CN203548771U - Electrical both-hand rubbing bionic device - Google Patents
Electrical both-hand rubbing bionic device Download PDFInfo
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- CN203548771U CN203548771U CN201320646591.0U CN201320646591U CN203548771U CN 203548771 U CN203548771 U CN 203548771U CN 201320646591 U CN201320646591 U CN 201320646591U CN 203548771 U CN203548771 U CN 203548771U
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Abstract
The utility model discloses an electrical both-hand rubbing bionic device. The bionic device is characterized in that the complicated plane movement simulating both-hand rubbing is realized by a simple screw rod, a nut, a double-side rack, gears, connecting rods, and slide blocks of which the centers are hinged to a machine frame, or guide pieces of which the centers are fixedly arranged on the cylindrical outer surface of the machine frame, rubbing tools with different functions are fixedly arranged at the lower end of the connecting rods, and then different functions of the electrical both-hand rubbing bionic device can be realized. The bionic device has the advantages that the structure is very simple, the manufacturing cost is very low, the working reliability is high, and the requirements of different industries on the rubbing bionic devices can be met; compared with the bionic device with huge and complicated structure and very high manufacturing cost, the advantage is very obvious, and the bionic device can be widely popularized and applied.
Description
Technical field
the utility model relates to a kind of electronic both hands and rubs bionic device.
Background technique
in Creative Mechanism Design, rely on merely the motion of mechanism self, realize and imitate the action that staff is rubbed, be extremely difficult.Because the action that staff is rubbed is a straight line motion and swing the motion being composited.Adopting Numeric Control Technology to realize and imitate the action that staff is rubbed, is the technological scheme of the most easily expecting.But, adopt Numeric Control Technology to imitate a motion that hand is rubbed, at least need two actuating motors, and adopt the programming of two-axle interlocking numerical control system to drive; Imitate the motion that both hands are rubbed, at least need four actuating motors, and control to realize by multi-axis linkage numerical control system.This not only causes extremely bulky complex of whole device, and cost is extremely high.The massage device of rubbing as disclosed in Chinese patent literature CN 102940566 A, not only structure is extremely complicated, and fails to provide the track of bionic movement; For another example the disclosed numerical control kneader type of Chinese patent literature CN 103252709 A lapping machine, has adopted 3 actuating motors, and extremely complicated machine driven system, bulky, involves great expense.From kinematic angle, not yet retrieve at present substantial both hands and rub bionic device.
at present in the productive life field such as industrial, medical, agriculture, in the urgent need to simple, practical, cheap both hands kneading mechanism.For example, in industrial production, powdery and lump material are rubbed the kneading dough etc. in tealeaves (being mainly Pilochun (a green tea)), food production of rubbing in the massage of both hands in stirring, medical apparatus, agricultural production.
Model utility content
the purpose of this utility model is to provide a kind of simple and practical electronic both hands and rubs bionic device, thereby meet all kinds of corresponding products with extremely low cost, both hands is rubbed to the demand of bionic device.
for achieving the above object, the technical solution adopted in the utility model is:
the first technological scheme:
a kind of electronic both hands are rubbed bionic device, comprise frame, rub assembly for two groups that are located in described frame, described in every group, rub assembly and include the gear of being located at rotationally in described frame, the connecting rod on described gear is located at rotationally by bearing pin in one end, the shaft axis of described bearing pin departs from the shaft axis of described gear and parallels with the shaft axis of described gear, on described connecting rod, offer the chute extending along its length, described in every group, rub assembly and also comprise that center hinge is connected in described frame for the slide block of described connecting rod guiding is provided, described space of slider is located in described chute ordinatedly, in described frame, be also provided with motor, be fixedly connected on the leading screw on described motor output shaft, be arranged on ordinatedly the nut on described leading screw, on described nut, be 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, described in two groups, rub assembly and be located at respectively the both sides of described the two-sided rack, and described in two groups, rubbing two described gears on assembly is meshed with described the two-sided rack respectively.
in this technological scheme, preferably, described gear is provided with pin-and-hole, and the center line of described pin-and-hole and the shaft axis of described gear deviate, and one end of described bearing pin is connected on described connecting rod, and its other end is located in described pin-and-hole rotationally.
the second technological scheme:
a kind of electronic both hands are rubbed bionic device, comprise frame, rub assembly for two groups that are located in described frame, described in every group, rub assembly and include the gear of being located at rotationally in described frame, the connecting rod on described gear is located at rotationally by bearing pin in one end, the shaft axis of described bearing pin departs from the shaft axis of described gear and parallels with the shaft axis of described gear, on described connecting rod, offer the chute extending along its length, described in every group, rub assembly and also comprise that center is fixedly installed in described frame for the guiding element of described connecting rod guiding is provided, be located in described chute to described guiding element Spielpassung, the circumferential exterior surface matching with described chute length direction cell wall on described guiding element is cylndrical surface, in described frame, be also provided with motor, be fixedly connected on the leading screw on described motor output shaft, be arranged on ordinatedly the nut on described leading screw, on described nut, be 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, described in two groups, rub assembly and be located at respectively the both sides of described the two-sided rack, and described in two groups, rubbing two described gears on assembly is meshed with described the two-sided rack respectively.
in this technological scheme, preferably, the shaft axis of described guiding element and the shaft axis of described gear are parallel to each other.
in this technological scheme, preferably, described guiding element is a kind of in straight pin, rolling bearing, sliding bearing.
in this technological scheme, preferably, described gear is provided with pin-and-hole, and the center line of described pin-and-hole and the shaft axis of described gear deviate, and one end of described bearing pin is connected on described connecting rod, and its other end is located in described pin-and-hole rotationally.
utilization due to technique scheme, the utility model compared with prior art has following advantages: a kind of electronic both hands of the present utility model are rubbed bionic device, wherein only utilize very simple leading screw, nut, the two-sided rack, gear, connecting rod, center hinge to be connected on the guiding element that slide block in frame or center are fixed on the cylindrical outer surface in frame, just realized the plane motion that complicated imitation both hands are rubbed, the fixing instrument of rubbing of difference in functionality in the lower end of connecting rod, just can form the electronic both hands that various functions are different and rub bionic device.This bionic device structure is very simple, and cost is cheap especially, and functional reliability is high, can meet different industries for the demand of rubbing bionic device.This has formed high-definition contrast with existing those huge structures bionic device complicated, that cost is extremely high, can promote the use of widely.
Accompanying drawing explanation
accompanying drawing 1 is embodiment's 1 of the present utility model structural representation;
accompanying drawing 2 is embodiment's 2 of the present utility model structural representation.
wherein: 10,10 '-rub assembly; 1,1 '-gear; 2,2 '-connecting rod; 3,3 '-bearing pin; 4,4 '-chute; 5,5 '-slide block; 6,6 '-guiding element, 7, motor; 8, leading screw; 9, nut; 11, the two-sided rack.
Embodiment
below in conjunction with accompanying drawing and specific embodiment, the technical solution of the utility model is further elaborated.
a kind of electronic both hands shown in Figure 1 are rubbed bionic device, comprise frame (not shown), be located in frame two groups rub assembly 10,10 '.
the setting of rubbing assembly 10 ' is with to rub arranging of assembly 10 similar, comprise and can be located at rotationally gear 1 ' in frame, by bearing pin 3 ', be located at rotationally the connecting rod 2 ' on gear around shaft axis, and center hinge is connected in frame for the slide block 5 ' of connecting rod 2 ' guiding is provided, when gear 1 ' externally rotates under the effect of driving force, connecting rod 2 ' hinged center with respect to slide block 5 ' under the effect of bearing pin 3 ' is not only done straight line sliding motion but also is swung, and the lower end of connecting rod 2 ' also just can produce and be similar to the bionic movement that staff is rubbed.
shown in Figure 1, in frame, be also provided with motor 7, be fixedly connected on leading screw 8 on motor 7 output shafts, be arranged on ordinatedly the nut 9 on leading screw 8, on nut 9, be fixedly provided with the two-sided rack 11, on the two-sided rack 11 periphery sidepieces, relative bi-side are equipped with a plurality of teeth spaced apart along its length, and the length bearing of trend of the two-sided rack 11 parallels with the shaft axis of leading screw 8.Rub assembly 10 and rub the both sides that assembly 10 ' is located at respectively the two-sided rack 11, and gear 1, gear 1 ' are meshed with the two-sided rack 11 respectively.When motor 7 is worked like this, the output shaft of motor 7 drives leading screw 8 rotations, nut 9 moves vertically relative to leading screw 8, so just, drive the two-sided rack 11 to move along its length, thus driven gear 1,1 ' rotation and make connecting rod 2,2 ' lower end produce respectively the bionical action that similar staff is rubbed.By the fixing instrument of rubbing of difference in functionality in connecting rod 2,2 ' lower end, just can form the electronic both hands that various functions are different and rub bionic device.
while arranging, can adjust position or the bearing pin 3 ' position on gear 1 ' of bearing pin 3 on gear 1 according to action need, thereby realize, both hands are symmetrical bionical rubs action (as Fig. 1), or realizes the asymmetric bionical action of rubbing of both hands.
if change the radial position on gear 1,1 ' respectively of bearing pin 3 or bearing pin 3 ' place pin-and-hole, changed the eccentric distance of pin-and-hole, can change respective link 2 or 2 ' lower end rubs the Motion curves of action.
if change slide block 5,5 ' the hinged center position in frame, can change rubbing position and rubbing the Motion curves of action of connecting rod 2,2 ' lower end simultaneously.
if make the output shaft counterrotating of motor 7 by control switch, just can change gear 1,1 ' sense of rotation, can switch from the inside to the outside and from outside to inside the direction of rubbing of connecting rod 2,2 ' lower end like this.
a kind of electronic both hands shown in Figure 2 are rubbed bionic device, and this bionic device and embodiment's 1 difference is mainly to provide the setting of connecting rod 2, the 2 ' parts that lead.In the present embodiment, centered by being provided, connecting rod 2, the 2 ' parts that lead are fixedly installed on the guiding element 6,6 ' in frame, guiding element 6,6 ' is located to Spielpassung respectively in chute 4,4 ', guiding element 6,6 ' the upper circumferential exterior surface matching with chute 4,4 ' length direction cell wall is cylndrical surface, and guiding element 6,6 ' forms planar higher pairs with chute 4,4 ' respectively.When the two-sided rack 11 moves and during the 1 ' rotation of actuation gear 1, gear along its length, connecting rod 2,2 ' is not only done straight line motion but also is swung with respect to the guiding element 6,6 ' of cylindrical outer surface respectively under bearing pin 3,3 ' effect, and connecting rod 2,2 ' lower end just can produce the bionic movement that similar both hands are rubbed like this.
in above-mentioned movement process, the guiding element 6 of cylindrical outer surface, 6 ' and chute 4,4 ' between friction less, compare embodiment 1 mode, can effectively reduce the friction and wear between guiding element and chute cell wall, but it is less that its bearing capacity is compared embodiment 1 mode, be applicable to the occasion that load is less, embodiment 1 mode is applicable to the occasion that load is larger.The guiding element 6,6 ' of cylindrical outer surface can adopt the parts such as straight pin, rolling bearing, sliding bearing, if adopt simple fixed cylinder pin, its cost is minimum, but friction and wear is relatively large, and fixing rolling bearing or the sliding bearing in employing center can reduce friction and wear effectively.
to sum up, as how less or minimum moving link, come innovative design to go out to imitate the mechanism that both hands are rubbed, all the time be a technical barrier in mechanics field, because as Yi Ge mechanism, moving link not only means simple in structure and low cost of manufacture less, the more important thing is that to mean functional reliability high.
one-sided rubbing in action in embodiment 1, only has 5 substantial motion members from kinematic meaning, i.e. leading screw 8, nut 9-the two-sided rack 11 assemblying bodys, gear 1(1 '), connecting rod 2(2 '), slide block 5(5 '); One-sided rubbing in action in embodiment 2, only has 4 substantial motion members from kinematic meaning, i.e. leading screw 8, nut 9-the two-sided rack 11 assemblying bodys, gear 1(1 '), connecting rod 2(2 ').
innovative point of the present utility model is, only utilize very simple leading screw 8, nut 9, the two-sided rack 11, gear 1(1 '), connecting rod 2(2 '), center hinge is connected on the slide block 5(5 ' in frame) or center be fixed on the guiding element 6(6 ' of the cylindrical outer surface in frame), just realized the plane motion that complicated imitation both hands are rubbed, the fixing instrument of rubbing of difference in functionality in connecting rod 2,2 ' lower end, just can form the electronic both hands that various functions are different and rub bionic device.This bionic device structure is very simple, and cost is cheap especially, and functional reliability is high, can meet different industries for the demand of rubbing bionic device.This has formed high-definition contrast with existing those huge structures bionic device complicated, that cost is extremely high, can promote the use of widely.
above-described embodiment is only explanation technical conceive of the present utility model and feature, and its object is to allow person skilled in the art can understand content of the present utility model and implement according to this, can not limit protection domain of the present utility model with this.All equivalences of doing according to the utility model Spirit Essence change or modify, within all should being encompassed in protection domain of the present utility model.
Claims (6)
1. electronic both hands are rubbed bionic device, it is characterized in that: comprise frame, rub assembly for two groups that are located in described frame, described in every group, rub assembly and include the gear of being located at rotationally in described frame, the connecting rod on described gear is located at rotationally by bearing pin in one end, the shaft axis of described bearing pin departs from the shaft axis of described gear and parallels with the shaft axis of described gear, on described connecting rod, offer the chute extending along its length, described in every group, rub assembly and also comprise that center hinge is connected in described frame for the slide block of described connecting rod guiding is provided, described space of slider is located in described chute ordinatedly, in described frame, be also provided with motor, be fixedly connected on the leading screw on described motor output shaft, be arranged on ordinatedly the nut on described leading screw, on described nut, be 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, described in two groups, rub assembly and be located at respectively the both sides of described the two-sided rack, and described in two groups, rubbing two described gears on assembly is meshed with described the two-sided rack respectively.
2. a kind of electronic both hands according to claim 1 are rubbed bionic device, it is characterized in that: described gear is provided with pin-and-hole, the center line of described pin-and-hole and the shaft axis of described gear deviate, 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 are rubbed bionic device, it is characterized in that: comprise frame, rub assembly for two groups that are located in described frame, described in every group, rub assembly and include the gear of being located at rotationally in described frame, the connecting rod on described gear is located at rotationally by bearing pin in one end, the shaft axis of described bearing pin departs from the shaft axis of described gear and parallels with the shaft axis of described gear, on described connecting rod, offer the chute extending along its length, described in every group, rub assembly and also comprise that center is fixedly installed in described frame for the guiding element of described connecting rod guiding is provided, be located in described chute to described guiding element Spielpassung, the circumferential exterior surface matching with described chute length direction cell wall on described guiding element is cylndrical surface, in described frame, be also provided with motor, be fixedly connected on the leading screw on described motor output shaft, be arranged on ordinatedly the nut on described leading screw, on described nut, be 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, described in two groups, rub assembly and be located at respectively the both sides of described the two-sided rack, and described in two groups, rubbing two described gears on assembly is meshed with described the two-sided rack respectively.
4. a kind of electronic both hands according to claim 3 are rubbed bionic device, it is characterized in that: the shaft axis of described guiding element and the shaft axis of described gear are parallel to each other.
5. a kind of electronic both hands according to claim 3 are rubbed bionic device, it is characterized in that: described guiding element is a kind of in straight pin, rolling bearing, sliding bearing.
6. a kind of electronic both hands according to claim 3 are rubbed bionic device, it is characterized in that: described gear is provided with pin-and-hole, the center line of described pin-and-hole and the shaft axis of described gear deviate, 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 |
|---|---|---|---|
| CN201320646591.0U CN203548771U (en) | 2013-10-18 | 2013-10-18 | Electrical both-hand rubbing bionic device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320646591.0U CN203548771U (en) | 2013-10-18 | 2013-10-18 | Electrical both-hand rubbing bionic device |
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| Publication Number | Publication Date |
|---|---|
| CN203548771U true CN203548771U (en) | 2014-04-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320646591.0U Withdrawn - After Issue CN203548771U (en) | 2013-10-18 | 2013-10-18 | Electrical both-hand rubbing bionic device |
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| Country | Link |
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| CN (1) | CN203548771U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103498900A (en) * | 2013-10-18 | 2014-01-08 | 苏州大学 | Electric bionic double-hand rubbing device |
| CN106333833A (en) * | 2016-09-12 | 2017-01-18 | 宗连军 | Simulated massaging hand |
| CN107957178A (en) * | 2017-12-11 | 2018-04-24 | 深圳市晟弘企业管理有限公司 | A kind of quick humidity-discharging device for non-woven fabrics baking oven |
| CN108705016A (en) * | 2018-04-28 | 2018-10-26 | 芜湖凯德机械制造有限公司 | A kind of two-sided automatic forging equipment of double-station Rectangular Parts |
-
2013
- 2013-10-18 CN CN201320646591.0U patent/CN203548771U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103498900A (en) * | 2013-10-18 | 2014-01-08 | 苏州大学 | Electric bionic double-hand rubbing device |
| CN106333833A (en) * | 2016-09-12 | 2017-01-18 | 宗连军 | Simulated massaging hand |
| CN106333833B (en) * | 2016-09-12 | 2018-05-25 | 宗连军 | Bionics massage hand |
| CN107957178A (en) * | 2017-12-11 | 2018-04-24 | 深圳市晟弘企业管理有限公司 | A kind of quick humidity-discharging device for non-woven fabrics baking oven |
| CN108705016A (en) * | 2018-04-28 | 2018-10-26 | 芜湖凯德机械制造有限公司 | A kind of two-sided automatic forging equipment of double-station Rectangular Parts |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20140416 Effective date of abandoning: 20160824 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20140416 Effective date of abandoning: 20160824 |
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| C25 | Abandonment of patent right or utility model to avoid double patenting |