CN103498898A - Electric bionic double-hand rubbing device - Google Patents

Electric bionic double-hand rubbing device Download PDF

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Publication number
CN103498898A
CN103498898A CN201310492543.5A CN201310492543A CN103498898A CN 103498898 A CN103498898 A CN 103498898A CN 201310492543 A CN201310492543 A CN 201310492543A CN 103498898 A CN103498898 A CN 103498898A
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CN
China
Prior art keywords
hole
gear
connecting rod
shaft axis
frame
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Granted
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CN201310492543.5A
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Chinese (zh)
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CN103498898B (en
Inventor
王传洋
窦云霞
钟康民
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Suzhou University
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Suzhou University
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Publication of CN103498898A publication Critical patent/CN103498898A/en
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    • 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

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Transmission Devices (AREA)

Abstract

The invention discloses an electric bionic double-hand rubbing device. By means of a simple screw rod, a nut, a double-face rack, a gear, a connecting rod and a cylinder or a sliding base with the center hinged to a machine frame, complex plane motions imitating double-hand rubbing are achieved. The lower end of the connecting rod is fixedly provided with rubbing tools with different functions, so that various electric bionic double-hand rubbing devices with different functions are formed. The electric bionic double-hand rubbing device is simple in structure, low in manufacturing cost and high in work reliability, and can meet requirements for the bionic double-hand rubbing devices in different industries. The electric bionic double-hand rubbing device stands in sharp contrast to an existing bionic device which is large and complex in structure and high in manufacturing cost, and can be widely popularized and used.

Description

A kind of electronic both hands are rubbed bionic device
 
Technical field
the present invention relates to a kind of electronic both hands and rub bionic device.
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Background technique
at present in the productive life field such as industrial, medical, agriculture, in the urgent need to simple, practical, cheap both hands kneading mechanism.For example, in industrial production, powdery and lump material are rubbed the kneading dough etc. in tealeaves (being mainly Pilochun (a green tea)), food production of rubbing in the massage of both hands in stirring, medical apparatus, agricultural production.
yet in Creative Mechanism Design, relying on merely the motion of mechanism self, realize imitating the action that staff is rubbed, is extremely difficult.Because the action that staff is rubbed is a straight line motion and swing the motion be composited.Adopting Numeric Control Technology to realize imitating the action that staff is rubbed, is the technological scheme of the most easily expecting.But, adopt Numeric Control Technology to imitate a motion that hand is rubbed, at least need two actuating motors, and adopt the programming of two-axle interlocking numerical control system to drive; Imitate the motion that both hands are rubbed, at least need four actuating motors, and control to realize by the multi-axis linkage numerical control system.This not only causes extremely bulky complex of whole device, and cost is extremely high.The massage device of rubbing as disclosed as Chinese patent literature CN 102940566 A, not only structure is extremely complicated, and fails to provide the track of bionic movement; The disclosed numerical control kneader type of Chinese patent literature CN 103252709 A lapping machine, adopted 3 actuating motors for another example, and extremely complicated machine driven system, bulky, involves great expense.From kinematic angle, not yet retrieve at present substantial both hands and rub bionic device.
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Summary of the invention
the purpose of this invention is to provide a kind of simple and practical electronic both hands and rub bionic device, thereby meet all kinds of corresponding products with extremely low cost, both hands are rubbed to the demand of bionic device.
for achieving the above object, the technical solution used in the present invention is:
the first technological scheme:
a kind of electronic both hands are rubbed bionic device, comprise frame, rub assembly for two groups that are located on described frame, every group of described assembly of rubbing includes the gear of being located at rotationally on described frame, one end is located at the connecting rod on described gear rotationally by bearing pin, be hinged on the cylindrical body on described frame, the shaft axis of described bearing pin departs from the shaft axis of described gear and parallels with the shaft axis of described gear, described cylindrical body can be located on described frame rotatably around the Pivot Point Center line, offer the through hole radially run through on described cylindrical body, be located in described through hole to described connecting rod Spielpassung, described bionic device also comprises the motor of being located on described frame, be fixedly connected on the leading screw on described motor output shaft, be located at ordinatedly the nut on described leading screw, be fixed with the two-sided rack on described nut, the length bearing of trend of described the two-sided rack parallels with the shaft axis of described leading screw, the both sides of described the two-sided rack are respectively equipped with a plurality of teeth that can be meshed with described gear, two groups described rubs the both sides that assembly is located at respectively described the two-sided rack, and two groups described rubs on assembly the setting that is meshed with described the two-sided rack respectively of two described gears.
in this technological scheme, preferably, the shaft axis of described cylindrical shaft axis and described gear is parallel to each other.
in this technological scheme, preferably, described gear is provided with pin-and-hole, and the center line of described pin-and-hole and the shaft axis of described gear deviate, and an 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 technological scheme, preferably, described through hole is cylindrical hole, and accordingly, the peripheral surface coordinated with described through hole on described connecting rod is cylndrical surface.
the second technological scheme:
a kind of electronic both hands are rubbed bionic device, comprise frame, rub assembly for two groups that are located on described frame, every group of described assembly of rubbing includes the gear of being located at rotationally on described frame, one end is located at the connecting rod on described gear rotationally by bearing pin, center hinge is connected on the slide on described frame, the shaft axis of described bearing pin departs from the shaft axis of described gear and parallels with the shaft axis of described gear, offer the through hole that can penetrate vertically for described connecting rod on described slide, be located in described through hole to described connecting rod Spielpassung, described bionic device also comprises the motor of being located on described frame, be fixedly connected on the leading screw on described motor output shaft, be located at ordinatedly the nut on described leading screw, be fixed with the two-sided rack on described nut, the length bearing of trend of described the two-sided rack parallels with the shaft axis of described leading screw, the both sides of described the two-sided rack are respectively equipped with a plurality of teeth that can be meshed with described gear, two groups described rubs the both sides that assembly is located at respectively described the two-sided rack, and two groups described rubs on assembly the setting that is meshed with described the two-sided rack respectively of two described gears.
in this technological scheme, preferably, two axial ends of described slide are connected on described frame and are simple beam structure.
in this technological scheme, preferably, described through hole is cylindrical hole, and accordingly, the peripheral surface coordinated with described through hole on described connecting rod is cylndrical surface.
in this technological scheme, preferably, described gear is provided with pin-and-hole, and the center line of described pin-and-hole and the shaft axis of described gear deviate, and an 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 following advantages: a kind of electronic both hands of the present invention are rubbed bionic device, wherein only utilize very simple leading screw, nut, the two-sided rack, gear, connecting rod, center hinge to be connected on cylindrical body or slide on frame, just realized the plane motion that complicated imitation both hands are rubbed, the fixing instrument of rubbing of difference in functionality in the lower end of connecting rod, just can form the electronic both hands that various functions are different and rub bionic device.This bionic device structure is very simple, and cost is cheap especially, and functional reliability is high, can meet different industries for the demand of rubbing bionic device.This has formed high-definition the contrast with existing those huge structures bionic device complicated, that cost is extremely high, can promote the use of widely.
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The accompanying drawing explanation
the structural representation that accompanying drawing 1 is embodiments of the invention 1;
the structural representation that accompanying drawing 2 is embodiments of the invention 2;
accompanying drawing 3 be in accompanying drawing 2 A-A to the sectional structure schematic diagram.
wherein: 10,10 '-rub assembly; 1,1 '-gear; 2,2 '-connecting rod; 3,3 '-bearing pin; 4,4 '-cylindrical body; 5,5 '-slide; 6-motor; 7-leading screw; 8-nut; 9-the two-sided rack.
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Embodiment
below in conjunction with accompanying drawing and specific embodiment, technological scheme of the present invention is further elaborated.
embodiment 1
a kind of electronic both hands shown in Figure 1 are rubbed bionic device, comprise the frame (not shown), be located on frame two groups rub assembly 10,10 '.
rubbing assembly 10 comprises and can be located at rotationally gear 1 on frame, by bearing pin 3, be located at rotationally connecting rod 2 on gear 1, be hinged on frame and can be around the cylindrical body 4 of Pivot Point Center line rotation around shaft axis.Offer the pin-and-hole of a bias on gear 1, the center line of this pin-and-hole is parallel to the shaft axis of gear 1, and an end of bearing pin 3 is connected to the top of connecting rod 2, and its other end is located in above-mentioned pin-and-hole rotationally.
the shaft axis of the shaft axis of cylindrical body 4 and gear 1 is parallel to each other, and offers the through hole radially run through on cylindrical body 4, be located in above-mentioned through hole to connecting rod 2 Spielpassung, and exposes outside through hole the lower end of connecting rod 2.Form planar lower pair between connecting rod 2 and cylindrical body 4, when 1 rotation of external motivating force actuation gear, connecting rod 2 fixing hinged center with respect to cylindrical body 4 under the effect of bearing pin 3 is not only done the straight line sliding motion but also is done swing, 4, cylindrical body is only done wobbling action, therefore, just can produce and be similar to the bionic movement that staff is rubbed in the lower end of connecting rod 2, its movement locus is as shown in Fig. 1 lower dotted line.For ease of the processing of each parts, the through hole on cylindrical body 4 is that cross section is circular cylindrical hole, and accordingly, the peripheral surface of connecting rod 2 is cylndrical surface, and being at least on connecting rod 2 and being located in the peripheral surface matched with above-mentioned through hole in above-mentioned through hole is cylndrical surface.
the setting of rubbing assembly 10 ' is with to rub arranging of assembly 10 similar, comprise and can be located at rotationally the gear 1 ' on frame around shaft axis, be located at rotationally the connecting rod 2 ' on gear by bearing pin 3 ', and be hinged on frame and the cylindrical body 4 ' that can rotate around the Pivot Point Center line, be located in the through hole radially run through on cylindrical body 4 ' to connecting rod 2 ' Spielpassung, when gear 1 ' externally rotates under the effect of driving force, connecting rod 2 ' hinged center with respect to cylindrical body 4 ' under the effect of bearing pin 3 ' is not only done the straight line sliding motion but also is done swing, cylindrical body 4 ' is only done wobbling action, the lower end of connecting rod 2 ' also can produce and be similar to the bionic movement that staff is rubbed.
shown in Figure 1, this bionic device also comprises the motor 6 be located on frame, be fixedly connected on leading screw 7 on motor 6 output shafts, be arranged on ordinatedly the nut 8 on leading screw 7, be fixedly provided with the two-sided rack 9 on nut 8, the length bearing of trend of the two-sided rack 9 parallels with the shaft axis of leading screw 7, the both sides of the two-sided rack 9 are respectively equipped with the tooth that can be meshed with gear 1,1 ', rub assembly 10 and rub the both sides that assembly 10 ' is located at respectively the two-sided rack 9, and gear 1, gear 1 ' are meshed with the two-sided rack 9 respectively.When motor 6 is worked like this, the output shaft of motor 6 drives leading screw 7 rotations, nut 8 moves vertically relative to leading screw 7, so just, drive the two-sided rack 9 and move along its length, thus driven gear 1,1 ' rotation and make connecting rod 2,2 ' lower end produce respectively the bionical action that similar staff is rubbed.By the fixing instrument of rubbing of difference in functionality in connecting rod 2,2 ' lower end, just can form the electronic both hands that various functions are different and rub bionic device.
can adjust as required position or the bearing pin 3 ' position on gear 1 ' of bearing pin 3 on gear 1 while arranging, thereby realizing that both hands are symmetrical bionically rubs action (as Fig. 1), or realize the asymmetric bionical action of rubbing of both hands.
if change the radial position on gear 1,1 ' respectively of bearing pin 3 or bearing pin 3 ' place pin-and-hole, changed the eccentric distance of pin-and-hole, can change respective link 2 or 2 ' lower end rubs the Motion curves of action.
if change cylindrical body 4,4 ' the position of hinged center on frame, can change rubbing position and rubbing the Motion curves of action of connecting rod 2,2 ' lower end simultaneously.
if make the output shaft counterrotating of motor 6 by control switch, just can change gear 1,1 ' sense of rotation, can switched from the inside to the outside and from outside to inside the direction of rubbing of connecting rod 2,2 ' lower end like this.
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embodiment 2
a kind of electronic both hands shown in Figure 2 are rubbed bionic device, and this bionic device and embodiment's 1 difference mainly is to provide the setting of connecting rod 2, the 2 ' parts that lead.In the present embodiment, be hinged on the slide 5,5 ' on frame centered by the parts of connecting rod 2,2 ' guiding are provided, the line of slide 5,5 ' two articulating points of axial end on frame is parallel to gear 1,1 ' shaft axis.Offer respectively the through hole penetrated for connecting rod 2,2 ' on slide 5,5 ', connecting rod 2,2 ' is located in to Spielpassung respectively in the through hole on slide 5,5 ', connecting rod 2,2 ' and slide 5,5 ' form planar lower pair, when the two-sided rack 9 moves and during the 1 ' rotation of actuation gear 1, gear along its length, connecting rod 2,2 ' is not only done the straight line sliding motion but also is done swing with respect to slide 5,5 ' respectively under bearing pin 3,3 ' effect, slide 5,5 ' is only done oscillating motion, and connecting rod 2,2 ' lower end just can produce the bionic movement that similar both hands are rubbed like this.
in the present embodiment, slide 5,5 ' two axial ends are connected on frame and are simple beam structure, and as shown in the A-A sectional drawing in Fig. 3, arrange and there is rigidity preferably for overhang like this, and more simple with respect to overhanging Liangqi structure.
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to sum up, as how less or minimum moving link, come innovative design to go out to imitate the mechanism that both hands are rubbed, all the time be a technical barrier in mechanics field, because as a mechanism, moving link not only means simple in structure and low cost of manufacture less, the more important thing is that to mean functional reliability high.In two kinds of technological schemes of embodiment 1 and embodiment 2, for one-sided rubbing in action, only have 5 substantial motion members from kinematic meaning, i.e. leading screw 7, nut 8-the two-sided rack 9 assemblying bodys, gear 1(1 '), connecting rod 2(2 '), center hinge is connected on the cylindrical body 4(4 ' on frame) or slide 5(5 ').
innovative point of the present invention is, only utilize less mechanical component just to realize the plane motion that complicated imitation both hands are rubbed, the fixing instrument of rubbing of difference in functionality in connecting rod 2,2 ' lower end, just can form the electronic both hands that various functions are different and rub bionic device.This bionic device structure is very simple, and cost is cheap especially, and functional reliability is high, can meet different industries for the demand of rubbing bionic device.This has formed high-definition the contrast with existing those huge structures bionic device complicated, that cost is extremely high, can promote the use of widely.
?
above-described embodiment is only explanation technical conceive of the present invention and characteristics, and its purpose is to allow the person skilled in the art can understand content of the present invention and implement according to this, can not limit the scope of the invention with this.All equivalences that Spirit Essence is done according to the present invention change or modify, within all should being encompassed in protection scope of the present invention.

Claims (8)

1. electronic both hands are rubbed bionic device, it is characterized in that: comprise frame, rub assembly for two groups that are located on described frame, every group of described assembly of rubbing includes the gear of being located at rotationally on described frame, one end is located at the connecting rod on described gear rotationally by bearing pin, be hinged on the cylindrical body on described frame, the shaft axis of described bearing pin departs from the shaft axis of described gear and parallels with the shaft axis of described gear, described cylindrical body can be located on described frame rotatably around the Pivot Point Center line, offer the through hole radially run through on described cylindrical body, be located in described through hole to described connecting rod Spielpassung, described bionic device also comprises the motor of being located on described frame, be fixedly connected on the leading screw on described motor output shaft, be located at ordinatedly the nut on described leading screw, be fixed with the two-sided rack on described nut, the length bearing of trend of described the two-sided rack parallels with the shaft axis of described leading screw, the both sides of described the two-sided rack are respectively equipped with a plurality of teeth that can be meshed with described gear, two groups described rubs the both sides that assembly is located at respectively described the two-sided rack, and two groups described rubs on assembly the setting that is meshed with described the two-sided rack respectively of two described gears.
2. a kind of electronic both hands according to claim 1 are rubbed bionic device, and it is characterized in that: the shaft axis of described cylindrical shaft axis and described gear is parallel to each other.
3. a kind of electronic both hands according to claim 1 are rubbed bionic device, it is characterized in that: described gear is provided with pin-and-hole, the center line of described pin-and-hole and the shaft axis of described gear deviate, one end of described bearing pin is connected on described connecting rod, and its other end is located in described pin-and-hole rotationally.
4. a kind of electronic both hands according to claim 1 are rubbed bionic device, it is characterized in that: described through hole is cylindrical hole, and accordingly, the peripheral surface coordinated with described through hole on described connecting rod is cylndrical surface.
5. electronic both hands are rubbed bionic device, it is characterized in that: comprise frame, rub assembly for two groups that are located on described frame, every group of described assembly of rubbing includes the gear of being located at rotationally on described frame, one end is located at the connecting rod on described gear rotationally by bearing pin, center hinge is connected on the slide on described frame, the shaft axis of described bearing pin departs from the shaft axis of described gear and parallels with the shaft axis of described gear, offer the through hole that can penetrate vertically for described connecting rod on described slide, be located in described through hole to described connecting rod Spielpassung, described bionic device also comprises the motor of being located on described frame, be fixedly connected on the leading screw on described motor output shaft, be located at ordinatedly the nut on described leading screw, be fixed with the two-sided rack on described nut, the length bearing of trend of described the two-sided rack parallels with the shaft axis of described leading screw, the both sides of described the two-sided rack are respectively equipped with a plurality of teeth that can be meshed with described gear, two groups described rubs the both sides that assembly is located at respectively described the two-sided rack, and two groups described rubs on assembly the setting that is meshed with described the two-sided rack respectively of two described gears.
6. a kind of electronic both hands according to claim 5 are rubbed bionic device, it is characterized in that: two axial ends of described slide are connected on described frame and are simple beam structure.
7. a kind of electronic both hands according to claim 5 are rubbed bionic device, it is characterized in that: described through hole is cylindrical hole, and accordingly, the peripheral surface coordinated with described through hole on described connecting rod is cylndrical surface.
8. a kind of electronic both hands according to claim 5 are rubbed bionic device, it is characterized in that: described gear is provided with pin-and-hole, the center line of described pin-and-hole and the shaft axis of described gear deviate, one end of described bearing pin is connected on described connecting rod, and its other end is located in described pin-and-hole rotationally.
CN201310492543.5A 2013-10-18 2013-10-18 A kind of electronic both hands rub bionic device Expired - Fee Related CN103498898B (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103994043A (en) * 2014-05-14 2014-08-20 苏州农业职业技术学院 Transmission type hydraulic pump with crank connecting rod structure
CN110605704A (en) * 2019-10-10 2019-12-24 东北林业大学 Auxiliary carrying device for wearable trays

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2138711C1 (en) * 1996-11-27 1999-09-27 Абрамцев Евгений Петрович Link mechanism
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
CN201273315Y (en) * 2008-10-07 2009-07-15 江苏海陵机械有限公司 Electrohydraulic digital corner meter
CN203167914U (en) * 2013-04-19 2013-09-04 山东理工大学 Pneumatic artificial muscles-based imitation handwork kneading machine
CN203548774U (en) * 2013-10-18 2014-04-16 苏州大学 Electrical both-hand rubbing bionic device

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2138711C1 (en) * 1996-11-27 1999-09-27 Абрамцев Евгений Петрович Link mechanism
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
CN201273315Y (en) * 2008-10-07 2009-07-15 江苏海陵机械有限公司 Electrohydraulic digital corner meter
CN203167914U (en) * 2013-04-19 2013-09-04 山东理工大学 Pneumatic artificial muscles-based imitation handwork kneading machine
CN203548774U (en) * 2013-10-18 2014-04-16 苏州大学 Electrical both-hand rubbing bionic device

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103994043A (en) * 2014-05-14 2014-08-20 苏州农业职业技术学院 Transmission type hydraulic pump with crank connecting rod structure
CN110605704A (en) * 2019-10-10 2019-12-24 东北林业大学 Auxiliary carrying device for wearable trays

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