Deviation-preventing soft actuator and hand pneumatic power assisting device

Abstract

The invention discloses an anti-deviation soft actuator and a hand pneumatic power assisting device, and relates to the technical field of soft robots. The anti-deviation soft body actuator comprises a fixing clamp and a fixing part, wherein the fixing clamp comprises at least two fixing parts; one limiting part is arranged between every two fixing parts, and flexible hinges are arranged at the joints of the limiting parts and the fixing parts; the limiting part comprises at least three sub-limiting parts, and every two adjacent sub-limiting parts are connected through a flexible hinge; the corrugated pipe is installed on the fixing clamp and comprises a corrugated air bag, the corrugated air bag is located above the limiting part, and the corrugated air bag communicates with an air inlet; the connecting parts are arranged on the two sides of the corrugated air bag and fixedly installed in the fixing parts. When the anti-deviation soft actuator is applied to the rehabilitation glove, the anti-deviation soft actuator is more attached to the hand, and the comfort of a user is improved. And by arranging the soft base, the situation that when the corrugated pipe is filled with over-atmospheric pressure, the fixing clamp extrudes fingers, and consequently secondary injuries are caused can be avoided.

Description

Technical Field

[0001] The invention belongs to the technical field of soft robots, and in particular relates to an anti-deflection soft actuator and a hand pneumatic power assist device. Background Art

[0002] With the development of human society, diseases such as stroke and cerebral infarction are becoming increasingly serious. Such diseases have become one of the main causes of hand disability in adults in my country, and are difficult to treat in a very effective way. Most patients cannot take care of themselves due to the loss of hand function. The high medical expenses and subsequent artificial rehabilitation training costs bring huge economic burdens to families and society. Therefore, the use of soft rehabilitation training gloves can enable patients to conduct effective rehabilitation training, which can not only reduce the workload of rehabilitation medical staff, but also reduce treatment costs, so that patients can achieve autonomous rehabilitation only under the guidance of doctors.

[0003] At present, bellows-shaped soft actuators are widely used in the market. This type of soft actuator has good bending performance. When used in rehabilitation gloves, it has a good therapeutic effect on patients of different degrees. However, when the soft actuator is bent by external force, it may cause the soft actuator to twist, bend sideways, over-elongate and over-shorten, causing the rehabilitation gloves to not fit the hand well, and there is a problem of the gloves and the hand being separated, which in turn causes the soft actuator to lose energy due to lateral bending, twisting, over-elongation and over-shortening, reducing the bending force of the soft actuator on the fingers and affecting the treatment effect.

[0004] Usually, the bellows and the actuator anti-deflection mechanism need to be made separately and then assembled. During assembly, it may be necessary to destroy the anti-deflection mechanism and the bellows for assembly, which will not only reduce the strength of the anti-deflection mechanism, but also affect the aesthetics of the anti-deflection mechanism. Usually, the material of the anti-deflection soft actuator is relatively hard. When it is used in rehabilitation gloves, if the bellows is filled with excessive atmospheric pressure, it will cause the anti-deflection mechanism to over-squeeze the fingers and cause secondary injuries. Summary of the invention

[0005] The purpose of the present invention is to provide an anti-deflection soft actuator and a hand pneumatic power-assisting device, which solves the problem in the prior art that when the soft actuator is used on the rehabilitation gloves, the rehabilitation gloves do not fit the hands due to twisting, lateral bending, excessive elongation and excessive shortening under the drive of external force.

[0006] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0007] The present invention provides an anti-deflection soft actuator, which comprises: a fixing fixture, and the fixing fixture comprises:

[0008] at least two fixing parts;

[0009] A limiting part, wherein a limiting part is arranged between every two of the fixing parts, and the connection between the limiting part and the fixing part is a flexible hinge; the limiting part comprises at least three sub-limiting parts, and two adjacent sub-limiting parts are connected by a flexible hinge;

[0010] A bellows, which is mounted on the fixing fixture, comprises:

[0011] A corrugated airbag, the corrugated airbag is located above the limiting portion, and the corrugated airbag is connected to an air inlet;

[0012] The connecting part is arranged on both sides of the corrugated airbag and fixedly installed in the fixing part.

[0013] In one embodiment of the present invention, the sub-limiting portion is configured as a curved surface or a U-shaped surface on a side close to the bellows, and the wave crest structure of the corrugated airbag corresponds to the curved surface or the U-shaped surface.

[0014] In one embodiment of the present invention, the flexible hinge near the top of the sub-limiting portion is a first hinge, the flexible hinge near the bottom of the sub-limiting portion is a second hinge, the fixing portion and the limiting portion are connected by the first hinge, and each sub-limiting portion is connected by the first hinge or the second hinge;

[0015] When the number of the sub-limiting portions is odd, the first hinge and the second hinge are symmetrically arranged about a sub-limiting portion located in the middle of the plurality of sub-limiting portions, and include at least two second hinges;

[0016] When the sub-limiting parts are an even number, the first hinge and the second hinge are symmetrically arranged with respect to a flexible hinge located between two middle sub-limiting parts of the plurality of sub-limiting parts, and include at least two second hinges.

[0017] In one embodiment of the present invention, it also includes a base, the hardness of the base is less than the hardness of the fixing clamp, the base includes a fixing block and a flexible connector, two adjacent fixing blocks are connected by the flexible connector, the fixing block is connected to the fixing part, the flexible connector matches the limiting part, and the flexible connector is provided with a first groove or no groove.

[0018] In one embodiment of the present invention, along the axis of the fixing fixture, fractures are provided at the bottom of the fixing portion and the limiting portion.

[0019] In one embodiment of the present invention, the fixing portion includes a mounting seat and a base, and the mounting seat is detachably connected to the base;

[0020] The mounting seat and the base are assembled to form a mounting opening, and the connecting portion matches with the mounting opening and is installed in the mounting opening.

[0021] In one embodiment of the present invention, a mounting hole is provided at the bottom of the mounting seat, and a mounting block is provided at the base, or a mounting hole is provided at the base, and a mounting block is provided at the bottom of the mounting seat, and the mounting block is installed in the mounting hole to form the mounting port.

[0022] In one embodiment of the present invention, the base is provided with slots on both sides, and the mounting seat is provided with buckles on both sides. When the base and the mounting seat are closed, the buckles are engaged with the slots.

[0023] In one embodiment of the present invention, a mounting opening is provided on one side of the fixing portion, and the mounting openings of two adjacent fixing portions face opposite directions.

[0024] In order to achieve the above-mentioned purpose and other related purposes, the present application also provides a hand pneumatic power assist device, which includes:

[0025] An anti-deflection soft actuator, wherein the anti-deflection soft actuator adopts any of the anti-deflection soft actuators described above;

[0026] A sensor, the sensor is used to detect the bending angle and output force of the anti-deflection soft actuator;

[0027] An air source, the air source being used to inflate the bellows of the anti-deflection soft actuator;

[0028] A control module is used to receive the bending angle and output force data detected by the sensor and control the air source.

[0029] The present invention sets the limiting part as a combination structure of a flexible hinge and a sub-limiting part, so that the flexible hinge is easy to bend normally, the rigidity of the sub-limiting part can be relatively large, the ability of the limiting part to resist lateral bending is improved, the lateral bending of the bellows is effectively limited, and the energy loss caused by the lateral bending deformation of the bellows is reduced; the limiting part mainly changes the length of the entire limiting part through the bending deformation at the flexible hinge, rather than changing the length through the overall tensile deformation of the limiting part, so that it can not only meet the normal bending and stretching length changes of the bellows, but also limit the excessive elongation and excessive shortening of the bellows. When it is used in rehabilitation gloves, it can increase the bending force of the bellows on the fingers, improve the driving efficiency of the bellows, and improve the stability and safety of the structure; avoid the problem of gloves loosening caused by excessive elongation or shortening of the bellows, and improve the comfort of the user.

[0030] The number, size and position combinations of the sub-limiting parts and the flexible hinges of the present invention include various combinations, which can be selected according to different usage scenarios.

[0031] The present invention arranges the base at the bottom of the fixing part and the limiting part, and the hardness of the base is less than that of the fixing clamp and the limiting part, so as to prevent the anti-deflection mechanism from squeezing the fingers and causing secondary injury when the bellows is filled with excessive atmospheric pressure.

[0032] The present invention makes the installation process of the corrugated pipe simpler and more convenient while maintaining the aesthetics of the structure by arranging a fracture at the bottom of the fixing fixture or designing the fixing part as a split and detachable structure or arranging an installation opening on the fixing part.

[0033] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0035] Figure 1 A schematic structural diagram of an anti-deflection soft actuator provided for an exemplary embodiment of the present application.

[0036] Figure 2 A schematic structural diagram of a base provided for an exemplary embodiment of the present application.

[0037] Figure 3 A schematic diagram of the connection between a base and a fixing fixture provided for an exemplary embodiment of the present application.

[0038] Figure 4 A schematic diagram of the connection between a base and a fixing fixture provided for another exemplary embodiment of the present application.

[0039] Figure 5 A schematic diagram of the position of a flexible hinge provided for an exemplary embodiment of the present application.

[0040] Figure 6 A schematic diagram of the position of a flexible hinge provided for another exemplary embodiment of the present application.

[0041] Figure 7 A schematic structural diagram of a fixing fixture provided for an exemplary embodiment of the present application.

[0042] Figure 8An exploded view of an anti-deflection soft actuator provided as an exemplary embodiment of the present application without a bellows installed.

[0043] Fig. 9 A schematic structural diagram of a fixing portion provided by an exemplary embodiment of the present application.

[0044] Fig.10 A schematic structural diagram of a fixing portion provided for another exemplary embodiment of the present application.

[0045] Fig.11 Another exemplary embodiment of the present application provides a fixing portion and Fig.10 Schematic diagram of the structure on the other side.

[0046] Fig.12 A schematic structural diagram of a bellows provided as an exemplary embodiment of the present application.

[0047] Fig.13 A schematic structural diagram of a hand pneumatic power-assist device provided as an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0048] The following describes the embodiments of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0049] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0050] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0051] See also Figure 1-2As shown, the present application provides an anti-deflection soft actuator to solve the problem in the prior art that when the soft actuator is used on the rehabilitation glove, the rehabilitation glove does not fit the hand due to twisting, lateral bending, excessive elongation and excessive shortening under external force, and the problem that the bellows-shaped soft actuator is complicated to install and the bellows is filled with excessive atmospheric pressure, which causes the anti-deflection mechanism to over-squeeze the fingers and cause secondary injuries. The anti-deflection soft actuator specifically includes: a fixing fixture 2 and a bellows 3. The fixing fixture 2 includes at least two fixing parts 21, a limiting part 22 is arranged between each two fixing parts 21, and the connection between the limiting part 22 and the fixing part 21 is a flexible hinge 23; the bellows 3 is installed on the fixing fixture 2, and the bellows 3 includes a corrugated airbag 31 and a connecting part 32, the corrugated airbag 31 is located above the limiting part 22, the corrugated airbag 31 is connected with an air inlet, the connecting part 32 is arranged on both sides of the corrugated airbag 31, and is fixedly installed in the fixing part 21. The bellows can be a circular, elliptical or other special-shaped bellows.

[0052] See also Figure 2 As shown, the anti-deflection soft actuator also includes a base 1, the fixing fixture 2 is installed on the base 1, the base 1 includes a fixing block 11 and a flexible connector 12, two adjacent fixing blocks 11 are connected by the flexible connector 12, and each of the fixing blocks 11 is fixedly installed with a fixing portion 21, and the flexible connector 12 is correspondingly arranged with the limiting portion 22. It should be noted that the hardness of the base 1 is less than that of the fixing portion 21 and the limiting portion 22, which can prevent the fixing fixture 2 from squeezing the fingers and causing secondary injuries when the bellows 3 is filled with excessive atmospheric pressure.

[0053] See also Figure 3 and Figure 4 As shown, in an exemplary embodiment of the present application, the fixing block 11 and the flexible connector 12 are integrally formed structures, so as to facilitate the assembly of the fixing fixture 2 and the base 1, and facilitate the assembly of the actuator to other parts through the base 1. In some other embodiments, the base 1 may also be provided with only a plurality of the fixing blocks 11, which are fixedly connected to the fixing portion 21, so as to realize the assembly of the base 1 and the fixing fixture 2, and the use of a plurality of the fixing blocks 11 will not affect the bending performance of the bellows 3.

[0054] It should be understood that when the anti-deflection soft actuator is applied to the rehabilitation glove, the fixing fixture 2 of the present application can be installed on the base 1 described in the above embodiment, and then the anti-deflection soft actuator can be installed on the rehabilitation glove through the base 1, or the actuator can be directly installed by setting a structure matching the fixing fixture 2 on the rehabilitation glove. Of course, the rehabilitation glove and the base 1 can also be set as an integrated structure, so that the fixing fixture 2 and the rehabilitation glove are assembled together.

[0055] See also Figure 5-6 As shown, in an exemplary embodiment of the present application, the fixing portion 21 is connected to the limiting portion 22 via a flexible hinge 23, the limiting portion 22 includes at least three sub-limiting portions 221, and the sub-limiting portions 221 and the sub-limiting portions 221 are also connected via a flexible hinge 23, the flexible hinge 23 is easy to bend normally, and the rigidity of the sub-limiting portion 211 can be relatively large, thereby improving the anti-lateral bending ability of the limiting portion 22 and effectively limiting the lateral bending of the bellows 3; the length of the entire limiting portion 22 is changed by the bending deformation of the flexible hinge 23, so that the limiting portion 22 can bend and rotate within a limited angle range to constrain the bending movement of the bellows 3, thereby satisfying the normal bending and stretching length changes of the bellows 3. In addition, by providing at least three of the sub-limiting portions 221, the excessive elongation and excessive shortening of the bellows 3 in the front-to-back direction caused by the external force when the bellows 3 is bent can be limited, so that the elongation of the bellows 3 matches the elongation when the fingers are bent. When it is applied to rehabilitation gloves, the gloves can be made to fit the hands more closely, preventing the gloves from falling off easily when bending and stretching due to external force, thereby improving the patient's comfort. It should be noted that in the present application, the thickness of the flexible hinge 23 has a great influence on the bending angle of the overall structure, and the length of the flexible hinge 23 has a great influence on the anti-deflection performance of the structure. Therefore, the length of the flexible hinge 23 is less than 2 mm, and the thickness is less than 2 mm, which can make the bending performance and anti-deflection ability of the anti-deflection mechanism reach an ideal value. In addition, the fixing portion 21 and the limiting portion 22 are an integrated structure.

[0056] It should be understood that in order to make the limiting portion 22 bear uniform force when cooperating with the bellows 3 to bend, the limiting portion 22 adopts a symmetrical design. In this embodiment, the flexible hinge 23 near the top of the sub-limiting portion is defined as the first hinge 231, and the flexible hinge 23 near the bottom of the sub-limiting portion 221 is defined as the second hinge 232. The fixing portion 21 is connected to the limiting portion 22 through the first hinge 231, and the sub-limiting portions 221 are connected to each other through the first hinge 231 or the second hinge 232. When the sub-limiting portions 221 are an odd number, the first hinge 231 and the second hinge 232 are symmetrically arranged about a sub-limiting portion 221 located in the middle of the plurality of sub-limiting portions 221, and at least two second hinges 232 are included. The first hinge 231 and the second hinge 232 are symmetrically arranged about the flexible hinge 23 located between two of the plurality of sub-limiting portions 221, and include at least two second hinges 232. The flexible hinge 23 is arranged by the above-mentioned symmetrical arrangement method, and the flexible hinge 23 includes at least two first hinges 231 and at least two second hinges 232, so that the limiting portion 22 can have good upward and downward bidirectional bending capabilities at the same time.

[0057] See also Figure 5 As shown, in an exemplary embodiment of the present application, the number of the sub-limiting parts 221 is 3, the first hinge 231 and the second hinge 232 are symmetrically arranged about the second sub-limiting part 221, and the first hinge 231 and the second hinge 232 located on one side of the second sub-limiting part 221 are arranged alternately and at least two second hinges 232 are included. That is, the fixed part 21 is connected to the first sub-limiting part 221 through the first hinge 231, the first sub-limiting part 221 is connected to the second sub-limiting part 221 through the second hinge 232, the second sub-limiting part 221 is connected to the third sub-limiting part 221 through the second hinge 232, and the third sub-limiting part 221 is connected to the fixed part 21 through the first hinge 231.

[0058] See also Figure 6As shown, in another exemplary embodiment of the present application, the number of the sub-limiting parts 221 is 4, the first hinge 231 and the second hinge 232 are symmetrically arranged about the flexible hinge 23 located between two sub-limiting parts 221 in the middle of the plurality of sub-limiting parts 221, and at least two second hinges 232 are included. That is, the fixed part 21 is connected to the first sub-limiting part 221 through the first hinge 231, the first sub-limiting part 221 is connected to the second sub-limiting part 221 through the second hinge 232, the second sub-limiting part 221 is connected to the third sub-limiting part 221 through the first hinge 231 or the second hinge 232, the third sub-limiting part 221 is connected to the fourth sub-limiting part 221 through the second hinge 232, and the fourth sub-limiting part 221 is connected to the fixed part 21 through the first hinge 231.

[0059] It is understandable that when the number of the sub-limiting parts 221 is other numbers, the flexible hinge 23 is set in the above manner. By setting the limiting part 22 and the flexible hinge 23, the lateral bending in the left and right directions caused by the instability of the bellows 3 due to the interference of external force when the bellows 3 is bent can be limited, and the energy loss caused by the lateral bending deformation of the bellows 3 can be reduced. When it is used in the rehabilitation gloves, the bending force of the bellows 3 on the fingers can be increased, and the driving efficiency of the bellows 3 can be improved.

[0060] See also Figure 2-6 As shown, in an exemplary embodiment of the present application, the flexible connector 12 is provided with a first groove 121, and the first groove 121 corresponds to the gap between two adjacent sub-limiting portions 221. Specifically, in this embodiment, the position of the first groove 121 corresponds to the second hinge 232. The provision of the first groove 121 can help the base 1 reduce the stress generated during the bending process, so that the base 1 is more easily bent when subjected to an external force, thereby reducing the influence of the base 1 on the bending performance of the bellows 3.

[0061] It should be noted that whether to set the first groove 121 is determined by the material of the base 1. If the material hardness or thickness of the base is large, the first groove 121 needs to be set, otherwise the first groove 121 may not be set.

[0062] As a preferred embodiment, the first groove 121 corresponds to the gap between two adjacent sub-limiting portions 221. It should be noted that, in other embodiments, the first groove 121 can be arbitrarily set on the flexible connector 12. In addition, the first groove 121 can be set not only on the side of the flexible connector 12 close to the limit portion 22, but also on the side of the flexible connector 12 away from the limit portion 22, or on both sides of the flexible connector 12.

[0063] See also Figure 7-9 As shown, in an exemplary embodiment of the present application, the fixing fixture 2 is detachably connected to the base 1. Specifically, a protruding structure 111 is provided on the fixing block 11, and a second groove matching the protruding structure 111 is provided at the bottom of the fixing portion 21, and at the same time, the bottom of the limiting portion 22 matches the flexible connector 12. Of course, in other embodiments, a second groove may be provided on the fixing block 11, and a corresponding protruding structure 111 may be provided at the bottom of the fixing portion 21.

[0064] See also Figure 7 As shown, in the first embodiment, the fixing clamp 2 is made of elastic material, and a break 24 is provided at the bottom of the fixing portion 21 and the limiting portion 22 along its axis, and notches 213 are provided on both sides of the fixing portion 21. Since the fixing clamp 2 and the base 1 are detachably connected, the break 24 can be used to pry apart from the bottom, so that the bellows 3 can be installed in the fixing clamp 2. The notches 213 can disperse the stress of the fixing clamp 2 during the opening process, avoid stress concentration on the top of the fixing portion 21, and make the fixing clamp 2 easier to open. In addition, the notches 213 can reduce the damage to the structure caused by the elastic stress of the structure itself when the fixing clamp 2 is pried apart, thereby extending the service life of the fixing clamp 2.

[0065] See also Figure 8 and Fig. 9 As shown, in the second embodiment, the fixing fixture 2 includes a base 211 and a mounting seat 212, and the mounting seat 212 is detachably connected to the base 211. Specifically, the base 211 is provided with a mounting hole 2111, and a mounting block 2121 is provided at the bottom of the mounting seat 212, and the mounting block 2121 matches the mounting hole 2111. For example, the mounting block 2121 is embedded in the mounting hole 2111 to fix the base 211 and the mounting seat 212 together. Of course, in other embodiments, the mounting block 2121 can also be provided at the base 211, and a mounting hole 2111 matching the mounting block 2121 can be provided at the bottom of the mounting seat 212.

[0066] In addition, the connection method of the base 211 and the mounting seat 212 can also adopt a snap-fit ​​structure, with snap-fit ​​grooves provided on both sides of the base 211 and snap-fit ​​buckles provided on both sides of the mounting seat 212. When the base 211 and the mounting seat 212 are closed, the snap-fit ​​buckles and the snap-fit ​​grooves snap-fit ​​to fix the base 211 and the mounting seat 212. In other embodiments, snap-fit ​​buckles may be provided on both sides of the base 211 and snap-fit ​​grooves may be provided on both sides of the mounting seat 212, and the snap-fit ​​connection effect can also be achieved.

[0067] See also Fig.10 and 11 As shown, in another exemplary embodiment of the present application, a mounting opening 214 is provided on one side of the fixing portion 21, and the mounting openings 214 of two adjacent fixing portions 21 face opposite directions. Specifically, when the base 211 and the mounting seat 212 are an integrated structure, a mounting opening 214 is provided on one side of the mounting seat 212, and the mounting openings 214 of adjacent mounting seats 212 face opposite directions. When installing the corrugated tube 3, the corrugated tube can be inserted into the fixing fixture through the mounting opening 214. In addition, this structure can be printed as a whole, which is easy to produce.

[0068] The fixing fixture 2 designed according to the above-mentioned several methods is simpler and more convenient when installing the corrugated pipe 3, and can maintain the aesthetics of the structure.

[0069] See also Figure 1-12 As shown, in an exemplary embodiment of the present application, a plurality of wave crest structures are arranged on the corrugated airbag 31 of the bellows 3, and the side of the sub-limiting portion 221 close to the bellows 3 is an arc surface, and the arc surface is arranged corresponding to the wave crest structure of the bellows 3. When the bellows 3 is inflated through the air inlet, the corrugated airbag 31 expands, and the arc surface contacts the wave crest structure, which limits the expansion position of the bellows 3, and can prevent the bellows from bending sideways, so that it can bend in a specified direction, thereby avoiding damage to the user and improving the safety of the product. Of course, in other embodiments, the side of the sub-limiting portion 221 close to the bellows 3 can also be set as a U-shaped surface or other structures, which can also achieve the limiting effect on the bellows.

[0070] It should be noted that in the exemplary embodiment of the present application, the fixing portion 21 is formed with a mounting opening, for example, the fixing portion 21 is an annular structure with a break 24 at its bottom, the inner cavity of the annular structure is the mounting opening, or the base 211 is fixedly connected with the mounting seat 212 to form an annular structure, thereby forming the mounting opening, the connecting portion 32 is provided with an annular protrusion 321, and the mounting opening is provided with a mounting groove matching the annular protrusion 321. The annular protrusion 321 and the mounting groove cooperate with each other, so that the corrugated tube 3 will not slide when bending.

[0071] In the present application, the bellows 3 can be provided in plurality, the plurality of bellows 3 are connected to each other, and an air inlet is provided at least at one end thereof. In addition, the bellows 3 can also be provided in plurality of independent bellows 3, each independent bellows 3 is provided with an air inlet, and the effect of driving the anti-deflection soft actuator to bend is achieved by inflating each bellows 3 individually.

[0072] See also Figure 1 As shown, Figure 1 The positional relationship between the substrate 4 and the anti-deflection soft actuator is also shown. When used, the anti-deflection soft actuator of the present application can be used by installing the substrate 4 on a desired rehabilitation glove or other structure. In addition, the base 1 of the anti-deflection soft actuator of the present application can also be directly connected to a rehabilitation glove or other structure for use.

[0073] In an exemplary embodiment of the present application, each anti-deflection soft actuator can be provided with different numbers of joint components corresponding to the lengths of different fingers. Figure 1 As shown, in this embodiment, eight fixing parts 21, seven limiting parts 22 and seven bellows 3 are arranged corresponding to the middle finger, and the eight fixing parts 21 are arranged in a straight line at intervals, and the seven limiting parts 22 and the seven bellows 3 are respectively located between each adjacent fixing clamp 2.

[0074] During operation, the bellows 3 is inflated by an air source, and the bellows 3 expands and stretches. Under the limiting action of the fixing portion 21 and the limiting portion 22, the bellows 3 bends downward because the elongated length of the upper portion of the bellows 3 is greater than the elongated length of the lower portion of the bellows 3. On the contrary, when the air source inhales the bellows 3, the bellows 3 contracts in the opposite direction to the above process, can be restored to the initial state, and can be bent in the reverse direction.

[0075] See also Fig.13As shown, further, the present invention provides a hand pneumatic power assist device, which is used by the anti-deflection soft actuator 100 provided by the present application, in conjunction with a sensor 200, an air source 300 and a control module 400. Specifically, the sensor 200 is used to detect the bending angle and output force of the anti-deflection soft actuator 100. When the air source 300 inflates the bellows 3 on the middle finger, the sensor 200 can measure the bending angle and output force of the anti-deflection mechanism 100 of the soft actuator in real time, and transmit the real-time data to the control module 400, so that the relationship curve between the air pressure of the air source 300 and the bending angle and output force can be fitted. When it is used in rehabilitation gloves, the control module 400 can issue instructions through the air source control system to control the air source 300 to charge the bellows 3 with the corresponding air pressure, so as to control the bending angle and output force of the anti-deflection soft actuator 100 shown, and different rehabilitation strategies can be formulated for different users. In addition, air sources 300 are independently provided on different fingers, so that the bending angle and output force of different fingers can be controlled to improve the rehabilitation effect.

[0076] In summary, the present application sets a limiter 22 to limit the bending of the bellows 3, effectively limits the lateral bending, over-elongation and over-shortening of the bellows 3, the flexible hinge 23 is easy to bend normally, the rigidity of the sub-limiter 221 can be relatively large, the ability of the limiter 22 to resist lateral bending is improved, the lateral bending of the bellows 3 is effectively limited, and the energy loss caused by the lateral bending deformation of the bellows 3 is reduced; the limiter 22 mainly changes the length of the entire limiter 22 by bending deformation at the flexible hinge 23, rather than changing the length by the overall tensile deformation of the limiter 22, so that it can meet the normal bending and stretching length changes of the bellows 3, and limit the over-elongation and over-shortening of the bellows 3. When it is used in rehabilitation gloves, it can increase the bending force of the bellows 3 on the fingers, improve the driving efficiency of the bellows 3, improve the stability and safety of the structure, avoid the problem of loose gloves caused by excessive elongation or excessive shortening of the bellows 3, and fit the user's hand more closely, improving the user's comfort. The number, size and position combinations of the flexible hinge 23 and the sub-limiting portion 221 of the present application include a variety of combinations, which can be applied to different usage scenarios. In addition, by providing a base 1 at the bottom of the fixing fixture 2, it is possible to prevent the fixing fixture 2 from squeezing the fingers and causing secondary injuries when the bellows 3 is filled with excessive atmospheric pressure, thereby further improving the structural safety. In addition, by providing a break 24 at the bottom of the fixing fixture 2 or designing the fixing portion 21 as a split structure or providing an installation opening on the fixing portion, the bellows installation process is simplified and the structural beauty is maintained.

[0077] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope involved in the present application is not limited to the technical solution formed by a specific combination of the above-mentioned technical features, but should also cover other technical solutions formed by any combination of the above-mentioned technical features or their equivalent features without departing from the inventive concept, such as a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features with similar functions disclosed in this application.

[0078] Except for the technical features described in the specification, the remaining technical features are known technologies to those skilled in the art. In order to highlight the innovative features of the present invention, the remaining technical features will not be described here in detail.

Claims

1. An anti-deflection soft actuator, characterized in that: include: A fixing fixture, wherein the fixing fixture comprises: at least two fixing parts; A limiting part, wherein a limiting part is arranged between every two of the fixing parts, and the connection between the limiting part and the fixing part is a flexible hinge; the limiting part comprises at least three sub-limiting parts, and two adjacent sub-limiting parts are connected by a flexible hinge; A bellows, which is mounted on the fixing fixture, comprises: A corrugated airbag, the corrugated airbag is located above the limiting portion, and the corrugated airbag is connected to an air inlet; The connecting parts are arranged on both sides of the corrugated airbag and installed in the fixing part.

2. The anti-deflection soft actuator according to claim 1, characterized in that: The sub-limiting portion is configured as a curved surface or a U-shaped surface on a side close to the corrugated tube, and the wave crest structure of the corrugated airbag corresponds to the curved surface or the U-shaped surface.

3. The anti-deflection soft actuator according to claim 1, characterized in that: The flexible hinge near the top of the sub-limiting portion is a first hinge, the flexible hinge near the bottom of the sub-limiting portion is a second hinge, the fixing portion and the limiting portion are connected by the first hinge, and each sub-limiting portion is connected by the first hinge or the second hinge; When the number of the sub-limiting portions is odd, the first hinge and the second hinge are symmetrically arranged about a sub-limiting portion located in the middle of the plurality of sub-limiting portions, and include at least two second hinges; When the sub-limiting parts are an even number, the first hinge and the second hinge are symmetrically arranged with respect to a flexible hinge located between two middle sub-limiting parts of the plurality of sub-limiting parts, and include at least two second hinges.

4. The anti-deflection soft actuator according to claim 1, characterized in that: It also includes a base, the hardness of the base is less than the hardness of the fixing clamp, the base includes a fixing block and a flexible connector, two adjacent fixing blocks are connected by the flexible connector, the fixing block is connected to the fixing part, the flexible connector matches the limiting part, and the flexible connector is provided with a first groove or no groove.

5. The anti-deflection soft actuator according to claim 1, characterized in that: Along the axis of the fixing fixture, fractures are arranged at the bottom of the fixing portion and the limiting portion.

6. The anti-deflection soft actuator according to claim 1, characterized in that: The fixing part comprises a mounting seat and a base, and the mounting seat is detachably connected to the base; The mounting seat and the base are assembled to form a mounting opening, and the connecting portion matches with the mounting opening and is installed in the mounting opening.

7. The anti-deflection soft actuator according to claim 6, characterized in that: The bottom of the mounting seat is provided with a mounting hole, and the base is provided with a mounting block, or the base is provided with a mounting hole, and the bottom of the mounting seat is provided with a mounting block, and the mounting block is installed in the mounting hole to form the mounting opening.

8. The anti-deflection soft actuator according to claim 6, characterized in that: The base is provided with card slots on both sides, and the mounting seat is provided with buckles on both sides; or the base is provided with buckles on both sides, and the mounting seat is provided with card slots on both sides; When the base and the mounting seat are closed, the buckle is engaged with the slot.

9. The anti-deflection soft actuator according to claim 1, characterized in that: A mounting opening is disposed on one side of the fixing portion, and the mounting openings of two adjacent fixing portions face opposite directions.

10. A hand pneumatic power assist device, characterized in that: include: An anti-deflection soft actuator, wherein the anti-deflection soft actuator is the anti-deflection soft actuator according to any one of claims 1 to 9; A sensor, the sensor is used to detect the bending angle and output force of the anti-deflection soft actuator; An air source, the air source being used to inflate the bellows of the anti-deflection soft actuator; A control module is used to receive the bending angle and output force data detected by the sensor and control the air source.

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