CN113842295A - Bionic bending driver and rehabilitation gloves - Google Patents
Bionic bending driver and rehabilitation gloves Download PDFInfo
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- CN113842295A CN113842295A CN202111153609.9A CN202111153609A CN113842295A CN 113842295 A CN113842295 A CN 113842295A CN 202111153609 A CN202111153609 A CN 202111153609A CN 113842295 A CN113842295 A CN 113842295A
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- corrugated pipe
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- finger
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1238—Driving means with hydraulic or pneumatic drive
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a bionic bending driver and a rehabilitation glove, wherein the driver comprises: the corrugated pipe comprises a corrugated communication cavity and is fixed on the fiber cloth; the front end and the rear end of the corrugated pipe are provided with raised ports, the front end and the rear end of the corrugated pipe are respectively connected with a front end fixing buckle and a tail end fixing buckle through the ports, and the front end fixing buckle and the tail end fixing buckle are fixed on the fiber cloth, so that the corrugated pipe is relatively fixed with the front end fixing buckle and the tail end fixing buckle; the end-to-end connection of bellows has the trachea, the whole gas tightness is guaranteed through the glue crosslinking to trachea and bellows end, and in the corrugate intercommunication cavity of bellows, be equipped with the intervalve between every section ripple, fixed buckle in the middle of a plurality of intervalve periphery covers is equipped with, and fixed buckle in the middle is fixed on fibre cloth. The invention controls the proportional relation and the position interval of the middle fixing buckle and the corrugated pipe joint number to realize the control of the integral rigidity and the local rigidity of the driver, and is suitable for more working conditions.
Description
Technical Field
The invention relates to the technical field of soft robots, in particular to a bionic bending driver and a pair of rehabilitation gloves.
Background
The flexible robot is an emerging multidisciplinary cross research direction, has excellent motion flexibility compared with the traditional mechanical rigid robot, and has ultrahigh safety as an interactive robot. The soft robot in the flexible robot branch has good environmental adaptability because the soft robot is made of flexible materials, the technology of the soft robot is developed in an explosive manner, and the soft robot is widely applied to the fields of industrial sorting and bionic medical treatment.
The aging of the population of the society is aggravated nowadays, the number of people with hemiplegia caused by diseases such as apoplexy is more and more huge, so the exercise rehabilitation is more and more important, in the equipment in the field of hand function rehabilitation, the pneumatic soft body rehabilitation robot technology is insufficient in output force, the pushing force of bending motion and the pulling force of stretching motion are insufficient, the clinical performance shows that the rehabilitation personnel can not be assisted to hold a fist in place and stretch the fist in place, the stretching can not be flattened, the clinical rehabilitation effect is poor, the hand function rehabilitation training equipment adopting mechanical type or memory alloy has the problems of complex structure, no portability, high failure rate and the like, the existing drivers can be divided into shape memory alloy and pneumatic soft body drivers, and the problems of short service life, complex manufacturing process, unidirectional motion and complex manufacturing exist. The pneumatic soft hand function rehabilitation robot is a key element for restricting the development of the current pneumatic soft hand function rehabilitation robot.
Disclosure of Invention
The technical purpose is as follows: the invention discloses a bionic bending driver and a rehabilitation glove, aiming at the defects of short service life of the driver, complex process and unidirectional movement in the prior art.
The technical scheme is as follows: in order to achieve the technical purpose, the invention adopts the following technical scheme.
A biomimetic flexure actuator, comprising: comprises a corrugated pipe, an air pipe, a tail end fixing buckle, a front end fixing buckle, a middle fixing buckle and fiber cloth;
the corrugated pipe comprises a corrugated communication cavity and is fixed on the fiber cloth; the front end and the rear end of the corrugated pipe are provided with raised ports, the front end and the rear end of the corrugated pipe are respectively connected with a front end fixing buckle and a tail end fixing buckle through the ports, the front end fixing buckle seals the front end of the corrugated pipe, and the front end fixing buckle and the tail end fixing buckle are also fixed on the fiber cloth, so that the corrugated pipe is relatively fixed with the front end fixing buckle and the tail end fixing buckle;
the tail end of the corrugated pipe is connected with an air pipe, the air pipe is crosslinked with the tail end of the corrugated pipe through glue, and the air pipe penetrates through the tail end to be fixed with a buckle; the end fixing buckle and the air pipe are in tight fit, and the air pipe and the tail end of the corrugated pipe form two layers of sealing protection;
in the ripple-shaped communication cavity of the corrugated pipe, intermediate pipes are arranged between each section of ripple, a plurality of intermediate pipes are sleeved with intermediate fixing buckles, and the intermediate fixing buckles are fixed on the fiber cloth.
Preferably, the relation between the number N of the middle fixed buckles and the number M of the corrugations of the corrugated pipe is more than or equal to 0 and less than or equal to M-1, the middle fixed buckles restrain the movement direction of the corrugated pipe, and the output force of the corrugated pipe is consistent with the axial line of the corrugated pipe; the relation between the number S of the corrugations and the number M of the corrugations of the corrugated pipe between the two middle fixing buckles is that S is more than or equal to 1 and less than or equal to M-2.
Preferably, the number of the waves between the middle fixing buckles is the same, the rigidity of the bionic driver is the same along the axis, when the number of the waves between the middle fixing buckles is different, the rigidity of the bionic driver along the axis is smaller, the rigidity is larger, and the rigidity is smaller.
Preferably, the corrugated pipe is mainly made of modified polypropylene materials, and the corrugated pipe performs contraction motion under the action of negative pressure and performs extension motion under the state of positive pressure.
Preferably, the width of the middle tube is the same as that of the middle fixing buckle.
Preferably, the fiber cloth is a cloth densely woven by fibers, the warp fibers and the weft fibers are both non-stretchable fibers, and the fiber cloth is non-stretchable in both warp and weft directions.
A rehabilitation glove is characterized by comprising a finger driver, sponge cloth and a quick connector; the bionic bending driver is characterized in that the finger driver comprises a thumb driver, an index finger driver, a middle finger driver, a ring finger driver and a little finger driver, wherein a plurality of bionic bending drivers with the structures as claimed in any one of claims 1 to 5 are respectively arranged in the thumb driver, the index finger driver, the middle finger driver, the ring finger driver and the little finger driver, the finger drivers are fixed on sponge cloth according to the structures of hands of human bodies, and air pipes of the finger drivers are connected with the quick connectors.
Preferably, in the thumb driver, the index finger driver, the middle finger driver, the ring finger driver and the little finger driver, the number of the bionic bending drivers is the same as the number of the finger joints of the corresponding fingers.
Preferably, in the thumb driver, the index finger driver, the middle finger driver, the ring finger driver and the little finger driver, the fixing position of the middle fixing buckle in the bionic bending driver is the middle point of the finger phalange axis.
Preferably, the sponge cloth is in a glove shape, the sponge cloth is made of granular rubber with the grade of SCR5, and the two sides of the granular rubber are stuck with the ultra-single wiredrawing fabric, so that the rehabilitation gloves can be attached to hands of people.
Has the advantages that: according to the bionic bending driver, the pressure in the corrugated pipe is controlled, when the air pressure is positive pressure, the bending driver generates bending motion, and when the air pressure is negative pressure, the bending driver generates stretching motion, so that bidirectional motion is realized; the bionic bending driver adjusts the position proportional relation between the fixed buckles and the wave crest number of the corrugated pipe by adjusting the proportional relation between the fixed buckles and the wave crest number of the corrugated pipe, realizes the control of the whole rigidity and the control of part position rigidity of the bionic bending driver, and can adapt to wider use requirements.
Drawings
FIG. 1 is a schematic structural diagram of a bionic bending actuator according to the present invention;
FIG. 2 is a view showing a state of use of the bellows;
FIG. 3 is a diagram showing the usage state of the corrugated pipe when the number N of the middle fixing buckles is equal to the number M-1 of the corrugations of the corrugated pipe;
FIG. 4 is a diagram showing the usage state of the corrugated pipe when the number N of the middle fixing buckles is smaller than the number M-1 of the corrugations of the corrugated pipe;
fig. 5 is a diagram showing a usage state of the bellows when the number N =0 of the intermediate fixing buckles;
FIG. 6 is a schematic view of a construction of a rehabilitation glove;
FIG. 7 is a schematic diagram of the structure of a shrimp tail;
FIG. 8 is a schematic diagram of a finger driver configuration;
FIG. 9 is a schematic structural view of the middle fixing clip;
FIG. 10 is a schematic structural view of a terminal fixing clip;
FIG. 11 is a schematic structural view of a front end fixing buckle;
1 is the bellows, 2 is the trachea, and 3 are the fixed buckle in end, and 4 are the fixed buckle in front end, and 5 are middle fixed buckle, and 6 are the fibre cloth, and 7 are the sponge cloth, and 8 are quick-operation joint.
Detailed Description
The invention is further explained and illustrated below with reference to the figures and examples.
As shown in fig. 1 and fig. 2, a bionic bending driver is characterized in that: comprises a corrugated pipe 1, an air pipe 2, a tail end fixing buckle 3, a front end fixing buckle 4, a middle fixing buckle 5 and fiber cloth 6;
the corrugated pipe 1 comprises a corrugated communication cavity, and the corrugated pipe 1 is fixed on the fiber cloth 6; the front end and the rear end of the corrugated pipe 1 are provided with raised ports, the front end and the rear end of the corrugated pipe 1 are respectively connected with a front end fixing buckle 4 and a tail end fixing buckle 3 through the ports, the front end fixing buckle 4 seals the front end of the corrugated pipe 1, and the front end fixing buckle 4 and the tail end fixing buckle 3 are also fixed on the fiber cloth 6, so that the corrugated pipe 1 is relatively fixed with the front end fixing buckle 4 and the tail end fixing buckle 3;
the tail end of the corrugated pipe 1 is connected with an air pipe 2, the air pipe 2 is crosslinked with the tail end of the corrugated pipe 1 through glue, and the air pipe 2 penetrates through a buckle 3 fixed at the tail end; the end fixing buckle 3 is tightly matched with the air pipe 2, and the air pipe 2 and the end of the corrugated pipe 1 form two layers of sealing protection; the buckle 3 is fixed to the tip and blocks the trachea, reinforcing gas tightness.
In the corrugate intercommunication cavity of bellows 1, be equipped with the intermediate tube between every section ripple, the fixed buckle 5 in middle of a plurality of intermediate tube periphery cover is equipped with, and middle fixed buckle 5 is fixed on fibre cloth 6.
As shown in fig. 9 to 11, the middle fixing buckle 5 is a hook-shaped structure with a base, the base is fixed on the fiber cloth 6, the middle tube is clamped to the middle fixing buckle 5 from an opening of the hook-shaped structure, the front end fixing buckle 4 and the tail end fixing buckle 3 are both cylindrical hollow cavities with bases, the bases are fixed on the fiber cloth 6, wherein the front end of the corrugated tube 1 is clamped into an opening of the cylindrical hollow cavity from one side of the front end fixing buckle 4, and the front end fixing buckle 4 seals the front end of the corrugated tube 1. The cylindrical hollow cavity of the end fixing buckle 3 is provided with two openings, one opening is connected with the rear end of the corrugated pipe 1 in a clamping mode, the other opening is connected with the air pipe 2 in a clamping mode, and the air pipe 2 penetrates through the rear end of the end fixing buckle 3 to seal the corrugated pipe 1.
The invention controls the proportional relation of the middle fixing buckle and the corrugated pipe joint number and the position interval to control the integral rigidity and the local rigidity of the driver, can be suitable for more working conditions, realizes the bidirectional bending and stretching movement of the driver by controlling the internal pressure of the corrugated pipe, combines the human hand skeleton model, optimally designs the number and the position of the middle fixing buckle, realizes the optimal rigidity of the rehabilitation glove joint, and achieves good rehabilitation effect.
Example (b):
as shown in fig. 7, the bionic bending driver simulates the structure of lobster tail, the bionic exoskeleton is designed on the periphery of the flexible air bag, and the rigidity of the bending driver can be programmably adjusted by adjusting the number and the pitch of the bionic exoskeleton. Specifically, bellows 1 imitates lobster muscle fibre, carries out concertina movement, and 6 imitations lobster belly fibre of fibre cloth, terminal fixed buckle 3, the fixed buckle 4 of front end, middle fixed buckle 5 imitate lobster shell structure, and fixed buckle 5 corresponds the ectoskeleton in the middle of promptly, through adjustment ectoskeleton interval and number, also the interval and the number of middle fixed buckle 5 adjust the rigidity of driver promptly.
As shown in the attached drawings 3 to 5, the relation between the number N of the middle fixing buckles 5 and the number M of the corrugations of the corrugated pipe 1 is that N is more than or equal to 0 and less than or equal to M < -1 >, the middle fixing buckles 5 restrain the movement direction of the corrugated pipe 1, and the output force of the corrugated pipe 1 is consistent with the axial line of the corrugated pipe 1. Specifically, the relation between the number N of the middle fixing buckles 5 and the number M of the corrugations of the corrugated pipe 1 is as follows:
when the stiffness of the bending actuator is at its maximum, the relationship is: n = M-1; (ii) a
When the stiffness of the bending actuator is minimal, the relationship is: n = 0; (ii) a
With the stiffness of the bending actuator in the middle, the relationship is: 0< N < M-1.
The relation between the number S of the corrugations between the two middle fixing buckles 5 and the number M of the corrugations of the corrugated pipe 1 is that S is more than or equal to 1 and less than or equal to M-2.
The rigidity of the bionic driver is the same along the axis when the number of the waves between the middle fixing buckles (5) is the same, namely the rigidity of the bionic driver is converged along the axis; when the number of the ripples between the middle fixing buckles (5) is different, the rigidity of the bionic driver is along the axis, the smaller the number of the ripples is, the larger the rigidity is, and the larger the number of the ripples is, the smaller the rigidity is.
The corrugated pipe 1 is mainly made of modified polypropylene materials, and the corrugated pipe 1 contracts under the action of negative pressure and extends under the state of positive pressure. The pneumatic hand bending device can bear 0.3Mpa of air pressure, the bending angle of the bending driver can reach 360 degrees, the tail end output force can reach 15N, and the pneumatic hand bending device is compared with a device for assisting a patient to perform complete hand movement.
The width of the middle tube is the same as that of the middle fixing buckle 5.
The fiber cloth 6 is a cloth densely woven by fibers, warp fibers and weft fibers are non-stretchable fibers, and the fiber cloth 6 is non-stretchable in the warp and weft directions.
As shown in fig. 6 and fig. 8, a rehabilitation glove comprises a finger driver, a sponge cloth 7 and a quick connector 8; the finger driver comprises a thumb driver, an index finger driver, a middle finger driver, a ring finger driver and a little finger driver, wherein the thumb driver, the index finger driver, the middle finger driver, the ring finger driver and the little finger driver are respectively provided with a plurality of bionic bending drivers with the structures as any one of claims 1-5, the finger drivers are fixed on sponge cloth 7 according to the structures of human hands, air pipes of the finger drivers are connected with a quick connector 8, the quick connector 8 can connect the air pipes with air source equipment and is used for inflating the bionic bending drivers and controlling corrugated pipes to realize positive pressure or negative pressure. The bending driver is applied to the cloth gloves, the gloves are easy to wear, the wearing is similar to daily wearing, and professional guidance is not needed. Convenient to use, the patient can independently accomplish the motion training of hand function.
In the thumb driver, the index finger driver, the middle finger driver, the ring finger driver and the little finger driver, the number of the bionic bending drivers is the same as that of finger joints of corresponding fingers, and communicated air pipes are clamped and clamped between the bionic bending drivers through the tail end fixing buckles and are sealed through glue. For example, the thumb driver comprises two sections of corrugated pipes, the index finger driver comprises three sections of corrugated pipes, taking the thumb driver as an example, on the corrugated pipe close to the fingertip, the tail end fixing buckle is directly buckled at the front end of the other corrugated pipe, the corrugated pipes are connected through the air pipe, glue is coated on both ends of each corrugated pipe, and the glue ensures that the corrugated pipes are tightly contacted with the air pipe.
In the thumb driver, the index finger driver, the middle finger driver, the ring finger driver and the little finger driver, the fixed position of the middle fixing buckle 5 in the bionic bending driver is the middle point of the finger phalange axis. The bottom of the end fixing buckle 3 is fixed with the sponge cloth 7 through strong glue, and the sponge cloth 7 is the fiber cloth 6.
In addition, the length S of the tail end fixing buckle 3 and the length L of the knuckle bone of the human hand are 1/3L-2/3L, and can be adjusted according to actual needs.
The sponge cloth 7 is in a glove shape, the sponge cloth is made of granular rubber, the grade of the granular rubber is SCR5, fiber cloth is pasted on the upper surface of the granular rubber, and ultra-single wiredrawing fabric is pasted on the lower surface of the granular rubber, so that the rehabilitation gloves can be attached to hands of people.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (10)
1. A biomimetic flexure actuator, comprising: comprises a corrugated pipe (1), an air pipe (2), a tail end fixing buckle (3), a front end fixing buckle (4), a middle fixing buckle (5) and fiber cloth (6);
the corrugated pipe (1) comprises a corrugated communication cavity, and the corrugated pipe (1) is fixed on the fiber cloth (6); the front end and the rear end of the corrugated pipe (1) are provided with raised ports, the front end and the rear end of the corrugated pipe (1) are respectively connected with a front end fixing buckle (4) and a tail end fixing buckle (3) through the ports, the front end fixing buckle (4) seals the front end of the corrugated pipe (1), the front end fixing buckle (4) and the tail end fixing buckle (3) are fixed on the fiber cloth (6), and the corrugated pipe (1) and the front end fixing buckle (4) as well as the fiber cloth and the tail end fixing buckle (3) are fixed relatively;
the tail end of the corrugated pipe (1) is connected with an air pipe (2), the air pipe (2) is crosslinked with the tail end of the corrugated pipe (1) through glue, and the air pipe (2) penetrates through a buckle (3) fixed at the tail end; the end fixing buckle (3) and the air pipe (2) are in tight fit, and the air pipe (2) and the end of the corrugated pipe (1) form two layers of sealing protection;
in the corrugated communication cavity of the corrugated pipe (1), intermediate pipes are arranged between each section of corrugation, intermediate fixing buckles (5) are sleeved on the peripheries of the intermediate pipes, and the intermediate fixing buckles (5) are fixed on the fiber cloth (6).
2. The biomimetic flexure actuator of claim 1, wherein: the relation between the number N of the middle fixing buckles (5) and the corrugation number M of the corrugated pipe (1) is that N is more than or equal to 0 and less than or equal to M < -1 >, the middle fixing buckles (5) restrain the movement direction of the corrugated pipe (1), and the output force of the corrugated pipe (1) is consistent with the axial line of the corrugated pipe (1); the relation between the number S of the corrugations between the two middle fixing buckles (5) and the number M of the corrugations of the corrugated pipe (1) is that S is more than or equal to 1 and less than or equal to M-2.
3. The biomimetic flexure actuator of claim 1, wherein: the ripple number between the middle fixed buckle (5) is the same, and the rigidity of bionic driver is the same along the axis, the ripple number between the middle fixed buckle (5) is different, and the rigidity of bionic driver is along the axis, and the ripple number is less, and rigidity is bigger, and the ripple number is bigger, and rigidity is less.
4. The biomimetic flexure actuator of claim 1, wherein: the corrugated pipe (1) is mainly made of modified polypropylene materials, and the corrugated pipe (1) contracts under the action of negative pressure and extends under the state of positive pressure.
5. The biomimetic flexure actuator of claim 1, wherein: the width of the middle pipe is the same as that of the middle fixing buckle (5).
6. The biomimetic flexure actuator of claim 1, wherein: the fiber cloth (6) is a cloth densely woven by fibers, the warp fibers and the weft fibers are non-stretchable fibers, and the fiber cloth (6) is non-stretchable in the warp and weft directions.
7. A rehabilitation glove is characterized by comprising a finger driver, sponge cloth (7) and a quick connector (8); the finger driver comprises a thumb driver, an index finger driver, a middle finger driver, a ring finger driver and a little finger driver, wherein a plurality of bionic bending drivers with the structures as any one of claims 1 to 6 are respectively arranged in the thumb driver, the index finger driver, the middle finger driver, the ring finger driver and the little finger driver, the finger drivers are fixed on sponge cloth (7) according to the structures of hands of human bodies, and air pipes of the finger drivers are connected with a quick connector (8).
8. The rehabilitation glove of claim 7, wherein: in thumb driver, forefinger driver, middle finger driver, third finger driver and little finger driver, the number of bionical crooked driver is the same with the knuckle number of corresponding finger, connects through the fixed buckle in the tip between the bionical crooked driver to seal through glue.
9. A rehabilitating hand according to claim 7, wherein: in the thumb driver, the index finger driver, the middle finger driver, the ring finger driver and the little finger driver, the fixed position of a middle fixing buckle (5) in the bionic bending driver is the middle point of the finger phalange axis.
10. A rehabilitating hand according to claim 7, wherein: the gloves are made of the sponge cloth (7), the sponge cloth (7) is made of granular rubber, the grade of the granular rubber is SCR5, and the two sides of the granular rubber are pasted with the single-sided wiredrawing fabric, so that the rehabilitation gloves can be attached to hands of people.
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| CN202111153609.9A CN113842295B (en) | 2021-09-29 | 2021-09-29 | Bionic bending driver and rehabilitation glove |
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| CN202111153609.9A CN113842295B (en) | 2021-09-29 | 2021-09-29 | Bionic bending driver and rehabilitation glove |
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| CN116374143A (en) * | 2023-03-24 | 2023-07-04 | 哈尔滨工程大学 | Pneumatic bistable fluctuation unit, propeller and manufacturing method thereof |
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| CN113842295B (en) | 2023-08-01 |
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