CN108145751B - Detachable auxiliary bearing device of disabled assisting mechanical arm, disabled assisting mechanical arm and using method of disabled assisting mechanical arm - Google Patents
Detachable auxiliary bearing device of disabled assisting mechanical arm, disabled assisting mechanical arm and using method of disabled assisting mechanical arm Download PDFInfo
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- CN108145751B CN108145751B CN201711282504.7A CN201711282504A CN108145751B CN 108145751 B CN108145751 B CN 108145751B CN 201711282504 A CN201711282504 A CN 201711282504A CN 108145751 B CN108145751 B CN 108145751B
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- mechanical arm
- arm
- disabled
- electromagnet
- push rod
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- 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
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- 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
Abstract
The invention discloses a detachable auxiliary bearing device of a disabled assisting mechanical arm, which comprises a bearing arm and a positioning mechanism, wherein the bearing arm is connected with the positioning mechanism, the bearing arm is arranged on the disabled assisting mechanical arm through the positioning mechanism, and the positioning mechanism is detachably connected with the disabled assisting mechanical arm; the bearing arm includes work push rod, supplementary hook and is used for driving work push rod realizes along work push rod self axial reciprocating motion's lift actuating mechanism, supplementary hook sets up in the bottom of work push rod, and supplementary hook is used for the heavy object that the hook needs to draw. The invention also discloses a disabled assisting mechanical arm which comprises an arm body and the detachable disabled assisting mechanical arm auxiliary bearing device. The invention also discloses a use method of the mechanical arm for helping the disabled, and the method can realize the installation and the disassembly of the auxiliary bearing device and is beneficial to lifting heavy objects. The invention can meet the requirement of people using the mechanical arm for helping the disabled on extracting the heavy object.
Description
Technical Field
The invention belongs to the technical field of disabled assisting mechanical arms, and particularly relates to a detachable disabled assisting mechanical arm auxiliary bearing device, a disabled assisting mechanical arm and a using method of the disabled assisting mechanical arm.
Background
The physical disabilities can cause great troubles to the life of people, the disabled-assisting mechanical arm is wide in requirement for meeting the self-care requirement of the life of disabled people, and the mechanical structure of the disabled-assisting mechanical arm on the market is light and handy at present, and can mostly meet corresponding basic functions.
For example, patent application with publication number CN106963524A discloses a 3D printed myoelectricity bionic prosthetic arm, which comprises an upper arm, a forearm, an elbow joint and a palm, wherein the upper arm is connected with the forearm through the elbow joint, the elbow joint is internally provided with a rotating motor for driving the elbow joint to rotate and a bending motor for driving the forearm to bend, the top end of the elbow joint is buckled with the bottom end of the upper arm, the forearm comprises an upper section arm, a middle section arm and a lower section arm which are communicated, the top end of the upper section arm is movably connected with the bottom end of the elbow joint, the bottom end of the lower broken arm is movably connected with the palm, the upper section arm is internally provided with a circuit board, the middle section arm is internally provided with five control motors, the lower broken arm is internally provided with ten wire dividing holes, the five control motors, the bending motors and the rotating motors are respectively and electrically connected with the circuit board, the palm comprises five fingers, a traction wire fixing part for fixing a traction wire is internally arranged at the finger tip of each finger, and between machines. The 3D myoelectricity printing bionic prosthetic arm can help disabled people to complete basic arm functions, but as some existing disabled assisting mechanical arms, the problem that the bearing capacity is poor when a relatively heavy object is taken and placed, the connection parts of arm sections and joints are pulled due to forced extraction, and the service life of the prosthetic arm or the disabled assisting mechanical arm is shortened is solved.
It will thus be seen that the prior art is susceptible to further improvements and enhancements.
Disclosure of Invention
The invention provides a detachable auxiliary bearing device of a disabled assisting mechanical arm, the disabled assisting mechanical arm and a using method thereof, aiming at avoiding the defects in the prior art, so as to meet the requirements on lifting and moving heavy objects.
The technical scheme adopted by the invention is as follows:
the detachable auxiliary bearing device for the disabled assisting mechanical arm comprises a bearing arm and a positioning mechanism, wherein the bearing arm is connected with the positioning mechanism, the bearing arm is arranged on the disabled assisting mechanical arm through the positioning mechanism, and the positioning mechanism is detachably connected with the disabled assisting mechanical arm; the bearing arm includes work push rod, supplementary hook and is used for driving work push rod realizes along work push rod self axial reciprocating motion's lift actuating mechanism, supplementary hook sets up in the bottom of work push rod, and supplementary hook is used for the heavy object that the hook needs to draw.
The bearing arm further comprises a first spherical hinge, and the auxiliary hook is connected with the working push rod through the first spherical hinge.
The positioning mechanism comprises a mounting plate and a mounting lantern ring, a positioning hole for connecting the mounting plate with the mechanical arm for the disabled is formed in the mounting plate, the mounting lantern ring is connected with the mounting plate, and the mounting lantern ring is sleeved on the mechanical arm for the disabled; the positioning mechanism further comprises a first connecting piece, and the positioning sleeve is connected with the mounting sleeve ring or the mounting plate through the first connecting piece.
The tightness of the mounting lantern ring is adjustable.
Supplementary bearing device is still including the gesture guiding mechanism who is used for adjusting the gesture when bearing arm promotes the heavy object, gesture guiding mechanism includes the connecting rod and sets up the spacing end cap at the connecting rod both ends respectively, all be provided with on position sleeve and the mounting panel with the direction spout of spacing end cap looks adaptation, gesture guiding mechanism still includes two second ball hinges, passes through between the both ends of connecting rod and the spacing end cap the second ball hinge links to each other.
The lifting driving mechanism comprises a hydraulic cylinder, and a piston rod of the hydraulic cylinder is connected with the working push rod; the lifting driving mechanism further comprises a driving part for driving the hydraulic cylinder to act, the driving part comprises a driving motor, a transmission assembly and a hydraulic pump, the hydraulic pump is connected with the hydraulic cylinder, and the driving motor drives the hydraulic pump to act through the transmission assembly.
The bearing arm further comprises a housing, the lifting driving mechanism is arranged in the housing, the positioning mechanism further comprises a second connecting piece, and the housing is connected with the disabled assisting mechanical arm through the second connecting piece; the cover shell is also provided with a detachable strap.
The first connecting piece comprises a first electromagnet and a first iron sheet, the first iron sheet is arranged on the mounting plate or the mounting sleeve ring, the first electromagnet is arranged on the positioning sleeve, the first electromagnet is fixedly connected with the first iron sheet after being electrified, and the first electromagnet is disconnected with the first iron sheet after being powered off; the second connecting piece comprises a second electromagnet and a second iron sheet, the second electromagnet is arranged on the housing, the second iron sheet is arranged on the mechanical arm for helping the disabled, the second electromagnet is fixedly connected with the second iron sheet after being electrified, and the second electromagnet is disconnected from the second iron sheet after being powered off.
The invention also discloses a disabled assisting mechanical arm which comprises an arm body, and the disabled assisting mechanical arm further comprises a control system and the detachable disabled assisting mechanical arm auxiliary bearing device, wherein the mounting lantern ring is sleeved at the front part of the arm body, the mounting plate is connected with the arm body, the control system comprises a pressure sensor, an electromagnetic controller and a control module for controlling the lifting driving mechanism, the pressure sensor is used for detecting the weight of a heavy object, the electromagnetic controller controls the power-on and power-off of the first electromagnet and the second electromagnet, and the control module controls the lifting driving mechanism to control the working push rod to ascend or descend.
The invention also discloses a using method of the disabled assisting mechanical arm, the method uses the pressure sensor to detect the weight of a heavy object to be extracted, if the detected value is in the bearing range of the disabled assisting mechanical arm, the detachable disabled assisting mechanical arm auxiliary bearing device is not installed, the disabled assisting mechanical arm is directly used to extract the heavy object, if the detected value exceeds the bearing range of the disabled assisting mechanical arm, the heavy object to be extracted is placed on the auxiliary hook, the electromagnetic controller is used for respectively supplying power to the first electromagnet and the second electromagnet, so that the detachable disabled assisting mechanical arm auxiliary bearing device is installed, then the control module is used for controlling the lifting driving mechanism to lift the working push rod to lift the heavy object, after the working push rod reaches a specified place, the control module is used for controlling the lifting driving mechanism to lower the working push rod to unload the heavy object, and then the electromagnetic controller is used for controlling the first electromagnet and the second electromagnet, the connection between the auxiliary load bearing device and the arm body is broken.
Due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. the auxiliary bearing device is detachably connected with the arm body of the mechanical arm for helping the disabled, and the connection mode brings great convenience to users. When the auxiliary bearing device is arranged on the arm body of the mechanical arm for the disabled, the mechanical arm for the disabled can help a user to extract heavy objects, avoids damage to the mechanical arm for the disabled, and prolongs the service life of the mechanical arm for the disabled.
2. According to the invention, the auxiliary hook and the working push rod are connected by adopting the spherical hinge, and the positioning sleeve and the mounting plate are connected by adopting the spherical hinge, so that the flexibility of the device is improved, the device can better adapt to the body motion and the object motion when the object is extracted, and the device has stronger bionic performance.
3. The invention has simple structure, convenient operation and light weight, and brings great convenience to the life of the disabled.
Drawings
Figure 1 is an isometric view of an auxiliary load bearing device of the present invention.
Fig. 2 is a schematic diagram of a load bearing arm according to the present invention.
Fig. 3 is a schematic view of the assembly of the positioning sleeve with the mounting plate and the mounting collar of the present invention.
Fig. 4 is an assembly schematic diagram of the connecting rod, the limiting plug and the second spherical hinge in the invention.
Figure 5 is a view of the auxiliary load bearing device of the present invention in use.
Wherein the content of the first and second substances,
1. the device comprises a driving motor 2, a worm 3, a hydraulic pump 4, a push rod arm 5, a second electromagnet 6, an electromagnetic valve 7, a connecting shaft 8, a housing 9, a positioning sleeve 10, a connecting rod 11, a mounting plate 12, an auxiliary hook 13, a mounting sleeve ring 14, a first electromagnet 15, a first iron sheet 16, an oil suction port 17, an oil pressing port 18, a working push rod 19, a first guide chute 20, a second guide chute 21, a first spherical hinge 22, a limiting plug 23, a second spherical hinge 24, a detachable strap
Detailed Description
The present invention will be described in further detail with reference to the following drawings and specific examples, but the present invention is not limited to these examples.
As shown in fig. 1 to 5, the detachable auxiliary bearing device for the mechanical arm for the disabled comprises a bearing arm and a positioning mechanism, wherein the bearing arm is connected with the positioning mechanism, the bearing arm is installed on the mechanical arm for the disabled through the positioning mechanism, and the positioning mechanism is detachably connected with the mechanical arm for the disabled.
The bearing arm comprises a working push rod 18, an auxiliary hook 12 and a lifting driving mechanism for driving the working push rod 18 to axially reciprocate along the working push rod 18.
The auxiliary hook 12 is arranged at the bottom end of the working push rod 18, and the auxiliary hook 12 is used for hooking a heavy object to be extracted. The bearing arm also comprises a first spherical hinge 21, and the auxiliary hook 12 is connected with the working push rod 18 through the first spherical hinge 21, so that the posture of the auxiliary hook 12 can be flexibly adjusted according to the swing range of the heavy object.
The positioning mechanism comprises a mounting plate 11 and a mounting lantern ring 13, a positioning hole for connecting the mounting plate 11 with the mechanical arm for the disabled is formed in the mounting plate 11, the mounting lantern ring 13 is connected with the mounting plate 11, and the mechanical arm for the disabled can be sleeved with the mounting lantern ring 13. The positioning sleeve 9 is sleeved outside the working push rod 18, the positioning mechanism further comprises a first connecting piece, and the positioning sleeve 9 is connected with the mounting sleeve ring 13 or the mounting plate 11 through the first connecting piece. The first connecting piece comprises a first electromagnet 14 and a first iron sheet 15, the first iron sheet 15 is arranged on the mounting plate 11 or the mounting sleeve ring 13, the first electromagnet 14 is arranged on the positioning sleeve 9, the first electromagnet 14 is fixedly connected with the first iron sheet 15 after being electrified, and the first electromagnet 14 is disconnected from the first iron sheet 15 after being powered off.
The tightness of the mounting collar 13 is adjustable, so that the mounting collar 13 can be mounted on the outer sides of the arm bodies of the handicapped-assisting mechanical arms with different outer diameters. The installation lantern ring 13 of elasticity adjustable can have multiple structural style, for example can with the installation lantern ring 13 sets up to the structure of two half-shells, the structure one end of two half-shells all can rotate around same pivot, the other end sets up two earboards that link to each other with the structure of two half-shells respectively, the screw is seted up to the relative position department of two earboards, use a fastening bolt to pass two screws and use fastening nut fastening, to the arm body of different external diameters, put the structure cover of two half-shells in the arm body outside, then use fastening bolt and fastening nut to realize the connection of two earboards, when the arm body external diameter is less, relative distance between the two earboards is less, when the arm body external diameter is great, relative distance between the two earboards is great, thereby realize the adaptation to different arm bodies and the regulation of elasticity. Of course, the mounting collar 13 may also adopt other structural manners as long as the tightness can be adjusted.
The auxiliary bearing device further comprises a posture adjusting mechanism for adjusting the posture of the bearing arm when the bearing arm lifts a heavy object, the posture adjusting mechanism comprises a connecting rod 10 and limiting plugs 22 respectively arranged at two ends of the connecting rod 10, a second guide sliding groove 20 matched with the limiting plugs 22 is arranged on the positioning sleeve 9, a first guide sliding groove 19 matched with the limiting plugs 22 and opposite to the second guide sliding groove 20 is arranged on the mounting plate 11, the posture adjusting mechanism further comprises two second spherical hinges 23, and two ends of the connecting rod 10 are connected with the limiting plugs 22 through the second spherical hinges 23, so that the adjustment of different inclination angles between the positioning sleeve 9 and the mounting plate 11 is realized, and the requirements of different swing amplitudes of the heavy object and the disabled assisting mechanical arm are met.
The lifting driving mechanism comprises a hydraulic cylinder, a piston rod of the hydraulic cylinder is connected with the working push rod 18, and the hydraulic cylinder is provided with an oil suction port 16, an oil pressing port 17 and an electromagnetic valve 6 for controlling the opening and closing of the oil suction port and the oil pressing port. The lifting driving mechanism further comprises a driving part for driving the hydraulic cylinder to move, the driving part comprises a driving motor 1, a transmission assembly and a hydraulic pump 3, the hydraulic pump 3 is connected with the hydraulic cylinder, and the driving motor 1 drives the hydraulic pump 3 to move through the transmission assembly. The transmission assembly comprises a worm wheel and a worm 2 matched with the worm wheel, the worm wheel is connected with an output shaft of the driving motor 1 and rotates under the driving of the output shaft of the driving motor 1, so that the worm 2 is driven to do linear reciprocating motion, a push rod arm 4 is arranged in the hydraulic pump 3, the tail end of the worm 2 is connected with the push rod arm 4, and the push rod arm 4 acts to realize the oil absorption of the hydraulic pump 3.
Of course, the transmission assembly of the present invention is not limited to the above-mentioned worm gear and worm, and other transmission forms may be adopted as long as the rotary motion of the output shaft of the driving motor 1 can be converted into the linear reciprocating motion of the push rod arm 4 of the hydraulic pump 3.
The bearing arm further comprises a housing 8, the lifting driving mechanism is arranged in the housing 8, the positioning mechanism further comprises a second connecting piece, and the housing 8 is connected with the disabled assisting mechanical arm through the second connecting piece. The second connecting piece comprises a second electromagnet 5 and a second iron sheet, the second electromagnet 5 is arranged on the housing 8, the second iron sheet is arranged on the arm body of the mechanical arm for helping the disabled, the second electromagnet 5 is fixedly connected with the second iron sheet after being electrified, and the second electromagnet 5 is disconnected from the second iron sheet after being powered off.
The housing 8 is also provided with a connecting shaft 7, and the arm body of the handicapped-helping mechanical arm is provided with a groove matched with the connecting shaft 7.
The cover 8 is also provided with a detachable strap 24 to facilitate the user to carry the auxiliary load bearing device.
The invention also discloses a disabled assisting mechanical arm which comprises an arm body, wherein the arm body can adopt various upper arm artificial limbs in the prior art. The disabled assisting mechanical arm further comprises a control system and the detachable disabled assisting mechanical arm auxiliary bearing device. The mounting lantern ring 13 is sleeved on the front portion of the arm body, and the mounting plate 11 is connected with the arm body.
The control system comprises a pressure sensor, an electromagnetic controller and a control module for controlling the lifting driving mechanism, wherein the pressure sensor is used for detecting the weight of a heavy object, the electromagnetic controller controls the power on and off of the first electromagnet 14 and the second electromagnet 5, and the control module controls the lifting driving mechanism to control the working push rod to ascend or descend. For convenience of control, a corresponding lifting button and an unloading button can be arranged on the mechanical arm for the disabled or the auxiliary bearing device, the lifting button is pressed down, the motor 1 is driven to rotate, the hydraulic pump 3 drives a piston rod of the hydraulic cylinder to retract so as to lift the heavy object, the unloading button is pressed down, the motor 1 is driven to rotate reversely, and the hydraulic pump 3 drives the piston rod of the hydraulic cylinder to extend so as to unload the heavy object to a target position.
The invention also discloses a using method of the disabled assisting mechanical arm, the method uses the pressure sensor to detect the weight of a heavy object to be extracted, if the detected value is in the bearing range of the disabled assisting mechanical arm, the detachable disabled assisting mechanical arm auxiliary bearing device is not installed, the disabled assisting mechanical arm is directly used for extracting the heavy object, if the detected value exceeds the bearing range of the disabled assisting mechanical arm, the heavy object to be extracted is placed on the auxiliary hook 12, the first electromagnet 14 and the second electromagnet 5 are respectively supplied with power through the electromagnetic controller to realize the installation of the detachable disabled assisting mechanical arm auxiliary bearing device, then the lifting driving mechanism is controlled by the control module to lift the working push rod 18 to realize the lifting of the heavy object, after the working push rod reaches a specified place, the lifting driving mechanism is controlled by the control module to lower the working push rod 18 to realize the unloading of the heavy object, the first electromagnet 14 and the second electromagnet 5 are then controlled by said electromagnetic control to break the connection between the auxiliary load-bearing device and the arm.
It should be noted that the driving motor 1 can be powered by a storage battery or a charging motor, so that the storage battery or the charging motor can be charged after the auxiliary bearing device is detached, and the next use is facilitated.
Parts which are not described in the invention can be realized by adopting or referring to the prior art.
Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (8)
1. The auxiliary bearing device is characterized by comprising a bearing arm, a positioning mechanism and a posture adjusting mechanism for adjusting the posture of the bearing arm when lifting a heavy object, wherein the bearing arm is connected with the positioning mechanism, the bearing arm is arranged on the disabled assisting mechanical arm through the positioning mechanism, and the positioning mechanism is detachably connected with the disabled assisting mechanical arm; the bearing arm comprises a working push rod, an auxiliary hook and a lifting driving mechanism for driving the working push rod to realize axial reciprocating movement along the working push rod, the auxiliary hook is arranged at the bottom end of the working push rod and is used for hooking a heavy object to be extracted, the positioning mechanism comprises a mounting plate and a mounting lantern ring, a positioning hole for connecting the mounting plate with the mechanical arm for the disabled is formed in the mounting plate, the mounting lantern ring is connected with the mounting plate, and the mounting lantern ring is sleeved on the mechanical arm for the disabled; the positioning mechanism comprises a working push rod, a positioning sleeve, a first connecting piece and a second connecting piece, wherein the outer side of the working push rod is sleeved with the positioning sleeve; the posture adjusting mechanism comprises a connecting rod and limiting plugs arranged at two ends of the connecting rod respectively, guide sliding grooves matched with the limiting plugs are formed in the positioning sleeve and the mounting plate, the posture adjusting mechanism further comprises two second spherical hinges, and two ends of the connecting rod are connected with the limiting plugs through the second spherical hinges.
2. The detachable auxiliary load bearing device of the handicapped assisting mechanical arm as claimed in claim 1, wherein the load bearing arm further comprises a first spherical hinge, and the auxiliary hook is connected with the working push rod through the first spherical hinge.
3. The removable assistive robotic arm auxiliary load bearing device of claim 1, wherein the tightness of the mounting collar is adjustable.
4. The auxiliary load bearing device of the detachable disability aid arm as claimed in claim 1, wherein the lifting drive mechanism comprises a hydraulic cylinder, a piston rod of the hydraulic cylinder is connected to the working push rod; the lifting driving mechanism further comprises a driving part for driving the hydraulic cylinder to act, the driving part comprises a driving motor, a transmission assembly and a hydraulic pump, the hydraulic pump is connected with the hydraulic cylinder, and the driving motor drives the hydraulic pump to act through the transmission assembly.
5. The auxiliary bearing device of claim 1, wherein the bearing arm further comprises a housing, the lifting driving mechanism is disposed in the housing, the positioning mechanism further comprises a second connecting member, and the housing is connected to the handicapped assisting mechanical arm through the second connecting member; the cover shell is also provided with a detachable strap.
6. The auxiliary bearing device for the detachable disabled assisting mechanical arm as claimed in claim 5, wherein the first connecting piece comprises a first electromagnet and a first iron sheet, the first iron sheet is arranged on the mounting plate or the mounting lantern ring, the first electromagnet is arranged on the positioning sleeve, the first electromagnet is fixedly connected with the first iron sheet after being electrified, and the first electromagnet is disconnected from the first iron sheet after being powered off; the second connecting piece comprises a second electromagnet and a second iron sheet, the second electromagnet is arranged on the housing, the second iron sheet is arranged on the mechanical arm for helping the disabled, the second electromagnet is fixedly connected with the second iron sheet after being electrified, and the second electromagnet is disconnected from the second iron sheet after being powered off.
7. The disabled assisting mechanical arm comprises an arm body and is characterized by further comprising a control system and the detachable disabled assisting mechanical arm auxiliary bearing device as claimed in claim 6, wherein the mounting lantern ring is sleeved on the front portion of the arm body, the mounting plate is connected with the arm body, the control system comprises a pressure sensor, an electromagnetic controller and a control module for controlling the lifting driving mechanism, the pressure sensor is used for detecting weight of a heavy object, the electromagnetic controller controls the power-on and power-off of the first electromagnet and the second electromagnet, and the control module controls the working push rod to ascend or descend by controlling the lifting driving mechanism.
8. The method for using the disabled assisting mechanical arm according to claim 7, wherein the method uses the pressure sensor to detect the weight of the heavy object to be extracted, if the detected value is within the bearing range of the disabled assisting mechanical arm, the detachable disabled assisting mechanical arm auxiliary bearing device is not installed, the disabled assisting mechanical arm is directly used for extracting the heavy object, if the detected value exceeds the bearing range of the disabled assisting mechanical arm, the heavy object to be extracted is placed on the auxiliary hook, the first electromagnet and the second electromagnet are respectively supplied with power through the electromagnetic controller, the detachable disabled assisting mechanical arm auxiliary bearing device is installed, then the control module controls the lifting driving mechanism to lift the work push rod to realize the lifting of the heavy object, after the specified place is reached, the control module controls the lifting driving mechanism to lower the work push rod to realize the unloading of the heavy object, and then the first electromagnet and the second electromagnet are controlled by the electromagnetic controller, and the connection between the auxiliary bearing device and the arm body is disconnected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711282504.7A CN108145751B (en) | 2017-12-07 | 2017-12-07 | Detachable auxiliary bearing device of disabled assisting mechanical arm, disabled assisting mechanical arm and using method of disabled assisting mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711282504.7A CN108145751B (en) | 2017-12-07 | 2017-12-07 | Detachable auxiliary bearing device of disabled assisting mechanical arm, disabled assisting mechanical arm and using method of disabled assisting mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108145751A CN108145751A (en) | 2018-06-12 |
| CN108145751B true CN108145751B (en) | 2020-10-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711282504.7A Active CN108145751B (en) | 2017-12-07 | 2017-12-07 | Detachable auxiliary bearing device of disabled assisting mechanical arm, disabled assisting mechanical arm and using method of disabled assisting mechanical arm |
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| CN (1) | CN108145751B (en) |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB109259A (en) * | 1916-08-25 | 1917-09-27 | Siemens Schuckertwerke Gmbh | Improvements in or relating to Artificial Arms. |
| CN201471431U (en) * | 2009-06-24 | 2010-05-19 | 中国石化集团胜利石油管理局钻井工艺研究院 | Hydraulic mechanical hand device |
| CN202288539U (en) * | 2011-10-31 | 2012-07-04 | 大连川立精密机械有限公司 | Mechanical hand |
| CN103655011B (en) * | 2013-12-11 | 2016-04-13 | 深圳先进技术研究院 | Artificial limb |
| CN104825257B (en) * | 2015-03-24 | 2017-06-16 | 华南理工大学 | The wearable function auxiliary mechanical arm of waist |
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2017
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