CN106003116A - Control method of electromagnetic joint type manipulator - Google Patents
Control method of electromagnetic joint type manipulator Download PDFInfo
- Publication number
- CN106003116A CN106003116A CN201610476398.5A CN201610476398A CN106003116A CN 106003116 A CN106003116 A CN 106003116A CN 201610476398 A CN201610476398 A CN 201610476398A CN 106003116 A CN106003116 A CN 106003116A
- Authority
- CN
- China
- Prior art keywords
- contact
- round platform
- limit set
- accumulator
- flexible sleeve
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims description 10
- 230000005389 magnetism Effects 0.000 claims description 46
- 239000003381 stabilizer Substances 0.000 claims description 21
- 238000007600 charging Methods 0.000 claims description 15
- 239000003054 catalyst Substances 0.000 claims description 12
- 239000000463 material Substances 0.000 claims description 7
- 241000238040 Panulirus Species 0.000 claims description 6
- 241000927735 Penaeus Species 0.000 claims description 6
- 229910000990 Ni alloy Inorganic materials 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 5
- 229920000459 Nitrile rubber Polymers 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims 1
- 230000008859 change Effects 0.000 abstract description 2
- 239000000843 powder Substances 0.000 description 5
- 238000005452 bending Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000005520 cutting process Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 206010057855 Hypotelorism of orbit Diseases 0.000 description 1
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 208000020442 loss of weight Diseases 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 235000012054 meals Nutrition 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- VIKNJXKGJWUCNN-XGXHKTLJSA-N norethisterone Chemical compound O=C1CC[C@@H]2[C@H]3CC[C@](C)([C@](CC4)(O)C#C)[C@@H]4[C@@H]3CCC2=C1 VIKNJXKGJWUCNN-XGXHKTLJSA-N 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 210000004003 subcutaneous fat Anatomy 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0246—Gripping heads and other end effectors servo-actuated actuated by an electromagnet
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—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
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Nursing (AREA)
- Manipulator (AREA)
- Magnetic Treatment Devices (AREA)
Abstract
The invention provides an electromagnetic joint type manipulator, relates to a flexible manipulator, in particular relates to a manipulator capable of catching a paper cup and feeding a patient, and aims at providing an electromagnetic joint manipulator which is simple in structure, low in cost, simple and convenient to operate, high in adaptability, capable of performing fine adjusting according to the size of an object to be caught, as well as fitting and compensating small change of the posture of the patient. The electromagnetic joint type manipulator comprises an electromagnetic flexible joint (1); the bottom parts of flexile barrels (34) are fixed to a lower plate (2); electromagnets (31), permanent magnets (32) and ejector robs (35) are sequentially arranged in inner chambers of the flexible barrels (34) from bottom to top; the electromagnets (31) are fixed to the bottom parts of the flexible barrels (34); the inner chambers of the flexible barrels (34) are treated as guide rails of the permanent magnets (32); the top parts of the permanent magnets (32) are fixed to the bottom parts of the ejector robs (35); the top parts of the ejector robs (35) are connected to an upper plate (4).
Description
Present patent application is divisional application.The patent No. of original bill is 201510092211.7, and the applying date is March 2 in 2015
Day, denomination of invention is electromagnetism joint Manipulator and feeding patient thereof and control method.
Technical field
The present invention relates to a kind of flexible manipulator, particularly relate to a kind of for capturing dixie cup, the mechanical hand of feeding patient and grabbing
Take, feeding, control method.
Background technology
Replace progressively replacing during people at automated machine, automated machine is strong with its adaptive capacity to environment, untiring,
The plurality of advantages such as use cost is low, become the mark of future technology.But, complicated mechanical mechanism easily produces all multiple faults,
Heavy big machinery cannot the typically fine and smooth operation of complete imaging human.
During automated machine replaces people, the most all creating the flexible arm joint that similar true man are the same, completing all
As grabbed egg, grabbing dixie cup and even capture disposable foamed plastic cutlery box and feed the fine and smooth work such as epidemic victim.Conventional flex arm is most
Use parallel between two planks of three groups of gear-rack drives or make it have angle, then being carried out tandem combination, thus complete
Become the structure of a flexible arm.
But, it is the most inflexible that rack-and-pinion mode drives.True man when grabbing thing the most just grasp can meet pick up thing want
Ask, true man subcutaneous fat also can be for being grabbed thing and carry out holding the fine setting of shape.So can only be according to paper during picking up dixie cup
The solid shape of cup designs fixing appearance of holding to pick up dixie cup, fixing hold appearance before and after required precision high.Rack-and-pinion mode
Flexible arm is held appearance for dixie cup and be cannot be carried out fine setting.During feeding patient, the attitude that patient has a meal is not fixed, and often can occur thin
Micro-change, if the mechanical hand of feeding cannot adapt to the minor variations of attitude in patient's mouth, it is likely that injure patient, even endanger
Evil patient is sick.
Summary of the invention
The technical problem to be solved in the present invention be to provide a kind of simple in construction, low cost, easy and simple to handle, adaptable, can
According to be finely adjusted by the size grabbing thing, adapt to the electromagnetism joint Manipulator of minor variations of patient's attitude and crawl thereof, feeding,
Control method.
The control method of the catalyst charging control device of electromagnetism joint Manipulator of the present invention:
Including machinery palm, mechanical finger, mechanical arm and electromagnetic flexible joint, one end of described arm is fixed with frame, hands
The other end of arm is connected with palm by electromagnetic flexible joint, and palm passes through electromagnetic flexible joint and is connected with finger, finger each
Joint is all electromagnetic flexible joint；
Described electromagnetic flexible joint includes lower plate, telescopic mast and upper plate, and lower plate is connected with upper plate by three telescopic masts, stretches for three
The axis of contracting post all with upper plate, 0 ° of lower plate circumference, 120 °, 240 ° of positions fix；
Described telescopic mast includes electric magnet, permanent magnet, spacing ring, flexible sleeve and push rod, fixes with lower plate bottom described flexible sleeve,
Flexible sleeve inner chamber is sequentially provided with electric magnet, permanent magnet and push rod from bottom to top, and described electric magnet is fixed on bottom flexible sleeve, described
Permanent magnet, with flexible sleeve inner chamber as guide rail, is fixed bottom permanent magnet top and push rod, and push rod top is connected with upper plate；
Push rod is that nitrile rubber is made；
Spacing ring is multiple along flexible sleeve axial array to top from the middle part of flexible sleeve inner chamber, between spacing ring thickness and spacing ring between
Every equal；
Described flexible sleeve inner chamber is round table-like, and the upper internal diameter of flexible sleeve inner chamber is less than lower internal diameter, and permanent magnet is cylindric, permanent magnet
External diameter is less than the lower internal diameter of flexible sleeve inner chamber, and the external diameter of permanent magnet is more than the internal diameter in the middle part of flexible sleeve inner chamber；
Described push rod top is connected by spring with upper plate；
Described push rod is rods, is provided with spacing ring in the middle part of flexible sleeve inner chamber, and described spacing ring internal diameter is identical with push rod external diameter, spacing
Push rod for spacing permanent magnet and is play the guiding role by ring；
In described flexible sleeve, Bamboo-shaped embeds multiple ring shielding magnetisms, and described ring shielding magnetism is made up of the nickel alloy Mumetal material of 80%,
The thickness of ring shielding magnetism is 0.0508 millimeter, the axis of ring shielding magnetism and the dead in line of flexible sleeve, has between each ring shielding magnetism
Interval, the interval between ring shielding magnetism is less than the 1/5 of ring shielding magnetism height, and upper port and the lower port of ring shielding magnetism 37 are equipped with
Some circle lead loop,
Also including that catalyst charging controls device, electromotor and constant-current stabilizer, described catalyst charging controls device and includes
First contact, the second contact, the 3rd contact, the 4th contact, the 5th contact, the 6th contact, the 7th contact, the 8th contact,
The accumulator that 9th contact, the tenth contact and the first accumulator, the second accumulator collectively constitute, described constant-current stabilizer is used for receiving
The voltage that accumulator is fluctuated, and it is translated into burning voltage, thus the stable electricity of controller supply to electromagnetic flexible joint
Pressure, the electric magnet on each telescopic mast powered by the controller in electromagnetic flexible joint according to control signal, and it is upper and lower for ring shielding magnetism
The lead loop of end is all and parallel operation of generator；
Described first contact is connected with the positive pole of the first accumulator, and the second contact is connected with the negative pole of the first accumulator, the 3rd contact with
The positive pole of electromotor connects, and the 4th contact is connected with the negative pole of electromotor, and the 5th contact is connected with the positive pole of the second accumulator, the
Six contacts are connected with the negative pole of the second accumulator, and the 7th contact is connected with the positive pole of constant-current stabilizer, the 8th contact and constant-current stabilizer
Negative pole connects, the 9th contact and the first contact series, the tenth contact and the second contact series.
The sleeve that described flexible sleeve is arranged by Crusta Penaeus seu Panulirus shape is constituted, and described sleeve includes end set and some limit set；
Overlapping the end of for bottom described flexible sleeve, set is for round table-like at the described end, and the periphery that end set external diameter is bigger is used for fixing lower plate, and the end is overlapped
Interior fixed electromagnet, the end put superposition suit multiple limit set, the end set side with on the upside of it some limit overlap be connected by stay cord；
Described limit set is by including the first round platform set and the second round platform set from top to bottom, and on the upside of described first round platform set, external diameter is less than downside
External diameter, on the upside of the second round platform set, external diameter is more than downside external diameter, the external diameter on the downside of the first round platform set and the external diameter on the upside of the second round platform set
Identical, to fix with the second round platform set top bottom the first round platform set, some limit is arranged with axially extending bore, offers bottom described some limit set
The first round platform hole, described first round platform hole is had to connect with the axially extending bore of some limit set, the internal diameter on the upside of the first round platform hole and some limit
The internal diameter of the axially extending bore of set is identical, and some limit overlaps side lines and the lateral side wire of the first round platform set in the first round platform hole in axial cross section
Bar is parallel；
Described some limit puts and is set with multiple limit set the most successively, the side of the first round platform set of downside point limit set and upside
Being connected by stay cord between the lower edge of the second round platform set of some limit set, described stay cord is uniformly distributed multiple along the axis circumference of some limit set；
When two some limit sets mutually stretch round about, the some limit set of upside is limited set with the point of downside and is connected by stay cord；
During when two somes limit set stay cords the most round about and by radial force, along upper under the first round platform hole bottom the some limit set of upside
A little the most mutually supporting in upper side, the circumferential opposite side of any of described mutual support are overlapped in some limit set or end with downside
Spacing by stay cord；
It comprises the steps:
A, make the first contact and the 3rd contact, the second contact and the 4th contact, the 5th contact and the 7th contact,
When the 6th contact and eight contact, the first accumulator is charged by electromotor, and constant-current stabilizer is powered by the second accumulator；
B, make the 3rd contact and the 5th contact, the 4th contact and the 6th contact, the 7th contact and the 9th contact,
When the 8th contact and ten contact, the second accumulator is charged by electromotor, and constant-current stabilizer is powered by the first accumulator；
C, repetition A～B.
Electromagnetism joint Manipulator of the present invention, wherein said push rod top is connected by spring with upper plate.
Electromagnetism joint Manipulator of the present invention, wherein said push rod is rods, is provided with spacing ring in the middle part of flexible sleeve inner chamber.Described limit
Position ring internal diameter is identical with push rod external diameter, and push rod for spacing permanent magnet and is play the guiding role by spacing ring.
Electromagnetism joint Manipulator of the present invention, in wherein said flexible sleeve Bamboo-shaped embed multiple ring shielding magnetisms, described ring shielding magnetism by
The nickel alloy Mumetal material of 80% is made, and the thickness of ring shielding magnetism is 0.0508 millimeter, the axis of ring shielding magnetism and flexible sleeve
Dead in line, have interval between each ring shielding magnetism, between ring shielding magnetism interval less than ring shielding magnetism height 1/5, at magnetic
The upper port of shading ring 37 and lower port are equipped with some circle lead loop, also include that catalyst charging controls device, generating
Machine and constant-current stabilizer, described catalyst charging control device include the first contact, the second contact, the 3rd contact, the 4th touch
Point, the 5th contact, the 6th contact, the 7th contact, the 8th contact, the 9th contact, the tenth contact and the first accumulator, second
The accumulator that accumulator collectively constitutes, described constant-current stabilizer is for receiving the voltage that accumulator is fluctuated, and is translated into steady
Determining voltage, thus supply burning voltage to the controller in electromagnetic flexible joint, the controller in electromagnetic flexible joint is according to control signal
Powering the electric magnet on each telescopic mast, the lead loop of its upper and lower end of ring shielding magnetism is all and parallel operation of generator；Described first
Contact is connected with the positive pole of the first accumulator, and the second contact is connected with the negative pole of the first accumulator, and the 3rd contact is with electromotor just
Pole connects, and the 4th contact is connected with the negative pole of electromotor, and the 5th contact is connected with the positive pole of the second accumulator, the 6th contact and the
The negative pole of two accumulator connects, and the 7th contact is connected with the positive pole of constant-current stabilizer, and the 8th contact is connected with the negative pole of constant-current stabilizer,
9th contact and the first contact series, the tenth contact and the second contact series.
Electromagnetism joint Manipulator of the present invention, the sleeve that wherein said flexible sleeve is arranged by Crusta Penaeus seu Panulirus shape is constituted.Described sleeve includes that the end is overlapped
With a limit set.Overlap the end of for bottom described flexible sleeve.Set is for round table-like at the described end, under the periphery that end set external diameter is bigger is used for fixing
Plate, the end set in fixed electromagnet, the end put superposition suit multiple limit set, the end set side with its on the upside of point limit overlap by drawing
Rope connects.Described limit set is by including the first round platform set and the second round platform set from top to bottom.On the upside of described first round platform set, external diameter is little
In downside external diameter, on the upside of the second round platform set, external diameter is more than downside external diameter, on the upside of the external diameter on the downside of the first round platform set and the second round platform overlap
External diameter identical, first round platform set bottom with second round platform set top fix, some limit be arranged with axially extending bore.The described limit set end
Portion offers the first round platform hole.Described first round platform hole connects with the axially extending bore of some limit set, the internal diameter on the upside of the first round platform hole
Identical with an internal diameter of axially extending bore of limit set, in some limit set axial cross section, the side lines in the first round platform hole and the first round platform overlap
Side lines are parallel.Described some limit puts and is set with multiple limit set the most successively, the first round platform set of downside point limit set
Side and upside point limit set the second round platform set lower edge between be connected by stay cord.Described stay cord is along the axis circumference of some limit set
It is uniformly distributed multiple.When two some limit sets mutually stretch round about, the some limit set of upside limits set by drawing with the point of downside
Rope connects.During when two somes limit set stay cords the most round about and by radial force, bottom the some limit set of upside under the first round platform hole
A little limit, with putting of downside, the most mutual support overlapped or in end set upper side along upper.The circumference of any of described mutual support
Opposite side is spacing by stay cord.
Electromagnetism joint Manipulator of the present invention, the sleeve that wherein said flexible sleeve is arranged by Crusta Penaeus seu Panulirus shape is constituted.Described sleeve includes that the end is overlapped
Dough-making powder limit set.Overlap the end of for bottom described flexible sleeve.Set is for round table-like at the described end, under the periphery that end set external diameter is bigger is used for fixing
Plate, the end set in fixed electromagnet, the end put superposition be set with multiple limit set, the end set side with its on the upside of face limit overlap by drawing
Rope connects.Described limit set is round table-like sleeve.On the upside of described limit set, external diameter is arranged with the most logical less than downside external diameter, face limit
Hole.The 3rd round platform hole is offered bottom described limit set.Described 3rd round platform hole connects with the axially extending bore of face limit set, and the 3rd
Internal diameter on the upside of round platform hole is identical with the internal diameter of the axially extending bore of face limit set, the lateral side wire in the first round platform hole in the limit set axial cross section of face
Angle is had between the side lines of bar and the first round platform set.Described angle is ∠ a.Described limit puts and is set with the most successively
Having multiple limit sets, the lower edge in the 3rd round platform hole that the frustum cone side of the face limit set of downside limits set with the face of upside is connected by stay cord.
Described stay cord is uniformly distributed multiple along the axis circumference of face limit set.
When two face limit sets mutually stretch round about, the face limit set of upside is limited set with the face of downside and is connected by stay cord.When two
Face limit set stay cord mutually the most round about during by radial force, bottom the face limit set of upside under the first round platform hole along upper a little with under
The most mutually supporting on the face limit set of side or end set upper side.The circumferential opposite side of any of described mutual support passes through stay cord
Spacing.
The grasping means of electromagnetism joint Manipulator of the present invention, comprises the steps:
A, the record bending amplitude in each joint of human hands, dynamics and crawl attitude.
B, composition that multiple electromagnetic flexible joints are together in series emulation joint, the upper plate in electromagnetic flexible joint, downside and upside electromagnetism
The lower plate of flexible joint is fixing to be connected, and the amplitude in joint at reference man's palmistry co-located, adjusts the number in electromagnetic flexible joint.
C, by machinery palm, mechanical finger, mechanical arm with emulation joint connect.
Electromagnetism joint Manipulator difference from prior art of the present invention is that electromagnetism joint Manipulator of the present invention is closed by electromagnetic flexible
Joint replaces the mechanical joint of gear-rack drive capture object (such as dixie cup) or epidemic victim is carried out feeding, it is possible to
Play electromagnetic flexible joint and to adjustability during tiny error.When mechanical hand captures dixie cup, electromagnetic flexible closes festival-gathering and imitates people
Fat on hand thus share equally dixie cup outside extend out power, successfully capture dixie cup and do not destroy dixie cup.Pass at mechanical hand feeding
Catch an illness people time, decrease the probability that medical personnel are infected, and patient contain spoon shut up down swallow when, electricity
Action of bowing when magnetic flexible joint also can be swallowed for patient moves downward with patient, greatly reduces the probability accidentally injuring patient.
Three telescopic masts in electromagnetic flexible joint according to 0 ° of lower plate circumference, 120 °, 240 ° of circumferences be uniformly distributed, then can be flexible
When post stretches, change the angle of upper plate and lower plate, so that the arbitrarily angled bending in electromagnetic flexible joint.Wherein telescopic mast utilizes electricity
Magnet and permanent magnet control flexible, then may utilize Magnet and drive push rod to move up and down at the repulsive force of homopolarity, it is achieved stretching of expansion link
Contracting.And the flexible sleeve of round table-like inner chamber can limit its maximum displacement when permanent magnet rises as guide rail.
If push rod is rigid posts in electromagnetism joint Manipulator of the present invention, may utilize spring and eliminate the bending between push rod top and upper plate
Power.
In electromagnetism joint Manipulator of the present invention, flexible push rod then can eliminate the bending force between push rod top and upper plate voluntarily.But it is soft
Property bar easily mutually friction in flexible sleeve, or produce skew, then arranging spacing ring carries out spacing to permanent magnet, in passing to soft
Property push rod play the guiding role.
In electromagnetism joint Manipulator of the present invention, if desired expansion link has enough extending forces, then the magnetic of the powerful electromagents to be added that are bound to.
But three expansion link hypotelorisms after all, interfere and easily cause driving confusion, then coaxial spaced on the barrel of flexible sleeve
Embed ring shielding magnetism and can reduce interfering of three expansion links, and only 0.0508 milli that Mumetal material can make
The magnetic shield thin slice ring that rice is thick, then its frivolous performance does not affect the degree of crook of expansion link, and is electromagnetic flexible joint loss of weight.
Interval between ring shielding magnetism is more than ring shielding magnetism height 1/5, then do not reach good Magnetic Shielding Effectiveness.During use, first stores
Battery, the second accumulator one of them because of the magnetic induction line wire cutting coil not shielded between ring shielding magnetism, thus to it
Power supply, another electric magnet electric discharge to telescopic mast, interleaved power, electric discharge can work and charge, and protects accumulator
Life-span.
It is a point and the contacting of face that electromagnetism joint Manipulator midpoint of the present invention limit set contacts with each other, and its advantage is flexible for turning to.
In electromagnetism joint Manipulator of the present invention, face limit set contacts with each other is an elongated cambered surface.Its advantage is for keeping attitude the most steady
Fixed.
In the grasping means of electromagnetism joint Manipulator of the present invention, the electromagnetic flexible of the different number of degree of crook regulation of simulating human hands closes
Joint series winding, can copy staff to manufacture mechanical hand so that it is purposes is the most extensive to greatest extent.
Below in conjunction with the accompanying drawings the electromagnetism joint Manipulator of the present invention and feeding thereof and control method are described further.
Accompanying drawing explanation
Fig. 1 is the axonometric drawing in electromagnetic flexible joint in electromagnetism joint Manipulator；
Fig. 2 is the front sectional view of flexible joint in electromagnetism joint Manipulator shown in Fig. 1；
Fig. 3 is the front sectional view of telescopic mast in embodiment 1；
Fig. 4 is the front view that in embodiment 1, end set and some limit set are not stretched；
Front view when Fig. 5 is that in embodiment 1, end set and some limit set are stretched；
Fig. 6 is that in embodiment 1, end set and some limit overlap the front view by radial force；
Fig. 7 is the front sectional view of telescopic mast in embodiment 2；
Fig. 8 is the front view that in embodiment 2, end set dough-making powder limit set is not stretched；
Front view when Fig. 9 is that in embodiment 2, end set dough-making powder limit set is stretched；
Figure 10 is that in embodiment 2, end set dough-making powder limit overlaps the front view by radial force；
Figure 11 is the front view of catalyst charging device in embodiment 1.
Detailed description of the invention
Embodiment 1
Such as Fig. 1～6, shown in 11, electromagnetism joint Manipulator of the present invention includes machinery palm, mechanical finger, mechanical arm, electromagnetism
Flexible joint 1 and circuit control part.One end of arm is fixed with frame.Seeing Fig. 1, the other end of arm is soft by electromagnetism
Property joint 1 be connected with palm, palm is connected with finger by electromagnetic flexible joint 1, and each joint of finger is electromagnetic flexible
Joint 1.
Seeing Fig. 1 and Fig. 2, electromagnetic flexible joint 1 includes that lower plate 2, telescopic mast 3 and upper plate 4, lower plate 2 are stretched by three
Post 3 is connected with upper plate 4, the axis of three telescopic masts 3 all with upper plate 4,0 ° of lower plate 2 circumference, 120 °, 240 ° of positions
Fixing.
Seeing Fig. 2 and Fig. 3, telescopic mast 3 includes electric magnet 31, permanent magnet 32, spacing ring 33, flexible sleeve 34 and push rod 35.
Fixing with lower plate 2 bottom flexible sleeve 34, flexible sleeve 34 inner chamber is sequentially provided with electric magnet 31, permanent magnet 32 and top from bottom to top
Bar 35.Electric magnet 31 is fixed on bottom flexible sleeve 34.Permanent magnet 32 is with flexible sleeve 34 inner chamber as guide rail, and permanent magnet 32 pushes up
Fix bottom portion and push rod 35.Push rod 35 top is connected by spring 36 with upper plate 4.Push rod 35 is made for nitrile rubber.
Spacing ring 33 internal diameter is identical with push rod 35 external diameter, and push rod 35 for spacing permanent magnet 32 and is play the guiding role by spacing ring 33.
Spacing ring 33 is multiple along flexible sleeve 34 axial array to top from the middle part of flexible sleeve 34 inner chamber, and spacing ring 33 thickness is with spacing
Interval between ring 33 is equal.
Seeing Fig. 2 and Fig. 3, flexible sleeve 34 inner chamber is round table-like, and the upper internal diameter of flexible sleeve 34 inner chamber is less than lower internal diameter, permanent magnetism
Ferrum 32 is cylindric, and the external diameter of permanent magnet 32 is less than the lower internal diameter of flexible sleeve 34 inner chamber, and the external diameter of permanent magnet 32 is more than flexibility
Internal diameter in the middle part of cylinder 34 inner chambers.Flexible sleeve 34 is made for nitrile rubber.
Seeing Fig. 3～Fig. 6, the sleeve that flexible sleeve 34 is arranged by Crusta Penaeus seu Panulirus shape is constituted.Sleeve includes end set 38 and some limit set 39.
See Fig. 3～Fig. 6, bottom flexible sleeve 34, overlap 38 the end of for.End set 38 is round table-like, and the circumference that 38 external diameters are bigger is overlapped at the end
Face is used for fixing lower plate 2, fixed electromagnet 31 in end set 38, superposition suit multiple limit set 39 on end set 38, end set 38
Side limit set 39 with the point on the upside of it and be connected by stay cord 41.
Seeing Fig. 3～Fig. 6, some limit set 39 is by including the first round platform set and the second round platform set from top to bottom.Outside on the upside of first round platform set
Footpath is less than downside external diameter, and on the upside of the second round platform set, external diameter is more than downside external diameter, the external diameter on the downside of the first round platform set and the second round platform set
The external diameter of upside is identical, fixes with the second round platform set top bottom the first round platform set, and some limit set 39 is provided with axially extending bore.Point limit set
The first round platform hole is offered bottom 39.First round platform hole connects, on the upside of the first round platform hole with the axially extending bore of some limit set 39
Internal diameter is identical with the internal diameter of axially extending bore of some limit set 39, the side lines and the in the first round platform hole in some limit set 39 axial cross sections
The side lines of one round platform set are parallel.
Seeing Fig. 3～Fig. 6, some limit set 39 is set with multiple limit set 39 the most successively, some limit in downside overlaps the of 39
It is connected by stay cord 41 between the side of one round platform set with the lower edge of the second round platform set of upside point limit set 39.Stay cord 41 is along a limit
The axis circumference of set 39 is uniformly distributed multiple.
See Fig. 2, coaxial embedding ring shielding magnetism 37 in some limit set 39.Ring shielding magnetism 37 by 80% nickel alloy Mumetal material
Material is made, and the thickness of ring shielding magnetism 37 is 0.0508 millimeter, the axis of ring shielding magnetism 37 and the dead in line of flexible sleeve 34,
Having interval between each ring shielding magnetism 37, the interval between ring shielding magnetism 37 is less than the 1/5 of ring shielding magnetism 37 height.At magnetic cup
Upper port and the lower port of covering ring 37 are equipped with some circle lead loop, and the lead loop of its upper and lower end is all with electromotor 91 also
Connection.
Seeing Figure 11, the circuit control part of the present invention includes that catalyst charging controls device, electromotor 91 and current stabilization dress
Putting 92, described catalyst charging controls device and includes the first contact the 953, the 4th, the 951, second contact the 952, the 3rd, contact
Contact the 959, the tenth, contact the 958, the 9th, contact the 957, the 8th, contact the 956, the 7th, contact the 955, the 6th, contact the 954, the 5th
The accumulator that contact 950 and first accumulator the 93, second accumulator 94 collectively constitute, described constant-current stabilizer 92 is used for receiving storage
The voltage that battery is fluctuated, and it is translated into burning voltage, thus the stable electricity of controller supply to electromagnetic flexible joint 1
Pressure.Electric magnet 31 on each telescopic mast 3 is powered by the controller in electromagnetic flexible joint 1 according to control signal.
Described first contact 951 is connected with the positive pole of the first accumulator 93, the second contact 952 and negative pole of the first accumulator 93
Connecting, the 3rd contact 953 is connected with the positive pole of electromotor 91, and the 4th contact 954 is connected with the negative pole of electromotor 91, and the 5th
Contact 955 is connected with the positive pole of the second accumulator 94, and the 6th contact 956 is connected with the negative pole of the second accumulator 94, and the 7th touches
Point 957 is connected with the positive pole of constant-current stabilizer 92, and the 8th contact 958 is connected with the negative pole of constant-current stabilizer 92, the 9th contact 959
Connecting with the first contact 951, connects with the second contact 952 in the tenth contact 950.
The control method of catalyst charging device, comprises the steps:
A, making the first contact 951 contact with the 3rd contact 953, the second contact 952 contacts with the 4th contact 954, and the 5th touches
Point 955 contacts with the 7th contact 957, and when the 6th contact 956 contacts with the 8th contact 958, electromotor 91 is to the first accumulator
93 chargings, constant-current stabilizer 92 is powered by the second accumulator 94；
B, the 3rd contact 953 is made to contact with the 5th contact 955, the 4th contact 954 and the 6th contact 956, the 7th contact
957 contact with the 9th contact 959, and when the 8th contact 958 contacts with the tenth contact 950, electromotor 91 is to the second accumulator 94
Charging, constant-current stabilizer 92 is powered by the first accumulator 93；
C, repetition A～B.
During use, one of them of first accumulator the 93, second accumulator 94 is because of the magnetic not shielded between ring shielding magnetism 37
Sense line wire cutting coil, thus it is powered, the electric magnet 31 of telescopic mast 3 is discharged by another, and interleaved power, electric discharge are i.e.
Can working while charging, protecting the life of storage battery.
See Fig. 5, when two some limit sets 39 mutually stretch round about, the some limit set 39 of upside and the some limit set of downside
39 are connected by stay cord.
See Fig. 6, during when two somes limit set 39 stay cords the most round about and by radial force, bottom the some limit set 39 of upside
The most mutually supporting in 38 upper side is overlapped along upper some some limit set 39 or end with downside under first round platform hole.Mutually prop up
The circumferential opposite side of any of support is spacing by stay cord 41.
Embodiment 2
The present embodiment 2 is with the difference of embodiment 1, as shown in Fig. 2, Fig. 7, Fig. 8, Fig. 9, Figure 10, sees figure
2, push rod 35 is rods, is provided with spacing ring 33 in the middle part of flexible sleeve 34 inner chamber.Spacing ring 33 internal diameter and push rod 35 external diameter phase
With, push rod 35 for spacing permanent magnet 32 and is play the guiding role by spacing ring 33.
Seeing Fig. 7, the sleeve that flexible sleeve 34 is arranged by Crusta Penaeus seu Panulirus shape is constituted.Sleeve includes that 38 dough-making powder limit sets 391 are overlapped at the end.
See Fig. 8, bottom flexible sleeve 34, overlap 38 the end of for.End set 38 is round table-like, and the periphery that 38 external diameters are overlapped bigger in the end is used for
Fixing lower plate 2, fixed electromagnet 31 in end set 38, on end set 38, superposition is set with multiple limit sets 391, the side of end set 38
Limit set 391 with the face on the upside of it to be connected by stay cord 41.
Seeing Fig. 7 and Fig. 8, face limit set 391 is round table-like sleeve.On the upside of face limit set 391, external diameter limits less than downside external diameter, face
Set 391 is provided with axially extending bore.The 3rd round platform hole is offered bottom face limit set 391.3rd round platform hole is axial with face limit set 391
Through hole connects, and the internal diameter on the upside of the 3rd round platform hole is identical with the internal diameter of the axially extending bore of face limit set 391, and face limit set 391 is axial
Cross section there is angle between side lines and the side lines of the first round platform set in the first round platform hole.Angle is ∠ a.
See Fig. 8, face limit set 391 is set with multiple limit sets 391 the most successively, the circle of the face limit set 391 of downside
Platform side is connected by stay cord 41 with the lower edge in the 3rd round platform hole that the face of upside limits set 391.Stay cord 41 is along face limit set 391
Axis circumference is uniformly distributed multiple.
See Fig. 2 and Fig. 7, coaxial embedding ring shielding magnetism 37 in face limit set 391.Ring shielding magnetism 37 by 80% nickel alloy Mumetal
Material is made, and the thickness of ring shielding magnetism 37 is 0.0508 millimeter, the axis of ring shielding magnetism 37 and the dead in line of flexible sleeve 34,
Having interval between each ring shielding magnetism 37, the interval between ring shielding magnetism 37 is less than the 1/5 of ring shielding magnetism 37 height.
See Fig. 9, when two face limit sets 391 mutually stretch round about, the face limit set 391 of upside and the face limit of downside
Set 391 is connected by stay cord.
See Figure 10, during when two faces limit set 391 stay cords the most round about and by radial force, face limit 391 ends of set of upside
Limit set 391 along upper some face with downside under the first round platform hole, portion or the most mutually supporting in 38 upper side is overlapped at the end.Mutually
The circumferential opposite side of any supported is spacing by stay cord 41.
The grasping means of a kind of electromagnetism joint Manipulator and feeding method, comprise the steps:
A, the record maximum deflection amplitude in each joint of human hands, dynamics and crawl attitude.
B, the composition that is together in series in multiple electromagnetic flexible joints 1 emulation joint, the upper plate 4 in electromagnetic flexible joint, downside 1 is with upper
The lower plate 2 in electromagnetic flexible joint, side 1 is fixing to be connected, and the amplitude peak in joint at reference man's palmistry co-located, adjusts electromagnetism
The number of flexible joint 1.
C, by machinery palm, mechanical finger, mechanical arm with emulation joint connect.
When D, record staff feeding patient, the articulate kinestate of institute and movement time, and utilize PLC to control electromagnetic flexible
The emulation joint that joint 1 is constituted, according to the kinestate in joint and the movement time feeding patient of staff.
Embodiment described above is only to be described the preferred embodiment of the present invention, not carries out the scope of the present invention
Limiting, on the premise of designing spirit without departing from the present invention, technical scheme is made by those of ordinary skill in the art
Various deformation and improvement, all should fall in the protection domain that claims of the present invention determines.
Claims (1)
1. the catalyst charging of an electromagnetism joint Manipulator controls the control method of device, it is characterised in that:
Including machinery palm, mechanical finger, mechanical arm and electromagnetic flexible joint (1), one end of described arm is fixed with frame,
The other end of arm is connected with palm by electromagnetic flexible joint (1), and palm is connected with finger by electromagnetic flexible joint (1),
Each joint of finger is electromagnetic flexible joint (1)；
Described electromagnetic flexible joint (1) includes lower plate (2), telescopic mast (3) and upper plate (4), and lower plate (2) passes through three
Telescopic mast (3) is connected with upper plate (4), the axis of three telescopic masts (3) all with upper plate (4), lower plate (2) circumference 0 °,
120 °, 240 ° of positions fix；
Described telescopic mast (3) includes electric magnet (31), permanent magnet (32), spacing ring (33), flexible sleeve (34) and top
Bar (35), described flexible sleeve (34) bottom is fixing with lower plate (2), and flexible sleeve (34) inner chamber is sequentially provided with electricity from bottom to top
Magnet (31), permanent magnet (32) and push rod (35), described electric magnet (31) is fixed on flexible sleeve (34) bottom, institute
Stating permanent magnet (32) with flexible sleeve (34) inner chamber as guide rail, permanent magnet (32) top is fixing with push rod (35) bottom, top
Bar (35) top is connected with upper plate (4)；
Push rod (35) is that nitrile rubber is made；
Spacing ring (33) is multiple along flexible sleeve (34) axial array to top from the middle part of flexible sleeve (34) inner chamber, spacing ring (33)
Interval between thickness and spacing ring (33) is equal；
Described flexible sleeve (34) inner chamber is round table-like, and the upper internal diameter of flexible sleeve (34) inner chamber is less than lower internal diameter, permanent magnet (32)
For cylindric, the external diameter of permanent magnet (32) is less than the lower internal diameter of flexible sleeve (34) inner chamber, and the external diameter of permanent magnet (32) is more than
Internal diameter in the middle part of flexible sleeve (34) inner chamber；
Described push rod (35) top is connected by spring (36) with upper plate (4)；
Described push rod (35) is rods, is provided with spacing ring (33), described spacing ring (33) in the middle part of flexible sleeve (34) inner chamber
Internal diameter is identical with push rod (35) external diameter, and spacing ring (33) plays guiding for spacing permanent magnet (32) and to push rod (35)
Effect；
Described flexible sleeve (34) interior Bamboo-shaped embed multiple ring shielding magnetisms (37), described ring shielding magnetism (37) by 80% nickel
Alloy Mumetal material is made, and the thickness of ring shielding magnetism (37) is 0.0508 millimeter, and the axis of ring shielding magnetism (37) is with soft
The dead in line of property cylinder (34), has interval, the interval between ring shielding magnetism (37) to be less than between each ring shielding magnetism (37)
The 1/5 of ring shielding magnetism (37) height, the upper port of ring shielding magnetism 37 and lower port are equipped with some circle lead loop,
Also including that catalyst charging controls device, electromotor (91) and constant-current stabilizer (92), the charging of described catalyst supplies
Controller for electric consumption include the first contact (951), the second contact (952), the 3rd contact (953), the 4th contact (954),
5th contact (955), the 6th contact (956), the 7th contact (957), the 8th contact (958), the 9th contact (959),
The accumulator that tenth contact (950) and the first accumulator (93), the second accumulator (94) collectively constitute, described constant-current stabilizer
(92) for receiving the voltage that accumulator is fluctuated, and it is translated into burning voltage, thus to electromagnetic flexible joint (1)
Controller supply burning voltage, the controller of electromagnetic flexible joint (1) according to control signal on each telescopic mast (3)
Electric magnet (31) is powered, and the lead loop of ring shielding magnetism (37) its upper and lower end is all in parallel with electromotor (91)；
Described first contact (951) is connected with the positive pole of the first accumulator (93), the second contact (952) and the first accumulator
(93) negative pole connects, and the 3rd contact (953) is connected with the positive pole of electromotor (91), the 4th contact (954) and generating
The negative pole of machine (91) connects, and the 5th contact (955) is connected with the positive pole of the second accumulator (94), the 6th contact (956)
Being connected with the negative pole of the second accumulator (94), the 7th contact (957) is connected with the positive pole of constant-current stabilizer (92), the 8th contact
(958) negative pole with constant-current stabilizer (92) is connected, and connect with the first contact (951) in the 9th contact (959), the tenth contact
(950) connect with the second contact (952).
The sleeve that described flexible sleeve (34) is arranged by Crusta Penaeus seu Panulirus shape is constituted, and described sleeve includes end set (38) and some limit set (39)；
(38) are overlapped the end of in described flexible sleeve (34) bottom, and set of the described end (38) is round table-like, and end set (38) external diameter is bigger
Periphery be used for fixing lower plate (2), end set (38) interior fixed electromagnet (31), end set (38) upper superposition suit is multiple
Point limit set (39), the side at end set (38) is limited set (39) with the point on the upside of it and is connected by stay cord (4)；
Described limit set (39) by include from top to bottom first round platform set and the second round platform set, described first round platform set on the upside of external diameter
Less than downside external diameter, on the upside of the second round platform set, external diameter puts more than downside external diameter, external diameter and the second round platform on the downside of the first round platform set
The external diameter of side is identical, fixes with the second round platform set top bottom the first round platform set, and some limit set (39) is provided with axially extending bore, described
Point limit set (39) bottom offers the first round platform hole, and described first round platform hole connects with the axially extending bore of some limit set (39),
Internal diameter on the upside of first round platform hole is identical with the internal diameter of axially extending bore of some limit set (39), in some limit set (39) axial cross section the
The side lines that the side lines in one round platform hole and the first round platform overlap are parallel；
Being set with multiple limit set (39) on described limit set (39) the most successively, some limit in downside overlaps the of (39)
It is connected by stay cord (4) between the side of one round platform set with the lower edge of the second round platform set of upside point limit set (39), described stay cord
(4) the axis circumference along some limit set (39) is uniformly distributed multiple；
When two somes limit set (39) mutually stretch round about, some limit set (39) of upside and some limit set (39) of downside
Connected by stay cord；
During when two somes limit set (39) stay cords the most round about and by radial force, some limit set (39) bottom first of upside
Along upper any and the most mutual support on some limit set (39) of downside or end set (38) upper side under round platform hole, described
The circumferential opposite side of any mutually supported is spacing by stay cord (4)；
It comprises the steps:
A, the first contact (951) is made to contact with the 3rd contact (953), the second contact (952) and the 4th contact (954)
Contact, the 5th contact (955) contacts with the 7th contact (957), and the 6th contact (956) contacts with the 8th contact (958)
Time, the first accumulator (93) is charged by electromotor (91), and constant-current stabilizer (92) is powered by the second accumulator (94)；
B, the 3rd contact (953) is made to contact with the 5th contact (955), the 4th contact (954) and the 6th contact (956),
7th contact (957) contacts with the 9th contact (959), when the 8th contact (958) contacts with the tenth contact (950), sends out
Second accumulator (94) is charged by motor (91), and constant-current stabilizer (92) is powered by the first accumulator (93)；
C, repetition A～B.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610476398.5A CN106003116B (en) | 2015-03-02 | 2015-03-02 | The control 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 |
| CN201610476398.5A CN106003116B (en) | 2015-03-02 | 2015-03-02 | The control method of electromagnetism joint Manipulator |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510092211.7A Division CN104669259B (en) | 2015-03-02 | 2015-03-02 | Electromagnetic joint mechanical hand and patient feeding and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106003116A true CN106003116A (en) | 2016-10-12 |
| CN106003116B CN106003116B (en) | 2018-04-06 |
Family
ID=53305104
Family Applications (12)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610475100.9A Withdrawn CN105881531A (en) | 2015-03-02 | 2015-03-02 | Patient feeding method of electromagnetic joint mechanical hand |
| CN201610475504.8A Expired - Fee Related CN106142078B (en) | 2015-03-02 | 2015-03-02 | A kind of feeding patient's method of electromagnetism joint Manipulator |
| CN201610476390.9A Withdrawn CN105856224A (en) | 2015-03-02 | 2015-03-02 | Method for feeding patient by using electromagnetic joint manipulator |
| CN201610476397.0A Active CN106041914B (en) | 2015-03-02 | 2015-03-02 | A kind of feeding patient's method of electromagnetism joint Manipulator |
| CN201610476399.XA Active CN106041990B (en) | 2015-03-02 | 2015-03-02 | Electromagnetism joint Manipulator |
| CN201610476398.5A Active CN106003116B (en) | 2015-03-02 | 2015-03-02 | The control method of 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 |
| CN201610475499.0A Withdrawn CN105856215A (en) | 2015-03-02 | 2015-03-02 | Control method of electromagnetic joint manipulator |
| CN201610475516.0A Active CN106003114B (en) | 2015-03-02 | 2015-03-02 | A kind of control method of electromagnetism joint Manipulator |
| CN201510092211.7A Active CN104669259B (en) | 2015-03-02 | 2015-03-02 | Electromagnetic joint mechanical hand and patient feeding and control method thereof |
| CN201610476400.9A Active CN106003012B (en) | 2015-03-02 | 2015-03-02 | Feeding patient's method of electromagnetism joint Manipulator |
| CN201610475518.XA Expired - Fee Related CN106003115B (en) | 2015-03-02 | 2015-03-02 | Electromagnetism joint Manipulator |
Family Applications Before (5)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610475100.9A Withdrawn CN105881531A (en) | 2015-03-02 | 2015-03-02 | Patient feeding method of electromagnetic joint mechanical hand |
| CN201610475504.8A Expired - Fee Related CN106142078B (en) | 2015-03-02 | 2015-03-02 | A kind of feeding patient's method of electromagnetism joint Manipulator |
| CN201610476390.9A Withdrawn CN105856224A (en) | 2015-03-02 | 2015-03-02 | Method for feeding patient by using electromagnetic joint manipulator |
| CN201610476397.0A Active CN106041914B (en) | 2015-03-02 | 2015-03-02 | A kind of feeding patient's method of electromagnetism joint Manipulator |
| CN201610476399.XA Active CN106041990B (en) | 2015-03-02 | 2015-03-02 | Electromagnetism joint Manipulator |
Family Applications After (6)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610475502.9A Pending CN106142077A (en) | 2015-03-02 | 2015-03-02 | A kind of feeding patient's method of electromagnetism joint Manipulator |
| CN201610475499.0A Withdrawn CN105856215A (en) | 2015-03-02 | 2015-03-02 | Control method of electromagnetic joint manipulator |
| CN201610475516.0A Active CN106003114B (en) | 2015-03-02 | 2015-03-02 | A kind of control method of electromagnetism joint Manipulator |
| CN201510092211.7A Active CN104669259B (en) | 2015-03-02 | 2015-03-02 | Electromagnetic joint mechanical hand and patient feeding and control method thereof |
| CN201610476400.9A Active CN106003012B (en) | 2015-03-02 | 2015-03-02 | Feeding patient's method of electromagnetism joint Manipulator |
| CN201610475518.XA Expired - Fee Related CN106003115B (en) | 2015-03-02 | 2015-03-02 | Electromagnetism joint Manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (12) | CN105881531A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109227587A (en) * | 2018-11-28 | 2019-01-18 | 董月阳 | A kind of bionic mechanical hand |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105108764B (en) * | 2015-09-14 | 2017-03-29 | 南京工程学院 | Intelligent robot mechanical hand and its control system |
| 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 |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5394132A (en) * | 1993-07-19 | 1995-02-28 | Poil; James E. | Magnetic motion producing device |
| CN1257339A (en) * | 1999-12-30 | 2000-06-21 | 上海交通大学 | Miniature multi-articulation electromagnetic creeping motion robot system |
| CN101480793A (en) * | 2009-01-21 | 2009-07-15 | 河北理工大学 | Robot for search and rescue |
| CN103475288A (en) * | 2013-09-24 | 2013-12-25 | 胡明建 | Design method of magnetic latching parallel-stepping, rotating and swinging extensible joint |
| CN204585214U (en) * | 2015-03-02 | 2015-08-26 | 王淑英 | Electromagnetism joint manipulator |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2100842U (en) * | 1991-05-03 | 1992-04-08 | 姚全鑫 | Household rice barrel |
| 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 |
| 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 |
| CN104586329A (en) * | 2015-03-02 | 2015-05-06 | 李秀荣 | Electromagnetic flexible besom and application and control method thereof |
-
2015
- 2015-03-02 CN CN201610475100.9A patent/CN105881531A/en not_active Withdrawn
- 2015-03-02 CN CN201610475504.8A patent/CN106142078B/en not_active Expired - Fee Related
- 2015-03-02 CN CN201610476390.9A patent/CN105856224A/en not_active Withdrawn
- 2015-03-02 CN CN201610476397.0A patent/CN106041914B/en active Active
- 2015-03-02 CN CN201610476399.XA patent/CN106041990B/en active Active
- 2015-03-02 CN CN201610476398.5A patent/CN106003116B/en active Active
- 2015-03-02 CN CN201610475502.9A patent/CN106142077A/en active Pending
- 2015-03-02 CN CN201610475499.0A patent/CN105856215A/en not_active Withdrawn
- 2015-03-02 CN CN201610475516.0A patent/CN106003114B/en active Active
- 2015-03-02 CN CN201510092211.7A patent/CN104669259B/en active Active
- 2015-03-02 CN CN201610476400.9A patent/CN106003012B/en active Active
- 2015-03-02 CN CN201610475518.XA patent/CN106003115B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5394132A (en) * | 1993-07-19 | 1995-02-28 | Poil; James E. | Magnetic motion producing device |
| CN1257339A (en) * | 1999-12-30 | 2000-06-21 | 上海交通大学 | Miniature multi-articulation electromagnetic creeping motion robot system |
| CN101480793A (en) * | 2009-01-21 | 2009-07-15 | 河北理工大学 | Robot for search and rescue |
| CN103475288A (en) * | 2013-09-24 | 2013-12-25 | 胡明建 | Design method of magnetic latching parallel-stepping, rotating and swinging extensible joint |
| CN204585214U (en) * | 2015-03-02 | 2015-08-26 | 王淑英 | Electromagnetism joint manipulator |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109227587A (en) * | 2018-11-28 | 2019-01-18 | 董月阳 | A kind of bionic mechanical hand |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105856215A (en) | 2016-08-17 |
| CN106041990B (en) | 2017-12-12 |
| CN106003114A (en) | 2016-10-12 |
| CN106041914B (en) | 2017-12-08 |
| CN106041914A (en) | 2016-10-26 |
| CN106003116B (en) | 2018-04-06 |
| CN106003012A (en) | 2016-10-12 |
| CN105856224A (en) | 2016-08-17 |
| CN106142077A (en) | 2016-11-23 |
| CN106003115A (en) | 2016-10-12 |
| CN106003115B (en) | 2018-05-22 |
| CN104669259B (en) | 2017-02-08 |
| CN106041990A (en) | 2016-10-26 |
| CN104669259A (en) | 2015-06-03 |
| CN106003012B (en) | 2017-12-08 |
| CN105881531A (en) | 2016-08-24 |
| CN106003114B (en) | 2018-03-23 |
| CN106142078A (en) | 2016-11-23 |
| CN106142078B (en) | 2018-11-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204585214U (en) | Electromagnetism joint manipulator | |
| US8395466B2 (en) | Bionic telescopic matrix unit | |
| CN106003116A (en) | Control method of electromagnetic joint type manipulator | |
| Jow et al. | EnerCage: A smart experimental arena with scalable architecture for behavioral experiments | |
| JP2009219804A (en) | Motion-supporting equipment for thumb of hand | |
| CN202952264U (en) | Bionic telescopic tissue chain | |
| CA2773839A1 (en) | A multipurpose manipulator | |
| CN105559738A (en) | Capsule endoscope motion control method based on magnetic field spatial distribution change | |
| CN112091954B (en) | A kind of bionic dexterous hand and control method thereof | |
| CN104306087A (en) | Pure mechanical wearable finger artificial limb with multi-degree of freedom | |
| CN108058162A (en) | A kind of upper limb power-assisted wearable device | |
| CN103878762A (en) | Bionic stretching structured chain | |
| Wang et al. | An inchworm-inspired rigid-reinforced soft robot with combined functions of locomotion and manipulation | |
| CN108673493A (en) | A kind of cloth gripping device and soft robot | |
| CN104586329A (en) | Electromagnetic flexible besom and application and control method thereof | |
| CN204618123U (en) | Electromagnetic flexible besom | |
| CN204581999U (en) | Baby feeding nipple | |
| CN107214686A (en) | Hand exoskeleton system based on electromagnetic drive | |
| CN104605984B (en) | Medical earpick and use thereof and control method | |
| CN104666093A (en) | Infant feeding nipple, and use and control method of infant feeding nipple | |
| CN207856171U (en) | One kind can survey value of thrust suspension type training band | |
| CN104605987A (en) | Fracture massaging band, and use and control method thereof | |
| CN205659345U (en) | Portable hand is strong device again | |
| Jing et al. | Multi-object optimal design of electromagnetic artificial muscle structure | |
| Kadokawa et al. | Development of a drawing device based on a new type DEA |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Zhu Yong Inventor after: Li Hailong Inventor after: Wang Jie Inventor after: Jiang Yonggang Inventor after: Zhang Xuewei Inventor before: Li Xiurong |
|
| TA01 | Transfer of patent application right |
Effective date of registration: 20180308 Address after: Room 308, Room 309, No. 28, South Coast Road, seashore road, economic and Technological Development Zone, Weihai, Shandong Applicant after: Weihai Czechoslovakia automation equipment Co.,Ltd. Applicant after: WEIHAI GERNUMAN AUTOMATION CO.,LTD. Address before: 100061 West Street, Dongcheng District barracks, Beijing, Beijing Applicant before: Li Xiurong |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: Room 308 and Room 309, No. 28, Haibin South Road, Economic and Technological Development Zone, Weihai City, Shandong Province, 264200 Patentee after: Dongli (Weihai) Carbon Fiber Technology Co.,Ltd. Patentee after: WEIHAI GERNUMAN AUTOMATION CO.,LTD. Address before: Room 308 and Room 309, No. 28, Haibin South Road, Economic and Technological Development Zone, Weihai City, Shandong Province, 264200 Patentee before: Weihai Czechoslovakia automation equipment Co.,Ltd. Patentee before: WEIHAI GERNUMAN AUTOMATION CO.,LTD. |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Control method of electromagnetic joint manipulator Effective date of registration: 20220901 Granted publication date: 20180406 Pledgee: Industrial and Commercial Bank of China Limited Weihai Economic Branch Pledgor: WEIHAI GERNUMAN AUTOMATION CO.,LTD. Registration number: Y2022980014238 |