CN111843992A - Pneumatic power-assisted glove manufactured by miniature soft piston cylinder - Google Patents
Pneumatic power-assisted glove manufactured by miniature soft piston cylinder Download PDFInfo
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- CN111843992A CN111843992A CN202010658437.XA CN202010658437A CN111843992A CN 111843992 A CN111843992 A CN 111843992A CN 202010658437 A CN202010658437 A CN 202010658437A CN 111843992 A CN111843992 A CN 111843992A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- Mechanical Engineering (AREA)
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Abstract
The invention discloses a pneumatic power-assisted glove made of a miniature soft piston cylinder, which comprises at least one group of miniature soft piston cylinders arranged on a soft contact glove, an air pipe arranged on a pneumatic system and an extending and bending transmission mechanism; the miniature soft piston cylinder is connected with the back of the palm of the soft contact glove; the miniature soft piston cylinder is connected with a pneumatic system through an air pipe; the output end of the piston rod of the miniature soft piston cylinder is connected with the stretching and bending transmission mechanism; the stretching and bending transmission mechanism is connected with the back parts of the fingers of the soft contact gloves; the miniature soft piston cylinder is connected with a pneumatic system through an air pipe, the pneumatic system transmits pressure to the pneumatic soft piston cylinder, the pneumatic soft piston cylinder outputs stroke to drive the stretching and bending transmission mechanism to move, and fingers can move under the assistance of the stretching and bending transmission mechanism to add assistance to finger movement.
Description
[ technical field ] A method for producing a semiconductor device
The invention belongs to the field of wearable robot gloves, and particularly relates to a pneumatic power-assisted glove manufactured by a miniature soft piston cylinder.
[ background of the invention ]
The wearable robot has many application scenes in real life, and one function of the wearable robot is to provide assistance for a wearer. With the gradual acceleration of the global aging process and the continuous improvement of the requirements of people on the living quality, the normal life of people is greatly inconvenient due to insufficient hand strength caused by the aging, the physical defects or diseases, so that the research and development of hand-worn power-assisted robots are demanded.
The hand-wearing type power-assisted robot can be divided into a rigid body structure and a soft body structure according to driving, structure and materials.
The rigid mechanical arm is made of metal or composite materials into a rigid structure, the motor is used as a driving element, but the metal or composite materials and the motor are large in size and weight and are only suitable for providing rehabilitation training assistance for patients in a specific environment meeting requirements, people further optimize and design the rigid mechanical arm to enable the rigid mechanical arm to be compact in size and light in weight, portability is improved, manufacturing cost is increased, and the weight of a worn part is more than 0.5 kg.
In order to overcome the problem that the weight is larger because a motor serving as a driving source in a rigid manipulator cannot be far away from a hand, the rigid manipulator is improved into a soft manipulator, and the conventional soft manipulator is driven by fluid, so that the weight of a wearing part of the soft manipulator is greatly reduced while the manufacturing cost is saved. However, the soft driver of the wearing part of the traditional soft manipulator is made of soft material and cannot bear high pressure, so that the output assistance of the driver is small.
[ summary of the invention ]
The invention aims to solve the problem that the output power of a driver is small because the wearing part of the traditional soft manipulator adopts a soft driver made of soft materials and cannot bear high pressure, and provides a pneumatic power-assisted glove made of a miniature soft piston cylinder.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
a pneumatic power-assisted glove made of a miniature soft piston cylinder comprises at least one group of miniature soft piston cylinders arranged on a soft contact glove, an air pipe arranged on a pneumatic system and an extension and flexion transmission mechanism.
The miniature soft piston cylinder is connected with the back of the palm of the soft contact glove.
The miniature soft piston cylinder is connected with a pneumatic system through an air pipe.
The output end of the piston rod of the miniature soft piston cylinder is connected with the stretching and bending transmission mechanism.
The stretching and bending transmission mechanism is connected with the back of the finger of the soft contact glove.
Further: the miniature soft piston cylinder is a two-chamber cylinder or a three-chamber cylinder.
The two-chamber cylinder and the three-chamber cylinder comprise cylinder barrels with the same structure.
The cylinder barrel comprises a gas path cylinder wall, a gas path connecting port and a first cylinder seat for supporting the cylinder wall.
One end of the cylinder wall is connected with the air path connecting port, and the other end of the cylinder wall is arranged in a sealing mode.
And the air path connecting port is connected with a pneumatic system through an air pipe.
Further: the two-chamber cylinder comprises a two-chamber piston arranged in a cylinder barrel and a two-chamber end cover used for sealing the cylinder barrel.
The two-chamber piston can be telescopically deformed in the horizontal direction.
Further: the two-chamber piston comprises a piston sheet-rod integrated piece, a first sealing rubber ring, a plurality of groups of spring frameworks, a cylindrical skin and a binding metal wire.
One end of the cylinder skin is sleeved on the piston sheet of the piston sheet-rod integrated piece, and the other end of the cylinder skin is sleeved on the end cover of the two chambers.
The first sealing rubber ring is arranged in a groove of the piston plate-rod integrated piece.
The first sealing rubber ring is bound and sealed with the outer side of the cylindrical skin through a binding metal wire.
The plurality of groups of spring frameworks are sleeved on the piston rod of the piston sheet-rod integrated piece and are supported and arranged on the inner wall of the cylindrical skin.
The spring frameworks of the plurality of groups are uniformly distributed between the piston sheet-rod integrated piece and the two chamber end covers at intervals.
The two-chamber cylinder comprises two independent chambers, namely a cylinder chamber and a piston chamber.
The cylinder cavity is connected with a pneumatic system through a gas circuit connecting port.
The piston cavity is communicated with the outside atmosphere through a piston rod through hole.
Further: the three-chamber cylinder comprises three-chamber pistons arranged inside a cylinder barrel and three-chamber end covers used for sealing the cylinder barrel.
The three-chamber piston can be deformed in a telescopic way in the horizontal direction.
Further: the three-chamber piston comprises a chamber separation telescopic pipe, a piston sheet-rod integrated piece, a first sealing rubber ring, a plurality of groups of spring frameworks, a cylindrical skin and a bundling metal wire.
One end of the cylinder skin is sleeved on the piston sheet of the piston sheet-rod integrated member, and the other end of the cylinder skin is sleeved on the three-chamber end cover.
The first sealing rubber ring is arranged in a groove of the piston plate-rod integrated piece.
The first sealing rubber ring is bound and sealed with the outer side of the cylindrical skin through a binding metal wire.
The plurality of groups of spring frameworks are sleeved on the piston rod of the piston sheet-rod integrated piece and are supported and arranged on the inner wall of the cylindrical skin.
The spring frameworks of the groups are uniformly distributed between the piston sheet-rod integrated piece and the three-cavity end cover at intervals.
The chamber separation telescopic tube comprises a first telescopic tube sealing plate, a telescopic tube and a second telescopic tube sealing plate.
One end of the telescopic pipe is connected with the first telescopic pipe sealing piece, and the other end of the telescopic pipe is connected with the second telescopic pipe sealing piece.
And the outer wall of the sealing piece of the second telescopic pipe is provided with a vent hole.
The chamber separation telescopic pipe is sleeved on a piston rod of the piston sheet-rod integrated piece.
And the sealing sheet of the first telescopic pipe is connected with the cylindrical surface of the piston sheet of the three-chamber cylinder in a sealing manner.
And the sealing plate of the second telescopic pipe is connected with the cylindrical surface of the three-chamber end cover in a sealing way.
Further: the three-cavity cylinder comprises three independent cavities, namely a cylinder cavity, a piston cavity and a telescopic tube cavity.
The cylinder cavity is connected with a pneumatic system through a gas circuit connecting port.
And the piston cavity is connected with a pneumatic system through a gas circuit connecting port.
The telescopic pipe cavity is communicated with the outside atmosphere.
Further: the stretching and bending transmission mechanism comprises a stay wire and at least two connecting frames.
The at least two connecting frames are evenly distributed on the back of the finger at intervals.
One end of the pull wire is connected with the output end of the piston rod of the miniature soft piston cylinder, and the other end of the pull wire is connected with the back of the finger of the soft contact glove.
The stay wire is positioned above the at least two connecting frames and connected with the at least two connecting frames.
Further: one side of the palm of the soft contact glove is arranged in an open mode.
The wrist, palm center and knuckle of the soft contact glove are provided with magic tapes which are closely matched with the hand of a wearer.
Compared with the prior art, the invention has the following beneficial effects:
The miniature soft piston cylinder is connected with a pneumatic system through an air pipe, the pneumatic system starts to inflate the air pipe, the air in the air pipe compresses the pneumatic soft piston cylinder, the pneumatic soft piston cylinder performs hand air compression movement, the pneumatic soft piston cylinder moves to drive the stretching and bending transmission mechanism to move, the stretching and bending transmission mechanism moves to drive the fingers to move, and the hands move under the assistance of the stretching and bending transmission mechanism to add assistance to the finger movement.
Furthermore, the deformable soft piston is designed by using the framework and the skin, the outer wall of the piston is not in contact with the wall of the cylinder, the problems of high process requirement, large friction, low pressure inaction and large heating in long-time work caused by the requirement of the piston to move while the piston is required to seal and separate the cylinder cavity in the traditional cylinder are solved, the cylinder has the advantages of small friction resistance, sensitive low pressure action and small heating in long-time work, and the cylinder can have the capability of long-time stable work by a simple manufacturing process;
furthermore, the two-chamber miniature soft piston cylinder only has one air path connecting port, and is similar to a traditional single-acting cylinder, but the two-chamber miniature soft piston cylinder can push out the piston rod by applying positive pressure to the cylinder cavity and withdraw the piston rod by applying negative pressure, and has certain action capacity during return stroke, while the traditional single-acting cylinder can only make the piston rod passively return stroke by means of a spring and the like, and the return stroke has no action capacity;
Furthermore, the miniature soft piston cylinder with two chambers in the invention is provided with a cylinder cavity and a piston cavity, and is connected with a pneumatic system only through one air passage connecting port on the cylinder barrel, so that the cylinder cavity forms high pressure or vacuum, and forms pressure difference with the piston cavity with normal pressure. Under the action of the pressure difference of the two chambers, the two chambers of the piston which can be telescopically deformed deform to deform, and the piston rod moves;
furthermore, the three-cavity miniature soft piston cylinder can respectively supply positive pressure and negative pressure to the two cavities at the same time, so that the acting force of the pushing stroke and the return stroke of the piston rod is enhanced;
furthermore, the pressure of the miniature soft piston cylinder is applied to the piston sheet and the circular through skin, and the compression area is larger than that of a traditional cylinder with the same cylinder diameter, so that the miniature soft piston cylinder has larger acting force;
furthermore, the extension and flexion transmission mechanism adopts a connecting frame and a stay wire structure, so that the extension or flexion of the fingers is more flexible;
furthermore, the miniature soft piston cylinder is flexibly arranged on the soft contact glove, a two-chamber or three-chamber structure can be selected according to requirements, the extending direction of the piston rod can point to the fingertip direction and can also face away from the fingertip direction, the motion output by the miniature soft piston cylinder is transmitted, and the finger is assisted to extend or bend in an underactuated mode;
Furthermore, the soft contact glove integrates and assembles the micro soft piston cylinder and the stretching and bending transmission mechanism together so as to realize functions more conveniently, and provides good product interaction experience for a wearer;
furthermore, the magic tape is arranged, so that a wearer can fix and match the hand with the glove, and the movement can be better transmitted;
furthermore, the invention uses the soft contact glove as a carrier of the micro soft piston cylinder and the stretching transmission mechanism, so that the inadaptability of the rigid part and the soft hand is solved, the wearing comfort of the hand is enhanced, and the defects of heavy rigid mechanical arm and small acting force of the soft mechanical arm are overcome.
[ description of the drawings ]
In order to more clearly explain the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is an overall schematic view of the present invention;
fig. 2 is a schematic side view of the installation of the micro soft piston cylinder and the flexion transmission mechanism, wherein (a) the micro soft piston cylinder is a two-chamber cylinder, and (b) the micro soft piston cylinder is a three-chamber cylinder;
FIG. 3 is a schematic structural view of a two-chamber micro soft piston cylinder;
FIG. 4 is a schematic sectional view of the two-chamber micro soft piston cylinder of FIG. 3;
FIG. 5 is a schematic view of a three-chamber micro soft piston cylinder;
FIG. 6 is a schematic sectional view of the three-chamber micro soft piston cylinder of FIG. 5;
FIG. 7 is a schematic view of a cylinder barrel;
FIG. 8 is a schematic diagram of a two-chamber piston configuration;
FIG. 9 is a schematic diagram of a three chamber piston configuration;
FIG. 10 is a schematic view of the chamber separation bellows of FIG. 9;
FIG. 11 is a schematic view of a ring frame supporting a circular skin;
FIG. 12 is a schematic view of a two-chamber end cap;
FIG. 13 is a schematic view of a three chamber end cap construction;
fig. 14 is a schematic view of a palm side connection of the present invention.
Wherein: 1-a miniature soft piston cylinder; 101-a two-chamber cylinder; 102-three chamber cylinder; 11-a cylinder barrel; 110-cylinder chamber; 111-gas path connection port; 112-cylinder wall; 113-a cylinder base; 12-a deformable soft piston; 120-a piston cavity; 121-two-chamber piston; 122-three chamber piston; 123-piston disc-rod integral piece; 124-a first sealing rubber ring; 125-spring skeleton; 126-round through skin; 127-binding the wires; 128-chamber separation bellows; 1280-telescoping lumen; 1281-first extension tube sealing piece; 1282-telescoping tube; 1283-air vent; 1284-a second extension tube sealing piece; 129-ring segment skeleton; 13-end cap; 131-two chamber end caps; 132-three chamber end caps; 133-cylinder end cap; 134-soft piston end cap; 135-a second sealing rubber ring; 136-piston rod through hole; 137-cylinder seat; 138-gas path connecting port; 2-extending and bending transmission mechanism; 3-soft touch gloves; 31-a glove body; 32-magic tape; 4-trachea.
[ detailed description ] embodiments
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the embodiments of the present invention, it should be noted that if the terms "upper", "lower", "horizontal", "inner", etc. are used for indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship which is usually arranged when the product of the present invention is used, the description is merely for convenience and simplicity, and the indication or suggestion that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, cannot be understood as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
Furthermore, the term "horizontal", if present, does not mean that the component is required to be absolutely horizontal, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the embodiments of the present invention, it should be further noted that unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be connected internally or indirectly to each other. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The invention is described in further detail below with reference to the accompanying drawings:
referring to fig. 1, a pneumatic power-assisted glove made of a micro soft piston cylinder comprises five groups of micro soft piston cylinders 1, a stretching and bending transmission mechanism 2, a soft contact glove 3 and an air pipe 4. Five micro soft piston cylinders 1 are arranged at the back of the hand of the soft contact glove 3 and are respectively connected with the five fingers and the stretching and bending transmission mechanisms 2 which are coupled with the fingers in motion; the miniature soft piston cylinder 1 is connected with a pneumatic system through an air pipe 4; the pneumatic system transmits the pressure to the pneumatic soft piston cylinder 1, the output stroke of the pneumatic soft piston cylinder 1 drives the stretching and bending transmission mechanism 2 to move, and the fingers can move under the assistance of the stretching and bending transmission mechanism 2.
The power-assisted glove with the two-chamber cylinder 101 or the three-chamber cylinder 102 respectively is demonstrated as shown in fig. 2. One two-chamber cylinder 101 is connected with the pneumatic system through one air pipe 4, one three-chamber cylinder 102 is connected with the pneumatic system through two air pipes 4, and the air pipes 4 can be inflated or deflated.
The head end of the stretching and bending transmission mechanism 2 is in output connection with the two-chamber air cylinder 101 or the three-chamber air cylinder 102, the stretching and bending transmission mechanism 2 comprises a pull wire and three connecting frames, the three connecting frames are uniformly distributed on the back of a finger at intervals, one end of the pull wire is connected with the output end of a piston rod of the miniature soft piston air cylinder 1, and the other end of the pull wire is connected with the back of the finger of the soft contact glove 3;
the stay wires are positioned above the three connecting frames and connected with the three connecting frames; the soft contact glove 3 includes a glove main body 31 and a hook and loop fastener 32, and the palm side and the finger palm side of the soft contact glove 3 are not cloth. The installation direction of the miniature soft piston cylinder 1 can be adjusted according to the actual use condition.
As shown in fig. 3-6, the micro soft piston cylinder 1 can be divided into a two-chamber cylinder 101 and a three-chamber cylinder 102, which are composed of a cylinder barrel 11, a deformable soft piston 12 and an end cover 13.
The two-chamber cylinder 101 is composed of a cylinder tube 11, a two-chamber piston 121, and a two-chamber end cap 131. The three chamber cylinder 102 is comprised of a cylinder barrel 11, a three chamber piston 122, and a three chamber end cap 132.
As shown in fig. 7, the cylinder tube 11 includes an air passage connection port 111, a cylinder wall 112, and a first cylinder seat 113.
The gas path connecting port 111 is used for being hermetically connected with the gas pipe 4; the cylinder wall 112 is a cylindrical cavity which is a moving chamber of the deformable soft piston 12; the first cylinder block 113 is used to fixedly connect the cylinder tube 11.
As shown in fig. 8, the two-chamber piston 121 includes a piston plate-rod integrated member 123, a first sealing rubber ring 124, a spring frame 125, a cylindrical skin 126, and a binding wire 127.
The piston disc-rod integral member 123 is a piston disc and piston rod combination; the first sealing rubber ring 124 is arranged in the groove of the piston sheet; a cylindrical skin 126 is fitted over the piston plate-rod integrated member 123, and one end of the two-chamber piston 121 is sealed by bundling with a bundling wire 127 at a first sealing rubber ring 124; the spring skeleton 125 is sleeved on the piston rod and supports the cylinder skin 126; the cylinder skin 126 is sleeved on the piston rod, and the other end of the cylinder skin 126 is sleeved on the two-chamber end cover 131.
As shown in fig. 9 and 10, the three-chamber piston 122 is similar in structure to the two-chamber piston 121, but has one more chamber separation bellows 128 than the two-chamber piston 121.
The chamber separation bellows 128 includes a first bellows sealing plate 1281, a bellows 1282, and a second bellows sealing plate 1284.
One end of the extension tube 1282 is connected to the first extension tube sealing piece 1281, and the other end of the extension tube 1282 is connected to the second extension tube sealing piece 1284.
The outer wall of the second extension tube sealing piece 1284 is provided with a vent hole 1283.
The chamber separation bellows 128 fits over the piston rod of the piston disc-rod integral member 123.
The first extension tube sealing plate 1281 is in sealing connection with the cylindrical surface of the piston plate of the three-chamber cylinder 102.
The second bellows seal 1284 is sealingly connected to the cylindrical surface of the three chamber end cap 132.
In the deformable soft piston 12, the cylinder skin 126 is supported by an optional ring-shaped sheet frame 129 as shown in fig. 11.
As shown in fig. 12, the two-chamber end cap 131 includes a cylinder end cap 133, a soft piston end cap 134, a second sealing rubber ring 135, a piston rod through hole 136, and a second cylinder seat 137. A second sealing rubber ring 135 is arranged in a groove of the soft piston end cover 134; the soft piston end cover 134 is used for sealing and connecting one end of the cylinder skin 126 in a manner that the second sealing rubber ring 135 is bundled by the bundling wire 127; the cylinder end cover 133 is used for being connected with the cylinder wall 112 in a sealing way; the cylinder end cover 133 is hermetically connected with the open side of the cylinder wall 112, the piston rod extends out of the piston rod through hole 136, and the bottom of the second cylinder seat 137 is coplanar with the first cylinder seat 113. Through the connection mode, two cavities such as a cylinder cavity 110 and a piston cavity 120 are formed in the miniature soft piston cylinder 1, the cylinder cavity 110 is provided with an air passage connecting port 111, and the piston cavity 120 is communicated with the outside air through a piston rod through hole 136.
As shown in fig. 13, the three chamber end cap 132 is added with one air passage connection port 138 as compared with the two chamber end cap 131. In the three-chamber piston 122, the piston chamber 120 is divided into a telescopic tube chamber 1280 by the chamber separation telescopic tube 128, the telescopic tube chamber 1280 is communicated with the outside air by the piston rod through hole 136, and the piston chamber 120 is provided with an air passage connecting port 138.
As shown in fig. 14, the palm side of the soft contact glove 3 is open, and the palm side of the soft contact glove 3 is tightly fitted with the hand of the wearer through the magic tapes 32 at the wrist, palm and finger joints.
The parts related to the description of the invention can be made of non-metal materials except for the binding metal wires, so that the weight of the equipment can be greatly reduced.
The working principle of the invention is as follows:
fig. 3, 4, and 8 show the configuration of the two-chamber cylinder 101 and the two-chamber piston 121. In the two-chamber cylinder 101, the cylinder chamber 110 is connected to a pneumatic system through the air passage connection port 111 for positive pressure or negative pressure, and the piston chamber 120 is communicated with the outside through the piston rod through hole 136 for maintaining normal pressure. If the pressure of the cylinder cavity 110 is higher than that of the piston cavity 120, the piston sheet is subjected to pressure F1 along the piston rod direction, the cylinder skin 126 is subjected to mutual resisting action of the pressure and the frameworks, the cylinder skin in the gap between adjacent frameworks is sunken towards the circle center, the pressure perpendicular to the surface of the cylinder skin generates pressure F2 along the direction of the piston rod pointing to the end cover, and under the superposition action of F1 and F2, the piston rod moves along the axial direction to generate a pushing stroke. If the piston rod is required to actively return after the push stroke is finished, the cylinder cavity 110 is pumped, and if the pressure of the cylinder cavity 110 is lower than that of the piston cavity 120, the piston rod returns along the axial direction under the superposition effect of opposite forces-F1 and-F2. The framework is a spring framework 125 or is subjected to an acting force pointing to the return direction along the axial direction from the outside, and the piston rod has a passive return acting force.
Fig. 5, 6, 9, and 10 illustrate the configuration of the three chamber cylinder 102 and the three chamber piston 122. The three-chamber cylinder 102 has two air path connecting ports respectively connected to the cylinder chamber 110 and the piston chamber 120, the cylinder chamber 110 and the piston chamber 120 can actively change pressure, and the telescopic tube chamber 1280 can passively change volume along with the movement of the piston rod but always keep normal pressure. If the cylinder cavity 110 is positively pressurized, the piston cavity 120 is kept at normal pressure or negative pressure, so that the pressure in the cylinder cavity 110 is higher than that in the piston cavity 120, the piston sheet is subjected to pressure F3 along the piston rod direction, the pressure perpendicular to the cylinder skin surface generates pressure F4 along the direction of the piston rod pointing to the end cover, and under the superposition effect of F3 and F4, the piston rod moves along the axial direction to generate a pushing stroke. The push stroke effect of the three-chamber cylinder 102 is similar to that of the two-chamber cylinder 101, but under the isolation effect of the telescopic pipe cavity 1280, the piston cavity 120 gives positive pressure during return stroke, the cylinder cavity 110 keeps normal pressure or positive pressure, and under the superposition effect of opposite forces-F3 and-F4, the piston rod can generate return stroke along the axial direction. The pressure differential between the two chambers of the three-chamber cylinder 102 may be greater and the return force may be greater than the pressure differential between the cylinder bore 110 and the piston bore 120 on the return stroke of the two-chamber cylinder 101.
As shown in fig. 1 and 2, the micro soft piston cylinder 1 is placed on the back of the hand, and the movement of the piston rod drives the motion of the stretching and bending motion mechanism 2 coupled with the finger motion to add power to the finger motion. The setting direction of the miniature soft piston cylinder 1 can be set according to actual use requirements, and the pushing direction of the piston rod can be along the direction that the fingers point to fingertips and can also be along the direction that the fingers point to wrists.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A pneumatic power-assisted glove made of a micro soft piston cylinder is characterized by comprising at least one group of micro soft piston cylinders (1) arranged on a soft contact glove (3), an air pipe (4) arranged on a pneumatic system and an extension and flexion transmission mechanism (2);
the miniature soft piston cylinder (1) is connected with the back of the palm of the soft contact glove (3);
the miniature soft piston cylinder (1) is connected with a pneumatic system through an air pipe (4);
the output end of a piston rod of the miniature soft piston cylinder (1) is connected with the stretching and bending transmission mechanism (2);
The stretching and bending transmission mechanism (2) is connected with the back of the fingers of the soft contact glove (3).
2. The pneumatic power-assisted glove made of the miniature soft piston cylinder according to claim 1, wherein the miniature soft piston cylinder (1) is a two-chamber cylinder (101) or a three-chamber cylinder (102);
the two-chamber cylinder (101) and the three-chamber cylinder (102) comprise cylinder barrels (11) with the same structure;
the cylinder barrel (11) comprises an air path cylinder wall (112), an air path connecting port (111) and a first cylinder seat (113) for supporting the cylinder wall (112);
one end of the cylinder wall (112) is connected with the air path connecting port (111), and the other end of the cylinder wall (112) is arranged in a sealing manner;
the air path connecting port (111) is connected with a pneumatic system through an air pipe (4).
3. The pneumatic power-assisted glove made of the miniature soft piston cylinder as claimed in claim 2, wherein the two-chamber cylinder (101) comprises a two-chamber piston (121) arranged in a cylinder barrel (11) and a two-chamber end cover (131) for sealing the cylinder barrel (11);
the two-chamber piston (121) is elastically deformable in the horizontal direction.
4. The pneumatic power-assisted glove made of a miniature soft piston cylinder as claimed in claim 3, wherein the two-chamber piston (121) comprises a piston sheet-rod integrated piece (123), a first sealing rubber ring (124), a plurality of groups of spring skeletons (125), a cylinder skin (126) and a binding wire (127);
One end of the cylindrical skin (126) is sleeved on the piston sheet of the piston sheet-rod integrated piece (123), and the other end of the cylindrical skin is sleeved on the two-cavity end cover (131);
the first sealing rubber ring (124) is arranged in a groove of the piston sheet-rod integrated piece (123);
the first sealing rubber ring (124) is bound and sealed with the outer side of the cylinder skin (126) through a binding metal wire (127);
the spring frameworks (125) are sleeved on the piston rod of the piston sheet-rod integrated piece (123) and supported on the inner wall of the cylindrical skin (126);
the groups of spring frameworks (125) are uniformly distributed between the piston plate-rod integrated piece (123) and the two-chamber end cover (131) at intervals.
5. The pneumatic power-assisted glove made of the miniature soft piston cylinder is characterized in that the two-chamber cylinder (101) comprises two independent cavities, namely a cylinder cavity (110) and a piston cavity (120);
the cylinder cavity (110) is connected with a pneumatic system through a gas circuit connecting port (111);
the piston cavity (120) is communicated with the outside atmosphere through a piston rod through hole (136).
6. The pneumatic power-assisted glove made of the miniature soft piston cylinder as claimed in claim 2, wherein the three-chamber cylinder (102) comprises a three-chamber piston (122) arranged inside the cylinder (11) and a three-chamber end cover (132) for sealing the cylinder (11);
The three-chamber piston (122) can be telescopically deformed in the horizontal direction.
7. The pneumatic power-assisted glove made of the miniature soft piston cylinder as claimed in claim 6, wherein the three-chamber piston (122) comprises a chamber separation telescopic pipe (128), a piston sheet-rod integrated piece (123), a first sealing rubber ring (124), a plurality of groups of spring skeletons (125), a cylinder skin (126) and a binding metal wire (127);
one end of the cylindrical skin (126) is sleeved on the piston sheet of the piston sheet-rod integrated piece (123), and the other end of the cylindrical skin is sleeved on the three-cavity end cover (132);
the first sealing rubber ring (124) is arranged in a groove of the piston sheet-rod integrated piece (123);
the first sealing rubber ring (124) is bound and sealed with the outer side of the cylinder skin (126) through a binding metal wire (127);
the spring frameworks (125) are sleeved on the piston rod of the piston sheet-rod integrated piece (123) and supported on the inner wall of the cylindrical skin (126);
the groups of spring frameworks (125) are uniformly distributed between the piston plate-rod integrated piece (123) and the three-cavity end cover (132) at intervals;
the chamber separation bellows (128) comprises a first bellows sealing plate (1281), a bellows (1282), and a second bellows sealing plate (1284);
One end of the telescopic pipe (1282) is connected with a first telescopic pipe sealing piece (1281), and the other end of the telescopic pipe (1282) is connected with a second telescopic pipe sealing piece (1284);
a vent hole (1283) is formed in the outer wall of the second telescopic pipe sealing piece (1284);
the chamber separation telescopic pipe (128) is sleeved on the piston rod of the piston sheet-rod integrated piece (123);
the first telescopic pipe sealing plate (1281) is connected with the cylindrical surface of a piston plate of the three-chamber cylinder (102) in a sealing way;
the second telescopic tube sealing plate (1284) is connected with the cylindrical surface of the three-chamber end cover (132) in a sealing way.
8. The pneumatic power-assisted glove made of the miniature soft piston cylinder as claimed in claim 7, wherein the three-chamber cylinder (102) comprises three independent chambers, namely a cylinder chamber (110), a piston chamber (120) and a telescopic tube chamber (1280);
the cylinder cavity (110) is connected with a pneumatic system through a gas circuit connecting port (111);
the piston cavity (120) is connected with a pneumatic system through a gas circuit connecting port (138);
the telescopic tube cavity (1280) is communicated with the outside atmosphere.
9. The pneumatic power-assisted glove made of the miniature soft piston cylinder as claimed in claim 1, wherein the stretching and bending transmission mechanism (2) comprises a pull wire and at least two connecting frames;
The at least two connecting frames are uniformly distributed on the back of the finger at intervals;
one end of the pull wire is connected with the output end of the piston rod of the miniature soft piston cylinder (1), and the other end of the pull wire is connected with the back of the finger of the soft contact glove (3);
the stay wire is positioned above the at least two connecting frames and connected with the at least two connecting frames.
10. The pneumatic power-assisted glove made of the miniature soft piston cylinder is characterized in that the palm side of the soft contact glove (3) is arranged in an open manner;
the wrist, palm center and knuckle of the soft contact glove (3) are provided with magic tapes (32) which are tightly matched with the hand of a wearer.
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| CN202010658437.XA CN111843992B (en) | 2020-07-09 | 2020-07-09 | Pneumatic power-assisted glove manufactured by miniature soft piston cylinder |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN111843992B (en) | 2022-02-11 |
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