CN103498902B - Electronic both hands rub bionic device - Google Patents
Electronic both hands rub bionic device Download PDFInfo
- Publication number
- CN103498902B CN103498902B CN201310493671.1A CN201310493671A CN103498902B CN 103498902 B CN103498902 B CN 103498902B CN 201310493671 A CN201310493671 A CN 201310493671A CN 103498902 B CN103498902 B CN 103498902B
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- China
- Prior art keywords
- hole
- connecting rod
- rub
- gear
- frame
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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)
- Accommodation For Nursing Or Treatment Tables (AREA)
- Prostheses (AREA)
Abstract
nullThe invention discloses a kind of electronic both hands and rub bionic device，Including frame、The linear electric motors being located in frame、The tooth bar that the secondary of end and linear electric motors is in transmission connection mutually、Rub assembly for two groups that are respectively arranged on tooth bar both sides，Often group is rubbed assembly and is all included gear、One end is eccentrically set on the connecting rod on gear、Cylinder that center hinge is connected in frame or slide，Wherein offer, on cylinder or slide, the through hole penetrated for connecting rod，It is located in above-mentioned through hole to connecting rod matched in clearance，Two groups of gears rubbed on assembly are meshed with tooth bar setting respectively，When linear electric motors work, band carry-over bar linearly moves，Just can rotate by driven gear，Thus drive link is not only done straight line sliding motion relative to the hinged center of cylinder or slide but also is swung，The lower end of connecting rod just can produce and be similar to the bionic movement that staff is rubbed，That fixes difference in functionality in the lower end of connecting rod rubs instrument，Just the electronic both hands that can form various function different rub bionic device.
Description
Technical field
The present invention relates to a kind of electronic both hands and rub bionic device.
Background technology
At present in the productive life field such as industrial, medical, agriculture, in the urgent need to simple, practical, cheap both hands kneading mechanism.Such as, in industrial production, powdery and lump material are rubbed the both hands in stirring, medicine equipment and are massaged, rub kneading 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, realize imitating the action that staff is rubbed, be extremely difficult.Because the action that staff is rubbed is a linear motion and swings the motion being composited.Use Numeric Control Technology to realize imitating the action that staff is rubbed, be the technical scheme being easiest to expect.But, use Numeric Control Technology to imitate the motion that a hand is rubbed, at least need two servomotors, and use the programming of two-axle interlocking digital control system to drive；Imitate the motion that both hands are rubbed, the most at least need four servomotors, and control to realize by multi-axis linkage numerical control system.This not only causes whole device extremely bulky complex, and cost is the highest.Such as Chinese patent literature
CN 102940566 A
Disclosed in rub massager, not only structure is extremely complex, and fails to provide the track of bionic movement；For another example Chinese patent literature
CN 103252709 A
Disclosed numerical control kneader type lapping machine, then have employed
3
Individual servomotor, and extremely complex machine driven system, bulky, involve great expense.From kinematic angle, the most not yet retrieve substantial both hands and rub bionic device.
Summary of the invention
It is an object of the invention to provide
A kind of simple and practical electronic both hands rub bionic device, thus meet all kinds of corresponding product with extremely low cost and both hands are rubbed the demand of bionic device.
For reaching above-mentioned purpose, the technical solution used in the present invention is:
First technical scheme:
nullA kind of electronic both hands rub bionic device，Including frame、It is located in described frame two groups and rubs assembly，Often rub the gear that assembly all includes being rotatably arranged in described frame described in group、One end is rotatably arranged in the connecting rod on described gear by bearing pin、It is hinged on the cylinder in described frame，The axial line of described bearing pin deviates the axial line of described gear and parallels with the axial line of described gear，Described cylinder can be located in described frame rotatably around Pivot Point Center line，The through hole extended radially through is offered on described cylinder，It is located in described through hole to described connecting rod matched in clearance，Described bionic device also includes the linear electric motors being located in described frame、The tooth bar that the secondary of end and described linear electric motors is in transmission connection mutually，On described tooth bar, length direction is respectively provided on two sides with multiple tooth can being meshed with described gear，Rub assembly described in two groups and be respectively arranged on the both sides of described tooth bar，And rub two described gears on assembly described in two groups and be meshed with described tooth bar respectively setting.
In this technical scheme, it is preferable that described cylindrical axial line is parallel to each other with the axial line of described gear.
In this technical scheme, it is preferable that described gear is provided with pin-and-hole, the center line of described pin-and-hole deviates with the axial line of described gear, 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 technical scheme, it is preferable that described through hole is cylindrical hole, accordingly, the peripheral surface that described connecting rod coordinates with described through hole is the face of cylinder.
Second technical scheme:
nullA kind of electronic both hands rub bionic device，Including frame、It is located in described frame two groups and rubs assembly，Often rub the gear that assembly all includes being rotatably arranged in described frame described in group、One end is rotatably arranged in the connecting rod on described gear by bearing pin、Center hinge is connected on the slide in described frame，The axial line of described bearing pin deviates the axial line of described gear and parallels with the axial line of described gear，Offer on described slide and be available for the through hole that described connecting rod penetrates vertically，It is located in described through hole to described connecting rod matched in clearance，Described bionic device also includes the linear electric motors being located in described frame、The tooth bar that the secondary of end and described linear electric motors is in transmission connection mutually，On described tooth bar, length direction is respectively provided on two sides with multiple tooth can being meshed with described gear，Rub assembly described in two groups and be respectively arranged on the both sides of described tooth bar，And rub two described gears on assembly described in two groups and be meshed with described tooth bar respectively setting.
In this technical scheme, it is preferable that two axial end portions of described slide are connected in described frame in simple beam structure.
In this technical scheme, it is preferable that described through hole is cylindrical hole, accordingly, the peripheral surface that described connecting rod coordinates with described through hole is the face of cylinder.
In this technical scheme, it is preferable that described gear is provided with pin-and-hole, the center line of described pin-and-hole deviates with the axial line of described gear, 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 present invention compared with prior art has the advantage that the electronic both hands of the present invention rub bionic device, the cylinder being wherein connected in frame merely with very simple linear electric motors, tooth bar, gear, connecting rod, center hinge or slide, just achieve complexity imitates the plane motion that both hands are rubbed, 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 extremely simple, and cost is the cheapest, and functional reliability is high, it is possible to meet different industries for rubbing the demand of bionic device.This defines high-definition comparison with the existing bionic device that those huge structures are complicated, cost is the highest, can promote the use of widely.
Accompanying drawing explanation
Accompanying drawing
1
For embodiments of the invention
1
Structural representation；
Accompanying drawing
2
For embodiments of the invention
2
Structural representation；
Accompanying drawing
3
For accompanying drawing
2
In
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’
Cylinder；
5
、
5 ' slides
；
6
Linear electric motors；
61
Primary；
62
Secondary；
7
Tooth bar.
Detailed description of the invention
With specific embodiment, technical scheme is further elaborated below in conjunction with the accompanying drawings.
Embodiment
1
See figure
1
The electronic both hands of shown one rub bionic device, including frame (not shown), be located in frame two groups rub assembly
10
、
10’
, be located in frame for drive rub assembly
10
、
10’
The linear electric motors of work
6
And tooth bar
7
。
Rub assembly
10
Including the gear can being rotatably arranged in frame around axial line
1
, pass through bearing pin
3
It is rotatably arranged in gear
1
On connecting rod
2
, be hinged in frame and can around Pivot Point Center line rotate cylinder
4
.Gear
1
On offer the pin-and-hole of a bias, the centerline parallel of this pin-and-hole is in gear
1
Axial line, bearing pin
3
One end be connected to connecting rod
2
Top, its other end is located in above-mentioned pin-and-hole rotationally.
Cylinder
4
Axial line and gear
1
Axial line be parallel to each other, cylinder
4
On offer the through hole extended radially through, connecting rod
2
It is located in above-mentioned through hole to matched in clearance, and connecting rod
2
Lower end expose outside through hole.Connecting rod
2
With cylinder
4
Between formed planar lower pair, when external motivating force drive gear
1
During rotation, connecting rod
2
At bearing pin
3
Effect under relative to cylinder
4
Hinged center not only do straight line sliding motion but also swing, cylinder
4
The most only do wobbling action, therefore, at connecting rod
2
Lower end just can produce and be similar to the bionic movement that staff is rubbed, its movement locus such as figure
1
Shown in lower dotted line.For ease of the processing of each parts, cylinder
4
On through hole be cross section be circular cylindrical hole, accordingly, connecting rod
2
Peripheral surface be the face of cylinder, at least connecting rod
2
On to be located in above-mentioned through hole the peripheral surface matched with above-mentioned through hole be the face of cylinder.
Rub assembly
10’
Setting with rub assembly
10
Arrange similar, including the gear can being rotatably arranged in frame around axial line
1’
、
Pass through bearing pin
3’
The connecting rod being rotatably arranged on gear
2’
, and the cylinder being hinged in frame and can rotating around Pivot Point Center line
4’
, connecting rod
2’
It is located in cylinder to matched in clearance
4’
On the through hole extended radially through in, work as gear
1’
When rotating under the effect of external motivating force, connecting rod
2’
At bearing pin
3’
Effect under relative to cylinder
4’
Hinged center not only do straight line sliding motion but also swing, cylinder
4’
Only do wobbling action, connecting rod
2’
Lower end also be able to produce and be similar to the bionic movement that staff is rubbed.
See figure
1
Shown in, linear electric motors
6
Have for rack-mounted primary
61
, opposing primary
61
The secondary moved along a straight line vertically
62
, tooth bar
7
It is fixedly attached to secondary
62
End on, tooth bar
7
On along its length be respectively provided on two sides with multiple can be with gear
1
、
1’
The tooth being meshed, rubs assembly
10
With rub assembly
10’
It is respectively arranged on tooth bar
8
Both sides, and gear
1
, gear
1’
Respectively with tooth bar
7
Be meshed setting.So linear electric motors
6
During work, linear electric motors
6
Secondary
62
Band carry-over bar
7
Move along its length, tooth bar
7
With gear
1
、
1’
Engagement driven gear
1
、
1’
Rotation so that connecting rod
2
、
2’
Lower end produce the bionical action that similar staff is rubbed respectively.By at connecting rod
2
、
2’
Lower end fix difference in functionality rub instrument, the electronic both hands that just can form various function different rub bionic device.
Embodiment
2
See figure
2
Shown electronic both hands rub bionic device, this bionic device and embodiment
1
Difference offer connecting rod is be provided
2
、
2’
The setting of the parts guided.In the present embodiment, it is provided that connecting rod
2
、
2’
The slide 5,5 ' being hinged in frame centered by the parts guided, two axial end portions of slide 5,5 ' pin joint line in frame is parallel to gear
1
、
1’
Axial line.Offer respectively for connecting rod on slide 5,5 '
2
、
2’
The through hole penetrated, connecting rod
2
、
2’
Matched in clearance it is located in respectively in the through hole on slide 5,5 ', connecting rod
2
、
2 ' with slide 5,5 '
Form planar lower pair, work as tooth bar
7
Move along its length and drive gear
1
, gear
1’
During rotation, connecting rod
2
、
2’
Respectively at bearing pin
3
、
3’
Effect under not only do straight line sliding motion relative to slide 5,5 ' but also swing, slide 5,5 ' the most only does oscillating motion, such connecting rod
2
、
2’
Lower end 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 frame in simple beam structure, such as figure
3
In
A-A
Shown in profile, so arrange and there is for cantilever beam preferable rigidity, and the simplest relative to overhanging Liangqi structure.
In two kinds of technical schemes of above-mentioned two embodiments, bearing pin when arranging, can be adjusted as required
3
At gear
1
On position or bearing pin
3’
At gear
1’
On position, thus realize that both hands are symmetrical bionical rubs action (such as figure
1
, figure
2
), or realize that both hands are asymmetric bionical rubs action.
If change bearing pin
3
Or bearing pin
3’
Place pin-and-hole is respectively at gear
1
、
1’
On radial position, i.e. change the eccentric distance of pin-and-hole, then can change respective link
2
Or
2’
The curve movement of action is rubbed in lower end.
If change cylinder
4
、
4 ' or slide 5,5 '
Position in frame, the hinged center, then can change connecting rod simultaneously
2
、
2’
Lower end rub position and the curve movement rubbing action.
If making linear electric motors by controlling switch
6
Arbitrarily after the power line exchange of two-phase, linear electric motors
6
Secondary
62
By band carry-over bar
7
Do rightabout linear motion, just can change gear accordingly
1
、
1’
Direction of rotation, so can be to connecting rod
2
、
2’
The direction of rubbing of lower end switches between from the inside to the outside and from outside to inside.
To sum up, such as the most less or minimum moving link, carry out innovative design and go out to imitate the mechanism that both hands are rubbed, all the time it is a technical barrier in theory of mechanisms field, because for a mechanism, moving link does not the most mean only that simple in construction and low cost of manufacture, it is often more important that mean that functional reliability is high.
In embodiment
1
And embodiment
2
Two kinds of technical schemes in, rub in action for one side, from kinematic meaning for only
4
Individual substantial motion component, i.e. tooth bar
7
, gear
1
(
1’
), connecting rod
2
(
2’
), the cylinder that is connected in frame of center hinge
4
(
4’
) or slide
5
(
5’
).The innovative point of the present invention is i.e., just achieves, merely with these simple mechanical components, the plane motion that the imitation both hands of complexity are rubbed, at connecting rod
2
、
2’
Lower end fix difference in functionality rub instrument, the Pneumatic two-hand that just can form various function different rubs bionic device.This bionic device structure is extremely simple, and cost is the cheapest, and functional reliability is high, it is possible to meet different industries for rubbing the demand of bionic device.This defines high-definition comparison with the existing bionic device that those huge structures are complicated, cost is the highest, can promote the use of widely.
Above-described embodiment only for technology design and the feature of the present invention are described, its object is to allow person skilled in the art will appreciate that present disclosure and to implement according to this, can not limit the scope of the invention with this.All equivalence changes made according to spirit of the invention or modification, all should contain within protection scope of the present invention.
Claims (8)
- null1. electronic both hands rub bionic device，It is characterized in that: include frame、It is located in described frame two groups and rubs assembly，Often rub the gear that assembly all includes being rotatably arranged in described frame described in group、One end is rotatably arranged in the connecting rod on described gear by bearing pin、It is hinged on the cylinder in described frame，The axial line of described bearing pin deviates the axial line of described gear and parallels with the axial line of described gear，Described cylinder can be located in described frame rotatably around Pivot Point Center line，The through hole extended radially through is offered on described cylinder，It is located in described through hole to described connecting rod matched in clearance，Described bionic device also includes the linear electric motors being located in described frame、The tooth bar that the secondary of end and described linear electric motors is in transmission connection mutually，On described tooth bar, length direction is respectively provided on two sides with multiple tooth can being meshed with described gear，Rub assembly described in two groups and be respectively arranged on the both sides of described tooth bar，And rub two described gears on assembly described in two groups and be meshed with described tooth bar respectively setting.
- Electronic both hands the most according to claim 1 rub bionic device, it is characterised in that: described cylindrical axial line is parallel to each other with the axial line of described gear.
- Electronic both hands the most 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 deviates with the axial line of described gear, 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.
- Electronic both hands the most according to claim 1 rub bionic device, it is characterised in that: described through hole is cylindrical hole, and accordingly, the peripheral surface that described connecting rod coordinates with described through hole is the face of cylinder.
- null5. electronic both hands rub bionic device，It is characterized in that: include frame、It is located in described frame two groups and rubs assembly，Often rub the gear that assembly all includes being rotatably arranged in described frame described in group、One end is rotatably arranged in the connecting rod on described gear by bearing pin、Center hinge is connected on the slide in described frame，The axial line of described bearing pin deviates the axial line of described gear and parallels with the axial line of described gear，Offer on described slide and be available for the through hole that described connecting rod penetrates vertically，It is located in described through hole to described connecting rod matched in clearance，Described bionic device also includes the linear electric motors being located in described frame、The tooth bar that the secondary of end and described linear electric motors is in transmission connection mutually，On described tooth bar, length direction is respectively provided on two sides with multiple tooth can being meshed with described gear，Rub assembly described in two groups and be respectively arranged on the both sides of described tooth bar，And rub two described gears on assembly described in two groups and be meshed with described tooth bar respectively setting.
- Electronic both hands the most according to claim 5 rub bionic device, it is characterised in that: two axial end portions of described slide are connected in described frame in simple beam structure.
- Electronic both hands the most according to claim 5 rub bionic device, it is characterised in that: described through hole is cylindrical hole, and accordingly, the peripheral surface that described connecting rod coordinates with described through hole is the face of cylinder.
- Electronic both hands the most 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 deviates with the axial line of described gear, 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 |
|---|---|---|---|
| CN201310493671.1A CN103498902B (en) | 2013-10-18 | 2013-10-18 | Electronic both hands rub bionic device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310493671.1A CN103498902B (en) | 2013-10-18 | 2013-10-18 | Electronic both hands rub bionic device |
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| Publication Number | Publication Date |
|---|---|
| CN103498902A CN103498902A (en) | 2014-01-08 |
| CN103498902B true CN103498902B (en) | 2016-08-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310493671.1A Active CN103498902B (en) | 2013-10-18 | 2013-10-18 | Electronic both hands rub bionic device |
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| CN (1) | CN103498902B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103994044A (en) * | 2014-05-14 | 2014-08-20 | 苏州农业职业技术学院 | Crank connecting rod transmission type hydraulic pump with linear motor |
| CN108167412B (en) * | 2018-01-09 | 2020-08-25 | 孙千翔 | Transmission mechanism of intelligent robot |
| CN110151033A (en) * | 2019-05-06 | 2019-08-23 | 谢奉先 | A kind of back, which helps, washes massager |
| CN115735501A (en) * | 2022-11-21 | 2023-03-07 | 黑龙江八一农垦大学 | Large-range fertilizing equipment |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203548773U (en) * | 2013-10-18 | 2014-04-16 | 苏州大学 | Electric two-hand rubbing bionic device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| JP2000110912A (en) * | 1998-10-06 | 2000-04-18 | Masahiro Oyamada | Continuously variable transmission for vehicle |
| CN2589757Y (en) * | 2002-09-02 | 2003-12-03 | 周文华 | Stepless gear having multiple rod pendulum type supporting point |
| CN2936094Y (en) * | 2006-03-30 | 2007-08-22 | 杨基玉 | Bionic automatic bathing and back rubbing device |
| CN101066022B (en) * | 2007-04-03 | 2012-05-23 | 江苏大学 | Linear motor driven terminal executor of picking robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203548773U (en) * | 2013-10-18 | 2014-04-16 | 苏州大学 | Electric two-hand rubbing bionic device |
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