CN104134393B - A kind of robot movement principle demonstration teaching aid - Google Patents
A kind of robot movement principle demonstration teaching aid Download PDFInfo
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- CN104134393B CN104134393B CN201410401294.9A CN201410401294A CN104134393B CN 104134393 B CN104134393 B CN 104134393B CN 201410401294 A CN201410401294 A CN 201410401294A CN 104134393 B CN104134393 B CN 104134393B
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Abstract
The invention discloses a kind of robot movement principle demonstration teaching aid, connect and for driving the first demo system of the first robot movement and being connected with the second mechanical hand and for driving the second demo system of the second robot movement including the first mechanical hand, the second mechanical hand and the first mechanical hand.The robot movement principle demonstration teaching aid of the present invention, mechanical hand is driven to carry out corresponding actions by the demo system on workbench, demo system is made up of multiple mechanical mechanism, apply in education activities, on the one hand can show the characteristics of motion of mechanical hand intuitively, make the motion principle that students energy is clear, get information about mechanical hand, on the other hand can also deepen the motion principle to associated mechanical mechanism and the understanding and cognition of the characteristics of motion, workable, improve student learning interest.
Description
Technical field
The present invention relates to teaching aid, specifically, the present invention relates to a kind of robot movement principle demonstration teaching aid.
Background technology
In today that science and technology is advanced by leaps and bounds, countless relevant mechanical hand novel product for capturing object
Constantly occurring, they are probably, and to realize function different, it is also possible to composition mechanism is different, but they are all
It is to make the life of people more convenient.
Mechanical hand, in order to capture object, typically has and folds up, lifts and the function such as rotation.For mechanical hand such as
What realizes these functions, lacks at present and a kind of can drill the telemechanical principle of mechanical hand in education activities
The teaching aid shown, is unfavorable for students being appreciated and understood by the motion principle of mechanical hand.
Summary of the invention
The present invention provides a kind of robot movement principle demonstration teaching aid, it is therefore an objective to drill in education activities
Show, make students can intuitively understand the motion principle of mechanical hand.
To achieve these goals, the technical scheme that the present invention takes is: a kind of robot movement principle demonstration
Teaching aid, connects including the first mechanical hand, the second mechanical hand and the first mechanical hand and for driving the first machinery
Chirokinesthetic first demo system and be connected with the second mechanical hand and for drive the second robot movement second
Demo system.
This robot movement principle demonstration teaching aid also includes workbench, described first demo system and described second
Demo system sets on the table.
At least two that includes described first mechanical hand matches the first finger and at least two for capturing object
Parallel slide bar, first-hand fingerstall is located on slide bar and can be along sliding bar；Described second machinery handbag
Include at least two and match for capturing the second finger of object and at least one support bar, second finger with
Strut is rotationally connected.
Described first demo system includes the first carrier and the mechanical mechanism being located on the first carrier, first
Mechanical mechanism on carrier includes the first drive mechanism, the first four-bar mechanism and the two or four bar being sequentially connected with
Mechanism, the power output member of the second four-bar mechanism is connected with described slide bar.
Described first four-bar mechanism is crank and rocker mechanism, and the clutch end of the first four-bar mechanism passes through connecting rod
Being connected with the power intake of described second four-bar mechanism, the second four-bar mechanism is parallelogram lindage, and it is made
The component of translation is the power output member being connected with described slide bar；The power that described first drive mechanism produces
It is transferred to described first mechanical hand through the first four-bar mechanism and the second four-bar mechanism, makes the first mechanical hand entirety make
Translation.
Mechanical mechanism on described first carrier also includes the second drive mechanism, the constant breadth cam being sequentially connected with
Mechanism and the first hydraulic gear, the first hydraulic gear includes the first master cylinder and is located at described second
The first auxiliary oil cylinder in the power output member of four-bar mechanism, the piston rod of the first master cylinder and constant breadth cam machine
The clutch end of structure connects, and the first master cylinder also connects to control first secondary by oil pipe and the first auxiliary oil cylinder
Oil cylinder, the piston rod of the first auxiliary oil cylinder is connected by contiguous block and two described first fingers of V-arrangement, connects
Block is provided with chute, and the first finger is provided with the guide rod inserted in chute；Second drive mechanism produce power through etc.
Wide cam mechanism and the first hydraulic gear are transferred to described first mechanical hand, make the first of the first mechanical hand
Finger moves along described slide bar.
Described second demo system includes the second carrier and the mechanical mechanism being located on the second carrier, second
The 3rd drive mechanism that mechanical mechanism on carrier includes being sequentially connected with, gear drive, Geneva mechanism
With the 3rd four-bar mechanism, the power output member of the 3rd four-bar mechanism is connected with described support bar.
Described gear drive is two-stage drive mechanism, and described 3rd four-bar mechanism is crank and rocker mechanism；
The power that described 3rd drive mechanism produces is transferred to described second through gear drive and the 3rd four-bar mechanism
Mechanical hand, makes the second mechanical hand entirety make oscillating traverse motion.
Mechanical mechanism on described second carrier also includes the 4th drive mechanism, the cycloid gear being sequentially connected with
Linkage and the second hydraulic gear, the second hydraulic gear includes the second master cylinder and is located at described
The second auxiliary oil cylinder in the power output member of the 3rd four-bar mechanism, the piston rod of the second master cylinder and cycloid tooth
The clutch end of wheel linkage connects, and the second master cylinder is also connected by oil pipe and the second auxiliary oil cylinder with control
Making the second auxiliary oil cylinder, the piston rod of the second auxiliary oil cylinder is connected by connecting rod and two described second fingers, connecting rod
Two ends be connected with second finger and piston rod rotation respectively；The power that 4th drive mechanism produces is through cycloid tooth
Wheel linkage and the second hydraulic gear are transferred to described second mechanical hand, make the second of the second mechanical hand
Finger rotates.
Described first demo system also includes the first base being located at described first carrier bottom surface, the first base
It is provided with and is connected with the first carrier and for the 5th drive mechanism driving the first carrier to rotate；Described
Two demo systems also include the second base being located at described second carrier bottom surface, and the second base is provided with and the
Two carriers connect and for the 6th drive mechanism driving the second carrier to rotate.
The robot movement principle demonstration teaching aid of the present invention, drives mechanical hand by the demo system on workbench
Carrying out corresponding actions, demo system is made up of multiple mechanical mechanism, applies in education activities, on the one hand can
To show the characteristics of motion of mechanical hand intuitively, make the motion that students energy is clear, get information about mechanical hand
Principle, on the other hand can also deepen the motion principle to associated mechanical mechanism and the understanding of the characteristics of motion and recognize
Know, workable, improve student learning interest.
Accompanying drawing explanation
This specification includes the following drawings, shown content respectively:
Fig. 1 is the structural representation of demonstration teaching aid of the present invention；
Fig. 2 is the structural representation of the first demo system；
Fig. 3 is the structural representation at first another visual angle of demo system；
Fig. 4 is the structural representation of the first drive mechanism；
Fig. 5 is the structural representation of the first four-bar mechanism；
Fig. 6 is the structural representation of the second four-bar mechanism；
Fig. 7 is the structural representation of the second drive mechanism；
Fig. 8 is the structural representation of equal width cam mechanism；
Fig. 9 is the enlarged drawing of equal width cam mechanism；
Figure 10 is the structural representation of the first mechanical hand；
Figure 11 is contiguous block and the installation diagram of the first auxiliary oil cylinder；
Figure 12 is the 5th drive mechanism and the first base and the installation diagram of the first carrier；
Figure 13 is the first chassis interior structural representation；
Figure 14 is the structural representation of the second demo system；
Figure 15 is the structural representation at second another visual angle of demo system；
Figure 16 is the structural representation of the 3rd drive mechanism；
Figure 17 is gear drive and the installation diagram of the 3rd drive mechanism；
Figure 18 is the structural representation of Geneva mechanism；
Figure 19 is the structural representation of the 3rd four-bar mechanism；
Figure 20 is the structural representation of the 4th drive mechanism；
Figure 21 is the structural representation of cycloid gear linkage；
Figure 22 is the 6th drive mechanism and the second base and the installation diagram of the second carrier；
Figure 23 is the first chassis interior structural representation；
Figure 24 is the structural representation of the second mechanical hand；
Figure 25 is the first hydraulic gear and the schematic diagram of the second hydraulic gear；
Figure 26 is the schematic diagram of Geneva mechanism；
Figure is labeled as:
1, workbench；2, the first carrier；3, the second carrier；4, the first mechanical hand；41, first
Finger；42, slide bar；43, guide rod；5, the second mechanical hand；51, second finger；52, support bar；53、
First connecting rod；6, the first drive mechanism；61, first motor is driven；62, belt gear；63,
One support；7, the first four-bar mechanism；71, the first side link；72, the second side link；73, second connecting rod；
74, the second support；8, the second four-bar mechanism；81, the 3rd side link；82, the 4th side link；83,
Three connecting rods；84, the 3rd support；9, the second drive mechanism；91, second motor is driven；92, first is universal
Shaft coupling；93, the 4th support；94, the first chute；95, the first axle；10, equal width cam mechanism；101、
Eccentric cam；102, outside framework；103, the first slide block；104, mounting disc；11, the first hydraulic drive motor
Structure；111, the first master cylinder；112, the first auxiliary oil cylinder；113, the 5th support；12, the first base；13、
Fourth link；14, contiguous block；141, the second chute；15, the 3rd drive mechanism；151, the 3rd drive
Motor；152, the 6th support；16, gear drive；161, the first gear；162, the second gear；
163, the 3rd gear；164, the 4th gear；165, the second axle；166, the 3rd axle；167, the 7th support；
168, the 8th support；17, Geneva mechanism；171, actively driver plate；172, sheave；173, the 9th support；
174, the 4th axle；175, pivoted arm；176, straight pin；18, the 3rd four-bar mechanism；181, the 5th frame linking
Bar；182, the 6th side link；183, the 5th connecting rod；184, the tenth support；19, cycloid gear connecting rod machine
Structure；191, centre wheel；192, planetary gear；193, six-bar linkage；194, the first projection；195, second
Slide block；20, the second hydraulic gear；201, the second master cylinder；202, the second auxiliary oil cylinder；203,
11 supports；21, the second base；22, the 4th drive mechanism；221,4 wheel driven galvanic electricity machine；222,
Two Hooks coupling universal couplings；223, twelve earthly branches frame；224, the 5th axle；225, the second projection；226, the 3rd
Chute；23, the 5th drive mechanism；231, the 5th motor is driven；232, the first upper flange；233, first
Bottom plate；24, the 6th drive mechanism；241, the 6th motor is driven；242, the second upper flange；243,
Two bottom plates.
Detailed description of the invention
Below against accompanying drawing, by the description to embodiment, the detailed description of the invention of the present invention is made further
Detailed description, it is therefore an objective to help those skilled in the art to have completeer to design, the technical scheme of the present invention
Whole, accurate and deep understanding, and contribute to its enforcement.
As shown in Fig. 1 to Figure 25, one robot movement principle demonstration teaching aid of the present invention, including workbench 1,
First mechanical hand the 4, second mechanical hand the 5, first demo system and the second demo system.Workbench 1 is used for holding
Carrying the remaining part of this demonstration teaching aid, the end face of workbench 1 is plane, the first demo system and the second demonstration
System is arranged on the end face of workbench 1.First demo system and the first mechanical hand 4 connect, and are used for driving
First mechanical hand 4 moves, and makes the first mechanical hand 4 realize folding up, lifting and the action such as rotation.Second drills
Show that system is connected with the second mechanical hand 5, for driving the second mechanical hand 5 to move, make the second mechanical hand 5 real
Now fold up, lift and the action such as rotation.
Specifically, as shown in Figure 10, the first mechanical hand 4 includes that two are matched for capturing the of object
One finger 41 and two parallel slide bars 42, slide bar 42 is for being fixedly installed, when state as shown in the figure,
The axis of two slide bars 42 is located in the same horizontal plane.Two the first fingers 41 are parallel, and two first-hand
Referring to that 41 are set on two slide bars 42, under the driving of the first demo system, two the first fingers 41 can edge
Slide bar 42 synchronous slide.When two the first fingers 41 run in opposite directions, holding action can be demonstrated, will
Object clamps.When two the first finger 41 phases deviate from motion, two the first fingers 41 open, permissible
Demonstration release movement, by held object release.
As shown in figure 24, the second mechanical hand 5 includes two second fingers 51 matched for capturing object
With a support bar 52, second finger 51 is rotationally connected with support bar 52.Support bar 52 for being fixedly installed,
Two second fingers 51 are connected with support bar 52 at the two ends of support bar 52 respectively, second finger 51 with
The junction point of strut 52 is between the two ends of second finger 51, and the axis of two second fingers 51 is parallel.
One end of second finger 51 is bare terminal end, and one end of the other end and a first connecting rod 53 is rotationally connected, and
The axis of first connecting rod 53 and second finger 51 junction point and second finger 51 and support bar 52 junction point
Axis is parallel.The other end of two first connecting rods 53 is by the connection of same bearing pin and the second demo system, the
Under the driving of two demo systems, two second fingers 51 can swing to clamp object or release object.When two
Individual second finger 51 rotates when making the opening of bare terminal end reduce, and can demonstrate holding action, be clamped by object.
When two second fingers 51 rotate backward the enlarged open making bare terminal end, two second fingers 51 are opened,
Release movement can be demonstrated, by held object release.
As in figure 2 it is shown, the first demo system includes rotating first carrier 2 and is located at the first carrier 2
On mechanical mechanism.First carrier 2 is paralleled with workbench 1, the rotation centerline of the first carrier 2
Perpendicular with the end face of workbench 1.The end face of the first carrier 2 is plane, the machine on the first carrier 2
Tool mechanism includes the first drive mechanism the 6, first four-bar mechanism 7 and the second four-bar mechanism 8 being sequentially connected with, the
One drive mechanism the 6, first four-bar mechanism 7 and the second four-bar mechanism 8 are arranged on the end face of the first carrier 2.
First drive mechanism 6 is used for producing power, and by power through the first four-bar mechanism 7 and the second four-bar mechanism 8
Being transferred to the first mechanical hand 4, the power output member of the second four-bar mechanism 8 is connected with slide bar 42, finally drives
Dynamic first mechanical hand 4 and two the first fingers 41 carry out corresponding actions.
As preferably, as shown in Figure 4, the first drive mechanism 6 includes that the first driving motor 61, belt pass
Motivation structure 62 and the first support 63, first drives motor 61 to be fixedly mounted on the first carrier 2 by bearing
End face, first drives the axis of motor shaft of motor 61 parallel with the end face of the first carrier 2.Belt passes
Motivation structure 62 is for being obliquely installed, and the driving pulley of belt gear 62 is arranged on the first driving motor 61
On motor shaft, driven pulley is arranged on the upper end of the first support 63, the first support 63 by an output shaft
For being vertically installed at the end face of the first carrier 2, the height of the first support 63 is higher than the first driving motor 61.
Output shaft and first four-bar mechanism 7 of belt gear 62 connect, and first drives motor 61 to operate, band
Dynamic belt gear 62 operates, thus power is transferred to the first four-bar mechanism 7.
As preferably, as it is shown in figure 5, the first four-bar mechanism 7 is crank and rocker mechanism, it includes first
Side link the 71, second side link 72, second connecting rod 73 and the second support 74.First side link 71 is arranged on
On the output shaft of belt gear 62, one end of second connecting rod 73 rotates with the end of the first side link 71
Connecting, the other end of second connecting rod 73 and the lower end of the second side link 72 are rotationally connected, the second side link 72
Upper end end and the upper end of the second support 74 be rotationally connected, the length of the second side link 72 is more than the first frame linking
The length of bar 71.Second support 74 is the end face being vertically installed at the first carrier 2, with the first support 63
Parallel, and height is higher than the first support 63.Second side link 72 also passes through fourth link 13 and the 2nd 4
Linkage 8 connects, and the output shaft of belt gear 62 drives the first side link 71 to make 360 degree of rotation fortune
Dynamic, drive the second side link 72 to swing in the range of certain angle, such that it is able to demonstration crank and rocker mechanism
The characteristics of motion, is transferred to the second four-bar mechanism 8 simultaneously by power, drives the second four-bar mechanism 8 to operate.
As preferably, as shown in Figure 6, the second four-bar mechanism 8 is parallelogram lindage, and it includes the 3rd
Side link the 81, the 4th side link 82, third connecting rod 83 and the 3rd support 84.3rd side link 81 is L
Type component, has three pin joints, and three pin joints lay respectively at two ends and middle corner.3rd even
Bar 83 is also L-type component, the most also has three pin joints, and three pin joints lay respectively at two ends and centre
Corner.One end of fourth link 13 is rotationally connected with the second side link 72, and the other end and the 3rd is even
One end of hack lever 81 is rotationally connected, the other end of the 3rd side link 81 and the hinge of the corner of third connecting rod 83
Contact is rotationally connected.3rd side link 81 is rotationally connected with the 3rd support 84 around the corner, the 4th side link
One end of 82 is rotationally connected with the upper end of the 3rd support 84, the other end of the 4th side link 82 and third connecting rod
The upper end thereof point of 83 is rotationally connected, and the junction point of the 4th side link 82 and the 3rd support 84 is positioned at the 3rd
The top of the junction point of side link 81 and the 3rd support 84, the 4th side link 82 and the company of third connecting rod 83
Contact is positioned at the top of the 3rd side link 81 and the junction point of third connecting rod 83.3rd support 84 is vertically to pacify
It is contained in the end face of the first carrier 2, parallels with the first support 63 and the second support 74, and be highly less than
Second support 74.Two slide bars 42 of the first mechanical hand 4 are fixedly mounted on the other end of third connecting rod 83,
Slide bar 42 is perpendicular with third connecting rod 83, and third connecting rod 83 exports structure as the power of the second four-bar mechanism 8
Part.Second side link 72, fourth link the 13, the 3rd side link the 81, second support 74 and the 3rd support 84
Can also constitute a four-bar mechanism, the first four-bar mechanism 7 is by fourth link 13 and the second four-bar mechanism 8
Connecting, power is transferred to the second four-bar mechanism 8, final third connecting rod 83 drives the first mechanical hand 4 overall
In vertical plane, make translation, make the first mechanical hand 4 can demonstrate lifting action, simultaneously can be with demonstration of parallelism four
The characteristics of motion of linkage.
As shown in Figures 2 and 3, the mechanical mechanism on the first carrier 2 also includes that be sequentially connected with second drives
Motivation structure 9, equal width cam mechanism 10 and the first hydraulic gear 11.
As preferably, as it is shown in fig. 7, the second drive mechanism 9 includes the second driving motor the 91, the 10000th
To shaft coupling the 92, the 4th support 93 and the first axle 95.Second drives motor 91 to be fixedly mounted on by bearing
The end face of the first carrier 2, second drives axis and the end face of the second carrier 3 of the motor shaft of motor 91
Parallel, and drive the motor shaft axis of motor 61 to parallel with first.4th support 93 is for being vertically installed at
The end face of the first carrier 2, due to the area constraints of the first carrier 2, second drives motor 91 to be positioned at the
The side of two supports 74, the 4th support 93 is positioned at the side of the first support 63, and second drives motor 91
The relative both sides of the plane of the first carrier 2 axis it were positioned at the 4th support 93, and equal width cam mechanism
10 are arranged on the 4th support 93, therefore use the first Hooks coupling universal coupling 92 and the first axle 95 and second to drive
Motor 91 and equal width cam mechanism 10 couple together, in order to each mechanism carries out cloth on the first carrier 2
Put.First Hooks coupling universal coupling 92 is easy to pass from the space between the first support 63 and the second support 74, the
One end of one Hooks coupling universal coupling 92 drives the motor shaft of motor 91 to be connected with second, the other end and the first axle 95
Connecting, the first axle 95 drives the motor shaft of motor 91 to parallel with second, and the first axle 95 is supported on the 4th
On frame 93, and the height of the first axle 95 is higher than the height of the second driving motor 91.Second drives motor 91
Operating, drives the first Hooks coupling universal coupling 92 and the first axle 95 to operate, thus is transferred to by power wide
Cam mechanism 10, can demonstrate the Hooks coupling universal coupling characteristics of motion simultaneously.
As preferably, as shown in Figure 7, Figure 8 and Figure 9, equal width cam mechanism 10 include eccentric cam 101,
Outside framework the 102, first slide block 103 and mounting disc 104.The shape of outside framework 102 is generally rectangular shaped, in it
Portion is provided with the groove accommodating eccentric cam 101, and the shape of groove is the most generally rectangular shaped, eccentric cam 101 with
Outside framework 102 matches, and the positive camber of eccentric cam 101 contacts with the internal face of outside framework 102, eccentric
On cam 101 contour line, distance between any two parallel lines is equal to the width of the groove of outside framework 102.Partially
Cardiac prominence wheel 101 is fixedly mounted in mounting disc 104, and mounting disc 104 is disc-shaped component, mounting disc 104
Between the 4th support 93 and outside framework 102, and parallel with outside framework 102.First axle 95 passes
4th support 93 is fixing with the center of mounting disc 104 to be connected, eccentric cam 101 and mounting disc 104 non-concentric,
So that the center of eccentric cam 101 is spaced a distance with the first axle 95.Outside framework 102 relative two
Side is respectively provided with the first slide block 103 of a strip, and the first slide block 103 is for being horizontally disposed with, with mounting disc 104
Axis perpendicular.Two the first slide blocks 103 are located along the same line, accordingly in the both sides of the 4th support 93
Being provided with the first chute 94 allowing the first slide block 103 pass through, the first chute 94 can be to two the first slide blocks 103
Playing guide effect, when eccentric cam 101 rotates, the first chute 94 may insure that outside framework 102 and
One slide block 103 moves in the horizontal direction.One of them first slide block 103 and first of equal width cam mechanism 10
Hydraulic gear 11 connects, such that it is able to the power that the second driving motor 91 produces is transferred to the first liquid
Pressure drive mechanism 11, can demonstrate the characteristics of motion of equal width cam mechanism 10 simultaneously.
As preferably, as shown in Fig. 2, Fig. 6 and Fig. 8, the first hydraulic gear 11 includes that first is main
Oil cylinder 111, the first auxiliary oil cylinder 112 being located on the third connecting rod 83 of the second four-bar mechanism 8 and vertically-mounted
The 5th support 113 on the end face of the first carrier 2, the 5th support 113 and the 4th support 93 are positioned at same
Side, is arranged side by side.The cylinder body of the first master cylinder 111 is fixedly mounted on the upper end of the 5th support 113, and in
Level is arranged, and the piston rod of the first master cylinder 111 stretches out at the 4th support 93, the first master cylinder
The piston rod of 111 is also connected with the first slide block 103 of the clutch end of equal width cam mechanism 10, and first is main
Oil cylinder 111 also is connected to control the first auxiliary oil cylinder with the first auxiliary oil cylinder 112 by oil pipe (not shown)
112.The cylinder body of the first auxiliary oil cylinder 112 is fixedly mounted on third connecting rod 83, and both are parallel, and first is secondary
The piston rod of oil cylinder 112 stretches out towards the first mechanical hand 4.
As shown in figure 25, the first master cylinder 111 and the first auxiliary oil cylinder 112 are respectively provided with an opening a and one
Opening b, opening a and opening b pass in and out for hydraulic oil.The secondary oil of the opening a of the first master cylinder 111 and first
The opening a of cylinder 112 is connected by oil pipe, the opening b of the first master cylinder 111 and opening of the first auxiliary oil cylinder 112
Mouth b is connected by another root oil pipe, constitutes the oil circuit of Guan Bi.When the first slide block 103 moves, can drive
The piston rod of the first master cylinder 111 moves, and the hydraulic oil in the first master cylinder 111 can flow to the first auxiliary oil cylinder
In 112, such that it is able to drive the piston rod of the first auxiliary oil cylinder 112 to move, power is transferred to the first machine the most at last
Tool hands 4.
As preferably, the first master cylinder 111 is single-acting piston formula hydraulic cylinder, the first auxiliary oil cylinder 112
For Dual-acting piston formula hydraulic cylinder.
As shown in figure 11, the piston rod of the first auxiliary oil cylinder 112 is by the contiguous block 14 of a V-arrangement and two
First finger 41 connects, and the tip of contiguous block 14 is fixing with the end of the piston rod of the first auxiliary oil cylinder 112 to be connected
Connect.Contiguous block 14 is provided with two the second chutes 141, and the second chute 141 has certain length, two
Having a certain size angle between second chute 141, this angle angle is less than 90 degree.First-hand at two
Referring to that one end of 41 is respectively provided with a guide rod 43, the axis of guide rod 43 hangs down mutually with the axis of slide bar 42
Directly, the guide rod 43 on each first finger 41 inserts in second chute 141 respectively, with the second chute 141
Match, constitute Wedge mechanism.When second drives motor 91 to operate, the piston rod of the first auxiliary oil cylinder 112
Contiguous block 14 can be driven to move, and contiguous block 14 can drive two the first fingers 41 by the second chute 141
Move toward one another or deviate from motion mutually, can demonstrate the characteristics of motion of Wedge mechanism simultaneously.
As the variant embodiment of the first hydraulic gear 11, hydraulic pump and fuel tank and first can be used
Auxiliary oil cylinder 112 connects and composes the hydraulic gear of routine, and equally drive connection block 14 moves, by liquid
Press pump and fuel tank are arranged on the first carrier 2, can cancel the second drive mechanism 9 and constant breadth cam accordingly
Mechanism 10, can simplify the structure of the first demo system to a certain extent.
As shown in Figure 12 and Figure 13, the first demo system also includes being located at the first of the first carrier 2 bottom surface
Base 12, the first base 12 is provided with and is connected with the first carrier 2 and for driving the first carrier 2 to rotate
The 5th drive mechanism 23, such that it is able to make the first mechanical hand 4 demonstrate spinning movement.
The box body of the first base 12 rectangle, has four side plates and a top board, side plate and workbench 1
End face is fixing to be connected, and top board is positioned at the lower section of the first carrier 2 and parallels with the first carrier 2.As
Preferably, the 5th drive mechanism 23 includes the 5th driving motor the 231, first upper flange 232 and the first subiculum
Plate 233, it is internal that the first bottom plate 233 is in the first base 12, and the first bottom plate 233 is the top of top
Plate is fixing to be connected, and the 5th drives motor 231 to be vertically installed on the first bottom plate 233, and the 5th drives electricity
The motor shaft of machine 231 protrudes upward and passes top board and the first upper flange 232 being positioned at above the first carrier 2
Fixing connection, the first upper flange 232 is also by bolt and the first fixing connection of carrier 2, accordingly at top board
It is provided with the through hole allowing the motor shaft of the 5th driving motor 231 pass.5th drives motor 231 to operate, from
And the first carrier 2 and each mechanical mechanism and first arranged on it can be driven by the first upper flange 232
Mechanical hand 4 synchronous rotary, the 5th drives motor 231 and the first upper flange 232 coaxial with the first carrier 2,
It is additionally provided with a thrust bearing, to guarantee that first holds between the top board and the first carrier 2 of the first base 12
Load plate 2 can smooth rotation.
As shown in Figure 14 and Figure 15, the second demo system includes the second carrier 3 and is located at the second carrier 3
On mechanical mechanism.Second carrier 3 is identical with the structure of the first carrier 2, is disc-shaped component,
Second carrier 3 is paralleled with workbench 1, the rotation centerline of the second carrier 3 and the top of workbench 1
Face is perpendicular.The end face of the second carrier 3 is plane, and the mechanical mechanism on the second carrier 3 includes successively
The 3rd drive mechanism 15, gear drive 16, Geneva mechanism 17 and the 3rd four-bar mechanism 18 connected,
3rd drive mechanism 15, gear drive 16, Geneva mechanism 17 and the 3rd four-bar mechanism 18 are arranged on
The end face of two carriers 3.3rd drive mechanism 15 is used for producing power, and by power through gear drive
16, Geneva mechanism 17 and the 3rd four-bar mechanism 18 are transferred to the second mechanical hand 5, the 3rd four-bar mechanism 18
Power output member is connected with the support bar 52 of the second mechanical hand 5, final driving the second mechanical hand 5 and two
Second finger 51 carries out corresponding actions.
As preferably, as shown in figure 16, the 3rd drive mechanism 15 includes the 3rd driving motor 151 and the
Six supports 152, the 3rd drives motor 151 to be arranged on the upper end of the 6th support 152, and the 3rd drives motor 151
The axis of motor shaft parallel with the end face of the first carrier 2, the 6th support 152 is for being vertically installed at second
The end face of carrier 3.
As preferably, as shown in figure 17, gear drive 16 is two-stage drive mechanism, and it includes
One gear the 161, second gear the 162, the 3rd gear the 163, the 4th gear the 164, second axle the 165, the 3rd axle
166, the 7th support 167 and the 8th support 168.First gear 161 and the second gear 162 are meshed, the
One gear 161 and the second gear 162 are bevel gear, and the 3rd gear 163 and the 4th gear 164 are meshed,
3rd gear 163 and the 4th gear 164 are roller gear.7th support 167 and the 8th support 168 are perpendicular
Directly being arranged on the end face of the second carrier 3, the 7th support 167 and the 6th support 152 are generally in same height
Degree, the height of the 8th support 168 is higher than the 7th support 167.7th support 167 and the 8th support 168 are respectively
It is provided with parallel two, the 7th support 167 between the 6th support 152 and the 8th support 168,
Second axle 165 frame level frame is located on two the 7th supports 167, and the 3rd axle 166 level frame is located at two
On eight supports 168.First gear 161 is arranged on the motor shaft of the 3rd driving motor 151, the second gear
162 and the 3rd gear 163 be arranged on the second axle 165, the 4th gear 164 is arranged on the 3rd axle 166,
3rd axle 166 is also connected with Geneva mechanism 17.When 5th driving motor 231 operates, produce power through gear
Drive mechanism 16 is transferred to Geneva mechanism 17, can demonstrate the fortune of bevel gear mechanism and cylindrical gear mechanism simultaneously
Dynamic rule.
As preferably, as shown in Figure 18 and Figure 26, Geneva mechanism 17 includes actively driver plate 171, sheave
172, pivoted arm 175, straight pin the 176, the 9th support 173 and the 4th axle 174.Actively driver plate 171 is for having
The disk of two symmetric windows, actively respectively installs a pivoted arm 175, pivoted arm on driver plate 171 and in indentation, there
The end of 175 is installed one and is used for embedding the straight pin 176 in the radial slot on sheave 172, sheave 172
Radial slot is evenly equipped with four.Actively driver plate 171 is fixedly mounted on the 3rd axle 166, and is positioned at two the 8th
Between support 168.9th support 173 is the end face being vertically installed at the second carrier 3, the 9th support 173
It is generally in sustained height with the 8th support 168.9th support 173 is provided with parallel two 8 the 7th
Frame 167 between the 7th support 167 and the 9th support 173, the 4th axle 174 frame level frame is located at two
On individual 9th support 173.Sheave 172 is fixedly mounted on the end of the 4th axle 174, and is positioned at two the 9th
The outside of support 173.Sheave 172 is connected with the 3rd four-bar mechanism 18, when the 5th driving motor 231 operates,
Produce power and be transferred to Geneva mechanism 17 through gear drive 16, be then transferred to the through Geneva mechanism 17
Three four-bar mechanisms 18, can demonstrate the characteristics of motion of Geneva mechanism 17 simultaneously.
As preferably, as shown in figure 19, the 3rd four-bar mechanism 18 is crank and rocker mechanism, and it includes
Five side link the 181, the 6th side link the 182, the 5th connecting rod 183 and the tenth supports 184.5th side link 181
One end be connected the center of sheave and sheave are fixing, the other end of the 5th side link 181 and the 5th connecting rod
183 are rotationally connected.6th side link 182 is L-type component, has three pin joints, and three pin joints are respectively
It is positioned at two ends and middle corner.The other end of the 5th connecting rod 183 and the corner of the 6th side link 182
Pin joint be rotationally connected, the lower end of the 6th side link 182 is rotationally connected with the tenth support 184, the tenth
Frame 184 is the end face being vertically installed at the second carrier 3, parallels with the 9th support 173, and the least
In the 9th support 173.The height of the junction point of the 5th connecting rod 183 and the 6th side link 182 is less than sheave center
Highly, the support bar 52 of the second mechanical hand 5 is fixedly mounted on the other end of the 6th side link 182, support bar
52 is perpendicular with the 6th side link 182, and the 6th side link 182 exports as the power of the 3rd four-bar mechanism 18
Component.3rd power driving motor 151 to produce is transferred to the 3rd four-bar mechanism 18 through Geneva mechanism 17,
6th side link 182 drives the second mechanical hand 5 entirety to make oscillating traverse motion in vertical plane eventually, the most just makes
Second mechanical hand 5 can demonstrate lifting action, can demonstrate the characteristics of motion of crank and rocker mechanism simultaneously.
As shown in Figure 14 and Figure 15, the mechanical mechanism on the second carrier 3 also includes the 4th be sequentially connected with
Drive mechanism 22, cycloid gear linkage 19 and the second hydraulic gear 20.
As preferably, as shown in figure 20, the 4th drive mechanism 22 includes 4 wheel driven galvanic electricity machine 221, second
Hooks coupling universal coupling 222, twelve earthly branches frame 223 and the 5th axle 224.4 wheel driven galvanic electricity machine 221 is solid by bearing
Dingan County is contained in the end face of the second carrier 3, the axis of the motor shaft of 4 wheel driven galvanic electricity machine 221 and the second carrying
The end face of dish 3 is parallel, and the most perpendicular with the motor shaft axis of the 3rd driving motor 151.Tenth
Two supports 223 are the end face being vertically installed at the first carrier 2, with the 7th support the 167, the 8th support 168
Parallel with the 9th support 173, the 7th support the 167, the 8th support 168 and the 9th support 173 centralized arrangement
Around the center of the second carrier 3, due to the area constraints of the second carrier 3,4 wheel driven galvanic electricity machine 221
Being positioned at the 8th support 168 and the side of the 9th support 173, twelve earthly branches frame 223 is positioned at the 7th support 167
With the opposite side of the 8th support 168, and 4 wheel driven galvanic electricity machine 221 and twelve earthly branches frame 223 be positioned at second
The relative both sides of the plane of carrier 3 axis, and cycloid gear linkage 19 is arranged on twelve earthly branches frame
On 223, therefore use the second Hooks coupling universal coupling 222 and the 5th axle 224 by 4 wheel driven galvanic electricity machine 221 and cycloid
Geared linkage mechanism 19 couples together, in order to each mechanism is arranged on the second carrier 3.20000th
To one end of shaft coupling 222 from the 8th support 168 and the with regard to the space between support through and 4 wheel driven galvanic electricity
The motor shaft of machine 221 connects, and the other end is through the 7th support 167 and the 8th support 168 of opposite side and the
Five axles 224 connect, and the 5th axle 224 is paralleled with the motor shaft of 4 wheel driven galvanic electricity machine 221, the 5th axle 224
It is supported on twelve earthly branches frame 223, and the height of the 5th axle 224 is higher than the height of 4 wheel driven galvanic electricity machine 221.
4 wheel driven galvanic electricity machine 221 operates, and drives the second Hooks coupling universal coupling 222 and the 5th axle 224 to operate, from
And power is transferred to cycloid gear linkage 19, the Hooks coupling universal coupling characteristics of motion can be demonstrated simultaneously.
As preferably, as shown in Figure 20 and Figure 21, cycloid gear linkage 19 include centre wheel 191,
Planetary gear 192, six-bar linkage 193 and the second slide block 195.Centre wheel 191 inner surface is provided with and planetary gear 192
The gear ring of internal messing, centre wheel 191 is fixedly mounted on the vertical side of twelve earthly branches frame 223, centre wheel
191 is coaxial with the 5th axle 224, and one end of six-bar linkage 193 and the 5th axle 224 are through twelve earthly branches frame 223
End fixing connect, the other end of six-bar linkage 193 in the center of planetary gear 192 by bearing pin and row
Star-wheel 192 is rotationally connected.Six-bar linkage 193 is positioned at the side of planetary gear 192, and the second slide block 195 is positioned at
The opposite side of planetary gear 192, is fixed with one away from circle centre position on this side, side of planetary gear 192
One projection 194, one end of the second slide block 195 is rotationally connected with the first projection 194.Second slide block 195 is for long
Bar shaped, and for being horizontally disposed with, with the axis perpendicular of planetary gear 192.Side at twelve earthly branches frame 223
Being provided with second projection 225 protruded in the horizontal direction, the second projection 225 is provided with one allows second to slide
The 3rd chute 226 that block 195 passes through, the 3rd chute 226 matches with the second slide block 195, can be to second
Slide block 195 plays guide effect.When 4 wheel driven galvanic electricity machine 221 drives the 5th axle 224 to rotate, the 5th axle
224 drive six-bar linkage 193 by rotating, and six-bar linkage 193 drives planetary gear 192 in centre wheel 191
Make turnover motion, drive the second slide block 195 to make water along the 3rd chute 226 by the second projection 225 simultaneously
Flat linear reciprocating motion.Second slide block 195 passes the other end and second hydraulic drive motor of the 3rd chute 226
Structure 20 connects, such that it is able to the power that 4 wheel driven galvanic electricity machine 221 produces is transferred to youngster's hydraulic gear,
The characteristics of motion of cycloid gear linkage 19 can be demonstrated simultaneously.
As preferably, as shown in Figure 14, Figure 15, Figure 19 and Figure 21, the second hydraulic gear 20
Essentially identical with the structure of the first hydraulic gear 11, the second hydraulic gear 20 includes the second main oil
Cylinder 201, the second auxiliary oil cylinder 202 being located on the 6th side link 182 of the 3rd four-bar mechanism 18 and vertically pacify
Being contained in the 11st support 203 on the end face of the second carrier 3, the 11st support 203 is positioned at the tenth support
The side of 184, and with twelve earthly branches frame 223 the most side by side.The cylinder body of the second master cylinder 201 is fixedly mounted on
The upper end of the 11st support 203, and the setting that is the level of state, the piston rod of the second master cylinder 201 is towards
Stretch out at twelve earthly branches frame 223, the piston rod of the second master cylinder 201 and with cycloid gear linkage 19 power
Second slide block 195 of outfan connects, the second master cylinder 201 by oil pipe (not shown) and the
Two auxiliary oil cylinders 202 connect to control the second auxiliary oil cylinder 202.The cylinder body of the second auxiliary oil cylinder 202 is fixedly mounted on
On six side links 182, both are parallel, and the piston rod of the second auxiliary oil cylinder 202 is stretched towards the second mechanical hand 5
Go out.
As shown in figure 25, the second master cylinder 201 and the second auxiliary oil cylinder 202 are respectively provided with an opening a and one
Opening b, opening a and opening b pass in and out for hydraulic oil.The secondary oil of the opening a of the second master cylinder 201 and second
The opening a of cylinder 202 is connected by oil pipe, the opening b of the second master cylinder 201 and the second auxiliary oil cylinder 202
Opening b is connected by another root oil pipe, constitutes the oil circuit of Guan Bi.When the second slide block 195 moves, can carry
The piston rod of dynamic second master cylinder 201 moves, and the hydraulic oil in the second master cylinder 201 can flow to the second secondary oil
In cylinder 202, such that it is able to drive the piston rod of the second auxiliary oil cylinder 202 to move, power is transferred to the most at last
Two mechanical hands 5.
As preferably, the second master cylinder 201 is single-acting piston formula hydraulic cylinder, the second auxiliary oil cylinder 202
For Dual-acting piston formula hydraulic cylinder.
As shown in figure 19, the end of the piston rod of the first auxiliary oil cylinder 112 and two first connecting rod 53 ends
Bearing pin is fixing to be connected, and the piston rod of the first auxiliary oil cylinder 112 does reciprocating linear motion, can be by two first
Connecting rod 53 drives two second fingers 51 to rotate respectively, such that it is able to make two second of the second mechanical hand 5
Finger 51 demonstration folds up action.
As the variant embodiment of the second hydraulic gear 20, hydraulic pump and fuel tank and second can be used
Auxiliary oil cylinder 202 connects and composes the hydraulic gear of routine, and equally drive connection block 14 moves, by liquid
Press pump and fuel tank are arranged on the second carrier 3, can cancel the 4th drive mechanism 22 and cycloid gear accordingly
Linkage 19, can simplify the structure of the second demo system to a certain extent.
Second demo system also includes the second base 21 being located at the second carrier 3 bottom surface, on the second base 21
It is provided with and is connected with the second carrier 3 and for the 6th drive mechanism 24 driving the second carrier 3 to rotate.
As shown in Figure 22 and Figure 23, the second demo system also includes being located at the second of the second carrier 3 bottom surface
Base 21, the second base 21 is provided with and is connected with the second carrier 3 and for driving the second carrier 3 to rotate
The 6th drive mechanism 24, such that it is able to make the second mechanical hand 5 demonstrate spinning movement.
The structure of the second base 21 is identical with the structure of the first base 12, is also the box body of rectangle, has four
Individual side plate and a top board, side plate is that the end face with workbench 1 is fixing to be connected, and top board is positioned at the second carrier 3
Lower section and parallel with the second carrier 3.6th drive mechanism 24 and the structure of the 5th drive mechanism 23
Identical, the 6th drive mechanism 24 includes the 6th driving motor the 241, second upper flange 242 and the second bottom plate
243, it is internal that the second bottom plate 243 is in the second base 21, and the second bottom plate 243 is the top board of top
Fixing connection, the 6th drives motor 241 to be vertically installed on the second bottom plate 243, and the 6th drives motor
It is solid with the second upper flange 242 being positioned at above the second carrier 3 that the motor shaft of 241 protrudes upward and pass top board
Fixed connection, the second upper flange 242 is also by bolt and the second fixing connection of carrier 3, accordingly on top board
It is provided with the through hole allowing the motor shaft of the 6th driving motor 241 pass.6th drives motor 241 to operate, thus
The second carrier 3 and each mechanical mechanism arranged on it and the second machine can be driven by the second upper flange 242
Tool hands 5 synchronous rotary, the 6th drives motor 241 and the second upper flange 242 coaxial with the second carrier 3,
It is additionally provided with a thrust bearing, to guarantee that second holds between the top board and the second carrier 3 of the second base 21
Load plate 3 can smooth rotation.
Above in association with accompanying drawing, the present invention is exemplarily described.Obviously, the present invention implements and is not subject to
The restriction of aforesaid way.As long as the various non-solid that the method design that have employed the present invention is carried out with technical scheme
The improvement of matter；Or the most improved, above-mentioned design and the technical scheme of the present invention are directly applied to other
Close, all within protection scope of the present invention.
Claims (9)
1. a robot movement principle demonstration teaching aid, it is characterised in that: include that the first mechanical hand, the second mechanical hand and the first mechanical hand connect and for driving the first demo system of the first robot movement and being connected with the second mechanical hand and for driving the second demo system of the second robot movement；
Described first demo system includes the first carrier and the mechanical mechanism being located on the first carrier, and the mechanical mechanism on the first carrier includes the first drive mechanism, the first four-bar mechanism and the second four-bar mechanism being sequentially connected with；
At least two that includes described first mechanical hand matches for capturing the first finger of object and the slide bar that at least two is parallel, and first-hand fingerstall is located on slide bar and can be along sliding bar, and the power output member of described second four-bar mechanism is connected with described slide bar.
Robot movement principle demonstration teaching aid the most according to claim 1, it is characterised in that: also including that workbench, described first demo system and described second demo system set on the table, the first carrier is paralleled with workbench.
Robot movement principle demonstration teaching aid the most according to claim 2, it is characterised in that: described second mechanical hand includes that at least two matches for capturing the second finger of object and at least one support bar, and second finger is rotationally connected with support bar.
Robot movement principle demonstration teaching aid the most according to claim 3, it is characterized in that: described first four-bar mechanism is crank and rocker mechanism, the clutch end of the first four-bar mechanism is connected with the power intake of described second four-bar mechanism by connecting rod, second four-bar mechanism is parallelogram lindage, and its component making translation is the power output member being connected with described slide bar；The power that described first drive mechanism produces is transferred to described first mechanical hand through the first four-bar mechanism and the second four-bar mechanism, makes the first mechanical hand entirety make translation.
Robot movement principle demonstration teaching aid the most according to claim 4, it is characterized in that: the mechanical mechanism on described first carrier also includes the second drive mechanism being sequentially connected with, equal width cam mechanism and the first hydraulic gear, first hydraulic gear includes the first master cylinder and the first auxiliary oil cylinder being located in the power output member of described second four-bar mechanism, the piston rod of the first master cylinder is connected with the clutch end of equal width cam mechanism, first master cylinder is also connected by oil pipe and the first auxiliary oil cylinder to control the first auxiliary oil cylinder, the piston rod of the first auxiliary oil cylinder is connected by contiguous block and two described first fingers of V-arrangement, contiguous block is provided with chute, first finger is provided with the guide rod inserted in chute；The power that second drive mechanism produces is transferred to described first mechanical hand through equal width cam mechanism and the first hydraulic gear, makes the first finger of the first mechanical hand move along described slide bar.
6. according to the arbitrary described robot movement principle demonstration teaching aid of claim 3 to 5, it is characterized in that: described second demo system includes the second carrier and the mechanical mechanism being located on the second carrier, mechanical mechanism on second carrier includes the 3rd drive mechanism, gear drive, Geneva mechanism and the 3rd four-bar mechanism being sequentially connected with, and the power output member of the 3rd four-bar mechanism is connected with described support bar.
Robot movement principle demonstration teaching aid the most according to claim 6, it is characterised in that: described gear drive is two-stage drive mechanism, and described 3rd four-bar mechanism is crank and rocker mechanism；The power that described 3rd drive mechanism produces is transferred to described second mechanical hand through gear drive and the 3rd four-bar mechanism, makes the second mechanical hand entirety make oscillating traverse motion.
Robot movement principle demonstration teaching aid the most according to claim 7, it is characterized in that: the mechanical mechanism on described second carrier also includes the 4th drive mechanism being sequentially connected with, cycloid gear linkage and the second hydraulic gear, second hydraulic gear includes the second master cylinder and the second auxiliary oil cylinder being located in the power output member of described 3rd four-bar mechanism, the piston rod of the second master cylinder is connected with the clutch end of cycloid gear linkage, second master cylinder is also connected by oil pipe and the second auxiliary oil cylinder to control the second auxiliary oil cylinder, the piston rod of the second auxiliary oil cylinder is connected by another connecting rod and two described second fingers, the two ends of this another connecting rod are connected with second finger and piston rod rotation respectively；The power that 4th drive mechanism produces is transferred to described second mechanical hand through cycloid gear linkage and the second hydraulic gear, makes the second finger of the second mechanical hand rotate.
Robot movement principle demonstration teaching aid the most according to claim 8, it is characterized in that: described first demo system also includes being located at the first base of described first carrier bottom surface, the first base is provided with and is connected with the first carrier and for the 5th drive mechanism driving the first carrier to rotate；Described second demo system also includes the second base being located at described second carrier bottom surface, and the second base is provided with and is connected with the second carrier and for the 6th drive mechanism driving the second carrier to rotate.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107522143A (en) * | 2017-08-10 | 2017-12-29 | 苏州衡微仪器科技有限公司 | A kind of lift mechanism |
| CN107731080B (en) * | 2017-10-26 | 2023-12-19 | 苏州大闹天宫机器人科技有限公司 | Grabbing mechanism capable of being disassembled and assembled quickly and used for demonstrating mechanical principle |
| CN108898931A (en) * | 2018-08-23 | 2018-11-27 | 合肥磐石自动化科技有限公司 | A kind of 12 symbolic animals associated with a 12 year cycle science popularization device |
| CN109559630B (en) * | 2019-01-23 | 2021-01-05 | 烟台工程职业技术学院(烟台市技师学院) | Mechanical automatic structure demonstration teaching device |
| CN112447090B (en) * | 2020-12-22 | 2022-04-12 | 中国人民解放军陆军工程大学 | Transmission demonstration teaching aid for equipment machinery |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2070151U (en) * | 1990-07-06 | 1991-01-30 | 张雪雁 | Glass cleaning mechanical hand (manipulator) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2886728Y (en) * | 2006-03-29 | 2007-04-04 | 苏州瑞思机电科技有限公司 | Modularized auto production line for teaching purpose |
| CN201465410U (en) * | 2009-06-17 | 2010-05-12 | 天津科技大学 | Simulation teaching instrument for position and pose change of robot arm |
| CN201910194U (en) * | 2011-01-06 | 2011-07-27 | 天津罗升企业有限公司 | Teaching training device for optical disk sorting with manipulator |
| CN202534249U (en) * | 2011-12-16 | 2012-11-14 | 深圳职业技术学院 | A training apparatus of a transmission robot with multiple arms |
| CN203084972U (en) * | 2013-02-06 | 2013-07-24 | 锕玛科技股份有限公司 | Dynamic situation simulation device |
| CN203465865U (en) * | 2013-09-05 | 2014-03-05 | 北京中教仪装备技术有限公司 | Two-degree-of-freedom manipulator control experimental instrument |
| CN204029267U (en) * | 2014-08-14 | 2014-12-17 | 安徽工程大学 | A kind of robot movement principle demonstration teaching aid |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2070151U (en) * | 1990-07-06 | 1991-01-30 | 张雪雁 | Glass cleaning mechanical hand (manipulator) |
Non-Patent Citations (1)
| Title |
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| 空间机械手电联试系统的设计与研究;刘玮;《中国优秀硕士学位论文全文数据库 科技信息辑》;20081115(第11期);正文第4页第3、4段，附图1-4 * |
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