CN103498904B - A kind of electronic both hands rub bionic device - Google Patents
A kind of electronic both hands rub bionic device Download PDFInfo
- Publication number
- CN103498904B CN103498904B CN201310503895.6A CN201310503895A CN103498904B CN 103498904 B CN103498904 B CN 103498904B CN 201310503895 A CN201310503895 A CN 201310503895A CN 103498904 B CN103498904 B CN 103498904B
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- Prior art keywords
- worm gear
- connecting rod
- rub
- hands
- frame
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- H02K7/1163—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears where at least two gears have non-parallel axes without having orbital motion
- H02K7/1166—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears where at least two gears have non-parallel axes without having orbital motion comprising worm and worm-wheel
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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, wherein only utilize very simple worm screw, worm gear, connecting rod, center hinge are connected on slide block in frame or center is fixed on the guiding element of the cylindrical outer surface in frame, 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
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.
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.
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, be located at the motor in described frame, drivingly be connected to the worm screw on described motor output shaft, two groups of being located in described frame rub assembly, the both sides that assembly lays respectively at described worm screw are rubbed described in two groups, often rub assembly described in group and include the worm gear be located at rotationally and described frame can match with described worm screw, the connecting rod on described worm gear is located at rotationally by bearing pin in one end, described worm gear is meshed with described worm screw and arranges, the shaft axis of described bearing pin departs from the shaft axis of described worm gear and parallels with the shaft axis of described worm gear, described connecting rod offers the chute extended along its length, often rub assembly described in group also to comprise center hinge and be connected on slide block for providing described connecting rod to lead in described frame, described space of slider is located in described chute ordinatedly.
in this technological scheme, preferably, described worm gear is provided with pin-and-hole, and the center line of described pin-and-hole and the shaft axis of described worm 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.
second technological scheme:
a kind of electronic both hands rub bionic device, comprise frame, be located at the motor in described frame, drivingly be connected to the worm screw on described motor output shaft, two groups of being located in described frame rub assembly, the both sides that assembly lays respectively at described worm screw are rubbed described in two groups, often rub assembly described in group and include the worm gear be located at rotationally and described frame can match with described worm screw, the connecting rod on described worm gear is located at rotationally by bearing pin in one end, described worm gear is meshed with described worm screw and arranges, the shaft axis of described bearing pin departs from the shaft axis of described worm gear and parallels with the shaft axis of described worm gear, described connecting rod offers the chute extended along its length, often rub assembly described in group also to comprise center and be fixedly installed on guiding element for providing described connecting rod to lead in described frame, be located in described chute to described guiding element Spielpassung, the circumferential exterior surface that described guiding element matches with described track length direction cell wall is cylndrical surface.
in this technological scheme, preferably, the shaft axis of described guiding element and the shaft axis of described worm gear are parallel to each other.
in this technological scheme, preferably, described guiding element is the one in straight pin, rolling bearing, sliding bearing.
in this technological scheme, preferably, described worm gear is provided with pin-and-hole, and the center line of described pin-and-hole and the shaft axis of described worm 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, wherein only utilize very simple worm screw, worm gear, connecting rod, center hinge are connected on slide block in frame or center is fixed on the guiding element of the cylindrical outer surface in frame, 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.
wherein: 10,10 '-rub assembly; 1,1 '-worm gear; 2,2 '-connecting rod; 3,3 '-bearing pin; 4,4 '-chute; 5,5 '-slide block; 6,6 '-guiding element, 7, motor; 8, worm gear.
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 worm 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 worm gear 1.Worm gear 1 offers the pin-and-hole of a bias, the centerline parallel of this pin-and-hole is in the shaft axis of worm 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.Connecting rod 2 offers a chute 4, this chute 4 extends along the length direction of connecting rod 2, frame is provided with center hinge and is connected on slide block 5 for providing connecting rod 2 to lead in frame, namely the center position of two axial end portions of slide block 5 is hinged in frame, slide block 5 can be located in frame rotatably around the line of two axial ends articulating point, be located in chute 4 to slide block 5 Spielpassung, it along length bearing of trend relative connecting rod 2 slippage of chute 4, can form planar lower pair between slide block 5 and chute 4.When external motivating force drives worm gear 1 to rotate, the hinged center of connecting rod 2 relative to slide block 5 under the effect of bearing pin 3 is not only done straight line sliding motion but also is swung, and slide block 5 only does oscillating motion, the lower end of such connecting rod 2 just can produce the bionic movement being similar to staff and rubbing, and its movement locus is as shown in Fig. 1 lower dotted line.
the setting of rubbing assembly 10 ' is with to rub arranging of assembly 10 similar, comprise the worm 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 worm gear, and center hinge is connected on the slide block 5 ' for providing connecting rod 2 ' to lead in frame, when rotating under the effect of worm gear 1 ' at external motivating force, the hinged center of connecting rod 2 ' relative 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 the bionic movement being similar to staff and rubbing.
shown in Figure 1, frame is also provided with motor 7, is fixedly connected on the worm screw 8 that motor 7 output shaft can match with worm gear 1,1 ', rub the both sides that worm screw 8 is located at respectively by assembly 10,10 ', and worm gear 1,1 ' is meshed with worm screw 8 respectively and arranges.Like this when motor 7 works, the output shaft of motor 7 drives worm screw 8 to rotate, and so just drives worm gear 1,1 ' to rotate, thus the bionical action making 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 worm gear 1 or the position of bearing pin 3 ' on worm gear 1 ' can be adjusted according to action need when arranging, 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 worm 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 slide block 5,5 ', 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 7 by control switch, just can change the sense of rotation of worm 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, the guiding element 6,6 ' in frame is fixedly installed on centered by the parts providing connecting rod 2,2 ' to lead, guiding element 6,6 ' is located to Spielpassung in chute 4,4 ' respectively, the upper circumferential exterior surface matched with chute 4,4 ' length direction cell wall of guiding element 6,6 ' is cylndrical surface, and guiding element 6,6 ' forms planar higher pairs with chute 4,4 ' respectively.When worm screw 8 rotary actuation worm gear 1, worm gear 1 ' rotate, the guiding element 6,6 ' of connecting rod 2,2 ' respectively relative to cylindrical outer surface under the effect of bearing pin 3,3 ' not only does straight line motion but also swing, and the lower end of such connecting rod 2,2 ' just can produce the bionic movement that similar both hands are rubbed.
in above-mentioned movement process, the guiding element 6 of cylindrical outer surface, the friction between 6 ' and chute 4,4 ' are less, compare the mode of embodiment 1, effectively can reduce the friction and wear between guiding element and chute cell wall, but the mode that its bearing capacity compares embodiment 1 is less, be applicable to the occasion that load is less, the mode of embodiment 1 is then applicable to the larger occasion of load.The guiding element 6,6 ' of cylindrical outer surface can adopt the parts such as straight pin, rolling bearing, sliding bearing, according to simple fixed cylinder pin, its cost is minimum, but friction and wear is relatively large, and the rolling bearing adopting center fixing or sliding bearing, effectively can reduce friction and wear.
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.
one-sided in embodiment 1 is rubbed in action, only has 4 substantial motion components, i.e. worm screw 8, worm gear 1(1 ' from kinematic meaning), connecting rod 2(2 '), slide block 5(5 '); One-sided in embodiment 2 is rubbed in action, only has 3 substantial motion components, i.e. worm screw 8, worm gear 1(1 ' from kinematic meaning), connecting rod 2(2 ').
namely innovative point of the present invention is, only utilize very simple worm screw 8, worm gear 1(1 '), connecting rod 2(2 '), center hinge is connected on slide block 5(5 ' in frame) or center be fixed on the guiding element 6(6 ' of the cylindrical outer surface in frame), 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 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 (6)
1. electronic both hands rub bionic device, it is characterized in that: comprise frame, be located at the motor in described frame, drivingly be connected to the worm screw on described motor output shaft, two groups of being located in described frame rub assembly, the both sides that assembly lays respectively at described worm screw are rubbed described in two groups, often rub assembly described in group and include the worm gear be located at rotationally and described frame can match with described worm screw, the connecting rod on described worm gear is located at rotationally by bearing pin in one end, described worm gear is meshed with described worm screw and arranges, the shaft axis of described bearing pin departs from the shaft axis of described worm gear and parallels with the shaft axis of described worm gear, described connecting rod offers the chute extended along its length, often rub assembly described in group also to comprise center hinge and be connected on slide block for providing described connecting rod to lead in described frame, described space of slider is located in described chute ordinatedly.
2. the electronic both hands of one according to claim 1 rub bionic device, it is characterized in that: described worm gear is provided with pin-and-hole, the center line of described pin-and-hole and the shaft axis of described worm 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.
3. electronic both hands rub bionic device, it is characterized in that: comprise frame, be located at the motor in described frame, drivingly be connected to the worm screw on described motor output shaft, two groups of being located in described frame rub assembly, the both sides that assembly lays respectively at described worm screw are rubbed described in two groups, often rub assembly described in group and include the worm gear be located at rotationally and described frame can match with described worm screw, the connecting rod on described worm gear is located at rotationally by bearing pin in one end, described worm gear is meshed with described worm screw and arranges, the shaft axis of described bearing pin departs from the shaft axis of described worm gear and parallels with the shaft axis of described worm gear, described connecting rod offers the chute extended along its length, often rub assembly described in group also to comprise center and be fixedly installed on guiding element for providing described connecting rod to lead in described frame, be located in described chute to described guiding element Spielpassung, the circumferential exterior surface that described guiding element matches with described track length direction cell wall is cylndrical surface.
4. the electronic both hands of one according to claim 3 rub bionic device, it is characterized in that: the shaft axis of described guiding element and the shaft axis of described worm gear are parallel to each other.
5. the electronic both hands of one according to claim 3 rub bionic device, it is characterized in that: described guiding element is the one in straight pin, rolling bearing, sliding bearing.
6. the electronic both hands of one according to claim 3 rub bionic device, it is characterized in that: described worm gear is provided with pin-and-hole, the center line of described pin-and-hole and the shaft axis of described worm 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 |
|---|---|---|---|
| CN201310503895.6A CN103498904B (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 |
|---|---|---|---|
| CN201310503895.6A CN103498904B (en) | 2013-10-18 | 2013-10-18 | A kind of electronic both hands rub bionic device |
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| Publication Number | Publication Date |
|---|---|
| CN103498904A CN103498904A (en) | 2014-01-08 |
| CN103498904B true CN103498904B (en) | 2016-01-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310503895.6A Expired - Fee Related CN103498904B (en) | 2013-10-18 | 2013-10-18 | A kind of electronic both hands rub bionic device |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104457139B (en) * | 2014-12-09 | 2016-04-27 | 青海林丰农牧机械制造有限公司 | A kind of medicinal material kneading machine |
| CN105213161A (en) * | 2015-10-10 | 2016-01-06 | 莆田市昌融机械有限公司 | One is pinched and is rubbed formula massage assembly and masseur |
| US10617411B2 (en) * | 2015-12-01 | 2020-04-14 | Covidien Lp | Adapter assembly for surgical device |
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| 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 |
| CN2936094Y (en) * | 2006-03-30 | 2007-08-22 | 杨基玉 | Bionic automatic bathing and back rubbing device |
| CN202628983U (en) * | 2012-04-27 | 2012-12-26 | 宁波建欣精密模具有限公司 | Motor rotor torsion transmission mechanism |
| CN203167914U (en) * | 2013-04-19 | 2013-09-04 | 山东理工大学 | Pneumatic artificial muscles-based imitation handwork kneading machine |
| CN203548779U (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 CN201310503895.6A patent/CN103498904B/en not_active Expired - Fee Related
Patent Citations (6)
| 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 |
| CN2936094Y (en) * | 2006-03-30 | 2007-08-22 | 杨基玉 | Bionic automatic bathing and back rubbing device |
| CN202628983U (en) * | 2012-04-27 | 2012-12-26 | 宁波建欣精密模具有限公司 | Motor rotor torsion transmission mechanism |
| CN203167914U (en) * | 2013-04-19 | 2013-09-04 | 山东理工大学 | Pneumatic artificial muscles-based imitation handwork kneading machine |
| CN203548779U (en) * | 2013-10-18 | 2014-04-16 | 苏州大学 | Electrical both-hand rubbing bionic device |
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| CN103498904A (en) | 2014-01-08 |
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