CN105881531A - Patient feeding method of electromagnetic joint mechanical hand - Google Patents

Abstract

The invention provides a patient feeding method of 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 electromagnetic joint mechanical hand provided by the invention is simple in structure, low in cost, simple and convenient to operate and high in adaptive capacity, fine adjustment can be realized according to the size of a gripped object, and the electromagnetic joint mechanical hand can adapt to and compensate for tiny change of the patient posture. The electromagnetic joint mechanical hand provided by the invention 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 the inner chamber 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 chamber 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); the top of the ejecting rod (35) is connected with an upper plate (4).

Description

Feeding patient's method of electromagnetism joint Manipulator

Present patent application is divisional application.The patent No. of original bill is 201510092211.7, and the applying date is March 2 in 2015 Day, denomination of invention is electromagnetism joint Manipulator and feeding patient thereof and control method.

Technical field

The present invention relates to a kind of flexible manipulator, particularly relate to a kind of for capturing dixie cup, the mechanical hand of feeding patient and grabbing Take, feeding, control method.

Background technology

Replace progressively replacing during people at automated machine, automated machine is strong with its adaptive capacity to environment, untiring, The plurality of advantages such as use cost is low, become the mark of future technology.But, complicated mechanical mechanism easily produces all multiple faults, Heavy big machinery cannot the typically fine and smooth operation of complete imaging human.

During automated machine replaces people, the most all creating the flexible arm joint that similar true man are the same, completing all As grabbed 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 is most Use parallel between two planks of three groups of gear-rack drives or make it have angle, then being carried out tandem combination, thus complete Become the structure of a flexible arm.

But, it is the most inflexible that rack-and-pinion mode drives.True man when grabbing thing the most just grasp can meet pick up thing want Ask, true man subcutaneous fat also can be for being grabbed thing and carry out holding the fine setting of shape.So can only be according to paper during picking up dixie cup The solid shape of cup designs fixing appearance of holding to pick up dixie cup, fixing hold appearance before and after required precision high.Rack-and-pinion mode Flexible arm is held appearance for dixie cup and be cannot be carried out fine setting.During feeding patient, the attitude that patient has a meal is not fixed, and often can occur thin Micro-change, if the mechanical hand of feeding cannot adapt to the minor variations of attitude in patient's mouth, it is likely that injure patient, even endanger Evil patient is sick.

Summary of the invention

The technical problem to be solved in the present invention be to provide a kind of simple in construction, low cost, easy and simple to handle, adaptable, can According to be finely adjusted by the size grabbing thing, adapt to the electromagnetism joint Manipulator of minor variations of patient's attitude and crawl thereof, feeding, Control method.

The present invention includes machinery palm, mechanical finger, mechanical arm and electromagnetic flexible joint, and one end of described arm is solid with frame Fixed, the other end of arm is connected with palm by electromagnetic flexible joint, and palm is connected with finger by electromagnetic flexible joint, finger Each joint be electromagnetic flexible joint；

Described electromagnetic flexible joint includes lower plate, telescopic mast and upper plate, and lower plate is connected with upper plate by three telescopic masts, stretches for three The axis of contracting post all with upper plate, 0 ° of lower plate circumference, 120 °, 240 ° of positions fix；

Described telescopic mast includes electric magnet, permanent magnet, spacing ring, flexible sleeve and push rod, fixes with lower plate bottom described flexible sleeve, Flexible sleeve inner chamber is sequentially provided with electric magnet, permanent magnet and push rod from bottom to top, and described electric magnet is fixed on bottom flexible sleeve, described Permanent magnet, with flexible sleeve inner chamber as guide rail, is fixed bottom permanent magnet top and push rod, and push rod top is connected with upper plate；

Push rod is that nitrile rubber is made；

Spacing ring is multiple along flexible sleeve axial array to top from the middle part of flexible sleeve inner chamber, between spacing ring thickness and spacing ring between Every equal；

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, permanent magnet External diameter is less than the lower internal diameter of flexible sleeve inner chamber, and the external diameter of permanent magnet is more than the internal diameter in the middle part of flexible sleeve inner chamber；

Described push rod top is connected by spring with upper plate；

Described push rod is rods, is provided with spacing ring in the middle part of flexible sleeve inner chamber, and described spacing ring internal diameter is identical with push rod external diameter, limit Push rod for spacing permanent magnet and is play the guiding role by position ring；

In described flexible sleeve Bamboo-shaped embed multiple ring shielding magnetisms, described ring shielding magnetism by 80% nickel alloy Mumetal material system Becoming, the thickness of ring shielding magnetism is 0.0508 millimeter, the axis of ring shielding magnetism and the dead in line of flexible sleeve, each ring shielding magnetism it Between have interval, between ring shielding magnetism interval less than ring shielding magnetism height 1/5, upper port and the lower port of ring shielding magnetism 37 are equal It is provided with some circle lead loop,

Also including that catalyst charging controls device, electromotor and constant-current stabilizer, described catalyst charging controls device bag Include the first contact, the second contact, the 3rd contact, the 4th contact, the 5th contact, the 6th contact, the 7th contact, the 8th contact, The accumulator that 9th contact, the tenth contact and the first accumulator, the second accumulator collectively constitute, described constant-current stabilizer is used for receiving The voltage that accumulator is fluctuated, and it is translated into burning voltage, thus the stable electricity of controller supply to electromagnetic flexible joint Pressure, the electric magnet on each telescopic mast powered by the controller in electromagnetic flexible joint according to control signal, and it is upper and lower for ring shielding magnetism The lead loop of end is all and parallel operation of generator；

Described first contact is connected with the positive pole of the first accumulator, and the second contact is connected with the negative pole of the first accumulator, the 3rd contact Being connected with the positive pole of electromotor, the 4th contact is connected with the negative pole of electromotor, and the 5th contact is connected with the positive pole of the second accumulator, 6th contact is connected with the negative pole of the second accumulator, and the 7th contact is connected with the positive pole of constant-current stabilizer, the 8th contact and constant-current stabilizer Negative pole connect, the 9th contact and the first contact series, the tenth contact and the second contact series；

The sleeve that described flexible sleeve is arranged by Crusta Penaeus seu Panulirus shape is constituted, and described sleeve includes end set and some limit set；

Overlapping the end of for bottom described flexible sleeve, set is for round table-like at the described end, and the periphery that end set external diameter is bigger is used for fixing lower plate, the end Overlapping interior fixed electromagnet, the end, puts superposition suit multiple limit set, and the side that the end is overlapped is connected by stay cord with the some limit set on the upside of it；

Described limit set is by including the first round platform set and the second round platform set from top to bottom, and on the upside of described first round platform set, external diameter is less than down Side external diameter, on the upside of the second round platform set, external diameter is more than downside external diameter, the external diameter on the downside of the first round platform set and the second round platform overlap on the upside of outside Footpath is identical, fixes with the second round platform set top bottom the first round platform set, and some limit is arranged with axially extending bore, opens bottom described some limit set Being provided with the first round platform hole, described first round platform hole connects with the axially extending bore of some limit set, the internal diameter on the upside of the first round platform hole and point The internal diameter of the axially extending bore of limit set is identical, and some limit overlaps side lines and the side of the first round platform set in the first round platform hole in axial cross section Lines are parallel；

Described some limit puts and is set with multiple limit set the most successively, and the side of the first round platform set of downside point limit set is with upper Being connected by stay cord between the lower edge of the second round platform set of side point limit set, described stay cord is uniformly distributed many along the axis circumference of some limit set Individual；

When two some limit sets mutually stretch round about, the some limit set of upside is limited set with the point of downside and is connected by stay cord；

During when two somes limit set stay cords the most round about and by radial force, along upper under the first round platform hole bottom the some limit set of upside A little with the most mutually supporting on the some limit set of downside or end set upper side, the circumference of any of described mutual support another Side is spacing by stay cord；

It comprises the steps:

A, the record maximum deflection amplitude in each joint of human hands, dynamics and crawl attitude,

B, composition that multiple electromagnetic flexible joints are together in series emulation joint, the upper plate in electromagnetic flexible joint, downside and upside electromagnetism The lower plate of flexible joint is fixing to be connected, and the amplitude peak in joint at reference man's palmistry co-located, adjusts electromagnetic flexible joint Number,

C, by machinery palm, mechanical finger, mechanical arm with emulation joint connect,

When D, record staff feeding patient, the articulate kinestate of institute and movement time, and utilize PLC to control electromagnetic flexible The emulation joint that joint is constituted, according to the kinestate in joint and the movement time feeding patient of staff.

Electromagnetism joint Manipulator difference from prior art of the present invention is that electromagnetism joint Manipulator of the present invention is closed by electromagnetic flexible Joint replaces the mechanical joint of gear-rack drive capture object (such as dixie cup) or epidemic victim is carried out feeding, it is possible to Play electromagnetic flexible joint and to adjustability during tiny error.When mechanical hand captures dixie cup, electromagnetic flexible closes festival-gathering and imitates people Fat on hand thus share equally dixie cup outside extend out power, successfully capture dixie cup and do not destroy dixie cup.Pass at mechanical hand feeding Catch an illness people time, decrease the probability that medical personnel are infected, and patient contain spoon shut up down swallow when, electricity Action of bowing when magnetic flexible joint also can be swallowed for patient moves downward with patient, greatly reduces the probability accidentally injuring patient. Three telescopic masts in electromagnetic flexible joint according to 0 ° of lower plate circumference, 120 °, 240 ° of circumferences be uniformly distributed, then can be flexible When post stretches, change the angle of upper plate and lower plate, so that the arbitrarily angled bending in electromagnetic flexible joint.Wherein telescopic mast utilizes electricity Magnet and permanent magnet control flexible, then may utilize Magnet and drive push rod to move up and down at the repulsive force of homopolarity, it is achieved stretching of expansion link Contracting.And the flexible sleeve of round table-like inner chamber can limit its maximum displacement when permanent magnet rises as guide rail.

If push rod is rigid posts in electromagnetism joint Manipulator of the present invention, may utilize spring and eliminate the bending between push rod top and upper plate Power.

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 it is soft Property bar easily mutually friction in flexible sleeve, or produce skew, then arranging spacing ring carries out spacing to permanent magnet, in passing to soft Property push rod play the guiding role.

In electromagnetism joint Manipulator of the present invention, if desired expansion link has enough extending forces, then the magnetic of the powerful electromagents to be added that are bound to. But three expansion link hypotelorisms after all, interfere and easily cause driving confusion, then coaxial spaced on the barrel of flexible sleeve Embed ring shielding magnetism and can reduce interfering of three expansion links, and only 0.0508 milli that Mumetal material can make The magnetic shield thin slice ring that rice is thick, 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 more than ring shielding magnetism height 1/5, then do not reach good Magnetic Shielding Effectiveness.During use, first stores Battery, the second accumulator one of them because of the magnetic induction line wire cutting coil not shielded between ring shielding magnetism, thus to it Power supply, another electric magnet electric discharge to telescopic mast, interleaved power, electric discharge can work and charge, and protects accumulator Life-span.

It is a point and the contacting of face that electromagnetism joint Manipulator midpoint of the present invention limit set contacts with each other, and its advantage is flexible for turning to.

In electromagnetism joint Manipulator of the present invention, face limit set contacts with each other is an elongated cambered surface.Its advantage is for keeping attitude the most steady Fixed.

In the grasping means of electromagnetism joint Manipulator of the present invention, the electromagnetic flexible of the different number of degree of crook regulation of simulating human hands closes Joint series winding, can copy staff to manufacture mechanical hand so that it is purposes is the most extensive to greatest extent.

Below in conjunction with the accompanying drawings the 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 electromagnetism joint Manipulator shown in Fig. 1；

Fig. 3 is the front sectional view of telescopic mast in embodiment 1；

Fig. 4 is the front view that in embodiment 1, end set and some limit set are not stretched；

Front view when Fig. 5 is that in embodiment 1, end set and some limit set are stretched；

Fig. 6 is that in embodiment 1, end set and some limit overlap the front view by radial force；

Fig. 7 is the front sectional view of telescopic mast in embodiment 2；

Fig. 8 is the front view that in embodiment 2, end set dough-making powder limit set is not stretched；

Front view when Fig. 9 is that in embodiment 2, end set dough-making powder limit set is stretched；

Figure 10 is that in embodiment 2, end set dough-making powder limit overlaps the front view by radial force；

Figure 11 is the front view of catalyst charging device in embodiment 1.

Detailed description of the invention

Embodiment 1

Such as Fig. 1～6, shown in 11, electromagnetism joint Manipulator of the present invention includes machinery palm, mechanical finger, mechanical arm, electromagnetism Flexible joint 1 and circuit control part.One end of arm is fixed with frame.Seeing Fig. 1, the other end of arm is soft by electromagnetism Property joint 1 be connected with palm, palm is connected with finger by electromagnetic flexible joint 1, and each joint of finger is electromagnetic flexible Joint 1.

Seeing Fig. 1 and Fig. 2, electromagnetic flexible joint 1 includes that lower plate 2, telescopic mast 3 and upper plate 4, lower plate 2 are stretched by three Post 3 is connected with upper plate 4, the axis of three telescopic masts 3 all with upper plate 4,0 ° of lower plate 2 circumference, 120 °, 240 ° of positions Fixing.

Seeing Fig. 2 and Fig. 3, telescopic mast 3 includes electric magnet 31, permanent magnet 32, spacing ring 33, flexible sleeve 34 and push rod 35. Fixing with lower plate 2 bottom flexible sleeve 34, flexible sleeve 34 inner chamber is sequentially provided with electric magnet 31, permanent magnet 32 and top from bottom to top Bar 35.Electric magnet 31 is fixed on bottom flexible sleeve 34.Permanent magnet 32 is with flexible sleeve 34 inner chamber as guide rail, and permanent magnet 32 pushes up Fix bottom portion and push rod 35.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 push rod 35 for spacing permanent magnet 32 and is play the guiding role by spacing ring 33. Spacing ring 33 is multiple along flexible sleeve 34 axial array to top from the middle part of flexible sleeve 34 inner chamber, and spacing ring 33 thickness is with spacing Interval between ring 33 is equal.

Seeing 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, permanent magnetism Ferrum 32 is cylindric, and 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 more than flexibility Internal diameter in the middle part of cylinder 34 inner chambers.Flexible sleeve 34 is made for nitrile rubber.

Seeing Fig. 3～Fig. 6, the sleeve that flexible sleeve 34 is arranged by Crusta Penaeus seu Panulirus shape is constituted.Sleeve includes end set 38 and some limit set 39.

See Fig. 3～Fig. 6, bottom flexible sleeve 34, overlap 38 the end of for.End set 38 is round table-like, and the circumference that 38 external diameters are bigger is overlapped at the end Face is used for fixing lower plate 2, fixed electromagnet 31 in end set 38, superposition suit multiple limit set 39 on end set 38, end set 38 Side limit set 39 with the point on the upside of it and be connected by stay cord 41.

Seeing Fig. 3～Fig. 6, some limit set 39 is by including the first round platform set and the second round platform set from top to bottom.Outside on the upside of first round platform set Footpath is less than downside external diameter, and on the upside of the second round platform set, external diameter is more than downside external diameter, the external diameter on the downside of the first round platform set and the second round platform set The external diameter of upside is identical, fixes with the second round platform set top bottom the first round platform set, and some limit set 39 is provided with axially extending bore.Point limit set The first round platform hole is offered bottom 39.First round platform hole connects, on the upside of the first round platform hole with the axially extending bore of some limit set 39 Internal diameter is identical with the internal diameter of axially extending bore of some limit set 39, the side lines and the in the first round platform hole in some limit set 39 axial cross sections The side lines of one round platform set are parallel.

Seeing Fig. 3～Fig. 6, some limit set 39 is set with multiple limit set 39 the most successively, some limit in downside overlaps the of 39 It is connected by stay cord 41 between the side of one round platform set with the lower edge of the second round platform set of upside point limit set 39.Stay cord 41 is along a limit The axis circumference of set 39 is uniformly distributed multiple.

See Fig. 2, coaxial embedding ring shielding magnetism 37 in some limit set 39.Ring shielding magnetism 37 by 80% nickel alloy Mumetal material Material is made, and 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, Having interval between each ring shielding magnetism 37, the interval between ring shielding magnetism 37 is less than the 1/5 of ring shielding magnetism 37 height.At magnetic cup Upper port and the lower port of covering ring 37 are equipped with some circle lead loop, and the lead loop of its upper and lower end is all with electromotor 91 also Connection.

Seeing Figure 11, the circuit control part of the present invention includes that catalyst charging controls device, electromotor 91 and current stabilization dress Putting 92, described catalyst charging controls device and includes the first contact the 953, the 4th, the 951, second contact the 952, the 3rd, contact Contact the 959, the tenth, contact the 958, the 9th, contact the 957, the 8th, contact the 956, the 7th, contact the 955, the 6th, contact the 954, the 5th The accumulator that contact 950 and first accumulator the 93, second accumulator 94 collectively constitute, described constant-current stabilizer 92 is used for receiving storage The voltage that battery is fluctuated, and it is translated into burning voltage, thus the stable electricity of controller supply to electromagnetic flexible joint 1 Pressure.Electric magnet 31 on each telescopic mast 3 is powered by the controller in electromagnetic flexible joint 1 according to control signal.

Described first contact 951 is connected with the positive pole of the first accumulator 93, the second contact 952 and negative pole of the first accumulator 93 Connecting, the 3rd contact 953 is connected with the positive pole of electromotor 91, and the 4th contact 954 is connected with the negative pole of electromotor 91, and the 5th Contact 955 is connected with the positive pole of the second accumulator 94, and the 6th contact 956 is connected with the negative pole of the second accumulator 94, and the 7th touches Point 957 is connected with the positive pole of constant-current stabilizer 92, and the 8th contact 958 is connected with the negative pole of constant-current stabilizer 92, the 9th contact 959 Connecting with the first contact 951, connects with the second contact 952 in the tenth contact 950.

The control method of catalyst charging device, comprises the steps:

A, making the first contact 951 contact with the 3rd contact 953, the second contact 952 contacts with the 4th contact 954, and the 5th touches Point 955 contacts with the 7th contact 957, and when the 6th contact 956 contacts with the 8th contact 958, electromotor 91 is to the first accumulator 93 chargings, constant-current stabilizer 92 is powered by the second accumulator 94；

B, the 3rd contact 953 is made to contact with the 5th contact 955, the 4th contact 954 and the 6th contact 956, the 7th contact 957 contact with the 9th contact 959, and when the 8th contact 958 contacts with the tenth contact 950, electromotor 91 is to the second accumulator 94 Charging, constant-current stabilizer 92 is powered by the first accumulator 93；

C, repetition A～B.

During use, one of them of first accumulator the 93, second accumulator 94 is because of the magnetic not shielded between ring shielding magnetism 37 Sense line wire cutting coil, thus it is powered, the electric magnet 31 of telescopic mast 3 is discharged by another, and interleaved power, electric discharge are i.e. Can working while charging, protecting the life of storage battery.

See Fig. 5, when two some limit sets 39 mutually stretch round about, the some limit set 39 of upside and the some limit set of downside 39 are connected by stay cord.

See Fig. 6, during when two somes limit set 39 stay cords the most round about and by radial force, bottom the some limit set 39 of upside The most mutually supporting in 38 upper side is overlapped along upper some some limit set 39 or end with downside under first round platform hole.Mutually prop up The circumferential opposite side of any of support is spacing by stay cord 41.

Embodiment 2

The present embodiment 2 is with the difference of embodiment 1, as shown in Fig. 2, Fig. 7, Fig. 8, Fig. 9, Figure 10, sees figure 2, push rod 35 is rods, is provided with spacing ring 33 in the middle part of flexible sleeve 34 inner chamber.Spacing ring 33 internal diameter and push rod 35 external diameter phase With, push rod 35 for spacing permanent magnet 32 and is play the guiding role by spacing ring 33.

Seeing Fig. 7, the sleeve that flexible sleeve 34 is arranged by Crusta Penaeus seu Panulirus shape is constituted.Sleeve includes that 38 dough-making powder limit sets 391 are overlapped at the end.

See Fig. 8, bottom flexible sleeve 34, overlap 38 the end of for.End set 38 is round table-like, and the periphery that 38 external diameters are overlapped bigger in the end is used for Fixing lower plate 2, fixed electromagnet 31 in end set 38, on end set 38, superposition is set with multiple limit sets 391, the side of end set 38 Limit set 391 with the face on the upside of it to be connected by stay cord 41.

Seeing Fig. 7 and Fig. 8, face limit set 391 is round table-like sleeve.On the upside of face limit set 391, external diameter limits less than downside external diameter, face Set 391 is provided with axially extending bore.The 3rd round platform hole is offered bottom face limit set 391.3rd round platform hole is axial with face limit set 391 Through hole connects, and the internal diameter on the upside of the 3rd round platform hole is identical with the internal diameter of the axially extending bore of face limit set 391, and face limit set 391 is axial Cross section there is angle between side lines and the side lines of the first round platform set in the first round platform hole.Angle is ∠ a.

See Fig. 8, face limit set 391 is set with multiple limit sets 391 the most successively, the circle of the face limit set 391 of downside Platform side is connected by stay cord 41 with the lower edge in the 3rd round platform hole that the face of upside limits set 391.Stay cord 41 is along face limit set 391 Axis circumference is uniformly distributed multiple.

See Fig. 2 and Fig. 7, coaxial embedding ring shielding magnetism 37 in face limit set 391.Ring shielding magnetism 37 by 80% nickel alloy Mumetal Material is made, and 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, Having interval between each ring shielding magnetism 37, the interval between ring shielding magnetism 37 is less than the 1/5 of ring shielding magnetism 37 height.

See Fig. 9, when two face limit sets 391 mutually stretch round about, the face limit set 391 of upside and the face limit of downside Set 391 is connected by stay cord.

See Figure 10, during when two faces limit set 391 stay cords the most round about and by radial force, face limit 391 ends of set of upside Limit set 391 along upper some face with downside under the first round platform hole, portion or the most mutually supporting in 38 upper side is overlapped at the end.Mutually The circumferential opposite side of any supported is spacing by stay cord 41.

The grasping means of a kind of electromagnetism joint Manipulator and feeding method, comprise the steps:

A, the record maximum deflection amplitude in each joint of human hands, dynamics and crawl attitude.

B, the composition that is together in series in multiple electromagnetic flexible joints 1 emulation joint, the upper plate 4 in electromagnetic flexible joint, downside 1 is with upper The lower plate 2 in electromagnetic flexible joint, side 1 is fixing to be connected, and the amplitude peak in joint at reference man's palmistry co-located, adjusts electromagnetism The number of flexible joint 1.

C, by machinery palm, mechanical finger, mechanical arm with emulation joint connect.

When D, record staff feeding patient, the articulate kinestate of institute and movement time, and utilize PLC to control electromagnetic flexible The emulation joint that joint 1 is constituted, according to the kinestate in joint and the movement time feeding patient of staff.

Embodiment described above is only to be described the preferred embodiment of the present invention, not carries out the scope of the present invention Limiting, on the premise of designing spirit without departing from the present invention, technical scheme is made by those of ordinary skill in the art Various deformation and improvement, all should fall in the protection domain that claims of the present invention determines.

Claims (1)

1. feeding patient's method of an electromagnetism joint Manipulator, it is characterised in that:

Including machinery palm, mechanical finger, mechanical arm and electromagnetic flexible joint (1), one end of described arm is fixed with frame, 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), Each joint of finger is electromagnetic flexible joint (1)；

Described electromagnetic flexible joint (1) includes lower plate (2), telescopic mast (3) and upper plate (4), and lower plate (2) passes through three Telescopic mast (3) is connected with upper plate (4), the axis of three telescopic masts (3) all with upper plate (4), lower plate (2) circumference 0 °, 120 °, 240 ° of positions fix；

Described telescopic mast (3) includes electric magnet (31), permanent magnet (32), spacing ring (33), flexible sleeve (34) and top Bar (35), described flexible sleeve (34) bottom is fixing with lower plate (2), and flexible sleeve (34) inner chamber is sequentially provided with electricity from bottom to top Magnet (31), permanent magnet (32) and push rod (35), described electric magnet (31) is fixed on flexible sleeve (34) bottom, institute Stating permanent magnet (32) with flexible sleeve (34) inner chamber as guide rail, permanent magnet (32) top is fixing with push rod (35) bottom, top Bar (35) top is connected with upper plate (4)；

Push rod (35) is that nitrile rubber is made；

Spacing ring (33) is multiple along flexible sleeve (34) axial array to top from the middle part of flexible sleeve (34) inner chamber, spacing ring (33) Interval between thickness and spacing ring (33) is equal；

Described 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, permanent magnet (32) 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 more than Internal diameter in the middle part of flexible sleeve (34) inner chamber；

Described push rod (35) top is connected by spring (36) with upper plate (4)；

Described push rod (35) is rods, is provided with spacing ring (33), described spacing ring (33) in the middle part of flexible sleeve (34) inner chamber Internal diameter is identical with push rod (35) external diameter, and spacing ring (33) plays guiding for spacing permanent magnet (32) and to push rod (35) Effect；

Described flexible sleeve (34) interior Bamboo-shaped embed multiple ring shielding magnetisms (37), described ring shielding magnetism (37) by 80% nickel Alloy Mumetal material is made, and the thickness of ring shielding magnetism (37) is 0.0508 millimeter, and the axis of ring shielding magnetism (37) is with soft The dead in line of property cylinder (34), has interval, the interval between ring shielding magnetism (37) to be less than between each ring shielding magnetism (37) The 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 including that catalyst charging controls device, electromotor (91) and constant-current stabilizer (92), the charging of described catalyst supplies Controller for electric consumption include the first contact (951), the second contact (952), the 3rd contact (953), the 4th contact (954), 5th contact (955), the 6th contact (956), the 7th contact (957), the 8th contact (958), the 9th contact (959), The accumulator that tenth contact (950) and the first accumulator (93), the second accumulator (94) collectively constitute, described constant-current stabilizer (92) for receiving the voltage that accumulator is fluctuated, and it is translated into burning voltage, thus to electromagnetic flexible joint (1) Controller supply burning voltage, the controller of electromagnetic flexible joint (1) according to control signal on each telescopic mast (3) Electric magnet (31) is powered, and the lead loop of ring shielding magnetism (37) its upper and lower end is all in parallel with electromotor (91)；

Described first contact (951) is connected with the positive pole of the first accumulator (93), the second contact (952) and the first accumulator (93) negative pole connects, and the 3rd contact (953) is connected with the positive pole of electromotor (91), the 4th contact (954) and generating The negative pole of machine (91) connects, and the 5th contact (955) is connected with the positive pole of the second accumulator (94), the 6th contact (956) Being connected with the negative pole of the second accumulator (94), the 7th contact (957) is connected with the positive pole of constant-current stabilizer (92), the 8th contact (958) negative pole with constant-current stabilizer (92) is connected, and connect with the first contact (951) in the 9th contact (959), the tenth contact (950) connect with the second contact (952)；

The sleeve that described flexible sleeve (34) is arranged by Crusta Penaeus seu Panulirus shape is constituted, and described sleeve includes end set (38) and some limit set (39)；

(38) are overlapped the end of in described flexible sleeve (34) bottom, and set of the described end (38) is round table-like, and end set (38) external diameter is bigger Periphery be used for fixing lower plate (2), end set (38) interior fixed electromagnet (31), end set (38) upper superposition suit is multiple Point limit set (39), the side at end set (38) is limited set (39) with the point on the upside of it and is connected by stay cord (4)；

Described limit set (39) by include from top to bottom first round platform set and the second round platform set, described first round platform set on the upside of external diameter Less than downside external diameter, on the upside of the second round platform set, external diameter puts more than downside external diameter, external diameter and the second round platform on the downside of the first round platform set The external diameter of side is identical, fixes with the second round platform set top bottom the first round platform set, and some limit set (39) is provided with axially extending bore, described Point limit set (39) bottom offers the first round platform hole, and described first round platform hole connects with the axially extending bore of some limit set (39), Internal diameter on the upside of first round platform hole is identical with the internal diameter of axially extending bore of some limit set (39), in some limit set (39) axial cross section the The side lines that the side lines in one round platform hole and the first round platform overlap are parallel；

Being set with multiple limit set (39) on described limit set (39) the most successively, some limit in downside overlaps the of (39) It is connected by stay cord (4) between the side of one round platform set with the lower edge of the second round platform set of upside point limit set (39), described stay cord (4) the axis circumference along some limit set (39) is uniformly distributed multiple；

When two somes limit set (39) mutually stretch round about, some limit set (39) of upside and some limit set (39) of downside Connected by stay cord；

During when two somes limit set (39) stay cords the most round about and by radial force, some limit set (39) bottom first of upside Along upper any and the most mutual support on some limit set (39) of downside or end set (38) upper side under round platform hole, described The circumferential opposite side of any mutually supported is spacing by stay cord (4)；

It comprises the steps:

A, the record maximum deflection amplitude in each joint of human hands, dynamics and crawl attitude,

B, composition that multiple electromagnetic flexible joints (1) are together in series emulation joint, the upper plate in electromagnetic flexible joint, downside (1) (4) fixing with the lower plate (2) in electromagnetic flexible joint, upside (1) it is connected, and the maximum in joint at reference man's palmistry co-located Amplitude, adjusts the number in electromagnetic flexible joint (1),

C, by machinery palm, mechanical finger, mechanical arm with emulation joint connect,

When D, record staff feeding patient, the articulate kinestate of institute and movement time, and utilize PLC to control electromagnetic flexible The emulation joint that joint (1) is constituted, according to the kinestate in joint and the movement time feeding patient of staff.