CN106541406A - A kind of Chinese traditional massage mechanical hand based on EON - Google Patents
A kind of Chinese traditional massage mechanical hand based on EON Download PDFInfo
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- CN106541406A CN106541406A CN201510606255.7A CN201510606255A CN106541406A CN 106541406 A CN106541406 A CN 106541406A CN 201510606255 A CN201510606255 A CN 201510606255A CN 106541406 A CN106541406 A CN 106541406A
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Abstract
A kind of Chinese traditional massage mechanical hand based on EON, principle based on " removable to fill ", traditional Chinese medical science massaging manipulator hand is dismantled and assembled with virtual reality software EON, by the dismounting to traditional Chinese medical science massaging manipulator hand, obtaining can assembly path, invert again and cook up the assembly technology of Chinese traditional massage Manipulator Hand, the massaging action of Chinese traditional massage mechanical hand is finally realized with EON.Rational assembly technology can be obtained with Chinese traditional massage mechanical hand, the design time is reduced, shorten assembly period, improve assembling quality and efficiency, obtain more preferable economic benefit.
Description
Technical field
The present invention relates to a kind of mechanical hand, particularly a kind of Chinese traditional massage mechanical hand based on EON.
Background technology
At present, the disease of old people's generally existing lumbago and skelalgia, the appearance of Traditional Chinese medicine massage robot solve this problem well.Chinese traditional massage mechanical hand is the important component part that Traditional Chinese medicine massage robot completes massaging action, and its modeling directly affects the realization of massaging action with assembling.Interference and collision, assembling Planar Mechanisms, the low series of problems of assembly precision are there is in traditional assembling process, Virtual Assembling Technology is provided for a new effective way.At present, Virtual Assembling Technology is set up on the large-scale three dimensional basis of software such as such as CATIA, Pro/ENGINEER, SolidWorks mostly, and this not only has very high requirement to technical staff, and generation file is larger, and interactive operation is difficult.EON is a set of modularity three-dimension interaction simulation software, can realize interaction and the behavior act of pseudo-entity, and become directly perceived and easy in three-dimensional world.Compare with existing 3 d modeling software and virtual reality exploitation software, EON has outstanding advantage to aspects such as the compatibility of calculation speed and virtual environment related hardware of large-scale physical model.
The content of the invention
The present invention proposes a kind of Chinese traditional massage mechanical hand based on EON, principle based on " removable to fill ", traditional Chinese medical science massaging manipulator hand is dismantled and assembled with virtual reality software EON, by the dismounting to traditional Chinese medical science massaging manipulator hand, obtaining can assembly path, invert again and cook up the assembly technology of Chinese traditional massage Manipulator Hand, the massaging action of Chinese traditional massage mechanical hand is finally realized with EON.
The technical solution adopted in the present invention is：
The hand of the Chinese traditional massage mechanical hand is made up of the five fingers, thumb is connected with other four fingers by axle, four refer to it is link gear, the hand of Chinese traditional massage mechanical hand includes one degree of freedom, hand is completed by only needing to a motor is affectedly bashful motion, be capable of achieving to be affectedly bashful by cooperating with the arm of Chinese traditional massage mechanical hand, refer to by etc. massaging action.The hand of Chinese traditional massage mechanical hand is the motion that finger is realized by secondary gear transmission, and in secondary gear transmission, as the motion of finger need not carry out 180 ° of rotations, therefore afterbody transmission designs angled sector gear according to finger motion scope.
The Chinese traditional massage Manipulator Model is loaded into EON two methods, a kind of that model is introduced directly into EON Studio, and the method has the drawback that meeting distortion after model importing, and the workload for readjusting model is too big；Another kind of method is model to be imported in 3ds Max, and EONStudio provides an EONRaptor output inserter for 3ds Max, and model is directly exported as the file format * .eoz of EON Studio, and this method makes model more life-like in virtual scene.In view of the pluses and minuses of both the above method, the importing of Chinese traditional massage mechanical hand adopts second method.
As assembly or disassembly is a pair processes reversible each other, each disassembling section one contrary assembling action of correspondence, by the precedence constraint for obtaining parts in Chinese traditional massage Manipulator Hand unloading process, the disassembly sequence of parts, then the assembling process that Chinese traditional massage Manipulator Hand is obtained by inverting are cooked up first.The dismounting of Chinese traditional massage Manipulator Hand is mainly with placement node（Place）, frame joint（Frame）, keyboard mobile node（KeyMove）, keyboard node 1-10（Key1to10）With collision node（Collision）Realize.Control of the KeyMove nodes by X, Y, Z one-movement-freedom-degree and H, P, R rotary freedom to part, realizes the disassembly path of each part and removed position is stored in Place nodes.Occur that multiple parts are dismantled in the form of part in dismounting, these parts are placed under Frame nodes as integral demounting.Should add in dismounting whether Collision nodes, detection dismounting part are collided with other parts.
Dismounting substep is carried out, and using little wrist support as dismounting benchmark, is remained stationary as.Name Key1 to10 namespace nodes are dismounting.Unloading process is divided into seven steps using 1-the 7 of Key1 to10 nodes keyboard sensor, by the records of values of each step disassembly path in Place nodes, node is dragged to logic form, is sequentially connected interdependent node to realize the disassembly path of each part.
Inverted according to the relevant information of dismounting and be capable of achieving the Virtual assemble of Chinese traditional massage Manipulator Hand.Displacement and the rotational value of Place nodes are set in EON, the Virtual assemble of Chinese traditional massage Manipulator Hand are realized with reference to other nodes.The massaging action of Chinese traditional massage mechanical hand mainly by the taking of hand, pinching is realized.Mouse sensor section is used in EON（MouseSensor）, switching switching node（Latch）, place node（Place）Complete massaging action.When left mouse button is clicked on, MouseSensor nodes convey information to Latch nodes, realize that thumb is affectedly bashful action；When right mouse button is clicked on, MouseSensor nodes convey information to another Latch node, mechanical hand four refers to release, return to initial position, the movement locus of being affectedly bashful of doctor's massaging manipulator are recorded in Place nodes, it is affectedly bashful action to complete, so realizes repeatedly the massaging action of Chinese traditional massage mechanical hand.
The invention has the beneficial effects as follows：Rational assembly technology can be obtained with Chinese traditional massage mechanical hand, the design time is reduced, shorten assembly period, improve assembling quality and efficiency, obtain more preferable economic benefit.
Description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the manipulator paw front view of the present invention.
Fig. 2 is the manipulator paw left view of the present invention.
Fig. 3 is the Chinese traditional massage Manipulator Hand Disassembly layout schematic diagram of the present invention.
In figure：1. motor；2. palm lid；3. palm；4. axle 1；5. sleeve；6. axle 2；7. thumb；8. thumb axle；9. middle finger；10. middle finger connecting plate；11. connecting rods；12. gears 1；13. gears 2；14. sector gears；15. supports.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
As shown in Figure 1, Figure 2, the hand of Chinese traditional massage mechanical hand is made up of the five fingers, thumb is connected with other four fingers by axle, four refer to it is link gear, the hand of Chinese traditional massage mechanical hand includes one degree of freedom, hand is completed by only needing to a motor is affectedly bashful motion, be capable of achieving to be affectedly bashful by cooperating with the arm of Chinese traditional massage mechanical hand, refer to by etc. massaging action.The hand of Chinese traditional massage mechanical hand is the motion that finger is realized by secondary gear transmission, and in secondary gear transmission, as the motion of finger need not carry out 180 ° of rotations, therefore afterbody transmission designs angled sector gear according to finger motion scope.
Chinese traditional massage Manipulator Model is loaded into EON two methods, a kind of that model is introduced directly into EON Studio, and the method has the drawback that meeting distortion after model importing, and the workload for readjusting model is too big；Another kind of method is model to be imported in 3ds Max, and EONStudio provides an EONRaptor output inserter for 3ds Max, and model is directly exported as the file format * .eoz of EON Studio, and this method makes model more life-like in virtual scene.In view of the pluses and minuses of both the above method, the importing of Chinese traditional massage mechanical hand adopts second method.
As assembly or disassembly is a pair processes reversible each other, each disassembling section one contrary assembling action of correspondence, by the precedence constraint for obtaining parts in Chinese traditional massage Manipulator Hand unloading process, the disassembly sequence of parts, then the assembling process that Chinese traditional massage Manipulator Hand is obtained by inverting are cooked up first.
Such as Fig. 3, the dismounting of Chinese traditional massage Manipulator Hand is mainly with placement node（Place）, frame joint（Frame）, keyboard mobile node（KeyMove）, keyboard node 1-10（Key1to10）With collision node（Collision）Realize.Control of the KeyMove nodes by X, Y, Z one-movement-freedom-degree and H, P, R rotary freedom to part, realizes the disassembly path of each part and removed position is stored in Place nodes.Occur that multiple parts are dismantled in the form of part in dismounting, these parts are placed under Frame nodes as integral demounting.Should add in dismounting whether Collision nodes, detection dismounting part are collided with other parts.
Dismounting substep is carried out, and using little wrist support as dismounting benchmark, is remained stationary as.Name Key1 to10 namespace nodes are dismounting.Unloading process is divided into seven steps using 1-the 7 of Key1 to10 nodes keyboard sensor, by the records of values of each step disassembly path in Place nodes, node is dragged to logic form, is sequentially connected interdependent node to realize the disassembly path of each part.
Inverted according to the relevant information of dismounting and be capable of achieving the Virtual assemble of Chinese traditional massage Manipulator Hand.Displacement and the rotational value of Place nodes are set in EON, the Virtual assemble of Chinese traditional massage Manipulator Hand are realized with reference to other nodes.The massaging action of Chinese traditional massage mechanical hand mainly by the taking of hand, pinching is realized.Mouse sensor section is used in EON（MouseSensor）, switching switching node（Latch）, place node（Place）Complete massaging action.When left mouse button is clicked on, MouseSensor nodes convey information to Latch nodes, realize that thumb is affectedly bashful action；When right mouse button is clicked on, MouseSensor nodes convey information to another Latch node, mechanical hand four refers to release, return to initial position, the movement locus of being affectedly bashful of doctor's massaging manipulator are recorded in Place nodes, it is affectedly bashful action to complete, so realizes repeatedly the massaging action of Chinese traditional massage mechanical hand.
Claims (5)
1. a kind of Chinese traditional massage mechanical hand based on EON, is characterized in that：The hand of the Chinese traditional massage mechanical hand is made up of the five fingers, thumb is connected with other four fingers by axle, four refer to it is link gear, the hand of Chinese traditional massage mechanical hand includes one degree of freedom, hand is completed by only needing to a motor is affectedly bashful motion, it is capable of achieving to be affectedly bashful by cooperating with the arm of Chinese traditional massage mechanical hand, refer to press and wait massaging action, the hand of Chinese traditional massage mechanical hand is the motion that finger is realized by secondary gear transmission, in secondary gear transmission, as the motion of finger need not carry out 180 ° of rotations, therefore afterbody transmission designs angled sector gear according to finger motion scope.
2. a kind of Chinese traditional massage mechanical hand based on EON according to claim 1, is characterized in that：It is model to be imported in 3ds Max that the Chinese traditional massage Manipulator Model is loaded into EON methods, EONStudio provides an EONRaptor output inserter for 3ds Max, model is directly exported as the file format * .eoz of EON Studio, this method makes model more life-like in virtual scene.
3. a kind of Chinese traditional massage mechanical hand based on EON according to claim 1, is characterized in that：As assembly or disassembly is a pair processes reversible each other, each disassembling section one contrary assembling action of correspondence, by the precedence constraint for obtaining parts in Chinese traditional massage Manipulator Hand unloading process, the disassembly sequence of parts, then the assembling process that Chinese traditional massage Manipulator Hand is obtained by inverting are cooked up first.
4. a kind of Chinese traditional massage mechanical hand based on EON according to claim 1, is characterized in that：The dismounting of the Chinese traditional massage Manipulator Hand is mainly with placement node（Place）, frame joint（Frame）, keyboard mobile node（KeyMove）, keyboard node 1-10（Key1to10）With collision node（Collision）Realize.
5. a kind of Chinese traditional massage mechanical hand based on EON according to claim 1, is characterized in that：Displacement and the rotational value of Place nodes are set in EON, the Virtual assemble of Chinese traditional massage Manipulator Hand is realized with reference to other nodes, the massaging action of Chinese traditional massage mechanical hand mainly by the taking of hand, pinching is realized.
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| CN201510606255.7A CN106541406A (en) | 2015-09-22 | 2015-09-22 | A kind of Chinese traditional massage mechanical hand based on EON |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107802494A (en) * | 2017-09-30 | 2018-03-16 | 无锡厚发自动化设备有限公司 | One kind automation demulcen method |
| CN107822883A (en) * | 2017-09-30 | 2018-03-23 | 无锡厚发自动化设备有限公司 | One kind automation medicine processing device |
| CN108379044A (en) * | 2018-02-11 | 2018-08-10 | 重庆医科大学附属永川医院 | A kind of orthopaedics limbs massage apparatus |
-
2015
- 2015-09-22 CN CN201510606255.7A patent/CN106541406A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107802494A (en) * | 2017-09-30 | 2018-03-16 | 无锡厚发自动化设备有限公司 | One kind automation demulcen method |
| CN107822883A (en) * | 2017-09-30 | 2018-03-23 | 无锡厚发自动化设备有限公司 | One kind automation medicine processing device |
| CN107822883B (en) * | 2017-09-30 | 2020-11-06 | 无锡厚发自动化设备有限公司 | Automatic medicine infiltrating machine |
| CN107802494B (en) * | 2017-09-30 | 2020-11-06 | 无锡厚发自动化设备有限公司 | Automatic medicine moistening method |
| CN108379044A (en) * | 2018-02-11 | 2018-08-10 | 重庆医科大学附属永川医院 | A kind of orthopaedics limbs massage apparatus |
| CN108379044B (en) * | 2018-02-11 | 2019-06-28 | 重庆医科大学附属永川医院 | A kind of orthopaedics limbs massage apparatus |
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