CN219480762U - Pneumatic soft robot driver - Google Patents

Abstract

The utility model relates to a pneumatic soft robot driver, which is used for driving the rotation of an upper limb joint, and comprises a cavity, wherein an air cavity is arranged in the cavity, one end of the air cavity is closed, the other end of the air cavity is connected with an air source through an air pipe, a bionic framework is arranged in the cavity and outside the air cavity and used for limiting the radial expansion or the contraction of the air cavity, and a limiting structure is arranged at one side outside the cavity and used for limiting the extension or the contraction of the cavity fixed by the limiting structure. The rehabilitation driver is portable and easy to carry, can be suitable for bending driving of elbow joints and wrist joints, and has good rehabilitation effect by exercising muscles and nerves of upper limbs.

Description

Pneumatic soft robot driver

Technical Field

The utility model relates to the field of medical rehabilitation instruments, in particular to a pneumatic soft robot driver.

Background

The central etiology of upper limb dyskinesia is usually cerebral apoplexy and cerebral trauma, and the pathological process mainly involves complete or incomplete injury and destruction of cortex or cortex spinal cord bundles, and blocks or interferes with the function of sensory and motor nerve conduction paths, so that limb dyskinesia, especially unilateral limb dyskinesia symptoms are most common. A neural circuit is a complex connection of neurons of different nature and function within the brain through various forms. Rehabilitation training means and equipment corresponding to upper limb movement dysfunction are required to promote neural loop reconstruction, functional network recombination and movement capacity improvement through brain limb cooperative training based on brain network characteristics.

At present, there are many rehabilitation devices for upper limb joints such as elbow joints and wrist joints on the market, and the devices mostly adopt driving modes such as air cylinders or connecting rods to drive arms to move, so that tissues such as upper limb joints, muscles and nerves are exercised. However, the current upper limb rehabilitation apparatus has relatively complex structure, relatively heavy structure and inconvenient carrying.

Thus, there is a great need in the art for a softer, lighter upper limb rehabilitation device.

Disclosure of Invention

The utility model aims to overcome the defects of the prior art and provide a lighter upper limb rehabilitation instrument.

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

In a first aspect, the present application provides a pneumatic soft robot driver, the driver is used for driving the rotation of upper limbs joint, the driver includes the cavity, is equipped with the air cavity in the inside of cavity, the one end of air cavity is sealed, and the other end passes through the trachea and connects the air supply in the cavity, the air cavity outside is equipped with bionical skeleton, bionical skeleton is used for restricting radial expansion or the reduction of air cavity, one side of cavity outside is equipped with limit structure, limit structure is used for restricting the cavity extension or the reduction rather than fixed.

In one embodiment of the first aspect, the actuator is secured to a top or bottom surface of an upper limb joint.

In one embodiment of the first aspect, the cross-sectional projection of the bionic skeleton is crescent-shaped.

In an implementation manner of the first aspect, the bionic skeleton is of a split structure, and comprises a plurality of segments of closed loop stirrups, and all the stirrups are uniformly and fixedly distributed along the axis direction of the cavity.

In an embodiment of the first aspect, the bionic skeleton is an integral structure, and includes a plurality of repeating units that connect gradually, and every repeating unit includes 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, the bottom structure is located one side that the cavity set up limit structure.

In one embodiment of the first aspect, the biomimetic skeleton is a rigid structure.

In an embodiment of the first aspect, the material of the cavity is a flexible material that is stretchable.

In one embodiment of the first aspect, the material of the constraining structure is a flexible but telescoping constraining material.

In one embodiment of the first aspect, the two ends of the soft robot driver are provided with fixing mechanisms, and the fixing mechanisms are used for fixing one end of the rehabilitation driver on the upper limb.

In one embodiment of the first aspect, the fixing mechanism is a strap, and a magic tape is provided on the strap.

Compared with the prior art, the utility model has the beneficial effects that: the pneumatic soft robot driver is portable and easy to carry, is suitable for driving upper limb joints, especially elbow joints and wrist joints, and has good rehabilitation effect.

Drawings

FIG. 1 is a schematic view showing the position of the rehabilitation driver in the elbow joint driving according to the embodiment 1;

FIG. 2 is a schematic diagram of a rehabilitation driver;

FIG. 3 is a schematic view of a projection of a bionic skeleton;

FIG. 4 is a schematic general structural diagram of a bionic skeleton;

FIG. 5 is a top view of FIG. 4;

FIG. 6 is a schematic diagram of the overall structure of a bionic skeleton;

fig. 7 is a schematic top view of fig. 6.

In the drawing, 1 is a cavity, 2 is a bionic skeleton, 3 is an air cavity, 4 is a limiting structure, 5 is an air pipe, 6 is a binding belt, 7 is a magic tape, 8 is a top structure, 9 is a bottom structure, 10 is a first connecting structure, and 11 is a second connecting structure.

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.

The traditional rehabilitation apparatus mostly adopts a rigid mechanical structure, and the structure is complex and heavy. The utility model provides an aim at provides a softer light pneumatic software robot driver, recovered driver includes the cavity, is equipped with the air cavity in the inside of cavity, the one end of air cavity is sealed, and the other end passes through the trachea and connects the air supply be equipped with bionical skeleton on the cavity, bionical skeleton distributes the periphery of air cavity, bionical skeleton is used for restricting radial expansion and the radial reduction of air cavity, is equipped with limit structure in one side of cavity outside, and limit structure is used for restricting rather than fixed cavity one side unable extension. When in use, the two ends of the cavity are fixed with the two ends of the upper limb joint, namely the cavity corresponds to the joint position. When the air cavity is inflated, the cavity expands outwards or axially stretches along the air cavity, and the cavity cannot expand outwards due to the existence of the bionic skeleton and only axially stretches along the cavity. Meanwhile, as the cavity is provided with the limiting structure, one side of the cavity fixed with the cavity cannot be stretched, so that part of the cavity cannot be stretched on the same section, and the rest of the cavity is stretched, so that the cavity is gradually bent, namely the soft robot driver is bent, thereby driving the joints to rotate and the muscles and nerves of the upper limbs to be exercised. In addition, the air in the air cavity can be pumped out, the purpose of bending can be achieved, the principle is similar to that of inflation, and the bending direction is opposite. The cavity and the limiting structure used in the application are light and convenient to carry.

In a specific embodiment, the bionic skeleton 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.

In another specific embodiment, the framework is an integral structure, and comprises a plurality of repeated units connected in sequence, each repeated unit comprises a top structure, a first connecting structure, a bottom structure and a second connecting structure which are connected in sequence, wherein the top structure is perpendicular to the axis direction of the cavity, the top structures of all the repeated units are uniformly distributed and parallel, and the bottom structure is located on one side of the cavity where the limiting structure is arranged.

The bionic framework is arranged to limit radial expansion or radial contraction of the cavity on one hand, and can improve the overall strength of the cavity on the other hand, and meanwhile, the driving force of the driver can be improved. This application uses crescent's limit structure because upper limb joint is in crescent after crooked, consequently, pneumatic software robot driver can laminate more with the upper limb, and can better increase driving force.

In an embodiment of the first aspect, the skeleton may be made of a rigid material, such as stainless steel, aluminum alloy, or other materials, and may be made of a lighter material, so as to reduce the total weight of the driving device and improve portability.

In an embodiment of the first aspect, the material of the limiting structure is a bendable but elongation limiting material, such as one of engineering plastic, nylon, fiber cloth.

In an embodiment of the first aspect, the material of the cavity is a flexible material that is stretchable, such as one of silicone, rubber or PVC. The materials used in the application are all light materials, so that the weight of the medical rehabilitation instrument can be effectively reduced, and the medical rehabilitation instrument is convenient to carry.

In a specific embodiment, two ends of the rehabilitation driver are provided with fixing mechanisms, and the fixing mechanisms are used for fixing one end of the rehabilitation driver on an upper limb.

In a specific embodiment, the fixing mechanism is a binding band, and a magic tape is arranged on the binding band. The fixing device with the structure is simpler to wear, and the size of the fixing device can be adjusted according to the requirements of users.

In one embodiment, the pneumatic soft robot driver is used for bending movements of upper limb joints such as elbow joints, wrist joints.

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 utility model provides a rehabilitation driver for elbow joint, its structure is shown as figure 2, including cavity 1, the bandage 6 of setting in cavity 1 both ends, be equipped with an air cavity 3 and a bionical skeleton 2 of stainless steel in cavity 1, this bionical skeleton 2 sets up in the outside of air cavity 3, its cross-section is crescent, as shown in figure 3, bionical skeleton 2 structure has a plurality of, this embodiment is only exemplified 2 kinds among them, one is shown as figure 4, figure 5, one is shown as figure 6, figure 7. The structure characteristics of the bionic skeleton are as follows: including a plurality of repeating units, every repeating unit is including top structure 8, first connection structure 10, bottom structure 9 and the second connection structure 11 that connect gradually, and wherein, top structure 8 perpendicular to cavity 1's axis direction, and all repeating unit's top structure 8 evenly distributed just are parallel, and bottom structure 9 is located the one side that the cavity set up limit structure. The structure can enable the framework to avoid stress concentration during use, thereby prolonging the service life of the framework.

One end of the air cavity 3 is closed, and the other end is connected with an air source through an air pipe 5, wherein the air source can be air inflation equipment such as an air pump or air extraction equipment such as an air extraction pump in the embodiment, and the air inflation equipment is adopted in the embodiment. A stainless steel limiting structure 4 is fixed on one side of the cavity 1. The binding belt 6 is provided with a magic tape 7.

The working principle of the rehabilitation driver is as follows:

when the device is used, the arm of a patient is straightened, the cavity 1 is placed near the elbow joint, the two ends of the cavity 1 are respectively fixed at the positions of the forearm and the upper arm through the binding belt 6, and the length of the binding belt 6 is adjusted through the magic tape 7, so that the fixation is stable.

When the air cavity 3 is inflated, the cavity 1 expands outwards or stretches axially along the air cavity 3, and due to the existence of the bionic skeleton 2, the cavity 1 cannot expand outwards and only stretches axially along the air cavity 3. Meanwhile, since one side of the cavity 1 is provided with the limiting structure 4, the cavity 1 at the joint with the limiting structure 4 cannot be elongated, so that part of the cavity 1 cannot be elongated and the rest of the cavity 1 is elongated on the same section, so that the cavity 1 is gradually bent, namely the rehabilitation driver is bent, as shown in fig. 1, and thus the joints are driven to rotate, and muscles and nerves of the upper limbs are exercised.

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 driver is used for driving the upper limb joint to rotate, and comprises a cavity, wherein an air cavity is arranged in the cavity, one end of the air cavity is closed, the other end of the air cavity is connected with an air source through an air pipe, a bionic framework of a rigid structure is arranged in the cavity and outside the air cavity, the bionic framework is used for limiting radial expansion or contraction of the air cavity, and a limiting structure is arranged on one side of the outer portion of the cavity and used for limiting extension or contraction of the cavity fixed by the limiting structure.

2. The pneumatic soft robot actuator of claim 1, wherein the actuator is secured to the top or bottom surface of an upper limb joint.

3. The pneumatic soft robot driver of claim 2, wherein the cross-sectional projection of the biomimetic skeleton is crescent shaped.

4. The pneumatic soft robot driver of claim 3, wherein the bionic skeleton is of a split structure and comprises a plurality of segments of closed loop stirrups, and all stirrups are uniformly and fixedly distributed along the axis direction of the cavity.

5. The pneumatic soft robot driver of claim 3, wherein the bionic skeleton is an integral structure comprising a plurality of repeating units connected in sequence, each repeating unit comprising a top structure, a first connecting structure, a bottom structure and a second connecting structure connected in sequence, wherein the top structure is perpendicular to the axial direction of the cavity, the top structures of all the repeating units are uniformly distributed and parallel, and the bottom structure is located on one side of the cavity where the limiting structure is arranged.

6. The pneumatic soft robot drive of any one of claims 1-5, wherein the cavity is of a flexible material that is stretchable.

7. The pneumatic soft robot actuator of any one of claims 1-5, wherein the material of the restraining structure is a flexible but telescoping restraining material.

8. The pneumatic soft robotic actuator of claim 1, wherein the soft robotic actuator is provided with a securing mechanism at both ends for securing one end of the rehabilitation actuator to the upper limb.

9. The pneumatic soft robot actuator of claim 8, wherein the securing mechanism is a strap with a velcro disposed thereon.