CN104669259A - Electromagnetic joint mechanical hand and patient feeding and control method thereof - Google Patents
Electromagnetic joint mechanical hand and patient feeding and control method thereof Download PDFInfo
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- CN104669259A CN104669259A CN201510092211.7A CN201510092211A CN104669259A CN 104669259 A CN104669259 A CN 104669259A CN 201510092211 A CN201510092211 A CN 201510092211A CN 104669259 A CN104669259 A CN 104669259A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0246—Gripping heads and other end effectors servo-actuated actuated by an electromagnet
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0241—One-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0025—Means for supplying energy to the end effector
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Nursing (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Manipulator (AREA)
- Magnetic Treatment Devices (AREA)
Abstract
The invention provides an electromagnetic joint mechanical hand, and relates to a flexible mechanical hand, in particular to a mechanical hand used for gripping a paper cup and feeding a patient. The invention aims at providing the electromagnetic joint mechanical hand with the advantages that the structure is simple, the cost is low, the operation is simple and convenient, the adaptation capacity is high, the fine adjustment can be realized according to the size of a gripped object, and the electromagnetic joint mechanical hand can adapt to and compensate the tiny change of the patient posture. The electromagnetic joint mechanical hand comprises an electromagnetic flexible joint (1), wherein the bottom of a flexible tube (34) is fixed with a lower plate (2), an electromagnet (31), a permanent magnet (32) and an ejecting rod (35) are sequentially arranged in an inner cavity of the flexible tube (34) from bottom to top, the electromagnet (31) is fixedly arranged at the bottom of the flexible tube (34), the permanent magnet (32) uses the inner cavity of the flexible tube (34) as a guide rail, the top of the permanent magnet (32) is fixed with the bottom of the ejecting rod (35), and the top of the ejecting rod (35) is connected with an upper plate (4).
Description
Technical field
The present invention relates to a kind of flexible manipulator, particularly relating to a kind of for capturing dixie cup, the manipulator of feeding patient and crawl thereof, feeding, control method.
Background technology
Replace progressively replacing in the process of people at automated machine, automated machine, with plurality of advantages such as its adaptive capacity to environment are strong, untiring, use cost is low, becomes the mark of future technology.But complicated mechanical mechanism easily produces all multiple faults, heavy big machinery cannot the general fine and smooth operation of complete imaging human.
Automated machine replaces in the process of people, is all creating the same flexible arm joint of similar true man all the time, is carrying out such as to grab egg, grabbing dixie cup and even capture disposable foamed plastic cutlery box and feed the fine and smooth work such as epidemic victim.Conventional flex arm mostly adopts parallel between three groups of gear-rack drives, two planks or makes it have angle, then is carried out tandem combination, thus completes the structure of a flexible arm.
But rack-and-pinion mode drives too inflexible.True man when grabbing thing not only grasp can meet the requirement picking up thing, true man subcutaneous fat also can for being grabbed thing and carry out holding the fine setting of shape.So can only design fixing appearance of holding according to the solid shape of dixie cup in dixie cup process and pick up dixie cup picking up, it is high fixedly to hold required precision before and after appearance.The flexible arm of rack-and-pinion mode is held appearance for dixie cup and cannot be finely tuned.During feeding patient, the attitude that patient has a meal is not fixed, and often trickle change can occur, if the manipulator of feeding cannot adapt to the minor variations of attitude in patient's mouth, probably injures patient, even endangers patient sick.
Summary of the invention
The technical problem to be solved in the present invention is to provide that a kind of structure is simple, cost is low, easy and simple to handle, adaptable, can according to being carried out finely tuning, adapting to the electromagnetism joint Manipulator of minor variations of patient's attitude and crawl thereof, feeding, control method by the size of grabbing thing.
Electromagnetism joint Manipulator of the present invention, comprises mechanical palm, mechanical finger, mechanical arm and electromagnetic flexible joint.One end and the frame of described arm are fixed, and the other end of arm is connected with palm by electromagnetic flexible joint, and palm is connected with finger by electromagnetic flexible joint, and each joint of finger is electromagnetic flexible joint.Described electromagnetic flexible joint comprises lower plate, telescopic mast and upper plate, and lower plate is connected with upper plate with telescopic mast by three, and the axis of three telescopic masts is all fixed with 0 °, 120 °, 240 ° positions of upper plate, lower plate circumference.Described telescopic mast comprises electromagnet, permanent magnet, spacing ring, flexible sleeve and push rod.Fix with lower plate bottom described flexible sleeve, flexible sleeve inner chamber is provided with electromagnet, permanent magnet and push rod from bottom to top successively.Described electromagnet is fixed on bottom flexible sleeve.Described permanent magnet is with flexible sleeve inner chamber for guide rail, and fix bottom permanent magnet top and push rod, push rod top is connected with upper plate.Described flexible sleeve inner chamber is round table-like, and the upper internal diameter of flexible sleeve inner chamber is less than lower internal diameter, and permanent magnet is cylindric, and the external diameter of permanent magnet is less than the lower internal diameter of flexible sleeve inner chamber, and the external diameter of permanent magnet is greater than the internal diameter in the middle part of flexible sleeve inner chamber.
Electromagnetism joint Manipulator of the present invention, wherein said push rod top is connected by spring with upper plate.
Electromagnetism joint Manipulator of the present invention, wherein said push rod is flexible link, is provided with spacing ring in the middle part of flexible sleeve inner chamber.Described spacing ring internal diameter is identical with push rod external diameter, and spacing ring is used for spacing permanent magnet and play the guiding role to push rod.
Electromagnetism joint Manipulator of the present invention, in wherein said flexible sleeve, Bamboo-shaped embeds multiple ring shielding magnetism, described ring shielding magnetism is made up of the nickel alloy Mumetal material of 80%, the thickness of ring shielding magnetism is 0.0508 millimeter, the axis of ring shielding magnetism and the dead in line of flexible sleeve, interval is had between each ring shielding magnetism, interval between ring shielding magnetism is less than 1/5 of ring shielding magnetism height, be equipped with some circle lead loop in the upper port of ring shielding magnetism 37 and lower port, also comprise contactor charging control device, generator and constant-current stabilizer, described contactor charging control device comprises the first contact, second contact, 3rd contact, 4th contact, 5th contact, 6th contact, 7th contact, 8th contact, 9th contact, tenth contact and the first battery, the battery that second battery forms jointly, described constant-current stabilizer is for receiving battery voltage fluctuated, and be translated into burning voltage, thus the controller supply burning voltage to electromagnetic flexible joint, the controller in electromagnetic flexible joint is powered to the electromagnet on each telescopic mast according to control signal, and ring shielding magnetism is on it, the lead loop of lower end all and parallel operation of generator, described first contact is connected with the positive pole of the first battery, second contact is connected with the negative pole of the first battery, 3rd contact is connected with the positive pole of generator, 4th contact is connected with the negative pole of generator, and the 5th contact is connected with the positive pole of the second battery, and the 6th contact is connected with the negative pole of the second battery, 7th contact is connected with the positive pole of constant-current stabilizer, 8th contact is connected with the negative pole of constant-current stabilizer, the 9th contact and the first contact series, the tenth contact and the second contact series.
Electromagnetism joint Manipulator of the present invention, the sleeve that wherein said flexible sleeve is arranged by shrimp shelly is formed.Described sleeve comprises end cover and some limit cover.It is end cover bottom described flexible sleeve.The described end, cover was for round table-like, the larger periphery of end cover external diameter with fixing lower plate, end cover internal fixtion electromagnet, the end, puts the multiple limit of superposition suit and overlaps, and the side overlapped, the end is limit to overlap with the point on the upside of it and is connected by stay cord.Described limit cover overlaps and the second round platform cover by comprising the first round platform from top to bottom.Described first round platform cover upside external diameter is less than downside external diameter, second round platform cover upside external diameter is greater than downside external diameter, the external diameter of the first round platform cover downside is identical with the external diameter that the second round platform overlaps upside, and the first round platform cover bottom is overlapped top with the second round platform and fixed, and some limit is arranged with axially extending bore.Described limit cover bottom offers the first round platform hole.Described first round platform hole limits the axially extending bore overlapped to connect with point, and the internal diameter on the upside of the first round platform hole limits the internal diameter of the axially extending bore overlapped identical with point, and in some limit cover axial cross section, the side lines in the first round platform hole are parallel with the side lines that the first round platform overlaps.Described some limit puts and is set with multiple limit cover in the axial direction successively, is connected between the lower edge that the side of the first round platform cover that some limit in downside is overlapped and upside point limit the second round platform overlapped to overlap by stay cord.Described stay cord is uniformly distributed multiple along the axis circumference of some limit cover.When two some limit covers stretch mutually round about, the some limit cover of upside is limit to overlap with the point of downside and is connected by stay cord.When two somes limit cover mutually round about stay cords and by radial load time, to overlap along upper some limit with the point of downside under the first round platform hole, some limit cover bottom of upside or any of overlapping in upper side of the end supporting mutually.The circumferential opposite side of any of described mutual support is spacing by stay cord.
Electromagnetism joint Manipulator of the present invention, the sleeve that wherein said flexible sleeve is arranged by shrimp shelly is formed.Described sleeve comprises end cover and face limit cover.It is end cover bottom described flexible sleeve.The described end, cover was for round table-like, the larger periphery of end cover external diameter with fixing lower plate, end cover internal fixtion electromagnet, the end, puts superposition suit multiple limit covers, and the side of end cover is limit to overlap with the face on the upside of it and is connected by stay cord.Described limit cover is round table-like sleeve.Described limit cover upside external diameter is less than downside external diameter, and face limit is arranged with axially extending bore.Described limit cover bottom offers the 3rd round platform hole.Described 3rd round platform hole and face limit the axially extending bore overlapped to connect, and the internal diameter on the upside of the 3rd round platform hole and face limit the internal diameter of the axially extending bore overlapped identical, have angle between the side lines that face limits the side lines in the first round platform hole in cover axial cross section and the first round platform to overlap.Described angle is ∠ a.Described limit puts and is set with multiple limit covers in the axial direction successively, and the frustum cone side of the face limit cover of downside limits the lower edge in the 3rd round platform hole overlapped to be connected by stay cord with the face of upside.Described stay cord is uniformly distributed multiple along the axis circumference of face limit cover.
When two face limit covers stretch mutually round about, the face limit cover of upside is limit to overlap with the face of downside and is connected by stay cord.When two faces limit cover mutually round about stay cords and by radial load time, to overlap along upper some limit with the face of downside under the first round platform hole, limit cover bottom, face of upside or any of overlapping in upper side of the end supporting mutually.The circumferential opposite side of any of described mutual support is spacing by stay cord.
The grasping means of electromagnetism joint Manipulator of the present invention, comprises the steps:
A, the bending amplitude recording each joint of human hands, dynamics and crawl attitude.
B, being together in series in multiple electromagnetic flexible joint forms emulation joint, and the upper plate in electromagnetic flexible joint, downside is fixedly connected with the lower plate in electromagnetic flexible joint, upside, and the amplitude in joint, reference man's palmistry co-located place, adjust the number in electromagnetic flexible joint.
C, by mechanical palm, mechanical finger, mechanical arm with emulation joint connect.
Electromagnetism joint Manipulator difference from prior art of the present invention is that the mechanical joint of electromagnetism joint Manipulator of the present invention by electromagnetic flexible joint replacement gear-rack drive captures object (such as dixie cup) or carry out feeding to epidemic victim, adjustability when can play electromagnetic flexible joint and arrive tiny error.When manipulator captures dixie cup, electromagnetic flexible close festival-gathering imitate the fat on staff thus share equally dixie cup outside extend out power, successfully capture dixie cup and do not destroy dixie cup.When manipulator feeding epidemic victim, decrease the possibility that medical personnel are infected, and contain in spoon shuts up and down swallow patient, the action of bowing when electromagnetic flexible joint also can be swallowed for patient moves downward with patient, greatly reduces the possibility of accidentally injuring patient.Three telescopic masts in electromagnetic flexible joint are uniformly distributed according to 0 °, 120 °, 240 ° circumferences of lower plate circumference, then when telescopic mast stretches, can change the angle of upper plate and lower plate, thus make electromagnetic flexible joint arbitrarily angled bending.Wherein telescopic mast utilizes electromagnet and permanent magnet to control to stretch, then magnet can be utilized to drive push rod to move up and down at the repulsive force of homopolarity, realize the flexible of expansion link.And the flexible sleeve of round table-like inner chamber when permanent magnet rises, can limit its maximum displacement as guide rail.
If push rod is rigid posts in electromagnetism joint Manipulator of the present invention, the bending force between spring elimination push rod top and upper plate can be utilized.
In electromagnetism joint Manipulator of the present invention, flexible push rod then can eliminate the bending force between push rod top and upper plate voluntarily.But flexible link is easily friction mutually in flexible sleeve, or produces skew, then arrange spacing ring and carry out spacing to permanent magnet, play the guiding role in passing to flexible push rod.
In electromagnetism joint Manipulator of the present invention, if desired expansion link has enough extending forces, then certainly will will add the magnetic of powerful electromagents.But three expansion links hypotelorism after all, mutual interference easily causes driving chaotic, then on the barrel of flexible sleeve, coaxial spaced embeds the mutual interference that ring shielding magnetism can reduce by three expansion links, and the magnetic screen thin slice ring of 0.0508 millimeters thick that what Mumetal material can make only have, then its frivolous performance does not affect the degree of crook of expansion link, and is electromagnetic flexible joint loss of weight.Interval between ring shielding magnetism is greater than ring shielding magnetism height 1/5, then do not reach good Magnetic Shielding Effectiveness.During use; one of them magnetic induction line wire cutting coil because of the non-conductively-closed between ring shielding magnetism of first battery, the second battery, thus to its power supply, another discharges to the electromagnet of telescopic mast; interleaved power, electric discharge can work while charge, the protection life of storage battery.
It is the contact of a point and face that electromagnetism joint Manipulator mid point of the present invention limit cover contacts with each other, and its advantage is flexible for turning to.
In electromagnetism joint Manipulator of the present invention, face limit cover contacts with each other is an elongated cambered surface.Its advantage is for keeping attitude comparatively stable.
In the grasping means of electromagnetism joint Manipulator of the present invention, the degree of crook of simulating human hand regulates the electromagnetic flexible joint of different number to contact, and can copy staff manufacturing machine hand to greatest extent, make its purposes more extensive.
Below in conjunction with accompanying drawing, electromagnetism joint Manipulator of the present invention and feeding thereof and control method are described further.
Accompanying drawing explanation
Fig. 1 is the axonometric drawing in electromagnetic flexible joint in electromagnetism joint Manipulator;
Fig. 2 is the front sectional view of flexible joint in the joint Manipulator of electromagnetism shown in Fig. 1;
Fig. 3 is the front sectional view of telescopic mast in embodiment 1;
Fig. 4 is that in embodiment 1, end cover and some limit overlap the front view be not stretched;
Fig. 5 is front view when end cover and some limit cover are stretched in embodiment 1;
Fig. 6 is the front view that in embodiment 1, end cover and some limit cover are subject to radial load;
Fig. 7 is the front sectional view of telescopic mast in embodiment 2;
Fig. 8 is that in embodiment 2, end cover and face limit overlap the front view be not stretched;
Fig. 9 is front view when end cover and face limit cover are stretched in embodiment 2;
Figure 10 is the front view that in embodiment 2, end cover and face limit cover are subject to radial load;
Figure 11 is the front view of contactor charging device in embodiment 1.
Detailed description of the invention
Embodiment 1
As shown in Fig. 1 ~ 6,11, electromagnetism joint Manipulator of the present invention comprises mechanical palm, mechanical finger, mechanical arm, electromagnetic flexible joint 1 and circuit control part.One end and the frame of arm are fixed.See Fig. 1, the other end of arm is connected with palm by electromagnetic flexible joint 1, and palm is connected with finger by electromagnetic flexible joint 1, and each joint of finger is electromagnetic flexible joint 1.
See Fig. 1 and Fig. 2, electromagnetic flexible joint 1 comprises lower plate 2, telescopic mast 3 and upper plate 4, and lower plate 2 is connected with upper plate 4 with telescopic mast 3 by three, and the axis of three telescopic masts 3 is all fixed with 0 °, 120 °, 240 ° positions of upper plate 4, lower plate 2 circumference.
See Fig. 2 and Fig. 3, telescopic mast 3 comprises electromagnet 31, permanent magnet 32, spacing ring 33, flexible sleeve 34 and push rod 35.Fix with lower plate 2 bottom flexible sleeve 34, flexible sleeve 34 inner chamber is provided with electromagnet 31, permanent magnet 32 and push rod 35 from bottom to top successively.Electromagnet 31 is fixed on bottom flexible sleeve 34.Permanent magnet 32, is fixed bottom permanent magnet 32 top and push rod 35 for guide rail with flexible sleeve 34 inner chamber.Push rod 35 top is connected by spring 36 with upper plate 4.Push rod 35 is made for nitrile rubber.Spacing ring 33 internal diameter is identical with push rod 35 external diameter, and spacing ring 33 is for spacing permanent magnet 32 and play the guiding role to push rod 35.Spacing ring 33 is multiple along flexible sleeve 34 axial array to top from the middle part of flexible sleeve 34 inner chamber, and the interval between spacing ring 33 thickness and spacing ring 33 is equal.
See Fig. 2 and Fig. 3, flexible sleeve 34 inner chamber is round table-like, and the upper internal diameter of flexible sleeve 34 inner chamber is less than lower internal diameter, and permanent magnet 32 is cylindric, the external diameter of permanent magnet 32 is less than the lower internal diameter of flexible sleeve 34 inner chamber, and the external diameter of permanent magnet 32 is greater than the internal diameter in the middle part of flexible sleeve 34 inner chamber.Flexible sleeve 34 is made for nitrile rubber.
See Fig. 3 ~ Fig. 6, the sleeve that flexible sleeve 34 is arranged by shrimp shelly is formed.Sleeve comprises end cover 38 and some limit cover 39.
See Fig. 3 ~ Fig. 6, be end cover 38 bottom flexible sleeve 34.End cover 38 be round table-like, the end overlap the larger periphery of 38 external diameters with fixing lower plate 2,38 internal fixtion electromagnet 31 are overlapped at the end, and the multiple limit cover 39 of superposition suit on end cover 38, the end is overlapped the side of 38 and limits cover 39 to be connected by stay cord 4 with the point on the upside of it.
See Fig. 3 ~ Fig. 6, some limit cover 39 overlaps and the second round platform cover by comprising the first round platform from top to bottom.First round platform cover upside external diameter is less than downside external diameter, second round platform cover upside external diameter is greater than downside external diameter, the external diameter of the first round platform cover downside is identical with the external diameter that the second round platform overlaps upside, and the first round platform cover bottom is overlapped top with the second round platform and fixed, and some limit cover 39 is provided with axially extending bore.The first round platform hole is offered bottom some limit cover 39.First round platform hole limits the axially extending bore of cover 39 to connect with point, and the internal diameter on the upside of the first round platform hole limits the internal diameter of the axially extending bore of cover 39 identical with point, and in some limit cover 39 axial cross section, the side lines in the first round platform hole are parallel with the side lines that the first round platform overlaps.
See Fig. 3 ~ Fig. 6, some limit cover 39 is set with multiple limit cover 39 in the axial direction successively, is connected by stay cord 4 between the lower edge that downside point limits the side of the first round platform cover of cover 39 and upside point to limit the second round platform of cover 39 to overlap.Stay cord 4 is uniformly distributed multiple along an axis circumference for limit cover 39.
See Fig. 2, coaxial embedding ring shielding magnetism 37 in some limit cover 39.Ring shielding magnetism 37 is made up of the nickel alloy Mumetal material of 80%, the thickness of ring shielding magnetism 37 is 0.0508 millimeter, the axis of ring shielding magnetism 37 and the dead in line of flexible sleeve 34, have interval between each ring shielding magnetism 37, and the interval between ring shielding magnetism 37 is less than 1/5 of ring shielding magnetism 37 height.Be equipped with some circle lead loop in the upper port of ring shielding magnetism 37 and lower port, the lead loop of its upper and lower end is all in parallel with generator 91.
See Figure 11, circuit control part of the present invention comprises contactor charging control device, generator 91 and constant-current stabilizer 92, described contactor charging control device comprises the first contact 951, second contact 952, 3rd contact 953, 4th contact 954, 5th contact 955, 6th contact 956, 7th contact 957, 8th contact 958, 9th contact 959, tenth contact 950 and the first battery 93, the battery that second battery 94 forms jointly, described constant-current stabilizer 92 is for receiving battery voltage fluctuated, and be translated into burning voltage, thus the controller supply burning voltage to electromagnetic flexible joint 1.The controller in electromagnetic flexible joint 1 is powered to the electromagnet 31 on each telescopic mast 3 according to control signal.
Described first contact 951 is connected with the positive pole of the first battery 93, second contact 952 is connected with the negative pole of the first battery 93,3rd contact 953 is connected with the positive pole of generator 91,4th contact 954 is connected with the negative pole of generator 91,5th contact 955 is connected with the positive pole of the second battery 94,6th contact 956 is connected with the negative pole of the second battery 94,7th contact 957 is connected with the positive pole of constant-current stabilizer 92,8th contact 958 is connected with the negative pole of constant-current stabilizer 92, connecting with the first contact 951 in 9th contact 959, connects with the second contact 952 in the tenth contact 950.
The control method of contactor charging device, comprises the steps:
A, the first contact 951 is contacted with the 3rd contact 953, second contact 952 contacts with the 4th contact 954,5th contact 955 contacts with the 7th contact 957, when 6th contact 956 contacts with the 8th contact 958, generator 91 charges to the first battery 93, and the second 94 pairs, battery constant-current stabilizer 92 is powered;
B, the 3rd contact 953 is contacted with the 5th contact 955,4th contact 954 and the 6th contact 956,7th contact 957 contacts with the 9th contact 959, when 8th contact 958 contacts with the tenth contact 950, generator 91 charges to the second battery 94, and the first 93 pairs, battery constant-current stabilizer 92 is powered;
C, repetition A ~ B.
During use; one of them magnetic induction line wire cutting coil because of the non-conductively-closed between ring shielding magnetism 37 of first battery 93, second battery 94; thus to its power supply; another discharges to the electromagnet 31 of telescopic mast 3; interleaved power, electric discharge can work while charge, the protection life of storage battery.
See Fig. 5, when two some limit covers 39 stretch mutually round about, the some limit cover 39 of upside limits cover 39 to be connected by stay cord with the point of downside.
See Fig. 6, when stay cord is also by radial load round about mutually for two some limit covers 39, bottom the some limit cover 39 of upside, under the first round platform hole, overlap a bit mutually supporting in 38 upper side along upper a bit limit with the point of downside cover 39 or the end.The circumferential opposite side of any of mutual support is spacing by stay cord 4.
Embodiment 2
The present embodiment 2 is with the difference of embodiment 1, and as shown in Fig. 2, Fig. 7, Fig. 8, Fig. 9, Figure 10, see Fig. 2, push rod 35 is flexible link, is provided with spacing ring 33 in the middle part of flexible sleeve 34 inner chamber.Spacing ring 33 internal diameter is identical with push rod 35 external diameter, and spacing ring 33 is for spacing permanent magnet 32 and play the guiding role to push rod 35.
See Fig. 7, the sleeve that flexible sleeve 34 is arranged by shrimp shelly is formed.Sleeve comprises end cover 38 and face limit cover 391.
See Fig. 8, be end cover 38 bottom flexible sleeve 34.End cover 38 be round table-like, the end overlap the larger periphery of 38 external diameters with fixing lower plate 2,38 internal fixtion electromagnet 31 are overlapped at the end, superposition suit multiple limit covers 391 on end cover 38, and the side that the end overlaps 38 limits cover 391 to be connected by stay cord 4 with the face on the upside of it.
See Fig. 7 and Fig. 8, face limit cover 391 is round table-like sleeve.On the upside of the limit cover 391 of face, external diameter is less than downside external diameter, and face limit cover 391 is provided with axially extending bore.The 3rd round platform hole is offered bottom the limit cover 391 of face.3rd round platform hole and face limit the axially extending bore of cover 391 to connect, internal diameter on the upside of 3rd round platform hole and face limit the internal diameter of the axially extending bore of cover 391 identical, have angle between the side lines that face limits the side lines in the first round platform hole in cover 391 axial cross section and the first round platform to overlap.Angle is ∠ a.
See Fig. 8, face limit cover 391 is set with in the axial direction successively multiple limit covers 391, the face limit frustum cone side of cover 391 of downside limits the lower edge in the 3rd round platform hole of cover 391 to be connected by stay cord 4 with the face of upside.Stay cord 4 is uniformly distributed multiple along the axis circumference of face limit cover 391.
See Fig. 2 and Fig. 7, coaxial embedding ring shielding magnetism 37 in face limit cover 391.Ring shielding magnetism 37 is made up of the nickel alloy Mumetal material of 80%, the thickness of ring shielding magnetism 37 is 0.0508 millimeter, the axis of ring shielding magnetism 37 and the dead in line of flexible sleeve 34, have interval between each ring shielding magnetism 37, and the interval between ring shielding magnetism 37 is less than 1/5 of ring shielding magnetism 37 height.
See Fig. 9, when two face limit covers 391 stretch mutually round about, the face limit cover 391 of upside limits cover 391 to be connected by stay cord with the face of downside.
See Figure 10, when stay cord is also by radial load round about mutually for two face limit covers 391, bottom the face limit cover 391 of upside, under the first round platform hole, overlap a bit mutually supporting in 38 upper side along upper a bit limit with the face of downside cover 391 or the end.The circumferential opposite side of any of mutual support is spacing by stay cord 4.
The grasping means of electromagnetism joint Manipulator and a feeding method, comprise the steps:
A, the maximum deflection amplitude recording each joint of human hands, dynamics and crawl attitude.
B, being together in series in multiple electromagnetic flexible joint 1 forms emulation joint, the upper plate 4 in electromagnetic flexible joint 1, downside is fixedly connected with the lower plate 2 in electromagnetic flexible joint, upside 1, and the amplitude peak in joint, reference man's palmistry co-located place, the number in adjustment electromagnetic flexible joint 1.
C, by mechanical palm, mechanical finger, mechanical arm with emulation joint connect.
When D, record staff feeding patient, the articulate motion state of institute and run duration, and utilize PLC to control the emulation joint of electromagnetic flexible joint 1 formation, according to motion state and the run duration feeding patient in the joint of staff.
Above-described embodiment is only be described the preferred embodiment of the present invention; not scope of the present invention is limited; under not departing from the present invention and designing the prerequisite of spirit; the various distortion that those of ordinary skill in the art make technical scheme of the present invention and improvement, all should fall in protection domain that claims of the present invention determines.
Claims (8)
1. an electromagnetism joint Manipulator, it is characterized in that: comprise mechanical palm, mechanical finger, mechanical arm and electromagnetic flexible joint (1), one end and the frame of described arm are fixed, the other end of arm is connected with palm by electromagnetic flexible joint (1), palm is connected with finger by electromagnetic flexible joint (1), and each joint of finger is electromagnetic flexible joint (1);
Described electromagnetic flexible joint (1) comprises lower plate (2), telescopic mast (3) and upper plate (4), lower plate (2) is connected with upper plate (4) with telescopic mast (3) by three, and the axis of three telescopic masts (3) is all fixed with 0 °, 120 °, 240 ° positions of upper plate (4), lower plate (2) circumference;
Described telescopic mast (3) comprises electromagnet (31), permanent magnet (32), spacing ring (33), flexible sleeve (34) and push rod (35), described flexible sleeve (34) bottom is fixed with lower plate (2), flexible sleeve (34) inner chamber is provided with electromagnet (31) from bottom to top successively, permanent magnet (32) and push rod (35), described electromagnet (31) is fixed on flexible sleeve (34) bottom, described permanent magnet (32) with flexible sleeve (34) inner chamber for guide rail, permanent magnet (32) top and push rod (35) bottom are fixed, push rod (35) top is connected with upper plate (4),
Described flexible sleeve (34) inner chamber is round table-like, the upper internal diameter of flexible sleeve (34) inner chamber is less than lower internal diameter, permanent magnet (32) is for cylindric, the external diameter of permanent magnet (32) is less than the lower internal diameter of flexible sleeve (34) inner chamber, and the external diameter of permanent magnet (32) is greater than the internal diameter in the middle part of flexible sleeve (34) inner chamber.
2. electromagnetism joint Manipulator according to claim 1, is characterized in that: described push rod (35) top is connected by spring (36) with upper plate (4).
3. electromagnetism joint Manipulator according to claim 1, it is characterized in that: described push rod (35) is flexible link, spacing ring (33) is provided with in the middle part of flexible sleeve (34) inner chamber, described spacing ring (33) internal diameter is identical with push rod (35) external diameter, and spacing ring (33) is for spacing permanent magnet (32) and play the guiding role to push rod (35).
4. the electromagnetism joint Manipulator according to Claims 2 or 3, it is characterized in that: described flexible sleeve (34) interior Bamboo-shaped embeds multiple ring shielding magnetism (37), described ring shielding magnetism (37) is made up of the nickel alloy Mumetal material of 80%, the thickness of ring shielding magnetism (37) is 0.0508 millimeter, the axis of ring shielding magnetism (37) and the dead in line of flexible sleeve (34), each ring shielding magnetism has interval between (37), interval between ring shielding magnetism (37) is less than 1/5 of ring shielding magnetism (37) height, the upper port of ring shielding magnetism 37 and lower port are equipped with some circle lead loop,
Also comprise contactor charging control device, generator (91) and constant-current stabilizer (92), described contactor charging control device comprises the first contact (951), second contact (952), 3rd contact (953), 4th contact (954), 5th contact (955), 6th contact (956), 7th contact (957), 8th contact (958), 9th contact (959), tenth contact (950) and the first battery (93), the battery that second battery (94) forms jointly, described constant-current stabilizer (92) is for receiving battery voltage fluctuated, and be translated into burning voltage, thus the controller supply burning voltage to electromagnetic flexible joint (1), the controller in electromagnetic flexible joint (1) is according to control signal to electromagnet (31) power supply on each telescopic mast (3), and ring shielding magnetism (37) is on it, the lead loop of lower end is all in parallel with generator (91),
Described first contact (951) is connected with the positive pole of the first battery (93), second contact (952) is connected with the negative pole of the first battery (93), 3rd contact (953) is connected with the positive pole of generator (91), 4th contact (954) is connected with the negative pole of generator (91), 5th contact (955) is connected with the positive pole of the second battery (94), 6th contact (956) is connected with the negative pole of the second battery (94), 7th contact (957) is connected with the positive pole of constant-current stabilizer (92), 8th contact (958) is connected with the negative pole of constant-current stabilizer (92), connect with the first contact (951) in 9th contact (959), connect with the second contact (952) in tenth contact (950).
5. electromagnetism joint Manipulator according to claim 4, is characterized in that: the sleeve that described flexible sleeve (34) is arranged by shrimp shelly is formed, and described sleeve comprises end cover (38) and some limit cover (39);
Described flexible sleeve (34) bottom is end cover (38), described end cover (38) is for round table-like, the larger periphery of end cover (38) external diameter with fixing lower plate (2), end cover (38) internal fixtion electromagnet (31), end cover (38) multiple limit of upper superposition suit overlaps (39), and the end is overlapped the side of (38) and the point on the upside of it and limits and overlap (39) and be connected by stay cord (4);
Described limit cover (39) is overlapped and the second round platform cover by comprising the first round platform from top to bottom, described first round platform cover upside external diameter is less than downside external diameter, second round platform cover upside external diameter is greater than downside external diameter, the external diameter of the first round platform cover downside is identical with the external diameter that the second round platform overlaps upside, first round platform cover bottom is overlapped top with the second round platform and is fixed, point limit cover (39) is provided with axially extending bore, described limit cover (39) bottom offers the first round platform hole, described first round platform hole and point limit the axially extending bore overlapping (39) to connect, internal diameter on the upside of first round platform hole limits the internal diameter of the axially extending bore overlapping (39) identical with point, in some limit cover (39) axial cross section, the side lines in the first round platform hole are parallel with the side lines that the first round platform overlaps,
Described limit cover (39) is set with multiple limit cover (39) in the axial direction successively, be connected by stay cord (4) between the side that the first round platform that downside point limit overlaps (39) overlaps and the lower edge that upside point limits the second round platform overlapping (39) to overlap, described stay cord (4) limits the axis circumference of overlapping (39) to be uniformly distributed multiple along point;
When two somes limit cover (39) stretch mutually round about, some limit cover (39) of upside and the point of downside are limit and are overlapped (39) and be connected by stay cord;
When stay cord is also by radial load round about mutually for two somes limit cover (39), overlap (39) or any of overlapping in (38) upper side of the end supporting mutually along upper some limit with the point of downside under the first round platform hole, some limit cover (39) bottom of upside, it is spacing that the circumferential opposite side of any of described mutual support passes through stay cord (4).
6. electromagnetism joint Manipulator according to claim 4, is characterized in that: the sleeve that described flexible sleeve (34) is arranged by shrimp shelly is formed, and described sleeve comprises end cover (38) and face limit cover (391);
Described flexible sleeve (34) bottom is end cover (38), described end cover (38) is for round table-like, the larger periphery of end cover (38) external diameter with fixing lower plate (2), end cover (38) internal fixtion electromagnet (31), the upper superposition suit in end cover (38) multiple limits cover (391), the side at end cover (38) and the face on the upside of it are limit and are overlapped (391) and be connected by stay cord (4);
Described limit cover (391) is round table-like sleeve, described limit cover (391) upside external diameter is less than downside external diameter, face limit cover (391) is provided with axially extending bore, described limit cover (391) bottom offers the 3rd round platform hole, described 3rd round platform hole and face limit the axially extending bore overlapping (391) to connect, internal diameter on the upside of 3rd round platform hole and face limit the internal diameter of the axially extending bore overlapping (391) identical, have angle between the side lines that face limits the side lines in the first round platform hole in cover (391) axial cross section and the first round platform to overlap, described angle is ∠ a;
Described limit cover (391) is set with in the axial direction successively multiple limits cover (391), the face limit cover frustum cone side of (391) of downside limits the lower edge in the 3rd round platform hole overlapping (391) to be connected by stay cord (4) with the face of upside, and described stay cord (4) is uniformly distributed multiple along the axis circumference in face limit cover (391);
When two faces limit cover (391) stretch mutually round about, face limit cover (391) of upside and the face of downside are limit and are overlapped (391) and be connected by stay cord;
When stay cord is also by radial load round about mutually for two faces limit cover (391), overlap (391) or any of overlapping in (38) upper side of the end supporting mutually along upper some limit with the face of downside under the first round platform hole, bottom, face limit cover (391) of upside, it is spacing that the circumferential opposite side of any of described mutual support passes through stay cord (4).
7. utilize the feeding patient method of the electromagnetism joint Manipulator described in claim 1 ~ 6 any one, it is characterized in that comprising the steps:
A, the maximum deflection amplitude recording each joint of human hands, dynamics and crawl attitude,
B, multiple electromagnetic flexible joint (1) being together in series forms emulation joint, the upper plate (4) of electromagnetic flexible joint, downside (1) is fixedly connected with the lower plate (2) in electromagnetic flexible joint, upside (1), and the amplitude peak in joint, reference man's palmistry co-located place, the number of adjustment electromagnetic flexible joint (1)
C, by mechanical palm, mechanical finger, mechanical arm with emulation joint connect,
When D, record staff feeding patient, the articulate motion state of institute and run duration, and the emulation joint utilizing that PLC control electromagnetic flexible joint (1) is formed, according to motion state and the run duration feeding patient in the joint of staff.
8. utilize the control method of the contactor charging control device of the electromagnetism joint Manipulator described in claim 4, it is characterized in that comprising the steps:
A, the first contact (951) is contacted with the 3rd contact (953), second contact (952) contacts with the 4th contact (954), 5th contact (955) contacts with the 7th contact (957), when 6th contact (956) contacts with the 8th contact (958), generator (91) is to the first battery (93) charging, and the second battery (94) is powered to constant-current stabilizer (92);
B, the 3rd contact (953) is contacted with the 5th contact (955), 4th contact (954) and the 6th contact (956), 7th contact (957) contacts with the 9th contact (959), when 8th contact (958) contacts with the tenth contact (950), generator (91) is to the second battery (94) charging, and the first battery (93) is powered to constant-current stabilizer (92);
C, repetition A ~ B.
Priority Applications (12)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610476400.9A CN106003012B (en) | 2015-03-02 | 2015-03-02 | Feeding patient's method of electromagnetism joint Manipulator |
| CN201610475502.9A CN106142077A (en) | 2015-03-02 | 2015-03-02 | A kind of feeding patient's method of electromagnetism joint Manipulator |
| CN201610475518.XA CN106003115B (en) | 2015-03-02 | 2015-03-02 | Electromagnetism joint Manipulator |
| CN201610475499.0A CN105856215A (en) | 2015-03-02 | 2015-03-02 | Control method of electromagnetic joint manipulator |
| CN201610476397.0A CN106041914B (en) | 2015-03-02 | 2015-03-02 | A kind of feeding patient's method of electromagnetism joint Manipulator |
| CN201610476398.5A CN106003116B (en) | 2015-03-02 | 2015-03-02 | The control method of electromagnetism joint Manipulator |
| CN201610476399.XA CN106041990B (en) | 2015-03-02 | 2015-03-02 | Electromagnetism joint Manipulator |
| CN201610475504.8A CN106142078B (en) | 2015-03-02 | 2015-03-02 | A kind of feeding patient's method of electromagnetism joint Manipulator |
| CN201610475100.9A CN105881531A (en) | 2015-03-02 | 2015-03-02 | Patient feeding method of electromagnetic joint mechanical hand |
| CN201610476390.9A CN105856224A (en) | 2015-03-02 | 2015-03-02 | Method for feeding patient by using electromagnetic joint manipulator |
| CN201510092211.7A CN104669259B (en) | 2015-03-02 | 2015-03-02 | Electromagnetic joint mechanical hand and patient feeding and control method thereof |
| CN201610475516.0A CN106003114B (en) | 2015-03-02 | 2015-03-02 | A kind of control method of electromagnetism joint Manipulator |
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|---|---|---|---|
| CN201510092211.7A CN104669259B (en) | 2015-03-02 | 2015-03-02 | Electromagnetic joint mechanical hand and patient feeding and control method thereof |
Related Child Applications (11)
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| CN201610475516.0A Division CN106003114B (en) | 2015-03-02 | 2015-03-02 | A kind of control method of electromagnetism joint Manipulator |
| CN201610476398.5A Division CN106003116B (en) | 2015-03-02 | 2015-03-02 | The control method of electromagnetism joint Manipulator |
| CN201610475504.8A Division CN106142078B (en) | 2015-03-02 | 2015-03-02 | A kind of feeding patient's method of electromagnetism joint Manipulator |
| CN201610475100.9A Division CN105881531A (en) | 2015-03-02 | 2015-03-02 | Patient feeding method of electromagnetic joint mechanical hand |
| CN201610476400.9A Division CN106003012B (en) | 2015-03-02 | 2015-03-02 | Feeding patient's method of electromagnetism joint Manipulator |
| CN201610476397.0A Division CN106041914B (en) | 2015-03-02 | 2015-03-02 | A kind of feeding patient's method of electromagnetism joint Manipulator |
| CN201610476399.XA Division CN106041990B (en) | 2015-03-02 | 2015-03-02 | Electromagnetism joint Manipulator |
| CN201610475499.0A Division CN105856215A (en) | 2015-03-02 | 2015-03-02 | Control method of electromagnetic joint manipulator |
| CN201610475502.9A Division CN106142077A (en) | 2015-03-02 | 2015-03-02 | A kind of feeding patient's method of electromagnetism joint Manipulator |
| CN201610475518.XA Division CN106003115B (en) | 2015-03-02 | 2015-03-02 | Electromagnetism joint Manipulator |
| CN201610476390.9A Division CN105856224A (en) | 2015-03-02 | 2015-03-02 | Method for feeding patient by using electromagnetic joint manipulator |
Publications (2)
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| CN104669259A true CN104669259A (en) | 2015-06-03 |
| CN104669259B CN104669259B (en) | 2017-02-08 |
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| CN201610475518.XA Active CN106003115B (en) | 2015-03-02 | 2015-03-02 | Electromagnetism joint Manipulator |
| CN201610475502.9A Pending CN106142077A (en) | 2015-03-02 | 2015-03-02 | A kind of feeding patient's method of electromagnetism joint Manipulator |
| CN201610475100.9A Withdrawn CN105881531A (en) | 2015-03-02 | 2015-03-02 | Patient feeding method of electromagnetic joint mechanical hand |
| CN201510092211.7A Active CN104669259B (en) | 2015-03-02 | 2015-03-02 | Electromagnetic joint mechanical hand and patient feeding and control method thereof |
| CN201610475516.0A Active CN106003114B (en) | 2015-03-02 | 2015-03-02 | A kind of control method of electromagnetism joint Manipulator |
| CN201610475504.8A Expired - Fee Related CN106142078B (en) | 2015-03-02 | 2015-03-02 | A kind of feeding patient's method of electromagnetism joint Manipulator |
| CN201610475499.0A Withdrawn CN105856215A (en) | 2015-03-02 | 2015-03-02 | Control method of electromagnetic joint manipulator |
| CN201610476399.XA Active CN106041990B (en) | 2015-03-02 | 2015-03-02 | Electromagnetism joint Manipulator |
| CN201610476397.0A Active CN106041914B (en) | 2015-03-02 | 2015-03-02 | A kind of feeding patient's method of electromagnetism joint Manipulator |
| CN201610476398.5A Active CN106003116B (en) | 2015-03-02 | 2015-03-02 | The control method of electromagnetism joint Manipulator |
| CN201610476400.9A Active CN106003012B (en) | 2015-03-02 | 2015-03-02 | Feeding patient's method of electromagnetism joint Manipulator |
| CN201610476390.9A Withdrawn CN105856224A (en) | 2015-03-02 | 2015-03-02 | Method for feeding patient by using electromagnetic joint manipulator |
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| CN201610475518.XA Active CN106003115B (en) | 2015-03-02 | 2015-03-02 | Electromagnetism joint Manipulator |
| CN201610475502.9A Pending CN106142077A (en) | 2015-03-02 | 2015-03-02 | A kind of feeding patient's method of electromagnetism joint Manipulator |
| CN201610475100.9A Withdrawn CN105881531A (en) | 2015-03-02 | 2015-03-02 | Patient feeding method of electromagnetic joint mechanical hand |
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| CN201610475516.0A Active CN106003114B (en) | 2015-03-02 | 2015-03-02 | A kind of control method of electromagnetism joint Manipulator |
| CN201610475504.8A Expired - Fee Related CN106142078B (en) | 2015-03-02 | 2015-03-02 | A kind of feeding patient's method of electromagnetism joint Manipulator |
| CN201610475499.0A Withdrawn CN105856215A (en) | 2015-03-02 | 2015-03-02 | Control method of electromagnetic joint manipulator |
| CN201610476399.XA Active CN106041990B (en) | 2015-03-02 | 2015-03-02 | Electromagnetism joint Manipulator |
| CN201610476397.0A Active CN106041914B (en) | 2015-03-02 | 2015-03-02 | A kind of feeding patient's method of electromagnetism joint Manipulator |
| CN201610476398.5A Active CN106003116B (en) | 2015-03-02 | 2015-03-02 | The control method of electromagnetism joint Manipulator |
| CN201610476400.9A Active CN106003012B (en) | 2015-03-02 | 2015-03-02 | Feeding patient's method of electromagnetism joint Manipulator |
| CN201610476390.9A Withdrawn CN105856224A (en) | 2015-03-02 | 2015-03-02 | Method for feeding patient by using electromagnetic joint manipulator |
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| CN105108764A (en) * | 2015-09-14 | 2015-12-02 | 南京工程学院 | Robot intelligent manipulator and control system thereof |
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| CN109227587A (en) * | 2018-11-28 | 2019-01-18 | 董月阳 | A kind of bionic mechanical hand |
| CN110080501B (en) * | 2019-05-14 | 2024-03-26 | 浙江大东吴集团建设有限公司 | A whitewash device for colorful imitative stone coating of environmental protection type |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN106003116A (en) | 2016-10-12 |
| CN106142078B (en) | 2018-11-02 |
| CN106003012A (en) | 2016-10-12 |
| CN106003114A (en) | 2016-10-12 |
| CN106142077A (en) | 2016-11-23 |
| CN104669259B (en) | 2017-02-08 |
| CN106041990B (en) | 2017-12-12 |
| CN106003012B (en) | 2017-12-08 |
| CN106003115A (en) | 2016-10-12 |
| CN105881531A (en) | 2016-08-24 |
| CN105856224A (en) | 2016-08-17 |
| CN106142078A (en) | 2016-11-23 |
| CN106003116B (en) | 2018-04-06 |
| CN106003114B (en) | 2018-03-23 |
| CN106041990A (en) | 2016-10-26 |
| CN106041914A (en) | 2016-10-26 |
| CN106003115B (en) | 2018-05-22 |
| CN105856215A (en) | 2016-08-17 |
| CN106041914B (en) | 2017-12-08 |
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