CN103498899A - Electric double hand rubbing bionic device - Google Patents

Electric double hand rubbing bionic device Download PDF

Info

Publication number
CN103498899A
CN103498899A CN201310492631.5A CN201310492631A CN103498899A CN 103498899 A CN103498899 A CN 103498899A CN 201310492631 A CN201310492631 A CN 201310492631A CN 103498899 A CN103498899 A CN 103498899A
Authority
CN
China
Prior art keywords
gear
connecting rod
assembly
shaft axis
pin
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201310492631.5A
Other languages
Chinese (zh)
Other versions
CN103498899B (en
Inventor
窦云霞
王传洋
钟康民
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suzhou Roaring Precision Machinery Co ltd
Original Assignee
Suzhou University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Suzhou University filed Critical Suzhou University
Priority to CN201310492631.5A priority Critical patent/CN103498899B/en
Publication of CN103498899A publication Critical patent/CN103498899A/en
Application granted granted Critical
Publication of CN103498899B publication Critical patent/CN103498899B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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

Landscapes

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

Abstract

The invention discloses an electric double hand rubbing bionic device. A quite simple linear motor, a rack, gears, connecting rods and sliding blocks or guiding elements are used for realizing complex planar motion simulating rubbing of two hands, wherein the centers of the sliding blocks are hinged to a rack, the centers of the guiding elements are fixed to the rack, and the outer surfaces of the guiding elements are of a cylindrical shape; rubbing tools with different functions are fixed to the lower ends of the connecting rods so that various electric double hand rubbing bionic devices with different functions can be formed. The electric double hand rubbing bionic device is quite simple in structure, very low in construction cost, high in operational reliability, and capable of meeting requirements for rubbing bionic devices of different industries. Therefore, the electric double hand rubbing bionic device presents a striking contrast to existing bionic devices which are large and complex in structure and quite high in construction cost, and can be widely popularized and used.

Description

Electronic both hands are rubbed bionic device
 
Technical field
the present invention relates to a kind of electronic both hands and rub bionic device.
?
Background technique
in Creative Mechanism Design, rely on merely the motion of mechanism self, realize imitating the action that staff is rubbed, be 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.
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.
?
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, 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 chute extended along its length on described connecting rod, every group of described assembly of rubbing also comprises that center hinge is connected on described frame for the slide block of described connecting rod guiding is provided, described space of slider is located in described chute ordinatedly, also be provided with linear electric motor on described frame, the secondary tooth bar be in transmission connection mutually of end and described linear electric motor, on described tooth bar, the both sides of length direction 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 tooth bar, and two groups described rubs on assembly the setting that is meshed with described tooth bar respectively of two described gears.
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.
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, 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 chute extended along its length on described connecting rod, every group of described assembly of rubbing also comprises that center is fixedly installed on described frame for the guiding element of described connecting rod guiding is provided, be located in described chute to described guiding element Spielpassung, the circumferential exterior surface matched with described chute length direction cell wall on described guiding element is cylndrical surface, also be provided with linear electric motor on described frame, the secondary tooth bar be in transmission connection mutually of end and described linear electric motor, on described tooth bar, the both sides of length direction 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 tooth bar, and two groups described rubs on assembly the setting that is meshed with described tooth bar respectively of two described gears.
in this technological scheme, preferably, the shaft axis of described guiding element and the shaft axis of described gear are parallel to each other.
in this technological scheme, preferably, described guiding element is a kind of in straight pin, rolling bearing, sliding bearing.
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 linear electric motor, tooth bar, gear, connecting rod, center hinge to be connected on the guiding element that slide block on frame or center are fixed on the cylindrical outer surface 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.
?
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.
wherein: 10,10 '-rub assembly; 1,1 '-gear; 2,2 '-connecting rod; 3,3 '-bearing pin; 4,4 '-chute; 5,5 '-slide block; 6,6 '-guiding element, 7, linear electric motor; 71, elementary; 72, secondary; 8, tooth bar.
?
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 the connecting rod 2 on gear 1 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.Offer a chute 4 on connecting rod 2, this chute 4 extends along the length direction of connecting rod 2, frame is provided with center hinge and is connected on frame for the slide block 5 of connecting rod 2 guiding is provided, the center position that is two axial ends of slide block 5 is hinged on frame, slide block 5 can be located on frame around the line of two axial ends articulating point rotatably, be located in chute 4 to slide block 5 Spielpassung, they can relative connecting rod 2 slippages along the length bearing of trend of chute 4, between slide block 5 and chute 4, form planar lower pair.When 1 rotation of external motivating force actuation gear, connecting rod 2 hinged center with respect to slide block 5 under the effect of bearing pin 3 is not only done the straight line sliding motion but also is done swing, and 5 of slide blocks are done oscillating motion, the lower end of connecting rod 2 just can produce and be similar to the bionic movement that staff is rubbed like this, and its movement locus is as shown in Fig. 1 lower dotted line.
the setting of rubbing assembly 10 ' is with to rub arranging of assembly 10 similar, comprise and can be located at rotationally gear 1 ' on frame, by bearing pin 3 ', be located at rotationally the connecting rod 2 ' on gear around shaft axis, and center hinge is connected on frame for the slide block 5 ' of connecting rod 2 ' guiding is provided, when gear 1 ' externally rotates under the effect of driving force, connecting rod 2 ' hinged center with respect to slide block 5 ' under the effect of bearing pin 3 ' is not only done the straight line sliding motion but also is done swing, and the lower end of connecting rod 2 ' also just can produce and be similar to the bionic movement that staff is rubbed.
shown in Figure 1, also be provided with linear electric motor 7 on frame, linear electric motor 7 have for rack-mounted elementary 71, relatively elementary 71 vertically straight-line secondary 72, tooth bar 8 has been permanently connected on secondary 72 end, on tooth bar 8, both sides along its length are respectively equipped with a plurality of teeth that can be meshed with gear 1,1 ', rub assembly 10 and rub the both sides that assembly 10 ' is located at respectively tooth bar 8, and the setting that is meshed with tooth bar 8 respectively of gear 1, gear 1 '.When linear electric motor 7 are worked like this, the secondary 72 band carry-over bars 8 of linear electric motor 7 move along its length, tooth bar 8 and gear 1,1 ' engagement driven gear 1,1 ' rotation, thus 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 position or the bearing pin 3 ' position on gear 1 ' of bearing pin 3 on gear 1 according to action need 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 slide block 5,5 ' 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 power line exchange of linear electric motor 7 any two-phases by control switch after, secondary 72 of linear electric motor 7 will be with carry-over bar 8 to do rightabout straight line motion, just can be corresponding 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.
?
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, centered by being provided, connecting rod 2, the 2 ' parts that lead are fixedly installed on the guiding element 6,6 ' on frame, guiding element 6,6 ' is located to Spielpassung respectively in chute 4,4 ', guiding element 6,6 ' the upper circumferential exterior surface matched with chute 4,4 ' length direction cell wall is cylndrical surface, and guiding element 6,6 ' forms planar higher pairs with chute 4,4 ' respectively.When tooth bar 8 moves and during the 1 ' rotation of actuation gear 1, gear along its length, connecting rod 2,2 ' is not only done straight line motion but also do swing with respect to the guiding element 6,6 ' of cylindrical outer surface respectively under bearing pin 3,3 ' effect, and connecting rod 2,2 ' lower end just can produce the bionic movement that similar both hands are rubbed like this.
in above-mentioned movement process, the guiding element 6 of cylindrical outer surface, 6 ' and chute 4,4 ' between friction less, compare embodiment 1 mode, can effectively reduce the friction and wear between guiding element and chute cell wall, but it is less that its bearing capacity is compared embodiment 1 mode, be applicable to the occasion that load is less, embodiment 1 mode is applicable to the occasion that load is larger.The guiding element 6,6 ' of cylindrical outer surface can adopt the parts such as straight pin, rolling bearing, sliding bearing, if adopt simple fixed cylinder pin, its cost is minimum, but friction and wear is relatively large, and fixing rolling bearing or the sliding bearing in employing center can reduce friction and wear effectively.
?
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.
one-sided rubbing in action in embodiment 1, only have 4 substantial motion members from kinematic meaning, i.e. tooth bar 8, gear 1(1 '), connecting rod 2(2 '), slide block 5(5 '); One-sided rubbing in action in embodiment 2, only have 3 substantial motion members from kinematic meaning, i.e. tooth bar 8, gear 1(1 '), connecting rod 2(2 ').
innovative point of the present invention is, only utilize very simple linear electric motor 7, tooth bar 8, gear 1(1 '), connecting rod 2(2 '), center hinge is connected on the slide block 5(5 ' on frame) or center be fixed on the guiding element 6(6 ' of the cylindrical outer surface on frame), just realized 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 (6)

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, 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 chute extended along its length on described connecting rod, every group of described assembly of rubbing also comprises that center hinge is connected on described frame for the slide block of described connecting rod guiding is provided, described space of slider is located in described chute ordinatedly, also be provided with linear electric motor on described frame, the secondary tooth bar be in transmission connection mutually of end and described linear electric motor, on described tooth bar, the both sides of length direction 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 tooth bar, and two groups described rubs on assembly the setting that is meshed with described tooth bar respectively of two described gears.
2. 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, 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.
3. 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, 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 chute extended along its length on described connecting rod, every group of described assembly of rubbing also comprises that center is fixedly installed on described frame for the guiding element of described connecting rod guiding is provided, be located in described chute to described guiding element Spielpassung, the circumferential exterior surface matched with described chute length direction cell wall on described guiding element is cylndrical surface, also be provided with linear electric motor on described frame, the secondary tooth bar be in transmission connection mutually of end and described linear electric motor, on described tooth bar, the both sides of length direction 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 tooth bar, and two groups described rubs on assembly the setting that is meshed with described tooth bar respectively of two described gears.
4. electronic both hands according to claim 3 are rubbed bionic device, it is characterized in that: the shaft axis of described guiding element and the shaft axis of described gear are parallel to each other.
5. electronic both hands according to claim 3 are rubbed bionic device, it is characterized in that: described guiding element is a kind of in straight pin, rolling bearing, sliding bearing.
6. electronic both hands according to claim 3 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, 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.
CN201310492631.5A 2013-10-18 2013-10-18 Electronic both hands rub bionic device Expired - Fee Related CN103498899B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201310492631.5A CN103498899B (en) 2013-10-18 2013-10-18 Electronic both hands rub bionic device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201310492631.5A CN103498899B (en) 2013-10-18 2013-10-18 Electronic both hands rub bionic device

Publications (2)

Publication Number Publication Date
CN103498899A true CN103498899A (en) 2014-01-08
CN103498899B CN103498899B (en) 2016-08-24

Family

ID=49864136

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201310492631.5A Expired - Fee Related CN103498899B (en) 2013-10-18 2013-10-18 Electronic both hands rub bionic device

Country Status (1)

Country Link
CN (1) CN103498899B (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104305021A (en) * 2014-09-19 2015-01-28 重庆市喜植机械设备有限公司 Bjunceavarlatipa kneading machine
CN105213161A (en) * 2015-10-10 2016-01-06 莆田市昌融机械有限公司 One is pinched and is rubbed formula massage assembly and masseur

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0462099A1 (en) * 1990-05-22 1991-12-18 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
CN101066022A (en) * 2007-04-03 2007-11-07 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
CN203548772U (en) * 2013-10-18 2014-04-16 苏州大学 Electric two-hand rubbing bionic device

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0462099A1 (en) * 1990-05-22 1991-12-18 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
CN101066022A (en) * 2007-04-03 2007-11-07 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
CN203548772U (en) * 2013-10-18 2014-04-16 苏州大学 Electric two-hand rubbing bionic device

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104305021A (en) * 2014-09-19 2015-01-28 重庆市喜植机械设备有限公司 Bjunceavarlatipa kneading machine
CN104305021B (en) * 2014-09-19 2020-10-30 重庆倍精科技研发有限公司 Kneading machine for making hot and spicy food
CN105213161A (en) * 2015-10-10 2016-01-06 莆田市昌融机械有限公司 One is pinched and is rubbed formula massage assembly and masseur

Also Published As

Publication number Publication date
CN103498899B (en) 2016-08-24

Similar Documents

Publication Publication Date Title
CN203548771U (en) Electrical both-hand rubbing bionic device
CN103072132A (en) Three-degree-of-freedom movable decoupling parallel robot mechanism with fully-symmetrical structure
CN208050479U (en) A kind of chemical industry equipment experiment equipment cleaning machine
CN110015535A (en) Sorter
CN103498902A (en) Electric double hand rubbing bionic device
CN101927491A (en) Completely isotropic three-freedom degree spatial parallel robot mechanism
CN203548772U (en) Electric two-hand rubbing bionic device
CN103498904B (en) A kind of electronic both hands rub bionic device
CN106346446A (en) Parallelly connected double action robot mechanism with four freedoms and large work space
CN103498899A (en) Electric double hand rubbing bionic device
CN203548783U (en) Pneumatic two-hand rubbing bionic device
CN203548774U (en) Electrical both-hand rubbing bionic device
CN203548779U (en) Electrical both-hand rubbing bionic device
CN110369644A (en) A kind of metal silk-screen braider and its weaving method
CN203548776U (en) Hand rubbing simulation mechanism
CN103498900A (en) Electric bionic double-hand rubbing device
CN203548773U (en) Electric two-hand rubbing bionic device
CN103498906B (en) Pneumatic two-hand rubs bionic device
CN103498898A (en) Electric bionic double-hand rubbing device
CN103498905B (en) Pneumatic two-hand rubs bionic device
CN103498903A (en) Two-hand rubbing simulation mechanism
CN105090400A (en) Sine swing mechanism
CN203548778U (en) Electric two-hand rubbing bionic device
CN203548782U (en) Pneumatic two-hand rubbing bionic device
CN203548775U (en) Hand rubbing simulation mechanism

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
TR01 Transfer of patent right
TR01 Transfer of patent right

Effective date of registration: 20190605

Address after: 215000 No. 75 Tongyuan Road, Suzhou Industrial Park, Jiangsu Province

Patentee after: SUZHOU ROARING PRECISION MACHINERY Co.,Ltd.

Address before: 215123 199 Ren Yan Road, Suzhou Industrial Park, Suzhou, Jiangsu

Patentee before: Soochow University

CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20160824

Termination date: 20211018