CN106003115B - Electromagnetism joint Manipulator - Google Patents
Electromagnetism joint Manipulator Download PDFInfo
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- CN106003115B CN106003115B CN201610475518.XA CN201610475518A CN106003115B CN 106003115 B CN106003115 B CN 106003115B CN 201610475518 A CN201610475518 A CN 201610475518A CN 106003115 B CN106003115 B CN 106003115B
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Classifications
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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
-
- 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
-
- 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
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- 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
-
- 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
-
- 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
-
- 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)
- Nursing (AREA)
- General Health & Medical Sciences (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
Electromagnetism joint Manipulator of the present invention is related to a kind of flexible manipulator, more particularly to it is a kind of for capture dixie cup, feeding patient manipulator.Its purpose is to provide a kind of electromagnetism joint Manipulator of minor variations simple in structure, at low cost, easy to operate, adaptable, being finely adjusted, adapt to and compensate patient's posture according to the size for being grabbed object.Electromagnetism joint Manipulator of the present invention includes electromagnetic flexible joint (1), flexible sleeve (34) bottom is fixed with lower plate (2), flexible sleeve (34) inner cavity is equipped with electromagnet (31), permanent magnet (32) and mandril (35) successively from bottom to top, the electromagnet (31) is fixed on flexible sleeve (34) bottom, the permanent magnet (32) is using flexible sleeve (34) inner cavity as guide rail, it fixes with mandril (35) bottom at the top of permanent magnet (32), is connected at the top of mandril (35) with upper plate (4).
Description
Present patent application is divisional application.The patent No. of original bill is 201510092211.7, and the applying date is 2015 3
The moon 2, denomination of invention is electromagnetism joint Manipulator and its feeding patient and control method.
Technical field
The present invention relates to a kind of flexible manipulator, more particularly to a kind of for capturing the manipulator of dixie cup, feeding patient
And its crawl, feeding, control method.
Background technology
Automated machine replace progressively replace people during, automated machine with its strong environmental adaptability, do not know
The tired, plurality of advantages such as use cost is low become the mark of future technology.However, complicated mechanical mechanism easily generate it is all
Multiple faults, bulky big machinery can not the general fine and smooth operations of complete imaging human.
During automated machine replaces people, the same flexible shoulder joint of similar true man all is being created all the time, is being come
Completion, which grabs egg, grabs dixie cup even captures disposable foamed plastic cutlery box and feeds the fine and smooth work such as epidemic victim.Tradition is soft
Property arm using parallel between three groups of gear-rack drives, two planks or make it have angle mostly, then carried out tandem group
It closes, so as to complete the structure of a flexible arm.
However, rack-and-pinion mode drive it is excessively inflexible.True man are not only that grasp can meet when grabbing thing and pick up east
The requirement in west, the subcutaneous fat of true man can also be directed to and be grabbed object and hold the fine tuning of shape.So during dixie cup is picked up only
Can fixed grip position be designed according to the fixation shape of dixie cup to pick up dixie cup, required precision is high before and after fixing grip position.Gear
The flexible arm of rack mode can not be finely adjusted for dixie cup grip position.During feeding patient, posture that patient has a meal simultaneously is not fixed, when
Subtle variation can often occur, if the manipulator of feeding can not adapt to the minor variations of posture in patient mouthful, it is likely that injure
Patient or even to endanger patient sick.
The content of the invention
The technical problem to be solved in the present invention is to provide it is a kind of it is simple in structure, at low cost, easy to operate, adaptable,
Can be finely adjusted, adapted to according to the size for being grabbed object the minor variations of patient's posture electromagnetism joint Manipulator and its crawl,
Feeding, control method.
Electromagnetism joint Manipulator of the present invention, including mechanical palms, mechanical finger, mechanical arm and electromagnetic flexible joint, institute
The one end and rack for stating arm are fixed, and the other end of arm is connected by electromagnetic flexible joint with palm, and palm is soft by electromagnetism
Property joint be connected with finger, each joint of finger is electromagnetic flexible joint；
The electromagnetic flexible joint includes lower plate, telescopic mast and upper plate, and lower plate is connected by three telescopic masts with upper plate, and three
The axis of root telescopic mast is fixed with upper plate, 0 ° of lower plate circumferential direction, 120 °, 240 ° of positions；
The telescopic mast includes electromagnet, permanent magnet, spacing ring, flexible sleeve and mandril, the flexible sleeve bottom and lower plate
Fixed, flexible tube inner chamber is equipped with electromagnet, permanent magnet and mandril successively from bottom to top, and the electromagnet is fixed on flexible sleeve bottom
Portion, the permanent magnet are fixed with mandril bottom at the top of permanent magnet using flexible tube inner chamber as guide rail, are connected at the top of mandril with upper plate；
Mandril is made of nitrile rubber；
Spacing ring is multiple to top along flexible sleeve axial array from the middle part of flexible tube inner chamber, /V ring thickness and spacing ring
Between interval it is equal；
For the flexibility tube inner chamber in round table-like, the upper internal diameter of flexible tube inner chamber is less than lower internal diameter, permanent magnet be it is cylindric, forever
The outer diameter of magnet is less than the lower internal diameter of flexible tube inner chamber, and the outer diameter of permanent magnet is more than the internal diameter in the middle part of flexible tube inner chamber；
Flexible sleeve is made of nitrile rubber.
Electromagnetism joint Manipulator of the present invention, wherein being connected at the top of the mandril with upper plate by spring.
Electromagnetism joint Manipulator of the present invention wherein the mandril is flexible link, is equipped with spacing ring in the middle part of flexible tube inner chamber.Institute
It is identical with mandril outer diameter to state spacing ring internal diameter, spacing ring for /V permanent magnet and play the guiding role to mandril.
Electromagnetism joint Manipulator of the present invention, wherein Bamboo-shaped is embedded in multiple ring shielding magnetisms, the magnetic cup in the flexible sleeve
Ring is covered to be made of 80% nickel alloy Mumetal materials, the thickness of ring shielding magnetism is 0.0508 millimeter, the axis of ring shielding magnetism with
The axis of flexible sleeve overlaps, and has interval between each ring shielding magnetism, and the interval between ring shielding magnetism is less than ring shielding magnetism height
1/5, several circle lead loop are equipped in the upper port and lower port of ring shielding magnetism 37, further include the control of contactor charging
Device, generator and constant-current stabilizer, the contactor charging control device are touched including the first contact, the second contact, the 3rd
Point, the 4th contact, the 5th contact, the 6th contact, the 7th contact, the 8th contact, the 9th contact, the tenth contact and the first electric power storage
The accumulator that pond, the second accumulator collectively constitute, the constant-current stabilizer for receiving accumulator voltage fluctuated, and by its
Burning voltage is converted into, so as to supply burning voltage, the controller root in electromagnetic flexible joint to the controller in electromagnetic flexible joint
Power according to control signal to the electromagnet on each telescopic mast, the lead loop of its upper and lower end of ring shielding magnetism with generator simultaneously
Connection；First contact is connected with the anode of the first accumulator, and the second contact is connected with the cathode of the first accumulator, the 3rd contact
It being connected with the anode of generator, the cathode connection of the 4th contact and generator, the 5th contact is connected with the anode of the second accumulator,
6th contact is connected with the cathode of the second accumulator, and the anode connection of the 7th contact and constant-current stabilizer, the 8th contact is filled with current stabilization
The cathode connection put, the 9th contact and the first contact series, the tenth contact and the second contact series.
Electromagnetism joint Manipulator of the present invention, wherein the flexible sleeve is made of the sleeve that shrimp shell shape arranges.The sleeve bag
Include bottom set and point limit set.The flexible sleeve bottom covers the bottom of for.The bottom set is round table-like, and set outer diameter larger periphery in bottom is used for
Fixed lower plate, fixed electromagnet in the set of bottom, bottom put on the multiple point limit sets of superposition suit, and the side of bottom set is covered with the point limit on the upside of it
It is connected by drawstring.The point limit set by including the first round platform set and the second round platform set from top to bottom.First round platform is put on
Side outer diameter is less than downside outer diameter, and the second round platform set upside outer diameter is more than downside outer diameter, the outer diameter and second of the first round platform set downside
The outer diameter of round platform set upside is identical, and the first round platform set bottom and the second round platform set top are fixed, and point limit is arranged with axially extending bore.Institute
It states a limit set bottom and offers the first round platform hole.First round platform hole and the axially extending bore of point limit set connect, the first round platform
Internal diameter on the upside of hole is identical with the internal diameter of the axially extending bore of point limit set, the side lines of the first round platform hole in point limit set axial cross section
It is parallel with the side lines of the first round platform set.The point limit is put on is set with multiple point limit sets, downside point successively in the axial direction
It is connected between the lower edge of the side of the first round platform set of limit set and the second round platform set of upside point limit set by drawstring.The drawstring
It is circumferentially uniformly distributed along the axis of point limit set multiple.When two point limit sets mutually stretch round about, the point limit set of upside
It is connected with the point limit set of downside by drawstring.When two points limit set mutually drawstring and during by radial load round about, upside
A little a little mutual support put in limit set or bottom set upper side with downside in point limit set bottom the first round platform hole lower edge.
The circumferential opposite side of a bit described mutually supported passes through drawstring /V.
Electromagnetism joint Manipulator of the present invention, wherein the flexible sleeve is made of the sleeve that shrimp shell shape arranges.The sleeve bag
Include bottom set knead dough limit set.The flexible sleeve bottom covers the bottom of for.The bottom set is round table-like, and set outer diameter larger periphery in bottom is used for
Fixed lower plate, fixed electromagnet in the set of bottom, bottom put on superposition and are set with multiple faces limit sets, and the side of bottom set is covered with the face limit on the upside of it
It is connected by drawstring.The face limit set is round table-like sleeve.Face limit set upside outer diameter is less than downside outer diameter, and face limit is arranged with
Axially extending bore.The face Xian Tao bottoms offer the 3rd round platform hole.3rd round platform hole and the axially extending bore of face limit set mutually pass through
Logical, 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, the first round platform in the limit set axial cross section of face
There is angle between the side lines of the side lines in hole and the first round platform set.The angle is ∠ a.The face limit is put on along axis
Direction is set with multiple face limit sets successively, and the frustum cone side of face limit set of downside and the face of upside are limited under the 3rd round platform hole of set
Edge is connected by drawstring.The axis of the drawstring along face limit set is circumferentially uniformly distributed multiple.
When two face limit sets mutually stretch round about, the face limit set of upside is connected with the face limit set of downside by drawstring
It connects.When two faces limit set mutually drawstring and during by radial load round about, face Xian Tao bottoms the first round platform hole lower edge of upside
On a little and downside face limit set or bottom set upper side on a little mutually support.The circumferential direction of a bit described mutually supported
Opposite side passes through drawstring /V.
The grasping means of electromagnetism joint Manipulator of the present invention, includes the following steps：
A, bending amplitude, dynamics and the crawl posture in each joint of human hands are recorded.
B, multiple electromagnetic flexible joints are together in series and form emulation joint, the upper plate in downside electromagnetic flexible joint and upside
The lower plate in electromagnetic flexible joint is fixedly connected, and at reference man's hand same position joint amplitude, adjustment electromagnetic flexible joint
Number.
C, mechanical palms, mechanical finger, mechanical arm emulation joint are connected.
Electromagnetism joint Manipulator difference from prior art of the present invention is that electromagnetism joint Manipulator of the present invention passes through electricity
Magnetic flexible joint replaces the mechanical joint of gear-rack drive to be captured to object (such as dixie cup) or carried out to epidemic victim
Feeding, adjustability when can play electromagnetic flexible joint with to tiny error.When manipulator captures dixie cup, electromagnetic flexible closes
Festival-gathering imitate the fat on human hand so as to share equally dixie cup it is outside extend out power, successfully capture dixie cup and do not destroy dixie cup.
During manipulator feeding epidemic victim, reduce the possibility that medical staff is infected, and contain spoon in patient and shut up down
When swallowing, the action of bowing when electromagnetic flexible joint can also be swallowed for patient is moved downward with patient, greatly reduces mistake
The possibility of sick and wounded people.Three telescopic masts in electromagnetic flexible joint uniformly divide according to lower plate circumferential 0 °, 120 °, 240 ° of circumferential directions
Cloth then can change upper plate and the angle of lower plate, so that electromagnetic flexible joint any angle is bent when telescopic mast stretches.Its
Middle telescopic mast is flexible using electromagnet and permanent magnet control, then is transported using magnet above and below the repulsive force driving mandril of homopolarity
It is dynamic, realize the flexible of telescopic rod.And the flexible sleeve of round table-like inner cavity it is maximum can to limit it when permanent magnet rises as guide rail
Displacement.
In electromagnetism joint Manipulator of the present invention if mandril for if rigid posts using spring eliminate at the top of mandril with upper plate it
Between bending force.
Flexible mandril then can voluntarily eliminate the bending force at the top of mandril between upper plate in electromagnetism joint Manipulator of the present invention.
But flexible link easily mutually friction or generation offset in flexible sleeve, then spacing ring is set to carry out /V to permanent magnet, it is suitable
Just it play the guiding role to flexible mandril.
If desired telescopic rod has enough extending forces in electromagnetism joint Manipulator of the present invention, then certainly will strengthen electromagnet
It is magnetic.But three telescopic rods hypotelorism after all, it interferes with each other and easily causes driving chaotic, then it is same on the barrel of flexible sleeve
Between centers can reduce interfering with each other for three telescopic rods every embedded ring shielding magnetism, and Mumetal materials can make only
The magnetic screen thin slice ring of 0.0508 millimeters thick, then its frivolous performance do not influence the bending degree of telescopic rod, and be electromagnetic flexible
Joint loss of weight.Interval between ring shielding magnetism is more than ring shielding magnetism height 1/5, then good Magnetic Shielding Effectiveness is not achieved.It uses
When, one of them of the first accumulator, the second accumulator are because of the not shielded magnetic induction line wire cutting line between ring shielding magnetism
Circle, so as to powering to it, another discharges to the electromagnet of telescopic mast, and interleaved power, electric discharge can work while charge,
Protect the life of storage battery.
Electromagnetism joint Manipulator midpoint of the present invention limit set contacts with each other as contact of the point with face, and advantage is turns to spirit
It is living.
Face limit set contacts with each other as an elongated cambered surface in electromagnetism joint Manipulator of the present invention.Its advantage is holding posture
It is relatively stable.
The bending degree that mankind's hand is simulated in the grasping means of electromagnetism joint Manipulator of the present invention adjusts the electricity of different numbers
Magnetic flexible joint is contacted, and human hand can be copied to manufacture manipulator to greatest extent, make its purposes more extensive.
The electromagnetism joint Manipulator to the present invention and its feeding and control method are described further below in conjunction with the accompanying drawings.
Description of the drawings
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 1 midsole of embodiment set and point limit set are not stretched；
Fig. 5 is that 1 midsole of embodiment set and point limit the front view covered when being stretched；
Fig. 6 is the front view of 1 midsole of embodiment set and point limit set by radial load；
Fig. 7 is the front sectional view of telescopic mast in embodiment 2；
Fig. 8 is the front view that 2 midsole of embodiment set knead dough limit set is not stretched；
Fig. 9 is front view when 2 midsole of embodiment set knead dough limit set is stretched；
Figure 10 is front view of 2 midsole of the embodiment set knead dough limit set by radial load；
Figure 11 is the front view of contactor charging device in embodiment 1.
Specific embodiment
Embodiment 1
As shown in Fig. 1~6,11, electromagnetism joint Manipulator of the present invention includes mechanical palms, mechanical finger, mechanical arm, electricity
Magnetic flexible joint 1 and circuit control part.One end of arm is fixed with rack.Referring to Fig. 1, the other end of arm is soft by electromagnetism
Property joint 1 be connected with palm, palm is connected by electromagnetic flexible joint 1 with finger, and each joint of finger is electromagnetic flexible
Joint 1.
Referring to Fig. 1 and Fig. 2, electromagnetic flexible joint 1 includes lower plate 2, telescopic mast 3 and upper plate 4, and lower plate 2 is flexible by three
Column 3 is connected with upper plate 4, and the axis of three telescopic masts 3 is fixed with upper plate 4,0 ° of 2 circumferential direction of lower plate, 120 °, 240 ° of positions.
Referring to Fig. 2 and Fig. 3, telescopic mast 3 includes electromagnet 31, permanent magnet 32, spacing ring 33, flexible sleeve 34 and mandril 35.
34 bottom of flexible sleeve is fixed with lower plate 2, and 34 inner cavity of flexible sleeve is equipped with electromagnet 31, permanent magnet 32 and mandril successively from bottom to top
35.Electromagnet 31 is fixed on 34 bottom of flexible sleeve.Permanent magnet 32 is using 34 inner cavity of flexible sleeve as guide rail, 32 top of permanent magnet and mandril
35 bottoms are fixed.35 top of mandril is connected with upper plate 4 by spring 36.Mandril 35 is made of nitrile rubber.33 internal diameter of spacing ring
Identical with 35 outer diameter of mandril, spacing ring 33 for /V permanent magnet 32 and play the guiding role to mandril 35.Spacing ring 33 is from soft
The middle part of property 34 inner cavity of cylinder is multiple to top along 34 axial array of flexible sleeve, the interval between 33 thickness of spacing ring and spacing ring 33
It is equal.
Referring to Fig. 2 and Fig. 3,34 inner cavity of flexible sleeve is in round table-like, and the upper internal diameter of 34 inner cavity of flexible sleeve is less than lower internal diameter, permanent magnetism
Iron 32 is cylindric, and the outer diameter of permanent magnet 32 is less than the lower internal diameter of 34 inner cavity of flexible sleeve, and the outer diameter of permanent magnet 32 is more than flexible sleeve
Internal diameter in the middle part of 34 inner cavities.Flexible sleeve 34 is made of nitrile rubber.
Referring to Fig. 3~Fig. 6, flexible sleeve 34 is made of the sleeve that shrimp shell shape arranges.Sleeve includes bottom set 38 and point limit set 39.
Referring to Fig. 3~Fig. 6,34 bottom of flexible sleeve covers 38 the bottom of for.Bottom set 38 is round table-like, and bottom covers the larger circumference of 38 outer diameters
Face is for fixing lower plate 2, and bottom covers fixed electromagnet 31 in 38, and the multiple points of superposition suit limit set 39, the side of bottom set 38 on bottom set 38
Face is connected with the point limit set 39 on the upside of it by drawstring 41.
Referring to Fig. 3~Fig. 6, point limit set 39 by including the first round platform set and the second round platform set from top to bottom.First round platform set
Upside outer diameter is less than downside outer diameter, and the second round platform set upside outer diameter is more than downside outer diameter, the outer diameter and the of the first round platform set downside
The outer diameter of two round platforms set upside is identical, and the first round platform set bottom and the second round platform set top are fixed, and point limit set 39 is equipped with axial logical
Hole.39 bottoms of point limit set offer the first round platform hole.First round platform hole and the axially extending bore of point limit set 39 connect, the first round platform
Internal diameter on the upside of hole is identical with the internal diameter of the axially extending bore of point limit set 39, the side of the first round platform hole in point limit 39 axial cross sections of set
Lines are parallel with the side lines that the first round platform covers.
Referring to Fig. 3~Fig. 6, multiple point limit sets 39, downside point limit set 39 are set on point limit set 39 successively in the axial direction
The first round platform set side and upside point limit set 39 the second round platform set lower edge between connected by drawstring 41.41 edge of drawstring
The axis of point limit set 39 is circumferentially uniformly distributed multiple.
Referring to Fig. 2, ring shielding magnetism 37 is coaxially embedded in point limit set 39.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 overlapped with the axis of flexible sleeve 34, often
There is interval between a ring shielding magnetism 37,1/5 of interval less than 37 height of ring shielding magnetism between ring shielding magnetism 37.In ring shielding magnetism
37 upper port and lower port is equipped with several circle lead loop, and the lead loop of upper and lower end is in parallel with generator 91.
Referring to Figure 11, circuit control part of the invention includes contactor charging control device, generator 91 and steady
Device 92 is flowed, the contactor charging control device includes the first contact 951, the second contact 952, the 3rd contact 953, the
Four contacts 954, the 5th contact 955, the 6th contact 956, the 7th contact 957, the 8th contact 958, the 9th contact the 959, the tenth are touched
The accumulator that 950 and first accumulator 93 of point, the second accumulator 94 collectively constitute, the constant-current stabilizer 92 are used to receive accumulator
Voltage fluctuated, and burning voltage is translated into, so as to supply burning voltage to the controller in electromagnetic flexible joint 1.
The controller in electromagnetic flexible joint 1 powers to the electromagnet 31 on each telescopic mast 3 according to control signal.
First contact 951 is connected with the anode of the first accumulator 93, the second contact 952 and the first accumulator 93 it is negative
Pole connects, and the 3rd contact 953 is connected with the anode of generator 91, and the 4th contact 954 is connected with the cathode of generator 91, and the 5th touches
Point 955 is connected with the anode of the second accumulator 94, and the 6th contact 956 is connected with the cathode of the second accumulator 94, the 7th contact 957
It is connected with the anode of constant-current stabilizer 92, the 8th contact 958 is connected with the cathode of constant-current stabilizer 92, and the 9th contact 959 and first is touched
951 series connection of point, the tenth contact 950 is connected with the second contact 952.
The control method of contactor charging device, includes the following steps：
A, the first contact 951 is made to be contacted with the 3rd contact 953, the second contact 952 is contacted with the 4th contact 954, and the 5th touches
Point 955 is contacted with the 7th contact 957, and when the 6th contact 956 is contacted with the 8th contact 958, generator 91 is to the first accumulator 93
It charges, the second accumulator 94 powers to constant-current stabilizer 92；
B, the 3rd contact 953 is made to be contacted with the 5th contact 955, the 4th contact 954 and the 6th contact 956, the 7th touches
Point 957 is contacted with the 9th contact 959, and when the 8th contact 958 is contacted with the tenth contact 950, generator 91 is to the second accumulator 94
It charges, the first accumulator 93 powers to constant-current stabilizer 92；
C, A~B is repeated.
In use, one of them of the first accumulator 93, the second accumulator 94 be not because of being shielded between ring shielding magnetism 37
Magnetic induction line wire cutting coil, so as to powering to it, another discharges to the electromagnet 31 of telescopic mast 3, interleaved power, electric discharge
It can work while charge, protect the life of storage battery.
Referring to Fig. 5, when two point limit sets 39 mutually stretch round about, the point limit set 39 and the point of downside of upside limit
Set 39 is connected by drawstring.
Referring to Fig. 6, when two points limit sets 39 mutually drawstrings and during by radial load round about, 39 bottoms of point limit set of upside
A little mutually support a little covered with the point limit set 39 of downside or bottom in 38 upper sides in portion's the first round platform hole lower edge.Mutually
The circumferential opposite side of any of support passes through 41 /V of drawstring.
Embodiment 2
The present embodiment 2 and embodiment 1 the difference is that, as shown in Fig. 2, Fig. 7, Fig. 8, Fig. 9, Figure 10, referring to Fig. 2,
Mandril 35 is flexible link, and spacing ring 33 is equipped in the middle part of 34 inner cavity of flexible sleeve.33 internal diameter of spacing ring is identical with 35 outer diameter of mandril, /V
Ring 33 for /V permanent magnet 32 and play the guiding role to mandril 35.
Referring to Fig. 7, flexible sleeve 34 is made of the sleeve that shrimp shell shape arranges.Sleeve includes bottom and covers 38 knead doughs limit set 391.
Referring to Fig. 8,34 bottom of flexible sleeve covers 38 the bottom of for.Bottom set 38 is round table-like, and bottom covers the larger periphery of 38 outer diameters and uses
Be set with multiple faces limit sets 391 in superposition on fixed electromagnet 31 in fixed lower plate 2, bottom set 38, bottom set 38, the side of bottom set 38 with
Face limit set 391 on the upside of it is connected by drawstring 41.
Referring to Fig. 7 and Fig. 8, face limit set 391 is round table-like sleeve.Face limit 391 upside outer diameters of set are less than downside outer diameter, face limit
Set 391 is equipped with axially extending bore.Face Xian Tao391 bottoms offer the 3rd round platform hole.3rd round platform hole and the axial direction of face limit set 391 are led to
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 to be cut
There is angle between the side lines of the side lines of the first round platform hole and the first round platform set in face.Angle is ∠ a.
Referring to Fig. 8, multiple face limit sets 391, the face limit set 391 of downside are set on face limit set 391 successively in the axial direction
Frustum cone side and the lower edge of the 3rd round platform hole of face limit set 391 of upside connected by drawstring 41.Drawstring 41 covers 391 along face limit
Axis be circumferentially uniformly distributed it is multiple.
Referring to Fig. 2 and Fig. 7, ring shielding magnetism 37 is coaxially embedded in face limit set 391.Ring shielding magnetism 37 by 80% nickel alloy
Mumetal materials are made, and the thickness of ring shielding magnetism 37 is 0.0508 millimeter, the axis of ring shielding magnetism 37 and the axis of flexible sleeve 34
It overlaps, there is interval between each ring shielding magnetism 37,1/5 of interval less than 37 height of ring shielding magnetism between ring shielding magnetism 37.
Referring to Fig. 9, when two face limit sets 391 mutually stretch round about, the face limit set 391 of upside and the face of downside
Limit set 391 is connected by drawstring.
Referring to Figure 10, when two faces limit sets 391 mutually drawstrings and during by radial load round about, the face limit set of upside
Any in 391 bottom the first round platform hole lower edges and a little mutual branch in the face limit set 391 of downside or bottom 38 upper sides of set
Support.The circumferential opposite side of any mutually supported passes through 41 /V of drawstring.
A kind of grasping means of electromagnetism joint Manipulator and feeding method, include the following steps：
A, the maximum deflection amplitude, dynamics and crawl posture in each joint of human hands are recorded.
B, by multiple electromagnetic flexible joints 1 be together in series composition emulation joint, the upper plate 4 in downside electromagnetic flexible joint 1 with
The lower plate 2 in upside electromagnetic flexible joint 1 is fixedly connected, and at reference man's hand same position joint amplitude peak, adjustment electricity
The number of magnetic flexible joint 1.
C, mechanical palms, mechanical finger, mechanical arm emulation joint are connected.
When D, recording human hand feeding patient, the articulate motion state of institute and run duration, and it is soft using PLC control electromagnetism
Property joint 1 form emulation joint, according to the motion state in the joint of human hand and run duration feeding patient.
Embodiment described above is only that the preferred embodiment of the present invention is described, not to the model of the present invention
It encloses and is defined, on the premise of design spirit of the present invention is not departed from, those of ordinary skill in the art are to the technical side of the present invention
The various modifications and improvement that case is made should all be fallen into the protection domain that claims of the present invention determines.
Claims (6)
1. a kind of electromagnetism joint Manipulator, it is characterised in that：Including mechanical palms, mechanical finger, mechanical arm and electromagnetic flexible
Joint (1), one end and the rack of the mechanical arm are fixed, and the other end of mechanical arm passes through electromagnetic flexible joint (1) and machine
Tool palm connects, and mechanical palms are connected by electromagnetic flexible joint (1) with mechanical finger, and each joint of mechanical finger is electricity
Magnetic flexible joint (1)；
The electromagnetic flexible joint (1) includes lower plate (2), telescopic mast (3) and upper plate (4), and lower plate (2) passes through three telescopic masts
(3) be connected with upper plate (4), the axis of three telescopic masts (3) with upper plate (4), 0 °, 120 °, 240 ° of positions of lower plate (2) circumferential direction
It is fixed；
The telescopic mast (3) includes electromagnet (31), permanent magnet (32), spacing ring (33), flexible sleeve (34) and mandril (35), institute
It is fixed with lower plate (2) to state flexible sleeve (34) bottom, flexible sleeve (34) inner cavity is equipped with electromagnet (31), permanent magnet successively from bottom to top
(32) and mandril (35), the electromagnet (31) are fixed on flexible sleeve (34) bottom, and the permanent magnet (32) is with flexible sleeve (34)
Inner cavity is guide rail, is fixed at the top of permanent magnet (32) with mandril (35) bottom, is connected at the top of mandril (35) with upper plate (4)；
Mandril (35) is made of nitrile rubber；
Spacing ring (33) is multiple along flexible sleeve (34) axial array from the middle part of flexible sleeve (34) inner cavity to top, spacing ring (33)
Interval between thickness and spacing ring (33) is equal；
Flexible sleeve (34) inner cavity is in round table-like, and the upper internal diameter of flexible sleeve (34) inner cavity is less than lower internal diameter, and permanent magnet (32) is
Cylindric, the outer diameter of permanent magnet (32) is less than the lower internal diameter of flexible sleeve (34) inner cavity, and the outer diameter of permanent magnet (32) is more than flexible sleeve
(34) internal diameter in the middle part of inner cavity,
Flexible sleeve (34) is made of nitrile rubber.
2. electromagnetism joint Manipulator according to claim 1, it is characterised in that：Mandril (35) top and upper plate (4)
It is connected by spring (36).
3. electromagnetism joint Manipulator according to claim 1, it is characterised in that：The mandril (35) is flexible link, flexible
Cylinder is equipped with spacing ring (33) in the middle part of (34) inner cavity, and spacing ring (33) internal diameter is identical with mandril (35) outer diameter, spacing ring (33)
It play the guiding role for /V permanent magnet (32) and to mandril (35).
4. the electromagnetism joint Manipulator according to Claims 2 or 3, it is characterised in that：The interior Bamboo-shaped of the flexible sleeve (34)
Embedded multiple ring shielding magnetisms (37), the ring shielding magnetism (37) are made of 80% nickel alloy Mumetal materials, ring shielding magnetism
(37) thickness is 0.0508 millimeter, and the axis of ring shielding magnetism (37) is overlapped with the axis of flexible sleeve (34), each ring shielding magnetism
(37) there is interval between, the interval between ring shielding magnetism (37) is less than the 1/5 of ring shielding magnetism (37) height, ring shielding magnetism (37)
Upper port and lower port are equipped with several circle lead loop,
Electromagnetism joint Manipulator further includes circuit control part, and the circuit control part includes contactor charging control dress
It puts, generator (91) and constant-current stabilizer (92), the contactor charging control device include the first contact (951), second
Contact (952), the 3rd contact (953), the 4th contact (954), the 5th contact (955), the 6th contact (956), the 7th contact
(957), the 8th contact (958), the 9th contact (959), the tenth contact (950) and by the first accumulator (93), the second accumulator
(94) accumulator collectively constituted, the constant-current stabilizer (92) are converted for receiving accumulator voltage fluctuated
For burning voltage, so as to supply burning voltage, the controller of electromagnetic flexible joint (1) to the controller of electromagnetic flexible joint (1)
According to control signal on each telescopic mast (3) electromagnet (31) power, ring shielding magnetism (37) thereon, the wire of lower port
Circle is in parallel with generator (91)；
First contact (951) is connected with the anode of the first accumulator (93), the second contact (952) and the first accumulator (93)
Cathode connection, the 3rd contact (953) be connected with the anode of generator (91), and the 4th contact (954) and generator (91) are born
Pole connects, and the 5th contact (955) is connected with the anode of the second accumulator (94), the 6th contact (956) and the second accumulator (94)
Cathode connection, the 7th contact (957) is connected with the anode of constant-current stabilizer (92), the 8th contact (958) and constant-current stabilizer (92)
Cathode connection, the 9th contact (959) connects with the first contact (951), and the tenth contact (950) is connected with the second contact (952).
5. electromagnetism joint Manipulator according to claim 4, it is characterised in that：The flexible sleeve (34) is arranged by shrimp shell shape
Sleeve form, the sleeve include bottom set (38) and point limit covers (39)；
Flexible sleeve (34) bottom covers (38) bottom of for, and the bottom set (38) is round table-like, the larger circumference of bottom set (38) outer diameter
For fixing lower plate (2), bottom set (38) interior fixed electromagnet (31), bottom covers the multiple point limits of superposition suit on (38) and covers (39) in face,
The side of bottom set (38) is connected with the point limit set (39) on the upside of it by drawstring (41)；
The point limit set (39) by including the first round platform set and the second round platform set, the first round platform set upside outer diameter from top to bottom
Less than downside outer diameter, the second round platform set upside outer diameter is more than downside outer diameter, the outer diameter and the second round platform set of the first round platform set downside
The outer diameter of upside is identical, and the first round platform set bottom and the second round platform set top are fixed, and point limit set (39) is equipped with axially extending bore, described
Point limit set (39) bottom offers the first round platform hole, and the axially extending bore that first round platform hole limits set (39) with point connects, the
Internal diameter on the upside of one round platform hole is identical with the internal diameter for the axially extending bore that point limits set (39), the first circle in point limit set (39) axial cross section
The side lines in platform hole are parallel with the side lines that the first round platform covers；
It is set with multiple point limit sets (39), the first circle of downside point limit set (39) on the point limit set (39) successively in the axial direction
The side of platform set is connected between the lower edge of the second round platform set of set (39) is limited with upside point by drawstring (41), the drawstring (41)
It is circumferentially uniformly distributed along the axis of point limit set (39) multiple；
When two point limit sets (39) mutually stretch round about, the point limit set (39) of upside and the point limit set (39) of downside are logical
Cross drawstring connection；
When two points limit set (39) mutually drawstring and during by radial load round about, point limit set (39) bottom first of upside is justified
A little mutually support a little covered with the point of downside limit in (39) or bottom set (38) upper side in the lower edge of platform hole, it is described mutual
The circumferential opposite side of any of support passes through drawstring (41) /V.
6. electromagnetism joint Manipulator according to claim 4, it is characterised in that：The flexible sleeve (34) is arranged by shrimp shell shape
Sleeve form, the sleeve include bottom set (38) knead dough limit set (391)；
Flexible sleeve (34) bottom covers (38) bottom of for, and the bottom set (38) is round table-like, the larger circumference of bottom set (38) outer diameter
For fixing lower plate (2), bottom set (38) interior fixed electromagnet (31), bottom covers superposition on (38) and is set with multiple face limit sets (391) in face,
The side of bottom set (38) is connected with the face limit set (391) on the upside of it by drawstring (41)；
The face limit set (391) is round table-like sleeve, and outer diameter is less than downside outer diameter, face limit set on the upside of the face limit set (391)
(391) axially extending bore is equipped with, described face limit set (391) bottom offers the 3rd round platform hole, and the 3rd round platform hole is covered with face limit
(391) axially extending bore connects, and the internal diameter on the upside of the 3rd round platform hole is identical with the internal diameter for the axially extending bore that face limits set (391),
There is angle between the side lines of the first round platform hole and the side lines of the first round platform set in limit set (391) axial cross section of face, institute
It is ∠ a to state angle；
It is set with multiple face limit sets (391) on the face limit set (391) successively in the axial direction, the face limit set (391) of downside
The lower edge of 3rd round platform hole of the face of frustum cone side and upside limit set (391) is connected by drawstring (41), drawstring (41) edge
The axis of face limit set (391) is circumferentially uniformly distributed multiple；
When two face limit sets (391) mutually stretch round about, the face limit set (391) of upside is covered with the face limit of downside
(391) connected by drawstring；
When two faces limit set (391) mutually drawstring and during by radial load round about, face limit set (391) bottom first of upside
A little mutually support a little covered with the face of downside limit set (391) or bottom in (38) upper side in round platform hole lower edge, it is described
The circumferential opposite side of any mutually supported passes through drawstring (41) /V.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610475518.XA CN106003115B (en) | 2015-03-02 | 2015-03-02 | Electromagnetism joint Manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510092211.7A CN104669259B (en) | 2015-03-02 | 2015-03-02 | Electromagnetic joint mechanical hand and patient feeding and control method thereof |
| CN201610475518.XA CN106003115B (en) | 2015-03-02 | 2015-03-02 | Electromagnetism joint Manipulator |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510092211.7A Division CN104669259B (en) | 2015-03-02 | 2015-03-02 | Electromagnetic joint mechanical hand and patient feeding and control method thereof |
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| CN106003115B true CN106003115B (en) | 2018-05-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610475516.0A Active CN106003114B (en) | 2015-03-02 | 2015-03-02 | A kind of control method of 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 |
| CN201610476390.9A Withdrawn CN105856224A (en) | 2015-03-02 | 2015-03-02 | Method for feeding patient by using electromagnetic joint manipulator |
| CN201610475499.0A Withdrawn CN105856215A (en) | 2015-03-02 | 2015-03-02 | Control method of electromagnetic joint manipulator |
| CN201510092211.7A Active CN104669259B (en) | 2015-03-02 | 2015-03-02 | Electromagnetic joint mechanical hand and patient feeding and control method thereof |
| CN201610476398.5A Active CN106003116B (en) | 2015-03-02 | 2015-03-02 | The control method of electromagnetism joint Manipulator |
| CN201610476399.XA Active CN106041990B (en) | 2015-03-02 | 2015-03-02 | Electromagnetism joint Manipulator |
| CN201610475100.9A Withdrawn CN105881531A (en) | 2015-03-02 | 2015-03-02 | Patient feeding method of electromagnetic joint mechanical hand |
| 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 |
| CN201610476400.9A Active CN106003012B (en) | 2015-03-02 | 2015-03-02 | Feeding patient's 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 |
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| CN201610475516.0A Active CN106003114B (en) | 2015-03-02 | 2015-03-02 | A kind of control method of 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 |
| CN201610476390.9A Withdrawn CN105856224A (en) | 2015-03-02 | 2015-03-02 | Method for feeding patient by using electromagnetic joint manipulator |
| CN201610475499.0A Withdrawn CN105856215A (en) | 2015-03-02 | 2015-03-02 | Control method of electromagnetic joint manipulator |
| CN201510092211.7A Active CN104669259B (en) | 2015-03-02 | 2015-03-02 | Electromagnetic joint mechanical hand and patient feeding and control method thereof |
| CN201610476398.5A Active CN106003116B (en) | 2015-03-02 | 2015-03-02 | The control method of electromagnetism joint Manipulator |
| CN201610476399.XA Active CN106041990B (en) | 2015-03-02 | 2015-03-02 | 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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| CN201610475502.9A Pending CN106142077A (en) | 2015-03-02 | 2015-03-02 | A kind of feeding patient's method of electromagnetism joint Manipulator |
| CN201610476400.9A Active CN106003012B (en) | 2015-03-02 | 2015-03-02 | Feeding patient's 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 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105108764B (en) * | 2015-09-14 | 2017-03-29 | 南京工程学院 | Intelligent robot mechanical hand and its control system |
| 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2100842U (en) * | 1991-05-03 | 1992-04-08 | 姚全鑫 | Household rice barrel |
| CA2100842C (en) * | 1993-07-19 | 1998-11-24 | James E. Poil | Magnetic motion producing device |
| CN1147383C (en) * | 1999-12-30 | 2004-04-28 | 上海交通大学 | Miniature multi-articulation electromagnetic creeping motion robot system |
| CN101480793B (en) * | 2009-01-21 | 2010-10-20 | 河北理工大学 | Robot for search and rescue |
| CN103170985B (en) * | 2013-02-27 | 2015-01-07 | 北京航空航天大学 | Three-degree of freedom joint driven by electromagnetic force applied to snake-shaped robot |
| CN103433935B (en) * | 2013-09-16 | 2016-02-24 | 胡明建 | The method for designing that magnetic keeps parallel stepping plane of oscillation is driven in a kind of |
| CN103465271B (en) * | 2013-09-23 | 2015-11-11 | 胡明建 | A kind of magnetic keeps the method for designing in parallel stepping rotary oscillation joint |
| CN103475288B (en) * | 2013-09-24 | 2016-01-06 | 胡明建 | A kind of magnetic keeps the method for designing of parallel stepping rotary oscillation telescopic joint |
| CN103490687B (en) * | 2013-09-24 | 2016-01-20 | 胡明建 | A kind of magnetic keeps the method for designing in parallel stepping swinging, telescopic joint |
| CN204585214U (en) * | 2015-03-02 | 2015-08-26 | 王淑英 | Electromagnetism joint manipulator |
| CN104586329A (en) * | 2015-03-02 | 2015-05-06 | 李秀荣 | Electromagnetic flexible besom and application and control method thereof |
-
2015
- 2015-03-02 CN CN201610475516.0A patent/CN106003114B/en active Active
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- 2015-03-02 CN CN201610475499.0A patent/CN105856215A/en not_active Withdrawn
- 2015-03-02 CN CN201510092211.7A patent/CN104669259B/en active Active
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Also Published As
| Publication number | Publication date |
|---|---|
| CN106003012B (en) | 2017-12-08 |
| CN106041914A (en) | 2016-10-26 |
| CN106003116A (en) | 2016-10-12 |
| CN106142077A (en) | 2016-11-23 |
| CN105856215A (en) | 2016-08-17 |
| CN104669259B (en) | 2017-02-08 |
| CN106041990A (en) | 2016-10-26 |
| CN105881531A (en) | 2016-08-24 |
| CN106142078B (en) | 2018-11-02 |
| CN106003012A (en) | 2016-10-12 |
| CN106003114B (en) | 2018-03-23 |
| CN106003116B (en) | 2018-04-06 |
| CN106041990B (en) | 2017-12-12 |
| CN106041914B (en) | 2017-12-08 |
| CN106003115A (en) | 2016-10-12 |
| CN106003114A (en) | 2016-10-12 |
| CN105856224A (en) | 2016-08-17 |
| CN104669259A (en) | 2015-06-03 |
| CN106142078A (en) | 2016-11-23 |
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