Tongue depressor soft gripper

Abstract

The tongue depressor soft gripper of the present invention relates to the technical field of medical devices, and particularly relates to a soft gripper for clamping a tongue depressor and having controllable stiffness. The present invention includes: a clamping mechanism, a housing, an air tube, a magnet coil and a connecting device; the housing is a thin cylindrical structure with a certain hardness; the magnet coil is a cylindrical structure with a central hole in the middle and is fixedly installed inside the housing; the clamping mechanism is installed inside the central hole of the magnet coil and is fixedly installed inside the magnet coil by screws through the connecting device; the clamping mechanism is connected to an external inflation device through the air tube; the tongue depressor is inserted into the clamping cavity of the clamping mechanism. The technical solution of the present invention solves the problem that the existing flexible grippers still have deficiencies in load-bearing capacity and sensing ability.

Description

Technical Field

[0001] The tongue depressor soft gripper of the present invention relates to the technical field of medical devices, and particularly to a soft gripper for gripping a tongue depressor and having controllable stiffness. Background Art

[0002] With the increasing detection and sampling of the oral and pharyngeal regions, the work intensity of medical staff has increased and the infection risk is high. Designing a manipulator and a gripper that can replace medical staff for pharyngeal sampling has important practical significance.

[0003] Compared with traditional rigid grippers, soft grippers have good compliance and ductility, and show good interaction performance in unstructured environment tasks, and are suitable for gripping sampling parts for pharyngeal detection. However, current pneumatic flexible grippers still need to be further studied in terms of improving the load-bearing capacity and sensing ability.

[0004] Aiming at the above practical problems, with the clamping control of the tongue depressor during pharyngeal detection as the design goal, a pneumatically driven soft gripper with controllable stiffness is developed, which can be used as the execution component of the soft manipulator for pharyngeal detection, realizing automated detection operations, and laying a scientific and technological foundation for resisting the spread of epidemic viruses. Summary of the Invention

[0005] The purpose of the present invention is to research and design a controllable stiffness tongue depressor soft gripper that can press the root of the tongue for pharyngeal detection, which can reduce the heavy high-intensity work of medical staff during nucleic acid detection and reduce the problem of infection risk.

[0006] The technical means adopted by the present invention are as follows:

[0007] A tongue depressor soft gripper includes: a clamping mechanism, a housing, an air pipe, a magnet coil and a connecting device;

[0008] Further, the housing is a thin cylindrical structure with a certain hardness;

[0009] Further, the magnet coil is a cylindrical structure with a central hole in the middle and is fixedly installed inside the housing;

[0010] Further, the clamping mechanism is installed inside the central hole of the magnet coil and is fixedly installed inside the magnet coil through a connecting device and a screw;

[0011] Further, the clamping mechanism is connected to an external inflation device through an air pipe;

[0012] Further, the tongue depressor is inserted into the clamping cavity of the clamping mechanism.

[0013] Further, the outer shell is a cylindrical hollow thin-shell structure with a diameter of 114 mm, a length of 104 mm, and a thickness of 2 mm, and a magnet coil is assembled inside.

[0014] Further, the magnet coil includes: an iron core and a coil;

[0015] Further, the coil is a hollow cylinder structure;

[0016] Further, the iron core has a diameter of 35 mm and a length of 50 mm and is installed inside the coil;

[0017] Further, the bottom of the iron core and the coil are kept on the same plane.

[0018] Further, through holes for the trachea to pass through are processed on the iron core.

[0019] Further, the clamping mechanism is a cylindrical structure made of silica gel material, with a diameter of 30 mm and a length of 50 mm;

[0020] Further, inside the clamping mechanism, from the inside to the outside, there are a tongue plate clamping cavity, a pressure sensor groove, a module air cavity, and a magnetorheological fluid cavity distributed;

[0021] Further, the pressure sensor set in the pressure sensor groove provides pressure feedback for the gripper. When a certain pressure is reached, the sensor controls the robotic arm to drive the gripper to withdraw from the human oral cavity through the control center;

[0022] Further, the module air cavity is an asymmetric structure with two semi-circular cross-sections of different radii centered on the tongue plate clamping cavity and is the driving module of the gripper;

[0023] Further, the module air cavity is connected to an external inflation device through a trachea;

[0024] Further, the magnetorheological fluid cavity is filled with magnetorheological fluid.

[0025] Further, a limiting layer is wound around the outer cylindrical surface of the clamping mechanism;

[0026] Further, the limiting layer is a spiral structure with a length of 48 mm and a cross-section of 1 mm.

[0027] Further, the connecting device is a circular thin plate with a thickness of 5 mm and a diameter of 35 mm;

[0028] Further, through holes for the trachea to pass through and corresponding to the through holes on the iron core are processed on the connecting device;

[0029] Further, as a connecting structure, the connecting device connects the clamping mechanism and the iron core together with screws.

[0030] Further, the trachea is a plastic flexible tube, one end of which communicates with the module air chamber, and the other end passes through the connecting device and the iron core and then is connected to an external inflation device to inflate and deflate the driving module.

[0031] Further, the magnetorheological fluid is a suspension with magnetic particles, which is contained inside the magnetorheological fluid chamber. Under the action of an external magnetic field, it changes from a liquid state to a semi-solid state or a solid state. After the air chamber drives the clamping mechanism to deform, the stiffness of the clamping mechanism increases, and the tongue depressor presses the tongue tightly.

[0032] Further, the pressure sensor is a thin-film pressure sensor with a circular end and a rectangular end.

[0033] Compared with the prior art, the present invention has the following advantages:

[0034] 1. The tongue depressor soft gripper provided by the present invention is made of flexible materials. Inflating the air chamber makes the tongue depressor bend; the clamping mechanism has a magnetorheological fluid chamber, and the stiffness of the clamping mechanism can be increased under the action of an electromagnetic field to achieve the pressing action;

[0035] 2. The tongue depressor soft gripper provided by the present invention can detect the pressing force of the human tongue root. When the human body's tolerance limit is reached, it can be timely fed back to the controller to drive the robotic arm to return, achieving the function of protecting the human body;

[0036] 3. The tongue depressor soft gripper provided by the present invention has the advantages of simple structure, small volume, light weight, simple control, and low price.

[0037] In summary, the technical solution of the present invention is applied to solve the problem that the traditional starting flexible gripper in the prior art still has deficiencies in improving the bearing capacity and sensing ability. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0039] Figure 1 It is the external shape structure diagram of the gripper of the present invention;

[0040] Figure 2 It is the longitudinal sectional structure diagram of the gripper of the present invention;

[0041] Figure 3 It is the longitudinal sectional schematic diagram of the clamping mechanism of the present invention;

[0042] Figure 4This is a schematic cross-sectional view of the clamping mechanism of the present invention.

[0043] In the figure: 1. Tongue depressor; 2. Clamping mechanism; 2-1. Tongue depressor clamping cavity; 2-2. Module air cavity; 2-3. Magnetorheological fluid cavity; 2-4. Pressure sensor groove; 3. Outer shell; 4. Air pipe; 5. Magnet coil; 5-1. Iron core; 5-2. Coil; 6. Connecting device; 7. Restriction layer; 8. Magnetorheological fluid; 9. Pressure sensor. Detailed implementation manners

[0044] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments may be combined with each other. The present invention will be described in detail below with reference to the drawings and in combination with the embodiments.

[0045] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. The description of at least one exemplary embodiment below is actually only illustrative and in no way limits the present invention and its application or use. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without creative efforts fall within the scope of protection of the present invention.

[0046] It should be noted that the terms used herein are only for describing specific implementation manners and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0047] Unless otherwise specifically stated, the relative arrangements of the components and steps set forth in these embodiments, numerical expressions and values do not limit the scope of the present invention. At the same time, it should be clear that, for the convenience of description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationships. Technologies, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods and devices should be regarded as part of the authorized specification. In all the examples shown and discussed herein, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further discussed in the subsequent drawings.

[0048] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by orientation terms such as "front, back, up, down, left, right", "horizontal, vertical, perpendicular, horizontal" and "top, bottom", etc. is usually based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description. Without contrary statements, these orientation terms do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation on the protection scope of the present invention: the orientation terms "inside, outside" refer to the inside and outside relative to the contour of each component itself.

[0049] For the convenience of description, spatial relative terms such as "above...", "over...", "on the upper surface of...", "upper...", etc. can be used here to describe the spatial positional relationship between a device or feature shown in the drawings and other devices or features. It should be understood that the spatial relative terms are intended to include different orientations in use or operation in addition to the orientation described in the drawings for the device. For example, if the device in the drawing is inverted, the device described as "above other devices or structures" or "over other devices or structures" will then be positioned as "below other devices or structures" or "under other devices or structures". Thus, the exemplary term "above..." can include both the orientations of "above..." and "below...". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and corresponding interpretations are made for the spatial relative descriptions used here.

[0050] In addition, it should be noted that using words such as "first", "second", etc. to limit components is only for the convenience of distinguishing the corresponding components. Without additional statements, the above words have no special meanings. Therefore, it should not be construed as a limitation on the protection scope of the present invention.

[0051] As Figures 1-4 shown, the present invention provides a tongue depressor soft gripper, which includes: a tongue depressor (1) placed in the tongue depressor clamping cavity 2-1 of the clamping mechanism. The magnetorheological fluid cavity 2-3 in the clamping mechanism is filled with magnetorheological fluid 8 during production. There is a circumferential restraint layer 7 on the outer surface. The whole is placed in the coil 5. The housing 3 encloses the coil 5-2. The module air cavity 2-2 is connected to an external pneumatic device through a trachea 4.

[0052] As Figure 2 shown, the coil 5-2 is a hollow cylinder. Inside, there is an iron core 5-1 with a diameter the same as the inner diameter of the coil 5-2 and a height of 50 mm. The coil 5-2 is an ordinary coil. When the coil 5-2 is energized, the coil current acts with the iron core 5-1 to generate a magnetic field, making the magnetorheological fluid 8 change from a liquid state to a semi-solid state or a solid state.

[0053] As Figure 1 、2 As shown, the outer shell 3 is made of ordinary PCL material and is the outermost layer of the entire device, enclosing the coil 5-2. There is a round hole at the top with the same inner diameter as the coil 5-2. On the one hand, it is used to expose the clamping mechanism 2 and the tongue depressor 1, and on the other hand, it is used to fix the entire device of the clamping mechanism 2 to the robotic arm.

[0054] As Figure 1 shown, the tongue depressor 1 is made of wood material, with the same size and length as those on the market. One end is placed in the tongue depressor clamping cavity 2-1 of the clamping mechanism 2, and the other end is placed at the root of the tongue in the human oral cavity.

[0055] As Figure 2 shown, the pressure sensor 9 is a thin-film pressure sensor with a round end and a rectangular end, and is placed in the groove near the tongue depressor clamping cavity 2-1 to provide pressure feedback for the clamping mechanism 2. When a certain pressure is reached, the pressure sensor 9 transmits the pressure signal to the controller, and the robotic arm drives the gripper to withdraw from the human oral cavity.

[0056] As Figure 2 shown, the magnetorheological fluid 8 is a suspension with magnetic particles, which is filled inside the magnetorheological fluid cavity. Under the action of an external magnetic field, it changes from a liquid state to a semi-solid state or a solid state. After the module air cavity drives the clamping mechanism to deform, the stiffness of the clamping mechanism becomes larger, and the tongue depressor presses the tongue tightly.

[0057] As Figure 3 、 4 shown, the module air cavity 2-2 is an asymmetric structure with two semi-circular cross-sections of different radii centered on the tongue depressor clamping cavity 2-1, and is the driving module of the clamping mechanism 2.

[0058] As Figures 1-4 shown, the clamping mechanism 2 is a cylindrical structure made of silica gel material. Inside, from the inside to the outside, there are a tongue depressor clamping cavity 2-1, a pressure sensor groove 2-4, a module air cavity 2-2, and a magnetorheological fluid cavity 2-3 for placing the magnetorheological fluid 8. There is a spiral limiting layer 7 with a circular cross-section made of a paper non-deformable material on the outer surface; when the module air cavity 2-2 is inflated, due to the different volumes of the upper and lower air cavities, an air pressure difference is generated, and the clamping mechanism 2 will drive the tongue depressor 1 to bend downward. At this time, the outer coil 5-2 is energized to generate a magnetic field, making the magnetorheological fluid 8 change from a liquid state to a semi-solid state or a solid state. Therefore, by adjusting the coil current size, the purpose of adjusting the stiffness of the clamping mechanism 2 can be achieved.

[0059] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A tongue depressor soft gripper, characterized in that: The tongue depressor soft gripper includes: a tongue depressor (1), a clamping mechanism (2), a housing (3), a trachea (4), a magnet coil (5) and a connecting device (6); The housing (3) is a thin cylindrical structure with a certain hardness; The magnet coil (5) is a cylindrical structure with a central hole in the middle and is fixedly installed inside the housing (3); The clamping mechanism (2) is installed inside the central hole of the magnet coil (5) and is fixedly installed inside the magnet coil (5) through the connecting device (6) and screws; The clamping mechanism (2) is connected to an external inflation device through the trachea (4); The tongue depressor (1) is inserted into the clamping cavity of the clamping mechanism (2); The clamping mechanism (2) is a cylindrical structure made of silica gel material, with a diameter of 30 mm and a length of 50 mm; inside the clamping mechanism (2), there are distributed from the inside to the outside a tongue depressor clamping cavity (2-1), a pressure sensor groove (2-4), a module air cavity (2-2) and a magnetorheological fluid cavity (2-3); a pressure sensor (9) arranged in the pressure sensor groove (2-4) provides pressure feedback for the gripper. When a certain pressure is reached, the sensor controls the robotic arm through the control center to drive the gripper to withdraw from the human oral cavity; the module air cavity (2-2) is an asymmetric structure with two semi-circular cross-sections of different radii centered on the tongue depressor clamping cavity (2-1) and is the driving module of the gripper; the module air cavity (2-2) is connected to an external inflation device through the trachea (4); the magnetorheological fluid cavity (2-3) is filled with magnetorheological fluid (8).

2. The tongue depressor soft gripper according to claim 1, characterized in that: The housing (3) is a hollow thin shell cylindrical structure with a diameter of 114 mm, a length of 104 mm and a thickness of 2 mm, and a magnet coil (5) is assembled inside.

3. The tongue depressor soft gripper according to claim 2, characterized in that: The magnet coil (5) includes: an iron core (5-1) and a coil (5-2); The coil (5-2) is a hollow cylindrical structure; The diameter of the iron core (5-1) is 35 mm and the length is 50 mm, and it is installed inside the coil (5-2); The bottom of the iron core (5-1) and the coil (5-2) are on the same plane.

4. The tongue depressor soft gripper according to claim 3, characterized in that: The iron core (5-1) is processed with a through hole for the trachea (4) to pass through.

5. The tongue depressor soft gripper according to claim 1, characterized in that: A limiting layer (7) is wound around the outer cylindrical surface of the clamping mechanism (2); The limiting layer (7) is a spiral structure with a length of 48 mm and a cross-section of 1 mm.

6. The tongue depressor soft gripper according to claim 1, characterized in that: The connecting device (6) is a circular thin plate with a thickness of 5 mm and a diameter of 35 mm; The connecting device (6) is processed with a through hole for the trachea (4) to pass through and corresponding to the through hole on the iron core (5-1). The described connecting device (6) serves as a connecting structure and connects the clamping mechanism (2) and the iron core (5-1) together by screws.

7. The tongue depressor soft gripper according to claim 6, characterized in that: The described air pipe (4) is a plastic hose, one end of which communicates with the module air cavity (2-2), and the other end passes through the connecting device (6) and the iron core (5-1) and is connected to an external inflation device to inflate and deflate the drive module.

8. The tongue depressor soft gripper according to claim 4, characterized in that: The described magnetorheological fluid (8) is a suspension with magnetic particles, which is contained inside the magnetorheological fluid cavity (2-3), changes from a liquid state to a semi-solid state or a solid state under the action of an external magnetic field, and after the air cavity (2-2) drives the clamping mechanism (2) to deform, the stiffness of the clamping mechanism (2) becomes larger, and the tongue depressor (1) presses the tongue tightly.

9. The tongue depressor soft gripper according to claim 4, characterized in that: The described pressure sensor (9) is a thin-film pressure sensor with a circular end and a rectangular end.

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