CN102920568A - Bending joint of finger rehabilitation device based on double pneumatic flexible actuators - Google Patents
Bending joint of finger rehabilitation device based on double pneumatic flexible actuators Download PDFInfo
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- CN102920568A CN102920568A CN2012104249777A CN201210424977A CN102920568A CN 102920568 A CN102920568 A CN 102920568A CN 2012104249777 A CN2012104249777 A CN 2012104249777A CN 201210424977 A CN201210424977 A CN 201210424977A CN 102920568 A CN102920568 A CN 102920568A
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Abstract
The invention provides a bending joint of a finger rehabilitation device based on double pneumatic flexible actuators. The bending joint comprises two pneumatic flexible actuators with identical structural parameters, a T-shaped structure and two rotational structures, wherein the two rotational structures are arranged on the T-shaped structure through rotating shafts to form a rotation pair, front end covers and rear end covers of the pneumatic flexible actuators are respectively fixed on the T-shaped structure and the rotational structures, and axes of the two pneumatic flexible actuators are parallel to each other and perpendicular to the rotating shafts simultaneously. The bending joint is simple in structure, and good in flexibility and applicability.
Description
Technical field
The present invention relates to a kind of bending joint, especially a kind of bending joint for the air-actuated flexible finger device for rehabilitation.
Background technology
Staff is as the highest limbs position of frequency of utilization in the human daily life, and the sickness rate of meet accident hand movement function disappearance that cause or the other diseases initiation and complication thereof is always high.Meanwhile, the rehabilitation nursing of hand injury postoperative, and the hemiplegia of limb patient's that causes of brain injury functional recovery training all need to carry out by apparatus the exercise rehabilitation training of passive type, to reach best rehabilitation efficacy.Based on human finger's articulation structure, the finger rehabilitation device of design, mainly finishing of task is: continuous arthrogryposis action drives finger-joint crooked, thereby realizes rehabilitation training.Hence one can see that, and the performance of bending joint has directly determined the final effect of finger rehabilitation device.Simultaneously, the overall structure of finger rehabilitation device has limited the structure size of bending joint.Therefore, under the prerequisite of size restrictions, guaranteeing the bending property of bending joint, is the key problem in the finger rehabilitation device design process.
Present finger rehabilitation device bending joint mainly contains: 1, the bending joint take Pneumatic flexible actuator as basic engineering, such as the Hand Mentor of U.S. KMI company development; 2, the bending joint take the rigid mechanical structure as basic engineering is such as the miniature finger rehabilitation device of the development CPM of Zhejiang University.What the former adopted is Pneumatic artificial muscle, Pneumatic flexible actuator namely, and its principle is the deformation that utilizes driver inner chamber air pressure change to cause, and promotes frame for movement and turns an angle, thereby form the flexure operation in joint.After deliberation, this bending joint that designs based on Pneumatic flexible actuator has better compliance, safety, bio-imitability with respect to traditional mechanical bend joint.The bending property of this Pneumatic power flexible bending joint depends on the factors such as its rigid structure parameter, Pneumatic flexible actuator parameter and performance.Therefore, because the impact of structural parameters, Pneumatic power flexible bending joint mostly is applied to the wrist recovery device, on the relatively large device for rehabilitation of the overall structures such as arm device for rehabilitation.And for small-sized device for rehabilitations such as finger joint recovery devices, it is main still adopting the bending joint based on Design of Mechanical Structure at present, as previously mentioned the miniature finger rehabilitation device of CPM.This point has seriously limited the development of finger joint recovery device etc.How when guaranteeing the Pneumatic power flexible bending joint structure size, improve and be applied to finger joint recovery device, be the present key problem of research.
Summary of the invention
For the structure size that the overcomes present Pneumatic power flexible bending joint deficiency to the restriction of its bending property, the invention provides a kind of simple in structure, flexible good, its structure size is applicable to the finger rehabilitation device bending joint based on two Pneumatic flexible actuators of finger rehabilitation device simultaneously.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of based on two Pneumatic flexible actuators (Flexible Pneumatic Actuator, abbreviation FPA) finger rehabilitation device bending joint, comprise two identical Pneumatic flexible actuators of structural parameters, a T-shaped structure and two rotational structures, two rotational structures are installed in T-shaped structure by rotating shaft and form revolute pair, the front and rear cover of described Pneumatic flexible actuator is separately fixed on T-shaped structure and the rotational structure, and is parallel and simultaneously perpendicular to rotating shaft between the axis of described two Pneumatic flexible actuators.
Further, described Pneumatic flexible actuator comprises drive end bearing bracket, rear end cap, a rubber tube and a pipe joint, described rubber tube terminal respectively with drive end bearing bracket, rear end cap sealed attachment, also be provided with a through hole that is connected with atmosphere on the drive end bearing bracket, described pipe joint is installed on the drive end bearing bracket, and it is close in the inwall of rubber tube along the radially spiral of rubber tube being nested with spiral wire and spiral wire in the described rubber tube tube wall.
Further, the first half of described T-shaped structure is fixedly connected with the inlet end end cap of Pneumatic flexible actuator; Two Pneumatic flexible actuators are symmetrical set take the latter half of T-shaped structure as center line.
Beneficial effect of the present invention is mainly manifested in: 1, can guarantee under the prerequisite of bending property, be installed on the less convalescence device of the structure such as finger joint recovery device, realize the curvature movement in its joint; 2, adopt two Pneumatic flexible actuators as driving device, do not need additional any transmission speed reducer structure; 3, compare traditional bending joint, in the inflation BENDING PROCESS, energy loss is less, and bending property is better; 4, guaranteeing under the prerequisite of bending property the easier little property of size, simple and compact for structure, easy to process, assembling and repair easy maintenance, with low cost; 4, adopt Pneumatic flexible actuator to drive and make it have good flexibility and adaptability, and easily control; 5, the suitability is good.
Description of drawings
Fig. 1 is the structural principle schematic diagram of bending joint.
Structural representation when Fig. 2 is a certain duty of bending joint
The specific embodiment
The invention will be further described below in conjunction with accompanying drawing.
See figures.1.and.2, a kind of bending joint based on two Pneumatic flexible actuators, described bending joint comprise two Pneumatic flexible actuators 1 and a revolute pair, and the axis of two Pneumatic flexible actuators 1 is parallel and perpendicular to rotating shaft 4;
Described Pneumatic flexible actuator 1 comprises drive end bearing bracket 13, rear end cap 14 and rubber tube 11, the two ends of described rubber tube 11 respectively with drive end bearing bracket 13, rear end cap 11 sealed attachment, wherein front and rear cover 13,14 are respectively equipped with the positioning step axle, and drive end bearing bracket 13 is provided with a through hole that is connected with atmosphere and pipe joint 5 is fixed by threaded connection, it is close in the inwall of rubber tube 11 along the radially spiral of rubber tube 11 being nested with spiral wire 12 and spiral wire in described rubber tube 11 tube walls, when gases at high pressure enter rubber tube 11 inner chambers by pipe joint 5, because the radially restriction of spiral wire 12, under the pressure of Compressed Gas, axial deformation occurs with spiral wire 12 in rubber tube 11, and its radial deformation can be ignored, and drives effect thereby produce.
Described revolute pair comprises a T-shaped structure 2, two rotational structures 3 and a rotating shaft 4.T-shaped structure 2 lower ends are provided with circular hole, and rotating shaft 4 is installed on the described circular hole, and an end of rotational structure 3 is provided with slotted hole, and described slotted hole is passed in described rotating shaft 4.
Be respectively equipped with the step locating shaft on the front and rear cover 13,14 of described Pneumatic flexible actuator 1; On described T-shaped structure 2, the rotational structure 3 respectively left-right symmetric be provided with two locating holes, positioning step axle on described locating hole and Pneumatic flexible actuator 1 front and rear cover 13,14 cooperates.
Operation principle based on the finger rehabilitation device bending joint of two Pneumatic flexible actuators is as follows: be filled with the Compressed Gas of same pressure to two Pneumatic flexible actuator inner chambers by pipe joint, the driver axial elongation.Because the restriction of T-shaped structure, Pneumatic flexible actuator can only promote rotational structure, makes rotational structure center on the rotating shaft rotation and makes circular motion.In rotation process, form angle between two rotational structures.When the air pressure of FPA inner chamber reduced, FPA restored to the original state under the effect of caoutchouc elasticity and spring, and the pulling rotational structure is got back to original position, and bending joint returns to original state.
Claims (3)
1. finger rehabilitation device bending joint based on two Pneumatic flexible actuators, it is characterized in that: described bending joint comprises two identical Pneumatic flexible actuators of structural parameters, a T-shaped structure and two rotational structures, two rotational structures are installed in T-shaped structure by rotating shaft and form revolute pair, the front and rear cover of described Pneumatic flexible actuator is separately fixed on T-shaped structure and the rotational structure, and is parallel and simultaneously perpendicular to rotating shaft between the axis of described two Pneumatic flexible actuators.
2. the finger rehabilitation device bending joint based on two Pneumatic flexible actuators as claimed in claim 1, it is characterized in that: described Pneumatic flexible actuator comprises drive end bearing bracket, rear end cap, a rubber tube and a pipe joint, described rubber tube terminal respectively with drive end bearing bracket, rear end cap sealed attachment, also be provided with a through hole that is connected with atmosphere on the drive end bearing bracket, described pipe joint is installed on the drive end bearing bracket, and it is close in the inwall of rubber tube along the radially spiral of rubber tube being nested with spiral wire and spiral wire in the described rubber tube tube wall.
3. the finger rehabilitation device bending joint based on two Pneumatic flexible actuators as claimed in claim 1 or 2, it is characterized in that: the first half of described T-shaped structure is fixedly connected with the inlet end end cap of Pneumatic flexible actuator; Two Pneumatic flexible actuators are symmetrical set take the latter half of T-shaped structure as center line.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210424977.7A CN102920568B (en) | 2012-10-30 | 2012-10-30 | Bending joint of finger rehabilitation device based on double pneumatic flexible actuators |
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| CN201210424977.7A CN102920568B (en) | 2012-10-30 | 2012-10-30 | Bending joint of finger rehabilitation device based on double pneumatic flexible actuators |
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| CN102920568A true CN102920568A (en) | 2013-02-13 |
| CN102920568B CN102920568B (en) | 2014-11-05 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107030727A (en) * | 2017-05-17 | 2017-08-11 | 浙江工业大学 | A kind of software two finger grip device of microchannel |
| CN107440887A (en) * | 2017-09-21 | 2017-12-08 | 臧大维 | Complete bionical class brain intelligent hand electric mechanical ectoskeleton and its complex control system |
| CN110269776A (en) * | 2019-06-28 | 2019-09-24 | 清华大学深圳研究生院 | A kind of finger recovering aid fingerstall and its manufacturing method based on pneumatic software actuator |
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| CN1562583A (en) * | 2004-03-31 | 2005-01-12 | 浙江工业大学 | Pneumatic flexible bend joint |
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| JPH0524872B2 (en) * | 1986-09-13 | 1993-04-09 | Nippon Hodo Kk | |
| CN1562583A (en) * | 2004-03-31 | 2005-01-12 | 浙江工业大学 | Pneumatic flexible bend joint |
| JP5024872B2 (en) * | 2007-07-06 | 2012-09-12 | 国立大学法人 岡山大学 | Rehabilitation equipment |
| WO2009060611A1 (en) * | 2007-11-07 | 2009-05-14 | Activelink Co., Ltd. | Operation assist device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107030727A (en) * | 2017-05-17 | 2017-08-11 | 浙江工业大学 | A kind of software two finger grip device of microchannel |
| CN107030727B (en) * | 2017-05-17 | 2019-05-31 | 浙江工业大学 | A kind of two finger grip device of software of microchannel |
| CN107440887A (en) * | 2017-09-21 | 2017-12-08 | 臧大维 | Complete bionical class brain intelligent hand electric mechanical ectoskeleton and its complex control system |
| CN107440887B (en) * | 2017-09-21 | 2023-09-22 | 臧大维 | Full-bionic brain-like intelligent hand electromechanical exoskeleton and comprehensive control system thereof |
| CN110269776A (en) * | 2019-06-28 | 2019-09-24 | 清华大学深圳研究生院 | A kind of finger recovering aid fingerstall and its manufacturing method based on pneumatic software actuator |
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| CN102920568B (en) | 2014-11-05 |
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