CN203548783U - Pneumatic two-hand rubbing bionic device - Google Patents
Pneumatic two-hand rubbing bionic device Download PDFInfo
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- CN203548783U CN203548783U CN201320649486.2U CN201320649486U CN203548783U CN 203548783 U CN203548783 U CN 203548783U CN 201320649486 U CN201320649486 U CN 201320649486U CN 203548783 U CN203548783 U CN 203548783U
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- gear
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Abstract
The utility model discloses a pneumatic two-hand rubbing bionic device. The complicated planar motion for simulating two-hand rubbing is implemented by only using a cylinder, a double-faced rack, a gear, a connecting rod, and a slider of which the center is hinged to a frame or a guiding element of which the center is fixed to the frame, wherein all the used parts are very simple, and the guiding element has a cylindrical outer surface; the lower end of the connecting rod is fixedly provided with rubbing tools with different functions, and various pneumatic two-hand rubbing bionic devices with different functions can be formed. The bionic device is extremely simple in structure, particularly low in manufacturing cost and high in working reliability, and can meet requirements of different industries on the rubbing bionic device. The bionic device is a high-definition contrast to bionic devices which are large and complicated in structures and extremely high in manufacturing cost, and can be widely promoted and used.
Description
Technical field
the utility model relates to a kind of Pneumatic two-hand and rubs bionic device.
Background technique
in Creative Mechanism Design, rely on merely the motion of mechanism self, 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 control to realize by 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.
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 utility model is to provide a kind of simple and practical Pneumatic two-hand and rubs bionic device, thereby meet all kinds of corresponding products with extremely low cost, both hands is rubbed to the demand of bionic device.
for achieving the above object, the technical solution adopted in the utility model is:
the first technological scheme:
a kind of Pneumatic two-hand is 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, 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 connecting rod, offer the chute extending along its length, described in every group, rub assembly and also comprise that center hinge is connected in described frame for the slide block of described connecting rod guiding is provided, described space of slider is located in described chute ordinatedly, in described frame, be also provided with cylinder, the two-sided rack that can move along self length direction by described air cylinder driven, described cylinder comprises the first cylinder barrel, the second cylinder barrel, be located at the first piston on described the first cylinder barrel, be located at the second piston on described the second cylinder barrel, described first piston, the shaft axis of described the second piston extends along same rectilinear direction, the two ends of described the two-sided rack respectively with described first piston, described the second piston is fixedly connected with, on described the two-sided rack, the both sides of length direction are respectively equipped with a plurality of 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, 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.
the second technological scheme:
a kind of Pneumatic two-hand is 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, 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 connecting rod, offer the chute extending along its length, described in every group, rub assembly and also comprise that center is fixedly installed in 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 matching with described chute length direction cell wall on described guiding element is cylndrical surface, in described frame, be also provided with cylinder, the two-sided rack that can move along self length direction by described air cylinder driven, described cylinder comprises the first cylinder barrel, the second cylinder barrel, be located at the first piston on described the first cylinder barrel, be located at the second piston on described the second cylinder barrel, described first piston, the shaft axis of described the second piston extends along same rectilinear direction, the two ends of described the two-sided rack respectively with described first piston, described the second piston is fixedly connected with, on described the two-sided rack, the both sides of length direction are respectively equipped with a plurality of 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 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 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 utility model compared with prior art has following advantages: a kind of Pneumatic two-hand of the present utility model is rubbed bionic device, wherein only utilize very simple cylinder, the two-sided rack, gear, connecting rod, center hinge to be connected on the guiding element that slide block in frame or center are fixed on the cylindrical outer surface in 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 Pneumatic two-hand 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 contrast with existing those huge structures bionic device complicated, that cost is extremely high, 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.
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, cylinder; 71, the first cylinder barrel; 72, first piston; 73, the second cylinder barrel; 74, the second piston; 8, the two-sided rack.
Embodiment
below in conjunction with accompanying drawing and specific embodiment, the technical solution of the utility model is further elaborated.
embodiment 1
a kind of Pneumatic two-hand shown in Figure 1 is rubbed bionic device, comprise frame (not shown), be located in 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 gear 1 ' in frame, by bearing pin 3 ', be located at rotationally the connecting rod 2 ' on gear around shaft axis, and center hinge is connected in 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 straight line sliding motion but also is swung, 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, in frame, be also provided with cylinder 7, by cylinder 7, drive the two-sided rack 8 that can move along self length direction, cylinder 7 comprises rack-mounted the first cylinder barrel 71 and the second cylinder barrel 73, and be located at first piston 72 on the first cylinder barrel 71, be located at the second piston 74 on the second cylinder barrel 73, wherein the shaft axis of first piston 72 and the second piston 74 extends along same rectilinear direction.The two end part of the two-sided rack 8 are fixed on respectively on first piston 72 and the second piston 74, the both sides of the two-sided rack 8 length directions 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 the two-sided rack 8, and the setting that is meshed with the two-sided rack 8 respectively of gear 1, gear 1 '.
like this when being filled with gas to the first cylinder barrel 71, the second cylinder barrel 73, first piston 72 or the second piston 73 drive the two-sided rack 8 to move along its length, the two-sided rack 8 driven gears 1,1 ' are done the rotation of opposite direction, thereby 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 Pneumatic two-hand that various functions are different and rub bionic device.
while arranging, can adjust position or the bearing pin 3 ' position on gear 1 ' of bearing pin 3 on gear 1 according to action need, 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 slide block 5,5 ' 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.
cylinder 7 can change gear 1,1 ' sense of rotation in when commutation, thereby the direction of rubbing that realizes connecting rod 2,2 ' lower end is being switched from the inside to the outside and from outside to inside.
a kind of Pneumatic two-hand shown in Figure 2 is rubbed bionic device, and this bionic device and embodiment's 1 difference is mainly 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 ' in frame, guiding element 6,6 ' is located to Spielpassung respectively in chute 4,4 ', guiding element 6,6 ' the upper circumferential exterior surface matching 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 the two-sided rack 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 is swung 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 Yi Ge 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 has 4 substantial motion members from kinematic meaning, i.e. the two-sided rack 8, gear 1(1 '), connecting rod 2(2 '), slide block 5(5 '); One-sided rubbing in action in embodiment 2, only has 3 substantial motion members from kinematic meaning, i.e. the two-sided rack 8, gear 1(1 '), connecting rod 2(2 ').
innovative point of the present utility model is, only utilize very simple cylinder 7, the two-sided rack 8, gear 1(1 '), connecting rod 2(2 '), center hinge is connected on the slide block 5(5 ' in frame) or center be fixed on the guiding element 6(6 ' of the cylindrical outer surface in 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 Pneumatic two-hand 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 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 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 (6)
1. a Pneumatic two-hand is 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, 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 connecting rod, offer the chute extending along its length, described in every group, rub assembly and also comprise that center hinge is connected in described frame for the slide block of described connecting rod guiding is provided, described space of slider is located in described chute ordinatedly,
In described frame, be also provided with cylinder, the two-sided rack that can move along self length direction by described air cylinder driven, described cylinder comprises the first cylinder barrel, the second cylinder barrel, be located at the first piston on described the first cylinder barrel, be located at the second piston on described the second cylinder barrel, described first piston, the shaft axis of described the second piston extends along same rectilinear direction, the two ends of described the two-sided rack respectively with described first piston, described the second piston is fixedly connected with, on described the two-sided rack, the both sides of length direction are respectively equipped with a plurality of 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. Pneumatic two-hand according to claim 1 is 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 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. a Pneumatic two-hand is 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, 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 connecting rod, offer the chute extending along its length, described in every group, rub assembly and also comprise that center is fixedly installed in 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 matching with described chute length direction cell wall on described guiding element is cylndrical surface,
In described frame, be also provided with cylinder, the two-sided rack that can move along self length direction by described air cylinder driven, described cylinder comprises the first cylinder barrel, the second cylinder barrel, be located at the first piston on described the first cylinder barrel, be located at the second piston on described the second cylinder barrel, described first piston, the shaft axis of described the second piston extends along same rectilinear direction, the two ends of described the two-sided rack respectively with described first piston, described the second piston is fixedly connected with, on described the two-sided rack, the both sides of length direction are respectively equipped with a plurality of 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.
4. Pneumatic two-hand according to claim 3 is 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. Pneumatic two-hand according to claim 3 is rubbed bionic device, it is characterized in that: described guiding element is a kind of in straight pin, rolling bearing, sliding bearing.
6. Pneumatic two-hand according to claim 3 is 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 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 |
|---|---|---|---|
| CN201320649486.2U CN203548783U (en) | 2013-10-18 | 2013-10-18 | Pneumatic two-hand rubbing bionic device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320649486.2U CN203548783U (en) | 2013-10-18 | 2013-10-18 | Pneumatic two-hand rubbing bionic device |
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| Publication Number | Publication Date |
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| CN203548783U true CN203548783U (en) | 2014-04-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320649486.2U Withdrawn - After Issue CN203548783U (en) | 2013-10-18 | 2013-10-18 | Pneumatic two-hand rubbing bionic device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103498906A (en) * | 2013-10-18 | 2014-01-08 | 苏州大学 | Pneumatic double-hand rubbing bionic device |
| CN106402319A (en) * | 2016-11-30 | 2017-02-15 | 深圳果力智能科技有限公司 | Under-actuated transmission device based on flange transmission |
-
2013
- 2013-10-18 CN CN201320649486.2U patent/CN203548783U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103498906A (en) * | 2013-10-18 | 2014-01-08 | 苏州大学 | Pneumatic double-hand rubbing bionic device |
| CN103498906B (en) * | 2013-10-18 | 2015-10-21 | 苏州大学 | Pneumatic two-hand rubs bionic device |
| CN106402319A (en) * | 2016-11-30 | 2017-02-15 | 深圳果力智能科技有限公司 | Under-actuated transmission device based on flange transmission |
| CN106402319B (en) * | 2016-11-30 | 2019-08-13 | 深圳果力智能科技有限公司 | A kind of drive lacking transmission device based on flange transmission |
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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: 20151021 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20140416 Effective date of abandoning: 20151021 |
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| C25 | Abandonment of patent right or utility model to avoid double patenting |