Electric hand rubbing bionic device

Abstract

The invention discloses an electric hands-rubbing bionic device, which comprises a frame, a linear motor arranged on the frame, a rack whose end part is connected to the secondary phase of the linear motor by transmission, and two sets of gears respectively arranged on both sides of the rack. Kneading components, each group of kneading components includes a gear, a connecting rod with one end eccentrically arranged on the gear, a cylinder or a sliding seat whose center is hinged on the frame, and a hole for the connecting rod to penetrate is opened on the cylinder or sliding seat. Holes and connecting rods are arranged in the above-mentioned through holes in a clearance fit, and the gears on the two groups of kneading components are respectively engaged with the racks. When the linear motor is working, the racks are driven to move along the straight line, and the gears can be driven to rotate, thereby The drive connecting rod performs both linear sliding motion and swing relative to the hinge support center of the cylinder or the sliding seat, and the lower end of the connecting rod can produce a bionic motion similar to human kneading, and kneading tools with different functions are fixed at the lower end of the connecting rod , can form a variety of electric hands rubbing bionic devices with different functions.

Description

technical field [0001] The invention relates to an electric bionic device for rubbing hands. 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 technolo...

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 a kinematic point of view, no substantial hands-rubbing bionic device has yet been retrieved

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