CN106142078B - 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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- CN106142078B CN106142078B CN201610475504.8A CN201610475504A CN106142078B CN 106142078 B CN106142078 B CN 106142078B CN 201610475504 A CN201610475504 A CN 201610475504A CN 106142078 B CN106142078 B CN 106142078B
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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
- 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
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0246—Gripping heads and other end effectors servo-actuated actuated by an electromagnet
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- 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)
- Health & Medical Sciences (AREA)
- Nursing (AREA)
- General Health & Medical Sciences (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Manipulator (AREA)
- Magnetic Treatment Devices (AREA)
Abstract
A kind of feeding patient's method of electromagnetism joint Manipulator of the present invention is related to a kind of flexible manipulator, more particularly to a kind of manipulator for capturing dixie cup, feeding patient.Its purpose is to provide a kind of electromagnetism joint Manipulator of minor change simple in structure, at low cost, easy to operate, adaptable, being finely adjusted, adapt to and compensate patient's posture according to the size for being grabbed object.Electromagnetism joint Manipulator of the present invention includes electromagnetic flexible joint (1), flexible sleeve (34) bottom is fixed with lower plate (2), flexible sleeve (34) inner cavity is equipped with electromagnet (31), permanent magnet (32) and mandril (35) successively from bottom to top, the electromagnet (31) is fixed on flexible sleeve (34) bottom, the permanent magnet (32) is using flexible sleeve (34) inner cavity as guide rail, it fixes with mandril (35) bottom at the top of permanent magnet (32), is connect with upper plate (4) at the top of mandril (35).
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 manipulators, more particularly to a kind of manipulator for capturing dixie cup, feeding patient
And its crawl, feeding, control method.
Background technology
Automated machine replace gradually 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 easy to 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 the fine and smooth work such as disposable foamed plastic cutlery box and hello epidemic victim.Tradition is soft
Property arm mostly uses greatly parallel between three groups of gear-rack drives, two planks or makes it have angle, then is carried out tandem group
It closes, to complete the structure of a flexible arm.
However, rack-and-pinion mode drive it is excessively inflexible.True man are not only that grasp can meet when grabbing thing and pick up east
The requirement in west, the subcutaneous fat of true man can also be directed to and be grabbed object and hold the fine tuning of shape.So during picking up dixie cup only
Fixed grip position can be designed according to the fixation shape of dixie cup to pick up dixie cup, required precision is high before and after fixing grip position.Gear
The flexible arm of rack mode can not be finely adjusted dixie cup grip position.When feeding patient, posture that patient has a meal simultaneously is not fixed, when
Subtle variation can often occur, if the manipulator of feeding can not adapt to the minor change of posture in patient mouthful, it is likely that injure
Patient, or even to endanger patient sick.
Invention content
The technical problem to be solved in the present invention is to provide it is a kind of it is simple in structure, at low cost, easy to operate, adaptable,
Can be finely adjusted, be adapted to according to the size for being grabbed object the minor change of patient's posture electromagnetism joint Manipulator and its crawl,
Feeding, control method.
Feeding patient's method of electromagnetism joint Manipulator of the present invention, including mechanical palms, mechanical finger, mechanical arm and electricity
Magnetic flexible joint, one end and the rack of the arm are fixed, and the other end of arm is connect by electromagnetic flexible joint with palm, hand
The palm is connect by electromagnetic flexible joint with finger, and each joint of finger is electromagnetic flexible joint；
The electromagnetic flexible joint includes lower plate, telescopic mast and upper plate, and lower plate is connect by three telescopic masts with upper plate, and three
The axis of root telescopic mast is fixed with upper plate, 0 ° of lower plate circumferential direction, 120 °, 240 ° of positions；
The telescopic mast includes electromagnet, permanent magnet, spacing ring, flexible sleeve and mandril, the flexible sleeve bottom and lower plate
Fixed, flexible tube inner chamber is equipped with electromagnet, permanent magnet and mandril successively from bottom to top, and the electromagnet is fixed on flexible sleeve bottom
Portion, the permanent magnet are fixed with mandril bottom at the top of permanent magnet using flexible tube inner chamber as guide rail, are connect with upper plate at the top of mandril；
Mandril is made of nitrile rubber；
Spacing ring is multiple along flexible sleeve axial array to top from the middle part of flexible tube inner chamber, limits ring thickness and spacing ring
Between interval it is equal；
The flexibility tube inner chamber is in a circular table shape, and the upper internal diameter of flexible tube inner chamber is less than lower internal diameter, permanent magnet be it is cylindric, forever
The outer diameter of magnet is less than the lower internal diameter of flexible tube inner chamber, and the outer diameter of permanent magnet is more than the internal diameter in the middle part of flexible tube inner chamber；
It is connect by spring with upper plate at the top of the mandril；
The mandril is flexible link, and spacing ring, the spacing ring internal diameter and mandril outer diameter phase are equipped in the middle part of flexible tube inner chamber
Together, spacing ring is for limiting permanent magnet and playing the guiding role to mandril；
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 is overlapped 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 several circle lead loop,
Further include contactor charging control device, generator and constant-current stabilizer, the contactor charging control
Device is touched including the first contact, the second contact, third contact, the 4th contact, the 5th contact, the 6th contact, the 7th contact, the 8th
The accumulator that point, the 9th contact, the tenth contact and the first accumulator, the second accumulator collectively constitute, the constant-current stabilizer are used for
Accumulator voltage fluctuated is received, and is translated into burning voltage, to supply the controller in electromagnetic flexible joint
The controller of burning voltage, electromagnetic flexible joint powers to the electromagnet on each telescopic mast according to control signal, ring shielding magnetism
The lead loop of its upper and lower end is and parallel operation of generator；
First contact is connect with the anode of the first accumulator, and the second contact is connect with the cathode of the first accumulator, the
The anode of three contacts and generator connects, and the cathode of the 4th contact and generator connects, and the 5th contact and the second accumulator are just
Pole connects, and the 6th contact connect with the cathode of the second accumulator, the anode connection of the 7th contact and constant-current stabilizer, the 8th contact and
The cathode of constant-current stabilizer connects, 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 constituted, and the sleeve includes bottom set knead dough limit set；
The flexible sleeve bottom is bottom set, and the bottom set is round table-like, under bottom covers the larger periphery of outer diameter for fixing
Plate, the interior fixed electromagnet of bottom set, bottom put on superposition and are set with multiple faces limit sets, and the side that bottom covers passes through drawing with the face limit set on the upside of it
Rope connection；
The face limit set is round table-like sleeve, and face limit set upside outer diameter is less than downside outer diameter, and face limit is arranged with axial direction
Through-hole, the bottoms the face Xian Tao offer third round platform hole, and the third round platform hole and the axially extending bore of face limit set connect, the
Internal diameter on the upside of three round platform holes is identical as the internal diameter of axially extending bore of face limit set, the side of the first round platform hole in the limit set axial cross section of face
It is ∠ a to have angle, the angle between upper thread item and the side lines of the first round platform set；
Face limit puts on and is set with multiple faces limit sets successively in the axial direction, the frustum cone side of the face limit set of downside with it is upper
The lower edge of the third round platform hole of the face limit set of side is connected by drawstring, and the drawstring is circumferentially uniformly distributed more along the axis of face limit set
It is a；
When two face limit sets mutually stretch round about, the face limit set of upside is connected with the face limit set of downside by drawstring
It connects；
When two faces limit set mutually drawstring and when by radial load round about, the first round platform hole of the face bottoms Xian Tao of upside
A little mutually support a little covered with the face of downside limit set or bottom in upper side in lower edge, a bit described mutually supported
The circumferential other side is limited by drawstring；
Flexible sleeve is made of nitrile rubber；
It includes the following steps：
A, the maximum deflection amplitude, dynamics and crawl posture in each joint of record human hands,
B, multiple electromagnetic flexible joints are together in series and constitute emulation joint, the upper plate in downside electromagnetic flexible joint and upside
The lower plate in electromagnetic flexible joint is fixedly connected, and at reference man's hand same position joint amplitude peak, adjust electromagnetic flexible
The number in joint,
C, mechanical palms, mechanical finger, mechanical arm emulation joint are connected,
When D, recording human hand feeding patient, the articulate motion state of institute and run duration, and it is soft using PLC control electromagnetism
Property the emulation joint that constitutes of joint, the motion state according to the joint of human hand and run duration feeding patient.
Electromagnetism joint Manipulator of the present invention, wherein being connect by spring with upper plate at the top of the mandril.
Electromagnetism joint Manipulator of the present invention is equipped with spacing ring wherein the mandril is flexible link in the middle part of flexible tube inner chamber.Institute
It is identical as mandril outer diameter to state spacing ring internal diameter, spacing ring is for limiting permanent magnet and playing the guiding role to mandril.
Electromagnetism joint Manipulator of the present invention, wherein Bamboo-shaped is embedded in multiple ring shielding magnetisms, the magnetic cup in the flexible sleeve
Ring is covered to be made of 80% nickel alloy Mumetal materials, the thickness of ring shielding magnetism is 0.0508 millimeter, the axis of ring shielding magnetism with
The axis of flexible sleeve overlaps, and has interval between each ring shielding magnetism, and the interval between ring shielding magnetism is less than ring shielding magnetism height
1/5, several circle lead loop are equipped in the upper port and lower port of ring shielding magnetism 37, further include the control of contactor charging
Device, generator and constant-current stabilizer, the contactor charging control device are touched including the first contact, the second contact, third
Point, the 4th contact, the 5th contact, the 6th contact, the 7th contact, the 8th contact, the 9th contact, the tenth contact and the first electric power storage
The accumulator that pond, the second accumulator collectively constitute, the constant-current stabilizer for receiving accumulator voltage fluctuated, and by its
It is converted into burning voltage, to supply burning voltage, the controller root in electromagnetic flexible joint to the controller in electromagnetic flexible joint
Power to the electromagnet on each telescopic mast according to control signal, the lead loop of its upper and lower end of ring shielding magnetism with generator simultaneously
Connection；First contact is connect with the anode of the first accumulator, and the second contact is connect with the cathode of the first accumulator, third contact
It being connect with the anode of generator, the cathode connection of the 4th contact and generator, the 5th contact is connect with the anode of the second accumulator,
6th contact is connect with the cathode of the second accumulator, and the anode of the 7th contact and constant-current stabilizer connects, and the 8th contact is filled with current stabilization
The cathode connection set, 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 constituted.The sleeve packet
Include bottom set and point limit set.The flexible sleeve bottom covers the bottom of for.The bottom set is round table-like, and set outer diameter larger periphery in bottom is used for
Fixed lower plate, the interior fixed electromagnet of bottom set, bottom put on the multiple point limits of superposition suit and cover, and the side of bottom set is covered with the point limit on the upside of it
It is connected by drawstring.The point limit set is by including the first round platform set and the second round platform set from top to bottom.First round platform is put on
Side outer diameter is less than downside outer diameter, and the second round platform set upside outer diameter is more than downside outer diameter, the outer diameter and second of the first round platform set downside
The outer diameter of round platform set upside is identical, and the first round platform set bottom and the second round platform set top are fixed, put limit and are arranged with axially extending bore.Institute
It states a limit set bottom and offers the first round platform hole.First round platform hole and the axially extending bore of point limit set connect, the first round platform
Internal diameter on the upside of hole is identical as the internal diameter of axially extending bore of point limit set, the side lines of the first round platform hole in point limit set axial cross section
It is parallel with the side lines of the first round platform set.The point limit is put on is set with multiple point limit sets, lower side point successively in the axial direction
It is connected by drawstring between the side of the first round platform set of limit set and the lower edge of the second round platform set of upper side point limit set.The drawstring
It is circumferentially uniformly distributed along the axis of point limit set multiple.When two point limit sets mutually stretch round about, the point limit set of upside
It is connect by drawstring with the point of downside limit set.When two points limit set mutually drawstring and when by radial load round about, upside
Any mutual support put in limit set or bottom set upper side of any and downside in point limit set bottom the first round platform hole lower edge.
The circumferential other side of a bit described mutually supported is limited by drawstring.
Electromagnetism joint Manipulator of the present invention, wherein the sleeve that the flexible sleeve is arranged by shrimp shell shape is constituted.The sleeve packet
Include bottom set knead dough limit set.The flexible sleeve bottom covers the bottom of for.The bottom set is round table-like, and set outer diameter larger periphery in bottom is used for
Fixed lower plate, the interior fixed electromagnet of bottom set, bottom put on superposition and are set with multiple face limit sets, and the side that bottom covers is covered with the face limit on the upside of it
It is connected by drawstring.The face limit set is round table-like sleeve.Face limit set upside outer diameter is less than downside outer diameter, and face limit is arranged with
Axially extending bore.The bottoms the face Xian Tao offer third round platform hole.The third round platform hole and the axially extending bore of face limit set mutually pass through
Logical, the internal diameter on the upside of third round platform hole is identical as the internal diameter of 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 in hole and the side lines of the first round platform set.The angle is ∠ a.The face limit set upper edge 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 limit under the third round platform hole of set
Edge is connected by drawstring.The drawstring is circumferentially uniformly distributed multiple along the axis of face limit set.
When two face limit sets mutually stretch round about, the face limit set of upside is connected with the face limit set of downside by drawstring
It connects.When two faces limit set mutually drawstring and when by radial load round about, the face bottoms Xian Tao the first round platform hole lower edge of upside
On a little and downside face limit set or bottom set upper side on a little mutually support.The circumferential direction of a bit described mutually supported
The other side is limited by drawstring.
The grasping means of electromagnetism joint Manipulator of the present invention, includes the following steps：
A, the bending amplitude in each joint of record human hands, dynamics and crawl posture.
B, multiple electromagnetic flexible joints are together in series and constitute emulation joint, the upper plate in downside electromagnetic flexible joint and upside
The lower plate in electromagnetic flexible joint is fixedly connected, and at reference man's hand same position joint amplitude, adjustment electromagnetic flexible joint
Number.
C, by mechanical palms, mechanical finger, mechanical arm emulation joint connection.
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 carry out crawl to object (such as dixie cup) or carried out to epidemic victim
Feeding can play adjustability of the electromagnetic flexible joint with to tiny error when.When manipulator captures dixie cup, electromagnetic flexible closes
Festival-gathering imitate the fat on human hand to share equally dixie cup it is outside extend out power, successfully capture dixie cup and do not destroy dixie cup.?
When manipulator feeding epidemic victim, reduce the possibility that medical staff is infected, and contain spoon in patient and shut up down
When swallowing, the action of bowing when electromagnetic flexible joint can also be swallowed for patient is moved downward with patient, greatly reduces mistake
The possibility of sick and wounded people.Three telescopic masts in electromagnetic flexible joint uniformly divide according to lower plate circumferential 0 °, 120 °, 240 ° of circumferential directions
Cloth then can change the angle of upper plate and lower plate, to make electromagnetic flexible joint any angle be bent when telescopic mast stretches.Its
Middle telescopic mast is controlled using electromagnet and permanent magnet to be stretched, then is transported above and below the repulsion power drive mandril of homopolarity using magnet
It is dynamic, realize the flexible of telescopic rod.And the flexible sleeve of round table-like inner cavity can limit its maximum as guide rail when permanent magnet rises
Displacement.
In electromagnetism joint Manipulator of the present invention if mandril be rigid posts if using spring eliminate mandril at the top of with upper plate it
Between bending force.
Flexible mandril then can voluntarily eliminate the bending force at the top of mandril between upper plate in electromagnetism joint Manipulator of the present invention.
But flexible link is easy mutually friction in flexible sleeve, or generate offset, then spacing ring is set, permanent magnet is limited, it is suitable
Just it play the guiding role to flexible mandril.
If desired telescopic rod has enough extending forces in electromagnetism joint Manipulator of the present invention, then be bound to electromagnet to be reinforced
It is magnetic.But three telescopic rods hypotelorism after all, interfere with each other that easily cause driving chaotic, then it is same on the barrel of flexible sleeve
Between centers can reduce interfering with each other for three telescopic rods every embedded ring shielding magnetism, and Mumetal materials can make only
The magnetic screen thin slice ring of 0.0508 millimeters thick, then its frivolous performance do not influence the bending degree of telescopic rod, and be electromagnetic flexible
Joint loss of weight.Interval between ring shielding magnetism is more than ring shielding magnetism height 1/5, then good Magnetic Shielding Effectiveness is not achieved.It uses
When, one of the first accumulator, second accumulator are because of the not shielded magnetic induction line wire cutting line between ring shielding magnetism
Circle, to power to it, another discharges to the electromagnet of telescopic mast, and interleaved power, electric discharge can charge while working,
Protect the life of storage battery.
The contact that electromagnetism joint Manipulator of the present invention midpoint limit set contacts with each other for a point with face, advantage are to turn to spirit
It is living.
Face limit set contacts with each other as an elongated cambered surface in electromagnetism joint Manipulator of the present invention.Its advantage is to keep posture
It is relatively stable.
The bending degree that mankind's hand is simulated in the grasping means of electromagnetism joint Manipulator of the present invention adjusts the electricity of different numbers
Magnetic flexible joint is contacted, and human hand can be copied to manufacture manipulator to greatest extent, keep its purposes more extensive.
The electromagnetism joint Manipulator to the present invention and its feeding and control method are described further below in conjunction with the accompanying drawings.
Description of the drawings
Fig. 1 is the axonometric drawing in electromagnetic flexible joint in electromagnetism joint Manipulator；
Fig. 2 is the front sectional view of flexible joint in electromagnetism joint Manipulator shown in Fig. 1；
Fig. 3 is the front sectional view of telescopic mast in embodiment 1；
Fig. 4 is the front view that 1 midsole of embodiment set and point limit set are not stretched；
Fig. 5 is that 1 midsole of embodiment set and point limit the front view covered when being stretched；
Fig. 6 is the front view of 1 midsole of embodiment set and point limit set by radial load；
Fig. 7 is the front sectional view of telescopic mast in embodiment 2；
Fig. 8 is the front view that 2 midsole of embodiment set knead dough limit set is not stretched；
Fig. 9 is front view when 2 midsole of embodiment set knead dough limit set is stretched；
Figure 10 is front view of 2 midsole of the embodiment set knead dough limit set by radial load；
Figure 11 is the front view of contactor charging device in embodiment 1.
Specific implementation mode
Embodiment 1
As shown in Fig. 1~6,11, electromagnetism joint Manipulator of the present invention includes mechanical palms, mechanical finger, mechanical arm, electricity
Magnetic flexible joint 1 and circuit control part.One end of arm is fixed with rack.Referring to Fig. 1, the other end of arm is soft by electromagnetism
Property joint 1 connect with palm, palm is connect by electromagnetic flexible joint 1 with finger, and each joint of finger is electromagnetic flexible
Joint 1.
Referring to Fig. 1 and Fig. 2, electromagnetic flexible joint 1 includes lower plate 2, telescopic mast 3 and upper plate 4, and lower plate 2 is flexible by three
Column 3 is connect with upper plate 4, and the axis of three telescopic masts 3 is fixed with upper plate 4,0 ° of 2 circumferential direction of lower plate, 120 °, 240 ° of positions.
Referring to Fig. 2 and Fig. 3, telescopic mast 3 includes electromagnet 31, permanent magnet 32, spacing ring 33, flexible sleeve 34 and mandril 35.
34 bottom of flexible sleeve is fixed with lower plate 2, and 34 inner cavity of flexible sleeve is equipped with electromagnet 31, permanent magnet 32 and mandril successively from bottom to top
35.Electromagnet 31 is fixed on 34 bottom of flexible sleeve.Permanent magnet 32 is using 34 inner cavity of flexible sleeve as guide rail, 32 top of permanent magnet and mandril
35 bottoms are fixed.35 top of mandril is connect with upper plate 4 by spring 36.Mandril 35 is made of nitrile rubber.33 internal diameter of spacing ring
Identical as 35 outer diameter of mandril, spacing ring 33 is for limiting permanent magnet 32 and playing the guiding role to mandril 35.Spacing ring 33 is from soft
The middle part of property 34 inner cavity of cylinder is multiple along 34 axial array of flexible sleeve to top, the interval between 33 thickness of spacing ring and spacing ring 33
It is equal.
Referring to Fig. 2 and Fig. 3,34 inner cavity of flexible sleeve is in a circular table shape, and the upper internal diameter of 34 inner cavity of flexible sleeve is less than lower internal diameter, permanent magnetism
Iron 32 is cylindric, and the outer diameter of permanent magnet 32 is less than the lower internal diameter of 34 inner cavity of flexible sleeve, and the outer diameter of permanent magnet 32 is more than flexible sleeve
Internal diameter in the middle part of 34 inner cavities.Flexible sleeve 34 is made of nitrile rubber.
Referring to Fig. 3~Fig. 6, the sleeve that flexible sleeve 34 is arranged by shrimp shell shape is constituted.Sleeve includes bottom set 38 and point limit set 39.
Referring to Fig. 3~Fig. 6,34 bottom of flexible sleeve is that bottom covers 38.Bottom set 38 is round table-like, and bottom covers the larger circumference of 38 outer diameters
Face covers fixed electromagnet 31 in 38 for fixing lower plate 2, bottom, and the multiple points of superposition suit limit set 39, the side of bottom set 38 on bottom set 38
Face is connect with the point limit set 39 on the upside of it by drawstring 41.
Referring to Fig. 3~Fig. 6, point 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 outer diameter is less than downside outer diameter, and the second round platform set upside outer diameter is more than downside outer diameter, the outer diameter and the of the first round platform set downside
The outer diameter of two round platforms set upside is identical, and the first round platform set bottom and the second round platform set top are fixed, put limit set 39 and are equipped with axial lead to
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 as the internal diameter of 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, it is set with multiple point limit sets 39, lower side point limit set 39 on point limit set 39 successively in the axial direction
The first round platform set side and upper side point limit set 39 the second round platform set lower edge between connected by drawstring 41.41 edge of drawstring
The axis of point limit set 39 is circumferentially uniformly distributed multiple.
Referring to Fig. 2, ring shielding magnetism 37 is coaxially embedded in point limit set 39.Ring shielding magnetism 37 by 80% nickel alloy Mumetal
Material is made, and the thickness of ring shielding magnetism 37 is 0.0508 millimeter, and the axis of ring shielding magnetism 37 is overlapped with the axis of flexible sleeve 34, often
There is interval between a ring shielding magnetism 37,1/5 of interval less than 37 height of ring shielding magnetism between ring shielding magnetism 37.In ring shielding magnetism
37 upper port and lower port is equipped with several circle lead loop, and the lead loop of upper and lower end is in parallel with generator 91.
Referring to Figure 11, circuit control part of the invention includes contactor charging control device, generator 91 and steady
Device 92 is flowed, the contactor charging control device includes the first contact 951, the second contact 952, third contact 953, the
Four contacts 954, the 5th contact 955, the 6th contact 956, the 7th contact 957, the 8th contact 958, the 9th contact the 959, the tenth are touched
The accumulator that point 950 and the first accumulator 93, the second accumulator 94 collectively constitute, the constant-current stabilizer 92 is for receiving accumulator
Voltage fluctuated, and it is translated into burning voltage, to supply burning voltage to the controller in electromagnetic flexible joint 1.
The controller in electromagnetic flexible joint 1 powers to the electromagnet 31 on each telescopic mast 3 according to control signal.
The anode of first contact 951 and the first accumulator 93 connect, and the second contact 952 and the first accumulator 93 are born
Pole connects, and third contact 953 is connect with the anode of generator 91, and the 4th contact 954 is connect with the cathode of generator 91, and the 5th touches
Point 955 is connect with the anode of the second accumulator 94, and the 6th contact 956 is connect with the cathode of the second accumulator 94, the 7th contact 957
It is connect with the anode of constant-current stabilizer 92, the 8th contact 958 is connect with the cathode of constant-current stabilizer 92, and the 9th contact 959 and first is touched
951 series connection of point, the tenth contact 950 is connected with the second contact 952.
The control method of contactor charging device, includes the following steps：
A, the first contact 951 is made to be contacted with third contact 953, the second contact 952 is contacted with the 4th contact 954, and the 5th touches
Point 955 is contacted with the 7th contact 957, and when the 6th contact 956 and the 8th contact 958 contact, generator 91 is to the first accumulator 93
Charging, the second accumulator 94 power to constant-current stabilizer 92；
B, third contact 953 is made to be contacted with the 5th contact 955, the 4th contact 954 and the 6th contact 956, the 7th touches
Point 957 is contacted with the 9th contact 959, and when the 8th contact 958 and the tenth contact 950 contact, generator 91 is to the second accumulator 94
Charging, the first accumulator 93 power to constant-current stabilizer 92；
C, A~B is repeated.
In use, one of the first accumulator 93, second accumulator 94 be not because of being shielded between ring shielding magnetism 37
Magnetic induction line wire cutting coil, to powering to it, another discharges to the electromagnet 31 of telescopic mast 3, interleaved power, electric discharge
It can charge while working, 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 when 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 other side of any of support is limited by drawstring 41.
Embodiment 2
The present embodiment 2 difference from example 1 is that, as shown in Fig. 2, Fig. 7, Fig. 8, Fig. 9, Figure 10, referring to Fig. 2,
Mandril 35 is flexible link, and spacing ring 33 is equipped in the middle part of 34 inner cavity of flexible sleeve.33 internal diameter of spacing ring is identical as 35 outer diameter of mandril, limit
Ring 33 is for limiting permanent magnet 32 and playing the guiding role to mandril 35.
Referring to Fig. 7, the sleeve that flexible sleeve 34 is arranged by shrimp shell shape is constituted.Sleeve includes that bottom covers 38 knead doughs limit set 391.
Referring to Fig. 8,34 bottom of flexible sleeve is that bottom covers 38.Bottom set 38 is round table-like, and bottom covers the larger periphery of 38 outer diameters and uses
Be set with multiple faces limit sets 391 in superposition on fixed electromagnet 31 in fixed lower plate 2, bottom set 38, bottom set 38, the side of bottom set 38 with
Face limit set 391 on the upside of it is connected by drawstring 41.
Referring to Fig. 7 and Fig. 8, face limit set 391 is round table-like sleeve.Face limit 391 upside outer diameters of set are less than downside outer diameter, face limit
Set 391 is equipped with axially extending bore.The face bottoms Xian Tao391 offer third round platform hole.Third round platform hole and the axial direction of face limit set 391 are logical
Hole connects, and the internal diameter on the upside of third round platform hole is identical as the internal diameter of axially extending bore of face limit set 391, and face limit set 391 is axial to be cut
There is angle between the side lines of side lines and the first round platform set of the first round platform hole in face.Angle is ∠ a.
Referring to Fig. 8, it is set with multiple face limit sets 391, the face limit set 391 of downside on face limit set 391 successively in the axial direction
Frustum cone side and the lower edge of third round platform hole of face limit set 391 of upside connected by drawstring 41.Drawstring 41 is along face limit set 391
Axis be circumferentially uniformly distributed it is multiple.
Referring to Fig. 2 and Fig. 7, ring shielding magnetism 37 is coaxially embedded in face limit set 391.Ring shielding magnetism 37 by 80% nickel alloy
Mumetal materials are made, and the thickness of ring shielding magnetism 37 is 0.0508 millimeter, the axis of the axis and flexible sleeve 34 of ring shielding magnetism 37
It overlaps, has interval between each ring shielding magnetism 37,1/5 of interval less than 37 height of ring shielding magnetism between ring shielding magnetism 37.
Referring to Fig. 9, when two face limit sets 391 mutually stretch round about, the face of the face limit set 391 and downside of upside
Limit set 391 is connected by drawstring.
Referring to Figure 10, when two faces limit sets 391 mutually drawstrings and when by radial load round about, the face limit set of upside
Any in 391 bottom the first round platform hole lower edges covers a little mutual branch in 38 upper sides with the face limit set 391 of downside or bottom
Support.The circumferential other side of any mutually supported is limited by drawstring 41.
A kind of grasping means of electromagnetism joint Manipulator and feeding method, include the following steps：
A, the maximum deflection amplitude, dynamics and crawl posture in each joint of record human hands.
B, by multiple electromagnetic flexible joints 1 be together in series composition emulation joint, the upper plate 4 in downside electromagnetic flexible joint 1 with
The lower plate 2 in upside electromagnetic flexible joint 1 is fixedly connected, and at reference man's hand same position joint amplitude peak, adjustment electricity
The number of magnetic flexible joint 1.
C, by mechanical palms, mechanical finger, mechanical arm emulation joint connection.
When D, recording human hand feeding patient, the articulate motion state of institute and run duration, and it is soft using PLC control electromagnetism
Property the emulation joint that constitutes of joint 1, the motion state according to the joint of human hand and run duration feeding patient.
Embodiment described above is only that the preferred embodiment of the present invention is described, not to the model of the present invention
It encloses and is defined, under the premise of not departing from design spirit of the present invention, technical side of the those of ordinary skill in the art to the present invention
The various modifications and improvement that case is made should all be fallen into the protection domain of claims of the present invention determination.
Claims (1)
1. a kind of feeding patient's method of electromagnetism joint Manipulator, it is characterised in that：Including mechanical palms, mechanical finger, machinery
Arm and electromagnetic flexible joint (1), one end and the rack of the mechanical arm are fixed, and the other end of mechanical arm is soft by electromagnetism
Property joint (1) is connect with mechanical palms, and mechanical palms are connect by electromagnetic flexible joint (1) with mechanical finger, mechanical finger
Each joint 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) connect with upper plate (4), the axis of three telescopic masts (3) with upper plate (4), 0 °, 120 °, 240 ° of positions of lower plate (2) circumferential direction
It is fixed；
The telescopic mast (3) includes electromagnet (31), permanent magnet (32), spacing ring (33), flexible sleeve (34) and mandril (35), institute
It is fixed with lower plate (2) to state flexible sleeve (34) bottom, flexible sleeve (34) inner cavity is equipped with electromagnet (31), permanent magnet successively from bottom to top
(32) and mandril (35), the electromagnet (31) are fixed on flexible sleeve (34) bottom, and the permanent magnet (32) is with flexible sleeve (34)
Inner cavity is guide rail, is fixed with mandril (35) bottom at the top of permanent magnet (32), is connect with upper plate (4) at the top of mandril (35)；
Mandril (35) is made of nitrile rubber；
Spacing ring (33) is multiple along flexible sleeve (34) axial array from the middle part of flexible sleeve (34) inner cavity to top, spacing ring (33)
Interval between thickness and spacing ring (33) is equal；
Flexible sleeve (34) inner cavity is in a circular table shape, and the upper internal diameter of flexible sleeve (34) inner cavity is less than lower internal diameter, and permanent magnet (32) is
Cylindric, the outer diameter of permanent magnet (32) is less than the lower internal diameter of flexible sleeve (34) inner cavity, and the outer diameter of permanent magnet (32) is more than flexible sleeve
(34) internal diameter in the middle part of inner cavity；
It is connect by spring (36) with upper plate (4) at the top of the mandril (35)；
The mandril (35) is flexible link, and spacing ring (33), spacing ring (33) internal diameter are equipped in the middle part of flexible sleeve (34) inner cavity
Identical as mandril (35) outer diameter, spacing ring (33) is for limiting permanent magnet (32) and playing the guiding role to mandril (35)；
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 several circle lead loop,
Electromagnetism joint Manipulator further includes circuit control part, and the circuit control part includes contactor charging control dress
It sets, generator (91) and constant-current stabilizer (92), the contactor charging control device include the first contact (951), second
Contact (952), third contact (953), the 4th contact (954), the 5th contact (955), the 6th contact (956), the 7th contact
(957), the 8th contact (958), the 9th contact (959), the tenth contact (950) and by the first accumulator (93), the second accumulator
(94) accumulator collectively constituted, the constant-current stabilizer (92) are converted for receiving accumulator voltage fluctuated
For burning voltage, 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) connect with the anode of the first accumulator (93), the second contact (952) and the first accumulator (93)
Cathode connection, the anode of third contact (953) and generator (91) connect, and the 4th contact (954) and generator (91) are born
Pole connects, and the 5th contact (955) is connect with the anode of the second accumulator (94), the 6th contact (956) and the second accumulator (94)
Cathode connection, the anode of the 7th contact (957) and constant-current stabilizer (92) connect, the 8th contact (958) and constant-current stabilizer (92)
Cathode connection, the 9th contact (959) connects with the first contact (951), and the tenth contact (950) is connected with the second contact (952)；
The sleeve that the flexible sleeve (34) is arranged by shrimp shell shape is constituted, and the sleeve includes bottom set (38) knead dough limit set (391)；
Flexible sleeve (34) bottom is that bottom covers (38), and the bottom set (38) is round table-like, and bottom covers the larger circumference of (38) outer diameter
Face covers (38) interior fixed electromagnet (31) for fixing lower plate (2), bottom, and bottom covers superposition on (38) and is set with multiple face limit sets (391),
The side of bottom set (38) is connect with the face limit set (391) on the upside of it by drawstring (41)；
The face limit set (391) is round table-like sleeve, and outer diameter is less than downside outer diameter, face limit set on the upside of the face limit set (391)
(391) it is equipped with axially extending bore, described face limit set (391) bottom offers third round platform hole, and the third round platform hole is covered with face limit
(391) axially extending bore connects, and the internal diameter on the upside of third round platform hole is identical as the face limit set internal diameter of axially extending bore of (391),
There is angle between the side lines and the side lines of the first round platform set of the first round platform hole in limit set (391) axial cross section of face, institute
It is ∠ a to state angle；
It is set with multiple face limit sets (391) on the face limit set (391) successively in the axial direction, the face limit set (391) of downside
The lower edge of the third round platform hole of the face of frustum cone side and upside limit set (391) is connected by drawstring (41), drawstring (41) edge
The axis of face limit set (391) is circumferentially uniformly distributed multiple；
When two face limit sets (391) mutually stretch round about, the face limit set (391) of upside is covered with the face limit of downside
(391) it is connected by drawstring；
When two faces limit set (391) mutually drawstring and when by radial load round about, face limit set (391) bottom first of upside
A little mutually support a little covered with the face of downside limit set (391) or bottom in (38) upper side in round platform hole lower edge, it is described
The circumferential other side of any mutually supported is limited by drawstring (41)；
Flexible sleeve (34) is made of nitrile rubber；
It includes the following steps：
A, the maximum deflection amplitude, dynamics and crawl posture in each joint of record human hands,
B, multiple electromagnetic flexible joints (1) are together in series and constitute emulation joint, the upper plate (4) in downside electromagnetic flexible joint (1)
Be fixedly connected with the lower plate (2) in upside electromagnetic flexible joint (1), and at reference man's hand same position joint amplitude peak,
The number of electromagnetic flexible joint (1) is adjusted,
C, mechanical palms, mechanical finger, mechanical arm emulation joint are connected,
When D, recording human hand feeding patient, the articulate motion state of institute and run duration, and closed using PLC control electromagnetic flexibles
Save the emulation joint that (1) is constituted, the motion state according to the joint of human hand and run duration feeding patient.
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 |
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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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| CN106142078A CN106142078A (en) | 2016-11-23 |
| CN106142078B true CN106142078B (en) | 2018-11-02 |
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| CN201610475516.0A Active CN106003114B (en) | 2015-03-02 | 2015-03-02 | A kind of control method of electromagnetism joint Manipulator |
| CN201610476397.0A Active CN106041914B (en) | 2015-03-02 | 2015-03-02 | A kind of feeding patient's method of electromagnetism joint Manipulator |
| CN201610476390.9A Withdrawn CN105856224A (en) | 2015-03-02 | 2015-03-02 | Method for feeding patient by using electromagnetic joint manipulator |
| CN201610475499.0A Withdrawn CN105856215A (en) | 2015-03-02 | 2015-03-02 | Control method of electromagnetic joint manipulator |
| CN201510092211.7A Active CN104669259B (en) | 2015-03-02 | 2015-03-02 | Electromagnetic joint mechanical hand and patient feeding and control method thereof |
| CN201610476398.5A Active CN106003116B (en) | 2015-03-02 | 2015-03-02 | The control method of electromagnetism joint Manipulator |
| CN201610476399.XA Active CN106041990B (en) | 2015-03-02 | 2015-03-02 | Electromagnetism joint Manipulator |
| CN201610475100.9A Withdrawn CN105881531A (en) | 2015-03-02 | 2015-03-02 | Patient feeding method of electromagnetic joint mechanical hand |
| CN201610475518.XA Active CN106003115B (en) | 2015-03-02 | 2015-03-02 | Electromagnetism joint Manipulator |
| CN201610475502.9A Pending CN106142077A (en) | 2015-03-02 | 2015-03-02 | A kind of feeding patient's method of electromagnetism joint Manipulator |
| CN201610476400.9A Active CN106003012B (en) | 2015-03-02 | 2015-03-02 | Feeding patient's method of electromagnetism joint Manipulator |
| CN201610475504.8A Expired - Fee Related CN106142078B (en) | 2015-03-02 | 2015-03-02 | A kind of feeding patient's method of electromagnetism joint Manipulator |
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| CN201610475516.0A Active CN106003114B (en) | 2015-03-02 | 2015-03-02 | A kind of control method of electromagnetism joint Manipulator |
| CN201610476397.0A Active CN106041914B (en) | 2015-03-02 | 2015-03-02 | A kind of feeding patient's method of electromagnetism joint Manipulator |
| CN201610476390.9A Withdrawn CN105856224A (en) | 2015-03-02 | 2015-03-02 | Method for feeding patient by using electromagnetic joint manipulator |
| CN201610475499.0A Withdrawn CN105856215A (en) | 2015-03-02 | 2015-03-02 | Control method of electromagnetic joint manipulator |
| CN201510092211.7A Active CN104669259B (en) | 2015-03-02 | 2015-03-02 | Electromagnetic joint mechanical hand and patient feeding and control method thereof |
| CN201610476398.5A Active CN106003116B (en) | 2015-03-02 | 2015-03-02 | The control method of electromagnetism joint Manipulator |
| CN201610476399.XA Active CN106041990B (en) | 2015-03-02 | 2015-03-02 | Electromagnetism joint Manipulator |
| CN201610475100.9A Withdrawn CN105881531A (en) | 2015-03-02 | 2015-03-02 | Patient feeding method of electromagnetic joint mechanical hand |
| CN201610475518.XA Active CN106003115B (en) | 2015-03-02 | 2015-03-02 | Electromagnetism joint Manipulator |
| CN201610475502.9A Pending CN106142077A (en) | 2015-03-02 | 2015-03-02 | A kind of feeding patient's method of electromagnetism joint Manipulator |
| CN201610476400.9A Active CN106003012B (en) | 2015-03-02 | 2015-03-02 | Feeding patient's method of electromagnetism joint Manipulator |
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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 CN201610475516.0A patent/CN106003114B/en active Active
- 2015-03-02 CN CN201610476397.0A patent/CN106041914B/en active Active
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- 2015-03-02 CN CN201610475100.9A patent/CN105881531A/en not_active Withdrawn
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Also Published As
| Publication number | Publication date |
|---|---|
| CN106003012B (en) | 2017-12-08 |
| CN106041914A (en) | 2016-10-26 |
| CN106003116A (en) | 2016-10-12 |
| CN106142077A (en) | 2016-11-23 |
| CN105856215A (en) | 2016-08-17 |
| CN104669259B (en) | 2017-02-08 |
| CN106041990A (en) | 2016-10-26 |
| CN105881531A (en) | 2016-08-24 |
| CN106003012A (en) | 2016-10-12 |
| CN106003114B (en) | 2018-03-23 |
| CN106003116B (en) | 2018-04-06 |
| CN106041990B (en) | 2017-12-12 |
| CN106041914B (en) | 2017-12-08 |
| CN106003115B (en) | 2018-05-22 |
| CN106003115A (en) | 2016-10-12 |
| CN106003114A (en) | 2016-10-12 |
| CN105856224A (en) | 2016-08-17 |
| CN104669259A (en) | 2015-06-03 |
| CN106142078A (en) | 2016-11-23 |
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