CN203548774U - Electrical both-hand rubbing bionic device - Google Patents
Electrical both-hand rubbing bionic device Download PDFInfo
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- CN203548774U CN203548774U CN201320647270.2U CN201320647270U CN203548774U CN 203548774 U CN203548774 U CN 203548774U CN 201320647270 U CN201320647270 U CN 201320647270U CN 203548774 U CN203548774 U CN 203548774U
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- hole
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Abstract
The utility model discloses an electrical both-hand rubbing bionic device. The bionic device is characterized in that the complicated plane movement simulating both-hand rubbing is realized by a simple screw rod, a nut, a double-side rack, gears, connecting rods, and cylinders or slide blocks of which the centers are hinged to a machine frame, rubbing tools with different functions are fixedly arranged at the lower ends of the connecting rods, and then different functions of the electrical both-hand rubbing bionic device can be realized. The bionic device has the advantages that the structure is very simple, the manufacturing cost is very low, the working reliability is high, and the requirements of different industries on the rubbing bionic devices can be met; compared with the bionic device with huge and complicated structure and very high manufacturing cost, the advantage is very obvious, and the bionic device can be widely popularized and applied.
Description
Technical field
the utility model relates to a kind of electronic both hands and rubs bionic device.
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.
but in Creative Mechanism Design, rely on merely the motion of mechanism self, and realize and imitate 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 being composited.Adopting Numeric Control Technology to realize and imitate 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 realize by the control of 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 in Chinese patent literature CN 102940566 A, not only structure is extremely complicated, and fails to provide the track of bionic movement; For another example the disclosed numerical control kneader type of Chinese patent literature CN 103252709 A lapping machine, has adopted 3 actuating motors, 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.
Summary of the invention
the purpose of this utility model is to provide a kind of simple and practical electronic both hands and rubs bionic device, thus the demand that meets all kinds of corresponding products and both hands are rubbed to bionic device with extremely low cost.
for achieving the above object, the technical solution adopted in the utility model 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 in described frame, described in every group, rub assembly and include the gear of being located at rotationally in described frame, the connecting rod on described gear is located at rotationally by bearing pin in one end, be hinged on the cylindrical body in 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 in described frame rotatably around Pivot Point Center line, on described cylindrical body, offer the through hole radially running through, be located in described through hole to described connecting rod Spielpassung, described bionic device also comprises the motor of being located in described frame, be fixedly connected on the leading screw on described motor output shaft, be located at ordinatedly the nut on described leading screw, on described nut, be fixed with the two-sided rack, 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 multiple teeth that can be meshed with described gear, described in two groups, rub assembly and be located at respectively the both sides of described the two-sided rack, and described in two groups, rub 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 one end of described bearing pin is connected on described connecting rod, and its other end is located in described pin-and-hole rotationally.
in this technological scheme, preferably, described through hole is cylindrical hole, and accordingly, the peripheral surface coordinating 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 in described frame, described in every group, rub assembly and include the gear of being located at rotationally in described frame, the connecting rod on described gear is located at rotationally by bearing pin in one end, center hinge is connected on the slide in 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, on described slide, offer the through hole that can penetrate vertically for described connecting rod, be located in described through hole to described connecting rod Spielpassung, described bionic device also comprises the motor of being located in described frame, be fixedly connected on the leading screw on described motor output shaft, be located at ordinatedly the nut on described leading screw, on described nut, be fixed with the two-sided rack, 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 multiple teeth that can be meshed with described gear, described in two groups, rub assembly and be located at respectively the both sides of described the two-sided rack, and described in two groups, rub 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 end portions of described slide are connected in described frame and are simple beam structure.
in this technological scheme, preferably, described through hole is cylindrical hole, and accordingly, the peripheral surface coordinating 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 one end of described bearing pin is connected on described connecting rod, and its other end is located in described pin-and-hole rotationally.
due to the utilization of technique scheme, the utility model compared with prior art has following advantages: the electronic both hands of one of the present utility model 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 in frame, just realized the plane motion that complicated imitation both hands are rubbed, at the instrument of rubbing of the fixing 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 bionic device extremely high with existing those huge structure complexity, cost has formed high-definition contrast, can promote the use of widely.
Accompanying drawing explanation
accompanying drawing 1 is embodiment's 1 of the present utility model structural representation;
accompanying drawing 2 is embodiment's 2 of the present utility model structural representation;
accompanying drawing 3 be in accompanying drawing 2 A-A to 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.
Embodiment
below in conjunction with accompanying drawing and specific embodiment, the technical solution of the utility model is further elaborated.
the electronic both hands of one shown in Figure 1 are rubbed bionic device, comprise frame (not shown), be located in frame two groups and rub assembly 10,10 '.
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 running 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.Between connecting rod 2 and cylindrical body 4, form planar lower pair, when external motivating force actuation gear 1 rotates, connecting rod 2 fixing hinged center with respect to cylindrical body 4 under the effect of bearing pin 3 is not only done straight line sliding motion but also is swung, 4, cylindrical body only does wobbling action, therefore, in the lower end of connecting rod 2, just can produce and be similar to the bionic movement that staff is rubbed, 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 and being located in the peripheral surface matching with above-mentioned through hole in above-mentioned through hole on connecting rod 2 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 ' in frame around shaft axis, by bearing pin 3 ', be located at rotationally the connecting rod 2 ' on gear, and be hinged in frame and the cylindrical body 4 ' that can rotate around Pivot Point Center line, be located in the through hole radially running through on cylindrical body 4 ' to connecting rod 2 ' Spielpassung, when rotating under the effect of gear 1 ' at external motivating force, connecting rod 2 ' hinged center with respect to cylindrical body 4 ' under the effect of bearing pin 3 ' is not only done straight line sliding motion but also is swung, cylindrical body 4 ' only does 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 in frame, be fixedly connected on leading screw 7 on motor 6 output shafts, be arranged on ordinatedly the nut 8 on leading screw 7, on nut 8, be fixedly provided with the two-sided rack 9, 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 be respectively equipped with can with gear 1, the 1 ' tooth being meshed, rub assembly 10 and rub assembly 10 ' both sides of being 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 to rotate, nut 8 moves vertically relative to leading screw 7, so just, drive the two-sided rack 9 to 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 instrument of rubbing at connecting rod 2,2 ' the fixing difference in functionality in lower end, just can form the electronic both hands that various functions are different and rub bionic device.
while arranging, can adjust as required position or the bearing pin 3 ' position on gear 1 ' of bearing pin 3 on gear 1, thereby realize, both hands are symmetrical bionical rubs action (as Fig. 1), or realizes 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 hinged center position in 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 switch from the inside to the outside and from outside to inside the direction of rubbing of connecting rod 2,2 ' lower end like this.
the electronic both hands of one shown in Figure 2 are rubbed bionic device, and this bionic device and embodiment's 1 difference is mainly the setting of the parts that connecting rod 2,2 ' guiding are provided.In the present embodiment, provide the slide 5,5 ' being hinged on centered by the parts of connecting rod 2,2 ' guiding in frame, the line of slide 5, the articulating point of 5 ' two axial end portions in frame is parallel to gear 1,1 ' shaft axis.On slide 5,5 ', offer respectively for connecting rod 2, the 2 ' through hole penetrating, 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 ' not only does straight line sliding motion but also swings with respect to slide 5,5 ' respectively under bearing pin 3,3 ' effect, slide 5,5 ' only does 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 end portions are connected in frame and are simple beam structure, and as shown in the A-A sectional drawing in Fig. 3, arrange and for overhang, there is good rigidity like this, and more simple with respect to overhanging Liangqi structure.
to sum up, as how less or minimum moving link, carry out innovative design and 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, from kinematic meaning, only have 5 substantial motion members, 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 ' in frame) or slide 5(5 ').
innovative point of the present utility model is, only utilize less mechanical component just to realize the plane motion that complicated imitation both hands are rubbed, at the instrument of rubbing of connecting rod 2,2 ' the fixing difference in functionality in 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 bionic device extremely high with existing those huge structure complexity, cost has formed high-definition contrast, can promote the use of widely.
above-described embodiment is only explanation technical conceive of the present utility model and feature, and its object is to allow person skilled in the art can understand content of the present utility model and implement according to this, can not limit protection domain of the present utility model with this.All equivalences of doing according to the utility model Spirit Essence change or modify, within all should being encompassed in protection domain of the present utility model.
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 in described frame, described in every group, rub assembly and include the gear of being located at rotationally in described frame, the connecting rod on described gear is located at rotationally by bearing pin in one end, be hinged on the cylindrical body in 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 in described frame rotatably around Pivot Point Center line, on described cylindrical body, offer the through hole radially running through, be located in described through hole to described connecting rod Spielpassung, described bionic device also comprises the motor of being located in described frame, be fixedly connected on the leading screw on described motor output shaft, be located at ordinatedly the nut on described leading screw, on described nut, be fixed with the two-sided rack, 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 multiple teeth that can be meshed with described gear, described in two groups, rub assembly and be located at respectively the both sides of described the two-sided rack, and described in two groups, rub on assembly the setting that is meshed with described the two-sided rack respectively of two described gears.
2. the electronic both hands of one according to claim 1 are rubbed bionic device, it is characterized in that: the shaft axis of described cylindrical shaft axis and described gear is parallel to each other.
3. the electronic both hands of one 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. the electronic both hands of one according to claim 1 are rubbed bionic device, it is characterized in that: described through hole is cylindrical hole, and accordingly, the peripheral surface coordinating 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 in described frame, described in every group, rub assembly and include the gear of being located at rotationally in described frame, the connecting rod on described gear is located at rotationally by bearing pin in one end, center hinge is connected on the slide in 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, on described slide, offer the through hole that can penetrate vertically for described connecting rod, be located in described through hole to described connecting rod Spielpassung, described bionic device also comprises the motor of being located in described frame, be fixedly connected on the leading screw on described motor output shaft, be located at ordinatedly the nut on described leading screw, on described nut, be fixed with the two-sided rack, 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 multiple teeth that can be meshed with described gear, described in two groups, rub assembly and be located at respectively the both sides of described the two-sided rack, and described in two groups, rub on assembly the setting that is meshed with described the two-sided rack respectively of two described gears.
6. the electronic both hands of one according to claim 5 are rubbed bionic device, it is characterized in that: two axial end portions of described slide are connected in described frame and are simple beam structure.
7. the electronic both hands of one according to claim 5 are rubbed bionic device, it is characterized in that: described through hole is cylindrical hole, and accordingly, the peripheral surface coordinating with described through hole on described connecting rod is cylndrical surface.
8. the electronic both hands of one 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320647270.2U CN203548774U (en) | 2013-10-18 | 2013-10-18 | Electrical both-hand rubbing bionic device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320647270.2U CN203548774U (en) | 2013-10-18 | 2013-10-18 | Electrical both-hand rubbing bionic device |
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| Publication Number | Publication Date |
|---|---|
| CN203548774U true CN203548774U (en) | 2014-04-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320647270.2U Withdrawn - After Issue CN203548774U (en) | 2013-10-18 | 2013-10-18 | Electrical both-hand rubbing bionic device |
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| Country | Link |
|---|---|
| CN (1) | CN203548774U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103498898A (en) * | 2013-10-18 | 2014-01-08 | 苏州大学 | Electric bionic double-hand rubbing device |
| WO2016154990A1 (en) * | 2015-04-02 | 2016-10-06 | Nestec S.A. | Gear box and machine for producing granules comprising the same |
-
2013
- 2013-10-18 CN CN201320647270.2U patent/CN203548774U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103498898A (en) * | 2013-10-18 | 2014-01-08 | 苏州大学 | Electric bionic double-hand rubbing device |
| CN103498898B (en) * | 2013-10-18 | 2016-01-20 | 苏州大学 | A kind of electronic both hands rub bionic device |
| WO2016154990A1 (en) * | 2015-04-02 | 2016-10-06 | Nestec S.A. | Gear box and machine for producing granules comprising the same |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20140416 Effective date of abandoning: 20160120 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20140416 Effective date of abandoning: 20160120 |
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| C25 | Abandonment of patent right or utility model to avoid double patenting |