Hand rubbing bionic mechanism

A two-handed, frame-based technology, applied to mechanical equipment, belts/chains/gears, transmissions, etc., can solve problems such as high cost, high cost, complex structure, etc., and achieve high work reliability, widely popularized and used, and simple structure Effect

Active Publication Date: 2016-09-07
SUZHOU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This not only makes the whole device 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 also fails to give the trajectory of bionic motion; another example is the numerically controlled rubbing type grinding machine disclosed in Chinese patent document CN 103252709 A, which uses three servo The motor, as well as the extremely complex mechanical transmission system, is bulky and expensive
From the perspective of kinematics, no substantial hands-rubbing bionic mechanism has been retrieved so far

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0023] Refer to the bionic mechanism for hands rubbing shown in Figure 1, including a frame (not shown in the figure), and two sets of rubbing components 10, 10' arranged on the frame.

[0024] The kneading assembly 10 includes a gear 1 which is rotatably arranged on the frame around the axis, a connecting rod 2 which is rotatably arranged on the gear 1 through a pin shaft 3, and is hinged on the frame and can rotate around its own axis. Cylinder 4 . There is an eccentric pin hole on the gear 1, the center line of the pin hole is parallel to the axis line of the gear 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.

[0025] The axis line of the cylinder 4 is parallel to the axis line of the gear 1. The cylinder 4 is provided with a radially penetrating through hole. The lower end is exposed outside the through hole. A plane low pair is formed between the connecting ...

Embodiment 2

[0033] Referring to the hands-rubbing bionic mechanism shown in Figure 2, the difference between this bionic mechanism and Embodiment 1 lies in the setting of the components that provide the guidance of the connecting rod 2, 2'. In this embodiment, the components that provide the guides of the connecting rods 2 and 2' are centered on the sliding seats 5 and 5' that are hinged on the frame, that is, the centers of the two shaft ends of the sliding seats 5 and 5' are respectively hinged on the frame , the line connecting the hinge points of the two shaft ends of the sliding seat 5, 5' is parallel to the axis line of the gear 1, 1'. The sliding seats 5 and 5' are respectively provided with through holes for the connecting rods 2 and 2' to pass through. 2, 2' and sliding seat 5, 5' form a plane low pair, when the external drive mechanism drives one of the gears 1 and 1' to rotate, the connecting rods 2, 2' act on the pin shafts 3, 3' respectively Relative to the sliding seats 5 a...

Embodiment 1

[0035]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 two technical solutions of Example 1 and Example 2, for a single kneading assembly 10 (10'), there are only three substantial moving components in the kinematic sense, namely the gear 1 (1'), the connecting rod 2 (2'), cylinder 4 (4') or sliding seat 5 (5') hinged on the frame at the center. The innovative point of the present invention is that it realizes the complex planar motion imitating the rubbing of human hands with fewer mechanical components. Its structure is extremely simple, the cost is particularly low, and its work reliability is high, which can meet the needs of different industries for rubbin...

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Abstract

The invention discloses a bionic mechanism for hands rubbing, in which only simple gears, connecting rods, cylinders or sliding seats hinged at the center of the frame are used to realize complex planar movements imitating human hands rubbing, and its structure is extremely It is simple, the cost is particularly low, and the work reliability is high, which can meet the needs of different industries for the kneading bionic mechanism. This is in sharp contrast to the existing bionic devices with large and complex structures and extremely high cost, which can meet the needs of various corresponding products for the hands-rubbing mechanism at a very low cost, and can be widely promoted and used.

Description

technical field [0001] The invention relates to a bionic mechanism for hands rubbing. Background technique [0002] 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. [0003] However, 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 i...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): F16H37/12
CPCF16H37/122F16H37/126
Inventor 王传洋窦云霞钟康民杨宏兵
Owner SUZHOU UNIV
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