CN103498901A - Two-hand rubbing simulation mechanism - Google Patents
Two-hand rubbing simulation mechanism Download PDFInfo
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- CN103498901A CN103498901A CN201310493283.3A CN201310493283A CN103498901A CN 103498901 A CN103498901 A CN 103498901A CN 201310493283 A CN201310493283 A CN 201310493283A CN 103498901 A CN103498901 A CN 103498901A
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- hole
- gear
- connecting rod
- shaft axis
- frame
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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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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a two-hand rubbing simulation mechanism. The two-hand rubbing simulation mechanism achieves the complex plane movement simulating two-hand rubbing through simple gears, connecting rods, cylinders or sliding seats, and the centers of the cylinders or the centers of the seats are hinged to a rack. The simulation mechanism is extremely simple in structure, low in manufacturing cost and high in work reliability and can meet the needs of different industries for the rubbing simulation mechanism. A striking contrast is formed between the two-hand rubbing simulation mechanism and existing simulation devices large and complex in structure and extremely high in manufacturing cost, the needs of all kinds of corresponding products for the two-hand rubbing simulation mechanism can be met with the extremely low manufacturing cost, and the two-hand rubbing mechanism can be widely popularized and used.
Description
Technical field
the present invention relates to a kind of both hands and rub bio-mechanism.
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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.
yet in Creative Mechanism Design, relying on merely the motion of mechanism self, realize imitating the action that staff is rubbed, is 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 bio-mechanism.
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Summary of the invention
the purpose of this invention is to provide a kind of simple and practical both hands and rub bio-mechanism, thereby meet the demand of all kinds of corresponding products to the both hands kneading mechanism with extremely low cost.
for achieving the above object, the technical solution used in the present invention is:
the first technological scheme:
a kind of both hands are rubbed bio-mechanism, comprise frame, rub assembly for two groups that are located on described frame, every group of described assembly of rubbing includes the gear of being located at rotationally on described frame, one end is located at the connecting rod on described gear rotationally by bearing pin, be hinged on the cylindrical body on 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 on described frame rotatably around the Pivot Point Center line, offer the through hole radially run through on described cylindrical body, be located in described through hole to described connecting rod Spielpassung, two groups of described rubbing in assembly, two described gears are located on described frame intermeshingly.
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 an 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 coordinated with described through hole on described connecting rod is cylndrical surface.
the second technological scheme:
a kind of both hands are rubbed bio-mechanism, comprise frame, rub assembly for two groups that are located on described frame, every group of described assembly of rubbing includes the gear of being located at rotationally on described frame, one end is located at the connecting rod on described gear rotationally by bearing pin, center hinge is connected on the slide on 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, offer the through hole that can penetrate vertically for described connecting rod on described slide, be located in described through hole to described connecting rod Spielpassung, two groups of described rubbing in assembly, two described gears are located on described frame intermeshingly.
in this technological scheme, preferably, two axial ends of described slide are connected on described frame and are simple beam structure.
in this technological scheme, preferably, described through hole is cylindrical hole, and accordingly, the peripheral surface coordinated 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 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: both hands of the present invention are rubbed bio-mechanism, wherein only utilize simple gear, connecting rod, center hinge to be connected on cylindrical body or the slide on frame, just realized the plane motion that complicated imitation people both hands are rubbed, its structure is very simple, cost is cheap especially, and functional reliability is high, can meet different industries for the demand of rubbing bio-mechanism.This has formed high-definition the contrast with existing those huge structures bionic device complicated, that cost is extremely high, can meet with extremely low cost the demand of all kinds of corresponding products to the both hands kneading mechanism, 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;
accompanying drawing 3 is A-A cross-sectional schematic in accompanying drawing 2.
wherein: 10,10 '-rub assembly; 1,1 '-gear; 2,2 '-connecting rod; 3,3 '-bearing pin; 4,4 '-cylindrical body; 5,5 '-slide.
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Embodiment
below in conjunction with accompanying drawing and specific embodiment, technological scheme of the present invention is further elaborated.
both hands shown in Figure 1 are rubbed bio-mechanism, comprise the frame (not shown), be located on frame two groups 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 run 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.Form planar lower pair between connecting rod 2 and cylindrical body 4, when 1 rotation of external motivating force actuation gear, connecting rod 2 hinged center with respect to cylindrical body 4 under the effect of bearing pin 3 is not only done the straight line sliding motion but also is done swing, 4, cylindrical body is only done wobbling action, therefore, just can produce and be similar to the bionic movement that staff is rubbed 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 that cross section is circular cylindrical hole, and accordingly, the peripheral surface of connecting rod 2 is cylndrical surface, and being at least on connecting rod 2 and being 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 and can be located at rotationally the gear 1 ' on frame around shaft axis, be located at rotationally the connecting rod 2 ' on gear by bearing pin 3 ', and be hinged on frame and the cylindrical body 4 ' that can rotate around the Pivot Point Center line, be located in the through hole radially run through on cylindrical body 4 ' to connecting rod 2 ' Spielpassung, when gear 1 ' externally rotates under the effect of driving force, connecting rod 2 ' under the effect of bearing pin 3 ' with respect to cylindrical body 4 ' hinged center not only do the straight line sliding motion but also do swing, cylindrical body 4 ' is only done 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, rub the gear 1 on assembly 10 and rub the intermeshing setting of gear 1 ' on assembly 10 ', like this by a gear rotation in external drive mechanism actuation gear 1 and gear 1 ', another gear gets final product counterrotating, so just makes and rubs assembly 10 and rub assembly 10 ' and work simultaneously and produce the bionic movement that similar both hands are rubbed.The fixing instrument of rubbing of difference in functionality respectively in connecting rod 2,2 ' lower end, just can form the both hands that function is different and rub bio-mechanism.
can adjust as required bearing pin 3 place pin-and-holes position along the circumferential direction on gear 1 while arranging, perhaps adjust bearing pin 3 ' place pin-and-hole position along the circumferential direction on gear 1 ', 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 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 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 change the sense of rotation of gear 1,1 ' middle driving gear, just can switched from the inside to the outside and from outside to inside the direction of rubbing of connecting rod 2,2 ' lower end.
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both hands shown in Figure 2 are rubbed bio-mechanism, and this bio-mechanism 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 hinged on the slide 5,5 ' on frame, the center position that is slide 5,5 ' two axial ends is hinged on respectively on frame, and the line of slide 5,5 ' two axial ends articulating point is parallel to gear 1,1 ' shaft axis.Offer respectively the through hole penetrated for connecting rod 2,2 ' on slide 5,5 ', 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 a gear in external drive mechanism actuation gear 1, gear 1 ' rotates, connecting rod 2,2 ' is not only done the straight line sliding motion but also is done swing with respect to slide 5,5 ' respectively under bearing pin 3,3 ' effect, slide 5,5 ' is only done 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 ends are connected on frame and are simple beam structure, and as shown in the A-A sectional drawing in Fig. 3, arrange and there is rigidity preferably for overhang like this, and more simple with respect to overhanging Liangqi structure.
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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.In two kinds of technological schemes of embodiment 1 and embodiment 2, for the single assembly 10(10 ' that rubs), only have 3 substantial motion members from kinematic meaning, i.e. gear 1(1 '), connecting rod 2(2 '), center hinge is connected on the cylindrical body 4(4 ' on frame) or slide 5(5 ').Innovative point of the present invention is just to have realized with less mechanical component the plane motion that complicated imitation people both hands are rubbed, its structure is very simple, cost is cheap especially, functional reliability is high, can meet different industries for the demand of rubbing bio-mechanism, be also a kind of contribution to traditional mechanics simultaneously.This has formed high-definition the contrast with existing those huge structures bionic device complicated, that cost is extremely high, can meet with extremely low cost the demand of all kinds of corresponding products to the both hands kneading mechanism, 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 (8)
1. both hands are rubbed bio-mechanism, it is characterized in that: comprise frame, rub assembly for two groups that are located on described frame, every group of described assembly of rubbing includes the gear of being located at rotationally on described frame, one end is located at the connecting rod on described gear rotationally by bearing pin, be hinged on the cylindrical body on 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 on described frame rotatably around the Pivot Point Center line, offer the through hole radially run through on described cylindrical body, be located in described through hole to described connecting rod Spielpassung, two groups of described rubbing in assembly, two described gears are located on described frame intermeshingly.
2. both hands according to claim 1 are rubbed bio-mechanism, it is characterized in that: the shaft axis of described cylindrical shaft axis and described gear is parallel to each other.
3. both hands according to claim 1 are rubbed bio-mechanism, 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 an end of described bearing pin is connected on described connecting rod, and its other end is located in described pin-and-hole rotationally.
4. both hands according to claim 1 are rubbed bio-mechanism, it is characterized in that: described through hole is cylindrical hole, and accordingly, the peripheral surface coordinated with described through hole on described connecting rod is cylndrical surface.
5. both hands are rubbed bio-mechanism, it is characterized in that: comprise frame, rub assembly for two groups that are located on described frame, every group of described assembly of rubbing includes the gear of being located at rotationally on described frame, one end is located at the connecting rod on described gear rotationally by bearing pin, center hinge is connected on the slide on 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, offer the through hole that can penetrate vertically for described connecting rod on described slide, be located in described through hole to described connecting rod Spielpassung, two groups of described rubbing in assembly, two described gears are located on described frame intermeshingly.
6. both hands according to claim 5 are rubbed bio-mechanism, it is characterized in that: two axial ends of described slide are connected on described frame and are simple beam structure.
7. both hands according to claim 5 are rubbed bio-mechanism, it is characterized in that: described through hole is cylindrical hole, and accordingly, the peripheral surface coordinated with described through hole on described connecting rod is cylndrical surface.
8. both hands according to claim 5 are rubbed bio-mechanism, 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 an 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 |
|---|---|---|---|
| CN201310493283.3A CN103498901B (en) | 2013-10-18 | 2013-10-18 | Both hands rub bio-mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310493283.3A CN103498901B (en) | 2013-10-18 | 2013-10-18 | Both hands rub bio-mechanism |
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| Publication Number | Publication Date |
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| CN103498901A true CN103498901A (en) | 2014-01-08 |
| CN103498901B CN103498901B (en) | 2016-09-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310493283.3A Active CN103498901B (en) | 2013-10-18 | 2013-10-18 | Both hands rub bio-mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110302036A (en) * | 2019-07-30 | 2019-10-08 | 上海理工大学 | A kind of motion of knee joint bio-mechanism that instant center of rotation is variable |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2269498Y (en) * | 1996-09-28 | 1997-12-03 | 赵全洪 | Speed reducing force increasing driving device |
| RU2138711C1 (en) * | 1996-11-27 | 1999-09-27 | Абрамцев Евгений Петрович | Link mechanism |
| JP2000100912A (en) * | 1998-09-22 | 2000-04-07 | Olympus Optical Co Ltd | Substrate holding device |
| CN2589757Y (en) * | 2002-09-02 | 2003-12-03 | 周文华 | Stepless gear having multiple rod pendulum type supporting point |
| CN2936094Y (en) * | 2006-03-30 | 2007-08-22 | 杨基玉 | Bionic automatic bathing and back rubbing device |
| CN203061960U (en) * | 2012-12-31 | 2013-07-17 | 淮安市贝克铝热传输有限公司 | Flying shear machine for aluminum radiating tube production |
| CN203167914U (en) * | 2013-04-19 | 2013-09-04 | 山东理工大学 | Pneumatic artificial muscles-based imitation handwork kneading machine |
| CN203548775U (en) * | 2013-10-18 | 2014-04-16 | 苏州大学 | Hand rubbing simulation mechanism |
-
2013
- 2013-10-18 CN CN201310493283.3A patent/CN103498901B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2269498Y (en) * | 1996-09-28 | 1997-12-03 | 赵全洪 | Speed reducing force increasing driving device |
| RU2138711C1 (en) * | 1996-11-27 | 1999-09-27 | Абрамцев Евгений Петрович | Link mechanism |
| JP2000100912A (en) * | 1998-09-22 | 2000-04-07 | Olympus Optical Co Ltd | Substrate holding device |
| CN2589757Y (en) * | 2002-09-02 | 2003-12-03 | 周文华 | Stepless gear having multiple rod pendulum type supporting point |
| CN2936094Y (en) * | 2006-03-30 | 2007-08-22 | 杨基玉 | Bionic automatic bathing and back rubbing device |
| CN203061960U (en) * | 2012-12-31 | 2013-07-17 | 淮安市贝克铝热传输有限公司 | Flying shear machine for aluminum radiating tube production |
| CN203167914U (en) * | 2013-04-19 | 2013-09-04 | 山东理工大学 | Pneumatic artificial muscles-based imitation handwork kneading machine |
| CN203548775U (en) * | 2013-10-18 | 2014-04-16 | 苏州大学 | Hand rubbing simulation mechanism |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110302036A (en) * | 2019-07-30 | 2019-10-08 | 上海理工大学 | A kind of motion of knee joint bio-mechanism that instant center of rotation is variable |
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| Publication number | Publication date |
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| CN103498901B (en) | 2016-09-07 |
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Inventor after: Wang Chuanyang Inventor after: Dou Yunxia Inventor after: Zhong Kangmin Inventor after: Yang Hongbing Inventor before: Wang Chuanyang Inventor before: Dou Yunxia Inventor before: Zhong Kangmin |
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