CN103498899B - Electronic both hands rub bionic device - Google Patents
Electronic both hands rub bionic device Download PDFInfo
- Publication number
- CN103498899B CN103498899B CN201310492631.5A CN201310492631A CN103498899B CN 103498899 B CN103498899 B CN 103498899B CN 201310492631 A CN201310492631 A CN 201310492631A CN 103498899 B CN103498899 B CN 103498899B
- Authority
- CN
- China
- Prior art keywords
- rub
- gear
- connecting rod
- hands
- frame
- 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.)
- Expired - Fee Related
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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
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Toys (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a kind of electronic both hands and rub bionic device, the guide of the cylindrical outer surface that the slide block being wherein connected in frame merely with very simple linear electric motors, tooth bar, gear, connecting rod, center hinge or center are fixed in frame, 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
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.
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.
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:
nullA kind of electronic both hands rub bionic device，Including frame、It is located in described frame two groups and rubs assembly，Often rub the gear that assembly all includes being rotatably arranged in described frame described in group、One end is rotatably arranged in the connecting rod on described gear by bearing pin，The axial line of described bearing pin deviates the axial line of described gear and parallels with the axial line of described gear，The chute extended along its length is offered on described connecting rod，Often rub assembly described in group and also include that center hinge is connected in described frame for the slide block providing described connecting rod to guide，Described space of slider is located in described chute ordinatedly，It is additionally provided with linear electric motors in described frame、The tooth bar that the secondary of end and described linear electric motors is in transmission connection mutually，On described tooth bar, length direction is respectively provided on two sides with multiple tooth can being meshed with described gear，Rub assembly described in two groups and be respectively arranged on the both sides of described tooth bar，And rub two described gears on assembly described in two groups and be meshed with described tooth bar respectively setting.
In this technical scheme, it is preferable that described gear is provided with pin-and-hole, the center line of described pin-and-hole deviates with the axial line of described 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.
Second technical scheme:
nullA kind of electronic both hands rub bionic device，Including frame、It is located in described frame two groups and rubs assembly，Often rub the gear that assembly all includes being rotatably arranged in described frame described in group、One end is rotatably arranged in the connecting rod on described gear by bearing pin，The axial line of described bearing pin deviates the axial line of described gear and parallels with the axial line of described gear，The chute extended along its length is offered on described connecting rod，Often rub assembly described in group and also include that center is fixedly installed in described frame for the guide providing described connecting rod to guide，It is located in described chute to described guide matched in clearance，The circumferential exterior surface matched with described track length direction cell wall on described guide is the face of cylinder，It is additionally provided with linear electric motors in described frame、The tooth bar that the secondary of end and described linear electric motors is in transmission connection mutually，On described tooth bar, length direction is respectively provided on two sides with multiple tooth can being meshed with described gear，Rub assembly described in two groups and be respectively arranged on the both sides of described tooth bar，And rub two described gears on assembly described in two groups and be meshed with described tooth bar respectively setting.
In this technical scheme, it is preferable that the axial line of described guide is parallel to each other with the axial line of described gear.
In this technical scheme, it is preferable that described guide is the one in straight pin, rolling bearing, sliding bearing.
In this technical scheme, it is preferable that described gear is provided with pin-and-hole, the center line of described pin-and-hole deviates with the axial line of described 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 one of the present invention rub bionic device, the guide of the cylindrical outer surface that the slide block being wherein connected in frame merely with very simple linear electric motors, tooth bar, gear, connecting rod, center hinge or center are fixed in frame, 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.
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’
Guide,
7
, linear electric motors；
71
, primary；
72
, secondary；
8
, tooth bar.
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 gear can being rotatably arranged in frame around axial line
1
, pass through bearing pin
3
It is rotatably arranged in gear
1
On connecting rod
2
.Gear
1
On offer the pin-and-hole of a bias, the centerline parallel of this pin-and-hole is in 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.Connecting rod
2
On offer a chute
4
, this chute
4
Along connecting rod
2
Length direction extend, frame is provided with center hinge and is connected in frame for providing connecting rod
2
The slide block guided
5
, i.e. slide block
5
The center position of two axial end portions be hinged in frame, slide block
5
Can be located at rotatably in frame around the line of two axial ends pin joint, slide block
5
It is located at chute to matched in clearance
4
In, it can be along chute
4
Length bearing of trend relative to connecting rod
2
Sliding, slide block
5
With chute
4
Between formed planar lower pair.When external motivating force drives gear
1
During rotation, connecting rod
2
At bearing pin
3
Effect under relative to slide block
5
Hinged center not only do straight line sliding motion but also swing, and slide block
5
Only do oscillating motion, such 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.
Rub assembly
10’
Setting with rub assembly
10
Arrange similar, including the gear can being rotatably arranged in frame around axial line
1’
, pass through bearing pin
3’
The connecting rod being rotatably arranged on gear
2’
, and center hinge is connected in frame for providing connecting rod
2’
The slide block guided
5’
, work as gear
1’
When rotating under the effect of external motivating force, connecting rod
2’
At bearing pin
3’
Effect under relative to slide block
5’
Hinged center not only do straight line sliding motion but also swing, connecting rod
2’
Lower end the most just can produce and be similar to the bionic movement that staff is rubbed.
See figure
1
Shown in, frame is additionally provided with linear electric motors
7
, linear electric motors
7
Have for rack-mounted primary
71
, opposing primary
71
The secondary moved along a straight line vertically
72
, secondary
72
End on be permanently connected tooth bar
8
, tooth bar
8
On along its length be respectively provided on two sides with multiple can be with gear
1
、
1’
The tooth being meshed, rubs assembly
10
With rub assembly
10’
It is respectively arranged on tooth bar
8
Both sides, and gear
1
, gear
1’
Respectively with tooth bar
8
Be meshed setting.So linear electric motors
7
During work, linear electric motors
7
Secondary
72
Band carry-over bar
8
Move along its length, tooth bar
8
With gear
1
、
1’
Engagement driven gear
1
、
1’
Rotation 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.
Can need to adjust bearing pin according to operation when arranging
3
At gear
1
On position or bearing pin
3’
At gear
1’
On position, thus realize that both hands are symmetrical bionical rubs action (such as figure
1
), 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 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 slide block
5
、
5’
Position 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 linear electric motors by controlling switch
7
Arbitrarily after the power line exchange of two-phase, linear electric motors
7
Secondary
72
By band carry-over bar
8
Do rightabout linear motion, just can change gear accordingly
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.
Embodiment
2
See figure
2
The electronic both hands of shown one 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 guide being fixedly installed in frame centered by the parts guided
6
、
6’
, guide
6
、
6’
It is located at chute to matched in clearance respectively
4
、
4’
In, guide
6
、
6’
Go up and chute
4
、
4’
The circumferential exterior surface that length direction cell wall matches is the face of cylinder, guide
6
、
6’
Respectively with chute
4
、
4’
Form planar higher pairs.Work as tooth bar
8
Move along its length and drive gear
1
, gear
1’
During rotation, connecting rod
2
、
2’
Respectively at bearing pin
3
、
3’
Effect under relative to the guide of cylindrical outer surface
6
、
6’
Not only move along a straight line but also swing, such connecting rod
2
、
2’
Lower end just can produce the bionic movement that similar both hands are rubbed.
In above-mentioned motion process, the guide of cylindrical outer surface
6
、
6’
With chute
4
、
4’
Between friction less, compare embodiment
1
Mode, the friction and wear between guide and chute cell wall can be effectively reduced, but its bearing capacity compares embodiment
1
Mode less, it is adaptable to the occasion that load is less, and embodiment
1
Mode be then applicable to the occasion that load is bigger.The guide of cylindrical outer surface
6
、
6’
Can use the parts such as straight pin, rolling bearing, sliding bearing, according to simple fixed cylinder pin, its cost is minimum, but friction and wear is relatively large, and uses the fixing rolling bearing in center or sliding bearing, it is possible to be effectively reduced friction and wear.
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.
Embodiment
1
In one side rub in action, from kinematic meaning for only
4
Individual substantial motion component, i.e. tooth bar
8
, gear
1
(
1’
), connecting rod
2
(
2’
), slide block
5
(
5’
)；Embodiment
2
In one side rub in action, from kinematic meaning for only
3
Individual substantial motion component, i.e. tooth bar
8
, gear
1
(
1’
), connecting rod
2
(
2’
).
The innovative point of the present invention is i.e., merely with very simple linear electric motors
7
, tooth bar
8
, gear
1
(
1’
), connecting rod
2
(
2’
), the slide block that is connected in frame of center hinge
5
(
5’
) or the guide of cylindrical outer surface that is fixed in frame of center
6
(
6’
), just achieve complexity imitates the plane motion that both hands are rubbed, 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.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 (6)
- null1. electronic both hands rub bionic device，It is characterized in that: include frame、It is located in described frame two groups and rubs assembly，Often rub the gear that assembly all includes being rotatably arranged in described frame described in group、One end is rotatably arranged in the connecting rod on described gear by bearing pin，The axial line of described bearing pin deviates the axial line of described gear and parallels with the axial line of described gear，The chute extended along its length is offered on described connecting rod，Often rub assembly described in group and also include that center hinge is connected in described frame for the slide block providing described connecting rod to guide，Described space of slider is located in described chute ordinatedly，It is additionally provided with linear electric motors in described frame、The tooth bar that the secondary of end and described linear electric motors is in transmission connection mutually，On described tooth bar, length direction is respectively provided on two sides with multiple tooth can being meshed with described gear，Rub assembly described in two groups and be respectively arranged on the both sides of described tooth bar，And rub two described gears on assembly described in two groups and be meshed with described tooth bar respectively setting.
- Electronic both hands the most according to claim 1 rub bionic device, it is characterized in that: described gear is provided with pin-and-hole, the center line of described pin-and-hole deviates with the axial line of described 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.
- null3. electronic both hands rub bionic device，It is characterized in that: include frame、It is located in described frame two groups and rubs assembly，Often rub the gear that assembly all includes being rotatably arranged in described frame described in group、One end is rotatably arranged in the connecting rod on described gear by bearing pin，The axial line of described bearing pin deviates the axial line of described gear and parallels with the axial line of described gear，The chute extended along its length is offered on described connecting rod，Often rub assembly described in group and also include that center is fixedly installed in described frame for the guide providing described connecting rod to guide，It is located in described chute to described guide matched in clearance，The circumferential exterior surface matched with described track length direction cell wall on described guide is the face of cylinder，It is additionally provided with linear electric motors in described frame、The tooth bar that the secondary of end and described linear electric motors is in transmission connection mutually，On described tooth bar, length direction is respectively provided on two sides with multiple tooth can being meshed with described gear，Rub assembly described in two groups and be respectively arranged on the both sides of described tooth bar，And rub two described gears on assembly described in two groups and be meshed with described tooth bar respectively setting.
- Electronic both hands the most according to claim 3 rub bionic device, it is characterised in that: the axial line of described guide is parallel to each other with the axial line of described gear.
- Electronic both hands the most according to claim 3 rub bionic device, it is characterised in that: described guide is the one in straight pin, rolling bearing, sliding bearing.
- Electronic both hands the most according to claim 3 rub bionic device, it is characterized in that: described gear is provided with pin-and-hole, the center line of described pin-and-hole deviates with the axial line of described 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 |
|---|---|---|---|
| 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 CN103498899A (en) | 2014-01-08 |
| CN103498899B true 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) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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| 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 |
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000110912A (en) * | 1998-10-06 | 2000-04-18 | Masahiro Oyamada | Continuously variable transmission for vehicle |
-
2013
- 2013-10-18 CN CN201310492631.5A patent/CN103498899B/en not_active Expired - Fee Related
Patent Citations (7)
| 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 |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103498899A (en) | 2014-01-08 |
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| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
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| GR01 | Patent grant | ||
| 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 |
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Granted publication date: 20160824 Termination date: 20211018 |
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| CF01 | Termination of patent right due to non-payment of annual fee |