CN103498904A - Electric both-hand rubbing bionic device - Google Patents
Electric both-hand rubbing bionic device Download PDFInfo
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- CN103498904A CN103498904A CN201310503895.6A CN201310503895A CN103498904A CN 103498904 A CN103498904 A CN 103498904A CN 201310503895 A CN201310503895 A CN 201310503895A CN 103498904 A CN103498904 A CN 103498904A
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- Prior art keywords
- worm gear
- connecting rod
- bionic device
- pin
- shaft axis
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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
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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
- F16H37/124—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
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- 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
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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 both-hand rubbing bionic device. According to the electric both-hand rubbing bionic device, a worm, worm gears, connecting rods, and sliding blocks or guiding pieces are used to achieve complicate plane motion simulating rubbing of both hands, the worm, the worm gears, the connecting rods, and the sliding blocks or the guiding pieces are all quite simple, the center of each sliding block is hinged to a machine frame, the center of each guiding piece is fixed on the machine frame, the surface of each guiding piece is cylindrical, rubbing tools with different functions can be fixed at the lower end of each connecting rod, and then the electric both-hand rubbing bionic device can have various functions. The electric both-hand rubbing bionic device is quite simple in structure, quite low in manufacturing cost, high in working reliability, and capable of meeting requirements for the rubbing bionic device of different industries. The striking contrast exists between existing bionic devices which are large in size, complicated in structure and extremely high in manufacturing cost and the electric both-hand rubbing bionic device. The electric both-hand rubbing bionic device can be widely popularized and used.
Description
Technical field
the present invention relates to a kind of electronic both hands and rub bionic device.
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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.
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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, be located at the motor on described frame, be connected to transmission the worm screw on described motor output shaft, rub assembly for two groups that are located on described frame, two groups described rubs the both sides that assembly lays respectively at described worm screw, every group described rubs assembly and includes and be located at rotationally the worm gear that can match with described worm screw on described frame, one end is located at the connecting rod on described worm gear rotationally by bearing pin, the setting that is meshed with described worm screw of described worm gear, the shaft axis of described bearing pin departs from the shaft axis of described worm gear and parallels with the shaft axis of described worm 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.
in this technological scheme, preferably, described worm gear is provided with pin-and-hole, and the center line of described pin-and-hole and the shaft axis of described worm 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, be located at the motor on described frame, be connected to transmission the worm screw on described motor output shaft, rub assembly for two groups that are located on described frame, two groups described rubs the both sides that assembly lays respectively at described worm screw, every group described rubs assembly and includes and be located at rotationally the worm gear that can match with described worm screw on described frame, one end is located at the connecting rod on described worm gear rotationally by bearing pin, the setting that is meshed with described worm screw of described worm gear, the shaft axis of described bearing pin departs from the shaft axis of described worm gear and parallels with the shaft axis of described worm 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.
in this technological scheme, preferably, the shaft axis of described guiding element and the shaft axis of described worm 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 worm gear is provided with pin-and-hole, and the center line of described pin-and-hole and the shaft axis of described worm 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 worm screw, worm 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.
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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.
wherein: 10,10 '-rub assembly; 1,1 '-worm gear; 2,2 '-connecting rod; 3,3 '-bearing pin; 4,4 '-chute; 5,5 '-slide block; 6,6 '-guiding element, 7, motor; 8, worm gear.
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Embodiment
below in conjunction with accompanying drawing and specific embodiment, technological scheme of the present invention is further elaborated.
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 ',
the setting of rubbing assembly 10 ' is with to rub arranging of assembly 10 similar, comprise and can be located at rotationally worm gear 1 ' on frame, by bearing pin 3 ', be located at rotationally the connecting rod 2 ' on worm gear around shaft axis, and center hinge is connected on frame for the slide block 5 ' of connecting rod 2 ' guiding is provided, when worm 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 motor 7 on frame, be fixedly connected on the worm screw 8 that can match with worm gear 1,1 ' on motor 7 output shafts, rub the both sides that assembly 10,10 ' is located at respectively worm screw 8, and worm gear 1, the 1 ' setting that is meshed with worm screw 8 respectively.When motor 7 work, the output shaft of motor 7 drives worm screw 8 rotations like this, so just drives worm gear 1,1 ' rotation, thereby makes 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 worm gear 1 ' of bearing pin 3 on worm 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 worm 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 output shaft counterrotating of motor 7 by control switch, just can change worm 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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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 worm screw 8 rotarilys actuate worm gear 1, worm gear 1 ' rotation, 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.
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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.
one-sided rubbing in action in embodiment 1, only have 4 substantial motion members from kinematic meaning, i.e. worm screw 8, worm 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. worm screw 8, worm gear 1(1 '), connecting rod 2(2 ').
innovative point of the present invention is, only utilize very simple worm screw 8, worm 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.
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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, be located at the motor on described frame, be connected to transmission the worm screw on described motor output shaft, rub assembly for two groups that are located on described frame, two groups described rubs the both sides that assembly lays respectively at described worm screw, every group described rubs assembly and includes and be located at rotationally the worm gear that can match with described worm screw on described frame, one end is located at the connecting rod on described worm gear rotationally by bearing pin, the setting that is meshed with described worm screw of described worm gear, the shaft axis of described bearing pin departs from the shaft axis of described worm gear and parallels with the shaft axis of described worm 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.
2. a kind of electronic both hands according to claim 1 are rubbed bionic device, it is characterized in that: described worm gear is provided with pin-and-hole, the center line of described pin-and-hole and the shaft axis of described worm 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.
3. electronic both hands are rubbed bionic device, it is characterized in that: comprise frame, be located at the motor on described frame, be connected to transmission the worm screw on described motor output shaft, rub assembly for two groups that are located on described frame, two groups described rubs the both sides that assembly lays respectively at described worm screw, every group described rubs assembly and includes and be located at rotationally the worm gear that can match with described worm screw on described frame, one end is located at the connecting rod on described worm gear rotationally by bearing pin, the setting that is meshed with described worm screw of described worm gear, the shaft axis of described bearing pin departs from the shaft axis of described worm gear and parallels with the shaft axis of described worm 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.
4. a kind of 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 worm gear are parallel to each other.
5. a kind of 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. a kind of electronic both hands according to claim 3 are rubbed bionic device, it is characterized in that: described worm gear is provided with pin-and-hole, the center line of described pin-and-hole and the shaft axis of described worm 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310503895.6A CN103498904B (en) | 2013-10-18 | 2013-10-18 | A kind of electronic both hands rub bionic device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310503895.6A CN103498904B (en) | 2013-10-18 | 2013-10-18 | A kind of electronic both hands rub bionic device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103498904A true CN103498904A (en) | 2014-01-08 |
| CN103498904B CN103498904B (en) | 2016-01-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310503895.6A Expired - Fee Related CN103498904B (en) | 2013-10-18 | 2013-10-18 | A kind of electronic both hands rub bionic device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104457139A (en) * | 2014-12-09 | 2015-03-25 | 青海林丰农牧机械制造有限公司 | Rubbing machine for medicinal materials |
| 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 |
| US10617411B2 (en) * | 2015-12-01 | 2020-04-14 | Covidien Lp | Adapter assembly for surgical device |
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| 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 |
| CN2936094Y (en) * | 2006-03-30 | 2007-08-22 | 杨基玉 | Bionic automatic bathing and back rubbing device |
| CN202628983U (en) * | 2012-04-27 | 2012-12-26 | 宁波建欣精密模具有限公司 | Motor rotor torsion transmission mechanism |
| CN203167914U (en) * | 2013-04-19 | 2013-09-04 | 山东理工大学 | Pneumatic artificial muscles-based imitation handwork kneading machine |
| CN203548779U (en) * | 2013-10-18 | 2014-04-16 | 苏州大学 | Electrical both-hand rubbing bionic device |
-
2013
- 2013-10-18 CN CN201310503895.6A patent/CN103498904B/en not_active Expired - Fee Related
Patent Citations (7)
| 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 |
| CN2936094Y (en) * | 2006-03-30 | 2007-08-22 | 杨基玉 | Bionic automatic bathing and back rubbing device |
| CN202628983U (en) * | 2012-04-27 | 2012-12-26 | 宁波建欣精密模具有限公司 | Motor rotor torsion transmission mechanism |
| CN203167914U (en) * | 2013-04-19 | 2013-09-04 | 山东理工大学 | Pneumatic artificial muscles-based imitation handwork kneading machine |
| CN203548779U (en) * | 2013-10-18 | 2014-04-16 | 苏州大学 | Electrical both-hand rubbing bionic device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104457139A (en) * | 2014-12-09 | 2015-03-25 | 青海林丰农牧机械制造有限公司 | Rubbing machine for medicinal materials |
| 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 |
| US10617411B2 (en) * | 2015-12-01 | 2020-04-14 | Covidien Lp | Adapter assembly for surgical device |
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| Publication number | Publication date |
|---|---|
| CN103498904B (en) | 2016-01-20 |
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Granted publication date: 20160120 Termination date: 20181018 |