CN208305076U - Flexible drive bionics massage manipulator based on Pneumatic artificial muscle - Google Patents

Abstract

The utility model relates to a kind of flexible drive bionics massage manipulator based on Pneumatic artificial muscle, belongs to flexible drive and technical field of bio-simulation machinery.The parallel flexible driving unit being made of Pneumatic artificial muscle, can be realized the multifreedom motion of each finger, so that manipulator has high flexibility.Manipulator provided by the utility model has 16 freedom of motion, functional integration is high, it is flexible big, compact-sized, it can be achieved that the pushing away of simulation manpower, by, the massaging actions such as rub, pinch.Meanwhile the utility model perceives human body different parts tissue hardness by tactilely-perceptible unit to adjusting massage dynamics, improves the intelligence degree of manipulator.On this basis, it can further be integrated with near-infrared blood vessel imaging module, infrared thermal imaging module etc., effective characterization method and evaluation mechanism are provided for human body massaging qualities, massage effect is further promoted, therefore there is significant application value in fields such as home-services robot, medical rehabilitation, Chinese physical therapies.

Description

Flexible drive bionics massage manipulator based on Pneumatic artificial muscle

Technical field

The utility model relates to flexible drives and technical field of bio-simulation machinery, in particular to a kind of to be based on Pneumatic artificial muscle Flexible drive bionics massage manipulator.The utility model can be with near-infrared blood vessel imaging module, infrared thermal imaging module, six certainly It is further integrated by modules such as degree platforms, diversified massaging action is accurately positioned and realized to patient's lesions position, it is right Optimization massage effect, establish effect assessment and monitoring mechanism, alleviation masseur's operating pressure is of great significance.To disclose Chinese medicine Massaging mechanism and curative effect affecting laws provide effective laboratory facilities.

Background technique

Massage be it is a kind of by external force caused by " gimmick " in the soft tissue, fascia, ligament of human body privileged site, To soften tissue, improve blood circulation, reach the method for physical therapy purpose.It is simple and effective, and few wound, is current A kind of naturopathy that comparison is advocated.With the development of medical technology, body massaging technology has obtained more next in clinical practice More it is widely applied.At present in clinical application still based on manually massaging, in massage processes, masseur needs specific according to patient The state of an illness, with different tact skills --- such as exert a force position, size, direction, frequency, can be only achieved ideal treatment Effect.So massage needs masseur to put into great effort and physical strength the more demanding of masseur, and more ground masseur at present Quantity be unable to satisfy doctors and patients' demand.Therefore, masseur's operating pressure can be alleviated, improve massage efficiency, promoted by researching and developing one kind The auxiliary intelligence massaging manipulator of massage effect seems particularly necessary.

One complete massaging manipulator must have enough dexterities and intelligence, be related to bioengineering, micro- The multiple fields such as Mechatronic Systems, bionics and intelligent control are the complex engineerings of a multidisciplinary span.Often use volume Small, compact-sized novel flexible driver is driven, to realize the multifreedom motion of finger, promotes manual dexterity Property.And tactilely-perceptible link use fexible film touch sensor, with it is small in size, easy for installation, on tissue influence The advantages that small and easy of integration, can be obviously improved massaging hand intelligence degree.But from the point of view of present circumstances, the instrument that occurs in the market It is mostly the instrument of approximate simulation massage manipulation, such as massager and massage armchair of various brands, gimmick is single, can only play guarantor The effect be good for, loosen and relieved fatigue, it is unobvious to the effect for the treatment of disease.And domestic scholars are driven about based on novel flexible The research of the joint prosthesis of device is still in the primary stage, and research, which focuses primarily upon, realizes that the structure design of joint prosthesis and theory are built Mould.Shen Yonggen proposes a kind of posture adjustable type medical treatment arm-massage machine people；Cheng Lan proposes a kind of Width adjustable medical treatment arm Massage robot；Terrestrial facies dragon proposes a kind of novel massage manipulator of massage armchair.But the massaging manipulator massage designed by them It has a single function, integrally generallys use rigidity driving and transmission mechanism, it is flexible not good enough, and mechanism is complicated, volume is bigger than normal, does not account for How sensing is integrated in structure, is not able to satisfy growing diversified massage requirements.And in massage processes, not only need It realizes excessively diversified massaging action, also to realize the tactilely-perceptible function of similar manpower, promote the intelligence of massaging manipulator Degree can be changed.Secondly, existing massaging manipulator belongs to opened loop control more, it is not carried out the real-time detection to contact force, also not It can be realized the Efficient Characterization to tissue hardness, to be effectively predicted and be controlled to massage force.

To sum up, exploitation can integrate flexible actuator and tactilely-perceptible unit, and can carry out closed loop to massaging action and dynamics The massaging manipulator of control is very necessary.

Summary of the invention

The purpose of this utility model is to provide a kind of flexible drive bionics massage manipulator based on Pneumatic artificial muscle, Solve that existing massaging manipulator massage functions are single, flexible deficiency, it is difficult to the problems such as controlling its massage force.This reality With it is novel by parallel flexible driving unit, tactilely-perceptible unit, ultrasonic drive unit, piezoelectric vibrator unit, flexible artificial skin, Palm composition.Big, compact, compact-sized, response quickly and highly flexible using Pneumatic artificial muscle power-mass ratio Etc. advantages, and combine tactilely-perceptible unit, ultrasonic drive unit, piezoelectric vibrator unit, flexible artificial skin, palm, not only may be used It simulates manpower and realizes diversified massaging action, can also be achieved the prediction and control to massage force.In addition, the utility model ruler The statistics size of very little design reference manpower, overall dimensions are slightly larger than manpower actual size, and compact is compact-sized, convenient for whole Body is integrated.Meanwhile based on this, it can be applied in combination, be formed with near-infrared blood vessel imaging module, infrared thermal imaging module etc. The highly integrated device that can realize diversification massage and massage effect feedback comprehensively, provides effective table for human body massage effect Sign means and evaluation mechanism, also provide effective experimental approach to disclose Chinese traditional massage mechanism and curative effect affecting laws.

The above-mentioned purpose of the utility model is achieved through the following technical solutions:

Flexible drive bionics massage manipulator based on Pneumatic artificial muscle, is mainly driven by compressed air, packet Include parallel flexible driving unit, tactilely-perceptible unit, ultrasonic drive unit, piezoelectric vibrator unit, flexible artificial skin, bionic hand The palm, the parallel flexible driving unit are distributed on five fingers, and the parallel flexible driving unit on middle finger is mounted on thumb Refer in mounting base 15, remaining four parallel flexible driving unit is mounted in the palm body of bionical palm；Tactilely-perceptible unit Attach to palm centre of the palm plane and five finger fingertip surfaces；Piezoelectric vibrator unit is installed on inside finger tip；Ultrasound-driven list Member is installed on the nearly thumb end of palm pedestal 14, and the ultrasound electric machine 16 in ultrasonic drive unit and non-contact type magnetic angular displacement pass Sensor 18 is mounted in the back of the hand groove at nearly thumb end, and thumb mounting base 15 is installed on the side of palm pedestal 14 and pastes therewith It closes；Flexible artificial skin 1 is wrapped in palm, finger surface；

The parallel flexible driving unit includes 7, finger tip pedestals 5 of Pneumatic artificial muscle of three elongation types, finger tip The threaded hole and a threaded hole close to circumferential edges that there are three the processing of 5 bottom surface of pedestal is distributed in 120 degree of circular symmetrics, three Root Pneumatic artificial muscle 7 is connected in 120 ° of circular symmetric distributions by screw thread pair and 5 rigidity of finger tip pedestal；To artificial pneumatic flesh When meat is passed through compressed air, axial elongation；Gas is discharged, is returned to original state；

The tactilely-perceptible unit include finger tip fexible film piezoresistance sensor 3, palm fexible film piezoresistance sensor 22, Miniature reflective laser displacement sensor 6, finger tip top cover 4,4 inner surface of finger tip top cover are threaded, pass through with finger tip pedestal 5 Screw thread is rigidly connected；Finger tip fexible film piezoresistance sensor 3, palm fexible film piezoresistance sensor 22 are distinguished by seccotine Attach to the spherical surface of finger tip top cover 4, in the plane of the palm centre of the palm, miniature reflective laser displacement sensor 6 by screw thread with Finger tip pedestal 5 is connected；

The ultrasonic drive unit includes ultrasound electric machine 16, cyclic annular bipolar magnet 17, non-contact type magnetic angle displacement transducer Device 18, thumb mounting base 15, the output shaft 20 of ultrasound electric machine 16 is by realizing ultrasound with the hole of thumb mounting base 15 interference fit Motor 16 is connected with thumb mounting base 15, and non-contact type magnetic angular displacement sensor 18 is fixed on the nearly thumb of palm by seccotine On the rectangular recess inner wall of finger tip, the drive shaft 19 of cyclic annular 17 inner hole of bipolar magnet and ultrasound electric machine is interference fitted；

The piezoelectric vibrator unit includes the first bending vibration module 25, the second bending vibration module 26.First, second bending vibration module 25,26 axle center is threaded through-hole, from top to bottom successively be machined with externally threaded center stand column 27 and pass through screw thread pair Rigid connection, and be placed in the annular groove of finger tip pedestal 5；First bending vibration module 25, the second bending vibration module 26 are used to produce Raw bending vibration propagates to finger tip top cover 4, and the bending vibration that the bending vibration of the first bending vibration module 25 generation and the second bending vibration module 26 generate exists It is spatially existingPhase difference；

The flexibility artificial skin 1 is the integral type variable density soft body structure that is prepared by 3D printing, it can be achieved that flexibility is led Draw and elastic recovery, can close envelope in palm, finger surface；Flexible artificial skin is equipped with notch, and envelope is in five The finger tip surface of a finger is the Non-smooth surface topographical surface that graininess protrusion micro array structure 2 is distributed with；It will be soft using seccotine Property artificial skin 1 and palm pedestal 14 be connected；

The bionical palm includes palm body and terminal plate 12, and wherein palm body is by palm pedestal 14, four upper branch Strut 8 and tail portion 13 are constituted, and bionical palm is the integral structure of 3D printing, and there are four heavy for 12 4 right angle processing of terminal plate Head bore is connected by screw thread pair and palm pedestal 14.

5 bottom center of finger tip pedestal of the parallel flexible driving unit is equipped with what lower support bar 28 was formed with sliding sleeve 29 Prismatic pair, sliding sleeve 29 can be moved up and down along lower support bar 28；The every Pneumatic artificial muscle 7 of parallel flexible driving unit by The spring steel wire 32 of outer layer, the rubber tube 33 of internal layer, upper connection end cap 31, lower connection end cap 34, pipe fitting 36 form, described For upper and lower connection end cap 31,34 together with 33 pressure injection of rubber tube, spring steel wire 32 is closely sleeved on 33 outer surface of rubber tube, It is welded respectively with upper and lower connection end cap 31,34 at the both ends of spring steel wire 32；Pipe fitting 36 and fluid inlet 35 are connected by screw thread pair It connects, for being passed through compressed air.

The tactilely-perceptible unit external envelope formula is distributed in the surface of finger tip, the centre of the palm, is measured and is massaged using piezoresistive effect The contact force of manipulator and tissue simultaneously feeds back to controller；Wherein, the finger tip fexible film pressure drag of tactilely-perceptible unit passes 3 envelop-type of sensor is distributed on the spherical surface of finger tip top cover 4；It is passed through compressed air, parallel flexible driving unit axial elongation, To drive finger tip axial elongation, when finger tip indentation tissue generates juxtaposition metamorphose, finger tip fexible film piezoresistance sensor 3 Measurement contact force size simultaneously feeds back to controller；Meanwhile being installed on the miniature reflective laser displacement sensor on finger tip pedestal 5 6 measurement parallel drive unit axial elongations simultaneously feed back to controller, are characterized by the ratio of contact force value and axial elongation The hardness at the tissue position of finger tip pressing provides ginseng for subsequently selected, the different massaging actions of control massage force size It considers, further promotes the intelligence degree for freeing massaging manipulator.

After receiving voltage signal excitation, output shaft 20 rotates ultrasound electric machine 16 in the ultrasonic drive unit Output torque expands the movement of thumb so that thumb mounting base 15 and cyclic annular bipolar magnet 17 be driven to realize rotary motion Range is easy to implement the five fingers kneading etc. and refers to combination massaging action more.Non-contact type magnetic angular displacement sensor 18 passes through detection ring The rotational angle of shape bipolar magnet 17 measures the precise angular displacement of thumb mounting base 15 and feeds back to controller, is advantageously implemented Thumb position rotation angle degree is accurately controlled.

The first bending vibration module 25 and the second bending vibration module 26 in the piezoelectric vibrator unit are used to generate bending vibration It is dynamic, and can be by the Vibration propagation to finger tip top cover 4；Applying in the first bending vibration module 25 and the second bending vibration module 26 respectively hasThe high-frequency voltage signal of phase difference will inspire two in sky in the first bending vibration module 25 and the second bending vibration module 26 respectively Between all have on the upper and timeThe high frequency flexural vibration mode of phase difference, so that the particle in center stand column 27 is planar made Elliptic motion, and moved by 360 degree of high-frequency rotatings that rubbing action drives finger tip top cover 4 to do micro- a small range around axis, thus While realizing macroscopical massaging action, it is aided with the microcosmic high-frequency vibration of finger tip.

The flexible artificial skin 1 is the integral type variable density soft body structure prepared using latex material 3D printing, is leaned on The packed density of nearly finger belly side material is less than close to the packed density for referring to back side material, is advantageously implemented finger inwardly Bending motion.Flexible artificial skin 1 is connected with palm pedestal 14 by the way of strength glue, to prevent flexible artificial skin Skin 1 falls off in massage processes；Flexible artificial skin 1 is equipped with notch, therefrom draws convenient for the electric appliance cable of motor, sensor etc. Out.Envelope is that graininess protrusion micro array structure 2 is distributed in the finger tip surface of five fingers, is capable of increasing and connects with tissue Frictional force when touching.

The bionical palm is the integral structure using nylon material 3D printing, has enough strength and toughnesses. Its inside has groove structure, alleviates the overall weight of massaging manipulator, while convenient in massaging hand laid inside pneumatic tube The auxiliary elements such as road.The conducting wire of the elements such as sensor, ultrasound electric machine 16 from groove draw with the terminal plate 12 on front row Binding post 21 connects.8 upper end ballhead of upper support bar is in contact with the bowl-shape face 30 of 29 lower end of sliding sleeve, can drive in parallel flexible Moving cell adaptively adjusts the position of spherical pair when moving, to improve the rigidity and robust motion of the driving unit.Tail The end in portion 13 is equipped with circular groove 24 and three threaded holes in the distribution of 120 degree of circular symmetric formulas, can be outer with bionic arm etc. Portion's transmission mechanism connection, so that massaging hand be made to obtain bigger space.

The utility model has the beneficial effects that: the utility model is compact-sized compared with traditional massaging manipulator, entirely Plant bulk is slightly larger than manpower actual size, integrated convenient for multimode.Pass through the combination of multiple parallel flexible driving units, massage Manipulator can realize stable humanoid massage's gimmick.In addition, the ratio of contact force and axial elongation as obtained by sensor measurement The hardness at the tissue position of value characterization finger tip pressing, in this, as subsequently selected, the different massage manipulation massage forces of control The reference quantity of size realizes prediction and closed-loop control to massage force, further promotes the intelligence for freeing massaging manipulator Degree.And can be applied in combination with near-infrared blood vessel imaging module, infrared thermal imaging module etc., be configured to realize diversification by Rub and massage effect feedback highly integrated device, so as to preferably detected in massage processes human vas, tissue Physiological status.The utility model to optimization massage effect, establish effect assessment and monitoring mechanism, alleviate masseur's operating pressure and have It is significant, effective laboratory facilities are provided to disclose Chinese traditional massage mechanism and curative effect affecting laws.

Detailed description of the invention

Attached drawing described herein is used to provide a further understanding of the present invention, and is constituted part of this application, The illustrative example and its explanation of the utility model do not constitute the improper limit to the utility model for explaining the utility model It is fixed.

Fig. 1 is the overall appearance structural representation of the utility model；

Fig. 2 is the bionical palm of the utility model, finger surface structure schematic diagram；

Fig. 3 is the bionical palm, finger structure main view of the utility model；

Fig. 4 is the bionical palm, finger structure rearview of the utility model；

Fig. 5 is the bionical palm surface structure schematic diagram of the utility model；

Fig. 6 is the bionical palm structure sectional view of the utility model；

Fig. 7 is the A-A schematic cross-sectional view of Fig. 6；

Fig. 8 is the bionic finger component explosive view of the utility model；

Fig. 9 is the finger tip base construction schematic diagram of the utility model；

Figure 10 is the schematic top plan view of Fig. 9；

Figure 11 is the Pneumatic artificial muscle structural schematic diagram of the utility model；

Figure 12 is the piezoelectric ceramics polarization subregion schematic diagram of the first, second bending vibration module of the utility model.

In figure: 1, flexible artificial skin；2, graininess protrusion micro array structure；3, finger tip fexible film piezoresistance sensor； 4, finger tip top cover；5, finger tip pedestal；6, miniature reflective laser displacement sensor；7, Pneumatic artificial muscle；8, upper support bar；9, Spring washer；10, hexagon thin nut；11, soket head cap screw；12, terminal plate；13, tail portion；14, palm pedestal；15, thumb is pacified Fill seat；16, ultrasound electric machine；17, cyclic annular bipolar magnet；18, non-contact type magnetic angular displacement sensor；19, drive shaft；20, defeated Shaft；21, binding post；22, palm fexible film piezoresistance sensor；23, " Z " shape rectangular recess；24, circular groove；25, One bending vibration module；26, the second bending vibration module；27, center stand column；28, lower support bar；29, sliding sleeve；30, bowl-shape face；31, upper company Connect end cap；32, spring steel wire；33, rubber tube；34, lower connection end cap；35, fluid inlet；36, pipe fitting；37, piezoelectric ceramics Piece；38, electrode slice.

Specific embodiment

The detailed content and its specific embodiment of the utility model are further illustrated with reference to the accompanying drawing.

Referring to shown in Fig. 1 to Figure 12, the flexible drive bionics massage based on Pneumatic artificial muscle of the utility model is mechanical Hand, including parallel flexible driving unit, tactilely-perceptible unit, ultrasonic drive unit, piezoelectric vibrator unit, flexible artificial skin, Bionical palm.Palm pedestal 14, thumb mounting base 15 and every 8 join domain of upper support bar are machined with 3 in 120 degree of annulars Symmetrical counter sink is matched with the size of Pneumatic artificial muscle 7, lower connection end cap 34, and outside 34 end of lower connection end cap Surface is machined with external screw thread.Parallel flexible driving unit end and 8 peripheral through holes transition fit of upper support bar, and it is thin by hexagonal Nut 10 and the fixed locking of spring washer 9, it is ensured that parallel drive unit is closely connect with palm.It is passed through compressed air, it is in parallel soft Property driving unit axial elongation, it is flexible when finger tip indentation tissue generates juxtaposition metamorphose to drive finger tip axial elongation Thin film sensor measures contact force size using piezoresistive effect and feeds back to controller.Meanwhile being installed on the miniature of finger tip pedestal Reflective laser displacement sensor 6 measures parallel drive unit axial elongation and simultaneously feeds back to controller, by contact force value with The hardness number at the tissue position of the ratio characterization finger tip pressing of axial elongation, and the value is timely feedbacked to controller. Controller determines the massage force size of different movements as reference quantity according to program, thus by changing more pneumatic people The ventilatory capacity of work muscle realizes the multiple degrees of freedom massaging action of specified dynamics.Realization refer to by, refer to rub make when, it is soft by finger tip Timely feedbacking for property film piezoresistance sensor 3, realizes the closed-loop control of massage force.In addition, flexible 1 envelope of artificial skin is in five The graininess protrusion micro array structure 2 for referring to the distribution of finger tip surface, is capable of increasing frictional force when contacting with tissue.Meanwhile The piezoelectric vibrator unit of finger tip is receiving phase differenceTwo high-frequency voltage signals excitation after, two can be inspired in sky Between all have on the upper and timeThe high frequency flexural vibration mode of phase difference, so that finger tip be driven to make the high frequency vibrating of micro- a small range It is dynamic.Further, realization macro and micro servo is combined with macroscopical massaging action.To realize that the five fingers kneading etc. refers to that combination massage is dynamic more Make, output torque can be rotated by driving 16 output shaft 20 of ultrasound electric machine, to drive thumb mounting base 15 and ring-type bipolar Magnet 17 realizes rotary motion, expands the motion range of thumb.Meanwhile it being detected by non-contact type magnetic angular displacement sensor 18 The rotational angle of cyclic annular bipolar magnet 17 measures the precise angular displacement of thumb mounting base 15 and timely feedbacks, to realize to thumb Refer to the closed-loop control of position rotation angle.It, can be by being pasted onto the centre of the palm when realizing the massaging actions such as the full palm presses, the full palm pushes away Palm fexible film piezoresistance sensor 22 detects contact force size and timely feedbacks, to realize the closed-loop control of massage force. It, can be with near-infrared blood vessel imaging module, infrared to preferably detect human vas, tissue physiology's state in massage processes Thermal imaging module etc. is applied in combination, and is configured to realize the highly integrated dress of diversified massaging action, massage effect feedback comprehensively It sets.

The parallel flexible driving unit includes three elongation type pneumatic artificial-muscles, 7, finger tip pedestals 5.Finger tip base 5 bottom center of seat are equipped with the prismatic pair that upper support bar 8 and sliding sleeve 29 form, and sliding sleeve 29 can be moved up and down along upper support bar 8. Bottom surface is machined with 3 threaded holes and a spiral shell close to circumferential edges in 120 degree of circular symmetric distributions around upper support bar 8 Pit.Upper cylindrical partial outer face is machined with external screw thread and side is provided with groove, convenient for by the electric wire of piezoelectric vibrator unit Cable exports inside finger tip.Annular groove is machined with inside column part, for placing piezoelectric vibrator unit, groove floor center To be machined with externally threaded center stand column 27.Every Pneumatic artificial muscle 7 by outer layer spring steel wire 32, internal layer rubber tube 33, on Connection end cap 31, lower connection end cap 34 form, and two end caps and 33 pressure injection of internal layer rubber tube are at an entirety, outer layer spring steel wire 32 are closely looped around 33 outer surface of internal layer rubber tube, and both ends are welded with end cap, and fluid inlet 35 is for being passed through compressed air.Three Root Pneumatic artificial muscle 7 is rigidly connected with finger tip pedestal 5 by screw thread pair in 120 ° of circular symmetric distributions, upper connection end cap 31. When being passed through compressed air to Pneumatic artificial muscle 7, axial elongation；Gas is discharged, is returned to original state.Pass through control three The size of the ventilatory capacity of root pneumatic muscles can be realized the axial elongation and space multi-direction bending of driving unit.With high resiliency Pneumatic artificial muscle be multiple freedom parallel mechanism flexible unit body, pass through application multiple parallel flexible driving units group Close the plurality of massage operations, it can be achieved that the finger of simulation people.

The tactilely-perceptible unit includes finger tip fexible film piezoresistance sensor 5, palm fexible film piezoresistance sensor, micro- Type reflective laser displacement sensor 6, finger tip top cover 4.Flexible thin film sensor compliance is good, small in size, convenient and flexible installation. Finger tip fexible film piezoresistance sensor 3, palm fexible film piezoresistance sensor 22 are spherical with finger tip top cover respectively by seccotine Surface, centre of the palm plane fit closely, and miniature reflective laser displacement sensor 6 is by screw thread pair and finger tip pedestal 5 close to circumference The threaded hole at edge is rigidly connected.4 inner surface of finger tip top cover is threaded, and is rigidly connected with finger tip pedestal 5 by screw thread pair. 3 envelop-type of finger tip fexible film piezoresistance sensor is distributed in the spherical surface of finger tip top cover 4, is passed through compressed air, parallel flexible Driving unit axial elongation, so that finger tip axial elongation is driven, when finger tip indentation tissue generates juxtaposition metamorphose, flexible thin Film sensors feed back to controller using piezoresistive effect measurement contact force size.Meanwhile it being installed on miniature anti-on finger tip pedestal 5 It penetrates formula laser displacement sensor 6 to measure parallel drive unit axial elongation and feed back to controller, passes through contact force and axial direction The hardness number at the tissue position of the ratio characterization finger tip pressing of elongation is subsequently selected, the different massaging actions of control Massage force size provides reference quantity, improves the intelligence degree of bionics massage manipulator.Realization refer to by, refer to rub make when, By timely feedbacking for finger tip fexible film piezoresistance sensor 3, the closed-loop control of massage force is realized.Palm fexible film pressure drag Sensor 22 is distributed in palm planar central, when realizing the massaging actions such as the full palm presses, the full palm pushes away, centre of the palm plane and human body group When knitting contact, the contact force of palm and tissue is measured using piezoresistive effect and is timely feedbacked, realizes the closed loop of massage force Control.

The ultrasonic drive unit includes ultrasound electric machine 16, cyclic annular bipolar magnet 17, non-contact type magnetic angle displacement transducer Device 18, thumb mounting base 15.15 upper surface center of thumb mounting base is equipped with upper support bar 8,8 upper end ballhead of upper support bar and cunning The bowl-shape face 30 for covering 29 lower ends is in contact, and the position of spherical pair can be adaptively adjusted when parallel drive flexible unit moves, Improve the rigidity and robust motion of the driving unit.It is machined with rectangular recess inside it, is mounted on thumb installation convenient for placing The pneumatic line of parallel flexible driving unit on seat 15.The output shaft 20 of ultrasound electric machine 16 by in thumb mounting base 15 Hole interference fit, which is realized, to be connected firmly, and 18 compact of non-contact type magnetic angular displacement sensor is easy for installation, makes it by seccotine The rectangular recess inner wall at thumb close with palm end connects firmly.Cyclic annular 17 inner hole of bipolar magnet by with by 16 drive shaft 19 of ultrasound electric machine Interference fit is realized and is connected firmly.For ultrasound electric machine 16 after receiving voltage signal excitation, output shaft 20 rotates output torque, thus Thumb attachment base 15 and cyclic annular bipolar magnet 17 is driven to realize rotary motion, so as to realize that the five fingers kneading etc. refers to combination more Massaging action.Non-contact type magnetic angular displacement sensor 18 measures thumb by detecting the rotational angle of cyclic annular bipolar magnet 17 Refer to the angular displacement of mounting base 15 and timely feedback, to realize the closed-loop control to thumb position rotation angle degree.

The piezoelectric vibrator unit includes the first bending vibration module 25 and the second bending vibration module 26.Two bending vibration module axle center are equal Be threaded through-hole, from top to bottom successively be machined with externally threaded center stand column 27 and be rigidly connected by screw thread pair, and put It sets in the annular groove of finger tip pedestal 5.The first bending vibration module 25, the second bending vibration module 26 include two panels piezoelectric ceramics Electrode slice 38 is clipped in the middle by piece 37 and a piece of electrode slice 38, the two panels piezoelectric ceramic piece 37, and every piezoelectric ceramic piece 37 is equal The polarization subregion for having two polarization directions in left and right opposite, and two panels piezoelectric ceramic piece 37 is in the polarization side of the polarization subregion of the same side To opposite.First bending vibration module 25 and the second bending vibration module 26 are used to generate bending vibration, and by Vibration propagation to finger tip top Lid 4.Applying phase difference on two panels electrode slice 38 respectively isHigh-frequency voltage signal, will respectively in two bending vibration modules swash All it is with phase difference in sending two spatially and temporallyHigh frequency flexural vibration mode so that in center stand column 27 Particle planar makees elliptic motion, and makees 360 degree of high frequencies of micro- a small range around axis by rubbing action driving finger tip top cover 4 Rotary motion, to be aided with the microcosmic high-frequency vibration of finger tip while realizing macroscopical massaging action.

The flexibility artificial skin 1 is the integral type variable density soft body structure prepared using latex material 3D printing, thick Degree be 2mm, flexibility, elasticity with height, can tight in palm finger surface.It will be flexible artificial using seccotine 1 end of skin and palm stick together, prevent flexible artificial skin 1 from falling off in massage processes.Flexible artificial skin 1 is removing It four finger finger tips other than thumb and is all provided with close to the position of thumb mounting base 15 jagged, convenient for ultrasound electric machine 16, flexible passes The electric appliance cable of sensor, piezoelectric vibrator unit etc. is drawn from finger interior.Filling of the artificial skin close to finger belly side material Density is less than close to the packed density for referring to back side material, is advantageously implemented the bending motion of finger inwardly.Its envelope is in five The finger tip surface of a finger is the Non-smooth surface topographical surface that graininess protrusion micro array structure 2 is distributed with, and is capable of increasing and human body Frictional force when tissue contact, further strengthens massage effect.

The bionical palm includes palm body and terminal plate 12, and wherein palm body is by palm pedestal 14, four upper branch Strut 8 and tail portion 13 are constituted.The terminal plate is equipped with two rows of binding posts 21, four right angles processing there are four counter sink, with Four soket head cap screws 11 cooperate, to be rigidly connected with palm body.The palm body is using nylon material 3D printing Integral structure, have enough toughness and intensity.It is equipped with " Z " shape rectangle groove 23 inside palm, can reduce massage The overall weight of manipulator, meanwhile, convenient for installing the auxiliary elements such as pneumatic circuit inside massaging hand.The nearly thumb end of palm is equipped with Two rectangular recess, the groove on the back of the hand is for placing ultrasound electric machine 16 and non-contact type magnetic angular displacement sensor 18, the groove positioned at palmar side is connected with " Z " shape rectangle groove 23, for by the pneumatic tube of thumb parallel drive unit Pass goes out.Palm thumb end side surface be equipped with circular through hole, the output shaft 20 convenient for ultrasound electric machine 16 pass through and with thumb mounting base 15 connections.The electric appliance cable of the elements such as sensor, ultrasound electric machine 16 successively draws from palm groove, 1 notch of flexible artificial skin Out, connect with the front-seat binding post 21 of the tail portion 13 on the terminal plate 12, the conducting wire on the heel row binding post 21 of tail portion 13 from The upper rear bypass with it is subsequent can the control cabinet (not shown) in mechanism connect.8 bar upper end ballheads of the upper support with The bowl-shape face 30 of 29 lower end of sliding sleeve is in contact, and the position of spherical pair can be adaptively adjusted when parallel drive flexible unit moves It sets, to improve the rigidity and robust motion of the driving unit.The tail end is machined with circular groove 24 and 3 are in 120 degree of circular symmetric formulas distribution threaded hole, to be connect with ex-ternal transmissions mechanism (not shown)s such as bionic arms, thus make by The hand that rubs obtains bigger space.

Embodiment:

Referring to figs. 1 to Figure 12, the flexible drive bionics massage manipulator based on Pneumatic artificial muscle of the utility model should The overall dimensions of manipulator are slightly larger than manpower actual size, suitable for the massage of each tissue site of human body, are especially suitable for back, neck The massage in portion.The direct effect of the utility model is that intelligentized assistant massaging device is provided for manual massage, can alleviate and press Teacher of the rub'ssing operating pressure improves massage efficiency.The manipulator is by parallel flexible driving unit, tactilely-perceptible unit, ultrasound-driven list Member, piezoelectric vibrator unit, flexible artificial skin and bionical palm composition.The parallel flexible driving being made of Pneumatic artificial muscle is single Member can be realized the multifreedom motion of each finger.Manipulator provided by the utility model has 16 freedom of motion, Functional integration is high, it is flexible big, compact-sized, it can be achieved that the pushing away of simulation manpower, by, the massaging actions such as rub, pinch.Meanwhile this reality Human body different parts tissue hardness is perceived to adjusting massage dynamics by tactilely-perceptible unit with novel, improves manipulator Intelligence degree.On this basis, it can further be integrated with near-infrared blood vessel imaging module, infrared thermal imaging module etc., be Body massaging quality provides effective characterization method and evaluation mechanism, further promotes massage effect, therefore in family's service-delivery machine The fields such as people, medical rehabilitation, Chinese physical therapy have significant application value.

Flexible drive bionics massage manipulator based on Pneumatic artificial muscle, including parallel flexible driving unit, tactile feel Know unit, ultrasonic drive unit, piezoelectric vibrator unit, flexible artificial skin, bionical palm.Wherein, thumb parallel flexible drives Unit is mounted in thumb mounting base 15, remaining parallel flexible driving unit is mounted in palm body.Tactilely-perceptible unit is glutinous Invest palm centre of the palm plane and the five fingers finger tip surface.Piezoelectric vibrator unit is installed on inside finger tip.Ultrasonic drive unit installation In the nearly thumb end of palm, wherein ultrasound electric machine 16 and non-contact type magnetic angular displacement sensor 18 are mounted on the back of the hand at nearly thumb end In groove, thumb mounting base 15 is installed on nearly thumb end side surface and is bonded therewith.Flexible artificial skin 1 is wrapped in palm, finger Surface.Manipulator mainly passes through compressed air and is driven.

In specific massage processes, firstly, it is passed through compressed air, so that parallel flexible driving unit axial elongation, thus band Dynamic finger tip axial elongation.When finger tip indentation tissue generates juxtaposition metamorphose, finger tip fexible film piezoresistance sensor 3 utilizes pressure Inhibition effect measurement contact force size simultaneously feeds back to controller.Meanwhile the miniature reflective laser displacement for being installed on finger tip pedestal 5 passes Sensor 6 measures parallel drive unit axial elongation and feeds back to controller, by the ratio for contacting force value and axial elongation The hardness number at the tissue position of finger tip pressing is characterized, and the value is timely feedbacked to controller.Controller is as ginseng The massage force size that different movements are determined according to program is considered, to pass through the ventilatory capacity for changing more Pneumatic artificial muscles 7 Realize the multiple degrees of freedom massaging action of specified dynamics.

If want to realize to the finger of tissue by, refer to and rub massage, controller is by adjusting the logical of more Pneumatic artificial muscles 7 Tolerance realize the finger of specified dynamics by, refer to and rub works, and timely feedbacking by finger tip fexible film piezoresistance sensor 3, realization The closed-loop control of finger tip massage dynamics.In addition, the graininess protrusion microarray knot of flexible 1 the five fingers finger tip surface of artificial skin distribution Structure 2 is capable of increasing frictional force when contacting with tissue.While realizing macroscopical massaging action, the piezoelectric vibrator of finger tip Unit is receiving phase differenceTwo high-frequency voltage signals excitation after, can inspire two spatially and temporally on all HaveThe high frequency flexural vibration mode of phase difference, so that finger tip be driven to make the high-frequency vibration of micro- a small range.

If wanting to realize that the five fingers kneading etc. refers to combination massage more, controller is by adjusting the logical of more Pneumatic artificial muscles 7 Tolerance realizes that more fingers of specified dynamics combine massaging action.If it is impossible to meet movements to want for the original space of thumb at this time It asks, then can rotate output torque by driving 16 output shaft 20 of ultrasound electric machine, to drive thumb attachment base 15 and cyclic annular pair Pole magnet 17 realizes rotary motion, expands the motion range of thumb.Meanwhile it being examined by non-contact type magnetic angular displacement sensor 18 The rotational angle of cyclic annular bipolar magnet 17 is surveyed to measure the precise angular displacement of thumb mounting base 15 and timely feedback, and passes through finger tip Fexible film piezoresistance sensor 3 timely feedbacks finger tip massage dynamics, realizes close to thumb position rotation angle degree respectively Ring control and the closed-loop control of finger tip massage dynamics.

If wanting to realize the palm class massage manipulations such as the full palm presses, the full palm pushes away, it is single that controller keeps five parallel flexibles to drive The original state of member is constant, and only realizes the pushing of palm part, the movement such as flat-pushing.By the palm for being adhered to centre of the palm plane Fexible film piezoresistance sensor 22 detects contact force size and timely feedbacks, to realize the closed-loop control of massage force.To Human vas, tissue physiology's state are preferably detected in massage processes, can with near-infrared blood vessel imaging module, it is infrared heat at As module etc. is applied in combination, it is configured to realize the highly integrated device of diversified massaging action, massage effect feedback comprehensively.

The foregoing is merely the preferred embodiments of the utility model, are not intended to limit the utility model, for ability For the technical staff in domain, various modifications and changes may be made to the present invention.It is all to made by the utility model it is any modification, Equivalent replacement, improvement etc., should be included within the scope of protection of this utility model.

Claims (7)

1. a kind of flexible drive bionics massage manipulator based on Pneumatic artificial muscle, it is characterised in that: by compressed air into Row driving, including parallel flexible driving unit, tactilely-perceptible unit, ultrasonic drive unit, piezoelectric vibrator unit, flexible artificial skin Skin, bionical palm, the parallel flexible driving unit are distributed on five fingers, the parallel flexible driving unit on middle finger It is mounted on thumb mounting base (15), remaining four parallel flexible driving unit is mounted in the palm body of bionical palm；Touching Feel that sension unit attaches to palm centre of the palm plane and five finger fingertip surfaces；Piezoelectric vibrator unit is installed on inside finger tip； Ultrasonic drive unit is installed on the nearly thumb end of palm pedestal (14), the ultrasound electric machine (16) in ultrasonic drive unit with it is non-contact Formula magnetism angular displacement sensor (18) is mounted in the back of the hand groove at nearly thumb end, and thumb mounting base (15) is installed on palm pedestal (14) side is simultaneously bonded therewith；Flexible artificial skin (1) is wrapped in palm, finger surface；

The parallel flexible driving unit is: there are three the screw threads in the distribution of 120 degree of circular symmetrics for the processing of finger tip pedestal (5) bottom surface Hole and a threaded hole close to circumferential edges, three Pneumatic artificial muscles (7) pass through screw thread in 120 ° of circular symmetric distributions It is rigidly connected with finger tip pedestal (5)；

The ultrasonic drive unit is: the output shaft (20) of ultrasound electric machine (16) is matched by the hole interference with thumb mounting base (15) It closes and realizes being connected for ultrasound electric machine (16) and thumb mounting base (15), non-contact type magnetic angular displacement sensor (18) passes through strength Glue is fixed on the rectangular recess inner wall at the nearly thumb end of palm, the driving of cyclic annular bipolar magnet (17) inner hole and ultrasound electric machine (16) Axis (19) interference fit；

The piezoelectric vibrator unit is: the axle center of the first, second bending vibration module (25,26) is threaded through-hole, on to Under successively be machined with externally threaded center stand column (27) and be rigidly connected by screw thread pair, and be placed on the ring of finger tip pedestal (5) In connected in star；First bending vibration module (25), the second bending vibration module (26) generate bending vibration and propagate to finger tip top cover (4), and first is curved The bending vibration that the bending vibration and the second bending vibration module (26) that vibration module (25) generates generate spatially existsPhase difference；

The flexibility artificial skin (1) is the integral type variable density soft body structure prepared by 3D printing, it can be achieved that flexible pull And elastic recovery, can close envelope in palm, finger surface；Flexible artificial skin is equipped with notch, and envelope is in five The finger tip surface of finger is the Non-smooth surface topographical surface that graininess protrusion micro array structure (2) is distributed with；It will be soft using seccotine Property artificial skin (1) and palm pedestal (14) be connected.

2. the flexible drive bionics massage manipulator according to claim 1 based on Pneumatic artificial muscle, it is characterised in that: Finger tip pedestal (5) bottom center of the parallel flexible driving unit is equipped with the shifting of lower support bar (28) and sliding sleeve (29) composition Dynamic pair, sliding sleeve (29) can be moved up and down along lower support bar (28)；Every Pneumatic artificial muscle of parallel flexible driving unit (7) by the spring steel wire of outer layer (32), the rubber tube (33) of internal layer, upper connection end cap (31), lower connection end cap (34), pipe fitting (36) it forms, at an entirety, spring steel wire (32) is close for the upper and lower connection end cap (31,34) and rubber tube (33) pressure injection It is looped around rubber tube (33) outer surface, the both ends of spring steel wire (32) are welded with upper and lower connection end cap (31,34) respectively；Pipe connects Head (36) is connect with fluid inlet (35) by screw thread pair, for being passed through compressed air.

3. the flexible drive bionics massage manipulator according to claim 1 based on Pneumatic artificial muscle, it is characterised in that: The tactilely-perceptible unit external envelope formula is distributed in the surface of finger tip, the centre of the palm；Wherein, finger tip top cover (4) inner surface is machined with Screw thread is rigidly connected with finger tip pedestal (5) by screw thread；By seccotine by finger tip fexible film piezoresistance sensor (3), palm Fexible film piezoresistance sensor (22) attaches to the spherical surface of finger tip top cover (4), in the plane of the palm centre of the palm respectively, microreflection Formula laser displacement sensor (6) is connected by screw thread and finger tip pedestal (5)；It is passed through compressed air, parallel flexible driving unit axis To elongation, so that finger tip axial elongation is driven, when finger tip indentation tissue generates juxtaposition metamorphose, finger tip fexible film pressure drag Sensor (3) measures contact force size using piezoresistive effect and feeds back to controller；Meanwhile it being installed on finger tip pedestal (5) Miniature reflective laser displacement sensor (6) measurement parallel drive unit axial elongation simultaneously feeds back to controller, passes through contact The ratio of force value and axial elongation characterizes the hardness at the tissue position of finger tip pressing.

4. the flexible drive bionics massage manipulator according to claim 1 based on Pneumatic artificial muscle, it is characterised in that: The output shaft (20) of ultrasound electric machine (16) in the ultrasonic drive unit rotates output torque, to drive thumb mounting base (15) and cyclic annular bipolar magnet (17) realizes rotary motion, and non-contact type magnetic angular displacement sensor (18) is cyclic annular by detection The rotational angle of bipolar magnet (17) measures the precise angular displacement of thumb mounting base (15) and feeds back to controller, is conducive to reality Now thumb position rotation angle degree is accurately controlled.

5. the flexible drive bionics massage manipulator according to claim 1 based on Pneumatic artificial muscle, it is characterised in that: The first bending vibration module (25) and the second bending vibration module (26) in the piezoelectric vibrator unit generate bending vibration, and propagate to Finger tip top cover (4)；Applying in the first bending vibration module (25) and the second bending vibration module (26) respectively hasThe high-frequency electrical of phase difference Press signal, will be inspired in the first bending vibration module (25) and the second bending vibration module (26) respectively two spatially and temporally on All haveThe high frequency flexural vibration mode of phase difference, so that the particle in center stand column (27) planar makees elliptic motion, and 360 degree of high-frequency rotating movements are done around axis by rubbing action driving finger tip top cover (4), thus realizing the same of macroscopical massaging action When, it is aided with the microcosmic high-frequency vibration of finger tip.

6. the flexible drive bionics massage manipulator according to claim 1 based on Pneumatic artificial muscle, it is characterised in that: The flexible artificial skin (1) is the integral type variable density soft body structure prepared using latex material 3D printing, close to finger belly The packed density of side material is less than close to the packed density for referring to back side material；By flexible people by the way of strength glue Work skin (1) and palm pedestal (14) are connected, to prevent flexible artificial skin (1) from falling off in massage processes；Flexible artificial skin Skin (1) is equipped with notch.

7. the flexible drive bionics massage manipulator according to claim 1 based on Pneumatic artificial muscle, it is characterised in that: The bionical palm includes palm body and terminal plate (12), and wherein palm body is by palm pedestal (14), four upper support bars (8) and tail portion (13)；Bionical palm is the integral structure using nylon material 3D printing, and (12) four right angles of terminal plate add There are four counter sinks for work, are connected by screw thread pair and palm pedestal (14)；It is internal to have a groove structure, on upper support bar (8) End ballhead is in contact with the bowl-shape face (30) of sliding sleeve (29) lower end, and the end of tail portion (13) is equipped with circular groove (24) and three The threaded hole being distributed in 120 degree of circular symmetric formulas.