CN105361983A - Prosthesis mechanical arm, robot and robot control method - Google Patents

Prosthesis mechanical arm, robot and robot control method Download PDF

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Publication number
CN105361983A
CN105361983A CN201510608817.1A CN201510608817A CN105361983A CN 105361983 A CN105361983 A CN 105361983A CN 201510608817 A CN201510608817 A CN 201510608817A CN 105361983 A CN105361983 A CN 105361983A
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pneumatic
hydraulic pressure
joint
robot
hydraulic
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CN105361983B (en
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张英华
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  • Prostheses (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a prosthesis mechanical arm, a robot and a robot control method. Each of a shoulder joint, an elbow joint and a wrist joint is formed by a pneumatic or hydraulic steering device and a sector-shaped air bladder or hydraulic bladder. Finger joints are formed by sector-shaped air bladders or hydraulic bladders, and a pneumatic or hydraulic jack is mounted between each two adjacent finger extension bones of a palm. By electromagnetic waves sent by a biochip connected with upper limb nerves to a computer in an upper arm, the prosthesis mechanical arm controls electromagnetic valves to further control feeding and discharging of compressed air or liquid in the pneumatic or hydraulic jacks, the sector-shaped air bladders or hydraulic bladders and the pneumatic or hydraulic steering devices in the prosthesis mechanical arm, and consequently the prosthesis mechanical arm is enabled to operate. A robot arm of the robot is identical to the prosthesis mechanical arm. Joints of mechanical legs and feet and neck joints of the robot are formed by pneumatic or hydraulic steering devices and the sector-shaped air bladders or hydraulic bladders, and two pneumatic or hydraulic jacks and a sector-shaped air bladder or hydraulic bladder are hidden in a body of the robot. The robot is controlled by the aid of a computer.

Description

Artificial limb mechanical arm and robot and control method thereof
Technical field:
The present invention relates to a kind of artificial limb mechanical arm and robot and control method thereof.
Background technology:
The length of the arm of the mechanical hand of existing robot is fixing, and each joint is that 360 ° of two dimension turn to, and needs two joints just can do comprehensive turning to.So, there is the mechanical hand of the robot in six joints.Each joint adds a reductor by a servomotor to form, because its complex structure and precision high, so China manufacture servomotor and reductor of low quality, major part servomotor and almost whole reductor need import, to such an extent as to the cost of the mechanical hand of existing robot is very high.The manipulator joint of existing robot, can only do two dimension and turn to; As people's joints of hand, three-dimensional reorientation can't be done.In the scope of narrow space, the flexibility ratio of the mechanical hand of existing robot, not as staff.Such as: the workman on production line can get a screw by left hand, puts into the screw of the household electrical appliance produced, with right hand electric screwdriver the screw screwin putting into screw.But the mechanical hand of robot cannot take out a wherein screw from a pile screw, and accurately puts into the screw of the household electrical appliance produced.
The finger-joint of the prosthetic hand in the patent No.: 201020272916.X " a kind of artificial limb ", employs fan-shaped air bag, chain connection and back-moving spring.Air pump compressed air out enters air accumulator, enters fan-shaped air bag from air accumulator compressed air out through the intake valve opened that is energized, and makes that fan-shaped airbag aeration is expanded, digital flexion; Intake valve has a power failure and cuts out, digital flexion shape invariance; Pressure-relief valve energising is opened, and bending finger stretches under the effect of back-moving spring.Artificial limb mechanical hand uses compressed air as power source, and the strength of artificial limb mechanical hand is enough large.But as the mechanical hand of robot, use compressed air as power source, the strength of robot mechanical arm is large not.
At present, domestic robot can only to be spoken chat with people, can not do chores.Service type robot can carry a tray in hotel, but the manipulator joint cost of use servomotor, harmonic wave speed reducing machine is very high.The price of domestic industrial robot one more than 100,000 yuans, import industrial robot needs hundreds of thousands yuan.The price of one, domestic service type robot is also more than 100,000 yuans.The domestic robot that production can do housework, key reduces production cost, and reduce the structure that the key of producing ability is change domestic robot.
Summary of the invention:
Artificial limb mechanical arm of the present invention is made up of upper arm, underarm, hands, and their skeleton is made of plastic, and cabinet surface covers one deck rubber film again.Wing joint is equipped with in upper arm upper end, between upper arm and underarm, elbow joint is housed, and between underarm and palm, carpal joint is housed.The structure of hands is as follows: an arcuate groove, arcuate groove arc core downwards, notch forward, middle finger that bone extended in palm is fixed on the middle part of arcuate groove, nameless and little finger extend to bone in palm successively hinge on the side of the middle finger prolongation bone of arcuate groove, forefinger extends to the bone hinge in palm and extends by another of bone at the middle finger of arcuate groove, the bone that thumb extends in palm is contained on the arcuate groove that forefinger extends bone by a joint, and five fingers are all equipped with three articulations digitorum manus.Air pump or liquid pump, air accumulator or fluid reservoir, lithium battery is kept in upper arm bone shell or underarm bone shell.Articulations digitorum manus is built with fan-shaped air bag or hydraulic bag, and between two articulations digitorum manus, palm of the hand side hinge, articulations digitorum manus hinge is equipped with torsion fastening spring, finger tip is equipped with touch sensor.From air accumulator sebific duct out by receiving fan-shaped air bag after an electromagnetic intake valve and a gas threeway, another interface of gas threeway is equipped with electromagnetic exhaust valve.Or from liquid pump sebific duct out by receiving fan-shaped hydraulic bag after an electromagnetism liquid feed valve and a liquid threeway, another interface of liquid threeway is equipped with electromagnetism and returns liquid valve, returns liquid valve sebific duct out receive fluid reservoir from electromagnetism.Artificial limb mechanical arm is controlled by computer by the biochip be connected with upper limb nerve line be imbedded in health.Or artificial limb mechanical arm is controlled by computer by the helmet that three photographic head, a laser sight and a mike are housed.Pneumatic or hydraulic steering gear and a fan-shaped air bag or hydraulic bag form by one for the wing joint of artificial limb mechanical arm, the steering gear of the pneumatic or hydraulic pressure in wing joint is fixed on shoulder, one block of inverted U-shaped plate is had fixedly to be attached on the rotating shaft end face of the steering gear of the pneumatic of wing joint or hydraulic pressure, the upper end of upper arm and upper end, inverted U-shaped plate arc edge hinge, the fan-shaped air bag in wing joint or hydraulic bag are contained in the space between inverted U-shaped plate and Medial upper arm, and torsion fastening spring is equipped with at upper end and the hinge place, upper end, inverted U-shaped plate camber line edge of upper arm.The steering gear of the elbow joint of artificial limb mechanical arm or hydraulic pressure pneumatic by one and a fan-shaped air bag or hydraulic bag form, the steering gear of the pneumatic or hydraulic pressure of elbow joint is fixed on upper arm lower end, the rotating shaft lower surface of the pneumatic or hydraulic steering gear of elbow joint is fixed with one piece of U-board, U-board camber line edge is in outside, the upper end of underarm and U-board linear edge hinge, the fan-shaped air bag of elbow joint or hydraulic bag are contained in the space between U-board and underarm upper end hinge, and torsion fastening spring is equipped with at the upper end of underarm and the hinge place of U-board linear edge.The steering gear of the carpal joint of artificial limb mechanical arm or hydraulic pressure pneumatic by one and two fan-shaped air bags or hydraulic bag form, the downward triangular prism of an acute angle is fixed in the rotating shaft of the steering gear of carpal pneumatic or hydraulic pressure, acute angle triangular prism is upwards fixed in palm upper end, the triangular prism hinge that triangular prism fixing in the rotating shaft of the steering gear of carpal pneumatic or hydraulic pressure is fixed with palm upper end, the both sides of the triangular prism hinge that the rotating shaft of the steering gear of palm triangular prism and pneumatic or hydraulic pressure is equipped with respectively fill a fan-shaped air bag or hydraulic bag, two torsion fastening springs are equipped with at the trequetrous hinge place that the rotating shaft of the steering gear of palm triangular prism and pneumatic or hydraulic pressure is equipped with.And then load onto two containment vessels, on the triangular prism that the rotating shaft that containment vessel is fixed on the steering gear of pneumatic or hydraulic pressure is equipped with, another containment vessel is fixed on palm triangular prism, wraps up one deck gum elastic thin film outside containment vessel.Respectively be connected in parallel by the jack that is pneumatic or hydraulic pressure be flexibly connected between two finger lengthening bones adjacent in the palm of artificial limb mechanical arm, the jack of pneumatic or hydraulic pressure is equipped with back-moving spring, a support frame articulations digitorum manus is equipped with, fan-shaped air bag or hydraulic bag, with the such fold of accordion air bag, wrap up one deck gum elastic thin film outside the jack of articulations digitorum manus and pneumatic or hydraulic pressure.The wing joint of artificial limb mechanical arm, elbow joint and articulations digitorum manus are equipped with rotation direction sensor.The structure of the steering gear of pneumatic or hydraulic pressure is as follows: one piece of quiet arc column is housed in the radial location of short tube, quiet arc column large cambered surface be fixed on short tube, caulking gum is posted in other faces of quiet arc column, and end cap is equipped with at the two ends of short tube; There is a rotating shaft through the centre bore of two end caps, have the little cambered surface of one piece of dynamic arc column to be fixed in the rotating shaft in short tube; Caulking gum is posted in other faces of dynamic arc column, the caulking gum of quiet arc column two covering of the fans contacts with two rubbing surfaces of end cover, the caulking gum of the little cambered surface of quiet arc column and shaft contacts, the caulking gum of dynamic arc column two covering of the fans contacts with two rubbing surfaces of end cover, and the caulking gum of the large cambered surface of dynamic arc column contacts with short tube inner surface; On the short tube that quiet arc column two sides are other, respectively fill a sebific duct, two sebific ducts on short tube are received on air accumulator by respective gas threeway and electromagnetic intake valve, and each another interface of group gas threeway is equipped with respective electromagnetic exhaust valve; Or two sebific ducts on short tube are received on oil pump by respective oily threeway and electromagnetism inlet valve, another interface of the oily threeway of each group is equipped with respective electromagnetism and returns liquid valve, return liquid valve sebific duct out from electromagnetism and receive fluid reservoir.
The control method of artificial limb mechanical arm: the eye observation surroundings of people by oneself using artificial limb mechanical arm, when needing to work with artificial limb mechanical arm, corticocerebral instruction is by being equipped with the upper limb nerve line of artificial limb mechanical arm side to biochip, and then biochip passes to the computer in artificial limb mechanical arm by electromagnetic wave.Computer starting air pump or liquid pump, computer is by opening or cut out each electromagnetic valve, use artificial limb mechanical arm people eyes help under, the jack press-in of the pneumatic or hydraulic pressure in the steering gear of the fan-shaped air bag in the wing joint of artificial limb mechanical arm, elbow joint, carpal joint and finger-joint or hydraulic bag and pneumatic or hydraulic pressure and palm or discharge compressed air or liquid; Make the upper arm of artificial limb mechanical arm lift or put down, lower brachiocylloosis or to stretch and hands is caught or puts down the action of object, complete the task of artificial limb mechanical arm.
The control method of artificial limb mechanical arm: the object using the aligning of the laser sight on people's helmet of artificial limb mechanical arm artificial limb mechanical arm to take, uses the work that the people of artificial limb mechanical arm will make of voice message artificial limb mechanical arm.The information of the object that laser sight is irradiated to by photographic head passes to computer, and mike passes to computer the information of voice prompt using the people of artificial limb robotic arm to send.The data message that computer uses software contrast to preserve in the past, under the help of photographic head, computer starting air pump or liquid pump, computer is by opening or cut out each electromagnetic valve, under the help of the photographic head on the helmet, the jack press-in of the pneumatic or hydraulic pressure in the steering gear of the fan-shaped air bag in the wing joint of artificial limb mechanical arm, elbow joint, carpal joint and finger-joint or hydraulic bag and pneumatic or hydraulic pressure and hands or discharge compressed air or liquid; Make the upper arm lifting of artificial limb mechanical arm, lower brachiocylloosis and hands grab the action of object, complete the task of artificial limb mechanical arm.
Robot of the present invention is made up of head, trunk, mechanical arm, mechanical legs and feet, and their skeleton is made of plastic, and cabinet surface covers one deck rubber film again.Robotic manipulator is made up of upper arm, underarm, hands, wing joint is housed between the upper arm upper end of robot and trunk, between upper arm and underarm, elbow joint is housed, between underarm and palm, carpal joint is housed.The structure of hands is as follows: an arcuate groove, arcuate groove arc core downwards, notch forward, middle finger that bone extended in palm is fixed on the middle part of arcuate groove, nameless and little finger extend to bone in palm successively hinge on the side of the middle finger prolongation bone of arcuate groove, forefinger extends to the bone hinge in palm and extends by another of bone at the middle finger of arcuate groove, the bone that thumb extends in palm is contained on the arcuate groove that forefinger extends bone by a joint, five fingers are all equipped with three articulations digitorum manus, and finger tip is equipped with touch sensor.Respectively fill a photographic head inside two eyes of robot, inside two ears of robot, respectively fill a mike, robot a speaker is housed in the mouth, the nose of robot is equipped with ultrasonic radar.Between the head of robot and trunk, neck joint is housed.The mechanical legs and feet of robot are made up of thigh, shank and foot, hip joint is housed between the trunk of robot and thigh, between thigh and shank, knee joint is housed, between shank and foot, ankle joint is housed.Computerized control robot.Air pump or liquid pump, air accumulator or fluid reservoir, lithium battery is kept in robot trunk.The steering gear of the neck joint of robot or hydraulic pressure pneumatic by one and a fan-shaped air bag or hydraulic bag form, fan-shaped air bag or hydraulic bag are with the such fold of accordion air bag, the steering gear of the pneumatic or hydraulic pressure of neck joint is fixed on trunk upper end, one piece of U-board arc edge is had to be fixed on the rotating shaft upper surface of the steering gear of the pneumatic of neck joint or hydraulic pressure backward, with U-board arc edge hinge on rear side of the lower end of head, the fan-shaped air bag of neck joint or hydraulic bag are contained in the space between U-board and head lower surface, torsion fastening spring is equipped with at the lower end of head and the hinge place at U-board arc edge.The jack of the trunk of robot or hydraulic pressure pneumatic built with two and a fan-shaped air bag or hydraulic bag, the jack of pneumatic or hydraulic pressure is equipped with back-moving spring, have the flat board of two pieces of front edge hinges in trunk, torsion fastening spring is equipped with at two pieces of dull and stereotyped hinge places.A fan-shaped air bag or hydraulic bag are housed between two pieces of flat boards, in trunk in the upper end of the jack of the pneumatic or hydraulic pressure in two, left and right and two pieces of flat boards below that one flat plate bottom surface hinge.The steering gear of the wing joint of the mechanical arm of robot or hydraulic pressure pneumatic by one and a fan-shaped air bag or hydraulic bag form.Pneumatic or the hydraulic steering gear in wing joint is fixed on the shoulder of trunk, one block of inverted U-shaped plate is had fixedly to be attached on the rotating shaft end face of the steering gear of the pneumatic of wing joint or hydraulic pressure, the upper end of upper arm and upper end, inverted U-shaped plate arc edge hinge, the fan-shaped air bag in wing joint or hydraulic bag are contained in the space between inverted U-shaped plate and Medial upper arm, and torsion fastening spring is equipped with at upper end and the hinge place, upper end, inverted U-shaped plate arc edge of upper arm.The steering gear of the elbow joint of mechanical arm or hydraulic pressure pneumatic by one and a fan-shaped air bag or hydraulic bag form.The steering gear of the pneumatic or hydraulic pressure of elbow joint is fixed on upper arm lower end, one piece of U-board arc edge is had fixedly to be attached on the rotating shaft end face of the pneumatic of elbow joint or hydraulic steering gear in outside, with U-board linear edge side hinge inside the upper end of underarm, the fan-shaped air bag of elbow joint or hydraulic bag are contained in the space between U-board and underarm upper surface, and the upper end of underarm and the hinge of U-board linear edge side are equipped with torsion fastening spring.The steering gear of the carpal joint of mechanical arm or hydraulic pressure pneumatic by one and two fan-shaped air bags or hydraulic bag form, the downward triangular prism of an acute angle is fixed in the rotating shaft of the steering gear of carpal pneumatic or hydraulic pressure, acute angle triangular prism is upwards fixed in palm upper end, the triangular prism hinge that triangular prism fixing in the rotating shaft of the steering gear of carpal pneumatic or hydraulic pressure is fixed with palm upper end, the both sides of the triangular prism hinge that the rotating shaft of the steering gear of palm triangular prism and pneumatic or hydraulic pressure is equipped with respectively fill a fan-shaped air bag or hydraulic bag, two torsion fastening springs are equipped with at the trequetrous hinge place that the rotating shaft of the steering gear of palm triangular prism and pneumatic or hydraulic pressure is equipped with.And then load onto two containment vessels, on the triangular prism that the rotating shaft that containment vessel is fixed on the steering gear of pneumatic or hydraulic pressure is equipped with, another containment vessel is fixed on palm triangular prism, wraps up one deck gum elastic thin film outside containment vessel.The articulations digitorum manus of mechanical arm is built with fan-shaped air bag or hydraulic bag, palm of the hand side hinge between two articulations digitorum manus, torsion fastening spring articulations digitorum manus hinge is equipped with, respectively be connected in parallel by the jack that is pneumatic or hydraulic pressure be flexibly connected between two adjacent finger lengthening bones, the jack of pneumatic or hydraulic pressure is equipped with back-moving spring, a support frame articulations digitorum manus is equipped with, torsion fastening spring is equipped with at the hinge place of each articulations digitorum manus, wraps up one deck gum elastic thin film outside the jack of articulations digitorum manus and pneumatic or hydraulic pressure.The wing joint of mechanical arm, elbow joint and articulations digitorum manus are equipped with rotation direction sensor.The steering gear of the hip joint of robotic's legs and feet or hydraulic pressure pneumatic by one and a fan-shaped air bag or hydraulic bag form, the steering gear of the pneumatic or hydraulic pressure in hip joint is fixed on below trunk, one block of inverted U-shaped plate is had fixedly to be attached on the rotating shaft end face of the steering gear of the pneumatic of hip joint or hydraulic pressure, the upper end of thigh and upper end, inverted U-shaped plate arc edge hinge, the fan-shaped air bag in hip joint or hydraulic bag are contained in the space between inverted U-shaped plate and femoribus internus, and torsion fastening spring is equipped with at upper end and the hinge place, upper end, inverted U-shaped plate arc edge of thigh.The knee joint of robotic's legs and feet is steering gears of a pneumatic or hydraulic pressure, and the short tube of the steering gear of pneumatic or hydraulic pressure is fixed on thigh lower end, and shank upper end is fixed in the rotating shaft of the steering gear of pneumatic or hydraulic pressure.The steering gear of the ankle joint of robotic's legs and feet or hydraulic pressure pneumatic by one and a fan-shaped air bag or hydraulic bag form.The steering gear of the pneumatic or hydraulic pressure of ankle joint is fixed on shank lower end, have and be fixed on the rotating shaft end face of the steering gear of the pneumatic of ankle joint or hydraulic pressure before and after one piece of U-board arc edge, the upper end of foot and U-board arc edge hinge, the fan-shaped air bag of ankle joint or hydraulic bag are contained in the space between U-board and foot upper end leading flank, and the upper end of foot and the hinge at U-board arc edge go out to be equipped with torsion fastening spring.Rotation direction sensor is equipped with in the joint of the hip joint of robotic's legs and feet, knee joint and ankle robotic legs and feet.The sole of robotic's legs and feet is equipped with spring steel plate, and foot bottom is equipped with three pressure transducers.From air accumulator sebific duct out by receiving fan-shaped air bag after an electromagnetic intake valve and a gas threeway, another interface of gas threeway is equipped with electromagnetic exhaust valve, or from liquid pump sebific duct out by receiving fan-shaped hydraulic bag after an electromagnetism liquid feed valve and a liquid threeway, another interface of liquid threeway is equipped with electromagnetism and returns liquid valve, returns liquid valve sebific duct out receive fluid reservoir from electromagnetism.The structure of the steering gear of pneumatic or hydraulic pressure is as follows: one piece of quiet arc column is housed in the radial location of short tube, quiet arc column large cambered surface be fixed on short tube, caulking gum is posted in other faces of quiet arc column, and end cap is equipped with at the two ends of short tube, has a rotating shaft through the centre bore of two end caps.Have the little cambered surface of one piece of dynamic arc column to be fixed in the rotating shaft in short tube, caulking gum is posted in other faces of dynamic arc column, and the caulking gum of quiet arc column two covering of the fans contacts with two rubbing surfaces of end cover.The caulking gum of the little cambered surface of quiet arc column and shaft contacts, the caulking gum of dynamic arc column two covering of the fans contacts with two rubbing surfaces of end cover, and the caulking gum of the large cambered surface of dynamic arc column contacts with short tube inner surface.On the short tube that quiet arc column two sides are other, respectively fill a sebific duct, two sebific ducts on short tube are received on air accumulator by respective gas threeway and electromagnetic intake valve.Each group of another interface of gas threeway is equipped with respective electromagnetic exhaust valve.Or two sebific ducts on short tube are received on oil pump by respective liquid threeway and electromagnetism liquid feed valve, another interface of each group liquid threeway is equipped with respective electromagnetism and returns liquid valve, return liquid valve sebific duct out from electromagnetism and receive fluid reservoir.
The control method of robot: the work that owner arranges listened to by the mike in robot ear, and mike passes to the computer of robot the information of voice prompt that owner sends, or owner sends work order by mobile phone or computer to robot.The data message that computer uses software contrast to preserve in the past, computer starting air pump or liquid pump, computer is by opening or cut out each electromagnetic valve.The steering gear of the pneumatic or hydraulic pressure in robot neck joint is pressed into or discharges compressed air or liquid, robot is turned one's head, fan-shaped air bag in robot neck joint or hydraulic bag are pressed into or discharge compressed air or liquid, make robot come back or bow, thus the photographic head in robot eyes is seen wider wealthy.Under the help of the photographic head in robot eyes, the steering gear press-in of the fan-shaped air bag in the hip joint of robotic's legs and feet, knee joint and ankle joint or hydraulic bag and pneumatic or hydraulic pressure or discharge compressed air or liquid, the action making the thigh of robotic's legs and feet lift lower limb, shank knee sprung and foot to stretch out, completes the walking task of robot.The piston of the jack of the pneumatic or hydraulic pressure in two, left and right rises together the first half of robot trunk is raised in trunk.In robot trunk, the piston of the jack of the pneumatic or hydraulic pressure on the left side is motionless or raise few, and in robot trunk, the piston of the jack of the pneumatic or hydraulic pressure on the right raises more, then robot bends over left.The piston of the jack of the pneumatic or hydraulic pressure on the right of in robot trunk is motionless or raise few, and in robot trunk, the piston of the jack of the pneumatic or hydraulic pressure on the left side raises more, then robot bends over to the right.Air bag fan-shaped in robot trunk or hydraulic bag press-in compressed air or liquid robot bend forward, and the compressed air in air bag fan-shaped in robot trunk or hydraulic bag or liquid are discharged, and robot directly plays waist backward.The jack press-in of the pneumatic or hydraulic pressure in the steering gear of the fan-shaped air bag in the wing joint of robotic manipulator, elbow joint, carpal joint and finger-joint or hydraulic bag and pneumatic or hydraulic pressure and palm or discharge compressed air or liquid, make the upper arm lifting of robot mechanical arm, lower brachiocylloosis and hands grab the action of object, complete the task of robot.
In actual applications, if do not need robot to go upstairs, then robot is without the need for mechanical legs and feet, directly loads onto four wheels below robot trunk, namely four-wheel drive robot.The robot center of gravity of four-wheel drive robot is very steady, can not tumble.Due in machine human body except air pump or liquid pump use metal, other parts all use plastics or rubber, and do not use expensive, that weight is very heavy servomotor and harmonic wave speed reducing machine.Thus robot is lightweight, and price is also cheap, very applicablely makes domestic robot, does chores.Robot puts into washing machine medicated clothing, then opens detergent lid, and robot, according to the quantity of medicated clothing, throws in several spoonfuls of detergent with the plastic spoon containing detergent to washing machine, and the plastic spoon containing detergent is put in washing powder box, covered lid.Robot covers cover of washing machine, and the dynamic washing machine that then press...withes one's finger starts case, then presses program for washing selection key, chooses program for washing, finally starts to wash clothes by operation button, washing machine.After washing machine washes clothes, dry clothes, then shut down and send chimes of doom.After robot hears chimes of doom, the medicated clothing in washing machine taken out, discharge in plastic tub, the plastic tub end of transfer medicated clothing to balcony.Robot coat hanger cover on clothes, with clip clothes together with Hanger with clamp for clothing, then have the clothes hanger hook of clothes on the cross bar put garments out in the sun with fork arm grip.Owner eats up instead, and robot fills to remain has the plate of dish to put into the fresh-keeping layer of electric refrigerator.Robot opens dish washing machine door, take out on bowl basket, electric discharge dining table, then empty bowl and blank panel and chopsticks are put in bowl basket, the bowl basket filling tableware is pushed in dish-washing machine, pass visits, press...with one's finger the dynamic program button that washes the dishes, selection is washed the dishes program, then runs button by dish-washing machine, dish-washing machine starts to wash the dishes.After dish-washing machine washes bowl, automatic shutdown.
Accompanying drawing illustrates:
Below in conjunction with the drawings and specific embodiments, concrete detailed description is further done to the present invention.
Fig. 1 is the structural representation of artificial limb mechanical arm in the present invention and robot mechanical arm.
Fig. 2 is the A-A sectional view of the artificial limb mechanical arm in the present invention.
Fig. 3 is the steering gear sectional view of the pneumatic or hydraulic pressure in the present invention.
Fig. 4 is air bag fan-shaped in the present invention or the outside drawing of hydraulic bag.
Fig. 5 is the sectional view of five fingers in the present invention.
Fig. 6 is the structural representation of the robot in the present invention.
Detailed description of the invention:
Shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5, artificial limb mechanical arm of the present invention is made up of upper arm 1, underarm 2, hands 3, and their skeleton is made of plastic, and cabinet surface covers one deck rubber film again.Wing joint is equipped with in upper arm 1 upper end, between upper arm 1 and underarm 2, elbow joint is housed, and between underarm 2 and palm, carpal joint is housed.The structure of hands 3 is as follows: an arcuate groove, arcuate groove arc core downwards, notch forward, middle finger 303 that bone extended in palm is fixed on the middle part of arcuate groove, nameless 302 and little finger 301 extend to bone in palm successively hinge extend the side of bone at the middle finger 303 of arcuate groove, forefinger 304 extends to the bone hinge in palm and extends by another of bone at the middle finger 303 of arcuate groove, thumb 305 bone extended in palm is contained in by a joint and extends on the arcuate groove of bone near forefinger 304, and five fingers are all equipped with three articulations digitorum manus.Air pump or liquid pump 9, air accumulator or fluid reservoir 8, lithium battery 7 is kept in upper arm 1 bone shell or underarm 2 bone shell.Articulations digitorum manus, built with palm of the hand side hinge between fan-shaped air bag or hydraulic bag 4, two articulations digitorum manus, articulations digitorum manus hinge is equipped with torsion fastening spring, finger tip is equipped with touch sensor.From air accumulator sebific duct out by receiving fan-shaped air bag after an electromagnetic intake valve and a gas threeway, another interface of gas threeway is equipped with electromagnetic exhaust valve.Or from liquid pump 9 sebific duct out by receiving fan-shaped hydraulic bag 4 after an electromagnetism liquid feed valve and a liquid threeway, another interface of liquid threeway is equipped with electromagnetism and returns liquid valve, returns liquid valve sebific duct out receive fluid reservoir 8 from electromagnetism.Artificial limb mechanical arm is controlled by computer by the biochip be connected with upper limb nerve line be imbedded in health.Or artificial limb mechanical arm is controlled by computer by the helmet that three photographic head, a laser sight and a mike are housed.The steering gear 5 of the wing joint of artificial limb mechanical arm or hydraulic pressure pneumatic by one and a fan-shaped air bag or hydraulic bag 4 form, the steering gear 5 of the pneumatic or hydraulic pressure in wing joint is fixed on shoulder, one block of inverted U-shaped plate is had fixedly to be attached on rotating shaft 502 end face of the steering gear 5 of the pneumatic of wing joint or hydraulic pressure, the upper end of upper arm and upper end, inverted U-shaped plate arc edge hinge, the fan-shaped air bag in wing joint or hydraulic bag 4 are contained in the space between inverted U-shaped plate and Medial upper arm, and torsion fastening spring is equipped with at upper end and the hinge place, upper end, inverted U-shaped plate camber line edge of upper arm.The steering gear 5 of the elbow joint of artificial limb mechanical arm or hydraulic pressure pneumatic by one and a fan-shaped air bag or hydraulic bag 4 form, the steering gear 5 of the pneumatic or hydraulic pressure of elbow joint is fixed on upper arm 1 lower end, rotating shaft 502 lower surface of the steering gear 5 of the pneumatic or hydraulic pressure of elbow joint is fixed with one piece of U-board, U-board camber line edge is in outside, the upper end of underarm 2 and U-board linear edge hinge, the fan-shaped air bag of elbow joint or hydraulic bag 4 are contained in the space between U-board and underarm upper end hinge, torsion fastening spring is equipped with at the upper end of underarm 2 and the hinge place of U-board linear edge.The steering gear 5 of the carpal joint of artificial limb mechanical arm or hydraulic pressure pneumatic by one and two fan-shaped air bags or hydraulic bag 4 form, the downward triangular prism of an acute angle is fixed in the rotating shaft 502 of the steering gear 5 of carpal pneumatic or hydraulic pressure, acute angle triangular prism is upwards fixed in palm upper end, the triangular prism hinge that triangular prism fixing in the rotating shaft 502 of the steering gear 5 of carpal pneumatic or hydraulic pressure is fixed with palm upper end, the both sides of the triangular prism hinge that the rotating shaft 502 of the steering gear 5 of palm triangular prism and pneumatic or hydraulic pressure is equipped with respectively fill a fan-shaped air bag or hydraulic bag 4, two torsion fastening springs are equipped with at the trequetrous hinge place that the rotating shaft 502 of the steering gear 5 of palm triangular prism and pneumatic or hydraulic pressure is equipped with.And then load onto two containment vessels, on the triangular prism that the rotating shaft 502 that containment vessel is fixed on the steering gear 5 of pneumatic or hydraulic pressure is equipped with, another containment vessel is fixed on palm triangular prism, wraps up one deck gum elastic thin film outside containment vessel.Respectively be connected in parallel by the jack 6 that is pneumatic or hydraulic pressure be flexibly connected between two finger lengthening bones adjacent in the palm of artificial limb mechanical arm, the jack 6 of pneumatic or hydraulic pressure is equipped with back-moving spring, a support frame articulations digitorum manus is equipped with, fan-shaped air bag or hydraulic bag 4, with the such fold of accordion air bag, wrap up one deck gum elastic thin film outside the jack 6 of articulations digitorum manus and pneumatic or hydraulic pressure.The wing joint of artificial limb mechanical arm, elbow joint and articulations digitorum manus are equipped with rotation direction sensor.The structure of the steering gear 5 of pneumatic or hydraulic pressure is as follows: one piece of quiet arc column 504 is housed in the radial location of short tube 501, quiet arc column 504 large cambered surface be fixed on short tube 501, caulking gum is posted in other faces of quiet arc column 504, and end cap is equipped with at the two ends of short tube 501; There is a rotating shaft 502 through the centre bore of two end caps, in the rotating shaft 502 having the little cambered surface of one piece of dynamic arc column 503 to be fixed in short tube 501; Caulking gum is posted in other faces of dynamic arc column 503, the caulking gum of quiet arc column 504 two covering of the fans contacts with two rubbing surfaces of end cover, the caulking gum of the little cambered surface of quiet arc column 504 contacts with rotating shaft 502, the caulking gum of dynamic arc column 503 two covering of the fans contacts with two rubbing surfaces of end cover, and the caulking gum of the large cambered surface of dynamic arc column 503 contacts with short tube 501 inner surface; On the short tube 501 that quiet arc column 504 two sides are other, respectively fill a sebific duct, two sebific ducts on short tube 501 are received on air accumulator by respective gas threeway and electromagnetic intake valve, and each another interface of group gas threeway is equipped with respective electromagnetic exhaust valve; Or two sebific ducts on short tube are received on liquid pump 9 by respective oily threeway and electromagnetism liquid feed valve, another interface of each group liquid threeway is equipped with respective electromagnetism and returns liquid valve, return liquid valve sebific duct out from electromagnetism and receive fluid reservoir 8.
Shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5, the control method of artificial limb mechanical arm: the eye observation surroundings of people by oneself using artificial limb mechanical arm, when needing to work with artificial limb mechanical arm, corticocerebral instruction is by being equipped with the upper limb nerve line of artificial limb mechanical arm side to biochip, and then biochip passes to the computer in artificial limb mechanical arm by electromagnetic wave.Computer starting air pump or liquid pump 9, computer is by opening or cut out each electromagnetic valve, use artificial limb mechanical arm people eyes help under, the jack 6 that is pneumatic or hydraulic pressure in the steering gear 5 of the fan-shaped air bag in the wing joint of artificial limb mechanical arm, elbow joint, carpal joint and finger-joint or hydraulic bag 4 and pneumatic or hydraulic pressure and hands is pressed into or discharges compressed air or liquid; Make that the upper arm 1 of artificial limb mechanical arm lifts or puts down, underarm 2 is bending or stretch and hands 3 is caught or puts down the action of object, completes the task of artificial limb mechanical arm.
Shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5, the control method of artificial limb mechanical arm: the object using the aligning of the laser sight on people's helmet of artificial limb mechanical arm artificial limb mechanical arm to take, uses the work that the people of artificial limb mechanical arm will make of voice message artificial limb mechanical arm.The information of the object that laser sight is irradiated to by photographic head passes to computer, and mike passes to computer the information of voice prompt using the people of artificial limb robotic arm to send.The data message that computer uses software contrast to preserve in the past, under the help of photographic head, computer starting air pump or liquid pump 9, computer is by opening or cut out each electromagnetic valve, under the help of the photographic head on the helmet, the jack 6 that is pneumatic or hydraulic pressure in the steering gear 5 of the fan-shaped air bag in the wing joint of artificial limb mechanical arm, elbow joint, carpal joint and finger-joint or hydraulic bag 4 and pneumatic or hydraulic pressure and hands is pressed into or discharges compressed air or liquid; Make the bending and hands 3 of upper arm 1 lifting of artificial limb mechanical arm, underarm 2 grab the action of object, complete the task of artificial limb mechanical arm.
Shown in Fig. 1, Fig. 3, Fig. 4, Fig. 5 and Fig. 6, robot of the present invention by 10, trunk, mechanical arm, mechanical legs and feet form, their skeleton is made of plastic, and cabinet surface covers one deck rubber film again.Robotic manipulator is made up of upper arm 1, underarm 2, hands 3, and wing joint is housed between upper arm 1 upper end of robot and trunk, between upper arm 1 and underarm 2, elbow joint is housed, and between underarm 2 and palm, carpal joint is housed.The structure of hands 3 is as follows: an arcuate groove, arcuate groove arc core is downward, notch forward, middle finger 303 that bone extended in palm is fixed on the middle part of arcuate groove, nameless 302 and little finger 301 extend to bone in palm successively hinge extend the side of bone at the middle finger 303 of arcuate groove, forefinger 304 extends to the bone hinge in palm and extends by another of bone at the middle finger 303 of arcuate groove, thumb 305 bone extended in palm is contained in by a joint and extends on the arcuate groove of bone near forefinger 304, five fingers are all equipped with three articulations digitorum manus, finger tip is equipped with touch sensor.Respectively fill a photographic head inside two eyes of robot, inside two ears of robot, respectively fill a mike, robot a speaker is housed in the mouth, the nose of robot is equipped with ultrasonic radar.Robot between 10 and trunk, neck joint is housed.The mechanical legs and feet of robot are made up of thigh 11, shank 12 and foot 13, between the trunk of robot and thigh 11, hip joint are housed, between thigh 11 and shank 12, knee joint are housed, between shank 12 and foot 13, ankle joint is housed.Computerized control robot.Air pump or liquid pump 9, air accumulator or fluid reservoir 8, lithium battery 7 is kept in robot trunk.The steering gear 5 of the neck joint of robot or hydraulic pressure pneumatic by one and a fan-shaped air bag or hydraulic bag 4 form, fan-shaped air bag or hydraulic bag 4 are with the such fold of accordion air bag, the steering gear 5 of the pneumatic or hydraulic pressure of neck joint is fixed on trunk upper end, one piece of U-board arc edge is had to be fixed on rotating shaft 502 upper surface of the pneumatic of neck joint or hydraulic steering gear 5 backward, with U-board arc edge hinge on rear side of the lower end of 10, the fan-shaped air bag of neck joint or hydraulic bag 4 are contained in the space between U-board and 10 lower surface, torsion fastening spring is equipped with at the lower end of 10 and the hinge place at U-board arc edge.The jack 6 of the trunk of robot or hydraulic pressure pneumatic built with two and a fan-shaped air bag or hydraulic bag 4, the jack 6 of pneumatic or hydraulic pressure is equipped with back-moving spring, have the flat board of two pieces of front edge hinges in trunk, torsion fastening spring is equipped with at two pieces of dull and stereotyped hinge places.A fan-shaped air bag or hydraulic bag 4 are housed between two pieces of flat boards, in trunk in the upper end of the jack 6 of the pneumatic or hydraulic pressure in two, left and right and two pieces of flat boards below that one flat plate bottom surface hinge.Pneumatic or hydraulic steering gear 5 and a fan-shaped air bag or hydraulic bag 4 form by one for the wing joint of the mechanical arm of robot.The steering gear 5 of the pneumatic or hydraulic pressure in wing joint is fixed on the shoulder of trunk, one block of inverted U-shaped plate is had fixedly to be attached on rotating shaft 502 end face of the steering gear 5 of the pneumatic of wing joint or hydraulic pressure, the upper end of upper arm 1 and upper end, inverted U-shaped plate arc edge hinge, in space between the fan-shaped air bag in wing joint or hydraulic bag 4 are contained in inside inverted U-shaped plate and upper arm 1, torsion fastening spring is equipped with at upper end and the hinge place, upper end, inverted U-shaped plate arc edge of upper arm 1.The steering gear 5 of the elbow joint of mechanical arm or hydraulic pressure pneumatic by one and a fan-shaped air bag or hydraulic bag 4 form.The steering gear 5 of the pneumatic or hydraulic pressure of elbow joint is fixed on upper arm 1 lower end, one piece of U-board arc edge is had fixedly to be attached on rotating shaft 502 end face of the steering gear 5 of the pneumatic of elbow joint or hydraulic pressure in outside, with U-board linear edge side hinge inside the upper end of underarm 2, the fan-shaped air bag of elbow joint or hydraulic bag 4 are contained in the space between U-board and underarm 2 upper surface, and the upper end of underarm 2 and the hinge of U-board linear edge side are equipped with torsion fastening spring.The steering gear 5 of the carpal joint of mechanical arm or hydraulic pressure pneumatic by one and two fan-shaped air bags or hydraulic bag 4 form, the downward triangular prism of an acute angle is fixed in the rotating shaft 502 of the steering gear 5 of carpal pneumatic or hydraulic pressure, acute angle triangular prism is upwards fixed in palm upper end, the triangular prism hinge that triangular prism fixing in the rotating shaft 502 of the steering gear 5 of carpal pneumatic or hydraulic pressure is fixed with palm upper end, the both sides of the triangular prism hinge that the rotating shaft 502 of the steering gear 5 of palm triangular prism and pneumatic or hydraulic pressure is equipped with respectively fill a fan-shaped air bag or hydraulic bag 4, two torsion fastening springs are equipped with at the trequetrous hinge place that the rotating shaft 502 of the steering gear 5 of palm triangular prism and pneumatic or hydraulic pressure is equipped with.And then load onto two containment vessels, on the triangular prism that the rotating shaft 502 that containment vessel is fixed on the steering gear 5 of pneumatic or hydraulic pressure is equipped with, another containment vessel is fixed on palm triangular prism, wraps up one deck gum elastic thin film outside containment vessel.The articulations digitorum manus of mechanical arm is built with fan-shaped air bag or hydraulic bag 4, palm of the hand side hinge between two articulations digitorum manus, torsion fastening spring articulations digitorum manus hinge is equipped with, respectively be connected in parallel by the jack 6 that is pneumatic or hydraulic pressure be flexibly connected between two adjacent finger lengthening bones, the jack 6 of pneumatic or hydraulic pressure is equipped with back-moving spring, a support frame articulations digitorum manus is equipped with, torsion fastening spring is equipped with at the hinge place of each articulations digitorum manus, wraps up one deck gum elastic thin film outside the jack 6 of articulations digitorum manus and pneumatic or hydraulic pressure.The wing joint of mechanical arm, elbow joint and articulations digitorum manus are equipped with rotation direction sensor.The steering gear 5 of the hip joint of robotic's legs and feet or hydraulic pressure pneumatic by one and a fan-shaped air bag or hydraulic bag 4 form, the steering gear 5 of the pneumatic or hydraulic pressure in hip joint is fixed on below trunk, one block of inverted U-shaped plate is had fixedly to be attached on rotating shaft 502 end face of the steering gear 5 of the pneumatic of hip joint or hydraulic pressure, the upper end of thigh 11 and upper end, inverted U-shaped plate arc edge hinge, in space between the fan-shaped air bag in hip joint or hydraulic bag 4 are contained in inside inverted U-shaped plate and thigh 11, torsion fastening spring is equipped with at upper end and the hinge place, upper end, inverted U-shaped plate arc edge of thigh 11.The knee joint of robotic's legs and feet is steering gears 5 of a pneumatic or hydraulic pressure, and the short tube 501 of the steering gear 5 of pneumatic or hydraulic pressure is fixed on thigh 11 lower end, and shank 12 upper end is fixed in the rotating shaft 502 of the steering gear 5 of pneumatic or hydraulic pressure.The steering gear 5 of the ankle joint of robotic's legs and feet or hydraulic pressure pneumatic by one and a fan-shaped air bag or hydraulic bag 4 form.The steering gear 5 of the pneumatic or hydraulic pressure of ankle joint is fixed on shank 12 lower end, having before and after one piece of U-board arc edge is fixed on rotating shaft 502 end face of the steering gear 5 of the pneumatic of ankle joint or hydraulic pressure, the upper end of foot 13 and U-board arc edge hinge, the fan-shaped air bag of ankle joint or hydraulic bag 4 are contained in the space between U-board and foot 13 upper end leading flank, and the upper end of foot 13 and the hinge at U-board arc edge go out to be equipped with torsion fastening spring.Rotation direction sensor is equipped with in the joint of the hip joint of robotic's legs and feet, knee joint and ankle robotic legs and feet.Foot 13 plate of robotic's legs and feet is equipped with spring steel plate, three pressure transducers are housed bottom foot 13.From air accumulator sebific duct out by receiving fan-shaped air bag after an electromagnetic intake valve and a gas threeway, another interface of gas threeway is equipped with electromagnetic exhaust valve, or from liquid pump 9 sebific duct out by receiving fan-shaped hydraulic bag 4 after an electromagnetism liquid feed valve and a liquid threeway, another interface of liquid threeway is equipped with electromagnetism and returns liquid valve, returns liquid valve sebific duct out receive fluid reservoir 8 from electromagnetism.The structure of the steering gear 5 of pneumatic or hydraulic pressure is as follows: one piece of quiet arc column 504 is housed in the radial location of short tube 501, quiet arc column 504 large cambered surface be fixed on short tube 501, caulking gum is posted in other faces of quiet arc column 504, end cap is equipped with at the two ends of short tube 501, has a rotating shaft 502 through the centre bore of two end caps.In the rotating shaft 502 having the little cambered surface of one piece of dynamic arc column 503 to be fixed in short tube 501, caulking gum is posted in other faces of dynamic arc column 503, and the caulking gum of quiet arc column 504 two covering of the fans contacts with two rubbing surfaces of end cover.The caulking gum of the little cambered surface of quiet arc column 504 contacts with rotating shaft 502, and the caulking gum of dynamic arc column 503 two covering of the fans contacts with two rubbing surfaces of end cover, and the caulking gum of the large cambered surface of dynamic arc column 503 contacts with short tube 501 inner surface.On the short tube 501 that quiet arc column 504 two sides are other, respectively fill a sebific duct, two sebific ducts on short tube 501 are received on air accumulator by respective gas threeway and electromagnetic intake valve.Each group of another interface of gas threeway is equipped with respective electromagnetic exhaust valve.Or two sebific ducts on short tube 501 are received on liquid pump 9 by respective liquid threeway and electromagnetism liquid feed valve, another interface of each group liquid threeway is equipped with respective electromagnetism and returns liquid valve, return liquid valve sebific duct out from electromagnetism and receive fluid reservoir 8.
Shown in Fig. 1, Fig. 3, Fig. 4, Fig. 5 and Fig. 6, the control method of robot: the work that owner arranges listened to by the mike in robot ear, mike passes to the computer of robot the information of voice prompt that owner sends, or owner sends work order by mobile phone or computer to robot.The data message that computer uses software contrast to preserve in the past, computer starting air pump or liquid pump 9, computer is by opening or cut out each electromagnetic valve.The steering gear 5 of the pneumatic or hydraulic pressure in robot neck joint is pressed into or discharges compressed air or liquid, robot is made to turn one's head 10, fan-shaped air bag in robot neck joint or hydraulic bag 4 are pressed into or discharge compressed air or liquid, make robot come back 10 or bow 10, thus the photographic head in robot eyes is seen wider wealthy.Under the help of the photographic head in robot eyes, fan-shaped air bag in the hip joint of robotic's legs and feet, knee joint and ankle joint or hydraulic bag 4 and steering gear 5 that is pneumatic or hydraulic pressure are pressed into or discharge compressed air or liquid, the action making the thigh 11 of robotic's legs and feet lift lower limb, shank 12 knee sprung and foot 13 to stretch out, completes the walking task of robot.The piston of the jack 6 of the pneumatic or hydraulic pressure in two, left and right rises together the first half of robot trunk is raised in trunk.In robot trunk, the piston of the jack 6 of the pneumatic or hydraulic pressure on the left side is motionless or raise few, and in robot trunk, the piston of the jack 6 of the pneumatic or hydraulic pressure on the right raises more, then robot bends over left.The piston of the jack 6 of the pneumatic or hydraulic pressure on the right of in robot trunk is motionless or raise few, and in robot trunk, the piston of the jack 6 of the pneumatic or hydraulic pressure on the left side raises more, then robot bends over to the right.Air bag fan-shaped in robot trunk or hydraulic bag 4 are pressed into compressed air or liquid robot bends forward, and the compressed air in robot trunk in fan-shaped air bag or hydraulic bag 4 or liquid are discharged, and robot directly plays waist backward.Jack 6 that is pneumatic or hydraulic pressure on the steering gear 6 of the fan-shaped air bag in the wing joint of robotic manipulator, elbow joint, carpal joint and finger-joint or hydraulic bag 4 and pneumatic or hydraulic pressure and hands bone is pressed into or discharges compressed air or liquid, make the bending and hands 3 of upper arm 1 lifting of robot mechanical arm, underarm 2 grab the action of object, complete the task of robot.

Claims (5)

1. an artificial limb mechanical arm, artificial limb mechanical arm is made up of upper arm, underarm, hands, and their skeleton is made of plastic, cabinet surface covers one deck rubber film again, wing joint is equipped with in upper arm upper end, between upper arm and underarm, elbow joint is housed, and between underarm and palm, carpal joint is housed, the structure of hands is as follows: an arcuate groove, arcuate groove arc core is downward, notch forward, middle finger that bone extended in palm is fixed on the middle part of arcuate groove, nameless and little finger extend to bone in palm successively hinge on the side of the middle finger prolongation bone of arcuate groove, forefinger extends to the bone hinge in palm and extends by another of bone at the middle finger of arcuate groove, the bone that thumb extends in palm is contained on the arcuate groove that forefinger extends bone by a joint, five fingers are all equipped with three articulations digitorum manus, air pump or liquid pump is kept in upper arm bone shell or underarm bone shell, air accumulator or fluid reservoir, lithium battery, articulations digitorum manus is built with fan-shaped air bag or hydraulic bag, palm of the hand side hinge between two articulations digitorum manus, torsion fastening spring articulations digitorum manus hinge is equipped with, finger tip is equipped with touch sensor, from air accumulator sebific duct out by receiving fan-shaped air bag after an electromagnetic intake valve and a gas threeway, another interface of gas threeway is equipped with electromagnetic exhaust valve, or from liquid pump sebific duct out by receiving fan-shaped hydraulic bag after an electromagnetism liquid feed valve and a liquid threeway, another interface of liquid threeway is equipped with electromagnetism and returns liquid valve, returns liquid valve sebific duct out receive fluid reservoir from electromagnetism, artificial limb mechanical arm is controlled by computer by the biochip be connected with upper limb nerve line be imbedded in health, or artificial limb mechanical arm is controlled by computer by the helmet that three photographic head, a laser sight and a mike are housed, it is characterized in that: the steering gear (5) of the wing joint of artificial limb mechanical arm or hydraulic pressure pneumatic by one and a fan-shaped air bag or hydraulic bag (4) form, pneumatic or the hydraulic steering gear () in wing joint is fixed on shoulder, one block of inverted U-shaped plate is had fixedly to be attached on the rotating shaft of the steering gear of the pneumatic of wing joint or hydraulic pressure (5) (502) end face, the upper end of described upper arm (1) and upper end, inverted U-shaped plate arc edge hinge, the fan-shaped air bag in wing joint or hydraulic bag are contained in the space between inverted U-shaped plate and described upper arm (1) inner side, torsion fastening spring is equipped with at upper end and the hinge place, upper end, inverted U-shaped plate camber line edge of described upper arm (1), the steering gear (5) of the elbow joint of artificial limb mechanical arm or hydraulic pressure pneumatic by one and a fan-shaped air bag or hydraulic bag (4) form, the steering gear (5) of the pneumatic or hydraulic pressure of elbow joint is fixed on described upper arm (1) lower end, rotating shaft (502) lower surface of the steering gear (5) of the pneumatic or hydraulic pressure of elbow joint is fixed with one piece of U-board, U-board camber line edge is in outside, the upper end of described underarm (2) and U-board linear edge hinge, the fan-shaped air bag of elbow joint or hydraulic bag (4) are contained in the space between U-board and described underarm (2) upper end hinge, torsion fastening spring is equipped with at the upper end of described underarm (2) and the hinge place of U-board linear edge, the steering gear (5) of the carpal joint of artificial limb mechanical arm or hydraulic pressure pneumatic by one and two fan-shaped air bags or hydraulic bag (4) form, the downward triangular prism of an acute angle is fixed in the rotating shaft (502) of the steering gear (5) of carpal pneumatic or hydraulic pressure, acute angle triangular prism is upwards fixed in palm upper end, the triangular prism hinge that the upper fixing triangular prism of rotating shaft (502) of the steering gear (5) of carpal pneumatic or hydraulic pressure is fixed with palm upper end, the both sides of the triangular prism hinge that the rotating shaft (502) of the steering gear (5) of palm triangular prism and pneumatic or hydraulic pressure is equipped with respectively fill a fan-shaped air bag or hydraulic bag (4), two torsion fastening springs are equipped with at the trequetrous hinge place that the rotating shaft (502) of the steering gear (5) of palm triangular prism and pneumatic or hydraulic pressure is equipped with, and then load onto two containment vessels, on the triangular prism that the rotating shaft (502) that containment vessel is fixed on the steering gear (5) of pneumatic or hydraulic pressure is equipped with, another containment vessel is fixed on palm triangular prism, one deck gum elastic thin film is wrapped up outside containment vessel, respectively be connected in parallel by the jack (6) that is pneumatic or hydraulic pressure be flexibly connected between two finger lengthening bones adjacent in the palm of artificial limb mechanical arm, the jack (6) of pneumatic or hydraulic pressure is equipped with back-moving spring, a support frame articulations digitorum manus is equipped with, fan-shaped air bag or hydraulic bag (4) are with the such fold of accordion air bag, articulations digitorum manus and jack (6) outside parcel one deck gum elastic thin film that is pneumatic or hydraulic pressure, the wing joint of artificial limb mechanical arm, elbow joint and articulations digitorum manus are equipped with rotation direction sensor, the structure of the steering gear (5) of pneumatic or hydraulic pressure is as follows: one piece of quiet arc column (504) is housed in the radial location of short tube (501), quiet arc column (504) large cambered surface be fixed on short tube (501), caulking gum is posted in other faces of quiet arc column (504), end cap is equipped with at the two ends of short tube (501), there is a rotating shaft (502) through the centre bore of two end caps, in the rotating shaft (502) having the little cambered surface of one piece of dynamic arc column (503) to be fixed in short tube (501), caulking gum is posted in other faces of dynamic arc column (503), the caulking gum of quiet arc column (504) two covering of the fans contacts with two rubbing surfaces of end cover, the caulking gum of the little cambered surface of quiet arc column (504) contacts with rotating shaft (502), the caulking gum of dynamic arc column (503) two covering of the fans contacts with two rubbing surfaces of end cover, the caulking gum of the large cambered surface of dynamic arc column (503) contacts with short tube (501) inner surface, short tube (501) near side, quiet arc column (504) two sides is above each fills a sebific duct, two sebific ducts on short tube (501) are received on air accumulator by respective gas threeway and electromagnetic intake valve, each group of another interface of gas threeway is equipped with respective electromagnetic exhaust valve, or two sebific ducts on short tube (501) are received on described liquid pump (9) by respective liquid threeway and electromagnetism liquid feed valve, another interface of each group of liquid threeway is equipped with respective electromagnetism and returns liquid valve, return liquid valve sebific duct out from electromagnetism to receive described fluid reservoir (8).
2. the control method of artificial limb mechanical arm, it is characterized in that: the eye observation surroundings of people by oneself using artificial limb mechanical arm, when needing to work with artificial limb mechanical arm, corticocerebral instruction is by being equipped with the upper limb nerve line of artificial limb mechanical arm side to biochip, then biochip passes to the computer in artificial limb mechanical arm by electromagnetic wave, computer starting air pump or liquid pump (9), computer is by opening or cut out each electromagnetic valve, under the help of the eyes of the people of use artificial limb mechanical arm, the wing joint of artificial limb mechanical arm, elbow joint, jack (6) press-in of the pneumatic or hydraulic pressure in the steering gear (5) of the fan-shaped air bag in carpal joint and finger-joint or hydraulic bag (4) and pneumatic or hydraulic pressure and palm or discharge compressed air or liquid, the upper arm of artificial limb mechanical arm (1) is made to lift or put down, underarm (2) is bending or stretch, catch with hands (3) or put down the action of object, complete the task of artificial limb mechanical arm.
3. the control method of artificial limb mechanical arm, it is characterized in that: use the object that the aligning of the laser sight on people's helmet of artificial limb mechanical arm artificial limb mechanical arm will be taken, use the work that the people of artificial limb mechanical arm will make of voice message artificial limb mechanical arm, the information of the object that laser sight is irradiated to by photographic head passes to computer, mike passes to computer the information of voice prompt using the people of artificial limb robotic arm to send, the data message that computer uses software contrast to preserve in the past, under the help of photographic head, computer starting air pump or liquid pump (9), computer is by opening or cut out each electromagnetic valve, under the help of the photographic head on the helmet, the wing joint of artificial limb mechanical arm, elbow joint, jack (6) press-in of the pneumatic or hydraulic pressure in the steering gear (5) of the fan-shaped air bag in carpal joint and finger-joint or hydraulic bag (4) and pneumatic or hydraulic pressure and palm or discharge compressed air or liquid, make upper arm (1) lifting of artificial limb mechanical arm, underarm (2) bends, the action of object is grabbed with hands (3), complete the task of artificial limb mechanical arm.
4. a robot, it is by head, trunk, mechanical arm, machinery legs and feet composition, their skeleton is made of plastic, cabinet surface covers one deck rubber film again, robotic manipulator is by upper arm, underarm, hands forms, wing joint is housed between the upper arm upper end of robot and trunk, between upper arm and underarm, elbow joint is housed, between underarm and palm, carpal joint is housed, the structure of hands is as follows: an arcuate groove, arcuate groove arc core is downward, notch forward, middle finger that bone extended in palm is fixed on the middle part of arcuate groove, nameless and little finger extend to bone in palm successively hinge on the side of the middle finger prolongation bone of arcuate groove, forefinger extends to the bone hinge in palm and extends by another of bone at the middle finger of arcuate groove, the bone that thumb extends in palm is contained on the arcuate groove that forefinger extends bone by a joint, five fingers are all equipped with three articulations digitorum manus, finger tip is equipped with touch sensor, a photographic head is respectively filled inside two eyes of robot, a mike is respectively filled inside two ears of robot, robot a speaker is housed in the mouth, the nose of robot is equipped with ultrasonic radar, between the head of robot and trunk, neck joint is housed, the mechanical legs and feet of robot are by thigh, shank and foot composition, hip joint is housed between the trunk of robot and thigh, between thigh and shank, knee joint is housed, between shank and foot, ankle joint is housed, computerized control robot, it is characterized in that: in robot trunk, keep air pump or liquid pump (9), air accumulator or fluid reservoir (8), lithium battery (7), the steering gear (5) of the neck joint of robot or hydraulic pressure pneumatic by one and a fan-shaped air bag or hydraulic bag (4) form, fan-shaped air bag or hydraulic bag (4) are with the such fold of accordion air bag, the steering gear (5) of the pneumatic or hydraulic pressure of neck joint is fixed on trunk upper end, one piece of U-board arc edge is had to be fixed on rotating shaft (502) upper surface of the steering gear (5) of the pneumatic of neck joint or hydraulic pressure backward, with U-board arc edge hinge on rear side of the lower end of described head (10), the fan-shaped air bag of neck joint or hydraulic bag (4) are contained in the space between U-board and described head (10) lower surface, torsion fastening spring is equipped with at the lower end of described head (10) and the hinge place at U-board arc edge, the jack (6) of the trunk of robot or hydraulic pressure pneumatic built with two and a fan-shaped air bag or hydraulic bag (4), the jack (6) of pneumatic or hydraulic pressure is equipped with back-moving spring, the flat board of two pieces of front edge hinges is had in trunk, torsion fastening spring is equipped with at two pieces of dull and stereotyped hinge places, a fan-shaped air bag or hydraulic bag (4) are housed between two pieces of flat boards, in trunk in the upper end of the jack (6) of the pneumatic or hydraulic pressure in two, left and right and two pieces of flat boards below that one flat plate bottom surface hinge, the steering gear (5) of the wing joint of the mechanical arm of robot or hydraulic pressure pneumatic by one and a fan-shaped air bag or hydraulic bag (4) form, the steering gear (5) of the pneumatic or hydraulic pressure in wing joint is fixed on the shoulder of trunk, one block of inverted U-shaped plate is had fixedly to be attached on the rotating shaft of the steering gear of the pneumatic of wing joint or hydraulic pressure (5) (502) end face, the upper end of described upper arm (1) and upper end, inverted U-shaped plate arc edge hinge, the fan-shaped air bag in wing joint or hydraulic bag (4) are contained in the space between inverted U-shaped plate and described upper arm (1) inner side, torsion fastening spring is equipped with at upper end and the hinge place, upper end, inverted U-shaped plate arc edge of described upper arm (1), the steering gear (5) of the elbow joint of mechanical arm or hydraulic pressure pneumatic by one and a fan-shaped air bag or hydraulic bag (4) form, the steering gear (5) of the pneumatic or hydraulic pressure of elbow joint is fixed on described upper arm (1) lower end, one piece of U-board arc edge is had fixedly to be attached on rotating shaft (502) end face of the steering gear (5) of the pneumatic of elbow joint or hydraulic pressure in outside, with U-board linear edge side hinge inside the upper end of described underarm (2), the fan-shaped air bag of elbow joint or hydraulic bag (4) are contained in the space between U-board and described underarm (2) upper surface, the upper end of described underarm (2) and the hinge of U-board linear edge side are equipped with torsion fastening spring, the steering gear (5) of the carpal joint of mechanical arm or hydraulic pressure pneumatic by one and two fan-shaped air bags or hydraulic bag (4) form, the downward triangular prism of an acute angle is fixed in the rotating shaft (502) of the steering gear (5) of carpal pneumatic or hydraulic pressure, acute angle triangular prism is upwards fixed in palm upper end, the triangular prism hinge that the upper fixing triangular prism of rotating shaft (502) of the steering gear (5) of carpal pneumatic or hydraulic pressure is fixed with palm upper end, the both sides of the triangular prism hinge that the rotating shaft (502) of the steering gear (5) of palm triangular prism and pneumatic or hydraulic pressure is equipped with respectively fill a fan-shaped air bag or hydraulic bag (4), two torsion fastening springs are equipped with at the trequetrous hinge place that the rotating shaft (502) of the steering gear (5) of palm triangular prism and pneumatic or hydraulic pressure is equipped with, and then load onto two containment vessels, on the triangular prism that the rotating shaft (502) that containment vessel is fixed on the steering gear (5) of pneumatic or hydraulic pressure is equipped with, another containment vessel is fixed on palm triangular prism, one deck gum elastic thin film is wrapped up outside containment vessel, the articulations digitorum manus of mechanical arm is built with fan-shaped air bag or hydraulic bag (4), palm of the hand side hinge between two articulations digitorum manus, torsion fastening spring articulations digitorum manus hinge is equipped with, respectively be connected in parallel by the jack (6) that is pneumatic or hydraulic pressure be flexibly connected between two adjacent finger lengthening bones, the jack (6) of pneumatic or hydraulic pressure is equipped with back-moving spring, a support frame articulations digitorum manus is equipped with, torsion fastening spring is equipped with at the hinge place of each articulations digitorum manus, articulations digitorum manus and jack (6) outside parcel one deck gum elastic thin film that is pneumatic or hydraulic pressure, the wing joint of mechanical arm, elbow joint and articulations digitorum manus are equipped with rotation direction sensor, the steering gear (5) of the hip joint of robotic's legs and feet or hydraulic pressure pneumatic by one and a fan-shaped air bag or hydraulic bag (4) form, pneumatic or the hydraulic steering gear (5) in hip joint is fixed on below trunk, one block of inverted U-shaped plate is had fixedly to be attached on rotating shaft (502) end face of the pneumatic of hip joint or hydraulic steering gear (5), the upper end of described thigh (11) and upper end, inverted U-shaped plate arc edge hinge, the fan-shaped air bag in hip joint or hydraulic bag (4) are contained in the space between inverted U-shaped plate and described thigh (11) inner side, torsion fastening spring is equipped with at upper end and the hinge place, upper end, inverted U-shaped plate arc edge of described thigh (11), the knee joint of robotic's legs and feet is steering gears (5) of a pneumatic or hydraulic pressure, the short tube (501) of the steering gear (5) of pneumatic or hydraulic pressure is fixed on described thigh (11) lower end, and described shank (12) upper end is fixed in the rotating shaft (502) of the steering gear (5) of pneumatic or hydraulic pressure, the steering gear (5) of the ankle joint of robotic's legs and feet or hydraulic pressure pneumatic by one and a fan-shaped air bag or hydraulic bag (4) form, the steering gear (5) of the pneumatic or hydraulic pressure of ankle joint is fixed on described shank (12) lower end, have on rotating shaft (502) end face of the steering gear (5) being fixed on the pneumatic of ankle joint or hydraulic pressure before and after one piece of U-board arc edge, the upper end of described foot (13) and U-board arc edge hinge, the fan-shaped air bag of ankle joint or hydraulic bag (4) are contained in the space between U-board and described foot (13) upper end leading flank, the upper end of described foot (13) and the hinge at U-board arc edge go out to be equipped with torsion fastening spring, rotation direction sensor is equipped with in the joint of the hip joint of robotic's legs and feet, knee joint and ankle robotic legs and feet, described foot (13) plate of robotic's legs and feet is equipped with spring steel plate, and three pressure transducers are equipped with in described foot (13) bottom, from air accumulator sebific duct out by receiving fan-shaped air bag after an electromagnetic intake valve and a gas threeway, another interface of gas threeway is equipped with electromagnetic exhaust valve, or from liquid pump (9) sebific duct out by receiving fan-shaped hydraulic bag (4) after an electromagnetism liquid feed valve and a liquid threeway, another interface of liquid threeway is equipped with electromagnetism and returns liquid valve, returns liquid valve sebific duct out receive fluid reservoir (8) from electromagnetism, the structure of the steering gear (5) of pneumatic or hydraulic pressure is as follows: one piece of quiet arc column (504) is housed in the radial location of short tube (501), quiet arc column (504) large cambered surface be fixed on short tube (501), caulking gum is posted in other faces of quiet arc column (504), end cap is equipped with at the two ends of short tube (501), there is a rotating shaft (502) through the centre bore of two end caps, in the rotating shaft (502) having the little cambered surface of one piece of dynamic arc column (503) to be fixed in short tube (501), caulking gum is posted in other faces of dynamic arc column (503), the caulking gum of quiet arc column (504) two covering of the fans contacts with two rubbing surfaces of end cover, the caulking gum of the little cambered surface of quiet arc column (504) contacts with rotating shaft (502), the caulking gum of dynamic arc column (503) two covering of the fans contacts with two rubbing surfaces of end cover, the caulking gum of the large cambered surface of dynamic arc column (503) contacts with short tube (501) inner surface, short tube (501) near side, quiet arc column (504) two sides is above each fills a sebific duct, two sebific ducts on short tube (501) are received on air accumulator by respective gas threeway and electromagnetic intake valve, each group of another interface of gas threeway is equipped with respective electromagnetic exhaust valve, or two sebific ducts on short tube are received on liquid pump (9) by respective liquid threeway and electromagnetism liquid feed valve, another interface of each group of liquid threeway is equipped with respective electromagnetism and returns liquid valve, return liquid valve sebific duct out from electromagnetism to receive fluid reservoir (8).
5. the control method of robot, it is characterized in that: the work that owner arranges listened to by the mike in robot ear, mike passes to the computer of robot the information of voice prompt that owner sends, or owner sends work order by mobile phone or computer to robot, the data message that computer uses software contrast to preserve in the past, computer starting air pump or liquid pump (9), computer is by opening or cut out each electromagnetic valve; The steering gear (5) of the pneumatic or hydraulic pressure in robot neck joint is pressed into or discharges compressed air or liquid, robot is made to turn round (10) head, fan-shaped air bag in robot neck joint or hydraulic bag (4) are pressed into or discharge compressed air or liquid, make robot come back (10) or bow (10), thus the photographic head in robot eyes is seen wider wealthy; Under the help of the photographic head in robot eyes, steering gear (5) press-in of the fan-shaped air bag in the hip joint of robotic's legs and feet, knee joint and ankle joint or hydraulic bag (4) and pneumatic or hydraulic pressure or discharge compressed air or liquid, the action making the thigh of robotic's legs and feet (11) lift lower limb, shank (12) knee sprung and foot () to stretch out, completes the walking task of robot; The piston of the jack (6) of the pneumatic or hydraulic pressure in two, left and right rises together the first half of robot trunk is raised in trunk, in robot trunk, the piston of the jack (6) of the pneumatic or hydraulic pressure on the left side is motionless or raise few, in robot trunk, the piston of the jack (6) of the pneumatic or hydraulic pressure on the right raises more, then robot bends over left; The piston of the jack (6) of the pneumatic or hydraulic pressure on the right of in robot trunk is motionless or raise few, and in robot trunk, the piston of the jack (6) of the pneumatic or hydraulic pressure on the left side raises more, then robot bends over to the right; Air bag fan-shaped in robot trunk or hydraulic bag (4) are pressed into compressed air or liquid robot bends forward, compressed air in air bag fan-shaped in robot trunk or hydraulic bag (4) or liquid are discharged, and robot directly plays waist backward; Jack (6) press-in of the pneumatic or hydraulic pressure in the steering gear (5) of the fan-shaped air bag in the wing joint of robotic manipulator, elbow joint, carpal joint and finger-joint or hydraulic bag (4) and pneumatic or hydraulic pressure and palm or discharge compressed air or liquid, make the bending and hands (3) of the upper arm of robot mechanical arm (1) lifting, underarm (2) grab the action of object, complete the task of robot.
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