CN103498897B - Electronic both hands rub bionic device - Google Patents
Electronic both hands rub bionic device Download PDFInfo
- Publication number
- CN103498897B CN103498897B CN201310492542.0A CN201310492542A CN103498897B CN 103498897 B CN103498897 B CN 103498897B CN 201310492542 A CN201310492542 A CN 201310492542A CN 103498897 B CN103498897 B CN 103498897B
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- CN
- China
- Prior art keywords
- hole
- worm gear
- connecting rod
- hands
- rub
- 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.)
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/12—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types
- F16H37/122—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types for interconverting rotary motion and oscillating motion
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/12—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types
- F16H37/124—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types for interconverting rotary motion and reciprocating motion
- F16H37/126—Guiding mechanism using levers combined with gearings for straight line output movement, e.g. by using gears or pulleys with ratio 2:1
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
- H02K7/1163—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears where at least two gears have non-parallel axes without having orbital motion
- H02K7/1166—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears where at least two gears have non-parallel axes without having orbital motion comprising worm and worm-wheel
Abstract
The invention discloses a kind of electronic both hands and rub bionic device, the cylinder being wherein connected in frame merely with very simple worm screw, worm gear, connecting rod, center hinge or slide, just achieve complexity imitates the plane motion that both hands are rubbed, that fixes difference in functionality in the lower end of connecting rod rubs instrument, and the electronic both hands that just can form various function different rub bionic device.This bionic device structure is extremely simple, and cost is the cheapest, and functional reliability is high, it is possible to meet different industries for rubbing the demand of bionic device.This defines high-definition comparison with the existing bionic device that those huge structures are complicated, cost is the highest, can promote the use of widely.
Description
Technical field
The present invention relates to a kind of electronic both hands and rub bionic device.
Background technology
At present in the productive life field such as industrial, medical, agriculture, in the urgent need to simple, practical, cheap both hands kneading mechanism.Such as, in industrial production, powdery and lump material are rubbed the both hands in stirring, medicine equipment and are massaged, rub kneading dough etc. in tealeaves (mainly Pilochun (a green tea)), food production in agricultural production.
But in Creative Mechanism Design, the simple motion relying on mechanism self, realize imitating the action that staff is rubbed, be extremely difficult.Because the action that staff is rubbed is a linear motion and swings the motion being composited.Use Numeric Control Technology to realize imitating the action that staff is rubbed, be the technical scheme being easiest to expect.But, use Numeric Control Technology to imitate the motion that a hand is rubbed, at least need two servomotors, and use the programming of two-axle interlocking digital control system to drive；Imitate the motion that both hands are rubbed, the most at least need four servomotors, and control to realize by multi-axis linkage numerical control system.This not only causes whole device extremely bulky complex, and cost is the highest.Such as Chinese patent literature
CN 102940566 A
Disclosed in rub massager, not only structure is extremely complex, and fails to provide the track of bionic movement；For another example Chinese patent literature
CN 103252709 A
Disclosed numerical control kneader type lapping machine, then have employed
3
Individual servomotor, and extremely complex machine driven system, bulky, involve great expense.From kinematic angle, the most not yet retrieve substantial both hands and rub bionic device.
Summary of the invention
It is an object of the invention to provide
A kind of simple and practical electronic both hands rub bionic device, thus meet all kinds of corresponding product with extremely low cost and both hands are rubbed the demand of bionic device.
For reaching above-mentioned purpose, the technical solution used in the present invention is:
First technical scheme
A kind of electronic both hands rub bionic device, including frame, it is located at the motor in described frame, it is drivingly connected to the worm screw on described motor output shaft, it is located in described frame two groups and rubs assembly, rub assembly described in two groups and lay respectively at the both sides of described worm screw, often rub assembly described in group all to include being rotatably arranged in described frame the worm gear that can match with described worm screw, one end is rotatably arranged in the connecting rod on described worm gear by bearing pin, it is hinged on the cylinder in described frame, described worm gear is meshed with described worm screw setting, the axial line of described bearing pin deviates the axial line of described worm gear and parallels with the axial line of described worm gear, described cylinder can be located in described frame rotatably around Pivot Point Center line, the through hole extended radially through is offered on described cylinder, it is located in described through hole to described connecting rod matched in clearance.
In this technical scheme, it is preferable that described cylindrical axial line is parallel to each other with the axial line of described worm gear.
In this technical scheme, it is preferable that described worm gear is provided with pin-and-hole, the center line of described pin-and-hole deviates with the axial line of described worm gear, and one end of described bearing pin is connected on described connecting rod, and its other end is located in described pin-and-hole rotationally.
In this technical scheme, it is preferable that described through hole is cylindrical hole, accordingly, the peripheral surface that described connecting rod coordinates with described through hole is the face of cylinder.
Second technical scheme
A kind of electronic both hands rub bionic device, including frame, it is located at the motor in described frame, it is drivingly connected to the worm screw on described motor output shaft, it is located in described frame two groups and rubs assembly, rub assembly described in two groups and lay respectively at the both sides of described worm screw, often rub assembly described in group all to include being rotatably arranged in described frame the worm gear that can match with described worm screw, one end is rotatably arranged in the connecting rod on described worm gear by bearing pin, center hinge is connected on the slide in described frame, described worm gear is meshed with described worm screw setting, the axial line of described bearing pin deviates the axial line of described worm gear and parallels with the axial line of described worm gear, offer on described slide and be available for the through hole that described connecting rod penetrates vertically, it is located in described through hole to described connecting rod matched in clearance.
In this technical scheme, it is preferable that two axial end portions of described slide are connected in described frame in simple beam structure.
In this technical scheme, it is preferable that described through hole is cylindrical hole, accordingly, the peripheral surface that described connecting rod coordinates with described through hole is the face of cylinder.
In this technical scheme, it is preferable that described worm gear is provided with pin-and-hole, the center line of described pin-and-hole deviates with the axial line of described worm gear, and one end of described bearing pin is connected on described connecting rod, and its other end is located in described pin-and-hole rotationally.
Utilization due to technique scheme, the present invention compared with prior art has the advantage that the electronic both hands of the present invention rub bionic device, the cylinder being wherein connected in frame merely with very simple worm screw, worm gear, connecting rod, center hinge or slide, just achieve complexity imitates the plane motion that both hands are rubbed, that fixes difference in functionality in the lower end of connecting rod rubs instrument, and the electronic both hands that just can form various function different rub bionic device.This bionic device structure is extremely simple, and cost is the cheapest, and functional reliability is high, it is possible to meet different industries for rubbing the demand of bionic device.This defines high-definition comparison with the existing bionic device that those huge structures are complicated, cost is the highest, can promote the use of widely.
Accompanying drawing explanation
Accompanying drawing
1
For embodiments of the invention
1
Structural representation；
Accompanying drawing
2
For embodiments of the invention
2
Structural representation；
Accompanying drawing
3
For accompanying drawing
2
In
A-A
To sectional structure schematic diagram.
Wherein:
10
、
10’
Rub assembly；
1
、
1’
Worm gear；
2
、
2’
Connecting rod；
3
、
3’
Bearing pin；
4
、
4’
Cylinder；
5
、
5 ' slides
；
6
Motor；
7
Worm screw.
Detailed description of the invention
With specific embodiment, technical scheme is further elaborated below in conjunction with the accompanying drawings.
Embodiment
1
See figure
1
The electronic both hands of shown one rub bionic device, including frame (not shown), be located in frame two groups rub assembly
10
、
10’
。
Rub assembly
10
Including the worm gear can being rotatably arranged in frame around axial line
1
, pass through bearing pin
3
It is rotatably arranged in worm gear
1
On connecting rod
2
, be hinged in frame and can around Pivot Point Center line rotate cylinder
4
.Worm gear
1
On offer the pin-and-hole of a bias, the centerline parallel of this pin-and-hole is in worm gear
1
Axial line, bearing pin
3
One end be connected to connecting rod
2
Top, its other end is located in above-mentioned pin-and-hole rotationally.
Cylinder
4
Axial line and worm gear
1
Axial line be parallel to each other, cylinder
4
On offer the through hole extended radially through, connecting rod
2
It is located in above-mentioned through hole to matched in clearance, and connecting rod
2
Lower end expose outside through hole.Connecting rod
2
With cylinder
4
Between formed planar lower pair, when external motivating force drive worm gear
1
During rotation, connecting rod
2
At bearing pin
3
Effect under relative to cylinder
4
Hinged center not only do straight line sliding motion but also swing, cylinder
4
The most only do wobbling action, therefore, at connecting rod
2
Lower end just can produce and be similar to the bionic movement that staff is rubbed, its movement locus such as figure
1
Shown in lower dotted line.For ease of the processing of each parts, cylinder
4
On through hole be cross section be circular cylindrical hole, accordingly, connecting rod
2
Peripheral surface be the face of cylinder, at least connecting rod
2
On to be located in above-mentioned through hole the peripheral surface matched with above-mentioned through hole be the face of cylinder.
Rub assembly
10’
Setting with rub assembly
10
Arrange similar, including the worm gear can being rotatably arranged in frame around axial line
1’
, pass through bearing pin
3’
The connecting rod being rotatably arranged on worm gear
2’
, and the cylinder being hinged in frame and can rotating around Pivot Point Center line
4’
, connecting rod
2’
It is located in cylinder to matched in clearance
4’
On the through hole extended radially through in, work as worm gear
1’
When rotating under the effect of external motivating force, connecting rod
2’
At bearing pin
3’
Effect under relative to cylinder
4’
Hinged center not only do straight line sliding motion but also swing, cylinder
4
’
Only do wobbling action, connecting rod
2’
Lower end also be able to produce and be similar to the bionic movement that staff is rubbed.
See figure
1
Shown in, this bionic device also includes rack-mounted motor
6
, be fixedly connected on motor
6
Can be with worm gear on output shaft
1
、
1’
The worm screw matched
7
, rub assembly
10
With rub assembly
10’
It is respectively arranged on worm screw
7
Both sides, and worm gear
1
, worm gear
1’
Respectively with worm screw
7
Be meshed setting.So work as motor
6
During work, motor
6
Output shaft drive worm screw
7
Rotate, the most just drive worm gear
1
、
1’
Rotate, so that connecting rod
2
、
2’
Lower end produce the bionical action that similar staff is rubbed respectively.By at connecting rod
2
、
2’
Lower end fix difference in functionality rub instrument, the electronic both hands that just can form various function different rub bionic device.
Embodiment
2
See figure
2
Shown electronic both hands rub bionic device, this bionic device and embodiment
1
Difference offer connecting rod is be provided
2
、
2’
The setting of the parts guided.In the present embodiment, it is provided that connecting rod
2
、
2’
The slide 5,5 ' being hinged in frame centered by the parts guided, the line of slide 5,5 ' two axial end portion pin joint in frame is parallel to gear
1
、
1’
Axial line.Offer respectively for connecting rod on slide 5,5 '
2
、
2’
The through hole penetrated, connecting rod
2
、
2’
Matched in clearance it is located in respectively in the through hole on slide 5,5 ', connecting rod
2
、
2 ' with slide 5,5 '
Form planar lower pair respectively, work as worm screw
7
Rotate and drive worm gear
1
, worm gear
1’
During rotation, connecting rod
2
、
2’
Respectively at bearing pin
3
、
3’
Effect under not only do straight line sliding motion relative to slide 5,5 ' but also swing, slide 5,5 ' the most only does oscillating motion, such connecting rod
2
、
2’
Lower end just can produce the bionic movement that similar both hands are rubbed.
In the present embodiment, two axial end portions of slide 5,5 ' are connected in frame in simple beam structure, such as figure
3
In
A-A
Shown in profile, so arrange and there is for cantilever beam preferable rigidity, and the simplest relative to overhanging Liangqi structure.
In two kinds of technical schemes of above-mentioned two embodiments, bearing pin when arranging, can be adjusted as required
3
At worm gear
1
On position or bearing pin
3’
At worm gear
1’
On position, thus realize that both hands are symmetrical bionical rubs action (such as figure
1
, figure
2
), or realize that both hands are asymmetric bionical rubs action.
If change bearing pin
3
Or bearing pin
3’
Place pin-and-hole is respectively at worm gear
1
、
1’
On radial position, i.e. change the eccentric distance of pin-and-hole, then can change respective link
2
Or
2’
The curve movement of action is rubbed in lower end.
If change cylinder
4
、
4 ' or slide 5,5 '
Center in frame, the hinged center, then can change connecting rod simultaneously
2
、
2’
Lower end rub position and the curve movement rubbing action.
If making motor by controlling switch
6
Output shaft reversely rotate, just can change worm gear
1
、
1’
Direction of rotation, so can be to connecting rod
2
、
2’
The direction of rubbing of lower end switches between from the inside to the outside and from outside to inside.
To sum up, such as the most less or minimum moving link, carry out innovative design and go out to imitate the mechanism that both hands are rubbed, all the time it is a technical barrier in theory of mechanisms field, because for a mechanism, moving link does not the most mean only that simple in construction and low cost of manufacture, it is often more important that mean that functional reliability is high.
In embodiment
1
And embodiment
2
Two kinds of technical schemes in, rub in action for one side, from kinematic meaning for only
4
Individual substantial motion component, i.e. worm screw
7
, worm gear
1
(
1’
), connecting rod
2
(
2’
), the cylinder that is connected in frame of center hinge
4
(
4’
) or slide
5
(
5’
).The innovative point of the present invention is i.e., just achieves, merely with these simple mechanical components, the plane motion that the imitation both hands of complexity are rubbed, at connecting rod
2
、
2’
Lower end fix difference in functionality rub instrument, the Pneumatic two-hand that just can form various function different rubs bionic device.This bionic device structure is extremely simple, and cost is the cheapest, and functional reliability is high, it is possible to meet different industries for rubbing the demand of bionic device.This defines high-definition comparison with the existing bionic device that those huge structures are complicated, cost is the highest, can promote the use of widely.
Above-described embodiment only for technology design and the feature of the present invention are described, its object is to allow person skilled in the art will appreciate that present disclosure and to implement according to this, can not limit the scope of the invention with this.All equivalence changes made according to spirit of the invention or modification, all should contain within protection scope of the present invention.
Claims (8)
- null1. electronic both hands rub bionic device，It is characterized in that: include frame、It is located at the motor in described frame、It is drivingly connected to the worm screw on described motor output shaft、It is located in described frame two groups and rubs assembly，Rub assembly described in two groups and lay respectively at the both sides of described worm screw，Often rub assembly described in group all to include being rotatably arranged in described frame the worm gear that can match with described worm screw、One end is rotatably arranged in the connecting rod on described worm gear by bearing pin、It is hinged on the cylinder in described frame，Described worm gear is meshed with described worm screw setting，The axial line of described bearing pin deviates the axial line of described worm gear and parallels with the axial line of described worm gear，Described cylinder can be located in described frame rotatably around Pivot Point Center line，The through hole extended radially through is offered on described cylinder，It is located in described through hole to described connecting rod matched in clearance.
- Electronic both hands the most according to claim 1 rub bionic device, it is characterised in that: described through hole is cylindrical hole, and accordingly, the peripheral surface that described connecting rod coordinates with described through hole is the face of cylinder.
- Electronic both hands the most according to claim 1 rub bionic device, it is characterized in that: described worm gear is provided with pin-and-hole, the center line of described pin-and-hole deviates with the axial line of described worm gear, and one end of described bearing pin is connected on described connecting rod, and its other end is located in described pin-and-hole rotationally.
- Electronic both hands the most according to claim 1 rub bionic device, it is characterised in that: the peripheral surface of described connecting rod is the face of cylinder.
- 5. electronic both hands rub bionic device, it is characterized in that: include frame, it is located at the motor in described frame, it is drivingly connected to the worm screw on described motor output shaft, it is located in described frame two groups and rubs assembly, rub assembly described in two groups and lay respectively at the both sides of described worm screw, often rub assembly described in group all to include being rotatably arranged in described frame the worm gear that can match with described worm screw, one end is rotatably arranged in the connecting rod on described worm gear by bearing pin, center hinge is connected on the slide in described frame, described worm gear is meshed with described worm screw setting, the axial line of described bearing pin deviates the axial line of described worm gear and parallels with the axial line of described worm gear, offer on described slide and be available for the through hole that described connecting rod penetrates vertically, it is located in described through hole to described connecting rod matched in clearance.
- Electronic both hands the most according to claim 5 rub bionic device, it is characterised in that: two axial end portions of described slide are connected in described frame in simple beam structure.
- Electronic both hands the most according to claim 5 rub bionic device, it is characterised in that: described through hole is cylindrical hole, and accordingly, the peripheral surface that described connecting rod coordinates with described through hole is the face of cylinder.
- Electronic both hands the most according to claim 5 rub bionic device, it is characterized in that: described worm gear is provided with pin-and-hole, the center line of described pin-and-hole deviates with the axial line of described worm gear, and one end of described bearing pin is connected on described connecting rod, and its other end is located in described pin-and-hole rotationally.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310492542.0A CN103498897B (en) | 2013-10-18 | 2013-10-18 | Electronic both hands rub bionic device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310492542.0A CN103498897B (en) | 2013-10-18 | 2013-10-18 | Electronic both hands rub bionic device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103498897A CN103498897A (en) | 2014-01-08 |
| CN103498897B true CN103498897B (en) | 2016-08-24 |
Family
ID=49864134
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310492542.0A Active CN103498897B (en) | 2013-10-18 | 2013-10-18 | Electronic both hands rub bionic device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103498897B (en) |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0462099B1 (en) * | 1990-05-22 | 1994-07-13 | Rudolf Buchegger | Crank drive |
| CN2269498Y (en) * | 1996-09-28 | 1997-12-03 | 赵全洪 | Speed reducing force increasing driving device |
| JP2000110912A (en) * | 1998-10-06 | 2000-04-18 | Masahiro Oyamada | Continuously variable transmission for vehicle |
| CN2589757Y (en) * | 2002-09-02 | 2003-12-03 | 周文华 | Stepless gear having multiple rod pendulum type supporting point |
| CN2936094Y (en) * | 2006-03-30 | 2007-08-22 | 杨基玉 | Bionic automatic bathing and back rubbing device |
| CN101066022B (en) * | 2007-04-03 | 2012-05-23 | 江苏大学 | Linear motor driven terminal executor of picking robot |
| CN203167914U (en) * | 2013-04-19 | 2013-09-04 | 山东理工大学 | Pneumatic artificial muscles-based imitation handwork kneading machine |
| CN203548778U (en) * | 2013-10-18 | 2014-04-16 | 苏州大学 | Electric two-hand rubbing bionic device |
-
2013
- 2013-10-18 CN CN201310492542.0A patent/CN103498897B/en active Active
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| Publication number | Publication date |
|---|---|
| CN103498897A (en) | 2014-01-08 |
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