Pneumatic flexible driver capable of adjusting bending angle

Abstract

The pneumatic flexible driver with the adjustable bending angle comprises semi-arc-shaped corrugated pipes, the two ends of each semi-arc-shaped corrugated pipe are provided with a first end cover and a second end cover correspondingly, a pair of branch air pipes is arranged in each semi-arc-shaped corrugated pipe, and connecting mechanisms are installed on the branch air pipes; the semi-arc corrugated pipe is provided with a first tensioning mechanism, the semi-arc partition plate is provided with a second tensioning mechanism, the semi-arc corrugated pipe starts to be bent under the action of gas and the first connecting rope, and after the semi-arc corrugated pipe is bent to a certain radian, the semi-arc corrugated pipe is bent to a certain radian under the action of the second connecting rope and the like. The semi-arc-shaped partition plate can be attached to the inner wall of the semi-arc-shaped corrugated pipe, the gas distribution amount in the semi-arc-shaped corrugated pipe forms a difference value, the bending degree of the right end of the semi-arc-shaped corrugated pipe is increased, and therefore the finger joints of a user can be better exercised.

Description

Technical Field

[0001] The invention relates to the technical field of flexible mechanical devices, in particular to a flexible driver with pneumatic adjustable bending angle. Background Art

[0002] The pneumatically adjustable bending angle flexible actuator is a flexible mechanical device that uses pneumatic principles to achieve bending motion. It has revolutionary application prospects in the fields of medical rehabilitation, pneumatic clamping, etc. Joseph L. McKibben designed the earliest flexible actuator, called the McKibben PMA (Pneumatic Muscle Actuator), which consists of a rubber tube and a fiber mesh, and is sealed at both ends by metal clamps. When gas is filled into the tube, the rubber tube will expand radially and contract axially to generate driving tension, but this actuator cannot produce bending deformation and cannot be used to drive the wrist and fingers to produce bending movements.

[0003] For example, the inflatable elongation pneumatic flexible actuator with the publication number CN101863030A is composed of a flat rubber hose and a reinforced mesh sleeve added to the outside of the tube. The hose body is sleeved on the guide rod. When the rubber hose is inflated and pressurized, the whole will expand and deform along the axial direction, and the deformation is large, thereby generating axial elongation movement. This actuator is a linear actuator with good flexibility, but the patent can only generate elongation movement, not bending angle movement, which has certain limitations;

[0004] For example, a wearable hoop-type pneumatic inflatable bending flexible actuator with publication number CN107088884B includes a front end cover, a terminal end cover, an upper corrugated structure, a bottom layer, a hoop, a rope, and a hose. The actuator of the invention has good flexibility, strong pressure bearing capacity, and a large terminal output force, and is particularly suitable for the field of medical rehabilitation. The patent directly injects gas into the upper corrugated structure through a hose to bend the upper corrugated structure as a whole. However, since human fingers have three sections, if the overall bending is adopted, the knuckles in the middle of the fingers cannot be bent, so the use effect is not good. Summary of the invention

[0005] In view of the deficiencies of the prior art, the present invention provides a pneumatic flexible actuator with adjustable bending angle, which solves the problem that the pneumatic flexible actuator in the prior art cannot perform bending angle movement or cannot bend the middle knuckles of the fingers.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a pneumatically adjustable bending angle flexible driver, comprising a semi-arc bellows, a first end cover and a second end cover are respectively arranged at both ends of the semi-arc bellows, a pair of bronchi are arranged inside the semi-arc bellows, and the two ends of the bronchi are respectively fixedly connected to the first end cover and the second end cover, a pair of first vertical plates are fixedly connected in the middle of the semi-arc bellows, a semi-arc partition is hinged in the middle of adjacent first vertical plates through a pin shaft, and the inner wall of the semi-arc partition at the strip groove is gap-matched with the outer wall of the bronchus, a connecting mechanism is installed on the bronchus, a first tensioning mechanism is installed on the semi-arc bellows, and a second tensioning mechanism is installed on the semi-arc partition.

[0007] Preferably, the connecting mechanism includes a two-way joint connected to one end of the bronchus near the first end cover, and the input end of the two-way joint is connected to the main air pipe, the outer wall of the main air pipe is fixedly connected to a second vertical plate, a pair of cross bars are fixedly connected between the second vertical plate and the first end cover, and the outer wall of the second vertical plate is installed with a fixing component.

[0008] Preferably, the first tensioning mechanism includes a first connecting rope arranged at a pair of through holes of the semi-arc corrugated pipe, the two ends of the first connecting rope are respectively fixed with a first connecting block and a second connecting block, and the outer walls of the first connecting block and the second connecting block are respectively fixed with the second vertical plate and the second end cover.

[0009] Preferably, the second tensioning mechanism includes a pair of third vertical plates and a pair of fourth vertical plates fixed to the inside of the semi-arc corrugated tube, a first roller is rotatably connected between adjacent third vertical plates, a second roller is rotatably connected between adjacent fourth vertical plates, and a second connecting rope is connected to the outer walls of the first roller and the second roller, two ends of the second connecting rope are respectively fixed to a third connecting block and a fourth connecting block, and the outer walls of the third connecting block and the fourth connecting block are respectively fixed to the semi-arc partition and the semi-arc corrugated tube.

[0010] Preferably, the fixing assembly includes a gusset plate fixedly connected to a plurality of second vertical plates, and two ends of the gusset plate are respectively fixedly connected to a first fixing belt and a second fixing belt.

[0011] Preferably, the butt ends of the first fixing belt and the second fixing belt are sewn with a first Velcro and a second Velcro, respectively.

[0012] Preferably, a plurality of elastic rings are fixedly connected to the bottom end of the semi-arc-shaped corrugated tube.

[0013] Preferably, a flexible bending sensor is arranged in the adjacent elastic ring, and the flexible bending sensor is connected to the bottom end of the semi-arc bellows.

[0014] Beneficial Effects

[0015] The present invention provides a pneumatically adjustable bending angle flexible actuator, which has the following beneficial effects:

[0016] Through the mutual cooperation of the main trachea, bronchial tube, semi-arc bellows, first connecting rope and semi-arc partition and other structures, the semi-arc bellows will begin to bend under the action of gas and the first connecting rope. After bending to a certain arc, under the action of the second connecting rope and other structures, the semi-arc partition will fit with the inner wall of the semi-arc bellows, so that the gas distribution inside the semi-arc bellows forms a difference, so that the bending degree of the right end of the semi-arc bellows is increased, thereby better exercising the user's finger joints;

[0017] Through the mutual cooperation of the second connecting rope, the first roller, the second roller and other structures, when the semi-arc corrugated tube bends, the second connecting rope can be limited and guided by the first roller and the second roller, so that the second connecting rope will pull the semi-arc partition to rotate at the first vertical plate, so that the top arc part of the semi-arc partition gradually approaches the inner wall of the semi-arc corrugated tube until it fits with the inner wall of the semi-arc corrugated tube. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the structure of the present invention.

[0019] Figure 2 It is a partial enlarged schematic diagram of the present invention.

[0020] Figure 3 It is a partial three-dimensional enlarged schematic diagram of the present invention.

[0021] Figure 4 It is a partial enlarged schematic diagram of the present invention.

[0022] Figure 5 It is a partial enlarged schematic diagram of the present invention.

[0023] Figure 6 It is a partial enlarged schematic diagram of the present invention.

[0024] Figure 7 It is a partial three-dimensional enlarged schematic diagram of the present invention.

[0025] Figure 8 It is a partial three-dimensional enlarged schematic diagram of the present invention.

[0026] In the figure: 1. semi-arc bellows; 2. first end cover; 3. second end cover; 4. bronchus; 5. first vertical plate; 6. semi-arc partition; 7. two-way joint; 8. main air pipe; 9. second vertical plate; 10. cross bar; 11. first connecting rope; 12. first connecting block; 13. second connecting block; 14. third vertical plate; 15. fourth vertical plate; 16. first roller; 17. second roller; 18. second connecting rope; 19. third connecting block; 20. fourth connecting block; 21. elastic ring; 22. flexible bending sensor; 23. first fixing belt; 24. second fixing belt; 25. first Velcro; 26. second Velcro; 27. buckle plate. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] See also Figure 1-8 The present invention provides a technical solution: a pneumatically adjustable bending angle flexible driver, comprising a semi-arc bellows 1, a first end cover 2 and a second end cover 3 are respectively arranged at the two ends of the semi-arc bellows 1, a pair of bronchi 4 are arranged inside the semi-arc bellows 1, and the two ends of the bronchi 4 are respectively fixedly connected to the first end cover 2 and the second end cover 3, a pair of first vertical plates 5 are fixedly connected in the middle of the semi-arc bellows 1, a semi-arc partition 6 is hingedly connected in the middle of the adjacent first vertical plates 5 through a pin shaft, and the inner wall of the strip groove of the semi-arc partition 6 is gap-matched with the outer wall of the bronchial tube 4, a connecting mechanism is installed on the bronchial tube 4, a first tensioning mechanism is installed on the semi-arc bellows 1, and a second tensioning mechanism is installed on the semi-arc partition 6;

[0029] A semi-arc partition 6 is arranged in the middle of the semi-arc bellows 1. The top arc of the semi-arc partition 6 has the same arc as the inner wall of the semi-arc bellows 1. The semi-arc bellows 1 is made of silicone rubber or other elastic materials. Two strip grooves are processed on the semi-arc partition 6, so that the bronchus 4 will not be blocked.

[0030] This embodiment is further configured such that the connection mechanism includes a two-way joint 7 connected to one end of the bronchial tube 4 close to the first end cover 2, and the input end of the two-way joint 7 is connected to the main air pipe 8, the outer wall of the main air pipe 8 is fixedly connected to a second vertical plate 9, a pair of cross bars 10 are fixedly connected between the second vertical plate 9 and the first end cover 2, and a fixing component is installed on the outer wall of the second vertical plate 9;

[0031] A pair of cross bars 10 are fixedly connected between the second vertical plate 9 and the first end cover 2 , so that the first end cover 2 and the left end of the semi-arc corrugated tube 1 can be supported by the cross bars 10 .

[0032] This embodiment is further configured such that the first tensioning mechanism includes a first connecting rope 11 disposed at a pair of through holes of the semi-arc-shaped corrugated tube 1, and the first connecting block 12 and the second connecting block 13 are respectively fixedly connected at both ends of the first connecting rope 11, and the outer walls of the first connecting block 12 and the second connecting block 13 are respectively fixedly connected to the second vertical plate 10 and the second end cover 3;

[0033] A pair of through holes are processed inside the semi-arc corrugated tube 1, and a first connecting rope 11 is arranged at the through holes. The first connecting rope 11 can be made of iron wire rope, steel wire rope, nylon rope and rope of material without elasticity, so that tension can be applied to the semi-arc corrugated tube 1.

[0034] This embodiment is further configured such that the second tensioning mechanism includes a pair of third vertical plates 14 and a pair of fourth vertical plates 15 fixedly connected to the inside of the semi-arc corrugated tube 1, a first roller 16 is rotatably connected between adjacent third vertical plates 14, a second roller 17 is rotatably connected between adjacent fourth vertical plates 15, and a second connecting rope 18 is connected to the outer walls of the first roller 16 and the second roller 17, and the two ends of the second connecting rope 18 are respectively fixedly connected to a third connecting block 19 and a fourth connecting block 20, and the outer walls of the third connecting block 19 and the fourth connecting block 20 are respectively fixedly connected to the semi-arc partition 6 and the semi-arc corrugated tube 1;

[0035] The second connecting rope 18 is made of the same material as the first connecting rope 11 , and passes through the bottom end of the first roller 16 and the top end of the second roller 17 , so that the second connecting rope 18 can better pull the semi-arc partition 6 through the first roller 16 and the second roller 17 .

[0036] This embodiment is further configured such that the fixing assembly includes a gusset plate 27 fixedly connected to the plurality of second vertical plates 9 , and two ends of the gusset plate 27 are respectively fixedly connected to a first fixing belt 23 and a second fixing belt 24 .

[0037] This embodiment is further configured such that the butt ends of the first fixing belt 23 and the second fixing belt 24 are sewn with a first Velcro 25 and a second Velcro 26 respectively;

[0038] When the buckle plate 27 fits the back of the user's hand, pull the first fixing strap 23 and the second fixing strap 24, and adhere the first fixing strap 23 and the second fixing strap 24 together through the first Velcro 25 and the second Velcro 26, so as to connect the buckle plate 27 to the user's hand.

[0039] This embodiment is further configured such that a plurality of elastic rings 21 are fixedly connected to the bottom end of the semi-arc-shaped corrugated tube 1;

[0040] The user can insert his finger into the elastic ring 21 so that the semi-arc bellows 1 is placed above the user's finger, so that the semi-arc bellows 1 can better fit the user's finger through the elastic ring 21.

[0041] This embodiment is further configured such that a flexible bending sensor 22 is provided in the adjacent elastic ring 21, and the flexible bending sensor 22 is connected to the bottom end of the semi-arc bellows 1;

[0042] The bending angle value of the device during the bending process can be fed back through the flexible bending sensor 22, and a set of flexible drivers is formed through this device.

[0043] It is worth noting that the models of the electrical structures involved in this application can be selected according to user needs, and only need to meet the use requirements of this application. At the same time, the corresponding control circuits are all existing technologies and can be fully implemented by personnel in this field, so no further details will be given.

[0044] By those skilled in the art, the components in this case are connected in sequence. The specific connection and operation sequence should refer to the following working principle. The detailed connection means are well-known technologies in the field. The following mainly introduces the working principle and process.

[0045] Embodiment: When it is necessary to use this device, the user can insert his fingers into the elastic ring 21, place the semi-arc bellows 1 above the user's fingers, and then fit the buckle plate 27 against the back of the user's hand, then pull the first fixing belt 23 and the second fixing belt 24, and bond the first fixing belt 23 and the second fixing belt 24 together through the first Velcro 25 and the second Velcro 26, so as to connect the buckle plate 27 to the user's hand, and then connect the main air pipe 8 to the external air supply structure. In this way, when air is supplied to the main air pipe 8, the gas will flow into the bronchus 4 through the two-way joint 7. Since the air outlet opening of the bronchus 4 is opened at the right end, the discharged gas will first fill the right end part of the semi-arc bellows 1, and under the tension of the cross bar 10 and the first connecting rope 11, it will start to bend from the right end part of the semi-arc bellows 1. At the same time, since the semi-arc partition 6 is set In the middle part of the semi-arc bellows 1, it corresponds to the joint in the middle of the user's fingers, and a second connecting rope 18, a first roller 16 and a second roller 17 are arranged on the semi-arc partition 6. In this way, when the semi-arc bellows 1 is bent, the semi-arc partition 6 will be pulled to rotate at the first vertical plate 5 by the second connecting rope 18, and the top arc-shaped part of the semi-arc partition 6 will gradually approach the inner wall of the semi-arc bellows 1 until it fits with the inner wall of the semi-arc bellows 1, so that the gas flowing to the left end of the semi-arc bellows 1 will be blocked, so that the amount of gas at the right end of the semi-arc bellows 1 will be greater than that at the left end. Therefore, under the tension of the first connecting rope 11, the bending degree of the right end of the semi-arc bellows 1 will gradually increase, and the front end of the semi-arc bellows 1 will be bent twice, so as to better exercise the user's finger joints, and thus the use effect is better.

[0046] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions. The sentence "includes an element defined by ... does not exclude the existence of other identical elements in the process, method, article or device including the element".

[0047] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A pneumatically adjustable bending angle flexible actuator, comprising a semi-arc bellows (1), characterized in that: The two ends of the plurality of semi-arc-shaped corrugated tubes (1) are respectively provided with a first end cover (2) and a second end cover (3); a pair of bronchi (4) are arranged inside the semi-arc-shaped corrugated tube (1), and the two ends of the bronchi (4) are respectively fixedly connected to the first end cover (2) and the second end cover (3); a pair of first vertical plates (5) are fixedly connected in the middle of the semi-arc-shaped corrugated tube (1); a semi-arc-shaped partition plate (6) is hingedly connected in the middle of adjacent first vertical plates (5) through a pin shaft, and the inner wall of the strip groove of the semi-arc-shaped partition plate (6) is gap-matched with the outer wall of the bronchial tube (4); a connecting mechanism is installed on the bronchial tube (4); a first tensioning mechanism is installed on the semi-arc-shaped corrugated tube (1); and a second tensioning mechanism is installed on the semi-arc-shaped partition plate (6).

2. A pneumatically adjustable bending angle flexible actuator according to claim 1, characterized in that: The connection mechanism comprises a two-way joint (7) connected to one end of the bronchial tube (4) close to the first end cover (2), and the input end of the two-way joint (7) is connected to the main air pipe (8), the outer wall of the main air pipe (8) is fixedly connected to a second vertical plate (9), a pair of cross bars (10) are fixedly connected between the second vertical plate (9) and the first end cover (2), and a fixing component is installed on the outer wall of the second vertical plate (9).

3. The pneumatically adjustable bending angle flexible actuator according to claim 1, characterized in that: The first tensioning mechanism comprises a first connecting rope (11) arranged at a pair of through holes of the semi-arc-shaped corrugated pipe (1), the two ends of the first connecting rope (11) are respectively fixedly connected to a first connecting block (12) and a second connecting block (13), and the outer walls of the first connecting block (12) and the second connecting block (13) are respectively fixedly connected to the second vertical plate (10) and the second end cover (3).

4. The pneumatically adjustable bending angle flexible actuator according to claim 1, characterized in that: The second tensioning mechanism comprises a pair of third vertical plates (14) and a pair of fourth vertical plates (15) fixedly connected to the inside of the semi-arc corrugated tube (1); a first roller (16) is rotatably connected between adjacent third vertical plates (14); a second roller (17) is rotatably connected between adjacent fourth vertical plates (15); and a second connecting rope (18) is connected to the outer walls of the first roller (16) and the second roller (17); two ends of the second connecting rope (18) are respectively fixedly connected to a third connecting block (19) and a fourth connecting block (20); and the outer walls of the third connecting block (19) and the fourth connecting block (20) are respectively fixedly connected to the semi-arc partition (6) and the semi-arc corrugated tube (1).

5. The pneumatically adjustable bending angle flexible actuator according to claim 2, characterized in that: The fixing assembly comprises a gusset plate (27) fixedly connected to a plurality of second vertical plates (9), and two ends of the gusset plate (27) are respectively fixedly connected to a first fixing belt (23) and a second fixing belt (24).

6. The pneumatically adjustable bending angle flexible actuator according to claim 5, characterized in that: The butt ends of the first fixing belt (23) and the second fixing belt (24) are sewn with a first Velcro (25) and a second Velcro (26) respectively.

7. The pneumatically adjustable bending angle flexible actuator according to claim 1, characterized in that: A plurality of elastic rings (21) are fixedly connected to the bottom end of the semi-arc-shaped corrugated tube (1).

8. The pneumatically adjustable bending angle flexible actuator according to claim 7, characterized in that: A flexible bending sensor (22) is arranged in the adjacent elastic ring (21), and the flexible bending sensor (22) is connected to the bottom end of the semi-arc bellows (1).

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