A pneumatic bionic breathing device, robot

Abstract

The utility model provides a kind of pneumatic bionic breathing device, including deformation generating device, the deformation generating device can at least expand and contract in one direction, the deformation generating device is connected with airflow device;Still including bionic air outlet, the bionic air outlet is connected with the airflow device or the deformation generating device. The utility model also provides a kind of robot, deformation generating device is arranged at the chest position of robot;The robot also includes controller, robot motion sensor and multimodal sensor group. The utility model can improve the fidelity of robot breathing simulation by setting deformation generating device, bionic air outlet.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and more specifically, to a pneumatic bionic breathing device and robot. Background Technology

[0002] With the rapid development of robotics technology, its applications in service, companionship, and medical rehabilitation are becoming increasingly widespread. To enhance the naturalness and friendliness of human-computer interaction, researchers have made significant progress in anthropomorphizing robot appearances, simulating facial expressions, and enhancing voice interaction. However, a crucial but long-neglected aspect is the significant gap in robots' ability to simulate basic human physiological behaviors. Breathing, a critical physiological phenomenon that accompanies life and is closely related to emotional states and language activities, is almost entirely unsimulated and unintegrated in existing robots. Utility Model Content

[0003] The purpose of this application is to address at least one of the problems existing in the background art.

[0004] This application provides a pneumatic bionic breathing device, comprising: a deformation generating device, which is capable of expanding and contracting in at least one direction, and the deformation generating device is connected to an airflow device; and a bionic air outlet, which is connected to the airflow device or the deformation generating device.

[0005] Furthermore, the deformation generating device is a biomimetic breathing airbag.

[0006] Furthermore, at least one surface of the biomimetic breathing bladder is in contact with a support structure, which is constructed to mimic the shape of a human rib.

[0007] Furthermore, the biomimetic breathing airbag is covered with an elastic biomimetic soft tissue layer on the surface opposite to the supporting structure.

[0008] Furthermore, the airflow device includes an air pump; the biomimetic air outlet is equipped with a mechanism for adjusting the airflow characteristics.

[0009] Furthermore, the biomimetic air vent is constructed in the shape of a human nasal cavity.

[0010] Furthermore, the airflow device includes an air pump and a gas passage for connecting the air pump and the deformation generating device, and the gas passage is equipped with a reversing valve.

[0011] Furthermore, it includes a controller and sensors connected to the controller via signals, with the airflow device connected to the controller.

[0012] This application also provides a robot, including any of the above-mentioned pneumatic bionic breathing devices, wherein the deformation generating device is disposed at the chest position of the robot; the robot also includes a controller, a robot motion sensor and a multimodal sensor group connected to the controller via signals.

[0013] Furthermore, the multimodal sensor group includes one or more of the following: a temperature sensor, a gas concentration sensor, a motion acceleration sensor, and a microphone array.

[0014] The beneficial effects of this utility model are: by setting up a deformation generating device and a bionic exhalation port, the realism of robot breathing simulation is improved. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of a robot breathing device provided by this utility model;

[0016] Figure 2 This is a schematic diagram of the structure of this utility model applied to a robot;

[0017] Explanation of reference numerals in the attached drawings: 1. Deformation generating device; 2. Airflow device; 3. Bionic air outlet. Detailed Implementation

[0018] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments. The components of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0019] like Figure 1 and Figure 2 As shown, this application provides a pneumatic bionic breathing device, including: a deformation generating device 1, which is capable of expanding and contracting in at least one direction, and the deformation generating device 1 is connected to an airflow device 2; it also includes a bionic air outlet 3, which is connected to the airflow device 2 or the deformation generating device 1.

[0020] Furthermore, the deformation generating device 1 is a biomimetic breathing airbag.

[0021] Furthermore, at least one surface of the biomimetic breathing bladder is in contact with a support structure, which is constructed to mimic the shape of a human rib.

[0022] Furthermore, the biomimetic breathing airbag is covered with an elastic biomimetic soft tissue layer on the surface opposite to the supporting structure.

[0023] Furthermore, the airflow device 2 includes an air pump; the biomimetic air outlet 3 is provided with a mechanism for adjusting the airflow characteristics.

[0024] Furthermore, the biomimetic air outlet 3 is constructed in the shape of a human nasal cavity.

[0025] Furthermore, the airflow device 2 includes an air pump and a gas passage for connecting the air pump and the deformation generating device 1, and the gas passage is equipped with a reversing valve.

[0026] Furthermore, the airflow device 2 is connected to the controller, including a controller and sensors connected to the controller signals.

[0027] This application also provides a robot, including any of the above-mentioned pneumatic bionic breathing devices, wherein the deformation generating device 1 is disposed at the chest position of the robot; the robot also includes a controller, a robot motion sensor and a multimodal sensor group connected to the controller via signals.

[0028] Furthermore, the multimodal sensor group includes one or more of the following: a temperature sensor, a gas concentration sensor, a motion acceleration sensor, and a microphone array.

[0029] When the robot performs actions of varying intensities, motion sensors collect data in real time, such as the rate of change of joint angles and trunk acceleration, and determine the current level of motion intensity by calculating the motion power value. Then, it calls upon the corresponding combination of respiratory frequency and tidal volume parameters from a preset model; for example, it uses a high-frequency, shallow breathing mode when running and a low-frequency, deep breathing mode when stationary. This process dynamically adjusts the airflow output frequency and single-breath volume of the respiratory actuator to achieve physiological coordination between the robot's breathing pattern and limb movements.

[0030] Compared to existing technologies, traditional solutions control breathing rhythms through fixed programs and cannot distinguish differences in exercise intensity. This solution, however, establishes a mapping relationship between exercise intensity and breathing parameters, enabling automatic switching of breathing modes based on the robot's actual movement amplitude. For example, it triggers rapid breathing when lifting heavy objects and switches to gentle breathing when resting, thus more realistically simulating the linkage mechanism between human movement and breathing.

[0031] Through the above technical solution, this application solves the problem of the disconnect between the robot's breathing mode and its movement state, enabling the breathing frequency and tidal volume to be dynamically adjusted according to the intensity of limb movements. For example, the breathing frequency is automatically increased when the robot moves quickly to match energy consumption, and the breathing frequency is reduced when the robot is stationary to simulate a relaxed state, which significantly enhances the physiological rationality and scene adaptability of the breathing behavior.

[0032] The multimodal sensor array refers to a composite data acquisition device integrating multiple sensing units. Specifically, it can be implemented using a combination of temperature sensors, gas concentration sensors, motion acceleration sensors, and microphone arrays to simultaneously acquire the physical parameters of the robot's environment and its operational status. The processor is a computing unit with data fusion and decision-making capabilities. Specifically, it can be implemented using an embedded system with multi-threaded control algorithms to convert sensor data into respiratory rhythm regulation signals. The respiratory actuator is a driving mechanism capable of generating airflow and mechanical deformation. Specifically, it can be implemented using a linkage structure of an air pump, solenoid valve, and biomimetic airbag to generate physiologically characteristic breathing movements based on control commands.

[0033] Specifically, the multimodal sensor array continuously collects ambient temperature, oxygen content, motion acceleration, and voice signals, which are transmitted to the processor via a communication interface. The processor analyzes the data in real time and, combined with a preset breathing pattern algorithm, generates control commands that include inhalation duration, airflow intensity, and chest rise and fall amplitude. The air pump in the breathing actuator adjusts the air supply flow according to the commands, the solenoid valve controls the airflow direction, and the simulated airbags periodically expand and contract under air pressure, thereby simulating breathing behavior that matches the robot's current motion state and environmental conditions.

[0034] Compared to existing technologies, traditional robots cannot perceive changes in the environment or their own physical state. The multimodal sensor array in this application enables the synchronous acquisition of environmental and physical data. The processor generates breathing control commands based on dynamic data, allowing breathing movements to be adjusted in real time according to external environmental stimuli and changes in exercise intensity, thus solving the problem of fixed breathing patterns in existing technologies.

[0035] Through the above technical solution, this application facilitates the dynamic adaptation of breathing patterns to environmental factors. For example, it can automatically increase the breathing rate when an increase in motion acceleration is detected, and trigger a protective breathing response when harmful gases are detected. At the same time, the breathing actuator, through the synergistic effect of airflow conduction and mechanical deformation, can reproduce the physiological characteristics of the synchronous occurrence of chest cavity rise and fall and nasal airflow during human breathing, thereby improving the realism of robot breathing simulation and the naturalness of human-computer interaction.

[0036] This application further proposes a pneumatic bionic breathing device, including a deformation generating device 1, an airflow device 2, at least one bionic air outlet 3, and a gas passage. The deformation generating device 1 is disposed inside the robot's torso and is used to generate periodic physical deformations under gas drive to simulate the surface undulations caused by breathing; the airflow device 2 is used to generate and regulate airflow according to breathing control commands; the bionic air outlet 3 is disposed at the nasal cavity and / or oral cavity model position of the robot's head; the gas passage connects the airflow device 2, the deformation generating device 1, and the bionic air outlet 3.

[0037] Deformation generating device 1 refers to a component that induces periodic expansion and contraction of the mechanical structure through changes in gas pressure. This can be implemented using a biomimetic breathing bag, which simulates the rise and fall of the chest cavity through inflation and deflation. Airflow device 2 refers to a device that generates and regulates gas flow. This can be implemented using a combination of an air pump and valves, controlling gas flow rate and pressure to match different breathing modes. Biomimetic air outlet 3 refers to a structure that simulates the external morphology of the human respiratory organs. This can be implemented using a nasal cavity-shaped device with a microporous structure, whose surface morphology matches human anatomical features. Gas passage refers to the gas transmission channel connecting the various components. This can be implemented using flexible silicone tubing, whose inner diameter can be adapted to different airflow rate requirements.

[0038] Specifically, breathing control commands drive the airflow device 2 to generate gas flow. The gas enters the deformation generating device 1 through a passage, causing it to deform. The amplitude and frequency of the deformation are controlled by airflow parameters. Simultaneously, some gas is transported through the passage to the bionic exhaust port 3 for discharge, creating a perceptible airflow change. The periodic movement of the deformation generating device 1 is transmitted through the robot's shell, forming visible breathing fluctuations on the body surface. The gas distribution ratio in the passage can be adjusted by valves; for example, during calm breathing, the deformation generating device is primarily driven, while during deep breathing, the airflow output of the bionic exhaust port 3 is increased.

[0039] Compared to existing technologies, traditional solutions rely on motor-driven rigid structures for simple reciprocating motion, achieving only mechanical fluctuations at a fixed frequency. This solution, through the synergistic action of a gas-driven deformation generator and an airflow device 2, not only replicates the coordinated deformation of the chest cavity and abdomen during respiration but also synchronously generates airflow changes consistent with physiological characteristics. The integrated design of the gas pathway dynamically couples the deformation motion and airflow output during the breathing simulation, more closely resembling the synchronous relationship between airflow and body surface movement during real human respiration.

[0040] Through the above technical solutions, this application solves the problem of insufficient hardware realism in traditional robotic breathing devices, achieving coordinated simulation of body surface undulations and respiratory airflow. The gas-driven deformation generator 1 produces compliant movements that more closely resemble biological tissue, avoiding the mechanical feel of motor-driven systems. The topological design of the gas passage allows for independent control of chest cavity movement and nasal / oral airflow during breathing, providing a hardware foundation for subsequent coordinated control with voice interaction and emotional expression. The anatomical design of the biomimetic air outlet 3 enhances the external visibility of breathing behavior, contributing to improved natural perception in human-computer interaction.

[0041] The biomimetic breathing airbag can be an inflatable and deflated structure made of flexible materials, specifically silicone or polymer composites. It generates deformation similar to the expansion and contraction of the lungs through gas-driven processes. This airbag simulates the chest cavity movement during human breathing through periodic volume changes, and its flexibility and deformation trajectory can match the mechanical properties of different breathing modes.

[0042] Specifically, biomimetic breathing airbags are placed inside the robot's torso. When gas is injected or expelled controlled by an air pump and valves, the surface of the airbag undergoes undulating deformation. For example, during inhalation, the airbag inflates, causing the front of the robot's torso to bulge; during exhalation, the airbag contracts, restoring the torso to its original shape. The amplitude and speed of the airbag deformation can be controlled by adjusting the gas flow rate and pressure, thereby simulating different states such as deep breathing, shallow breathing, or rapid breathing.

[0043] Compared to existing technologies, traditional solutions use rigid motors to drive mechanical components to generate regular fluctuations, resulting in a single motion trajectory and a lack of biomechanical adaptability. In contrast, the biomimetic breathing airbag, through the elastic deformation properties of flexible materials, can reproduce the nonlinear chest cavity movement pattern during human respiration. At the same time, the internal cavity structure of the airbag can work with the airflow device 2 to achieve dynamic coupling between respiration and airflow.

[0044] Through the above technical solution, this application solves the problem of low simulation accuracy in existing robotic breathing devices, making the surface undulations of the robot's torso during breathing more closely resemble human physiological characteristics. The flexible deformation characteristics of the airbag can accommodate dynamic adjustments of different breathing frequencies and amplitudes, providing a physical basis for simulating complex breathing behaviors such as coughing and sighing.

[0045] This application further proposes that at least one surface of the biomimetic breathing airbag is in contact with a support structure, the support structure being constructed to mimic the shape of a human rib.

[0046] The supporting structure refers to the rigid or semi-rigid frame that provides physical support for the bionic breathing airbag. It can be made of metal alloys or engineering plastics through 3D printing, and its function is to maintain the stability of the breathing airbag's deformation trajectory. Simulating the morphology of human ribs means that the curvature distribution and connection method of the supporting structure conform to the anatomical characteristics of the human thoracic skeleton. This can be achieved through reverse engineering scanning of human rib data to create a model, and its function is to make the expansion and contraction path of the breathing airbag closer to real physiological movement patterns.

[0047] Specifically, the support structure is designed with multiple arc-shaped support units, which are interconnected by elastic connectors to form an adjustable linkage. When the bionic breathing airbag deforms under gas pressure, the arc-shaped units of the support structure elastically deform simultaneously, limiting the disordered expansion of the airbag in a single plane and guiding it to undulate along a preset breathing direction. For example, during inhalation, the elastic connectors of the support structure allow the spacing between adjacent arc-shaped units to increase, enabling the airbag to simulate the lateral expansion of the chest cavity; during exhalation, the elastic restoring force of the connectors pushes the arc-shaped units back to their original position, assisting the airbag in completing its contraction action.

[0048] In some specific embodiments, the surface of the arc-shaped unit of the support structure can be provided with sliding guide rails to form a sliding fit with the limiting protrusions on the outer wall of the airbag, further constraining the deformation direction of the airbag. In addition, the material hardness of the support structure can vary along the axial gradient, for example, the hardness near the spine simulation area is higher than that of the anterior chest area, in order to match the mechanical properties of different segments of the human rib.

[0049] Compared to existing technologies, which use planar support plates or simple spring structures, the deformation path of the breathing airbag lacks three-dimensional constraints, resulting in stiff breathing movements and significant deviations from human movement patterns. This solution, however, uses a biomimetic rib-shaped support structure to ensure that the airbag deformation process conforms to the three-dimensional movement characteristics of the chest cavity during human respiration. Furthermore, through the synergistic effect of elastic connectors, it achieves more natural breathing fluctuations while maintaining structural stability.

[0050] Through the above technical solution, this application solves the problem of insufficient hardware realism in existing breathing devices, enabling the robot to reproduce the multi-dimensional motion characteristics of the human chest cavity when performing breathing actions, improving the realism and motion coordination of breathing simulation, and reducing the risk of mechanical damage caused by disordered deformation through the guiding effect of the support structure on the deformation of the air bladder.

[0051] This application further proposes that the biomimetic breathing airbag has an elastic biomimetic soft tissue layer covering the surface away from the supporting structure.

[0052] The elastic biomimetic soft tissue layer refers to a flexible covering layer with the mechanical properties of biological soft tissue. It can be made of silicone or thermoplastic elastomer materials, and its thickness can be set to 1.5-3 mm to simulate the combined elastic modulus of human epidermis and subcutaneous tissue. This layer is fixed to the surface of the airbag by bonding or in-mold molding, and is used to transmit natural tactile sensation and buffer mechanical stress when the airbag deforms.

[0053] The support structure refers to a rigid or semi-rigid frame with a rib-like shape. It can be made of 3D-printed lightweight alloys or engineering plastics to constrain the deformation direction of the airbag and simulate the linkage mechanism of the ribs during breathing.

[0054] Specifically, when breathing control commands drive the airbag to periodically contract and expand, the elastic biomimetic soft tissue layer moves in sync with the airbag's deformation. The rib-like shape of the supporting structure limits the airbag's displacement in a preset direction, while the elastic layer absorbs the impact energy generated by the airbag's rapid deformation through the material's viscoelasticity. During exhalation, the elastic layer helps the airbag return to its initial shape due to the material's resilience, and its surface texture design can simulate the subtle wrinkles of human skin.

[0055] Compared to existing technologies, traditional breathing simulation devices use only a single rigid material shell, resulting in stiff tactile feedback and unnatural deformation trajectories. This solution, through the synergistic effect of an elastic layer and a supporting structure, simultaneously improves the realism of tactile sensation during breathing movements, the biosimilarity of deformation trajectories, and the durability of the device while maintaining mechanical drive efficiency.

[0056] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A pneumatic biomimetic breathing device, characterized in that, include: The deformation generating device is capable of expanding and contracting in at least one direction and is connected to an airflow device; it also includes a bionic air outlet connected to the airflow device or the deformation generating device.

2. The pneumatic bionic breathing device according to claim 1, characterized in that: The deformation generating device is a biomimetic breathing airbag.

3. The pneumatic bionic breathing device according to claim 2, characterized in that: At least one surface of the biomimetic breathing bladder is in contact with a support structure configured to mimic the shape of a human rib.

4. The pneumatic bionic breathing device according to claim 3, characterized in that: The biomimetic breathing airbag is covered with an elastic biomimetic soft tissue layer on the surface opposite to the supporting structure.

5. The pneumatic bionic breathing device according to claim 1, characterized in that: The airflow device includes an air pump; the biomimetic air outlet is equipped with a mechanism for adjusting the airflow characteristics.

6. The pneumatic bionic breathing device according to claim 1, characterized in that: The biomimetic air vent is constructed in the shape of a human nasal cavity.

7. The pneumatic bionic breathing device according to claim 1, characterized in that: The airflow device includes an air pump and a gas passage for connecting the air pump and the deformation generating device, and the gas passage is equipped with a reversing valve.

8. The pneumatic bionic breathing device according to claim 1, characterized in that: It includes a controller and a sensor that is signal-connected to the controller, and the airflow device is connected to the controller.

9. A robot comprising a pneumatic bionic breathing device as described in any one of claims 1-8, characterized in that: The deformation generating device is located on the robot's chest. It also includes a controller, a robot motion sensor and a multimodal sensor group that are signal-connected to the controller.

10. The robot according to claim 9, characterized in that: The multimodal sensor group includes one or more of the following: a temperature sensor, a gas concentration sensor, a motion acceleration sensor, and a microphone array.

Images