CN103498898B - A kind of electronic both hands rub bionic device - Google Patents
A kind of electronic both hands rub bionic device Download PDFInfo
- Publication number
- CN103498898B CN103498898B CN201310492543.5A CN201310492543A CN103498898B CN 103498898 B CN103498898 B CN 103498898B CN 201310492543 A CN201310492543 A CN 201310492543A CN 103498898 B CN103498898 B CN 103498898B
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- Prior art keywords
- hole
- gear
- rub
- connecting rod
- hands
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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)
- Transmission Devices (AREA)
Abstract
<b> the invention discloses </b><bGreatT.Gre aT.GT electronic both hands and rubs bionic device, very simple leading screw, nut, the two-sided rack, gear, connecting rod, center hinge is wherein only utilized to be connected on cylindrical body in frame or slide, just the plane motion that complicated imitation both hands are rubbed is achieved, 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 very simple, and cost is cheap especially, and functional reliability is high, can meet different industries for the demand of rubbing bionic device.This complicated with those huge structures existing, that cost is extremely high bionic device defines high-definition contrast, can promote the use of </b><bGreatT.Gre aT.GT widely.</b>
Description
Technical field
the present invention relates to a kind of electronic both hands and rub bionic device.
Background technique
at present in the productive life field such as industrial, medical, agriculture, in the urgent need to simply, practicality, cheap both hands kneading mechanism.Such as, in industrial production powdery and lump material rub stir, both hands in medical apparatus are massaged, rub to knead dough etc. in tealeaves (mainly Pilochun (a green tea)), food production in agricultural production.
but in Creative Mechanism Design, the simple motion relying on mechanism self, realizing the action that imitation staff is rubbed, is extremely difficult.Because the action that staff is rubbed, it is the motion that a straight line motion is composited with swing.Adopting the action that Numeric Control Technology realization imitation staff is rubbed, is the technological scheme the most easily expected.But employing Numeric Control Technology imitates the motion that a hand is rubbed, and at least needs two actuating motors, and the programming of two-axle interlocking numerical control system is adopted to drive; Imitate the motion that both hands are rubbed, then at least need four actuating motors, and realized by multi-axis linkage numerical control Systematical control.This not only causes whole device extremely bulky complex, and cost is extremely high.Disclosed in Chinese patent literature CN102940566A, rub massage device, not only structure is extremely complicated, and fails to provide the track of bionic movement; For another example numerical control kneader type lapping machine disclosed in Chinese patent literature CN103252709A, then have employed 3 actuating motors, and extremely complicated machine driven system, bulky, involves great expense.From kinematic angle, not yet retrieve substantial both hands at present and rub bionic device.
Summary of the invention
the object of this invention is to provide a kind of simple and practical electronic both hands and rub bionic device, thus meet with extremely low cost all kinds of corresponding product to rub bionic device demand to both hands.
for achieving the above object, the technical solution used in the present invention is:
first technological scheme:
a kind of electronic both hands rub bionic device, comprise frame, two groups of being located in described frame rub assembly, often rub assembly described in group and include the gear be 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 around Pivot Point Center line rotatably, described cylindrical body offers the through hole radially run through, be located in described through hole to described connecting rod Spielpassung, described bionic device also comprises the motor be located in described frame, be fixedly connected on the leading screw on described motor output shaft, be located at the nut on described leading screw ordinatedly, described nut is 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 tooth that can be meshed with described gear, the both sides that described the two-sided rack is located at respectively by assembly are rubbed described in two groups, and rub two described gears on assembly described in two groups and be meshed with described the two-sided rack respectively and arrange.
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 that described connecting rod coordinates with described through hole is cylndrical surface.
second technological scheme:
a kind of electronic both hands rub bionic device, comprise frame, two groups of being located in described frame rub assembly, often rub assembly described in group and include the gear be 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, described slide offers 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 be located in described frame, be fixedly connected on the leading screw on described motor output shaft, be located at the nut on described leading screw ordinatedly, described nut is 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 tooth that can be meshed with described gear, the both sides that described the two-sided rack is located at respectively by assembly are rubbed described in two groups, and rub two described gears on assembly described in two groups and be meshed with described the two-sided rack respectively and arrange.
in this technological scheme, preferably, two axial end portions of described slide are connected in described frame in simple beam structure.
in this technological scheme, preferably, described through hole is cylindrical hole, and accordingly, the peripheral surface that described connecting rod coordinates with described through hole 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 present invention compared with prior art has following advantages: the electronic both hands of one of the present invention rub bionic device, very simple leading screw, nut, the two-sided rack, gear, connecting rod, center hinge is wherein only utilized to be connected on cylindrical body in frame or slide, just the plane motion that complicated imitation both hands are rubbed is achieved, 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 very simple, and cost is cheap especially, and functional reliability is high, can meet different industries for the demand of rubbing bionic device.This complicated with those huge structures existing, that cost is extremely high bionic device defines high-definition contrast, can promote the use of widely.
Accompanying drawing explanation
accompanying drawing 1 is the structural representation of embodiments of the invention 1;
accompanying drawing 2 is the structural representation of embodiments of the invention 2;
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, technological scheme of the present invention is further elaborated.
embodiment 1
the electronic both hands of one shown in Figure 1 rub bionic device, comprise frame (not shown), two groups of being located in frame rub assembly 10,10 '.
rub that assembly 10 comprises the gear 1 can be located at rotationally around shaft axis in frame, the connecting rod 2 be located at rotationally by bearing pin 3 on gear 1, to be hinged in frame and the cylindrical body 4 that can rotate around Pivot Point Center line.Gear 1 offers the pin-and-hole of a bias, the centerline parallel of this pin-and-hole is in the shaft axis of gear 1, and one end of bearing pin 3 is connected to the top of connecting rod 2, and its other end is located in above-mentioned pin-and-hole rotationally.
the shaft axis of cylindrical body 4 and the shaft axis of gear 1 are parallel to each other, and cylindrical body 4 offer the through hole radially run through, and be located in above-mentioned through hole to connecting rod 2 Spielpassung, and the lower end of connecting rod 2 are exposed outside through hole.Planar lower pair is formed between connecting rod 2 and cylindrical body 4, when external motivating force actuation gear 1 rotates, the fixing hinged center of connecting rod 2 relative 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, just can produce the bionic movement being similar to staff and rubbing in the lower end of connecting rod 2, 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 cross section is circular cylindrical hole, and accordingly, the peripheral surface of connecting rod 2 is cylndrical surface, and being at least and connecting rod 2 is located in the peripheral surface matched with above-mentioned through hole in above-mentioned through hole is cylndrical surface.
the setting of rubbing assembly 10 ' is with to rub arranging of assembly 10 similar, comprise the gear 1 ' can be located at rotationally around shaft axis in frame, the connecting rod 2 ' on gear is located at rotationally by bearing pin 3 ', and to be hinged in frame and the cylindrical body 4 ' that can rotate around Pivot Point Center line, be located in connecting rod 2 ' Spielpassung in the through hole that the radial direction on cylindrical body 4 ' runs through, when rotating under the effect of gear 1 ' at external motivating force, the hinged center of connecting rod 2 ' relative 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 the bionic movement being similar to staff and rubbing.
shown in Figure 1, this bionic device also comprises the motor 6 be located in frame, the leading screw 7 be fixedly connected on motor 6 output shaft, be arranged on nut 8 on leading screw 7 ordinatedly, nut 8 is 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 are respectively equipped with the tooth that can be meshed with gear 1,1 ', rub assembly 10 and rub the both sides that the two-sided rack 9 is located at respectively by assembly 10 ', and gear 1, gear 1 ' are meshed with the two-sided rack 9 respectively.When such motor 6 works, the output shaft of motor 6 drives leading screw 7 to rotate, nut 8 moves vertically relative to leading screw 7, so just the two-sided rack 9 is driven to move along its length, thus the rotation of driven gear 1,1 ' and the bionical action that makes the lower end of connecting rod 2,2 ' produce similar staff respectively to rub.Rub instrument by what fix difference in functionality in the lower end of connecting rod 2,2 ', the electronic both hands that just can form various function different rub bionic device.
the position of bearing pin 3 on gear 1 or the position of bearing pin 3 ' on gear 1 ' can be adjusted when arranging as required, thus realize that both hands are symmetrical bionical rubs action (as Fig. 1), or realize that both hands are asymmetric bionically rubs action.
if change bearing pin 3 or the radial position of bearing pin 3 ' place pin-and-hole respectively on gear 1,1 ', namely changing the eccentric distance of pin-and-hole, then can change respective link 2 or 2 ' lower end rubs the Motion curves of action.
if change the position of hinged center in frame of cylindrical body 4,4 ', then what can change connecting rod 2,2 ' lower end rubs position and the Motion curves rubbing action simultaneously.
if made the output shaft counterrotating of motor 6 by control switch, just can change the sense of rotation of gear 1,1 ', can switch between from the inside to the outside and from outside to inside the direction of rubbing of connecting rod 2,2 ' lower end like this.
embodiment 2
the electronic both hands of one shown in Figure 2 rub bionic device, and the difference of this bionic device and embodiment 1 is mainly the setting of the parts providing connecting rod 2,2 ' to lead.In the present embodiment, be hinged on the slide 5,5 ' in frame centered by the parts providing connecting rod 2,2 ' to lead, the line of the articulating point of slide 5,5 ' two axial end portions in frame is parallel to the shaft axis of gear 1,1 '.Slide 5,5 ' offers respectively the through hole penetrated for connecting rod 2,2 ', connecting rod 2,2 ' is located in Spielpassung in the through hole on slide 5,5 ' respectively, connecting rod 2,2 ' and slide 5,5 ' form planar lower pair, when when the two-sided rack 9 moves along its length, actuation gear 1, gear 1 ' rotate, connecting rod 2,2 ' not only does straight line sliding motion relative to slide 5,5 ' but also swings respectively under the effect of bearing pin 3,3 ', slide 5,5 ' then only does oscillating motion, and the lower end of such connecting rod 2,2 ' just can produce the bionic movement that similar both hands are rubbed.
in the present embodiment, two axial end portions of slide 5,5 ' are connected in simple beam structure in frame, as shown in the A-A sectional drawing in Fig. 3, arrange like this for overhang, have good rigidity, and more simple relative 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 rub, all the time be a technical barrier in mechanics field, because as a mechanism, moving link not only means the simple and low cost of manufacture of structure less, the more important thing is and means that functional reliability is high.In two kinds of technological schemes of embodiment 1 and embodiment 2, rub in action for one-sided, only have 5 substantial motion components from kinematic meaning, i.e. leading screw 7, nut 8-the two-sided rack 9 assemblying body, gear 1(1 '), connecting rod 2(2 '), center hinge is connected on cylindrical body 4(4 ' in frame) or slide 5(5 ').
namely innovative point of the present invention is, the plane motion that the imitation both hands only utilizing less mechanical component just to achieve complexity are rubbed, that fixes difference in functionality in the lower end of connecting rod 2,2 ' rubs instrument, and the electronic both hands that just can form various function different 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 complicated with those huge structures existing, that cost is extremely high bionic device defines high-definition contrast, can promote the use of widely.
above-described embodiment, only for technical conceive of the present invention and feature are described, its object is to person skilled in the art can be understood content of the present invention and implement according to this, can not limit the scope of the invention with this.All equivalences done according to Spirit Essence of the present invention change or modify, and all should be encompassed within protection scope of the present invention.
Claims (8)
1. electronic both hands rub bionic device, it is characterized in that: comprise frame, two groups of being located in described frame rub assembly, often rub assembly described in group and include the gear be 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 around Pivot Point Center line rotatably, described cylindrical body offers the through hole radially run through, be located in described through hole to described connecting rod Spielpassung, described bionic device also comprises the motor be located in described frame, be fixedly connected on the leading screw on described motor output shaft, be located at the nut on described leading screw ordinatedly, described nut is 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 tooth that can be meshed with described gear, the both sides that described the two-sided rack is located at respectively by assembly are rubbed described in two groups, and rub two described gears on assembly described in two groups and be meshed with described the two-sided rack respectively and arrange.
2. the electronic both hands of one according to claim 1 rub 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 rub 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 rub bionic device, it is characterized in that: described through hole is cylindrical hole, and accordingly, the peripheral surface that described connecting rod coordinates with described through hole is cylndrical surface.
5. electronic both hands rub bionic device, it is characterized in that: comprise frame, two groups of being located in described frame rub assembly, often rub assembly described in group and include the gear be 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, described slide offers 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 be located in described frame, be fixedly connected on the leading screw on described motor output shaft, be located at the nut on described leading screw ordinatedly, described nut is 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 tooth that can be meshed with described gear, the both sides that described the two-sided rack is located at respectively by assembly are rubbed described in two groups, and rub two described gears on assembly described in two groups and be meshed with described the two-sided rack respectively and arrange.
6. the electronic both hands of one according to claim 5 rub bionic device, it is characterized in that: two axial end portions of described slide are connected in described frame in simple beam structure.
7. the electronic both hands of one according to claim 5 rub bionic device, it is characterized in that: described through hole is cylindrical hole, and accordingly, the peripheral surface that described connecting rod coordinates with described through hole is cylndrical surface.
8. the electronic both hands of one according to claim 5 rub 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 |
|---|---|---|---|
| CN201310492543.5A CN103498898B (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 |
|---|---|---|---|
| CN201310492543.5A CN103498898B (en) | 2013-10-18 | 2013-10-18 | A kind of electronic both hands rub bionic device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103498898A CN103498898A (en) | 2014-01-08 |
| CN103498898B true CN103498898B (en) | 2016-01-20 |
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| CN201310492543.5A Expired - Fee Related CN103498898B (en) | 2013-10-18 | 2013-10-18 | A kind of electronic both hands rub bionic device |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103994043A (en) * | 2014-05-14 | 2014-08-20 | 苏州农业职业技术学院 | Transmission type hydraulic pump with crank connecting rod structure |
| CN110605704A (en) * | 2019-10-10 | 2019-12-24 | 东北林业大学 | Auxiliary carrying device for wearable trays |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2138711C1 (en) * | 1996-11-27 | 1999-09-27 | Абрамцев Евгений Петрович | Link mechanism |
| CN2589757Y (en) * | 2002-09-02 | 2003-12-03 | 周文华 | Stepless gear having multiple rod pendulum type supporting point |
| CN201273315Y (en) * | 2008-10-07 | 2009-07-15 | 江苏海陵机械有限公司 | Electrohydraulic digital corner meter |
| CN203167914U (en) * | 2013-04-19 | 2013-09-04 | 山东理工大学 | Pneumatic artificial muscles-based imitation handwork kneading machine |
| CN203548774U (en) * | 2013-10-18 | 2014-04-16 | 苏州大学 | Electrical both-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 CN201310492543.5A patent/CN103498898B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2138711C1 (en) * | 1996-11-27 | 1999-09-27 | Абрамцев Евгений Петрович | Link mechanism |
| CN2589757Y (en) * | 2002-09-02 | 2003-12-03 | 周文华 | Stepless gear having multiple rod pendulum type supporting point |
| CN201273315Y (en) * | 2008-10-07 | 2009-07-15 | 江苏海陵机械有限公司 | Electrohydraulic digital corner meter |
| CN203167914U (en) * | 2013-04-19 | 2013-09-04 | 山东理工大学 | Pneumatic artificial muscles-based imitation handwork kneading machine |
| CN203548774U (en) * | 2013-10-18 | 2014-04-16 | 苏州大学 | Electrical both-hand rubbing bionic device |
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| CN103498898A (en) | 2014-01-08 |
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Granted publication date: 20160120 Termination date: 20181018 |