CN106003116B - The control method of electromagnetism joint Manipulator - Google Patents
The control method of electromagnetism joint Manipulator Download PDFInfo
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- CN106003116B CN106003116B CN201610476398.5A CN201610476398A CN106003116B CN 106003116 B CN106003116 B CN 106003116B CN 201610476398 A CN201610476398 A CN 201610476398A CN 106003116 B CN106003116 B CN 106003116B
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- 239000000463 material Substances 0.000 claims description 6
- 229910000990 Ni alloy Inorganic materials 0.000 claims description 5
- 229920000459 Nitrile rubber Polymers 0.000 claims description 4
- 238000010276 construction Methods 0.000 abstract description 2
- 230000005611 electricity Effects 0.000 description 6
- 238000005452 bending Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- PEDCQBHIVMGVHV-UHFFFAOYSA-N Glycerine Chemical compound OCC(O)CO PEDCQBHIVMGVHV-UHFFFAOYSA-N 0.000 description 1
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- 238000003384 imaging method Methods 0.000 description 1
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- 230000002452 interceptive effect Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 208000020442 loss of weight Diseases 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 210000000323 shoulder joint Anatomy 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 210000004003 subcutaneous fat Anatomy 0.000 description 1
- 230000009747 swallowing Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0246—Gripping heads and other end effectors servo-actuated actuated by an electromagnet
-
- 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
- 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
- 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
- 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
-
- 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)
- Evolutionary Computation (AREA)
- Artificial Intelligence (AREA)
- Physics & Mathematics (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Nursing (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 be used for capture dixie cup, feeding patient manipulator.Its purpose is to provide it is a kind of it is simple in construction, cost is low, the electromagnetism joint Manipulator of minor variations easy to operate, adaptable, being finely adjusted, adapt to and compensate patient's posture according to the size for being grabbed thing.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 chamber is sequentially provided with electromagnet (31), permanent magnet (32) and push rod (35) from bottom to top, the electromagnet (31) is fixed on flexible sleeve (34) bottom, the permanent magnet (32) is using flexible sleeve (34) inner chamber as guide rail, fix with push rod (35) bottom at the top of permanent magnet (32), be connected at the top of push rod (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 it is a kind of be used to capturing dixie cup, feeding patient manipulator
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 produce 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 grabs egg, grabs dixie cup or even captures disposable foamed plastic cutlery box and feeds the fine and smooth work such as epidemic victim.Tradition is soft
Property arm use parallel between three groups of gear-rack drives, two planks mostly or make it have angle, then carried out tandem group
Close, so as to complete the structure of a flexible arm.
However, rack-and-pinion mode drive it is excessively inflexible.When grabbing thing, just grasp can not meet to pick up east true man
The requirement in west, the subcutaneous fat of true man can also be directed to and be grabbed thing and hold the fine setting of shape.So during dixie cup is picked up only
Fixed grip position can be designed according to the solid 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, the posture that patient has a meal is not fixed, when
Trickle change can often occur, if the manipulator of feeding can not adapt to the minor variations of posture in patient's mouth, 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 construction, cost is low, it is easy to operate, adaptable,
Can be finely adjusted, adapted to according to the size for being grabbed thing the minor variations of patient's posture electromagnetism joint Manipulator and its crawl,
Feeding, control method.
The control method of the contactor charging control device of electromagnetism joint Manipulator of the present invention：
Including mechanical palms, mechanical finger, mechanical arm and electromagnetic flexible joint, one end and the frame of the arm are consolidated
Fixed, the other end of arm is connected by electromagnetic flexible joint with palm, and palm is connected by electromagnetic flexible joint with finger, finger
Each joint be 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 circumference, 120 °, 240 ° of positions；
The telescopic mast includes electromagnet, permanent magnet, spacing ring, flexible sleeve and push rod, the flexible sleeve bottom and lower plate
Fixed, flexible tube inner chamber is sequentially provided with electromagnet, permanent magnet and push rod from bottom to top, and the electromagnet is fixed on flexible sleeve bottom
Portion, the permanent magnet are fixed with push rod bottom at the top of permanent magnet using flexible tube inner chamber as guide rail, are connected at the top of push rod with upper plate；
Push rod is made up of nitrile rubber；
Spacing ring is multiple along flexible sleeve axial array from the middle part of flexible tube inner chamber to top, spacing ring thickness and spacing ring
Between interval it is equal；
For the flexible 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 external diameter of magnet is less than the lower internal diameter of flexible tube inner chamber, and the external diameter of permanent magnet is more than the internal diameter in the middle part of flexible tube inner chamber；
It is connected at the top of the push rod with upper plate by spring；
The push rod is flexible link, and spacing ring, the spacing ring internal diameter and push rod external diameter phase are provided with the middle part of flexible tube inner chamber
Together, spacing ring is used for spacing permanent magnet and push rod is play the guiding role；
Bamboo-shaped is embedded in multiple ring shielding magnetisms in the flexible sleeve, the ring shielding magnetism by 80% nickel alloy Mumetal
Material is made, and the thickness of ring shielding magnetism is 0.0508 millimeter, and the axis of ring shielding magnetism overlaps with the axis of flexible sleeve, each magnetic cup
Covering between ring has interval, 1/5 of interval less than ring shielding magnetism height between ring shielding magnetism, the upper port of ring shielding magnetism 37 and under
Port is equipped with some circle lead loop,
Also include contactor charging control device, generator and constant-current stabilizer, the contactor charging control
Device touches including the first contact, the second contact, the 3rd contact, the 4th contact, the 5th contact, the 6th contact, the 7th contact, the 8th
The battery that point, the 9th contact, the tenth contact and the first battery, the second battery collectively constitute, the constant-current stabilizer are used for
Battery voltage fluctuated is received, and is translated into burning voltage, so as to supply the controller in electromagnetic flexible joint
Burning voltage, the controller in electromagnetic flexible joint are powered according to control signal to the electromagnet on each telescopic mast, ring shielding magnetism
The lead loop of its upper and lower end is and parallel operation of generator；
First contact is connected with the positive pole of the first battery, and the second contact is connected with the negative pole of the first battery, the
The positive pole of three contacts and generator connects, and the negative pole of the 4th contact and generator connects, and the 5th contact and the second battery are just
Pole connects, and the 6th contact be connected with the negative pole of the second battery, and the positive pole of the 7th contact and constant-current stabilizer connects, the 8th contact and
The negative pole connection of constant-current stabilizer, the 9th contact and the first contact series, the tenth contact and the second contact series.
The sleeve that the flexible sleeve is arranged by shrimp shell shape is formed, and the sleeve includes bottom and covers and put limit set；
The flexible sleeve bottom is bottom set, and the bottom set is round table-like, and set external diameter larger periphery in bottom is used under fixing
Plate, bottom set in fixed electromagnet, bottom put superposition suit it is multiple point limit set, bottom set side with its on the upside of point limit set pass through drawing
Rope connection；
The point limit set by including the first round platform set and the second round platform set, the first round platform set upside external diameter from top to bottom
Less than downside external diameter, the second round platform set upside external diameter is more than downside external diameter, the external diameter and the second round platform set of the first round platform set downside
The external diameter of 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, the point limit
Set bottom offers the first round platform hole, and first round platform hole and the axially extending bore of point limit set connect, on the upside of the first round platform hole
Internal diameter with point limit set axially extending bore internal diameter it is identical, point limit set axial cross section in the first round platform hole side lines and first
The side lines of round platform set are parallel；
The point limit is put is set with multiple point limit sets, the side of the first round platform set of downside point limit set successively in the axial direction
Connected between the lower edge of the second round platform set of face and upside point limit set by drawstring, axis of the drawstring along point limit set is circumferentially equal
Even distribution is multiple；
When two point limit sets mutually stretch round about, the point limit set of upside is connected with the point limit set of downside by drawstring
Connect；
When two points limit set mutually drawstring and during by radial load round about, the point limit set round platform hole of bottom first of upside
A little mutually support a little covered with the point limit set of downside or bottom in upper side in lower edge, a bit described mutually supported
Circumferential opposite side is spacing by drawstring；
It comprises the following steps：
A, the first contact and the 3rd contact, the second contact and the 4th contact, the 5th contact and the 7th contact are made
Contact, when the 6th contact is with eight contacts, generator is charged to the first battery, and the second battery is supplied constant-current stabilizer
Electricity；
B, the 3rd contact and the 5th contact, the 4th contact and the 6th contact, the 7th contact and the 9th contact are made
Contact, when the 8th contact is with ten contacts, generator is charged to the second battery, and the first battery is supplied constant-current stabilizer
Electricity；
C, A~B is repeated.
Electromagnetism joint Manipulator of the present invention, wherein being connected at the top of the push rod with upper plate by spring.
Electromagnetism joint Manipulator of the present invention, wherein the push rod is flexible link, spacing ring is provided with the middle part of flexible tube inner chamber.Institute
It is identical with push rod external diameter to state spacing ring internal diameter, spacing ring is used for spacing permanent magnet and push rod is play the guiding role.
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 up 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, it is equipped with some circle lead loop, in addition to the control of contactor charging in the upper port and lower port of ring shielding magnetism 37
Device, generator and constant-current stabilizer, the contactor charging control device touch 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 battery that pond, the second battery collectively constitute, the constant-current stabilizer are used to receive battery 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
The electromagnet on each telescopic mast is powered according to control signal, the lead loop of its upper and lower end of ring shielding magnetism with generator simultaneously
Connection；First contact is connected with the positive pole of the first battery, and the second contact is connected with the negative pole of the first battery, the 3rd contact
It is connected with the positive pole of generator, the negative pole connection of the 4th contact and generator, the 5th contact is connected with the positive pole of the second battery,
6th contact is connected with the negative pole of the second battery, and the positive pole connection of the 7th contact and constant-current stabilizer, the 8th contact fills with current stabilization
The negative pole 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 sleeve that the flexible sleeve is arranged by shrimp shell shape is formed.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 external diameter larger periphery in bottom is used for
Fixed lower plate, fixed electromagnet in the set of bottom, bottom put the multiple point limit sets of superposition suit, and the side of bottom set covers with the point limit on the upside of it
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
Side external diameter is less than downside external diameter, and the second round platform set upside external diameter is more than downside external diameter, the external diameter and second of the first round platform set downside
The external 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
State a limit set bottom and offer 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 is set with multiple point limit sets, downside point successively in the axial direction
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
Circumferentially it is 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 is spacing by drawstring.
Electromagnetism joint Manipulator of the present invention, wherein the sleeve that the flexible sleeve is arranged by shrimp shell shape is formed.The sleeve bag
Include bottom set and face limit set.The flexible sleeve bottom covers the bottom of for.The bottom set is round table-like, and set external diameter larger periphery in bottom is used for
Fixed lower plate, fixed electromagnet in the set of bottom, bottom put superposition and are set with multiple faces limit sets, and the side of bottom set covers with the face limit on the upside of it
Connected by drawstring.The face limit set is round table-like sleeve.Face limit set upside external diameter is less than downside external 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 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.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
Connect.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 circumference of a bit described mutually supported
Opposite side is spacing by drawstring.
The grasping means of electromagnetism joint Manipulator of the present invention, comprises 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 reference man's palmistry is the same as the amplitude in opening position joint, adjustment electromagnetic flexible joint
Number.
C, mechanical palms, mechanical finger, mechanical arm are connected with emulation joint.
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 and arrive 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 personnel are infected, and contain spoon in patient and shut up down
When swallowing, the action of bowing when electromagnetic flexible joint can also swallow for patient moves 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 circumferences
Cloth, then it can change upper plate and the angle of lower plate when telescopic mast stretches, so that electromagnetic flexible joint any angle is bent.Its
Middle telescopic mast is flexible using electromagnet and permanent magnet control, then is transported using magnet above and below the repulsive force driving push rod of homopolarity
It is dynamic, realize the flexible of expansion link.And the flexible sleeve of round table-like inner chamber it is maximum can to limit it when permanent magnet rises as guide rail
Displacement.
In electromagnetism joint Manipulator of the present invention if push rod be rigid posts if using spring eliminate push rod at the top of with upper plate it
Between bending force.
Flexible push rod then can voluntarily eliminate the bending force between upper plate at the top of push rod in electromagnetism joint Manipulator of the present invention.
But flexible link easily mutually friction, or produce skew in flexible sleeve, then set spacing ring to carry out permanent magnet spacing, it is suitable
Just flexible push rod is play the guiding role.
If desired expansion link has enough extending forces in electromagnetism joint Manipulator of the present invention, then certainly will strengthen electromagnet
Magnetic.But three expansion links hypotelorism after all, interfere and easily cause driving chaotic, then it is same on the barrel of flexible sleeve
Between centers can reduce interfering for three expansion links 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 degree of crook of expansion link, and be electromagnetic flexible
Joint loss of weight.Interval between ring shielding magnetism is more than ring shielding magnetism height 1/5, then does not reach good Magnetic Shielding Effectiveness.Use
When, one of them of the first battery, the second battery are because of the magnetic induction line wire cutting line not shielded between ring shielding magnetism
Circle, so as to being powered to it, another electromagnet electric discharge to telescopic mast, interleaved power, electric discharge can work while charge,
Protect the life of storage battery.
It is steering spirit that limit set in electromagnetism joint Manipulator midpoint of the present invention, which contacts with each other as contact of the point with face, its advantage,
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 degree of crook 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.
Brief 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 the midsole of embodiment 1 set and point limit set are not stretched；
Fig. 5 is that the midsole of embodiment 1 set and point limit the front view covered when being stretched；
Fig. 6 is the front view of the midsole of embodiment 1 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 the midsole of embodiment 2 set and face limit set are not stretched；
Fig. 9 is that the midsole of embodiment 2 set and face limit the front view covered when being stretched；
Figure 10 is the front view of the midsole of embodiment 2 set and face limit set by radial load；
Figure 11 is the front view of contactor charging device in embodiment 1.
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 frame.Referring to Fig. 1, the other end of arm is soft by electromagnetism
Property joint 1 is connected with palm, and 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
Post 3 is connected with upper plate 4, and the axis of three telescopic masts 3 is fixed with upper plate 4,0 ° of the circumference of lower plate 2,120 °, 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 push rod 35.
The bottom of flexible sleeve 34 is fixed with lower plate 2, and the inner chamber of flexible sleeve 34 is sequentially provided with electromagnet 31, permanent magnet 32 and push rod from bottom to top
35.Electromagnet 31 is fixed on the bottom of flexible sleeve 34.Permanent magnet 32 is using the inner chamber of flexible sleeve 34 as guide rail, the top of permanent magnet 32 and push rod
35 bottoms are fixed.The top of push rod 35 is connected with upper plate 4 by spring 36.Push rod 35 is made up of nitrile rubber.The internal diameter of spacing ring 33
Identical with the external diameter of push rod 35, spacing ring 33 is used for spacing permanent magnet 32 and push rod 35 is play the guiding role.Spacing ring 33 is from soft
The middle part of the property inner chamber of cylinder 34 is multiple to top along the axial array of flexible sleeve 34, the interval between the thickness of spacing ring 33 and spacing ring 33
It is equal.
Referring to Fig. 2 and Fig. 3, the inner chamber of flexible sleeve 34 is in round table-like, and the upper internal diameter of the inner chamber of flexible sleeve 34 is less than lower internal diameter, permanent magnetism
Iron 32 is cylindric, and the external diameter of permanent magnet 32 is less than the lower internal diameter of the inner chamber of flexible sleeve 34, and the external diameter of permanent magnet 32 is more than flexible sleeve
Internal diameter in the middle part of 34 inner chambers.Flexible sleeve 34 is made up of nitrile rubber.
Referring to Fig. 3~Fig. 6, the sleeve that flexible sleeve 34 is arranged by shrimp shell shape is formed.Sleeve includes bottom set 38 and point limit set 39.
Referring to Fig. 3~Fig. 6, the bottom of flexible sleeve 34 is bottom set 38.Bottom set 38 is round table-like, and bottom covers the larger circumference of 38 external diameters
Face is used to fix 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 external diameter is less than downside external diameter, and the second round platform set upside external diameter is more than downside external diameter, external diameter on the downside of the first round platform set and the
The external 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 provided with axially 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 with 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.The edge of drawstring 41
The axis of point limit set 39 is circumferentially uniformly distributed multiple.
Referring to Fig. 2, coaxial embedded ring shielding magnetism 37 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 overlaps with the axis of flexible sleeve 34, often
There is interval between individual ring shielding magnetism 37,1/5 of interval less than the height of ring shielding magnetism 37 between ring shielding magnetism 37.In ring shielding magnetism
37 upper port and lower port is equipped with some circle lead loop, and the lead loop of its 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 battery that the battery 93 of point 950 and first, the second battery 94 collectively constitute, the constant-current stabilizer 92 are used to receive battery
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 is powered according to control signal to the electromagnet 31 on each telescopic mast 3.
First contact 951 is connected with the positive pole of the first battery 93, the second contact 952 and the first battery 93 it is negative
Pole is connected, and the 3rd contact 953 is connected with the positive pole of generator 91, and the 4th contact 954 is connected with the negative pole of generator 91, and the 5th touches
Point 955 is connected with the positive pole of the second battery 94, and the 6th contact 956 is connected with the negative pole of the second battery 94, the 7th contact 957
It is connected with the positive pole of constant-current stabilizer 92, the 8th contact 958 is connected with the negative pole of constant-current stabilizer 92, and the 9th contact 959 and first is touched
The series connection of point 951, the tenth contact 950 is connected with the second contact 952.
The control method of contactor charging device, comprises the following steps：
A, the first contact 951 is made to be contacted 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, generator 91 is to the first battery 93
Charging, the second battery 94 are powered 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 contacts with the 9th contact 959, and when the 8th contact 958 contacts with the tenth contact 950, generator 91 is to the second battery 94
Charging, the first battery 93 are powered to constant-current stabilizer 92；
C, A~B is repeated.
In use, one of them of the first battery 93, the second battery 94 be not because of being shielded between ring shielding magnetism 37
Magnetic induction line wire cutting coil, so as to being powered to it, another electromagnet 31 to telescopic mast 3 discharges, 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 is spacing by drawstring 41.
Embodiment 2
The present embodiment 2 and the difference of embodiment 1 are, as shown in Fig. 2, Fig. 7, Fig. 8, Fig. 9, Figure 10, referring to Fig. 2,
Push rod 35 is flexible link, and spacing ring 33 is provided with the middle part of the inner chamber of flexible sleeve 34.The internal diameter of spacing ring 33 is identical with the external diameter of push rod 35, spacing
Ring 33 is used for spacing permanent magnet 32 and push rod 35 is play the guiding role.
Referring to Fig. 7, the sleeve that flexible sleeve 34 is arranged by shrimp shell shape is formed.Sleeve includes bottom set 38 and face limit set 391.
Referring to Fig. 8, the bottom of flexible sleeve 34 is bottom set 38.Bottom set 38 is round table-like, and bottom covers the larger periphery of 38 external diameters and used
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 external diameters of set are less than downside external diameter, face limit
Set 391 is provided 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 lead 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 axially 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 with 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, coaxial embedded ring shielding magnetism 37 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
Overlap, there is interval between each ring shielding magnetism 37,1/5 of interval less than the height of ring shielding magnetism 37 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
In 391 bottom the first round platform hole lower edges a little and downside face limit set 391 or bottom cover 38 upper sides on a little mutually branch
Support.The circumferential opposite side of any mutually supported is spacing by drawstring 41.
A kind of grasping means of electromagnetism joint Manipulator and feeding method, comprise 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 reference man's palmistry is the same as the amplitude peak in opening position joint, adjustment electricity
The number of magnetic flexible joint 1.
C, mechanical palms, mechanical finger, mechanical arm are connected with emulation joint.
When D, recording human hand feeding patient, institute articulate motion state and run duration, and it is soft using PLC control electromagnetism
Property joint 1 form emulation joint, motion state and run duration feeding patient according to the joint of human hand.
Embodiment described above is only that the preferred embodiment of the present invention is described, not to the model of the present invention
Enclose and be defined, on the premise of design spirit of the present invention is not departed from, technical side of the those of ordinary skill in the art to the present invention
The various modifications and improvement that case is made, it all should fall into the protection domain of claims of the present invention determination.
Claims (1)
- A kind of 1. control method of the contactor charging control device of electromagnetism joint Manipulator, it is characterised in that：Including mechanical palms, mechanical finger, mechanical arm and electromagnetic flexible joint (1), one end of the mechanical arm and frame Fixed, the other end of mechanical arm is connected by electromagnetic flexible joint (1) with mechanical palms, and mechanical palms are closed by electromagnetic flexible Section (1) is connected with mechanical finger, and each joint of mechanical finger is electromagnetic 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) it is connected with upper plate (4), the axis of three telescopic masts (3) 0 °, 120 °, the 240 ° positions circumferential with upper plate (4), lower plate (2) It is fixed；The telescopic mast (3) includes electromagnet (31), permanent magnet (32), spacing ring (33), flexible sleeve (34) and push rod (35), institute It is fixed with lower plate (2) to state flexible sleeve (34) bottom, flexible sleeve (34) inner chamber is sequentially provided with electromagnet (31), permanent magnet from bottom to top (32) and push rod (35), the electromagnet (31) are fixed on flexible sleeve (34) bottom, and the permanent magnet (32) is with flexible sleeve (34) Inner chamber is guide rail, is fixed at the top of permanent magnet (32) with push rod (35) bottom, is connected at the top of push rod (35) with upper plate (4)；Push rod (35) is made up of nitrile rubber；Spacing ring (33) is multiple along flexible sleeve (34) axial array from the middle part of flexible sleeve (34) inner chamber to top, spacing ring (33) Interval between thickness and spacing ring (33) is equal；Flexible sleeve (34) inner chamber is in round table-like, and the upper internal diameter of flexible sleeve (34) inner chamber is less than lower internal diameter, and permanent magnet (32) is Cylindric, the external diameter of permanent magnet (32) is less than the lower internal diameter of flexible sleeve (34) inner chamber, and the external diameter of permanent magnet (32) is more than flexible sleeve (34) internal diameter in the middle part of inner chamber；It is connected at the top of the push rod (35) with upper plate (4) by spring (36)；The push rod (35) is flexible link, and spacing ring (33), spacing ring (33) internal diameter are provided with the middle part of flexible sleeve (34) inner chamber Identical with push rod (35) external diameter, spacing ring (33) is used for spacing permanent magnet (32) and push rod (35) is play the guiding role；The interior Bamboo-shaped of the flexible sleeve (34) is embedded in multiple ring shielding magnetisms (37), the ring shielding magnetism (37) by 80% nickel alloy Mumetal materials are made, and the thickness of ring shielding magnetism (37) is 0.0508 millimeter, axis and the flexible sleeve (34) of ring shielding magnetism (37) Axis overlap, have interval between each ring shielding magnetism (37), the interval between ring shielding magnetism (37) is less than ring shielding magnetism (37) The 1/5 of height, the upper port and lower port of ring shielding magnetism (37) are equipped with some circle lead loop,Electromagnetism joint Manipulator also includes circuit control part, and the circuit control part includes contactor charging control dress Put, 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 battery (93), the second battery (94) battery collectively constituted, the constant-current stabilizer (92) is used to receive battery voltage fluctuated, and is converted 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 positive pole of the first battery (93), the second contact (952) and the first battery (93) Negative pole connection, the 3rd contact (953) be connected with the positive pole of generator (91), and the 4th contact (954) and generator (91) are born Pole is connected, and the 5th contact (955) is connected with the positive pole of the second battery (94), the 6th contact (956) and the second battery (94) Negative pole connection, the 7th contact (957) is connected with the positive pole of constant-current stabilizer (92), the 8th contact (958) and constant-current stabilizer (92) Negative pole connection, the 9th contact (959) connected with the first contact (951), and the tenth contact (950) is connected with the second contact (952)；The sleeve that the flexible sleeve (34) is arranged by shrimp shell shape is formed, and the sleeve includes bottom set (38) and point limit set (39)；Flexible sleeve (34) bottom is that bottom covers (38), and the bottom set (38) is round table-like, the larger circumference of bottom set (38) external diameter Face is used to fix lower plate (2), bottom set (38) interior fixed electromagnet (31), and bottom covers the multiple point limits of superposition suit on (38) and covers (39), 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 external diameter from top to bottom Less than downside external diameter, the second round platform set upside external diameter is more than downside external diameter, the external diameter and the second round platform set of the first round platform set downside The external 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 provided 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) Circumferentially it is 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 limit of downside 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 is spacing by drawstring (41)；It comprises the following steps：A, the first contact (951) is made to be contacted with the 3rd contact (953), the second contact (952) contact with the 4th contact (954), the Five contacts (955) contact with the 7th contact (957), when the 6th contact (956) contacts with the 8th contact (958), generator (91) First battery (93) is charged, the second battery (94) is powered 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 Seven contacts (957) contact with the 9th contact (959), when the 8th contact (958) contacts with the tenth contact (950), generator (91) Second battery (94) is charged, the first battery (93) is powered to constant-current stabilizer (92)；C, A~B is repeated.
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| CN201610476398.5A CN106003116B (en) | 2015-03-02 | 2015-03-02 | The control method of electromagnetism joint Manipulator |
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| CN201510092211.7A CN104669259B (en) | 2015-03-02 | 2015-03-02 | Electromagnetic joint mechanical hand and patient feeding and control method thereof |
| CN201610476398.5A CN106003116B (en) | 2015-03-02 | 2015-03-02 | The control method of electromagnetism joint Manipulator |
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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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| CN201510092211.7A Active CN104669259B (en) | 2015-03-02 | 2015-03-02 | Electromagnetic joint mechanical hand and patient feeding and control method thereof |
| CN201610475499.0A Withdrawn CN105856215A (en) | 2015-03-02 | 2015-03-02 | Control method of electromagnetic joint manipulator |
| CN201610476398.5A Active CN106003116B (en) | 2015-03-02 | 2015-03-02 | The control method of electromagnetism joint Manipulator |
| CN201610475516.0A Active CN106003114B (en) | 2015-03-02 | 2015-03-02 | A kind of control 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 |
| CN201610475502.9A Pending CN106142077A (en) | 2015-03-02 | 2015-03-02 | A kind of feeding patient's method of electromagnetism joint Manipulator |
| CN201610475518.XA Active CN106003115B (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 |
| CN201610475504.8A Expired - Fee Related CN106142078B (en) | 2015-03-02 | 2015-03-02 | A kind of feeding patient's method of electromagnetism joint Manipulator |
| CN201610476399.XA Active CN106041990B (en) | 2015-03-02 | 2015-03-02 | Electromagnetism joint Manipulator |
| CN201610476397.0A Active CN106041914B (en) | 2015-03-02 | 2015-03-02 | A kind of feeding patient's method of electromagnetism joint Manipulator |
| CN201610476400.9A Active CN106003012B (en) | 2015-03-02 | 2015-03-02 | Feeding patient's method of electromagnetism joint Manipulator |
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| CN201610475499.0A Withdrawn CN105856215A (en) | 2015-03-02 | 2015-03-02 | Control method of electromagnetic 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 |
| CN201610476390.9A Withdrawn CN105856224A (en) | 2015-03-02 | 2015-03-02 | Method for feeding patient by using electromagnetic joint manipulator |
| CN201610475502.9A Pending CN106142077A (en) | 2015-03-02 | 2015-03-02 | A kind of feeding patient's method of electromagnetism joint Manipulator |
| CN201610475518.XA Active CN106003115B (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 |
| CN201610475504.8A Expired - Fee Related CN106142078B (en) | 2015-03-02 | 2015-03-02 | A kind of feeding patient's method of electromagnetism joint Manipulator |
| CN201610476399.XA Active CN106041990B (en) | 2015-03-02 | 2015-03-02 | Electromagnetism joint Manipulator |
| CN201610476397.0A Active CN106041914B (en) | 2015-03-02 | 2015-03-02 | A kind of feeding patient's method of electromagnetism joint Manipulator |
| CN201610476400.9A Active CN106003012B (en) | 2015-03-02 | 2015-03-02 | Feeding patient's method of electromagnetism joint Manipulator |
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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 |
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2015
- 2015-03-02 CN CN201510092211.7A patent/CN104669259B/en active Active
- 2015-03-02 CN CN201610475499.0A patent/CN105856215A/en not_active Withdrawn
- 2015-03-02 CN CN201610476398.5A patent/CN106003116B/en active Active
- 2015-03-02 CN CN201610475516.0A patent/CN106003114B/en active Active
- 2015-03-02 CN CN201610476390.9A patent/CN105856224A/en not_active Withdrawn
- 2015-03-02 CN CN201610475502.9A patent/CN106142077A/en active Pending
- 2015-03-02 CN CN201610475518.XA patent/CN106003115B/en active Active
- 2015-03-02 CN CN201610475100.9A patent/CN105881531A/en not_active Withdrawn
- 2015-03-02 CN CN201610475504.8A patent/CN106142078B/en not_active Expired - Fee Related
- 2015-03-02 CN CN201610476399.XA patent/CN106041990B/en active Active
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Also Published As
| Publication number | Publication date |
|---|---|
| CN105856224A (en) | 2016-08-17 |
| CN106142078B (en) | 2018-11-02 |
| CN106142077A (en) | 2016-11-23 |
| CN106003116A (en) | 2016-10-12 |
| CN106003012B (en) | 2017-12-08 |
| CN106041914A (en) | 2016-10-26 |
| CN104669259B (en) | 2017-02-08 |
| CN105881531A (en) | 2016-08-24 |
| CN106041990B (en) | 2017-12-12 |
| CN106003012A (en) | 2016-10-12 |
| CN106041914B (en) | 2017-12-08 |
| CN106003114B (en) | 2018-03-23 |
| CN104669259A (en) | 2015-06-03 |
| CN106041990A (en) | 2016-10-26 |
| CN106003115A (en) | 2016-10-12 |
| CN106142078A (en) | 2016-11-23 |
| CN106003115B (en) | 2018-05-22 |
| CN105856215A (en) | 2016-08-17 |
| CN106003114A (en) | 2016-10-12 |
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Denomination of invention: Control method of electromagnetic joint manipulator Effective date of registration: 20220901 Granted publication date: 20180406 Pledgee: Industrial and Commercial Bank of China Limited Weihai Economic Branch Pledgor: WEIHAI GERNUMAN AUTOMATION CO.,LTD. Registration number: Y2022980014238 |