CN103498904B - A kind of electronic both hands rub bionic device - Google Patents

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

An electric hand rubbing bionic device

technical field

The invention relates to an electric bionic device for rubbing hands.

Background technique

In the innovative design of the mechanism, it is extremely difficult to imitate the movement of human hands by relying solely on the movement of the mechanism itself. Because the movement of human hands rubbing is a compound motion of linear motion and swing. Adopting numerical control technology to realize the action of imitating human hand rubbing is the easiest technical solution to think of. However, using numerical control technology to imitate the movement of rubbing with one hand requires at least two servo motors, which are programmed and driven by a two-axis linkage numerical control system; system control to achieve. This not only causes the whole device to be extremely large and complex, but also extremely expensive. Such as the disclosed rubbing massager of Chinese patent document CN102940566A, not only the structure is extremely complex, but also fails to provide the track of bionic motion; for example, the numerical control rubbing type grinding machine disclosed in Chinese patent document CN103252709A has adopted 3 servo motors, and extremely The complex mechanical transmission system is bulky and expensive. From the perspective of kinematics, no substantive hands-rubbing bionic device has been retrieved yet.

At present, in the fields of production and life such as industry, medical treatment, and agriculture, there is an urgent need for a simple, practical, and low-cost hands-rubbing mechanism. For example, kneading and stirring powdery and lumpy materials in industrial production, hand massage in medical equipment, kneading tea leaves (mainly Biluochun) in agricultural production, kneading noodles in food production, etc.

Contents of the invention

The purpose of the present invention is to provide a simple and practical electric hands-rubbing bionic device, so as to meet the needs of various corresponding products for the hands-rubbing bionic device at a very low cost.

In order to achieve the above object, the technical scheme adopted in the present invention is:

The first technical solution:

An electric bionic device for kneading hands, comprising a frame, a motor mounted on the frame, a worm drive connected to the output shaft of the motor, two sets of kneading components mounted on the frame, two sets of The kneading assemblies are respectively located on both sides of the worm, and each set of kneading assemblies includes a worm wheel which is rotatably arranged on the frame and can cooperate with the worm, and one end is rotatably arranged on the said worm through a pin shaft. The connecting rod on the worm wheel, the worm wheel is engaged with the worm screw, the axis line of the pin shaft deviates from the axis line of the worm wheel and is parallel to the axis line of the worm wheel, the connecting rod A chute extending along its length direction is opened, and each group of kneading components also includes a slider hinged centrally on the frame for providing the guide of the connecting rod, and the slider is arranged on the in the chute.

In this technical solution, preferably, the worm wheel is provided with a pin hole, the center line of the pin hole deviates from the axis line of the worm wheel, and one end of the pin shaft is connected to the connecting rod, The other end is rotatably passed through the pin hole.

The second technical solution:

An electric bionic device for kneading hands, comprising a frame, a motor mounted on the frame, a worm drive connected to the output shaft of the motor, two sets of kneading components mounted on the frame, two sets of The kneading assemblies are respectively located on both sides of the worm, and each set of kneading assemblies includes a worm wheel which is rotatably arranged on the frame and can cooperate with the worm, and one end is rotatably arranged on the said worm through a pin shaft. The connecting rod on the worm wheel, the worm wheel is engaged with the worm screw, the axis line of the pin shaft deviates from the axis line of the worm wheel and is parallel to the axis line of the worm wheel, the connecting rod There is a chute extending along its length, and each group of kneading components also includes a guide piece centrally fixed on the frame for providing guidance for the connecting rod, and the guide piece is arranged on the set with a clearance fit. In the chute, the circumferential outer surface of the guide member that matches the lengthwise groove wall of the chute is a cylindrical surface.

In this technical solution, preferably, the axis of the guide member and the axis of the worm wheel are parallel to each other.

In this technical solution, preferably, the guide member is one of cylindrical pins, rolling bearings and sliding bearings.

In this technical solution, preferably, the worm wheel is provided with a pin hole, the center line of the pin hole deviates from the axis line of the worm wheel, and one end of the pin shaft is connected to the connecting rod, The other end is rotatably passed through the pin hole.

Due to the application of the above-mentioned technical solution, the present invention has the following advantages compared with the prior art: a kind of electric hands rubbing bionic device of the present invention, wherein only utilizes very simple worm, worm gear, connecting rod, center hinged on the frame The slider or the guide piece on the cylindrical outer surface fixed on the frame realizes the complex planar movement imitating the kneading of both hands, and the kneading tools with different functions are fixed at the lower end of the connecting rod to form a variety of kneading tools with different functions. Electric hand rubbing bionic device. The structure of the bionic device is extremely simple, the cost is particularly low, and the work reliability is high, which can meet the needs of different industries for the kneading bionic device. This is in sharp contrast to the existing bionic devices with large and complex structures and extremely high costs, and can be widely used.

Description of drawings

Accompanying drawing 1 is the structural representation of embodiment 1 of the present invention;

Accompanying drawing 2 is the structure diagram of embodiment 2 of the present invention.

Among them: 10, 10'—kneading assembly; 1,1'—worm gear; 2,2'—connecting rod; 3,3'—pin shaft; 4,4'—chute; 5,5'—slider; 6 , 6'—guide, 7, motor; 8, worm gear.

detailed description

The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

Example 1

Referring to a bionic device for electric hands rubbing shown in Figure 1, it includes a frame (not shown in the figure), two groups of rubbing components 10, 10' arranged on the frame,

The kneading assembly 10 includes a worm wheel 1 rotatably arranged on the frame around the axis, and a connecting rod 2 rotatably arranged on the worm wheel 1 through a pin shaft 3 . There is an eccentric pin hole on the worm wheel 1, the center line of the pin hole is parallel to the axis line of the worm wheel 1, one end of the pin shaft 3 is connected to the upper part of the connecting rod 2, and the other end is rotatably passed through the above pin hole middle. A chute 4 is provided on the connecting rod 2, and the chute 4 extends along the length direction of the connecting rod 2, and the frame is provided with a slider 5 centrally hinged on the frame for providing the guidance of the connecting rod 2, that is, the slider 5 The center positions of the two axial ends of the shaft are hinged on the frame, and the slider 5 is rotatably arranged on the frame around the line connecting the hinge points of the two shaft ends, and the slider 5 is arranged in the chute 4 with clearance fit. It can slide relative to the connecting rod 2 along the length extension direction of the chute 4 , and a plane low pair is formed between the slider 5 and the chute 4 . When the external driving force drives the worm gear 1 to rotate, the connecting rod 2 performs both linear sliding motion and swing relative to the hinge support center of the slider 5 under the action of the pin shaft 3, while the slider 5 only performs a swing motion. The lower end of the rod 2 can produce a bionic motion similar to human hand rubbing, and its motion trajectory is shown by the dotted line at the lower end of Fig. 1 .

The arrangement of the kneading assembly 10' is similar to that of the kneading assembly 10, including a worm wheel 1' which is rotatably arranged on the frame around the axis, and a connecting rod 2' which is rotatably arranged on the worm wheel through a pin shaft 3', And the center is hinged on the frame to provide the sliding block 5' for the guide of the connecting rod 2'. When the worm wheel 1' rotates under the action of the external driving force, the connecting rod 2' is relatively sliding under the action of the pin shaft 3'. The center of the hinge support of the block 5' performs both linear sliding motion and swing, and the lower end of the connecting rod 2' can produce a bionic motion similar to kneading by human hands.

Referring to Fig. 1, the frame is also provided with a motor 7, a worm 8 fixedly connected to the output shaft of the motor 7 and compatible with the worm gear 1, 1', and the kneading components 10, 10' are respectively arranged on both sides of the worm 8 , and the worm gears 1, 1' are set in mesh with the worm 8 respectively. In this way, when the motor 7 works, the output shaft of the motor 7 drives the worm 8 to rotate, which drives the worm gear 1, 1' to rotate, so that the lower ends of the connecting rods 2, 2' produce bionic actions similar to rubbing by hand. By fixing kneading tools with different functions at the lower ends of the connecting rods 2, 2', various electric hands-kneading bionic devices with different functions can be formed.

When setting, the position of the pin shaft 3 on the worm wheel 1 or the position of the pin shaft 3' on the worm wheel 1' can be adjusted according to the operation needs, so as to realize the symmetrical bionic rubbing action of both hands (as shown in Figure 1), or the asymmetrical bionic rubbing action of both hands .

If the radial position of the pin hole where the pin shaft 3 or pin shaft 3' is located on the worm wheel 1, 1' is changed, that is, the eccentric distance of the pin hole is changed, the kneading action of the lower end of the corresponding connecting rod 2 or 2' can be changed curve.

If change the position of the center of hinge of slide block 5,5' on the frame, then can change the kneading position of connecting rod 2,2' lower end and the kinematic curve of kneading action simultaneously.

If the output shaft of the motor 7 is reversely rotated by controlling the switch, the rotation direction of the worm gear 1, 1' can be changed, so that the rubbing direction of the lower end of the connecting rod 2, 2' can be between from inside to outside and from outside to inside. to switch between.

Example 2

Referring to a kind of electric hands rubbing bionic device shown in Fig. 2, the difference of this bionic device and embodiment 1 mainly lies in the setting of the parts that provide connecting rod 2, 2' guide. In this embodiment, the guide member 6, 6' provided on the frame is centered on the part providing the guide of the connecting rod 2, 2', and the guide member 6, 6' is respectively arranged in the chute 4, 4' with loose fit. Among them, the circumferential outer surface of the guides 6, 6' matched with the longitudinal groove walls of the chute 4, 4' is a cylindrical surface, and the guides 6, 6' form a plane height pair with the chute 4, 4' respectively. When the worm 8 rotates to drive the worm gear 1 and the worm gear 1' to rotate, the connecting rods 2 and 2' respectively move linearly and swing, so that the lower ends of the connecting rods 2, 2' can produce a bionic motion similar to rubbing hands.

During the above movement process, the friction between the guides 6, 6' on the cylindrical outer surface and the chute 4, 4' is relatively small. Compared with the method in Example 1, the friction between the guides and the chute wall can be effectively reduced. The friction and wear between them, but its bearing capacity is smaller than that of the embodiment 1, which is suitable for occasions with small loads, while the method of embodiment 1 is suitable for occasions with large loads. The guides 6 and 6' on the cylindrical outer surface can use cylindrical pins, rolling bearings, sliding bearings and other components. If a simple fixed cylindrical pin is used, the cost is the lowest, but the friction and wear are relatively large, and the centrally fixed rolling bearing or Sliding bearings can effectively reduce friction and wear.

To sum up, how to innovatively design a mechanism that imitates rubbing hands with fewer or the least moving components has always been a technical problem in the field of mechanics, because as a mechanism, fewer moving components not only means simple structure and manufacturing The cost is low, and more importantly, it means that the work reliability is high.

In the unilateral kneading action in Example 1, there are only four substantive moving components in the kinematic sense, namely the worm 8, the worm wheel 1 (1'), the connecting rod 2 (2'), the slider 5 (5' ); in the unilateral kneading action in Example 2, there are only three substantive moving components in terms of kinematics, namely, the worm 8, the worm wheel 1 (1'), and the connecting rod 2 (2').

The innovative point of the present invention is that only a very simple worm 8, worm gear 1 (1'), connecting rod 2 (2'), slider 5 (5') hinged on the frame or center fixed on the machine frame are used. The guide piece 6 (6') on the cylindrical outer surface on the frame realizes the complex planar movement imitating the kneading of both hands, and the kneading tools with different functions are fixed at the lower ends of the connecting rods 2 and 2' to form various functions Different electric ambidextrous kneading devices. The structure of the bionic device is extremely simple, the cost is particularly low, and the work reliability is high, which can meet the needs of different industries for the kneading bionic device. This is in sharp contrast to the existing bionic devices with large and complex structures and extremely high costs, and can be widely used.

The above-mentioned embodiments are only to illustrate the technical concept and characteristics of the present invention, and the purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly, and not to limit the protection scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention shall fall within the 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.