Tendon bionic device

Abstract

The utility model discloses a muscle tendon bionic device, relates to novel biological auxiliary instrument field, the muscle tendon bionic device includes action component, action component includes axial through, and the periphery is equipped with the elastic body of braided wire layer and sleeve the both ends of elastic body, one seal plug is equipped with the medium pipeline, and the medium pipeline is equipped with the medium pipeline. The axial length of the braided wire layer is larger than that of the elastic body, and the braided wire layer extends out of the sealing plug. And the protection assembly comprises protection sleeves arranged at the two ends of the elastic body in a sleeving mode, each protection sleeve comprises a flexible part facing the elastic body and a metal part located on the periphery of the flexible part, and the end, facing the center of the elastic body, of the flexible part extends out of the metal part. The flexible part can separate the elastic body from the metal part, and the risk that the elastic body is cut is reduced.

Description

Technical Field

[0001] This utility model relates to the field of biological assistive devices, specifically to a tendon bionic device. Background Technology

[0002] Human muscles are composed of multiple bionic tendons, which achieve pushing and pulling movements driven by compressed air or liquid, similar to the movement of human muscles. Bionic tendons mainly consist of structures such as elastic tubes, braided meshes, and metal clamps. When the elastic tube is inflated with air / liquid, its volume expands, while the braided mesh constrains the radial expansion of the elastic tube, converting it into axial contraction, thus creating a linear driving effect.

[0003] Existing pneumatic or hydraulic bionic tendons use a method of fixing and sealing where rigid structural parts are in direct contact with elastic tubes at both ends. During repeated expansion and contraction, the elastic tubes in the bionic tendons come into continuous contact with the edges of the rigid structural parts, posing a risk of cutting the elastic tubes and thus affecting the overall lifespan of the bionic tendons. Utility Model Content

[0004] This application provides a tendon bionic device that can solve the technical problem in the prior art where, during repeated expansion and contraction, the elastic tube in the bionic tendon comes into continuous contact with the edge of the rigid structural parts, posing a risk of cutting the elastic tube and thus affecting the overall lifespan of the bionic tendon.

[0005] This application provides a tendon bionic device, comprising:

[0006] The functional component includes an axially penetrating elastic body with a braided layer on its outer periphery and sealing plugs sleeved at both ends of the elastic body, wherein a medium channel is provided on one of the sealing plugs, and the axial length of the braided layer is greater than the axial length of the elastic body and extends beyond the sealing plug.

[0007] A protective assembly includes protective sleeves fitted onto both ends of the elastomer. The protective sleeves include a flexible portion facing the elastomer and a metal portion located on the outer periphery of the flexible portion, with one end of the flexible portion extending out of the metal portion towards the center of the elastomer.

[0008] In one embodiment, the elastomer comprises at least one layer of elastic rubber.

[0009] In one embodiment, the braided layer comprises at least two single-layer braids, wherein the braids in each single-layer braid are parallel to each other and the braids in adjacent single-layer braids face opposite directions.

[0010] In one embodiment, the flexible portion has a protrusion at one end extending from the metal portion.

[0011] In one embodiment, the sealing plug includes a first sealing plug and a second plug with a medium conduit.

[0012] In one embodiment, the braided layer extends beyond both ends of the elastomer and continues to extend beyond the first plug and the medium conduit to converge into a braided bundle.

[0013] In one embodiment, a tendon cord connection end is provided on the braided wire harness located on one side of the first plug.

[0014] In one embodiment, one end of the braided layer is fixed to the end of the elastomer away from the medium conduit, and the other end of the braided layer extends out of the elastomer and is fixed to the outside of the medium conduit.

[0015] In one embodiment, the outer periphery of the medium conduit is provided with a fastening coil for securing the ends of the braided yarn layer.

[0016] In one embodiment, the first plug has a connecting lug on the side away from the elastomer for connecting to an external tendon cord.

[0017] The beneficial effects of the technical solutions provided in this application include:

[0018] 1. The tendon bionic device in this application provides protective sleeves at both ends of the elastomer. These sleeves include a metal portion and a flexible portion. The flexible portion separates the metal portion from the elastomer, preventing damage to the surface of the elastomer from the metal portion. Simultaneously, the braided thread layer is longer than the elastomer, allowing it to extend beyond the sealing plug and thus providing some protection for the media pipeline on the sealing plug, preventing scratches from external hard structures.

[0019] 2. The tendon bionic device in this application can increase the effective length of the elastomer by setting sealing plugs and braided wire layers at both ends of the elastomer, which helps to achieve a lightweight design of the overall structure. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of a tendon bionic device provided in an embodiment of this application;

[0022] Figure 2This is a schematic diagram of the protective sleeve structure in a tendon bionic device provided in an embodiment of this application;

[0023] Figure 3 This is a schematic diagram of one embodiment of the braided thread layer and sealing plug in a tendon bionic device provided in this application.

[0024] Figure 4 This is a schematic diagram of another embodiment of the braided thread layer and sealing plug in a tendon bionic device provided in this application.

[0025] In the diagram: 1. Elastomer; 2. Braided layer; 201. Braided wire harness; 3. Sealing plug; 301. First plug; 302. Second plug; 4. Medium pipeline; 5. Protective sleeve; 501. Flexible part; 502. Metal part; 503. Protrusion; 6. Tendon rope connection end; 7. Fastening coil; 8. Connecting ear. Detailed Implementation

[0026] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0027] This application provides a tendon bionic device that solves the technical problem in the prior art where, during repeated expansion and contraction, the elastic tube in the bionic tendon continuously comes into contact with the edges of rigid structural parts, posing a risk of cutting the elastic tube and thus affecting the overall lifespan of the bionic tendon.

[0028] The tendon bionic device in this application includes an action component and a protective component. The action component constitutes the basic structure of the bionic tendon, with its two ends connected to a drive component or tendon cord, and is mainly used to achieve its own extension and contraction under the drive of compressed air or liquid to simulate the movement of human muscle tissue. The protective component is set on the action component to separate the rigid structure and the flexible structure in the action component, prevent the rigid structure from damaging the surface of the flexible structure, and improve the overall service life of the structure.

[0029] Specifically, Figure 1 This is a schematic diagram of a tendon bionic device provided in an embodiment of this application, as shown below. Figure 1 As shown, the functional component includes an elastic body 1 with an axial through-hole and a braided layer 2 on its outer periphery, and sealing plugs 3 sleeved on both ends of the elastic body 1. A medium pipe 4 is provided on one of the sealing plugs 3. The axial length of the braided layer 2 is greater than the axial length of the elastic body 1 and extends out of the sealing plug 3.

[0030] The elastomer 1 is a cylindrical body with a central through-hole. The outer periphery of the elastomer 1 is covered with a braided layer 2, which is used to convert radial expansion caused by air or liquid filling into the elastomer 1 into axial contraction, thereby forming a linear driving effect.

[0031] The sealing plugs 3 at both ends of the elastomer 1 seal the interior of the elastomer 1, ensuring the normal flow of compressed air or liquid. The medium pipeline 4 passes through one of the sealing plugs 3 to connect to the interior of the elastomer 1, and extends axially at the other end to connect to an external drive device. At the same time, the braided layer 2 is longer than the elastomer 1, allowing it to extend beyond the sealing plug 3, and also provides some protection for the medium pipeline 4, preventing it from being scratched by external hard structures.

[0032] Furthermore, the protective component includes protective sleeves 5 fitted onto both ends of the elastomer 1. The protective sleeves 5 include a flexible portion 501 facing the elastomer 1 and a metal portion 502 located on the outer periphery of the flexible portion 501, and one end of the flexible portion 501 facing the center of the elastomer 1 extends out of the metal portion 502.

[0033] Figure 2 This is a schematic diagram of the protective sleeve 5 in a tendon bionic device provided in an embodiment of this application, as shown below. Figure 2 As shown, in conjunction with the above description, to ensure a sealing effect, the sealing plug 3 is fitted inside the end of the elastic body 1, and a protective sleeve 5 is provided on the outside of the end of the elastic body 1 for fixing the elastic body 1 and the braided layer 2, and also to protect the end of the elastic body 1. This fully utilizes the advantages of different materials to further improve the performance and function of the bionic tendon. In the longitudinal section view of the tendon bionic device in this application, the three components, from the inside out, are the sealing plug 3, the elastic body 1, and the protective sleeve 5. The flexible part 501 in the protective sleeve 5 contacts the outer wall of the elastic body 1 to prevent the metal part 502 in the sleeve from directly contacting the elastic body 1, thus preventing damage to the elastic body 1 caused by the metal part 502 during the expansion and contraction of the elastic body 1. The flexible part 501 and the metal part 502 can be fixedly connected to form a whole, or they can be detached and separated; no specific limitations are made in this application.

[0034] Furthermore, the flexible part 501 extends beyond the metal part 502 at one end toward the center of the elastic body 1. During use, the length and shape of the elastic body 1 are in a state of change. Therefore, the extension of the flexible part 501 can increase the protection area and prevent the end of the metal part 502 from contacting the elastic body 1 when the elastic body 1 is deformed or stretched.

[0035] Furthermore, the elastomer 1 comprises at least one layer of elastic rubber. Whether a single layer or multiple layers of elastic rubber are used should be selected based on the specific application scenario and requirements. A single layer of elastic rubber is suitable for simple applications and basic elasticity requirements, while multiple layers are suitable for applications requiring higher performance and functional adaptability. When selecting, factors such as material cost, processing difficulty, and performance requirements should be comprehensively considered to achieve optimal performance and cost-effectiveness. The specific number of layers is not specifically limited in this application.

[0036] Furthermore, the braided layer 2 includes at least two single-thread layers, with the braided threads in each single-thread layer parallel to each other and the braided threads in adjacent single-thread layers facing opposite directions. In this application, the number of single-thread layers is preferably two, with the two single-thread layers facing opposite directions to achieve a spatially staggered arrangement. Based on this arrangement, the tendon bionic device in this application can disperse stress when subjected to external forces, improving the overall tear resistance and wear resistance. At the same time, when one single-thread layer is stretched or compressed, the other single-thread layer can provide a reverse force, thereby enhancing the overall driving force.

[0037] Furthermore, the elastic body 1 and the braided layer 2 mentioned above can be fixedly connected to form a whole, or they can be independent entities. No specific restrictions are imposed in this application.

[0038] Furthermore, in conjunction with the above description, the flexible part 501 extends beyond the metal part 502 at one end toward the center of the elastic body 1 to expand the protection range of the flexible part 501. At the same time, during the process of the elastic body 1, the flexible part 501 and the metal part 502 may undergo relative displacement due to the material of the flexible part 501. Therefore, in order to ensure that the end of the metal part 502 is always within the range of the flexible part 501, a protrusion 503 is provided at one end of the flexible part 501 that extends beyond the metal part 502. One side of the protrusion 503 contacts the end face of the metal part 502 to provide better protection.

[0039] Furthermore, in conjunction with the above description, sealing plugs 3 are provided at both ends of the elastomer 1. These plugs not only form a sealed space within the elastomer 1 but also connect the tendon bionic device of this application to the tendon cord and the drive component, respectively. Therefore, the tendon bionic device of this application has two implementation methods. Specifically, Figure 3 This is a schematic diagram of one embodiment of the braided thread layer 2 and sealing plug 3 in a tendon bionic device provided in this application. Figure 3 As shown, the sealing plug 3 includes a first plug 301 for sealing and a second plug 302 with a medium pipe 4. Both embodiments are based on the deformation of the first plug 301 and the second plug 302.

[0040] See Figure 3In this embodiment, the braided layer 2 extends beyond both ends of the elastomer 1 and continues to extend beyond the first plug 301 and the medium pipe 4 to form a braided wire bundle 201. That is, one end of the extension path of the braided layer 2 passes through the first plug 301 to form a braided wire bundle 201, and the other end passes through the medium pipe 4 to form another braided wire bundle 201. It should be noted that the braided wire bundle 201 located on one side of the medium pipe 4 is relatively loose to leave room for the air inlet of the medium pipe 4.

[0041] Furthermore, in conjunction with the above description, the side of the first end cap 301 is used to connect the external tendon cord. Therefore, the braided wire bundle 201 located on the side of the first end cap 301 is provided with a tendon cord connection end 6. The external tendon cord is connected to the braided wire bundle 201 through the tendon cord connection end 6. Specifically, the tendon cord connection end 6 can be an independently added clamp, or the braided wire bundle 201 and the external tendon cord can be directly braided together to form a single strand. The specific implementation is not specifically limited in this application.

[0042] Figure 4 This is a schematic diagram illustrating another embodiment of the braided thread layer 2 and sealing plug 3 in a tendon bionic device provided in this application. Figure 4 As shown, in this embodiment, one end of the braided layer 2 is fixed to the end of the elastomer 1 away from the medium pipe 4 and is fixed by the protective sleeve 5 on the same side. The other end of the braided layer 2 extends out of the elastomer 1 and is fixed to the outside of the medium pipe 4.

[0043] In this embodiment, the braided layer 2 extends only toward the second plug 302, and the extended end is finally fixed to the pipe body of the medium pipe 4. The end of the braided layer 2 toward the first plug 301 does not exceed the length of the first plug 301 and is fixed between the elastic body 1 and the protective sleeve 5 on the same side. Based on this setting, the medium pipe 4 can be exposed, which is convenient for inflation or liquid filling operations.

[0044] Furthermore, a fastening coil 7 for fixing the end of the braided layer 2 is provided on the outer periphery of the medium pipe 4. The fastening coil 7 is wound around the outer periphery of the medium pipe 4 to improve the connection stability between the braided layer 2 and the medium pipe 4. As an optional embodiment, a connecting groove is provided on the outer periphery of the medium pipe 4 that is opposite in position and matches the shape of the fastening coil 7 to facilitate the positioning and fixing of the fastening coil 7.

[0045] Furthermore, in the embodiment, the braided layer 2 ends at the first plug 301. Therefore, the first plug 301 is provided with a connecting ear 8 for connecting an external tendon cord on the side away from the elastomer 1. The connecting ear 8 is provided with a through hole, through which the external tendon cord can be directly passed to complete the connection.

[0046] The tendon bionic device in this application provides protective sleeves 5 at both ends of the elastic body 1. Each protective sleeve 5 includes a metal portion 502 and a flexible portion 501. The flexible portion 501 separates the metal portion 502 from the elastic body 1, preventing damage to the surface of the elastic body 1 from the metal portion 502. Simultaneously, the braided layer 2 is longer than the elastic body 1, allowing it to extend beyond the sealing plug 3 and thus providing some protection for the media pipeline 4, preventing it from being scratched by external hard structures.

[0047] In the description of this application, it should be noted that the terms "upper," "lower," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0048] It should be noted that in this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0049] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A tendon bionic device, characterized in that, include: The functional component includes an elastic body (1) that is axially through and has a braided layer (2) on its outer periphery, and sealing plugs (3) that are sleeved on both ends of the elastic body (1), and a medium pipe (4) is provided on one of the sealing plugs (3). The axial length of the braided layer (2) is greater than the axial length of the elastic body (1) and extends out of the sealing plug (3). The protective component includes protective sleeves (5) fitted onto both ends of the elastomer (1). The protective sleeves (5) include a flexible portion (501) facing the elastomer (1) and a metal portion (502) located on the outer periphery of the flexible portion (501). One end of the flexible portion (501) facing the center of the elastomer (1) extends out of the metal portion (502).

2. The tendon bionic device as described in claim 1, characterized in that, The elastomer (1) comprises at least one layer of elastic rubber.

3. The tendon bionic device as described in claim 2, characterized in that, The braided layer (2) includes at least two single-line layers, with the braided lines in each single-line layer being parallel to each other and the braided lines in adjacent single-line layers facing opposite directions.

4. The tendon bionic device as described in claim 1, characterized in that, The flexible part (501) has a protrusion (503) extending from one end of the metal part (502).

5. The tendon bionic device as described in claim 1, characterized in that, The sealing plug (3) includes a first sealing plug (301) and a second plug (302) with a medium pipe (4) opening.

6. The tendon bionic device as described in claim 5, characterized in that, The braided layer (2) extends beyond both ends of the elastomer (1) and continues to extend beyond the first plug (301) and the medium pipe (4) to form a braided bundle (201).

7. The tendon bionic device as described in claim 6, characterized in that, A tendon cord connection end (6) is provided on the braided wire bundle (201) located on one side of the first plug (301).

8. The tendon bionic device as described in claim 5, characterized in that, One end of the braided layer (2) is fixed to the end of the elastomer (1) away from the medium pipe (4), and the other end of the braided layer (2) extends out of the elastomer (1) and is fixed to the outside of the medium pipe (4).

9. A tendon bionic device as described in claim 8, characterized in that, The outer periphery of the medium pipe (4) is provided with a fastening coil (7) for fixing the end of the braided layer (2).

10. A tendon bionic device as described in claim 9, characterized in that, The first plug (301) has a connecting ear (8) for connecting an external tendon cord on the side away from the elastic body (1).

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