CN113427503B - Ripple pneumatic soft driver and soft manipulator - Google Patents
Ripple pneumatic soft driver and soft manipulator Download PDFInfo
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- CN113427503B CN113427503B CN202110713673.1A CN202110713673A CN113427503B CN 113427503 B CN113427503 B CN 113427503B CN 202110713673 A CN202110713673 A CN 202110713673A CN 113427503 B CN113427503 B CN 113427503B
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- 210000004932 little finger Anatomy 0.000 claims description 5
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0023—Gripper surfaces directly activated by a fluid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
Abstract
The invention discloses a corrugated pneumatic soft driver and a soft manipulator, wherein the corrugated pneumatic soft driver comprises a corrugated structure, a root structure, a tail end structure and an air pipe, the root structure and the tail end structure are both truncated cylinders and are attached to the inner shape of the corrugated structure to form a closed air cavity, a through hole is formed in the axis of the root structure, and an air supply pipe is led in; the ripple structure is symmetrical ripple structure, can be spiral ripple structure simultaneously, and the software manipulator includes symmetrical ripple structure, spiral ripple structure, root support, locating support, terminal support, trachea, half open-type gloves. According to the invention, the autonomous bidirectional bending deformation and torsional coupling deformation of the driver are realized by changing the section moment of inertia of the driver, no constraint of any limiting layer is needed, different operation requirements can be well adapted, and the soft manipulator based on the design of the driver has the characteristics of safety and portability, and can realize the movement of multiple degrees of freedom.
Description
Technical Field
The invention belongs to the technical fields of mechanical structure design, robot end effector technology and soft robots, and relates to a corrugated pneumatic soft driver and a soft manipulator.
Background
As a robot end effector, the manipulator is widely used in the fields of industry, food processing, crop picking, aerospace, and the like. The conventional rigid manipulator at present is usually driven by a motor (electromagnetic) or a hydraulic (pneumatic) cylinder, the safety of operation is ensured by means of feedback and precise control of various sensors, various operations are executed by a rigid mechanical transmission part, and the problems of large technical difficulty, complicated control, poor adaptability, poor action flexibility, large space size, low interaction safety and the like of the realization exist, so that the grabbing requirement of a fragile target cannot be met. The soft hand is usually made of soft materials or driven by a flexible driver instead of a motor and the like, and has better safety and adaptability compared with a rigid manipulator. The pneumatic flexible finger is usually made of soft materials such as silicone rubber, is driven by compressed gas, so that the inner cavity of the driver is expanded, bending deformation is generated due to the difference of deformation of two sides of the driver, and multiple degrees of freedom of movement can be realized through the combination of a plurality of drivers, so that various actions are completed.
By analyzing the working principle of the existing fluid pressure driving soft driver, the design structure of the current driver has a certain limitation, and many students can enhance the bending performance of the driver by optimizing the structure, but the output force is not increased. In addition, most of the current pneumatic soft drivers can realize flexing motion by adding a device for limiting one-side deformation, the manufacturing process is complex, the integrated forming is difficult, and the pneumatic soft drivers cannot well adapt to different operation requirements; in addition, under the action of air pressure, the output deformation is not coordinated, and the instability phenomenon is easy to occur; meanwhile, the upper structure and the lower structure of the driver are generally symmetrical, when the same air pressure is applied, the deformation degree of the driver is different due to the action of the limiting layer, the problems of uneven internal stress distribution, service life reduction and the like can be caused, and meanwhile, the output bending deformation efficiency is low.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides a corrugated pneumatic soft driver and a soft manipulator, wherein the autonomous bidirectional bending deformation and torsional coupling deformation of the driver are realized by changing the section moment of inertia of the driver, any restriction layer restriction is not needed, different operation requirements can be well met, and the manipulator based on the driver design has the characteristics of safety and portability, can realize the movement of multiple degrees of freedom and is simple in design.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme:
a corrugated pneumatic software driver comprising: corrugated structure, root structure, terminal structure, and trachea.
The root structure and the tail end structure are both truncated cylinders and are attached to the inner shape of the corrugated structure to form a closed air cavity, a through hole is formed in the axis of the root structure, and an air supply pipe is led in.
The invention further improves that:
the corrugated structure is a symmetrical corrugated structure, and the corrugated spacing and the corrugated height of one side of the symmetrical corrugated structure are larger than those of the other side; under the action of input positive driving air pressure, one side of the ripple is longer and deformed than the other side of the ripple, so that the ripple pneumatic soft driver bends downwards; under the action of negative driving air pressure, one side of the ripple shortens and deforms more than the other side of the ripple, so that the ripple pneumatic soft driver bends upwards.
The corrugated structure is a spiral corrugated structure, and the corrugated spacing and the corrugated height of one side of the spiral corrugated structure are larger than those of the other side; under the action of the input positive driving air pressure, one side of the ripple is longer and deformed than the other side of the ripple, so that the ripple pneumatic soft driver bends downwards, the axes of the ripple are spirally arranged along the driver, and the driver realizes torsion movement while bending.
A soft manipulator, comprising: symmetrical ripple structure, spiral ripple structure, root support, locating support, terminal support, trachea and half open glove.
The three symmetrical corrugated structures form a pneumatic flexible rehabilitation finger of an index finger, a middle finger, a ring finger and a little finger, and the pneumatic flexible rehabilitation finger is fixedly connected with the semi-open glove through a root bracket, two positioning brackets and a tail end bracket; the root bracket is fixed at the back of the hand of the semi-open glove, the two positioning brackets are respectively fixed at the near phalanges and the middle phalanges of the semi-open glove, and the tail end bracket is fixed at the far phalanges of the semi-open glove;
a spiral corrugated structure and a symmetrical corrugated structure form a pneumatic flexible rehabilitation finger of a thumb, and the pneumatic flexible rehabilitation finger is fixedly connected with the semi-open glove through a root bracket, a positioning bracket and a tail end bracket; the root bracket is fixed at the metacarpal bone part of the thumb of the semi-open glove, the positioning bracket is fixed at the near phalangeal bone part of the thumb of the semi-open glove, and the tail bracket is fixed at the far phalangeal bone part of the thumb of the semi-open glove.
The semi-open glove comprises a semi-open glove body, a glove wrist fixing flexible belt, a glove palm fixing flexible belt and a glove knuckle fixing flexible belt, and a human hand and a soft manipulator are fixed through the fixing flexible belt.
The root support comprises an air pipe positioning through hole, a support column and a hand back positioning open slot.
The air pipe is connected with the symmetrical corrugated structure through an air pipe positioning through hole; gaps are reserved between the symmetrical corrugated structure and the half-open glove body through the support columns; the bottom surface of the back positioning open slot is designed into an arc shape to adapt to the shape of the back of the hand.
The positioning bracket comprises an air pipe positioning open slot, a supporting column and a finger joint positioning open slot.
The air pipe is fixed through an air pipe positioning open slot, and two ends of the air pipe are connected with the symmetrical corrugated structure; gaps are reserved between the symmetrical corrugated structure and the half-open glove body through the support columns; the bottom surface of the finger joint positioning open slot is designed into an arc shape to adapt to the shape of the back of the hand.
The terminal bracket comprises a terminal sealing plug, a supporting column and a fingertip positioning open slot.
The tail end sealing plug is in sealing connection with one end, close to the fingertip, of the symmetrical corrugated structure; a gap is reserved between the corrugated structure and the half-open glove body through the support column; the section of the fingertip positioning open slot is fan-shaped, and the radius is the same as the radius of the corresponding finger part on the half-open glove body.
The symmetrical corrugated structure and the air pipe are sequentially connected to form an air cavity, and the head end of the first-section symmetrical corrugated structure is connected with the air path driving control system through the air pipe; the tail end of the tail symmetrical corrugated structure is sealed by a tail end sealing plug; the adjacent symmetrical corrugated structures are connected in a sealing way through air pipes.
The spiral corrugated structure, the symmetrical corrugated structure and the air pipe are sequentially connected to form an air cavity, and the head end of the spiral corrugated structure is connected with the air path driving control system through the air pipe; the tail end of the symmetrical corrugated structure is sealed by a tail end sealing plug; the spiral ripple structure is connected with the symmetrical ripple structure in a sealing way through an air pipe.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, the pneumatic soft driver is set to be of a corrugated structure, and the non-uniform arrangement of the corrugated spacing and the peak height at two sides is adopted, so that the section moment of inertia is changed, the bending capability of the pneumatic driver is improved, the driver can realize autonomous bending when inputting air pressure under the condition of no constraint of a limiting layer, and the output capability is improved.
The driver has torsional deformation while realizing bending deformation by arranging the corrugations in a spiral shape and arranging the spiral radius, the height, the pitch and the spiral direction of the two sides differently, and can be suitable for special application scenes.
The invention provides the self-defined pneumatic corrugated driver structural parameters, and can have different output characteristics by setting different parameters such as the corrugated number, the corrugated height and the like, so that various design requirements can be met.
Drawings
For a clearer description of the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is an assembly view of a symmetrical corrugated pneumatic bending software driver in accordance with one embodiment of the present invention;
FIG. 2 is a diagram illustrating the assembly of a symmetrical corrugated pneumatic bending software driver in accordance with one embodiment of the present invention;
FIG. 3 is an isometric view of a symmetrical corrugated structure in accordance with one embodiment of the present invention;
FIG. 4 is a side view of a symmetrical corrugated structure in one embodiment of the invention;
FIG. 5 is a parametric diagram and a cross-sectional view of a symmetrical corrugated structure according to an embodiment of the present invention;
FIG. 6 is a graph of an axis position parameter equation of a corrugated axis trace of a symmetrical corrugated structure according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a track of a corrugated axis of a symmetrical corrugated structure according to an embodiment of the present invention;
FIG. 8 is a graph showing the effect of a symmetrical corrugated pneumatic bending soft driver deforming under positive pressure in one embodiment of the present invention;
FIG. 9 is a graph showing the effect of the symmetrical corrugated pneumatic bending soft driver deformation under negative pressure in one embodiment of the present invention;
FIG. 10 is an assembly view of a helical bellows pneumatic bending software driver according to an embodiment of the present invention;
FIG. 11 is a diagram illustrating the assembly of a helical bellows pneumatic bending software driver according to an embodiment of the present invention;
FIG. 12 is an isometric view of a helical bellows structure in accordance with an embodiment of the present invention;
FIG. 13 is a side view of a helical corrugation in an embodiment of the present invention;
FIG. 14 is a graph of the axis position parameter equation of the axial trace of the helical bellows in an embodiment of the present invention;
FIG. 15 is a schematic view of a trace of the axis of a helical corrugation in an embodiment of the present invention;
FIG. 16 is a graph showing the effect of deformation of a helical bellows pneumatic bending software driver under positive pressure in accordance with one embodiment of the present invention;
FIG. 17 is an isometric view of a bellows pneumatic soft rehabilitation robot according to one embodiment of the present invention;
FIG. 18 is a left side view of a bellows pneumatic soft rehabilitation hand according to one embodiment of the present invention;
FIG. 19 is a schematic view of the pneumatic soft rehabilitation joint of the index finger in the pneumatic soft rehabilitation hand with ripples according to one embodiment of the present invention;
FIG. 20 is a schematic view of a root canal stent in a bellows pneumatic soft rehabilitation hand according to an embodiment of the present invention;
FIG. 21 is a schematic diagram of a corrugated pneumatic soft rehabilitation hand positioning support according to an embodiment of the present invention;
FIG. 22 is a schematic diagram of a corrugated pneumatic soft rehabilitation hand tip support structure according to an embodiment of the present invention;
FIG. 23 is a schematic diagram of a thumb pneumatic soft rehabilitation joint in a bellows pneumatic soft rehabilitation hand according to an embodiment of the present invention;
FIG. 24 is an assembly view of a pneumatically flexible multi-joint smart hand in accordance with one embodiment of the present invention;
FIG. 25 is a diagram of the structure of the flexible palm in a pneumatically flexible multi-joint dexterous hand in accordance with one embodiment of the present invention;
FIG. 26 is a cross-sectional view of a flexible palm structure in a pneumatically flexible multi-joint dexterous hand in accordance with one embodiment of the present invention;
FIG. 27 is an illustration of an exterior assembly of a pneumatically flexible multi-joint dexterous hand without a flexible palm in an embodiment of the present invention;
FIG. 28 is an external assembly view (palm side isometric view) of a pneumatically flexible multi-joint dexterous hand without a flexible palm in an embodiment of the present invention;
FIG. 29 is an assembly view of the flexible multi-joint middle finger in a pneumatically flexible multi-joint dexterous hand in accordance with one embodiment of the present invention;
FIG. 30 is a diagram of the structure of the flexible multi-joint middle finger in a pneumatically flexible multi-joint dexterous hand in accordance with one embodiment of the present invention;
FIG. 31 is a cross-sectional view of the structure of a flexible multi-joint middle finger in a pneumatically flexible multi-joint dexterous hand in accordance with one embodiment of the present invention;
fig. 32 is a schematic view of a phalangeal section of a pneumatically flexible multi-joint smart hand in accordance with an embodiment of the present invention.
Wherein: 11-symmetrical corrugated structure, 12-root structure, 13-end structure, 14-trachea, 21-spiral corrugated structure, 3-root support, 31-trachea positioning through hole, 32-support post, 33-dorsal positioning open slot, 4-positioning support, 41-trachea positioning open slot, 42-support post, 43-phalangeal positioning open slot, 5-end support, 51-end sealing plug, 52-support post, 53-fingertip positioning open slot, 6-trachea, 71-semi-open glove body, 72-glove wrist securing flex band, 73-glove palm securing flex band, 74-glove knuckle securing flex band, 8-pneumatic flexible multi-joint finger, 81-flexible finger joint, 811-flexible base joint, 812-flexible proximal joint, 813-flexible distal joint, 82-flexible phalangeal section, 821-proximal phalangeal section, 822-middle phalangeal section, 823-distal phalangeal section, 83-flexible thumb joint, 831-flexible carpal joint, 832-flexible base joint, 833-flexible interphalangeal joint, 84-flexible phalangeal section, 74-flexible phalangeal section, 812-flexible phalangeal section, 813-flexible phalangeal section, 3-flexible phalangeal section, external phalangeal section, 3-flexible phalangeal section, and distal section.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the 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 invention, as 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 made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the embodiments of the present invention, it should be noted that, if the terms "upper," "lower," "horizontal," "inner," and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, or the azimuth or the positional relationship in which the inventive product is conventionally put in use, it is merely for convenience of describing the present invention and simplifying the description, and does not indicate or imply that the apparatus or element to be referred to must have a specific azimuth, be configured and operated in a specific azimuth, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used merely to distinguish between descriptions and should not 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. As "horizontal" merely means that its 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 also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" should be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The invention is described in further detail below with reference to the attached drawing figures:
example 1
Referring to fig. 1 and 2, the symmetrical corrugated pneumatic bending software driver of the present invention comprises a symmetrical corrugated structure 11, a root structure 12, an end structure 13, and an air tube 14; the symmetrical corrugated structure 11 is made of silicon rubber or soft rubber material with good expansion and compression resistance; both the base structure 12 and the end structure 13 are made of a material with good hardness and toughness, such as photosensitive resin.
Referring to fig. 3, 4 and 5, the total length of the symmetrical corrugated structure 11 isThe main body is an outer diameter +.>Inner diameter->The corrugations are symmetrically arranged along the axial direction of the driver, the upper side corrugations are asymmetrically arranged with the lower side corrugations, and the upper side corrugations are +.>For the upper corrugation pitch, & lt & gt>For the lower corrugation pitch, the upper corrugation pitch +.>Is greater than the lower ripple spacing +>Upper corrugation height->Is greater than the lower corrugation height->The upper corrugation wall thickness is +.>The lower corrugation wall thickness is +.>。
The axis position parameter equation of the corrugated axis locus is shown as follows
Wherein the method comprises the steps of
Wherein the method comprises the steps ofFor the number of waves->，/>When->5->5->In the case of 3, the axis position parameter equation diagram of the track of the symmetrical corrugated structure 11 is shown in fig. 6, and the axis track of the corrugated structure is shown in fig. 7.
The root structure 12 and the end structure 13 are substantially similar in shape, the truncated cylinder is similar to the inner shape of both ends of the symmetrical corrugated structure 11, and the diameter of the plugging portion is similar to the inner diameter of the symmetrical corrugated structure 11Forming a cavity, and sealing the joint by using silicone rubber sealant; the root structure 12 has a through hole in the center, and the gas supply pipe 14 is installed with a diameter consistent with the diameter of the gas pipe 14.
The preferred embodiment of the present invention will be further described.
Based on the basic embodiment described above, the wall thickness of one side of the symmetrical corrugated structure 11Greater than the wall thickness of the other side>The stress concentration on the outer side of one side of the corrugation is reduced, and the bearing capacity of the driver is improved.
Based on the basic embodiment described above, fiber constraints or rigid constraints that limit radial deformation may be provided at the valleys of the symmetrical corrugated structure 11, thereby improving the output capacity of the driver.
The working principle of the invention is as follows:
the input gas enters the cavity of the symmetrical corrugated pneumatic bending driver from the gas pipe 14 through the root structure 12, and the elongation deformation of one side of the corrugated is larger than that of the other side of the corrugated under the driving of the forward gas pressure, so that the whole driver bends downwards as shown in fig. 8; the upper corrugations contract more than the lower corrugations under negative air pressure, so the overall actuator bends upward as shown in fig. 9.
According to the invention, through the arrangement of the upper side and lower side spacing and the shape asymmetric corrugation, the section moment of inertia of the driver is changed, the autonomous bidirectional bending deformation of the driver can be realized under the condition of inputting forward and reverse air pressure, any restriction layer is not needed, the output bending moment is large, and the non-uniform deformation, local stress, extra deformation and the like are reduced.
Example two
Referring to fig. 10 and 11, the helical bellows pneumatic bending driver of the present invention comprises a helical bellows structure 21, a root structure 12, a tip structure 13, and an air tube 14; the spiral corrugated structure 21 is made of silicon rubber or soft rubber material with good expansion and compression resistance; both the base structure 12 and the end structure 13 are made of a material with good hardness and toughness, such as photosensitive resin.
Referring to fig. 12 and 13, the spiral ripple structure 21 is a cylinder, the ripples are spirally arranged along the axial direction of the driver, the spiral pitch of the upper side ripples and the lower side ripples is asymmetrically arranged, the spiral pitch of the upper side ripples is larger than the spiral pitch of the lower side ripples, and the height of the upper side ripples is larger than the height of the lower side ripples; the spiral direction can be left-handed or right-handed, and can be selected according to practical application requirement, and the parameter equation of the axis position of the track is the sum of the product of one linear function and the cosine function of amplitude attenuation and another linear function, as shown in the following formula
Wherein,for the number of waves->For maximum corrugation pitch->Is the minimum corrugation pitch. When->5->5->When the spiral direction is right-handed, the axis position parameter equation of the trajectory of the spiral corrugated structure 21 is shown in fig. 14, and the axis trajectory of the corrugated is shown in fig. 15.
The root structure 12 and the tail end structure 13 are truncated cylinders, the diameter of the plugging part is consistent with the inner diameter of the spiral corrugated structure 21, a cavity is formed, and the joint is sealed by using silicone rubber sealant; the root structure 12 has a through hole in the center, and the gas supply pipe is installed with a diameter consistent with the diameter of the gas pipe 14.
The preferred embodiments of the present invention are further described:
based on the basic embodiment, the wall thickness of one side of the spiral corrugated structure 21 is larger than that of the other side, so that the stress concentration on the outer side of one side of the corrugated structure is reduced, and the bearing capacity of the driver is improved.
Based on the basic embodiment described above, fiber constraints or rigid constraints that limit radial deformation may be provided at the valleys of the helical bellows 21, thereby improving the output capacity of the drive.
The working principle of the invention is as follows:
the input gas enters the inside of the cavity of the spiral ripple pneumatic bending driver 1 from the gas pipe 14 through the root structure 12, and under the driving of positive gas pressure, the elongation deformation of one side ripple is larger than that of the other side ripple, so that the whole driver bends towards the other side, and the driver is twisted sideways by the spiral arrangement of the ripple track, as shown in fig. 16.
The invention changes the section moment of inertia of the driver by arranging the upper and lower side spacing and the spiral corrugation, can realize the autonomous bidirectional bending torsion coupling deformation of the driver under the condition of inputting forward and reverse air pressure, does not need any restriction layer restriction, and can be applied to special occasions.
Example III
The mechanical rehabilitation hand plays an important role in rehabilitation of hand movement dysfunction symptoms, and improves the quality of rehabilitation medical service. However, the traditional rigid rehabilitation equipment has the defects of poor safety, incapability of being completely attached to fingers, easy generation of compression pain, overlarge weight, monotonous rehabilitation training, high price and the like, and has poor actual rehabilitation effect. The soft rehabilitation hand has the advantages of portability, safety, high compliance, portability and the like, but because the pneumatic soft driver adopted by the existing soft rehabilitation hand mostly utilizes soft materials such as silicon rubber and the like to manufacture a driving air cavity, the booster pump is used for boosting, and meanwhile, radial expansion and axial one-side elongation of the soft rehabilitation hand are limited, so that the axial two-side elongation is inconsistent during boosting, and the positive pressure driving driver is bent. When the single air cavity driver is used, only the hand can be assisted to realize active buckling or active stretching movement, and the output force is insufficient; the double air cavity structure or the mixed driving of the stay wire and the air pressure is used, and the active stretching and bending movement of the human hand can be realized simultaneously by assisting the human hand, but the complexity of the body structure and the control system is increased, and the unidirectional force of the air pressure driving is not increased. At the same time, only a portion of the pneumatic soft rehabilitation hands take into account the adduction/abduction movements of the thumb. Therefore, it is necessary to design a soft rehabilitation hand which can realize autonomous bending without applying displacement limitation, increase bending deformation output capacity, improve rehabilitation training effect, and in addition, improve the fitting degree of the rehabilitation hand and the fingers of a patient, and enhance comfort.
The invention is described in further detail below with reference to the attached drawing figures:
referring to fig. 17 and 18, the corrugated pneumatic soft rehabilitation hand of the invention comprises a symmetrical corrugated structure 11, a spiral corrugated structure 21, a root bracket 3, a positioning bracket 4, an end bracket 5, an air pipe 6 and a semi-open glove; the symmetrical corrugated structure 11 and the spiral corrugated structure 21 are formed by pouring a silicon rubber material or 3D printing a soft rubber material with good expansion and compression resistance; the root bracket 3, the positioning bracket 4 and the tail end bracket 5 are all formed by 3D printing of materials with good hardness and toughness, such as photosensitive resin; the semi-open glove comprises a semi-open glove body 71, a glove wrist fixing flexible belt 72, a glove palm fixing flexible belt 73 and a glove knuckle fixing flexible belt 74, and the human hand and the soft manipulator are fixed through the fixing flexible belts.
Referring to fig. 19, the pneumatic soft bending rehabilitation joints of the index finger, the middle finger, the ring finger and the little finger are formed by sequentially connecting and sealing three symmetrical corrugated structures 11 in series through air pipes 6, and the air pipes 6 are fixed on the back of the hand and the fingers through a root bracket 3 and a positioning bracket 4 and fixedly connected with a semi-open glove body 71; the symmetrical corrugated structure 11 close to the fingertip is sealed by the tail end bracket 5 and fixed on the finger, one end far away from the fingertip is connected with the air pipe 14, the inner diameter of the symmetrical corrugated structure 11 is consistent with the outer diameter of the connecting air pipe 6 to form an air cavity, and the sealing parts are adhered by silicone rubber sealant; the initial end of the air pipe 4 is connected with a pneumatic driving control system, the air cavity is inflated or exhausted through the pneumatic driving control system, and the finger parts of the semi-open glove 7 are driven to bend through the symmetrical corrugated structures 11. The symmetrical corrugated structures 11 are coupled with the finger bending joints, the connecting air pipes 4 among the corrugated structures correspond to the knuckles, and the lengths of the symmetrical corrugated structures 11, the connecting air pipes 4 and the whole length of the pneumatic soft bending rehabilitation joint can be designed in a self-defined mode according to the lengths of the knuckles, the lengths of the fingers and the rehabilitation requirements.
Referring to fig. 20, the root bracket 3 is composed of an air tube positioning through hole 31, a support column 32 and a back positioning opening groove 33; the air pipe 6 is connected with the symmetrical corrugated structure 11 through an air pipe positioning through hole 31, the inner diameter of the air pipe positioning through hole 31 is consistent with the outer diameter of the air pipe 6, the length is matched with the length of the supporting part, and the connecting part is adhered by silicone rubber sealant; the height of the support column 32 ensures that the symmetrical corrugated structure 11 is just not contacted with the upper surface of the semi-open glove body 71 when being supported by the air pipe positioning through hole 31; the back positioning opening groove 33 has a certain curvature at the bottom to conform to the shape and size of the back of the hand, and is fixed to the back of the hand of the semi-open glove body 71.
Referring to fig. 21, the positioning bracket 4 is composed of an air pipe positioning open slot 41, a support column 42 and a finger joint positioning open slot 43; the air pipe 6 is fixed through an air pipe positioning open slot 41, two ends of the air pipe are connected with the symmetrical corrugated structure 11, the inner diameter of the air pipe positioning open slot 41 is consistent with the outer diameter of the air pipe 6, and the length of the air pipe positioning open slot is matched with the length of the supporting part; the height of the support column 42 ensures that the symmetrical corrugated structure 11 is just not contacted with the upper surface of the semi-open glove body 71 when being supported by the air pipe positioning open slot 41; the finger joint positioning open slot 43 is fan-shaped in cross section, the angle and radius of the finger joint positioning open slot are matched with the size of the finger joint of the connecting section, and the finger joint positioning open slot is fixed at the back of the finger joint of the semi-open glove body 71.
Referring to fig. 22, the tip holder 5 is composed of a tip sealing plug 51, a prop 52, and a fingertip positioning open slot 53; the end sealing plug 51 is matched with the symmetrical corrugated structure 11 in shape near one end of the fingertip, the inner diameters are consistent, and the joint is adhered by silicone rubber sealing glue; the support columns 52 are so high that the symmetrical corrugated structure 11 is supported by the end sealing plugs 51 just without contacting the upper surface of the semi-open glove body 71; the fingertip positioning opening 53 has a fan-shaped cross section, and is fixed to the back side of the finger tip of the semi-open glove body 71 at an angle and a radius corresponding to the size of the back side of the finger tip.
Referring to fig. 23, the pneumatic soft bending and twisting rehabilitation joint of the thumb is formed by connecting a spiral corrugated structure 21 and a symmetrical corrugated structure 11 in series through an air pipe 6; the helical bellows 21 accommodates bending and torsional coupling movements of the metacarpal and basal joints of the thumb; the symmetrical corrugated structure 11 is suitable for bending motion of the thumb far joint, the air pipe 6 between the corrugated structures corresponds to the knuckle, and the spiral corrugated structure 21, the length of the symmetrical corrugated structure 11, the length of the air pipe 6 and the whole length of the pneumatic soft bending and twisting rehabilitation joint can be designed in a self-defined mode according to the knuckle length, the finger length and the rehabilitation requirement.
The semi-open glove body 71 mainly covers the wrists, the backs of palms, the backs of fingers, finger tips, finger abdomen and the like, and the bottoms of the palms and the fingers are exposed outside; the fixing flexible band 72 at the wrist position of the semi-open glove, the fixing flexible band 73 at the palm position of the glove and the fixing flexible band 74 at the finger joint are connected in a sewing mode; the semi-open glove body 71 is cut out of soft, breathable and comfortable cloth; the fixed flexible band 72 at the wrist part of the glove, the fixed flexible band 73 at the palm part of the glove and the fixed flexible band 74 at the finger joint are made of materials such as magic tapes, the length and the tightness degree can be adjusted, and the glove can be attached to hands of different users, and the comfort is good.
The working principle of the invention is as follows:
when the hand is specifically installed, the side of the symmetrical corrugated structure 11 with the larger corrugated space faces the upper direction of the hand back, the side with the smaller corrugated space faces the hand back, and the two ends of the symmetrical corrugated structure are fixed on the hand back or the finger sections; under the action of positive driving air pressure, the side, with the larger corrugated space, of the symmetrical corrugated structure 11 is stretched and deformed to be larger than the side with the smaller corrugated space, so that the finger joints are driven to bend downwards; under the action of negative driving air pressure, the side, with the larger corrugated space, of the symmetrical corrugated structure 11 contracts and deforms more than the side with the smaller corrugated space, and the finger joints are driven to extend.
The side of the spiral corrugated structure 21 with larger corrugated space is arranged towards the outer side of the metacarpal bone of the thumb, the side with smaller corrugated space is arranged towards the inner side of the metacarpal bone of the thumb, and the two ends are respectively fixed on the metacarpal bone of the thumb and the near phalanges; under the action of the input air pressure, the spiral corrugated structure 21 bends downwards and twists simultaneously, so as to drive the thumb to twist.
Compared with a rigid rehabilitation exoskeleton, the novel soft rehabilitation hand provided by the invention has the characteristics of safety and portability, adopts small-sized equipment and elements, realizes miniaturization, light weight and overall process control, is based on the design of a novel pneumatic bending driver and a pneumatic bending driver, and has the advantages of low cost, good portability, large output capacity, good rehabilitation effect and the like.
Example IV
The soft smart hand is an imitation hand manipulator made of flexible materials, has the advantages of flexibility, environmental adaptability, safety interactivity and the like, and in the research of the current soft smart hand, various driving sources are mainly used for driving a soft driver to generate continuous bending deformation, so that the soft hand has limited freedom degree and can not realize more smart operation of human hands, and therefore, compared with a rigid manipulator, the soft smart hand has limited actions. Therefore, a soft hand is required to be designed to have the flexibility and grabbing capability of simulating a human hand, and no additional constraint layer is required to be applied, so that the soft hand is convenient to manufacture.
The invention is described in further detail below with reference to the attached drawing figures:
referring to fig. 24, the pneumatic flexible multi-joint dexterous hand provided by the invention comprises: pneumatic flexible multi-joint finger 8, flexible palm 9 and air tube 6; five pneumatic flexible multi-joint fingers 8 are respectively adhered to the fixed positions of the soft palm 9.
Referring to fig. 25 and 26, the flexible palm 9 includes a soft palm outer portion 91 and a soft palm inner portion 92, the pneumatic flexible multi-joint finger 8 is fixed on the soft palm inner portion 92, a closed air cavity is formed with the pneumatic flexible multi-joint finger 8, and the air tube 6 is led into the air cavity of the pneumatic flexible multi-joint finger 8 from the tail end of the soft palm inner portion 92; the soft palm exterior 91 encloses the soft palm interior 92 while limiting the movement of the flexible base joints 811 of the pneumatically flexible multi-joint finger 8, similar to the physiological structure of a human hand.
Referring to fig. 27 and 28, the pneumatic flexible multi-joint finger 8 of the index finger, the middle finger, the ring finger and the little finger of the pneumatic flexible multi-joint smart hand comprises two parts of a flexible finger joint 81 and a flexible finger phalangeal section 82, wherein the flexible finger joint 81 is three finger joints (a flexible base joint 811, a flexible proximal joint 812 and a flexible distal joint 813) formed by three symmetrical corrugated structures 11 with different sizes, and the overall length and the corrugated quantity are sequentially reduced from the base joint to the distal joint. The flexible finger phalange section 82 is sequentially a proximal phalange section 821, a middle phalange section 822 and a distal phalange section 823 from the root of the finger to the fingertip, the proximal phalange section 821 and the middle phalange section 822 are formed by connecting the root parts 12 of the novel pneumatic bending soft driver, and an air passage is arranged at the axis of the flexible finger phalange section; the distal phalangeal section 823 is a closed structure connected to the distal joint end, representing the tip portion of a finger.
The thumb of the pneumatic flexible multi-joint dexterous hand comprises two parts, namely a flexible thumb joint 83 and a flexible thumb phalange section 84, the flexible thumb joint 83 comprises a flexible carpometacarpal joint 831, a flexible base joint 832 and a flexible interphalangeal joint 833, the flexible carpometacarpal joint 831 is a spiral corrugated structure 21, the flexible base joint 832 and the flexible interphalangeal joint 833 are two symmetrical corrugated structures 11 with different sizes, and the overall length and the corrugated number of the flexible base joint 832 are larger than those of the flexible interphalangeal joint 833. The flexible thumb phalange section 84 is sequentially provided with a metacarpal bone section 841, a proximal phalange section 842 and a distal phalange section 843 from the root of the finger to the tip of the finger, as shown in fig. 32, the metacarpal bone section 841 and the proximal phalange section 842 are similar to the proximal phalange section 821 and the middle phalange section 822 in shape, and an air passage is arranged at the axis for allowing air to flow through the air supply pipe 6 or air; the distal phalangeal section 843 is a closed structure attached to the distal interphalangeal joint, representing the fingertip portion of the thumb.
Referring to fig. 29, 30 and 31, the specific pneumatic driving means for the flexible index finger, middle finger, ring finger and little finger is that each pneumatic flexible multi-joint finger 8 is connected into the pneumatic flexible multi-joint finger 8 through two air tubes 6 from the palm end. One trachea 6 is led into the flexible basal joint 811, the other trachea 6 passes through the middle air passage of the proximal phalanx 821, gas is led into the flexible proximal joint 812, meanwhile, the gas is led into the flexible distal joint 813 through the middle air passage of the middle phalanx 822, the flexible proximal joint 812 and the flexible distal joint 813 share one gas source, under-actuation of two knuckle modules is realized through single gas pressure input, the driving source is reduced, the higher grabbing reliability is ensured as much as possible, and the physiological grabbing form is kept when a target object is grabbed.
The flexible thumb is pneumatically driven by two air pipes 6 passing through the tail ends of the palms and connected into a pneumatic flexible multi-joint finger 8. One air pipe 6 is led into the flexible carpophalangeal joint 831, the other air pipe 6 passes through the middle air passage of the metacarpal section 841, air is led into the flexible base joint 832, meanwhile, air is led into the flexible interphalangeal joint 833 through the middle air passage of the proximal phalangeal section 842, the flexible base joint 832 and the flexible interphalangeal joint 833 share one air source, so that the driving of two knuckle modules is realized, and the control complexity is reduced.
Optionally, the distal phalangeal sections 823 and 843 may be glued with a hard material such as a plastic sheet as a fingernail for a humanoid soft hand, as may be appropriate in certain environments and application scenarios.
Alternatively, the pneumatic flexible multi-joint finger 8 and the flexible palm 9 may be made of flexible materials, or the soft palm inner 92 and the flexible finger phalangeal section 82 and the flexible thumb phalangeal section 84 may be made of hard materials such as photosensitive resin, which can be manufactured by a 3D printing method on one hand, and can enhance the output capability of the soft hand on the other hand.
The pneumatic flexible multi-joint flexible hand provided by the embodiment of the invention is made of soft materials, is combined into the multi-degree-of-freedom flexible hand by adopting a modularized design, has the advantages of simple structure, low cost, light weight, good compliance, high safety and large output force, can realize nondestructive operation on an operation object, and in addition, due to the design of the flexible joint, the flexible hand can realize independent sectional continuous bending deformation under the input air pressure, the output deformation is similar to the movement deformation of the hand, and the flexible operation of the simulated hand which cannot be finished by the existing continuously deformed flexible hand can be finished.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A corrugated pneumatic software driver comprising: a corrugated structure, a root structure (12), a tip structure (13) and an air tube (14);
the root structure (12) and the tail end structure (13) are both truncated cylinders and are attached to the inner shape of the corrugated structure to form a closed air cavity, a through hole is formed in the axis of the root structure (12), and an air supply pipe (14) is led in;
the corrugated structure is a symmetrical corrugated structure (11) or a spiral corrugated structure (21), and the corrugated space and the corrugated height of one side of the symmetrical corrugated structure (11) are larger than those of the other side; under the action of input positive driving air pressure, one side of the ripple is longer and deformed than the other side of the ripple, so that the ripple pneumatic soft driver bends downwards; under the action of input negative driving air pressure, one side of the ripple shortens and deforms more than the other side of the ripple, so that the ripple pneumatic soft driver bends upwards;
the main body of the symmetrical ripple structure (11) is a cylinder, the ripples are symmetrically arranged along the axis direction of the driver, the upper side ripples and the lower side ripples are asymmetrically arranged, the upper side ripple distance is larger than the lower side ripple distance, the upper side ripple height is larger than the lower side ripple height, and the axis position parameter equation of the ripple axis track is shown in the following formula:
wherein:
wherein,for the upper corrugation pitch, & lt & gt>For the lower corrugation pitch, < >>For the number of waves->，/>；
The corrugated spacing and the corrugated height of one side of the spiral corrugated structure (21) are larger than those of the other side; under the action of input positive driving air pressure, one side of the ripple is longer and deformed than the other side of the ripple, so that the ripple pneumatic soft driver bends downwards, the axes of the ripple are spirally arranged along the driver, and the driver realizes torsion movement while bending;
the spiral ripple structure (21) is characterized in that the main body of the spiral ripple structure is a cylinder, the ripples are arranged in a spiral mode along the axis direction of the driver, the spiral interval between the upper side ripples and the lower side ripples is arranged asymmetrically, the spiral interval between the upper side ripples is larger than the spiral interval between the lower side ripples, and the height of the upper side ripples is larger than the height of the lower side ripples; the spiral direction is left-handed and right-handed, and the parameter equation of the axis position of the track is the sum of the product of a linear function and a cosine function of amplitude attenuation and another linear function, and the equation is as follows:
wherein,for the number of waves->For the upper corrugation pitch, & lt & gt>Is the lower corrugation pitch.
2. A soft manipulator having the bellows pneumatic soft driver of claim 1, comprising: the glove comprises a symmetrical corrugated structure (11), a spiral corrugated structure (21), a root support (3), a positioning support (4), a tail end support (5), an air pipe (6) and a semi-open glove;
the three symmetrical corrugated structures (11) form a pneumatic flexible rehabilitation finger of an index finger, a middle finger, a ring finger and a little finger, and the pneumatic flexible rehabilitation finger is fixedly connected with the semi-open glove through a root bracket (3), two positioning brackets (4) and a tail end bracket (5); the root support (3) is fixed at the back of the hand of the semi-open glove, the two positioning supports (4) are respectively fixed at the near phalanges and the middle phalanges of the semi-open glove, and the tail end support (5) is fixed at the far phalanges of the semi-open glove;
the pneumatic flexible rehabilitation finger of a thumb is formed by the spiral corrugated structure (21) and the symmetrical corrugated structure (11), and is fixedly connected with the semi-open glove through the foundation bracket (3), the positioning bracket (4) and the tail end bracket (5); the root bracket (3) is fixed at the thumb metacarpal bone part of the semi-open glove, the positioning bracket (4) is fixed at the thumb near phalangeal bone part of the semi-open glove, and the tail end bracket (5) is fixed at the thumb far phalangeal bone part of the semi-open glove.
3. The soft manipulator of claim 2, wherein the semi-open glove comprises a semi-open glove body (71), a glove wrist securing flex (72), a glove palm securing flex (73), and a glove knuckle securing flex (74) by which a human hand is secured to the soft manipulator.
4. The soft manipulator according to claim 2, wherein the root holder (3) comprises an air tube positioning through hole (31), a support column (32) and a back of hand positioning open slot (33);
the air pipe (6) is connected with the symmetrical corrugated structure (11) through an air pipe positioning through hole (31); a gap is reserved between the symmetrical corrugated structure (11) and the half-open glove body (71) through the support column (32); the bottom surface of the back positioning open slot (33) is designed into an arc shape to adapt to the shape of the back of the hand.
5. The soft manipulator according to claim 2, wherein the positioning bracket (4) comprises an air tube positioning open slot (41), a support column (42) and a finger joint positioning open slot (43);
the air pipe (6) is fixed through an air pipe positioning open slot (41), and two ends of the air pipe are connected with the symmetrical corrugated structure (11); gaps are reserved between the symmetrical corrugated structures (11) and the half-open glove bodies (71) through the support columns (42); the bottom surface of the finger joint positioning open slot (43) is designed into an arc shape to adapt to the shape of the back of the hand.
6. The soft manipulator according to claim 2, characterized in that the tip holder (5) comprises a tip sealing plug (51), a support pillar (52) and a fingertip positioning open slot (53);
the tail end sealing plug (51) is in sealing connection with one end, close to the fingertip, of the symmetrical corrugated structure (11); a gap is reserved between the corrugated structure and the semi-open glove body (71) through the support column (52); the section of the fingertip positioning open slot (53) is in a sector shape, and the radius is the same as the radius of the corresponding finger part on the half-open glove body (71).
7. The soft manipulator according to claim 2, wherein the symmetrical corrugated structure (11) and the air pipe (6) are sequentially connected to form an air cavity, and the head end of the first-section symmetrical corrugated structure (11) is connected with the air path driving control system through the air pipe (6); the tail end of the tail symmetrical corrugated structure (11) is sealed by a tail end sealing plug (51); the adjacent symmetrical corrugated structures (11) are connected in a sealing way through an air pipe (6).
8. The soft manipulator according to claim 2, wherein the spiral corrugated structure (21), the symmetrical corrugated structure (11) and the air pipe (6) are sequentially connected to form an air cavity, and the head end of the spiral corrugated structure (21) is connected with the air path driving control system through the air pipe (6); the tail end of the symmetrical corrugated structure (11) is sealed by a tail end sealing plug (51); the spiral corrugated structure (21) is connected with the symmetrical corrugated structure (11) in a sealing way through an air pipe (6).
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| CN112914957A (en) * | 2021-03-24 | 2021-06-08 | 合肥工业大学 | Flexible rehabilitation glove with multi-degree-of-freedom positive and negative pressure independent driving function |
| CN113842295B (en) * | 2021-09-29 | 2023-08-01 | 南京锐诗得医疗科技有限公司 | Bionic bending driver and rehabilitation glove |
| CN113925743B (en) * | 2021-10-22 | 2022-09-23 | 上海交通大学 | Elbow wearable exoskeleton based on composite Bellow array |
| CN113977568B (en) * | 2021-11-29 | 2023-02-24 | 杭州电子科技大学 | Pneumatic armored artificial muscle, mechanical clamping jaw and clamping method |
| CN114986556B (en) * | 2022-07-20 | 2023-07-14 | 苏州科技大学 | Pneumatic flexible joint gripping device and control method thereof |
| CN116061215A (en) * | 2023-01-11 | 2023-05-05 | 北京软体机器人科技股份有限公司 | Flexible finger based on bellows |
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| CN113427503A (en) | 2021-09-24 |
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