CN206840118U - A kind of wearable plus band pneumatically inflates bending flexible actuator - Google Patents
A kind of wearable plus band pneumatically inflates bending flexible actuator Download PDFInfo
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- CN206840118U CN206840118U CN201720562419.5U CN201720562419U CN206840118U CN 206840118 U CN206840118 U CN 206840118U CN 201720562419 U CN201720562419 U CN 201720562419U CN 206840118 U CN206840118 U CN 206840118U
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Abstract
The utility model discloses a kind of wearable plus band pneumatically to inflate bending flexible actuator, including front end end cap, end caps, upside wave structure, bottom, hoop, rope, flexible pipe；The front end end cap and end caps are located at the both ends of wave structure respectively, and bottom is located at the lower end of wave structure；It is undulatory cavity body structure that front end end cap, end caps, wave structure, bottom form inside together；The hoop is semicircular structure, and cuff is in the crest location of wave structure and the outside of bottom；Described restrict is mounted on the both ends of bottom lower end, and the length direction restricted is consistent with the axial direction of wave structure；Flexible pipe is installed at the end cap of front end, is connected with the internal cavity of wave structure；The front end end cap, end caps, the material of wave structure are elastomeric material；Driver of the present utility model has good compliance, and bearing capacity is strong, end High power output, particularly suitable for medical rehabilitation field.
Description
Technical field
The utility model belongs to pneumatics field, and particularly a kind of wearable plus band is pneumatically inflated bending flexibility and driven
Dynamic device.
Background technology
Pneumatic flexible actuator is a kind of novel driving device gradually to grow up in recent years, and it is driven using air pressure,
Compliance is preferable, and driving process is steadily safe, so particularly suitable for fields such as medical rehabilitation, Pneumatic clampings.Joseph
L.McKibben have devised earliest flexible actuator, be referred to as McKibben types PMA (Pneumatic Muscle
Actuator), it is made up of rubber tube and web, and both ends hold hoop sealing under the arm by metal.When being filled with gas into pipe, rubber tube
It can produce and be radially expanded and axial shrinkage, drive pulling force for producing, but such a driver can not produce flexural deformation, it is impossible to
For driving wrist and finger to produce flexure operation.
Publication No. CN 101863030A Chinese patent, patent name are inflated elongation type pneumatic flexible actuator, by
Flat rubber hose and the reinforcement net being added in outside pipe are formed, and hose main body is enclosed on guide rod, are inflated and are added into rubber hose
During pressure, dilatancy axially can be integrally produced, and deflection is larger, so as to produce axial stretching motion.It is this
Driver has the linear actuator of good compliance, but it can only produce stretching motion, it is impossible to produces flexural deformation.
Publication No. CN 1562583A Chinese patent, patent name are Pneumatic power flexible bending joint, including end cap, rubber
Sebific duct, the spiral wire being nested in rubber tube wall, rubber tube terminal is connected with two end cap seals, in rubber tube side
Embedded constraint steel wire in tube wall, and each circle for constraining steel wire and spiral wire is wound；When being passed through the gas of certain pressure, due to
The elongation strain of the constraint steel wire limitation of rubber tube side insertion herein, and the radial deformation of spiral wire limitation rubber tube,
Then driver is overall towards this curving of embedded constraint steel wire.This driver volume is larger, and rigidity is larger, is not suitable for using
In rehabilitation field.
The content of the invention
The technical problem that the utility model solves is that providing a kind of wearable plus band pneumatically inflates bending flexibility
Driver, solves that existing driver can not produce flexural deformation or flexural deformation is smaller and be not suitable for rehabilitation hand wrist, finger
Deng joint medical rehabilitation field the problem of.
The technical solution for realizing the utility model purpose is：
A kind of wearable plus band pneumatically inflates bending flexible actuator, including front end end cap, end caps, upper side wave
Striated structure, bottom, hoop, rope, flexible pipe；
The front end end cap and end caps are located at the both ends of wave structure respectively, and bottom is located under wave structure
End；It is undulatory cavity body structure that front end end cap, end caps, wave structure, bottom form inside together；The hoop is half
Circular configuration, cuff is in the crest location of wave structure and the outside of bottom；The rope is mounted on the two of bottom lower end
End, and the length direction restricted is consistent with the axial direction of wave structure；Flexible pipe is installed at the end cap of front end, with wave structure
Internal cavity be connected；The front end end cap, end caps, the material of wave structure are elastomeric material.
The utility model compared with prior art, its remarkable advantage：
(1) driver of the present utility model has good compliance, has good compatibility with human body；Small volume, tool
Standby wearable property, the medical rehabilitation field particularly suitable for joints such as rehabilitation wrist, fingers.
(2) driver of the present utility model, by carrying out multiple bending property and mechanical property test, its pressure-bearing to it
Ability is strong, end High power output.
The utility model is described in further detail below in conjunction with the accompanying drawings.
Brief description of the drawings
Fig. 1 is the axonometric drawing that the utility model pneumatically adds band flexible actuator.
Fig. 2 is the main sectional view and top view of the utility model driver.
Fig. 3 is the partial enlarged drawing of the hoop of the utility model driver.
Fig. 4 is the utility model driver remedy finger application example schematic diagram.
Embodiment
In order to illustrate the technical solution of the utility model and technical purpose, below in conjunction with the accompanying drawings and specific embodiment is to this reality
It is described further with new.
With reference to Fig. 1-Fig. 3, one kind of the present utility model is wearable plus band pneumatically inflates bending flexible actuator, including
Front end end cap 4, end caps 1, upside wave structure 3, bottom 7, hoop 2, rope 6, flexible pipe 5；
The front end end cap 4 and end caps 1 are located at the both ends of wave structure 3 respectively, and bottom 7 is located at wave structure
3 lower end；It is undulatory cavity body structure that front end end cap 4, end caps 1, wave structure 3, bottom 7 are formed internal together；
The hoop 2 is semicircular structure, and hoop 2 is enclosed on the crest location of wave structure 3 and the outside of bottom 7；The installation of rope 6 is in place
In the both ends of the lower end of bottom 7, and the length direction of rope 6 is consistent with the axial direction of wave structure 3；Flexible pipe 5 is installed on front end
At end cap 4, it is connected with the internal cavity of wave structure 3, for being inflated to inside cavity.The front end end cap 4, end
It is the elastomeric material that elastic deformation can occur to hold end cap 1, the material of wave structure 3.
Further, deep-slotted chip breaker 21 is provided with inside 2 upper ends of the hoop, deep-slotted chip breaker 21 is used for the ripple for blocking wave structure 3
Peak position, hoop 2 is avoided to depart from from the crest location of wave structure 3.
Further, 2 lower end both sides of the hoop are respectively equipped with locating slot 22, and rope 6 passes through locating slot 22, and locating slot 22 is used for
The cord 6 of the lower end of bottom 7 is positioned.
Further, the crest of the wave structure 3 is at least 3, and the bending driving of single joint can be achieved.
Further, the rope 6 is non-extensible under tensile force, such as steel wire rope, steel wire rope, nylon rope.
Further, the lower end stationary curved sensor 8 of the hoop 2, for the bending in feedback driver BENDING PROCESS
Angle value.
Further, the lower end of end caps 1 is fixed with pressure sensor 9, during being driven for feedback driver
The size of end power output.
The front end end cap 4, end caps 1, the material of upside wave structure 3 are silicon rubber, rubber or composite；
Preferably, the front end end cap 4, end caps 1, the material of upside wave structure 3 are silicon rubber, hardness shore A20-
A40, advantage have certain elasticity, extensibility and bearing capacity.
The front end end cap 4, end caps 1, the one cast of upside wave structure 3 are formed, then integrally poured with bottom 7
Note, forms final cavity body structure, favorable sealing property.
The hoop 2 is bonded with bottom 7, rope 6 with binding agent.
With reference to Fig. 4, during work, pass through the gas that flexible pipe 5 adds certain pressure to driver cavity, ripple on the upside of driver
The stretcher strain of shape structure 3 is big, and the lower side of bottom 7 does not produce elongation, then upside deformation is big, downside deformation due to there is the constraint of rope 6
Small, driver integrally produces flexural deformation, while bend sensor 8 exports angle of bend angle value, and it is defeated that pressure sensor 9 exports end
The value of output；The utility model is applied in wearable hand power-assisted convalescence device, the hand power-assisted convalescence device is main
Pneumatically inflate bending flexible actuator and gloves for game by wearable plus band and some reinforcing members form that (such as 10 be foam
Adhesive tape), drive device is that the utility model is wearable plus band pneumatically inflates bending flexible actuator, and inflating pressure band is started
Finger does bending motion, and by experiment test when input pressure is 200Kpa, driver can be such that finger bends completely, now drive
In 2.5~3N, driver can be adjusted and inputted during rehabilitation dynamic device end power output according to the data of sensor feedback
Pressure so that finger gymnastic process is more effective, safe and steady.Due to flexible actuator described in the utility model have it is good
Good compliance, it can effectively avoid producing finger overbending joint secondary damage so as to caused by due to exerting a force improper.
Although the utility model is disclosed above with preferred embodiment, so it is not limited to the utility model.This reality
With new those of ordinary skill in the art, do not departing from spirit and scope of the present utility model, it is each when that can make
The change and retouching of kind.Therefore, the scope of protection of the utility model is worked as and is defined depending on those as defined in claim.
Claims (8)
1. a kind of wearable plus band pneumatically inflates bending flexible actuator, it is characterised in that including front end end cap (4), end
Hold end cap (1), upside wave structure (3), bottom (7), hoop (2), rope (6), flexible pipe (5)；
The front end end cap (4) and end caps (1) are located at the both ends of wave structure (3) respectively, and bottom (7) is located at corrugated
The lower end of structure (3)；It is ripple that front end end cap (4), end caps (1), wave structure (3), bottom (7) are formed internal together
The cavity body structure of shape；The hoop (2) is semicircular structure, and hoop (2) is enclosed on the crest location and bottom (7) of wave structure (3)
Outside；The rope (6) is mounted on the both ends of bottom (7) lower end, and the length direction of rope (6) and wave structure (3)
Axial direction it is consistent；Flexible pipe (5) is installed on front end end cap (4) place, is connected with the internal cavity of wave structure (3)；Institute
It is elastomeric material to state front end end cap (4), end caps (1), the material of wave structure (3).
2. wearable plus band as claimed in claim 1 pneumatically inflates bending flexible actuator, it is characterised in that the hoop
(2) deep-slotted chip breaker (21) is provided with inside upper end, deep-slotted chip breaker (21) blocks the crest location of wave structure (3).
3. wearable plus band as claimed in claim 1 pneumatically inflates bending flexible actuator, it is characterised in that the hoop
(2) lower end both sides are respectively equipped with locating slot (22), and rope (6) passes through locating slot (22).
4. wearable plus band as claimed in claim 1 pneumatically inflates bending flexible actuator, it is characterised in that the ripple
The crest of striated structure (3) is at least 3.
5. wearable plus band as claimed in claim 1 pneumatically inflates bending flexible actuator, it is characterised in that the hoop
(2) lower end stationary curved sensor (8).
6. wearable plus band as claimed in claim 1 pneumatically inflates bending flexible actuator, it is characterised in that the end
End end cap (1) lower end is fixed with pressure sensor (9).
7. wearable plus band as claimed in claim 1 pneumatically inflates bending flexible actuator, it is characterised in that before described
End end cap (4), end caps (1), the material of upside wave structure (3) are silicon rubber, hardness shore A20-A40.
8. wearable plus band as claimed in claim 1 pneumatically inflates bending flexible actuator, it is characterised in that before described
Integrally cast forms for end end cap (4), end caps (1), upside wave structure (3), then is integrally poured into a mould with bottom (7), is formed
Final cavity body structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720562419.5U CN206840118U (en) | 2017-05-19 | 2017-05-19 | A kind of wearable plus band pneumatically inflates bending flexible actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720562419.5U CN206840118U (en) | 2017-05-19 | 2017-05-19 | A kind of wearable plus band pneumatically inflates bending flexible actuator |
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| Publication Number | Publication Date |
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| CN206840118U true CN206840118U (en) | 2018-01-05 |
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| CN201720562419.5U Active CN206840118U (en) | 2017-05-19 | 2017-05-19 | A kind of wearable plus band pneumatically inflates bending flexible actuator |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107088884A (en) * | 2017-05-19 | 2017-08-25 | 南京理工大学 | A kind of pneumatic inflation bending flexible actuator of wearable plus band |
| CN108772849A (en) * | 2018-06-12 | 2018-11-09 | 山东大学 | A kind of series elastic driver based on torque motor |
| CN110293582A (en) * | 2019-07-03 | 2019-10-01 | 吉林大学 | A kind of flexible actuator |
| CN110497396A (en) * | 2019-08-29 | 2019-11-26 | 南京理工大学 | A kind of enhanced pneumatic software driver of stiffness variable |
| CN112353630A (en) * | 2020-09-28 | 2021-02-12 | 东华大学 | Pneumatic wrist exoskeleton auxiliary component |
-
2017
- 2017-05-19 CN CN201720562419.5U patent/CN206840118U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107088884A (en) * | 2017-05-19 | 2017-08-25 | 南京理工大学 | A kind of pneumatic inflation bending flexible actuator of wearable plus band |
| CN107088884B (en) * | 2017-05-19 | 2024-02-13 | 南京理工大学 | Wearable hooped pneumatic inflatable bending flexible driver |
| CN108772849A (en) * | 2018-06-12 | 2018-11-09 | 山东大学 | A kind of series elastic driver based on torque motor |
| CN108772849B (en) * | 2018-06-12 | 2021-05-18 | 山东大学 | Series elastic driver based on torque motor |
| CN110293582A (en) * | 2019-07-03 | 2019-10-01 | 吉林大学 | A kind of flexible actuator |
| CN110497396A (en) * | 2019-08-29 | 2019-11-26 | 南京理工大学 | A kind of enhanced pneumatic software driver of stiffness variable |
| CN110497396B (en) * | 2019-08-29 | 2024-04-05 | 南京理工大学 | Variable-rigidity enhanced pneumatic soft driver |
| CN112353630A (en) * | 2020-09-28 | 2021-02-12 | 东华大学 | Pneumatic wrist exoskeleton auxiliary component |
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