CN106142078A - A kind of feeding patient's method of electromagnetism joint Manipulator - Google Patents
A kind of feeding patient's method of electromagnetism joint Manipulator Download PDFInfo
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- CN106142078A CN106142078A CN201610475504.8A CN201610475504A CN106142078A CN 106142078 A CN106142078 A CN 106142078A CN 201610475504 A CN201610475504 A CN 201610475504A CN 106142078 A CN106142078 A CN 106142078A
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- contact
- joint
- flexible sleeve
- limit set
- flexible
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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
- 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
- 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)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (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
Feeding patient's method of the present invention a kind of electromagnetism joint Manipulator relates to a kind of flexible manipulator, particularly relates to a kind of for capturing dixie cup, the mechanical hand of feeding patient.Its purpose is to provide a kind of simple in construction, low cost, easy and simple to handle, adaptable, can be according to the electromagnetism joint Manipulator of the minor variations being finely adjusted, adapt to and compensating patient's attitude by the size grabbing thing.Electromagnetism joint Manipulator of the present invention includes electromagnetic flexible joint (1), described flexible sleeve (34) bottom is fixed with lower plate (2), flexible sleeve (34) inner chamber is sequentially provided with electric magnet (31), permanent magnet (32) and push rod (35) from bottom to top, described electric magnet (31) is fixed on flexible sleeve (34) bottom, described permanent magnet (32) with flexible sleeve (34) inner chamber as guide rail, permanent magnet (32) top is fixing with push rod (35) bottom, and push rod (35) top is connected 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
Months 2 days, denomination of invention was electromagnetism joint Manipulator and feeding patient thereof and control method.
Technical field
The present invention relates to a kind of flexible manipulator, particularly relate to a kind of for capturing dixie cup, the mechanical hand of feeding patient
And crawl, feeding, control method.
Background technology
Replacing progressively replacing during people at automated machine, automated machine is strong with its adaptive capacity to environment, do not know
The plurality of advantages such as tired, use cost is low, become the mark of future technology.But, complicated mechanical mechanism easily produces all
Multiple faults, heavy big machinery cannot the typically fine and smooth operation of complete imaging human.
During automated machine replaces people, the most all creating the flexible arm joint that similar true man are the same, coming
Complete such as to grab egg, grab dixie cup and even capture disposable foamed plastic cutlery box and feed the fine and smooth work such as epidemic victim.Tradition is soft
Property arm mostly uses parallel between two planks of three groups of gear-rack drives or makes it have angle, then is carried out tandem group
Close, thus complete the structure of a flexible arm.
But, it is the most inflexible that rack-and-pinion mode drives.True man when grabbing thing the most just grasp can meet and pick up east
The requirement in west, true man subcutaneous fat also can be for being grabbed thing and carry out holding the fine setting of shape.So during picking up dixie cup only
Fixing appearance of holding can be designed according to the solid shape of dixie cup and pick up dixie cup, fix required precision before and after holding appearance high.Gear
The flexible arm of rack mode is held appearance for dixie cup and be cannot be carried out fine setting.During feeding patient, the attitude that patient has a meal is not fixed, time
Trickle change often can occur, if the mechanical hand of feeding cannot adapt to the minor variations of attitude in patient's mouth, it is likely that injure
Patient, even harm patient are sick.
Summary of the invention
The technical problem to be solved in the present invention be to provide a kind of simple in construction, low cost, easy and simple to handle, adaptable,
Can according to be finely adjusted by the size grabbing thing, adapt to the electromagnetism joint Manipulator of minor variations of patient's attitude and crawl thereof,
Feeding, control method.
Feeding patient's method of electromagnetism joint Manipulator of the present invention, including machinery palm, mechanical finger, mechanical arm and electricity
Magnetic flexible joint, one end of described arm fixes with frame, and the other end of arm is connected with palm by electromagnetic flexible joint, hands
The palm is connected with finger by electromagnetic flexible joint, and each joint of finger is electromagnetic flexible joint；
Described electromagnetic flexible joint includes lower plate, telescopic mast and upper plate, and lower plate is connected with upper plate by three telescopic masts, three
The axis of root telescopic mast all with upper plate, 0 ° of lower plate circumference, 120 °, 240 ° of positions fix；
Described telescopic mast includes electric magnet, permanent magnet, spacing ring, flexible sleeve and push rod, bottom described flexible sleeve and lower plate
Fixing, flexible sleeve inner chamber is sequentially provided with electric magnet, permanent magnet and push rod from bottom to top, and described electric magnet is fixed at the bottom of flexible sleeve
Portion, described permanent magnet is with flexible sleeve inner chamber as guide rail, and fixing bottom permanent magnet top and push rod, push rod top is connected with upper plate；
Push rod is that nitrile rubber is made；
Spacing ring is multiple along flexible sleeve axial array to top from the middle part of flexible sleeve inner chamber, spacing ring thickness and spacing ring
Between interval equal；
Described flexible sleeve inner chamber is round table-like, and the upper internal diameter of flexible sleeve inner chamber is less than lower internal diameter, and permanent magnet is cylindric, forever
The external diameter of Magnet is less than the lower internal diameter of flexible sleeve inner chamber, and the external diameter of permanent magnet is more than the internal diameter in the middle part of flexible sleeve inner chamber；
Described push rod top is connected by spring with upper plate；
Described push rod is rods, is provided with spacing ring, described spacing ring internal diameter and push rod external diameter phase in the middle part of flexible sleeve inner chamber
With, push rod for spacing permanent magnet and is play the guiding role by spacing ring；
In described flexible sleeve Bamboo-shaped embed multiple ring shielding magnetisms, described ring shielding magnetism by 80% nickel alloy Mumetal
Material is made, and the thickness of ring shielding magnetism is 0.0508 millimeter, the axis of ring shielding magnetism and the dead in line of flexible sleeve, each magnetic cup
Cover and between ring, have interval, between ring shielding magnetism interval less than ring shielding magnetism height 1/5, the upper port of ring shielding magnetism 37 and under
Port is equipped with some circle lead loop,
Also including that catalyst charging controls device, electromotor and constant-current stabilizer, described catalyst charging controls
Device include the first contact, the second contact, the 3rd contact, the 4th contact, the 5th contact, the 6th contact, the 7th contact, the 8th touch
The accumulator that point, the 9th contact, the tenth contact and the first accumulator, the second accumulator collectively constitute, described constant-current stabilizer is used for
Receive the voltage that accumulator is fluctuated, and be translated into burning voltage, thus the controller supply to electromagnetic flexible joint
Burning voltage, the electric magnet on each telescopic mast powered by the controller in electromagnetic flexible joint according to control signal, ring shielding magnetism
The lead loop of its upper and lower end is all and parallel operation of generator；
Described first contact is connected with the positive pole of the first accumulator, and the second contact is connected with the negative pole of the first accumulator, the
Three contacts are connected with the positive pole of electromotor, and the 4th contact is connected with the negative pole of electromotor, and the 5th contact is with the second accumulator just
Pole connect, the 6th contact is connected with the negative pole of the second accumulator, and the 7th contact is connected with the positive pole of constant-current stabilizer, the 8th contact and
The negative pole of constant-current stabilizer connects, the 9th contact and the first contact series, the tenth contact and the second contact series；
The sleeve that described flexible sleeve is arranged by Crusta Penaeus seu Panulirus shape is constituted, and described sleeve includes end set dough-making powder limit set；
Overlapping the end of for bottom described flexible sleeve, set is for round table-like at the described end, and the bigger periphery of external diameter is overlapped under fixing in the end
Plate, the end set in fixed electromagnet, the end put superposition be set with multiple limit set, the end set side with its on the upside of face limit overlap by drawing
Rope connects；
Described limit set is round table-like sleeve, and on the upside of described limit set, external diameter is arranged with axially less than downside external diameter, face limit
Through hole, offers the 3rd round platform hole bottom described limit set, described 3rd round platform hole connects with the axially extending bore of face limit set, the
Internal diameter on the upside of three round platform holes is identical with the internal diameter of the axially extending bore of face limit set, the side in the first round platform hole in the limit set axial cross section of face
Having angle, described angle between the side lines of upper thread bar and the first round platform set is ∠ a；
Described limit puts and is set with multiple limit sets the most successively, and the frustum cone side of the face limit set of downside is with upper
The lower edge in the 3rd round platform hole of the face limit set of side is connected by stay cord, and described stay cord is uniformly distributed many along the axis circumference of face limit set
Individual；
When two face limit sets mutually stretch round about, the face limit set of upside is with the face limit set of downside by stay cord even
Connect；
During when two faces limit set stay cords the most round about and by radial force, the first round platform hole bottom the face limit set of upside
Lower limit the most mutually supporting in set or end set upper side along upper some face with downside, any of described mutual support
Circumference opposite side is spacing by stay cord；
Flexible sleeve is that nitrile rubber is made；
It comprises the steps:
A, the record maximum deflection amplitude in each joint of human hands, dynamics and crawl attitude,
B, composition that multiple electromagnetic flexible joints are together in series emulation joint, the upper plate in electromagnetic flexible joint, downside and upside
The lower plate in electromagnetic flexible joint is fixing to be connected, and the amplitude peak in joint at reference man's palmistry co-located, adjusts electromagnetic flexible
The number in joint,
C, by machinery palm, mechanical finger, mechanical arm with emulation joint connect,
When D, record staff feeding patient, the articulate kinestate of institute and movement time, and it is soft to utilize PLC to control electromagnetism
Property the emulation joint that constitutes, joint, according to the kinestate in joint and the movement time feeding patient of staff.
Electromagnetism joint Manipulator of the present invention, wherein said push rod top is connected by spring with upper plate.
Electromagnetism joint Manipulator of the present invention, wherein said push rod is rods, is provided with spacing ring in the middle part of flexible sleeve inner chamber.Institute
Stating spacing ring internal diameter identical with push rod external diameter, push rod for spacing permanent magnet and is play the guiding role by spacing ring.
Electromagnetism joint Manipulator of the present invention, in wherein said flexible sleeve, Bamboo-shaped embeds multiple ring shielding magnetisms, described magnetic cup
Covering ring to be made up of the nickel alloy Mumetal material of 80%, the thickness of ring shielding magnetism is 0.0508 millimeter, the axis of ring shielding magnetism with
The dead in line of flexible sleeve, has interval between each ring shielding magnetism, the interval between ring shielding magnetism is less than ring shielding magnetism height
1/5, upper port and lower port at ring shielding magnetism 37 are equipped with some circle lead loop, also include that catalyst charging controls
Device, electromotor and constant-current stabilizer, described catalyst charging control device include the first contact, the second contact, the 3rd touch
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, described constant-current stabilizer is used for receiving the voltage that accumulator is fluctuated, and by it
It is converted into burning voltage, thus supplies burning voltage, the controller root in electromagnetic flexible joint to the controller in electromagnetic flexible joint
Powering the electric magnet on each telescopic mast according to control signal, the lead loop of its upper and lower end of ring shielding magnetism is all with electromotor also
Connection；Described first contact is connected with the positive pole of the first accumulator, and the second contact is connected with the negative pole of the first accumulator, the 3rd contact
Being connected with the positive pole of electromotor, the 4th contact is connected with the negative pole of electromotor, and the 5th contact is connected with the positive pole of the second accumulator,
6th contact is connected with the negative pole of the second accumulator, and the 7th contact is connected with the positive pole of constant-current stabilizer, and the 8th contact fills with current stabilization
The negative pole put connects, the 9th contact and the first contact series, the tenth contact and the second contact series.
Electromagnetism joint Manipulator of the present invention, the sleeve that wherein said flexible sleeve is arranged by Crusta Penaeus seu Panulirus shape is constituted.Described sleeve bag
Include end set and some limit set.Overlap the end of for bottom described flexible sleeve.Set is for round table-like at the described end, and the periphery that end set external diameter is bigger is used for
Fixing lower plate, the interior fixed electromagnet of end set, the end, puts the multiple set that limits of superposition suit, the side of end set and the some limit on the upside of it and overlaps
Connected by stay cord.Described limit set is by including the first round platform set and the second round platform set from top to bottom.Described first round platform puts
Side external diameter is less than downside external diameter, and on the upside of the second round platform set, external diameter is more than downside external diameter, the external diameter and second on the downside of the first round platform set
External diameter on the upside of round platform set is identical, fixes with the second round platform set top bottom the first round platform set, and some limit is arranged with axially extending bore.Institute
State and offer the first round platform hole bottom a limit set.Described first round platform hole connects with the axially extending bore of some limit set, the first round platform
Internal diameter on the upside of hole is identical with the internal diameter of the axially extending bore of some limit set, the side lines in the first round platform hole in some limit set axial cross section
Parallel with the side lines of the first round platform set.Described some limit puts and is set with multiple limit set, downside point the most successively
It is connected by stay cord between the side of the first round platform set of limit set and the lower edge of the second round platform set of upside point limit set.Described stay cord
Axis circumference along some limit set is uniformly distributed multiple.When two some limit sets mutually stretch round about, the some limit set of upside
Limit set with the point of downside to be connected by stay cord.During when two somes limit set stay cords the most round about and by radial force, upside
Bottom some limit set under the first round platform hole along upper a little with the most mutually supporting on the some limit set of downside or end set upper side.
The circumferential opposite side of any of described mutual support is spacing by stay cord.
Electromagnetism joint Manipulator of the present invention, the sleeve that wherein said flexible sleeve is arranged by Crusta Penaeus seu Panulirus shape is constituted.Described sleeve bag
Include end set dough-making powder limit set.Overlap the end of for bottom described flexible sleeve.Set is for round table-like at the described end, and the periphery that end set external diameter is bigger is used for
Fixing lower plate, fixed electromagnet in end set, the end puts superposition and is set with multiple limit sets, the side of end set with its on the upside of face limit set
Connected by stay cord.Described limit set is round table-like sleeve.On the upside of described limit set, external diameter is arranged with less than downside external diameter, face limit
Axially extending bore.The 3rd round platform hole is offered bottom described limit set.The axially extending bore that described 3rd round platform hole is overlapped with face limit passes through mutually
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
Angle is had between the side lines of the side lines in hole and the first round platform set.Described angle is ∠ a.Described limit puts along axis
Direction is set with multiple limit sets successively, under the 3rd round platform hole of the frustum cone side of the face limit set of downside and the face limit set of upside
Along being connected by stay cord.Described stay cord is uniformly distributed multiple along the axis circumference of face limit set.
When two face limit sets mutually stretch round about, the face limit set of upside is with the face limit set of downside by stay cord even
Connect.During when two faces limit set stay cords the most round about and by radial force, edge under the first round platform hole bottom the face limit set of upside
On some face with downside limit the most mutually supporting in set or end set upper side.The circumference of any of described mutual support
Opposite side is spacing by stay cord.
The grasping means of electromagnetism joint Manipulator of the present invention, comprises the steps:
A, the record bending amplitude in each joint of human hands, dynamics and crawl attitude.
B, composition that multiple electromagnetic flexible joints are together in series emulation joint, the upper plate in electromagnetic flexible joint, downside and upside
The lower plate in electromagnetic flexible joint is fixing to be connected, and the amplitude in joint at reference man's palmistry co-located, adjusts electromagnetic flexible joint
Number.
C, by machinery palm, mechanical finger, mechanical arm with emulation joint connect.
Electromagnetism joint Manipulator difference from prior art of the present invention is that electromagnetism joint Manipulator of the present invention is by electricity
Magnetic flexible joint replaces the mechanical joint of gear-rack drive that object (such as dixie cup) is captured or carried out epidemic victim
Feeding, it is possible to play electromagnetic flexible joint and to adjustability during tiny error.When mechanical hand captures dixie cup, electromagnetic flexible closes
Festival-gathering imitate the fat on staff thus share equally dixie cup outside extend out power, successfully capture dixie cup and do not destroy dixie cup.?
During mechanical hand feeding epidemic victim, decrease the probability that medical personnel are infected, and contain spoon patient and shut up down
The when of swallowing, the action of bowing when electromagnetic flexible joint also can be swallowed for patient moves downward with patient, greatly reduces by mistake
The probability of sick and wounded people.Three telescopic masts in electromagnetic flexible joint according to 0 ° of lower plate circumference, 120 °, 240 ° of circumferences uniformly divide
Cloth, then when telescopic mast stretches, can change the angle of upper plate and lower plate, so that the arbitrarily angled bending in electromagnetic flexible joint.Its
It is flexible that middle telescopic mast utilizes electric magnet and permanent magnet to control, then may utilize Magnet and drive push rod to transport up and down at the repulsive force of homopolarity
Dynamic, it is achieved stretching of expansion link.And the flexible sleeve of round table-like inner chamber can limit it maximum when permanent magnet rises as guide rail
Displacement.
If push rod is rigid posts in electromagnetism joint Manipulator of the present invention, may utilize spring eliminate push rod top and upper plate it
Between bending force.
In electromagnetism joint Manipulator of the present invention, flexible push rod then can eliminate the bending force between push rod top and upper plate voluntarily.
But rods is the most mutually friction in flexible sleeve, or produces skew, then arrange spacing ring and carry out spacing to permanent magnet, suitable
Just flexible push rod is play the guiding role.
In electromagnetism joint Manipulator of the present invention, if desired expansion link has enough extending forces, then be bound to powerful electromagents to be added
Magnetic.But three expansion link hypotelorisms after all, interfere and easily cause driving confusion, then same on the barrel of flexible sleeve
Between centers can reduce interfering of three expansion links every embedding ring shielding magnetism, and Mumetal material can make only
The magnetic shield thin slice ring of 0.0508 millimeters thick, then its frivolous performance does not affect the degree of crook of expansion link, and is electromagnetic flexible
Joint loss of weight.Interval between ring shielding magnetism is more than ring shielding magnetism height 1/5, then do not reach good Magnetic Shielding Effectiveness.Use
Time, the first accumulator, the second accumulator one of them because of the magnetic induction line wire cutting line not shielded between ring shielding magnetism
Circle, thus it is powered, the electric magnet of telescopic mast is discharged by another, and interleaved power, electric discharge can work and charge,
The protection life of storage battery.
It is a point and the contacting of face that electromagnetism joint Manipulator midpoint of the present invention limit set contacts with each other, and its advantage is for turning to spirit
Live.
In electromagnetism joint Manipulator of the present invention, face limit set contacts with each other is an elongated cambered surface.Its advantage is for keeping attitude
Relatively stable.
The electricity of the different number of degree of crook regulation of simulating human hands in the grasping means of electromagnetism joint Manipulator of the present invention
Magnetic flexible joint is contacted, and staff can be copied to greatest extent to manufacture mechanical hand so that it is purposes is the most extensive.
Below in conjunction with the accompanying drawings the electromagnetism joint Manipulator of the present invention and feeding thereof and control method are described further.
Accompanying drawing explanation
Fig. 1 is the axonometric drawing in electromagnetic flexible joint in electromagnetism joint Manipulator；
Fig. 2 is the front sectional view of flexible joint in electromagnetism joint Manipulator shown in Fig. 1；
Fig. 3 is the front sectional view of telescopic mast in embodiment 1；
Fig. 4 is the front view that in embodiment 1, end set and some limit set are not stretched；
Front view when Fig. 5 is that in embodiment 1, end set and some limit set are stretched；
Fig. 6 is that in embodiment 1, end set and some limit overlap the front view by radial force；
Fig. 7 is the front sectional view of telescopic mast in embodiment 2；
Fig. 8 is the front view that in embodiment 2, end set dough-making powder limit set is not stretched；
Front view when Fig. 9 is that in embodiment 2, end set dough-making powder limit set is stretched；
Figure 10 is that in embodiment 2, end set dough-making powder limit overlaps the front view by radial force；
Figure 11 is the front view of catalyst charging device in embodiment 1.
Detailed description of the invention
Embodiment 1
Such as Fig. 1～6, shown in 11, electromagnetism joint Manipulator of the present invention includes machinery palm, mechanical finger, mechanical arm, electricity
Magnetic flexible joint 1 and circuit control part.One end of arm is fixed with frame.Seeing Fig. 1, the other end of arm is soft by electromagnetism
Property joint 1 be connected with palm, palm is connected with finger by electromagnetic flexible joint 1, and each joint of finger is electromagnetic flexible
Joint 1.
Seeing Fig. 1 and Fig. 2, electromagnetic flexible joint 1 includes that lower plate 2, telescopic mast 3 and upper plate 4, lower plate 2 are stretched by three
Post 3 is connected with upper plate 4, the axis of three telescopic masts 3 all with upper plate 4,0 ° of lower plate 2 circumference, 120 °, 240 ° of positions fix.
Seeing Fig. 2 and Fig. 3, telescopic mast 3 includes electric magnet 31, permanent magnet 32, spacing ring 33, flexible sleeve 34 and push rod 35.
Fixing with lower plate 2 bottom flexible sleeve 34, flexible sleeve 34 inner chamber is sequentially provided with electric magnet 31, permanent magnet 32 and push rod from bottom to top
35.Electric magnet 31 is fixed on bottom flexible sleeve 34.Permanent magnet 32 with flexible sleeve 34 inner chamber as guide rail, permanent magnet 32 top and push rod
Fix bottom 35.Push rod 35 top is connected by spring 36 with upper plate 4.Push rod 35 is made for nitrile rubber.Spacing ring 33 internal diameter
Identical with push rod 35 external diameter, push rod 35 for spacing permanent magnet 32 and is play the guiding role by spacing ring 33.Spacing ring 33 is from soft
The middle part of property cylinder 34 inner chamber is multiple along flexible sleeve 34 axial array to top, the interval between spacing ring 33 thickness and spacing ring 33
Equal.
Seeing Fig. 2 and Fig. 3, flexible sleeve 34 inner chamber is round table-like, and the upper internal diameter of flexible sleeve 34 inner chamber is less than lower internal diameter, permanent magnetism
Ferrum 32 is cylindric, and the external diameter of permanent magnet 32 is more than flexible sleeve less than the lower internal diameter of flexible sleeve 34 inner chamber, the external diameter of permanent magnet 32
Internal diameter in the middle part of 34 inner chambers.Flexible sleeve 34 is made for nitrile rubber.
Seeing Fig. 3～Fig. 6, the sleeve that flexible sleeve 34 is arranged by Crusta Penaeus seu Panulirus shape is constituted.Sleeve includes end set 38 and some limit set 39.
See Fig. 3～Fig. 6, bottom flexible sleeve 34, overlap 38 the end of for.End set 38 is round table-like, and the circumference that 38 external diameters are bigger is overlapped at the end
Face is used for fixing lower plate 2, fixed electromagnet 31 in end set 38, superposition suit multiple limit set 39 on end set 38, the side of end set 38
Face is limited set 39 with the point on the upside of it and is connected by stay cord 41.
Seeing Fig. 3～Fig. 6, some limit set 39 is by including the first round platform set and the second round platform set from top to bottom.First round platform set
Upside external diameter is less than downside external diameter, and on the upside of the second round platform set, external diameter is more than downside external diameter, external diameter on the downside of the first round platform set and the
External diameter on the upside of two round platform sets is identical, fixes with the second round platform set top bottom the first round platform set, and some limit set 39 is provided with the most logical
Hole.The first round platform hole is offered bottom some limit set 39.First round platform hole connects with the axially extending bore of some limit set 39, the first round platform
Internal diameter on the upside of hole is identical with the internal diameter of the axially extending bore of some limit set 39, the side in the first round platform hole in some limit set 39 axial cross sections
The side lines that lines and the first round platform overlap are parallel.
See Fig. 3～Fig. 6, some limit set 39 is set with multiple limit set 39, downside point limit set 39 the most successively
The side of the first round platform set and upside point limit set 39 the second round platform set lower edge between be connected by stay cord 41.Stay cord 41 edge
The axis circumference of some limit set 39 is uniformly distributed multiple.
See Fig. 2, coaxial embedding ring shielding magnetism 37 in some limit set 39.Ring shielding magnetism 37 by 80% nickel alloy Mumetal
Material is made, and the thickness of ring shielding magnetism 37 is 0.0508 millimeter, the axis of ring shielding magnetism 37 and the dead in line of flexible sleeve 34, often
Having interval between individual ring shielding magnetism 37, the interval between ring shielding magnetism 37 is less than the 1/5 of ring shielding magnetism 37 height.At ring shielding magnetism
The upper port of 37 and lower port are equipped with some circle lead loop, and the lead loop of its upper and lower end is all in parallel with electromotor 91.
Seeing Figure 11, the circuit control part of the present invention includes that catalyst charging controls device, electromotor 91 and steady
Stream device 92, described catalyst charging control device include the 951, second contact 952, the first contact, the 3rd contact 953, the
Four contact, contact the 958, the 9th, contact the 957, the 8th, contact the 956, the 7th, contact the 955, the 6th, contacts the 954, the 5th the 959, the tenth are touched
The accumulator that point 950 and first accumulator the 93, second accumulator 94 collectively constitute, described constant-current stabilizer 92 is used for receiving accumulator
Voltage fluctuated, and it is translated into burning voltage, thus supply burning voltage to the controller in electromagnetic flexible joint 1.
Electric magnet 31 on each telescopic mast 3 is powered by the controller in electromagnetic flexible joint 1 according to control signal.
Described first contact 951 is connected with the positive pole of the first accumulator 93, the second contact 952 and the first accumulator 93 negative
Pole connects, and the 3rd contact 953 is connected with the positive pole of electromotor 91, and the 4th contact 954 is connected with the negative pole of electromotor 91, and the 5th touches
Point 955 is connected with the positive pole of the second accumulator 94, and the 6th contact 956 is connected with the negative pole of the second accumulator 94, the 7th contact 957
Being 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
Point 951 series connection, connects with the second contact 952 in the tenth contact 950.
The control method of catalyst charging device, comprises the steps:
A, making the first contact 951 contact with the 3rd contact 953, the second contact 952 contacts with the 4th contact 954, and the 5th touches
Point 955 contacts with the 7th contact 957, and when the 6th contact 956 contacts with the 8th contact 958, electromotor 91 is to the first accumulator 93
Charging, constant-current stabilizer 92 is powered by the second accumulator 94；
B, making the 3rd contact 953 contact 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, electromotor 91 is to the second accumulator 94
Charging, constant-current stabilizer 92 is powered by the first accumulator 93；
C, repetition A～B.
During use, one of them of first accumulator the 93, second accumulator 94 be not because of being shielded between ring shielding magnetism 37
Magnetic induction line wire cutting coil, thus it is powered, the electric magnet 31 of telescopic mast 3 discharges by another, interleaved power, electric discharge
Can working while charging, protecting the life of storage battery.
See Fig. 5, when two some limit sets 39 mutually stretch round about, the some limit set 39 of upside and the some limit of downside
Set 39 is connected by stay cord.
See Fig. 6, during when two somes limit set 39 stay cords the most round about and by radial force, some limit 39 ends of set of upside
The most mutually supporting in 38 upper side is overlapped along upper some some limit set 39 or end with downside under the first round platform hole, portion.Mutually
The circumferential opposite side of any supported is spacing by stay cord 41.
Embodiment 2
The present embodiment 2 is with the difference of embodiment 1, as shown in Fig. 2, Fig. 7, Fig. 8, Fig. 9, Figure 10, sees Fig. 2,
Push rod 35 is rods, is provided with spacing ring 33 in the middle part of flexible sleeve 34 inner chamber.Spacing ring 33 internal diameter is identical with push rod 35 external diameter, spacing
Push rod 35 for spacing permanent magnet 32 and is play the guiding role by ring 33.
Seeing Fig. 7, the sleeve that flexible sleeve 34 is arranged by Crusta Penaeus seu Panulirus shape is constituted.Sleeve includes that 38 dough-making powder limit sets 391 are overlapped at the end.
See Fig. 8, bottom flexible sleeve 34, overlap 38 the end of for.End set 38 is round table-like, and the end is overlapped the bigger periphery of 38 external diameters and uses
In fixing lower plate 2, fixed electromagnet 31 in end set 38, on end set 38, superposition is set with multiple limit sets 391, the side of end set 38 with
Face limit set 391 on the upside of it is connected by stay cord 41.
Seeing Fig. 7 and Fig. 8, face limit set 391 is round table-like sleeve.On the upside of face limit set 391, external diameter limits less than downside external diameter, face
Set 391 is provided with axially extending bore.The 3rd round platform hole is offered bottom face limit set 391.3rd round platform hole is the most logical with face limit set 391
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 axially cuts
Face there is angle between side lines and the side lines of the first round platform set in the first round platform hole.Angle is ∠ a.
See Fig. 8, face limit set 391 is set with multiple limit sets 391 the most successively, the face limit set 391 of downside
The lower edge in the 3rd round platform hole that limits set 391, the face of frustum cone side and upside be connected by stay cord 41.Stay cord 41 limits set 391 along face
Axis circumference be uniformly distributed multiple.
See Fig. 2 and Fig. 7, coaxial embedding ring shielding magnetism 37 in face limit set 391.Ring shielding magnetism 37 by 80% nickel alloy
Mumetal material is made, and the thickness of ring shielding magnetism 37 is 0.0508 millimeter, the axis of ring shielding magnetism 37 and the axis of flexible sleeve 34
Overlapping, have interval between each ring shielding magnetism 37, the interval between ring shielding magnetism 37 is less than the 1/5 of ring shielding magnetism 37 height.
See Fig. 9, when two face limit sets 391 mutually stretch round about, the face limit set 391 of upside and the face of downside
Limit set 391 is connected by stay cord.
See Figure 10, during when two faces limit set 391 stay cords the most round about and by radial force, the face limit set of upside
Limit set 391 bottom 391 under first round platform hole along upper some face with downside or the end overlap in 38 upper side the most mutually
Support.The circumferential opposite side of any mutually supported is spacing by stay cord 41.
The grasping means of a kind of electromagnetism joint Manipulator and feeding method, comprise the steps:
A, the record maximum deflection amplitude in each joint of human hands, dynamics and crawl attitude.
B, composition that multiple electromagnetic flexible joints 1 are together in series emulation joint, the upper plate 4 in electromagnetic flexible joint, downside 1 with
The lower plate 2 in electromagnetic flexible joint 1, upside is fixing to be connected, and the amplitude peak in joint at reference man's palmistry co-located, adjusts electricity
The number of magnetic flexible joint 1.
C, by machinery palm, mechanical finger, mechanical arm with emulation joint connect.
When D, record staff feeding patient, the articulate kinestate of institute and movement time, and it is soft to utilize PLC to control electromagnetism
Property the emulation joint that constitutes, joint 1, according to the kinestate in joint and the movement time feeding patient of staff.
Embodiment described above is only to be described the preferred embodiment of the present invention, the not model to the present invention
Enclose and be defined, on the premise of designing spirit without departing from the present invention, the those of ordinary skill in the art technical side to the present invention
Various deformation that case is made and improvement, all should fall in the protection domain that claims of the present invention determines.
Claims (1)
1. feeding patient's method of an electromagnetism joint Manipulator, it is characterised in that: include machinery palm, mechanical finger, machinery
Arm and electromagnetic flexible joint (1), one end of described arm fixes with frame, and the other end of arm passes through electromagnetic flexible joint
(1) being connected with palm, palm is connected with finger by electromagnetic flexible joint (1), and each joint of finger is closed for electromagnetic flexible
Joint (1)；
Described electromagnetic flexible joint (1) includes lower plate (2), telescopic mast (3) and upper plate (4), and lower plate (2) passes through three telescopic masts
(3) be connected with upper plate (4), the axis of three telescopic masts (3) all with upper plate (4), lower plate (2) circumference 0 °, 120 °, 240 ° of positions
Fixing；
Described telescopic mast (3) includes electric magnet (31), permanent magnet (32), spacing ring (33), flexible sleeve (34) and push rod (35), institute
Stating flexible sleeve (34) bottom to fix with lower plate (2), flexible sleeve (34) inner chamber is sequentially provided with electric magnet (31), permanent magnet from bottom to top
(32) and push rod (35), described electric magnet (31) is fixed on flexible sleeve (34) bottom, and described permanent magnet (32) is with flexible sleeve (34)
Inner chamber is guide rail, and permanent magnet (32) top is fixing with push rod (35) bottom, and push rod (35) top is connected with upper plate (4)；
Push rod (35) is that nitrile rubber is made；
Spacing ring (33) is multiple along flexible sleeve (34) axial array to top from the middle part of flexible sleeve (34) inner chamber, spacing ring (33)
Interval between thickness and spacing ring (33) is equal；
Described flexible sleeve (34) inner chamber is round table-like, and the upper internal diameter of flexible sleeve (34) inner chamber is less than lower internal diameter, and permanent magnet (32) is
Cylindric, the external diameter of permanent magnet (32) is more than flexible sleeve less than the lower internal diameter of flexible sleeve (34) inner chamber, the external diameter of permanent magnet (32)
(34) internal diameter in the middle part of inner chamber；
Described push rod (35) top is connected by spring (36) with upper plate (4)；
Described push rod (35) is rods, is provided with spacing ring (33), described spacing ring (33) internal diameter in the middle part of flexible sleeve (34) inner chamber
Identical with push rod (35) external diameter, push rod (35) for spacing permanent magnet (32) and is play the guiding role by spacing ring (33)；
Described flexible sleeve (34) interior Bamboo-shaped embed multiple ring shielding magnetisms (37), described ring shielding magnetism (37) by 80% nickel alloy
Mumetal material is made, and the thickness of ring shielding magnetism (37) is 0.0508 millimeter, the axis of ring shielding magnetism (37) and flexible sleeve (34)
Dead in line, have interval between each ring shielding magnetism (37), the interval between ring shielding magnetism (37) be less than ring shielding magnetism (37)
The 1/5 of height, the upper port of ring shielding magnetism 37 and lower port are equipped with some circle lead loop,
Also include that catalyst charging controls device, electromotor (91) and constant-current stabilizer (92), described catalyst charging
Control device and include the first contact (951), the 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
The accumulator that first accumulator (93), the second accumulator (94) collectively constitute, described constant-current stabilizer (92) is used for receiving accumulator
Voltage fluctuated, and it is translated into burning voltage, thus the stable electricity of controller supply to electromagnetic flexible joint (1)
Pressing, the electric magnet (31) on each telescopic mast (3) is powered by the controller of electromagnetic flexible joint (1) according to control signal, magnetic cup
The lead loop covering ring (37) its upper and lower end is all in parallel with electromotor (91)；
Described first contact (951) is connected with the positive pole of the first accumulator (93), the second contact (952) and the first accumulator (93)
Negative pole connect, the 3rd contact (953) is connected with the positive pole of electromotor (91), bearing of the 4th contact (954) and electromotor (91)
Pole connects, and the 5th contact (955) is connected with the positive pole of the second accumulator (94), the 6th contact (956) and the second accumulator (94)
Negative pole connect, 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 connect, the 9th contact (959) connects with the first contact (951), connects with the second contact (952) in the tenth contact (950)；
The sleeve that described flexible sleeve (34) is arranged by Crusta Penaeus seu Panulirus shape is constituted, and described sleeve includes end set (38) dough-making powder limit set (391)；
(38) are overlapped the end of in described flexible sleeve (34) bottom, and set of the described end (38) is round table-like, the circumference that end set (38) external diameter is bigger
Face is used for fixing lower plate (2), end set (38) interior fixed electromagnet (31), and upper superposition is set with multiple limits set (391) at end set (38),
The side at end set (38) is limited set (391) with the face on the upside of it and is connected by stay cord (4)；
Described limit set (391) is round table-like sleeve, and described limit set (391) upside external diameter is less than downside external diameter, face limit set
(391) being provided with axially extending bore, described limit set (391) bottom offers the 3rd round platform hole, described 3rd round platform hole and face limit set
(391) axially extending bore 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 in face limit set (391),
Face limit set (391) axial cross section there is angle between side lines and the side lines of the first round platform set in the first round platform hole, institute
Stating angle is ∠ a；
Multiple limits set (391) it are set with the most successively on described limit set (391), face limit set (391) of downside
Frustum cone side is connected by stay cord (4) with the lower edge in the 3rd round platform hole that the face of upside limits set (391), and described stay cord (4) is along face
The axis circumference of limit set (391) is uniformly distributed multiple；
When two faces limit set (391) mutually stretch round about, the face limit of upside overlaps the face limit set of (391) and downside
(391) connected by stay cord；
During when two faces limit set (391) stay cords the most round about and by radial force, the bottom, face limit set (391) first of upside
Along upper any and the most mutual support on face limit set (391) of downside or end set (38) upper side under round platform hole, described
The circumferential opposite side of any mutually supported is spacing by stay cord (4)；
Flexible sleeve (34) is that nitrile rubber is made；
It comprises the steps:
A, the record maximum deflection amplitude in each joint of human hands, dynamics and crawl attitude,
B, composition that multiple electromagnetic flexible joints (1) are together in series emulation joint, the upper plate (4) in electromagnetic flexible joint, downside (1)
Fix with the lower plate (2) in electromagnetic flexible joint, upside (1) and be connected, and the amplitude peak in joint at reference man's palmistry co-located,
Adjust the number in electromagnetic flexible joint (1),
C, by machinery palm, mechanical finger, mechanical arm with emulation joint connect,
When D, record staff feeding patient, the articulate kinestate of institute and movement time, and utilize PLC to control electromagnetic flexible pass
Joint (1) the emulation joint that constitutes, according to the kinestate in joint and the movement time feeding patient of staff.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610475504.8A CN106142078B (en) | 2015-03-02 | 2015-03-02 | A kind of feeding patient's method of electromagnetism joint Manipulator |
Applications Claiming Priority (2)
| 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 |
| CN201610475504.8A CN106142078B (en) | 2015-03-02 | 2015-03-02 | A kind of feeding patient's method of electromagnetism joint Manipulator |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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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| Publication Number | Publication Date |
|---|---|
| CN106142078A true CN106142078A (en) | 2016-11-23 |
| CN106142078B CN106142078B (en) | 2018-11-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610476390.9A Withdrawn CN105856224A (en) | 2015-03-02 | 2015-03-02 | Method for feeding patient by using electromagnetic joint manipulator |
| CN201610475518.XA Active CN106003115B (en) | 2015-03-02 | 2015-03-02 | Electromagnetism joint Manipulator |
| 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 |
| CN201610476397.0A Active CN106041914B (en) | 2015-03-02 | 2015-03-02 | A kind of feeding patient's 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 |
| CN201610476400.9A Active CN106003012B (en) | 2015-03-02 | 2015-03-02 | Feeding patient's method of electromagnetism joint Manipulator |
| CN201610476398.5A Active CN106003116B (en) | 2015-03-02 | 2015-03-02 | The control method of electromagnetism joint Manipulator |
| CN201610475100.9A Withdrawn CN105881531A (en) | 2015-03-02 | 2015-03-02 | Patient feeding method of electromagnetic joint mechanical hand |
| CN201610475502.9A Pending CN106142077A (en) | 2015-03-02 | 2015-03-02 | A kind of 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 |
| CN201610476399.XA Active CN106041990B (en) | 2015-03-02 | 2015-03-02 | Electromagnetism joint Manipulator |
Family Applications Before (10)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610476390.9A Withdrawn CN105856224A (en) | 2015-03-02 | 2015-03-02 | Method for feeding patient by using electromagnetic joint manipulator |
| CN201610475518.XA Active CN106003115B (en) | 2015-03-02 | 2015-03-02 | Electromagnetism joint Manipulator |
| 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 |
| CN201610476397.0A Active CN106041914B (en) | 2015-03-02 | 2015-03-02 | A kind of feeding patient's 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 |
| CN201610476400.9A Active CN106003012B (en) | 2015-03-02 | 2015-03-02 | Feeding patient's method of electromagnetism joint Manipulator |
| CN201610476398.5A Active CN106003116B (en) | 2015-03-02 | 2015-03-02 | The control method of electromagnetism joint Manipulator |
| CN201610475100.9A Withdrawn CN105881531A (en) | 2015-03-02 | 2015-03-02 | Patient feeding method of electromagnetic joint mechanical hand |
| CN201610475502.9A Pending CN106142077A (en) | 2015-03-02 | 2015-03-02 | A kind of feeding patient's method of electromagnetism joint Manipulator |
Family Applications After (1)
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| CN201610476399.XA Active CN106041990B (en) | 2015-03-02 | 2015-03-02 | 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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| CN103475288A (en) * | 2013-09-24 | 2013-12-25 | 胡明建 | Design method of magnetic latching parallel-stepping, rotating and swinging extensible joint |
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| 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 |
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| 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 |
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| CN104586329A (en) * | 2015-03-02 | 2015-05-06 | 李秀荣 | Electromagnetic flexible besom and application and control method thereof |
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- 2015-03-02 CN CN201610476390.9A patent/CN105856224A/en not_active Withdrawn
- 2015-03-02 CN CN201610475518.XA patent/CN106003115B/en active Active
- 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 CN201610476397.0A patent/CN106041914B/en active Active
- 2015-03-02 CN CN201610475516.0A patent/CN106003114B/en active Active
- 2015-03-02 CN CN201610476400.9A patent/CN106003012B/en active Active
- 2015-03-02 CN CN201610476398.5A patent/CN106003116B/en active Active
- 2015-03-02 CN CN201610475100.9A patent/CN105881531A/en not_active Withdrawn
- 2015-03-02 CN CN201610475502.9A patent/CN106142077A/en active Pending
- 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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| CN2100842U (en) * | 1991-05-03 | 1992-04-08 | 姚全鑫 | Household rice barrel |
| WO1995003012A1 (en) * | 1993-07-19 | 1995-02-02 | Poil James E | Magnetic motion producing device |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN106003115A (en) | 2016-10-12 |
| CN106003114A (en) | 2016-10-12 |
| CN106003116B (en) | 2018-04-06 |
| CN106142078B (en) | 2018-11-02 |
| CN106003116A (en) | 2016-10-12 |
| CN106041990A (en) | 2016-10-26 |
| CN105881531A (en) | 2016-08-24 |
| CN105856224A (en) | 2016-08-17 |
| CN106041990B (en) | 2017-12-12 |
| CN106041914B (en) | 2017-12-08 |
| CN106003115B (en) | 2018-05-22 |
| CN106041914A (en) | 2016-10-26 |
| CN105856215A (en) | 2016-08-17 |
| CN106003012B (en) | 2017-12-08 |
| CN104669259A (en) | 2015-06-03 |
| CN106003012A (en) | 2016-10-12 |
| CN104669259B (en) | 2017-02-08 |
| CN106142077A (en) | 2016-11-23 |
| CN106003114B (en) | 2018-03-23 |
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