An electric hand rubbing bionic device

Abstract

The invention discloses an electric hands-rubbing bionic device, in which only very simple lead screws, nuts, double-sided racks, gears, connecting rods, sliders whose centers are hinged on the frame or centers fixed on the frame are used. The guide piece on the cylindrical outer surface realizes the complex planar movement imitating hands rubbing, and rubbing tools with different functions are fixed at the lower end of the connecting rod to form various electric hands rubbing bionic devices with different functions. 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 cost, and can be widely used.

Description

technical field

[0001] The invention relates to an electric bionic device for rubbing hands. Background technique

[0002] 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. Using numerical control technology to imitate the action of human 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. For example, the kneading massager disclosed in Chinese patent document CN 102940566 A is not only extremely complicated in structure, but als...

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