CN219152903U - Single-joint driving soft robot bionic hand capable of being unfolded and folded - Google Patents

Abstract

The utility model relates to a single-joint driving soft robot bionic hand capable of being folded outwards and inwards, which comprises a bionic palm and a bionic forearm, wherein 5 bionic fingers are arranged on the bionic palm, a first driving unit is arranged in the bionic fingers, the first driving unit comprises a first cavity and a plurality of first limiting structures, a swinging air cavity group and at least one bending air cavity are arranged in the first cavity, the swinging air cavity group is positioned at the tail end in the first cavity, the at least one bending air cavity is sequentially arranged at the front end in the first cavity, the swinging air cavity group comprises a first air cavity and a second air cavity which are arranged in parallel, the first air cavity, the second air cavity and all the bending air cavities are independently connected with a driving air source through air pipes, the first limiting structures are fixed on one side of the first cavity, and the position of each first limiting structure corresponds to the position of the swinging air cavity group or one bending air cavity; the first cavity is internally provided with a first framework for limiting radial expansion of the first cavity. The bionic hand has a simple structure and complete functions.

Description

Single-joint driving soft robot bionic hand capable of being unfolded and folded

Technical Field

The utility model relates to the technical field of medical instruments, in particular to a single-joint driving soft robot bionic hand capable of being folded outwards and folded inwards.

Background

Amputation is an extremely painful task for the patient, and at present pain is often relieved by installing a prosthesis. However, the prosthesis is largely merely a furnishing, and has no actual function. Along with the development of science and technology, the bionic hand gradually replaces the artificial limb, and the bionic hand has the bionic functions of grabbing, bending and the like, so that the bionic hand can help a patient to complete basic actions, and is more beneficial to the normal life of the patient.

However, the conventional hand-operated device is complex in structure or single in function, and cannot realize the conventional actions of many normal hands, so that the application of the hand-operated device is limited. Therefore, there is an urgent need in the art for a simulated hand that is simple in structure and relatively complete in function.

Disclosure of Invention

The utility model aims to overcome the defects of the prior art and provide the bionic hand with simple structure and relatively complete functions.

In order to achieve the purpose of the utility model, the following technical scheme is provided.

In a first aspect, the application provides a single-joint driving soft robot bionic hand capable of being folded outwards and inwards, the bionic hand comprises a bionic palm and a bionic forearm, 5 bionic fingers are arranged on the bionic palm, the bionic hand is characterized in that a first driving unit is arranged in the bionic finger, a second driving unit is arranged at the joint of the bionic palm and the bionic forearm, the first driving unit comprises a first cavity and a plurality of first limiting structures, a swinging air cavity group and at least one bending air cavity are arranged in the first cavity, the swinging air cavity group is located at the tail end of the inside of the first cavity, at least one bending air cavity is sequentially arranged at the front end of the inside of the first cavity, the swinging air cavity group comprises a first air cavity and a second air cavity which are arranged in parallel, the first air cavity, the second air cavity and all the bending air cavities are independently connected with a driving air source through air pipes, the first limiting structures are fixed on one side of the first cavity, and the positions of each first limiting structure correspond to the swinging air cavity group or one bending position; the first framework used for limiting radial expansion of the first cavity is arranged in the first cavity.

In an embodiment of the first aspect, the second driving unit includes a second cavity, a third air cavity and a fourth air cavity which are arranged in parallel and have the same aperture are arranged in the second cavity, the third air cavity and the fourth air cavity are independently connected with a driving air source through an air pipe, a second limiting structure is arranged on one side surface outside the second cavity, and a second framework for limiting radial expansion of the second cavity is arranged in the second cavity.

In an embodiment of the first aspect, the materials of the first and second confinement structures are independently selected from materials that are flexible but that limit expansion and contraction.

In an embodiment of the first aspect, the materials of the first cavity and the second cavity are independently selected from flexible materials that are stretchable.

In an embodiment of the first aspect, the materials of the first skeleton and the second skeleton are independently selected from rigid structures, and the cross-sectional projections of the first skeleton and the second skeleton are circular, elliptical, semicircular or square.

In an embodiment of the first aspect, the bionic hand includes a bionic upper arm, and a second driving unit is independently provided at a connection part of the bionic lower arm and the bionic upper arm.

In an embodiment of the first aspect, each air pipe is provided with a control air valve, and the bionic hand is provided with a controller, and the control air valves are connected with the controller and control the switch of the control air valves through the controller.

In one embodiment of the first aspect, a pressure sensor is provided on the finger, and the pressure sensor is connected to the controller and transmits a signal to the controller.

In an embodiment of the first aspect, an attitude sensor is provided in the first and second drive units.

Compared with the prior art, the utility model has the beneficial effects that:

(1) The bionic hand can drive the bionic finger and the bionic wrist to bend (under a positive pressure state) and straighten (under a negative pressure state), can drive the bionic finger and the bionic wrist to swing left and right, can drive a certain specific joint, enriches hand motions, and enables the motion of the bionic hand to be more comprehensive and complete in function;

(2) The driving force of each joint of the bionic hand is large, so that the bionic hand is better and more stable when grabbing objects;

(3) Simple structure and good portability.

Drawings

Fig. 1 is a schematic structural diagram of a bionic hand in embodiment 1;

FIG. 2 is a schematic cross-sectional view of A-A of FIG. 1;

FIG. 3 is a schematic view of section B-B of FIG. 1;

FIG. 4 is a schematic diagram of the structure of a bionic finger when swinging left and right;

FIG. 5 is a schematic view of the structure of a bionic finger when a certain joint is bent;

fig. 6 is a schematic view of the structure of the wrist when the wrist swings left and right.

In the drawing, 1 is a bionic palm, 2 is a bionic forearm, 3 is a first driving unit, 4 is a first cavity, 5 is a bending air cavity, 6 is a swinging air cavity group, 61 is a first air cavity, 62 is a second air cavity, 7 is an air pipe, 8 is a second driving unit, 9 is a second cavity, 10 is a third air cavity, 11 is a fourth air cavity, 12 is a second framework, 13 is a first limiting structure, 14 is a first framework, 15 is a first air channel, and 16 is a second air channel.

Detailed Description

Unless defined otherwise, technical or scientific terms used in the specification and claims should be given the ordinary meaning as understood by one of ordinary skill in the art to which the utility model pertains. All numerical values recited herein as being from the lowest value to the highest value refer to all numerical values obtained in increments of one unit between the lowest value and the highest value when there is a difference of more than two units between the lowest value and the highest value.

In the following, specific embodiments of the present utility model will be described, and it should be noted that in the course of the detailed description of these embodiments, it is not possible in the present specification to describe all features of an actual embodiment in detail for the sake of brevity. Modifications and substitutions of embodiments of the utility model may be made by those skilled in the art without departing from the spirit and scope of the utility model, and the resulting embodiments are also within the scope of the utility model.

Traditional bionic hand has a complex structure or single function. The present application aims to provide a bionic hand which can solve the above problems.

In a specific embodiment, the application provides a single-joint driving soft robot bionic hand capable of being folded outwards and inwards, the bionic hand comprises a bionic palm and a bionic forearm, 5 bionic fingers are arranged on the bionic palm, a first driving unit is arranged in the bionic finger, a second driving unit is arranged at the joint of the bionic palm and the bionic forearm, the first driving unit comprises a first cavity and a plurality of first limiting structures, a swinging air cavity group and at least one bending air cavity are arranged in the first cavity, the swinging air cavity group is positioned at the tail end of the inside of the first cavity, at least one bending air cavity is sequentially arranged at the front end of the inside of the first cavity, the swinging air cavity group comprises a first air cavity and a second air cavity which are arranged in parallel, the first air cavity, the second air cavity and all the bending air cavities are independently connected with a driving air source through air pipes, the first limiting structures are fixed on one side of the first cavity, and the positions of each first limiting structure correspond to the swinging air cavity group or the positions of one bending air cavity; the first framework used for limiting radial expansion of the first cavity is arranged in the first cavity. Through setting up first air cavity and second air cavity, when one of them aerifys, and the other does not aerify or bleed, then can realize that the hand is directed one direction and swing, when the inflation of first air cavity and second air cavity was exchanged to bleed, the finger will swing to opposite direction to realize the side-to-side of finger. When the swinging air cavity group and the bending air cavity are inflated or pumped simultaneously, the fingers can bend; when only the swinging air cavity group or only the bending air cavity is inflated or exhausted, only the corresponding joint is bent, and other joints are not bent. Therefore, the bionic hand can complete some actions such as fist making, grabbing, swinging and the like by controlling the motion states of different driving units and combining the driving units, and the bionic hand has a simple structure. The driving gas source in the present application includes both an inflator and an air extractor, and the power is not required to be too great.

In a specific embodiment, the second driving unit comprises a second cavity, a third air cavity and a fourth air cavity which are arranged in parallel and have the same aperture are arranged in the second cavity, the third air cavity and the fourth air cavity are independently connected with a driving air source through an air pipe, a second limiting structure is arranged on one side face outside the second cavity, and a second framework for limiting radial expansion of the second cavity is arranged in the second cavity. The structure enables the wrist to bend and swing left and right.

In a specific embodiment, the materials of the first limiting structure and the second limiting structure are independently selected from materials which are bent but limited to stretch, for example, one of engineering plastics, nylon and fiber cloth can be selected.

In a specific embodiment, the materials of the first cavity and the second cavity are independently selected from flexible materials capable of stretching, such as silica gel, rubber or PVC.

In one embodiment, the first and second frameworks are independently selected from rigid materials such as stainless steel, aluminum alloys, and the like. The structures of the first framework and the second framework are approximately two types: the framework is of a split structure and comprises a plurality of sections of closed loop stirrups, and all the stirrups are uniformly and fixedly distributed along the axis direction of the cavity. The utility model provides a skeleton structure as an organic whole, includes a plurality of repeating units that connect gradually, and every repeating unit is including top structure, first connection structure, bottom structure and the second connection structure that connect gradually, wherein, the axis direction of top structure perpendicular to cavity, and the top structure evenly distributed and the parallel of all repeating units, bottom structure is located one side that the cavity set up limit structure. The cross-section projection of the first framework and the second framework is round, elliptic, semicircular or square. The skeleton of above-mentioned structure can promote the bearing capacity of air cavity to promote the driving force of bionic hand.

In a specific embodiment, the bionic hand comprises a bionic upper arm, and a second driving unit is independently arranged at the joint of the bionic small arm and the bionic upper arm.

In a specific embodiment, each air pipe is provided with a control air valve, the bionic hand is provided with a controller, the finger is provided with a pressure sensor, the pressure sensor is connected with the controller and transmits signals to the controller, and the control air valves are connected with the controller and control the switch of the control air valves through the controller.

When the object is grabbed, the bionic hand generates pressure on the object, so that enough friction force is obtained, and the bionic hand and the object cannot slide relatively. The pressure sensor is used for sensing the pressure, when the pressure is insufficient, the pressure sensor sends a signal to the controller, the controller controls the air valve to be opened all the time, the driving air source is always in an air charging or air exhausting state for the air cavity, and therefore the curvature of the driving device is gradually increased, and the pressure is gradually increased. When the pressure is enough, the pressure sensor sends out a signal, the controller controls the air valve to be closed, the pressure in the air cavity is kept unchanged, the curvature of the driving device is kept unchanged, and the grabbing pressure is kept unchanged.

Meanwhile, attitude sensors are arranged in the first driving unit and the second driving unit, and the attitude sensors are also connected with the controller. The motion state of the bionic hand, such as a bending angle and the like, can be monitored through the gesture sensor, so that the controller can conveniently send out an adjustment command according to the state of the bionic hand.

Examples

The following will describe embodiments of the present utility model in detail, and the embodiments and specific operation procedures are given by implementing the present utility model on the premise of its technical solution, but the scope of protection of the present utility model is not limited to the following embodiments.

Example 1

The structure of the single-joint driving soft robot bionic hand capable of being folded outwards is shown in figures 1-3, the bionic hand comprises a bionic palm 1 and a bionic forearm 2, 5 bionic fingers are arranged on the bionic palm 1, a first driving unit 3 is arranged in the bionic fingers, and a second driving unit 8 is arranged at the joint of the bionic palm 1 and the bionic forearm 2. Wherein:

the first driving unit 3 comprises a first cavity 4 and a plurality of first limiting structures 13, a swinging air cavity group 6 and one or two bending air cavities 5 (one is arranged in the thumb, two fingers are arranged in the rest) are arranged in the first cavity 4, the swinging air cavity group 6 is positioned at the tail end of the first cavity 4, the bending air cavities 5 are sequentially arranged at the front end of the first cavity 4, the swinging air cavity group 6 comprises a first air cavity 61 and a second air cavity 62 which are arranged in parallel, the first air cavity 61, the second air cavity 62 and the bending air cavities 5 are all provided with air passages and are connected with a driving air source through an air pipe 7 independently, a control air valve (the control air valve and the driving air source are not shown in the figure) is arranged on the air pipe 7, and the control air valve is controlled by a controller. The first limiting structure 13 is fixed on one side of the first cavity 4, and the position of the first limiting structure is matched with the bending air cavity 5 and the swinging air cavity group 6; the interior of the first chamber 4 is provided with a first armature 14 for limiting the radial expansion of the first chamber 4. The first cavity 4 is made of silica gel, has certain extensibility (elasticity), the first limiting structure is made of aluminum alloy, and the first framework 14 is made of stainless steel. A pressure sensor (not shown) is also arranged on the bionic finger, and the pressure sensor is connected with the controller.

The second driving unit 8 comprises a second cavity 9, a third air cavity 10 and a fourth air cavity 11 which are arranged in parallel and have the same aperture are arranged in the second cavity 9, the third air cavity 10 and the fourth air cavity 11 are independently provided with air passages and are connected with a driving air source through an air pipe 7, a control air valve is also arranged on the air pipe 7, (the driving air source and the control air valve are not shown in the figure), and the control air valve is controlled by a controller. One side of the outside of the second cavity 9 is provided with a second restriction structure (not shown in the figure), and the inside of the second cavity 9 is provided with a second skeleton 12 for restricting radial expansion of the second cavity 9. The structure enables the wrist to bend and swing left and right.

When the bionic finger is required to swing left and right, the state is as shown in fig. 4, all the bending air cavities 5 are not inflated, and only the first air cavity 61 or the second air cavity 62 is inflated. When the control valve on the air pipe 7 indicated by a is opened, and the control valve on the air pipe 7 indicated by b is closed, the driving air source charges the first air cavity 61, and the second air cavity 62 does not charge. The first air cavity 61 is inflated and then presses the first cavity 4, and due to the existence of the first framework 14, the first cavity 4 cannot expand, namely, the left side of the first cavity 4 is elongated, and the right side part of the first cavity 4 cannot be elongated due to the fact that the first cavity is not inflated, so that the bionic finger bends rightwards, and the bionic finger is driven to swing rightwards. Then the driving air source stops inflating the first air cavity 61, the air in the first air cavity 61 is pumped out, then the control air valve on the air pipe 7 indicated by a is closed, meanwhile the control air valve of the air pipe 7 indicated by b is opened, the driving air source inflates the second air cavity 62, the first air cavity 61 is not inflated, and at the moment, the whole bionic finger bends leftwards. In the process of continuously repeating the above steps, the bionic finger swings left and right.

When the whole finger needs to bend synchronously, the control air valves corresponding to the first air cavity 61, the second air cavity 62 and the bending air cavity 5 are simultaneously opened, namely the driving air source simultaneously inflates all the air cavities (the thumb has 3 air cavities,

the remaining fingers have 4 air cavities in total, and the inflation pressure of the first air cavity 61 and the second air cavity 62 is required to be consistent, and the sum of the pressures of the first air cavity 61 and the second air cavity 62 is matched with the bending air cavity 5). The air chambers expand simultaneously, and the first chamber 4 cannot expand radially (i.e., cannot thicken) due to the presence of the first armature 14, and the entire first chamber 4 can only elongate. Meanwhile, due to the existence of the first limiting structure 13, the first cavity 4 fixed with the first limiting structure 13 cannot be elongated, so that one side of the first cavity 4 cannot be elongated and other parts cannot be elongated on the same section, the whole first cavity 4 is bent to the side incapable of being elongated, and the whole bionic finger is driven to be bent. If the five fingers are bent according to the principle, the two states of spreading the palm and making a fist can be switched.

When one or both joints on the bionic finger are required to act (the following description will be given by taking bending of the two joints at the front end of the index finger as an example, the principle is consistent when the other joints are required to bend independently), only the two bending air cavities 5 at the front end are inflated, and the first air cavity 61 and the second air cavity 62 are not inflated. At this time, the front end of the first cavity 4 is elongated, the rear end is stationary, and the front end also has the first limiting structure 13, so that the front end of the first cavity 4 is bent, and the rear end is kept straight, as shown in fig. 5, and the bending of the front end can drive the two joints of the front end of the index finger in a targeted manner.

When the whole bionic palm 1 needs to swing left and right, the state is shown in fig. 6, when a control air valve on an air pipe 7 indicated by a is opened, and b the control air valve of the air pipe 7 indicated by b is closed, a driving air source charges a third air cavity 10 at the left side, and a fourth air cavity 11 at the right side does not charge or discharges air outwards. The third air cavity 10 is inflated and then extrudes the second cavity 9, so that the left side of the second cavity 9 is elongated, and the right side part of the second cavity 9 is not elongated (or is instead contracted) due to the fact that the third air cavity is not inflated, so that the second driving unit 8 bends rightwards, and the second driving unit 8 swings rightwards to drive the bionic palm 1 to swing rightwards. Then the driving air source stops inflating the third air chamber 10, the air in the third air chamber 10 is pumped out, then the control air valve on the air pipe 7 indicated by a is closed, and simultaneously the control air valve of the air pipe 7 indicated by b is opened, the driving air source inflates the fourth air chamber 11, and the third air chamber 10 is not inflated, at this time, the whole second driving unit 8 bends to the left side. In the process of continuously repeating the above steps, the bionic wrist swings left and right.

When the simulated wrist needs to be bent, the control air valves corresponding to the third air cavity 10 and the fourth air cavity 11 are simultaneously opened, namely the driving air source is used for simultaneously inflating the two air cavities. Because the two air cavities have the same structure and consistent inflation pressure, the whole second cavity 9 can only be stretched and cannot be deflected left and right due to the existence of the second framework 12. Meanwhile, due to the existence of the second limiting structure, the second cavity 9 fixed with the second limiting structure cannot be elongated, so that on the same section, one side of the second cavity 9 cannot be elongated, and other parts are elongated, and therefore the whole second cavity 9 is bent to the side incapable of being elongated, and the wrist is bent.

The bionic hand of the application can further comprise a bionic upper arm, the joint of the bionic upper arm and the bionic forearm is a bionic elbow, a second driving unit can be arranged on the bionic elbow, the principle of the bionic upper arm is consistent with that of the bionic wrist, and the bionic upper arm and the bionic elbow are not repeated here.

The embodiments are described above in order to facilitate the understanding and application of the present application by those of ordinary skill in the art. It will be apparent to those skilled in the art that various modifications can be made to these embodiments and that the general principles described herein may be applied to other embodiments without the use of inventive faculty. Accordingly, the present application is not limited to the embodiments herein, and those skilled in the art, based on the present disclosure, may make improvements and modifications without departing from the scope and spirit of the present application.

Claims (9)

1. The bionic hand comprises a bionic palm and a bionic forearm, 5 bionic fingers are arranged on the bionic palm, and the bionic hand is characterized in that a first driving unit is arranged in the bionic finger, a second driving unit is arranged at the joint of the bionic palm and the bionic forearm, the first driving unit comprises a first cavity and a plurality of first limiting structures, a swinging air cavity group and at least one bending air cavity are arranged in the first cavity, the swinging air cavity group is positioned at the tail end in the first cavity, the at least one bending air cavity is sequentially arranged at the front end in the first cavity, the swinging air cavity group comprises a first air cavity and a second air cavity which are arranged in parallel, the first air cavity, the second air cavity and all the bending air cavities are independently connected with a driving air source through air pipes, the first limiting structures are fixed on one side of the first cavity, and the position of each first limiting structure corresponds to the position of the swinging air cavity group or one bending air cavity; the first framework used for limiting radial expansion of the first cavity is arranged in the first cavity.

2. The abduction adduction single joint driving soft robot bionic hand according to claim 1, wherein the second driving unit comprises a second cavity, a third air cavity and a fourth air cavity which are arranged in parallel and have the same aperture are arranged in the second cavity, the third air cavity and the fourth air cavity are independently connected with a driving air source through an air pipe, one side surface outside the second cavity is provided with a second limiting structure, and a second framework for limiting the radial expansion of the second cavity is arranged in the second cavity.

3. The abduction and adduction single joint driving soft robotic simulated hand of claim 2, wherein the materials of the first and second constraining structures are independently selected from materials that are flexible but constrained from telescoping.

4. The abduction and adduction single joint driving soft robotic simulated hand of claim 2, wherein the materials of the first cavity and the second cavity are independently selected from flexible materials that are stretchable.

5. The abduction and adduction single joint driving soft robot hand of claim 2, wherein the materials of the first framework and the second framework are independently selected from rigid structures, and the cross-section projection of the first framework and the second framework is circular, elliptic, semicircular or square.

6. The abduction and adduction single joint driving soft robot bionic hand according to claim 2, wherein the bionic hand comprises a bionic upper arm, and a second driving unit is independently arranged at the joint of the bionic forearm and the bionic upper arm.

7. The abduction adduction single joint driving soft robot hand of any of claims 1 to 6, wherein each of the air pipes is provided with a control air valve, and the bionic hand is provided with a controller, and the control air valve is connected with the controller and controls the switch thereof through the controller.

8. The abduction and adduction single joint driving soft robot hand of claim 1, wherein the finger is provided with a pressure sensor, and the pressure sensor is connected with the controller and transmits a signal to the controller.

9. The abduction and adduction single joint driving soft robot hand of claim 1, wherein the first driving unit and the second driving unit are provided with posture sensors therein.

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