing valve carries out independent air pressure adjustment to every pneumatic software finger, adjustable different pneumatic soft within the same time
Positive pressure or negative pressure in body finger；Secondly, the adjustable gloves of control micropump rotational speed regulation throughput respond speed, control electricity
The adjustable finger stretching and beading degree of gas ratio valve regulation output pressure size, is adapted to different use demands；Finally, of the invention
It is all made of small device and element, realizes miniaturization, lightness, Whole Process Control, is had while cost is relatively low portable, more
The advantages of function pneumatically exports.
[Detailed description of the invention]
Fig. 1 is the structural schematic diagram of pneumatic software finger；
Fig. 2 is the open gloves hand structure schematic diagram of software；
Fig. 3 is the open gloves palmar aspect structural schematic diagram of software；
Fig. 4 is finger joint positioning rack structure schematic diagram；
Fig. 5 is the back of the hand positioning rack structure schematic diagram；
Fig. 6 is manipulator hand structure schematic diagram of the present invention；
Fig. 7 is manipulator palmar aspect structural schematic diagram of the present invention；
Fig. 8 is the working principle diagram that pneumatic software finger power-assisted finger stretches；
Fig. 9 is the working principle diagram of pneumatic software finger power-assisted finger flexion；
Figure 10 is the pneumatic actuation gas circuit design drawing of manipulator of the present invention；
Figure 11 is the driving control system schematic diagram of manipulator of the present invention；
Figure 12 is the control flow schematic diagram of manipulator of the present invention.
Wherein: the pneumatic software finger of 1-；11- positive and negative air-pressure driver；12- connection tracheae；2- software opens gloves；21-
Software opens glove bulk；Fixed flexible-belt at 22- mechanical arm wrist；Fixed flexible-belt at 23- manipulator palm；24- is mechanical
Fixed flexible-belt at finger segments；3- fingerstall locating support；31- open slot；32- support arm；33- pedestal；The first muffler of 41-；
42- filter；43- pulsometer；44- electric Proportion valve；45- exhaust switch valve；451- the first bi-bit bi-pass electromagnetic switch valve；
452- throttling exhaust valve；The one or five bit combination switch valve of 46-；The second muffler of 47-；48- vacuum pump；49- vacuum proportional valve；
50- air inlet switch valve；501- the second bi-bit bi-pass electromagnetic switch valve；502- throttling intake valve；The two or five hyte combination switch of 51-
Valve；52- Switching Power Supply；53- single-chip microcontroller；54- control panel；The first PWM speed adjusting plate of 55-；The 2nd PWM speed adjusting plate of 56-；57- light
Electric coupler.
[specific embodiment]
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, the embodiment being not all of, and it is not intended to limit range disclosed by the invention.In addition, with
In lower explanation, descriptions of well-known structures and technologies are omitted, obscures concept disclosed by the invention to avoid unnecessary.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment should fall within the scope of the present invention.
The various structural schematic diagrams for disclosing embodiment according to the present invention are shown in the attached drawings.These figures are not in proportion
It draws, wherein some details are magnified for the purpose of clear expression, and some details may be omitted.As shown in the figure
The shape in various regions, layer and relative size, the positional relationship between them out is merely exemplary, in practice may be due to
Manufacturing tolerance or technical restriction and be deviated, and those skilled in the art may be additionally designed as required have not
Similar shape, size, the regions/layers of relative position.
In context disclosed by the invention, when one layer/element is referred to as located at another layer/element "upper", the layer/element
Can may exist intermediate layer/element on another layer/element or between them.In addition, if in a kind of court
One layer/element is located at another layer/element "upper" in, then when turn towards when, the layer/element can be located at another layer/
Element "lower".
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to
Step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, product
Or other step or units that equipment is intrinsic.
The invention will be described in further detail with reference to the accompanying drawing:
Referring to Fig. 1-7, the pneumatic software manipulator of the customized passive type of user of the present invention, including pneumatic software finger 1, software
Open gloves 2 and fingerstall locating support 3, fingerstall locating support 3 are formed using the material 3D printing of hardness and good toughness；Pneumatically
Software finger 1 includes positive and negative air-pressure driver 11, connection tracheae 12；The open gloves 2 of software include the open glove bulk 21 of software,
Fixed flexible-belt 22 at mechanical arm wrist, fixed flexible-belt 23 at manipulator palm, fixed flexible-belt 24 at manipulator finger joint；Refer to
Covering locating support 3 includes finger joint locating support and the back of the hand locating support, and finger joint locating support and the back of the hand locating support are by opening
Slot 31, support arm 32 and pedestal 33 form.
Pneumatic software finger 1, pneumatic software finger 1 are fixedly connected by fingerstall locating support 3 with the open gloves 2 of software；
Pneumatic software finger 1 is sealed close to one end of finger tip, and one end far from finger tip connects tracheae, forms air cavity；The connection of tracheae end
Gas circuit driving control system is driven by gas circuit driving control system to gas interacvity air-filling or pumping by pneumatic software finger 1
Open 2 finger part of gloves of software carries out flexure operation；
Fingerstall locating support 3 includes finger joint locating support and the back of the hand locating support；Pneumatic software finger 1 is positioned by finger joint
Bracket is connected with the finger part of the open gloves 2 of software, and the tracheae of pneumatic 1 end of software finger is fixed by the back of the hand locating support
It is mounted on the hand back part of the open gloves 2 of software.
The positive and negative air-pressure driver 11 of pneumatic software finger 1 is coupled with finger-joint, and connection tracheae 12 is corresponding with finger joint,
11 length of positive and negative air-pressure driver, connection 12 length of tracheae and pneumatic 1 entire length of software finger are long according to finger joint length, finger
It spends and designs；Pneumatic software finger 1 divides for the pneumatic software finger of thumb and remaining four pneumatic software finger of finger, the pneumatic software of thumb
Finger connect tracheae 12 with one by two positive and negative air-pressure drivers 11 and is formed by connecting, remaining four pneumatic software finger of finger is by three
Positive and negative air-pressure driver 11 connect tracheae 12 with two and is formed by connecting；
As shown in Figure 1, pneumatic software finger 1 by positive and negative air-pressure driver 11 with connect tracheae 12 be successively tightly connected and
At 11 one end of positive and negative air-pressure driver of fingertip end seals, with sealing glue connection at sealing；Positive and negative air-pressure driver 11 uses
Silastic material with good flexible and pressure-resistant performance is made.
As shown in Figures 2 and 3, the open glove bulk 21 of software is based on palm back and finger back, palm and finger pulp
It is exposed outside；Fixed flexible-belt 22 is connected to the wrist of the open glove bulk 21 of software by sewing mode at mechanical arm wrist
Place；Fixed flexible-belt 23 is connected at the palm of the open glove bulk 21 of software by sewing mode at manipulator palm；It is mechanical
Fixed flexible-belt 23 is connected to the open each finger joint corresponding position of glove bulk 21 of software by sewing mode at finger segments.Software
Open glove bulk 21 is formed using soft, ventilative, comfortable Cloth Cutting.
Fingerstall locating support 3 divides for finger joint locating support and the back of the hand locating support, and finger joint locating support is and software is open
Connect and support the bracket of each tracheae section of pneumatic software finger 1 at each finger joint of glove bulk 21, the back of the hand locating support be with
Open 21 palm of the glove bulk back of software connects and supports the tracheae connecting with pneumatic software finger 1；
The radius of the open slot 31 of fingerstall locating support 3 is consistent with supporting section radius, and length is mutually fitted with support section length
It answers；32 length of support arm connects pneumatic software finger 1 with open 2 upper surface of gloves of software just when being supported by open slot 31
Touching；As shown in figure 4,33 section of finger joint locating support pedestal is 120 ° of sectors, radius and linkage section finger joint radius are adapted；Such as
Shown in Fig. 5, the back of the hand locating support pedestal 33 has certain radian to comply with the back of the hand shape and size.
As shown in Figure 6 and Figure 7, pneumatic software finger 1 is close with sealant by positive and negative air-pressure driver 11 and connection tracheae 12
Envelope connection is formed, and nearly finger tip section sealing, remote finger tip section connects one section of tracheae, forms an air cavity.Pneumatic software finger 1 it is each just
The opening of positive and negative air-pressure driver 11 sealed end and finger joint locating support of tracheae section and nearly finger tip between negative pressure driver 11
Slot 31 is adhesively fixed, and pedestal 33 and the open each finger joint section of glove bulk 21 of software of finger joint locating support are adhesively fixed；Pneumatically
The open slot 31 of the tracheae and the back of the hand locating support of the remote fingertip end connection of software finger 1 is adhesively fixed, the back of the hand locating support
Pedestal 33 is adhesively fixed with the open 21 palm back side of glove bulk of software.Software opens the corresponding wrist of gloves 2, palm and respectively refers to
Segment connects flexible restraining with sewing mode, fixed flexible-belt 22 respectively at mechanical arm wrist, at manipulator palm
Fixed flexible-belt 23, pneumatic software gloves are snuggly mated to together with hand at fixed flexible-belt 23, manipulator finger joint, are kept
Amount of primary power can maximumlly be passed to finger under air pressure driving by pneumatic software finger 1.Finally, each pneumatic software finger
1 tracheae drawn converges fixation by a tracheae support.
Working principle of the present invention is as follows:
As shown in Figure 8 and Figure 9, pneumatic 1 air cavity of software finger drives lower pumping in negative pressure, and positive and negative air-pressure driver 11 is being pressed
Power effect is lower to be shortened, since the positive and negative air-pressure driver 11 of pneumatic software finger 1 passes through fingerstall locating support 3 and finger-joint coupling
It closes, amount of primary power when positive and negative air-pressure driver shortens passes to finger-joint, so that finger be driven to stretch；Pneumatic software finger
1 air cavity is inflated under positive pressure driving, and positive and negative air-pressure driver 11 extends under pressure, just due to pneumatic software finger 1
Negative pressure driver 11 is coupled by fingerstall locating support 3 with finger-joint, amount of primary power when positive and negative air-pressure driver extends
Finger-joint is passed to, to drive digital flexion；
It is the customized passive rehabilitation training mode of user when the present invention is for hand rehabilitation training, it can be according to user's reality
Border situation customized following any one or any many kinds of parameters: rehabilitation exercise motion type, action response speed speed, passive
Rehabilitation strength size.The active output strength of pneumatic software finger is related with air pressure size, positive and negative air-pressure driver inner diameter size,
The power-assisted response speed of pneumatic software finger is related with throughput size, pneumatic software finger power-assisted stretching and beading degree and air pressure size
It is related.
Gas circuit driving control system of the invention, including pneumatic actuation part and pneumatic control part.
As shown in Figure 10, drive part include the first muffler 41, it is the second muffler 47, filter 42, pulsometer 43, true
Sky pump 48, electric Proportion valve 44, vacuum proportional valve 49, exhaust switch valve 45, air inlet switch valve 50, the one or five bit combination switch valve
46, the two or five bit combination switch valve 51 and other connectors.
Drive part includes positive pressure gas circuit and negative pressure gas circuit two-way.In positive pressure gas circuit, 43 air inlet of pulsometer connection first
Muffler 41 and filter 42, gas outlet connect 44 air inlet of electric Proportion valve, and 44 gas outlet of electric Proportion valve is connected in parallel row
The air inlet of exhaust switch valve 45 and the one or five bit combination switch valve 46；In negative pressure gas circuit, 48 gas outlet of vacuum pump connection second disappears
Sound device 47, air inlet connect 49 gas outlet of vacuum proportional valve, and 49 air inlet of vacuum proportional valve is connected in parallel 50 He of air inlet switch valve
The gas outlet of two or five bit combination switch valve 51.
The gas outlet of one or five bit combination switch valve 46 and the air inlet difference of the two or five bit combination switch valve 51 are in parallel again
Five pneumatic software finger air cavitys are connected, positive pressure gas circuit and negative pressure gas circuit cross herein, make pneumatic software finger by positive and negative air-pressure
Driving.
As shown in figure 11, control section includes Switching Power Supply 52, single-chip microcontroller 53, control panel 54, the first PWM speed adjusting plate
55, the 2nd PWM speed adjusting plate 56, photoelectrical coupler 57, electric wire and signal wire.
Pulsometer 43 be positive pressure gas channel provide positive pressure output, single-chip microcontroller 53 control the first PWM speed adjusting plate 55 carry out control pressure
Pump 43 adjusts throughput size；Vacuum pump 48 be negative pressure gas channel provide negative pressure output, single-chip microcontroller 53 control the 2nd PWM speed adjusting plate 56
Carry out control pressure pump 48 and adjusts throughput size；
Electric Proportion valve 44 controls to adjust the pressure size of positive pressure gas circuit output by single-chip microcontroller 53；Vacuum proportional valve 49
It is controlled by single-chip microcontroller 53 to adjust the pressure size of negative pressure gas circuit output；
Exhaust switch valve 45 includes the first bi-bit bi-pass electromagnetic switch valve 451 and throttling exhaust valve 452, air inlet switch valve 50
Including the second bi-bit bi-pass electromagnetic switch valve 501 and throttling intake valve 502, single-chip microcontroller 53 sends control signal to photoelectrical coupler
57 control the switch of the first bi-bit bi-pass electromagnetic switch valve 451 and the second bi-bit bi-pass electromagnetic switch valve 501, thus the row of control
50 air inlet switch of 45 air discharge cook of exhaust switch valve and air inlet switch valve, after switch valve opening, the exhaust valve 452 that throttles is according to setting
Throughput exhaust, throttling intake valve 502 according to setting throughput air inlet；
Positive pressure gas in parallel at one or five bit combination switch valve, 46 gas outlet and 51 air inlet of the two or five bit combination switch valve
Road and negative pressure gas circuit, therefore it is required that two five bit combination switch valves can keep leakproofness when bearing positive and negative air-pressure；Meanwhile it is logical
It crosses using five bit combination switch valves and positive pressure gas circuit in parallel and negative pressure gas circuit, each pneumatic software finger can be driven by positive pressure respectively
The driving of dynamic or negative pressure and hold mode.
Driving control system can select control model by control panel 54, can both select in 54 one end of control panel
The control instruction driving manipulator movement set, also can choose through the real-time input control order-driven machine of other host computers
Tool is made manually；Driving control system provides following any one or any various control form: finger self contained function for manipulator
Control, response speed control, output strength control；
Two group of five bit combination switch valve parallel connection positive pressure gas circuit and negative pressure gas circuit, it is each in the one or five bit combination switch valve 46
It is every in the two or five bit combination switch valve 51 whether bit switch valve connects a pneumatic software finger 1 and controls its logical positive air pressure
Whether One-position switch valve connects a pneumatic software finger 1 and controls its logical negative pressure, i.e., each pneumatic software finger 1 is distinguished
Positive pressure gas circuit and negative pressure gas circuit in parallel simultaneously control gas path on-off by two-position switch valve, make every pneumatic 1 power-assisted finger of software finger
It is independent of each other when stretching, extension or buckling；
Pulsometer 43 provides positive pressure output, and single-chip microcontroller 53 controls the first PWM speed adjusting plate 55 and carrys out 43 adjusting gas of control pressure pump
The response speed of dynamic 1 power-assisted finger flexion of software finger；Vacuum pump 48 provides negative pressure output, and single-chip microcontroller 53 controls the 2nd PWM tune
Fast plate 56 carrys out the response speed that control pressure pump 48 adjusts pneumatic 1 power-assisted finger extension of software finger；44 coverlet of electric Proportion valve
Piece machine 53 controls, and adjusts the output strength of pneumatic 1 power-assisted finger flexion of software finger；Vacuum proportional valve 49 is controlled by single-chip microcontroller 53
System, adjusts the output strength of pneumatic 1 power-assisted finger extension of software finger；
As shown in figure 12, the main process of pneumatic actuation is as follows:
The output control signal of single-chip microcontroller 53 controls the throughput that the first PWM speed adjusting plate 55 is adjustable pulsometer 43, control
2nd PWM speed adjusting plate 56 is the throughput of adjustable vacuum pump 48；It is i.e. controllable that single-chip microcontroller 53 directly controls electric Proportion valve 44
Positive pressure gas circuit exports positive pressure size, and the i.e. controllable negative pressure gas circuit of control vacuum proportional valve 49 exports vacuum magnitude；Single-chip microcontroller 53 is controlled
Photoelectrical coupler 57 processed i.e. controllable each of one or five bit combination switch valve 46 and the two or five bit combination switch valve 51 is electric
Whether the switch of magnet valve is to control each pneumatic software finger inflation or pumping；Single-chip microcontroller 53 controls photoelectrical coupler 57
The first bi-bit bi-pass electromagnetic switch valve 451 or the second bi-bit bi-pass electricity in controllable exhaust switch valve 45 and air inlet switch valve 50
Whether the switch of magnetic switch valve 501 so that control the exhaust of positive pressure gas circuit or negative pressure gas circuit air inlet respectively.According to above-mentioned pneumatic actuation
Control method can be realized to the output of the Whole Process Control and Multifunctional pneumatic power of pneumatic actuation.
The above content is merely illustrative of the invention's technical idea, and this does not limit the scope of protection of the present invention, all to press
According to technical idea proposed by the present invention, any changes made on the basis of the technical scheme each falls within claims of the present invention
Protection scope within.
Claims (9)
1. a kind of pneumatic software manipulator of the customized passive type of user characterized by comprising
Software is open gloves (2), and the finger part of software open gloves (2) is connected with pneumatic software finger (1)；
Pneumatic software finger (1), pneumatic software finger (1) are fixed and are connected by fingerstall locating support (3) and software open gloves (2)
It connects；Pneumatic software finger (1) is sealed close to one end of finger tip, and one end far from finger tip connects tracheae, forms air cavity；Tracheae end
It connects gas circuit driving control system and passes through pneumatic software finger by gas circuit driving control system to gas interacvity air-filling or pumping
(1) open gloves (2) finger part of software is driven to carry out flexure operation；
And fingerstall locating support (3), fingerstall locating support (3) include finger joint locating support and the back of the hand locating support；It is pneumatic soft
Body finger (1) is connected by finger joint locating support with the finger part of software open gloves (2), pneumatic software finger (1) end
Tracheae the hand back parts of software open gloves (2) is fixedly mounted on by the back of the hand locating support.
2. the pneumatic software manipulator of the customized passive type of user according to claim 1, which is characterized in that pneumatic software hand
Refer to (1) include positive and negative air-pressure driver (11) and connection tracheae (12), positive and negative air-pressure driver (11) and connect tracheae (12) according to
Secondary connection forms air cavity, the end seal of minor details positive and negative air-pressure driver (11), the head end of head section positive and negative air-pressure driver (11)
Gas circuit driving control system is connected by tracheae；Pass through connection tracheae (12) sealing between adjacent positive and negative air-pressure driver (11)
Connection；
For corresponding pneumatic software finger (1) setting of thumb there are two positive and negative air-pressure driver (11), remaining four finger is corresponding pneumatic
There are three positive and negative air-pressure driver (11) for software finger (1) setting.
3. the pneumatic software manipulator of the customized passive type of user according to claim 2, which is characterized in that finger joint positioning branch
Frame is identical as the structure of the back of the hand locating support, open including connecting open slot (31), the connection software of pneumatic software finger (1)
The pedestal (33) of gloves (2) and the support arm (32) for connecting open slot (31) and pedestal (33)；Made by support arm (32)
Connect between pneumatic software finger (1) and software open gloves (2) that there are gaps.
4. the pneumatic software manipulator of the customized passive type of user according to claim 3, which is characterized in that positive and negative air-pressure drives
The both ends of dynamic device (11) are provided with support section, and the both ends of connection tracheae (12) are tightly connected adjacent two positive and negative air-pressures driving respectively
The support section of device (11)；Open slot (31) radius of finger joint locating support is identical as support section radius, and adjacent two just do something in a fit of pique
The support section of pressure driver (11) is set to the open slot (31) of finger joint locating support；
The sector that the section of the pedestal (33) of finger joint locating support is 120 °, radius open corresponding hand on gloves (2) with software
Refer to that the radius of part is identical.
5. the pneumatic software manipulator of the customized passive type of user according to claim 3, which is characterized in that the back of the hand positioning branch
Frame includes the corresponding single channel locating support of thumb and remaining four refers to corresponding townhouse locating support, single channel locating support pedestal and connection
The radian and the back of the hand shape and size for arranging the pedestal (33) of locating support are adapted；Positive and negative air-pressure driver (11) end, connection
The tracheae of gas circuit driving control system is all set in the open slot (31) of the back of the hand locating support.
6. the pneumatic software manipulator of the customized passive type of user described in -5 any one according to claim 1, which is characterized in that
Gas circuit driving control system includes drive part and control section；
Drive part includes positive pressure gas circuit and negative pressure gas circuit, and positive pressure gas circuit includes sequentially connected pulsometer (43) and electrical ratio
Valve (44), the gas outlet of electric Proportion valve (44) are separately connected exhaust switch valve (45) and the one or five bit combination switch valve (46)
Air inlet；Negative pressure gas circuit includes sequentially connected vacuum pump (48) and vacuum proportional valve (49), the outlet of vacuum proportional valve (49)
It is separately connected the gas outlet of air inlet switch valve (50) and the two or five bit combination switch valve (51)；One or five bit combination switch valve (46)
Gas outlet and the air inlet of the two or five bit combination switch valve (51) be connected with the tracheae of pneumatic software finger (1)；
Control section includes Switching Power Supply (52), single-chip microcontroller (53) and the first PWM speed regulation to interact with single-chip microcontroller (53)
Plate (55), the 2nd PWM speed adjusting plate (56), electric Proportion valve (44), vacuum proportional valve (49), control panel (54) and photoelectricity coupling
Clutch (57)；
Control panel (54), the control instruction for selecting to have set, driving manipulator movement；
Single-chip microcontroller (53) is rung by the buckling that the first PWM speed adjusting plate (55) control pressure pump (43) adjusts pneumatic software finger (1)
Answer speed；The stretching, extension response speed of pneumatic software finger (1) is adjusted by the 2nd PWM speed adjusting plate (56) control vacuum pump (48)；
Electric Proportion valve (44), for adjusting the buckling output strength of pneumatic software finger (1)；
Vacuum proportional valve (49), for adjusting the stretching, extension output strength of pneumatic software finger (1)；
Photoelectrical coupler (57), for controlling in the one or five bit combination switch valve (46) and the two or five bit combination switch valve (51)
The switch of each solenoid valve, and then control the inflation or pumping of each pneumatic software finger；It is also used to control air discharge cook
The switch of valve (45) and air inlet switch valve (50), and then control the exhaust of positive pressure gas circuit or negative pressure gas circuit air inlet.
7. the pneumatic software manipulator of the customized passive type of user according to claim 6, which is characterized in that pulsometer (43)
Air inlet on be connected with filter (42) and the first muffler (41) in turn；Second is connected on the gas outlet of vacuum pump (48)
Muffler (47).
8. the pneumatic software manipulator of the customized passive type of user according to claim 6, which is characterized in that exhaust switch valve
It (45) include the first bi-bit bi-pass electromagnetic switch valve (451) and throttling exhaust valve (452), the first bi-bit bi-pass electromagnetic switch valve
(451) air inlet is connected with electric Proportion valve (44), and gas outlet is connected with throttling exhaust valve (452).
9. the pneumatic software manipulator of the customized passive type of user according to claim 6, which is characterized in that air inlet switch valve
It (50) include the second bi-bit bi-pass electromagnetic switch valve (501) and throttling intake valve (502), the second bi-bit bi-pass electromagnetic switch valve
(501) air inlet is connected with vacuum proportional valve (49), and gas outlet is connected with throttling intake valve (502).
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| CN110812109A (en) * | 2019-11-18 | 2020-02-21 | 深圳扶林科技发展有限公司 | Joint movement assistor |
| CN111358664A (en) * | 2020-03-20 | 2020-07-03 | 裴绪群 | Neurological rehabilitation training device based on human habits |
| CN111390962A (en) * | 2019-11-19 | 2020-07-10 | 浙江工业大学 | Pneumatic flexible tongs with bistable characteristic |
| CN111803322A (en) * | 2020-06-10 | 2020-10-23 | 上海工程技术大学 | Multifunctional hand rehabilitation exoskeleton structure |
| CN111920649A (en) * | 2020-02-24 | 2020-11-13 | 合肥工业大学 | Integral software booster unit and limbs helping hand training ware |
| CN111920647A (en) * | 2020-09-09 | 2020-11-13 | 上海司羿智能科技有限公司 | Finger-separating gas circuit system, pneumatic finger rehabilitation training device and detection method |
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| CN111390962A (en) * | 2019-11-19 | 2020-07-10 | 浙江工业大学 | Pneumatic flexible tongs with bistable characteristic |
| CN111920649A (en) * | 2020-02-24 | 2020-11-13 | 合肥工业大学 | Integral software booster unit and limbs helping hand training ware |
| CN111358664A (en) * | 2020-03-20 | 2020-07-03 | 裴绪群 | Neurological rehabilitation training device based on human habits |
| CN111803322A (en) * | 2020-06-10 | 2020-10-23 | 上海工程技术大学 | Multifunctional hand rehabilitation exoskeleton structure |
| CN111920647A (en) * | 2020-09-09 | 2020-11-13 | 上海司羿智能科技有限公司 | Finger-separating gas circuit system, pneumatic finger rehabilitation training device and detection method |
| CN112891129A (en) * | 2020-12-30 | 2021-06-04 | 苏州瑞迈康健医疗科技有限公司 | Wearable manipulator driven by push rod cylinder |
| CN112891133A (en) * | 2021-01-19 | 2021-06-04 | 上海司羿智能科技有限公司 | Upper limb joint rehabilitation training method and device |
| CN112999014A (en) * | 2021-02-25 | 2021-06-22 | 上海势登坡智能科技有限公司 | Structural design of hand sleeve of soft hand function rehabilitation robot |
| CN113427503A (en) * | 2021-06-25 | 2021-09-24 | 西安交通大学 | Pneumatic software driver of ripple and software manipulator |
| CN113427503B (en) * | 2021-06-25 | 2024-04-02 | 西安交通大学 | Ripple pneumatic soft driver and soft manipulator |
| CN114028155A (en) * | 2021-10-26 | 2022-02-11 | 清华大学 | Soft hand robot |
| CN114028155B (en) * | 2021-10-26 | 2023-03-14 | 清华大学 | Soft hand robot |
| CN114081787A (en) * | 2021-11-24 | 2022-02-25 | 桂林航天工业学院 | Recovered gloves system based on brain electrical signal control |
| CN114434472A (en) * | 2022-01-28 | 2022-05-06 | 西安交通大学 | Bionic hand system and control method |
| CN115648233A (en) * | 2022-09-09 | 2023-01-31 | 广东海洋大学 | Grab net manipulator |
| GB2622317A (en) * | 2022-09-11 | 2024-03-13 | Bioliberty Ltd | Soft robotic assistive device |
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Application publication date: 20190917 |