CN208645318U - Software pneumatic type joint assistance equipment - Google Patents
Software pneumatic type joint assistance equipment Download PDFInfo
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- CN208645318U CN208645318U CN201820315719.8U CN201820315719U CN208645318U CN 208645318 U CN208645318 U CN 208645318U CN 201820315719 U CN201820315719 U CN 201820315719U CN 208645318 U CN208645318 U CN 208645318U
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Abstract
This application involves human body power-assisted machinery fields, disclose a kind of software pneumatic type joint assistance equipment, comprising: limbs attachment and at least one set of air bag that limbs attachment surface is arranged in；Wherein, the limbs attachment is used to the joint assistance equipment being fixed on limbs surface；Every group of air bag corresponds to the joint setting of the limbs, includes at least one air bag in every group of air bag, and the sectional area and/or volume of at least one air bag reduce from the joint to two sides.The technical solution of the embodiment of the present application is by using the air bag set-up mode reduced to joint two sides, the deformation that can be generated air bag reduces from articulation center to two sides, to which the deformation of the power-assisted and entirety that provide equipment is more consistent with the action form in joint, more meet while needing power-assisted of joint action providing, also make equipment is whole to be all more bonded limbs under any state, meets the needs of user is to various aspects such as equipment performance and comforts comprehensively.
Description
Technical field
This application involves human body power-assisted machinery field, in particular to a kind of software pneumatic type joint assistance equipment.
Background technique
Human body power-assisted machinery is usually to provide additional machine power, for auxiliary or enhancing purpose, for human body to assist
The equipment that human body completes the movement that it is normally difficult to realize, typical human body power-assisted machinery are generally attached to people in the form of ectoskeleton
Body region of interest.As a kind of equipment used close to human body, either civilian or military human body power-assisted is mechanical, final
Target should be promotion operating efficiency and the comfort that uses of user as far as possible under the premise of meeting safety and practicability.
The human body power-assisted of early stage is mechanical all to be formed using rigid element, and this design method is easier to realize, also compares appearance
Linear force easy to control transmits and provides strong body-support, but because of the heavy and chill of rigid element, user is when wearing
It does not feel good easily yet；Rigid element is when completing some soft and craftsmenship movements simultaneously, such as joint action etc., also very
Difficult perfect matching human body requirements.Further occurs the compliant member of some pneumatic actuations in the prior art thus, these are flexible
Component is mainly used for assisting joint action.
Further, soft robot gloves as shown in Figure 1 are provided in the prior art, by being arranged in finger position
A series of air bag (pneumatic network) come assist finger realize bending and stretching.Specifically as shown in Fig. 2, when the gas to pneumatic network
When inflating in capsule, the untethered one side meeting volume expansion of air bag, unilateral expansion causes whole Bending Deformation, thus curved for finger
Song provides power-assist power.
But inventor has found that pneumatic network is multiple in the prior art during realizing technical scheme
Air bag is indistinguishably arranged on entire limbs (finger), the inflation and air-breathing of each air bag shrink be also it is indiscriminate,
The final effect of its practical expansion and contraction is as shown in Figure 2.As seen from Figure 2, the flexible part of pneumatic actuation in the prior art
Still there is biggish differences for the limbs construction of the case where actual forces of part are transmitted and deformed and human body.It is set using Fig. 1,2
Meter mode can drive finger to generate certain bending although uniformly bending to semicircular power assistive device, because being bent feelings
Condition and people's limbs bending situation (limbs of people are more closely similar to concatenated link mechanism, only generate bending in joint, joint it
Outside it is still straight structure) there is larger difference, it can arch upward in actual use in joint and limbs can not be bonded；If passed through
Tighter constraint is detached from limbs to limit to arch upward, and can locally apply excessive binding force (pulling force or frictional force etc.) to limbs,
Cause user uncomfortable, in some instances it may even be possible to impaired user limbs.
In addition, Fig. 1,2 design method power-assisted can be provided for arthrogryposis, but in joint extension, if only according to
Make its reverse strain, by carrying out pumping pressure (negative pressure state can be pumped into) to air bag to drive limbs to open, with current material
For material and technological level, taking out pressure energy keeps the reverse strain of air bag generation smaller, is difficult to provide enough power-assisteds, limbs is assisted to stretch
The effect is unsatisfactory for exhibition.
Utility model content
It is more preferably matched in view of this, the main purpose of the utility model is to provide one kind with joint motion situation, user
More comfortable software pneumatic type joint assistance equipment is worn, to promote the efficiency, effect and level of comfort of joint assistance equipment.
In order to achieve the above objectives, the embodiment of the present application is set in a first aspect, providing a kind of software pneumatic type joint assistance
It is standby, comprising: limbs attachment and at least one set of air bag that limbs attachment surface is set；Wherein, the limbs attachment
Object is used to the joint assistance equipment being fixed on limbs surface；Every group of air bag corresponds to the joint setting of the limbs, often
It include at least one air bag, the sectional area of at least one air bag and/or volume in group air bag from the joint to two sides
Reduce.
Optionally, in every group of air bag, at least one described air bag corresponds at least one surface setting in the joint.
Optionally, multiple air bags that the same surface is arranged in are connected to by least one gas channels.
Optionally, the side in the joint is provided at least one shaft, and multiple air bags on the same surface are arranged in
Bottom is connected with the shaft.
Optionally, the bracket of rigidity and/or toughness is provided on the outside of the air bag, the air bag is connected by the bracket
It is connected to the shaft.
Optionally, the bottom of the air bag extends along the side in joint to opposite another surface, simultaneously around the limbs
Wrap up the joint.
It optionally, include that an air bag of the intraarticular surfaces is set and/or is arranged in the pass in every group of air bag
Save multiple air bags of outer surface.
Optionally, one air bag that the intraarticular surfaces are arranged in keeps flexible in non-inflated state,
After-hardening is inflated into specific shape.
Optionally, one air bag that the intraarticular surfaces are arranged in uses high toughness plastic film, thermoplastic
Property elastic polyurethane body rubber or high-strength composite cloth are made.
Optionally, the section of the air bag is arc-shaped, arch, water-drop-shaped or crescent setting.
Optionally, at least one described gas channels are connected at least one set of air bag.
Optionally, at least one described gas channels are arranged in the air bag bottom and/or side.
Optionally, the limbs attachment be using package and/or constraint by the way of be fixed on limbs surface cloth-like and/
Or strip material.
Optionally, at least one the described gas channels for being connected to identical air bag are parallel to each other.
Optionally, at least one described gas channels are by each gasbag isolation at multiple regions.
Optionally, each gas channels are separately connected a gas tube.
Optionally, every group of air bag is symmetrical arranged relative to the articulation center.
Optionally, in every group of air bag, sectional area and/or volume positioned at the air bag of the joint first end are integrally slightly larger than
The other end.
Optionally, the length of one air bag that the intraarticular surfaces are arranged in is greater than described be arranged described
The length of each air bag in the multiple air bag of joint outer surface；Meanwhile described being arranged in described in the intraarticular surfaces
The length of one air bag is close with the total length of the multiple air bag that the joint outer surface is arranged in.
Optionally, the total length of every group of air bag is no more than twice of joint motion region total length.
The technical solution of the embodiment of the present application enables air bag institute by using the air bag set-up mode reduced to joint two sides
The deformation of generation reduces from articulation center to two sides, thus the deformation of the power-assisted and entirety that provide equipment and the movement in joint
Form is more consistent, and more meets while needing power-assisted of joint action providing, and also makes equipment whole under any state
Limbs are all more bonded, meet the needs of user is to various aspects such as equipment performance and comforts comprehensively.
Detailed description of the invention
Fig. 1 is a typical example of soft robot gloves in the prior art；
Fig. 2 is the typical case of the pneumatic network at a finger in soft robot gloves shown in FIG. 1；
Fig. 3 is the structural schematic diagram of software pneumatic type joint assistance equipment in the application one embodiment；
Fig. 4 is the structural schematic diagram of software pneumatic type joint assistance equipment in another embodiment of the application；
Fig. 5 is the structure of software pneumatic type joint assistance equipment in the other directions in the application embodiment illustrated in fig. 4
Schematic diagram；
Fig. 6 is the structural schematic diagram of software pneumatic type joint assistance equipment in the application further embodiment.
Specific embodiment
It is with reference to the accompanying drawing and specific real to make those skilled in the art more fully understand the technical solution of the utility model
Mode is applied to be described in further detail the utility model.Although showing the exemplary embodiment of the disclosure in attached drawing,
It should be appreciated that may be realized in various forms the disclosure and should not be limited by the embodiments set forth herein.On the contrary, providing these
Embodiment is to be able to thoroughly understand the disclosure, and the scope of the present disclosure can be communicated completely to this field
Technical staff.
The essence of human body power-assisted machinery is auxiliary power to be provided for physical activity, thus the usage experience of human body sets power-assisted
It is vital performance indicator for standby, the compliant member of pneumatic actuation occurs in the prior art to promote user experience,
But there are still certain defects when coping with the bending and stretching of joint portion for existing compliant member.It is set further to promote power-assisted
Standby performance, embodiments herein provide a kind of software pneumatic type joint assistance equipment, as shown in Figure 3, comprising: limbs are attached
Object and at least one set of air bag on limbs attachment surface is set；Wherein, the limbs attachment is used for the pass
Section power assistive device is fixed on limbs surface；Every group of air bag corresponds to the joint setting of the limbs, includes extremely in every group of air bag
A few air bag, the sectional area and/or volume of at least one air bag reduce from the joint to two sides.
Wherein, two sides refer to centered on the joint and the direction far from the joint.Reduced by this to two sides
Air bag set-up mode, in the technical solution of the embodiment of the present application, the deformation that air bag can be generated is from articulation center to two sides
Reduce, so that the deformation of the power-assisted and entirety that provide equipment is more consistent with the action form in joint.Therefore it is provided by the present application
On the one hand power-assisted that power assistive device can be such that equipment provides more meets the needs of joint action, on the other hand makes equipment whole any
It is all more bonded limbs under state, while the efficiency and effect for improving auxiliary movement, also improves when user uses
Level of comfort meets the needs of user's various aspects comprehensively.
Optionally, the air bag is made of flexible materials such as silica gel；The limbs attachment be usually using package and/or
The mode of constraint is fixed on the cloth-like and/or strip material on limbs surface, for example, can around the elastic fabric being sleeved on limbs,
Or around component group of limbs etc. after being connected by modes such as hasp/bondings.Limbs attachment, which is integrally similar to, is worn on joint
Or the apparatus on limbs, as knee-pad, elbow support, wrist guard, ankle guard, sphygmomanometer, waistband, purse, knapsack, arm packet, wrist-watch, bracelet or
Gloves etc. as shown in Figure 1, a variety of limbs attachment means existing in the prior art are used equally in the technical solution of the application,
It will not enumerate herein, the concrete form of limbs attachment is not construed as the limitation to the application specific embodiment.
Embodiment one
Further, at least one described air bag corresponds at least one surface setting in the joint, on same surface
Multiple air bags pass through gas channels be connected to；Gas channels can only be connected to multiple air bags of this group, can also be connected to multiple groups simultaneously
Air bag.
The surface in joint generally includes inner surface, outer surface and side, wherein inner surface articulations digitorum manus folds place when being bent
Corresponding surface, surface corresponding to prominence when outer surface articulations digitorum manus is bent, side then refers to other except surfaces externally and internally
Surface.Air bag is preferably provided at the outer surface and/or inner surface in joint.
In the preferred embodiment of the application, as shown in figure 3, the software pneumatic type joint assistance equipment preferably will
Multiple air bags are arranged in the outer surface in joint, and multiple air bags are multiple continuous arches, sectional area/volumes of multiple air bags from
The joint reduces (air bag is maximum i.e. at articulation center, and two sides air bag gradually becomes smaller) to two sides, and multiple air bags are by least
One gas channels connection.
Gas channels are preferably provided at air bag bottom centre, but can also adjust gas channels according to the service condition of equipment
Position and/or quantity.For example, being convenient for along limbs side laying gas tube and at one of air bag or two according to limbs shape
Gas channels are arranged in a side；Multiple gas channels can also be arranged in parallel in air bag bottom, to enhance the efficiency and effect of inflation/deflation
Fruit.Multiple gas channels can be also further advanced by, each gasbag isolation may be used also at multiple regions or even each gas channels
It is separately connected gas tube etc..Air bag expansion can be improved to a certain extent and/or shrink by being preferable to provide mode above all
Effect, be not construed as the limitation to the application specific embodiment in the quantity and/or set-up mode of this gas channels.
Embodiment two
In another preferred embodiment of the application, the bottom of multiple air bags of joint outer surface is set further to pass
The side of section extends, and articular side face corresponding position is provided with shaft, and the bottom of multiple air bags is connected with shaft.Pass through the limit of shaft
Position with it is fixed, the deformation form of air bag can be further limited and direction of having an effect, so that the expansive force that air bag expansion is generated is more
It is converted to the bending force in joint well.
Further, the bracket of rigidity and/or toughness can also be increased on the outside of air bag, air bag is connected by the bracket
To the shaft.Relative to air bag flexible, the limit of bracket and fixed function are become apparent, thus can preferably control shape
Become and power is transmitted, the working efficiency and effect of further lifting means.
Embodiment three
In another preferred embodiment of the application, as shown in Figure 4,5, shape and set-up mode to air bag have been done into one
The change of step.Specifically, in Fig. 4, the bottom of air bag further extends (Fig. 4 to opposite another surface along the side in joint
In illustrate from joint outer surface inner surface extend example), be ultimately formed into package limbs and joint form.Fig. 4,5
In preferred embodiment, air bag is parallel to the section in limbs direction in water-drop-shaped, and the section perpendicular to limbs direction is in crescent.
In the preferred embodiment, air bag wraps limbs, on the one hand can improve the power-assisted exported when expansion with augmented airbag volume,
On the other hand it can also be improved the comfort of wearing.
Example IV
In another preferred embodiment of the application, air bag quantity is not limited only to the form of multiple air bags shown in Fig. 3-5,
Position is also not limited to setting joint outer surface shown in Fig. 3-5.Specifically, in the technical solution of the embodiment of the present application,
Every group of air bag includes at least one air bag, and every group of air bag can be set at the outer surface in joint and/or inner surface.It is i.e. optional
Can multiple air bags be arranged in intraarticular surfaces or outer surface as in Figure 3-5 in ground, wherein the sectional area of each air bag is from center
Place gradually smoothly reduces to two sides, and the maximum secting area (sectional area at i.e. each air bag center) of multiple air bags is from the pass
Reduce at section to two sides.It is of course also possible to be only arranged an air bag in intraarticular surfaces or outer surface, the sectional area of the air bag from
The joint gradually smoothly reduces to two sides.The set-up mode of multiple air bags is preferably as shown in figure 3, it is highly preferred that multiple gas
Capsule is mainly disposed to the outer surface in joint；The set-up mode of single air bag is preferably as shown in fig. 6, it is highly preferred that single air bag
It is mainly disposed at the inner surface in joint；The section of single air bag is arc-shaped in Fig. 6, the arc highest point and articulation center pair
It answers, is gradually reduced then to two sides.
In addition, the embodiment of multiple air bags is shown in the form of singular air bag in Fig. 3-5 illustrated embodiment,
When air bag is odd number, the air bag sectional area and/or volume at articulation center are maximum, the air bag sectional area of center two sides and/
Or volume is successively successively decreased；The embodiment that even number air bag can also be used in certain the embodiment of the present application, when air bag is even number
When, using, as symmetry axis, the air bag sectional area and/or volume at articulation center are maximum at articulation center, cut with rear gasbag
Area and/or volume are successively successively decreased to two sides.Certainly, asymmetrical air bag set-up mode is also optional embodiment, for example,
Under the trend for keeping successively decreasing to two sides, according to the concrete condition for the strength that the shape of limbs or joint motion need, position can be made
Integrally it is slightly larger than the other end in the sectional area and/or volume of the air bag of joint first end.Typically, because usual joint front end acts
Amplitude is bigger, can be arranged larger by the volume of frontal air bag；Or because usual joint rear end need to provide it is enough
The area of rear end air bag bottom can be arranged larger by holding power.Here, the technical solution of the embodiment of the present application is only required
The sectional area of air bag and/or volume reduce from joint to two sides on the whole, and the number and set-up mode of air bag are not construed as pair
The limitation of the application specific embodiment.
Because air bag air-breathing shrink after small volume, sectional area and/or volume difference are unobvious, above-mentioned air bag sectional area and/
Or the ratio of volume size more preferably refers to sectional area and/or volume under air bag inflation state.
In other preferred embodiments of technical scheme, size, number and the total length of air bag regard joint size
Depending on, but every group of air bag is provided only on juxtra-articular without extending excessively to two sides under normal conditions.The total length of every group of air bag
Without departing from twice of joint motion region total length；Joint motion region refers mainly to the meeting Major Limb that deformation occurs when joint motion
Body region；When usual joint motion the skin of bone, muscle and body surface can deformation occurs, but in view of the master that can be observed directly
If the deformation of skin, it is preferably subject to the deformation of limb skin herein.In addition, in the set-up mode of single air bag, single gas
The length of capsule is greater than the length of each air bag in the set-up mode of multiple air bags；Or in other words the set-up mode of single air bag
In, the length of single air bag is close with the total length of multiple air bags in the set-up mode of multiple air bags.It is highly preferred that in Fig. 6 institute
In the embodiment shown, the single air bag that intraarticular surfaces are arranged in not remains flexible, for example high toughness plastic can be used
Film, TPU (Thermoplastic polyurethanes, thermoplastic polyurethane elastomer rubber) or high-strength composite cloth etc.
It is made, non-inflated state keeps soft, can harden into specific shape if inflation, is mentioned with opening after realization inflation for joint
For the effect of the support force of auxiliary.
Embodiments herein provides a kind of software pneumatic type joint assistance equipment, reduces by using to joint two sides
Air bag set-up mode so that the deformation that can be generated of air bag reduces from articulation center to two sides, so that equipment be made to provide
The deformation of power-assisted and entirety is more consistent with the action form in joint.Therefore on the one hand the technical solution of the application can be such that equipment provides
Power-assisted more meet the needs of joint action, on the other hand make equipment is whole to be all more bonded limbs under any state, mentioning
While the high efficiency and effect of auxiliary movement, level of comfort when user uses also is improved, meets user each side comprehensively
The demand in face.
The above, the only preferred embodiment of the utility model, are not intended to limit the protection of the utility model
Range, any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention etc., should be included in
Within the protection scope of the utility model.
Claims (10)
1. a kind of software pneumatic type joint assistance equipment, which is characterized in that the joint assistance equipment include: limbs attachment and
At least one set of air bag on limbs attachment surface is set；Wherein,
The limbs attachment is used to the joint assistance equipment being fixed on limbs surface；
Every group of air bag corresponds to the joint setting of the limbs, includes at least one air bag in every group of air bag, and described at least one
The sectional area and/or volume of a air bag reduce from the joint to two sides.
2. joint assistance equipment according to claim 1, which is characterized in that in every group of air bag, at least one described air bag
At least one surface setting in the corresponding joint.
3. joint assistance equipment according to claim 2, which is characterized in that multiple air bags that the same surface is arranged in are logical
Cross the connection of at least one gas channels.
4. joint assistance equipment according to claim 2, which is characterized in that the side in the joint is provided at least one
Shaft, the bottom that multiple air bags on the same surface are arranged in are connected with the shaft.
5. joint assistance equipment according to claim 4, which is characterized in that be provided on the outside of the air bag rigidity and/
Or the bracket of toughness, the air bag are connected to the shaft by the bracket.
6. joint assistance equipment according to claim 2, which is characterized in that the bottom of the air bag along joint side to
Opposite another surface extends, and around the limbs and wraps up the joint.
7. joint assistance equipment according to claim 2, which is characterized in that include being arranged in the joint in every group of air bag
One air bag of inner surface and/or multiple air bags that the joint outer surface is set.
8. joint assistance equipment according to claim 7, which is characterized in that the institute that the intraarticular surfaces are arranged in
It states an air bag and keeps flexible in non-inflated state, harden into specific shape after inflation.
9. joint assistance equipment according to claim 8, which is characterized in that the institute that the intraarticular surfaces are arranged in
An air bag is stated to be made of high toughness plastic film, thermoplastic polyurethane elastomer rubber or high-strength composite cloth.
10. joint assistance equipment according to claim 1, which is characterized in that the limbs attachment be using package and/
Or the mode of constraint is fixed on the cloth-like and/or strip material on limbs surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820315719.8U CN208645318U (en) | 2018-03-07 | 2018-03-07 | Software pneumatic type joint assistance equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820315719.8U CN208645318U (en) | 2018-03-07 | 2018-03-07 | Software pneumatic type joint assistance equipment |
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| Publication Number | Publication Date |
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| CN208645318U true CN208645318U (en) | 2019-03-26 |
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ID=65772926
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820315719.8U Active CN208645318U (en) | 2018-03-07 | 2018-03-07 | Software pneumatic type joint assistance equipment |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108326828A (en) * | 2018-03-07 | 2018-07-27 | 北京软体机器人科技有限公司 | Software pneumatic type joint assistance equipment |
| CN110840700A (en) * | 2019-11-22 | 2020-02-28 | 苏州软体机器人科技有限公司 | Prefabricated air bag actuator structure |
| CN111449908A (en) * | 2020-04-23 | 2020-07-28 | 华中科技大学 | Sectional type multi-degree-of-freedom soft actuator for human wrist rehabilitation training |
-
2018
- 2018-03-07 CN CN201820315719.8U patent/CN208645318U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108326828A (en) * | 2018-03-07 | 2018-07-27 | 北京软体机器人科技有限公司 | Software pneumatic type joint assistance equipment |
| CN110840700A (en) * | 2019-11-22 | 2020-02-28 | 苏州软体机器人科技有限公司 | Prefabricated air bag actuator structure |
| CN111449908A (en) * | 2020-04-23 | 2020-07-28 | 华中科技大学 | Sectional type multi-degree-of-freedom soft actuator for human wrist rehabilitation training |
| CN111449908B (en) * | 2020-04-23 | 2021-08-31 | 华中科技大学 | Sectional type multi-degree-of-freedom soft actuator for human wrist rehabilitation training |
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Address after: 102600 Building 12, Yard 109, Jinghai 3rd Road, Beijing Economic and Technological Development Zone, Daxing District, Beijing (Yizhuang Cluster, High end Industrial Zone, Beijing Pilot Free Trade Zone) Patentee after: Beijing Software Robot Technology Co.,Ltd. Address before: 102400 room 4, 4 floor, 2 building, 85 Hong Yuan Road, Fangshan District, Beijing. Patentee before: BEIJING SOFT ROBOT TECH Co.,Ltd. |
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| CP03 | Change of name, title or address |