CN104154200B - A kind of mechanical device that uses single power source to realize two-dimentional closing motion track - Google Patents
A kind of mechanical device that uses single power source to realize two-dimentional closing motion track Download PDFInfo
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- CN104154200B CN104154200B CN201410402811.4A CN201410402811A CN104154200B CN 104154200 B CN104154200 B CN 104154200B CN 201410402811 A CN201410402811 A CN 201410402811A CN 104154200 B CN104154200 B CN 104154200B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/12—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types
- F16H37/124—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types for interconverting rotary motion and reciprocating motion
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Abstract
The present invention relates to a kind of mechanical device that uses single power source to realize two-dimentional closing motion track, comprise device base plate, low level switch tracks slope, a high position switch tracks slope, the detent mechanism that switches tracks, slide rail, slide block, high-order rackwork, low level rackwork, gear, screw rod, nut, guide post, roller shaft, roller and the mechanism of making zero; Under the driving of forward and reverse power source, this mechanical device can generate two-dimentional closing motion track. The present invention has simple in structure, and rigidity and precision are high, and pure mechanical couplings is easy to adjust track, reliability utmost point high. Adapting to high temperature, low temperature, strong electromagnetic, strong vibration, dust and corrosive gas environment, is a solution that replaces multi power source relevant device, carries out single repetitive operation.
Description
Technical field
The invention belongs to drive apparatus and manufacture and design field, be specifically related to a kind of use single power source, and can generate twoThe mechanical device of the high mechanical couplings of dimension closing motion track.
Background technology
Along with science and technology is showing improvement or progress day by day, needed in the past the various industries of manpower, the continuous mode of production to mechanization, automationChange.
Find by investigation, realize at present the mechanical device of two-dimentional closing motion track, mainly based on electric, hydraulic pressure and gasMoving transmission, and the control program supporting with it. These devices are too complicated, and reliability is not high, the wanting of ambient vibration indexAsk higher, expensive.
Summary of the invention
In order to solve the above-mentioned problem, the present invention designs the mechanical device of the high mechanical couplings of a kind of single-power, withExecution will generate each mechanical action of two-dimentional closing motion track, easily manufactured, and debugging easily, with low cost, environmental requirementLow, can be used for every field.
The use single power source that the present invention proposes is realized the mechanical device of two-dimentional closing motion track, at the bottom of comprising devicePlate, low level switch tracks slope, a high position switch tracks slope, the detent mechanism that switches tracks, slide rail, slide block, high-order rackwork, low level tooth bar machineStructure, gear, screw rod, nut, guide post, roller shaft, roller and the mechanism of making zero; Wherein, high-low position tooth bar, the bullet of the corresponding number of teethProperty padded coaming and mount pad form the high-low position rackwork of the corresponding number of teeth, the mechanism of making zero is by head, make zero axle and the compression of making zeroSpring forms; Under the driving of forward and reverse power source, the periodicity that slide block does level along slide rail moves back and forth, periodically pastIn reciprocating cutter process, gear engages with high-order tooth bar and low level tooth bar respectively, drives the forward and reverse rotation of screw rod, and nut is producedLiter, descending motion; In the gear of horizontal reciprocating movement and the high-order tooth bar being separated or low level tooth bar engaging-in as occurred stingingTooth, the elastomeric cushion material generation deformation under tooth bar, tooth bar tilts, the smooth engaging-in tooth bar of gear; Transport at slide block horizontal reciprocatingMoving beginning or end, is arranged on the gear that switches tracks on detent mechanism and is changed by low level slope or the high position slope that switches tracks that switches tracks respectivelyTo new position, and the detent mechanism that switched tracks remains on this position, makes it can engaging-in target in follow-up horizontal movementTooth bar; The height accumulating between in a horizontal reciprocating movement cycle of gear nut and device base plate can be eliminated by the mechanism of making zeroDegree error; It is characterized in that, between each member, form movement relation by 11 kinematic pairs, first be connected in slide rail withMoving sets between slide block, second is the rack-and-pinion being connected between high-order tooth bar, low level rack and pinion, the 3rdBe the revolute pair that is connected in gear and switches tracks between detent mechanism, the 4th is the revolute pair being connected between slide block and screw rod,The 5th is the screw pair being connected between screw rod and nut, and the 6th is the moving sets being connected between nut and guide post,The 7th is the moving sets that is connected in slide block and switches tracks between detent mechanism, the 8th be connected in make zero head and make zero between axleRevolute pair, the 9th is the revolute pair being connected between roller shaft and roller, the tenth is to be connected in roller and low level switches tracksRolling pair between slope, the 11 is to be connected in roller and the high-order rolling pair switching tracks between slope; Wherein, slide rail, lowThe switch tracks slope, make zero axle and mount pad of slope, a high position that switch tracks, position is installed on device base plate, and elastomeric cushion material is arranged on peaceDress seat is upper, and high-order tooth bar, low level tooth bar are fixedly connected with its elastomeric cushion material respectively, and slide block is arranged on slide rail by moving setsUpper, the detent mechanism that switches tracks is arranged on slide block by moving sets, and gear is arranged on and is switched tracks on detent mechanism by revolute pair, rollerAxle is fixedly mounted on and switches tracks on detent mechanism, and roller is arranged on roller shaft by revolute pair, and guide post is fixedly installed in slide block,Screw rod is arranged on slide block by revolute pair, and nut is arranged on screw rod and by moving sets and guide post and is connected by screw pairConnect, gear is connected with screw coaxial and by spline, and the head that makes zero is arranged on and is made zero on axle by revolute pair, and head and low level make zeroTooth bar is concordant in transverse tooth thickness direction, and Compress Spring one end is connected with the head that makes zero, and the other end and the high position slope that switches tracks is connected.
Realize the mechanical device of two-dimentional closing motion track according to use single power source of the present invention, by respective countsThe high-low position rackwork of amount and the corresponding number of teeth is arranged on and is parallel on relevant position slide rail, that can engage with gear, and peaceThe mechanism of making zero of dress respective numbers, can make nut form different two dimensions in a horizontal reciprocating movement cycle of slide block and closeResultant motion track.
Use single power source of the present invention is realized the mechanical device of two-dimentional closing motion track, has following features:(1) simple in structure, be easy to manufacture, easily realize modularization and produce; (2) good rigidity, precision is high; (3) only need a power source, nothingNeed add any electric, hydraulic pressure and pneumatic gearing means, reliability is high; (4) mechanical device target trajectory is easy to adjust;(5) adapt to high temperature, low temperature, strong electromagnetic, strong vibration, dust, corrosive gas environment, cost is low; (6) embody the high coupling of Machine DesignThe developing direction of closing property.
Brief description of the drawings
The mechanical device Facad structure schematic diagram of Fig. 1 (a) two-dimentional closing motion track for the present invention realizes;
The mechanical device structure schematic diagram of Fig. 1 (b) two-dimentional closing motion track for the present invention realizes;
The engaging-in schematic diagram one of mechanical device elasticity of Fig. 2 (a) two-dimentional closing motion track for the present invention realizes;
The engaging-in schematic diagram two of mechanical device elasticity of Fig. 2 (b) two-dimentional closing motion track for the present invention realizes;
The engaging-in schematic diagram three of mechanical device elasticity of Fig. 2 (c) two-dimentional closing motion track for the present invention realizes;
The mechanical device of Fig. 3 (a) two-dimentional closing motion track for the present invention the realizes structural scheme of mechanism one that makes zero;
The mechanical device of Fig. 3 (b) two-dimentional closing motion track for the present invention the realizes structural scheme of mechanism two that makes zero;
The mechanical device of Fig. 3 (c) two-dimentional closing motion track for the present invention the realizes structural scheme of mechanism three that makes zero;
The mechanical device starting point view of Fig. 4 (a) two-dimentional closing motion track for the present invention realizes;
The mechanical device terminal state schematic diagram of Fig. 4 (b) two-dimentional closing motion track for the present invention realizes;
Fig. 5 is mechanical device that the present invention the realizes two-dimentional closing motion track structural scheme of mechanism that switches tracks;
Mechanical device track one schematic diagram of Fig. 6 (a) two-dimentional closing motion track for the present invention realizes;
Mechanical device track two schematic diagrames of Fig. 6 (b) two-dimentional closing motion track for the present invention realizes;
In figure: 11-device base plate, 12-low level the switch tracks high-order tooth bar in slope, 13-slide rail, 14-, 15-elastic buffer materialSwitch tracks detent mechanism, 19-gear, 20-screw rod, 21-guide post, 22-nut, 23-of material, 16-mount pad, 17-slide block, 18-is lowPosition tooth bar, 24-make zero head, 25-make zero axle, 26-Compress Spring, a 27-high position switch tracks slope, 28-roller shaft, 29-roller.
Detailed description of the invention
The present invention proposes a kind of mechanical device of realizing two-dimentional closing motion track, 1(a by reference to the accompanying drawings), 1(b), 2(a), 2(b), 2(c), 3(a), 3(b), 3(c), 4(a), 4(b), 5,6(a), 6(b) be elaborated.
As Fig. 1 (a), 1(b) as shown in, be a kind of mechanical device of realizing two-dimentional closing motion track of the present invention, it comprisesDevice base plate 11, low level switch tracks slope 12, a high position switch tracks slope 27, slide rail 13, slide block 17, high-order rackwork, low level tooth barMechanism, the detent mechanism 18 that switches tracks, gear 19, screw rod 20, guide post 21, nut 22, roller shaft 28, roller 29 and the mechanism of making zero;Wherein, the high-order tooth bar 14 of the corresponding number of teeth, elastomeric cushion material 15 and mount pad 16 form the high-order rackwork of the corresponding number of teeth,Low level tooth bar 23, elastomeric cushion material 15 and the mount pad 16 of the corresponding number of teeth forms the low level rackwork of the corresponding number of teeth, makes zeroMechanism by making zero 24, make zero axle 25 and Compress Spring 26 form.
Between each member, form movement relation by 11 kinematic pairs, first be connected in slide rail 13 and slide block 17 itBetween moving sets, second is the rack-and-pinion being connected between high-order tooth bar 14, low level tooth bar 23 and gear 19, the 3rdBe the revolute pair that is connected in gear 19 and switches tracks between detent mechanism 18, the 4th is connected between slide block 17 and screw rod 20Revolute pair, the 5th is the screw pair being connected between screw rod 20 and nut 22, the 6th is to be connected in nut 22 and guide postMoving sets between 21, the 7th is the moving sets that is connected in slide block 17 and switches tracks between detent mechanism 18, the 8th is to connectIn making zero 24 and the revolute pair that makes zero between axle 25, the 9th is the revolute pair being connected between roller shaft 28 and roller 29,The tenth is to be connected in the rolling pair that roller 29 and low level switch tracks between slope 12, and the 11 is to be connected in roller 29 with high-orderThe rolling pair switching tracks between slope 27; Wherein, slide rail 13, low level switch tracks slope 12, a high position switch tracks slope 27, axle 25 and peace make zeroDress seat 16 is installed on device base plate 11, and elastomeric cushion material 15 is arranged on mount pad 16, high-order tooth bar 14, low level tooth bar23 are fixedly connected with its elastomeric cushion material 15 respectively, and slide block 17 is arranged on slide rail 13 by moving sets, and detent mechanism switches tracks18 are arranged on slide block 17 by moving sets, and gear 19 is arranged on and is switched tracks on detent mechanism 18 by revolute pair, and roller shaft 28 is solidDingan County is contained in and switches tracks on detent mechanism 18, and roller 29 is arranged on roller shaft 28 by revolute pair, and guide post 21 is fixedly installed inSlide block 17, screw rod 20 is arranged on slide block 17 by revolute pair, and nut 22 is arranged on screw rod 20 and by moving by screw pairMoving secondary be connected with guide post 21, gear 19 is coaxial with screw rod 20 and be connected by spline, makes zero 24 to install by revolute pairMaking zero on axle 25, making zero 24 concordant in transverse tooth thickness direction with low level tooth bar 23, Compress Spring 26 one end with make zero 24 solidConnect, the other end and the high position slope 27 that switches tracks is connected.
As shown in Figure 2 (a) shows, on the direct of travel of gear 19, gear 19 runs into static high-order tooth bar 14 or low level toothBar 23, first tooth contact in gear teeth and high-order tooth bar 14 or the engaging-in direction of low level tooth bar 23 of gear 19, the worst feelingsCondition be the active force that applies on the contact point of gear 19 of high-order tooth bar 14 or low level tooth bar 23 by the center of circle of gear 19 (asShown in " strength of gear direction 1 "), now gear 19 does not obtain torque and can not rotate; Now high-order tooth bar 14 or low level tooth barOn 23 contact point, be subject to the reaction force of gear 19, make elastomeric cushion material 15 produce compressive deformation, the high-order tooth bar on it14 or 23 run-off the straights of low level tooth bar, the contact point of two stressed teeth all changes, the active force being subject on gear 19 contact pointsNo longer, by its center of circle (as shown in " strength of gear direction 2 "), gear 19 obtains a torque, as shown in Fig. 2 (b); As this turnsSquare can make gear 19 rotate, and smooth and easy first tooth that slips over high-order tooth bar 14 or low level tooth bar 23 of its contact gear teeth, makes gear19 the smooth engaging-in high-order tooth bar 14 of next tooth or low level tooth bar 23; As can not making gear 19, this torque rotates its contactThe further elasticity of compression padded coaming 15 of the gear teeth, crosses first tooth of high-order tooth bar 14 or low level tooth bar 23 by slip, makeThe smooth engaging-in high-order tooth bar 14 of next tooth or the low level tooth bar 23 of gear 19, as shown in Figure 2 (c). This function is respectively by a high positionRackwork, low level rackwork coordinate realization with gear 19.
As shown in Fig. 3 (a), on the direct of travel of gear 19, gear 19 turns clockwise, and will depart from low level tooth bar23, rigidly connect and contact a 24(that makes zero as " as shown in engaging-in point " in gear teeth of gear 19), another tooth also with low level tooth barLast tooth contact (as shown in " dispersal point ") of 23; Gear 19 continues motion, 24 precompressed at Compress Spring 26 of making zeroUnder the gear teeth of gear 19 are produced to the active force in contrast to direct of travel, make gear 19 proceed to turn clockwise and completely de-From low level tooth bar 23, as shown in Figure 3 (b); Make zero 24 as the gear teeth of gear 19 will depart from, and nut 22 just in time arrives its edgeThe coordinate zero-bit that guide post 21 moves, making zero 24 does not swing; As not yet departing from, the gear teeth of gear 19 make zero 24, spiral shellFemale 22 have arrived the coordinate zero-bit that it moves along guide post 21, and gear 19 can not continue rotation, the now gear teeth of gear 19The precompression that 24 the active force of making zero is greater than to Compress Spring 26, Compress Spring 26 is compressed, makes zero 24 around the axle 25 that makes zeroClockwise rotate and its addendum line away from the addendum line of low level tooth bar 23, as shown in Figure 3 (c), the gear teeth of gear 19 will be crossed and returnOdd 24 is rear to depart from and 24 contacts of making zero completely, and 24 states before recovering under the pressure of Compress Spring 26 make zero.This function has been coordinated with gear 19 by the mechanism of making zero.
As shown in Figure 4 (a), the start position that slide block 17 moves along slide rail 13 in it, the detent mechanism 18 that switches tracks is in heightPosition and the gear 19 on it are concordant in transverse tooth thickness direction with high-order tooth bar 14, the coordinate that nut 22 moves along guide post 21 in itZero-bit. When apply a power on slide block 17, make slide block 17 start to do the translation of forward along slide rail 13 from start position, whenWhile arriving high-order tooth bar 14, gear 19 starts to engage with high-order tooth bar 14, and gear 19 is together counterclockwise by spline and screw rod 20Rotation, makes nut 22 produce ascending motion, and in the time that gear 19 and high-order tooth bar 14 are thrown off meshing relation, nut 22 rises to targetHighly.
As shown in Figure 5, when moving to low level along slide rail 13, the roller 29 switching tracks in detent mechanism 18 on slide block 17 switches tracksWhen the initial contact position on slope 12, roller 29 starts to roll on low level switches tracks the inclined-plane on slope 12, and detent mechanism 18 switches tracksPressed to low level by the low level slope 12 that switches tracks, when the roller 29 switching tracks in detent mechanism 18 on slide block 17 is along slide rail 13 arrival of movingLow level switch tracks slope 12 disengage position time, the detent mechanism 18 that switches tracks is pressed onto low level by the low level slope 12 that switches tracks, and by itThe mechanism of self remains on this position, and the gear 19 on it staggers in transverse tooth thickness direction completely with high-order tooth bar 14, with low levelTooth bar 23 is concordant in transverse tooth thickness direction, and slide block 17 arrives its final position of moving along slide rail 13, as shown in Figure 4 (b).
As shown in Figure 4 (b), now on slide block 17, apply a reverse power, slide block 17 is along slide rail 13 from terminalPosition starts to do reverse translation, and gear 19 no longer engages with high-order tooth bar 14, and in the time arriving low level tooth bar 23, gear 19 is with lowPosition tooth bar 23 starts engagement, and gear 19 together turns clockwise by spline and screw rod 20, makes nut 22 from object heightDecline; After gear 19 and low level tooth bar 23 are thrown off meshing relation, by the mechanism of making zero, nut 22 drops to it along guide post 21The coordinate zero-bit of motion.
As shown in Figure 5, the roller 29 switching tracks in detent mechanism 18 on slide block 17 moves to a high position along slide rail 13 and switches tracks tiltedlyWhen the initial contact position on slope 27, roller 29 starts to roll on a high position switches tracks the inclined-plane on slope 27, and detent mechanism 18 quilts switch tracksLift to a high position on the high position slope 27 that switches tracks, when the roller 29 switching tracks in detent mechanism 18 on slide block 17 along slide rail 13 move arrive highPosition switch tracks slope 27 disengage position time, the detent mechanism 18 that switches tracks is lifted to a high position by the high position slope 27 that switches tracks, and by its fromThe mechanism of body remains on this position, and the gear 19 on it staggers in transverse tooth thickness direction completely with low level tooth bar 23, with high-order toothBar 14 is concordant in transverse tooth thickness direction, and slide block 17 arrives its start position moving along slide rail 13, as shown in Figure 4 (a). Now applyReverse power on slide block 17 is removed, and has been that the next work period is ready.
As shown in Figure 6 (a), this figure is that the cone point of nut 22 in this mechanical device two dimension in a period of motion is closedResultant motion track.
If add a high-order rackwork in this mechanical device, increase the corresponding number of teeth of low level rackwork, spiral shellThe movement locus of female 22 cone point in a period of motion as shown in Figure 6 (b), is also a two-dimentional closing motion track.
If the high-low position rackwork of respective numbers and the corresponding number of teeth is arranged on and is parallel to cunning in this mechanical deviceOn relevant position rail 13, that can engage with gear 19, and the mechanism of making zero of respective numbers is installed, can makes nut 22 at slide blockIn the horizontal reciprocating movement cycle of 17, form different two-dimentional closing motion tracks.
In actual applications, realize two-dimentional closing motion track based on a kind of single power source that uses of the present inventionMechanical device, can be used for the various workplaces of these tracks of requirement, to carry out single repetitive operation.
Claims (2)
1. use single power source to realize a mechanical device for two-dimentional closing motion track, comprise that device base plate, low level switch tracksSlope, a high position switch tracks slope, the detent mechanism that switches tracks, slide rail, slide block, high-order rackwork, low level rackwork, gear, screw rod,Nut, guide post, roller shaft, roller and the mechanism of making zero; Wherein, high-low position tooth bar, elastomeric cushion material and the peace of the corresponding number of teethDress seat forms a high-low position rackwork for the corresponding number of teeth, and the mechanism of making zero is made up of the head that makes zero, make zero axle and Compress Spring; JustUnder the driving in reverse power source, the periodicity that slide block does level along slide rail moves back and forth, in periodicity reciprocating motion process,Gear engages with high-order tooth bar and low level tooth bar respectively, drives the forward and reverse rotation of screw rod, makes nut produce rising, descending motion;In the gear of horizontal reciprocating movement and the high-order tooth bar being separated or low level tooth bar engaging-in as occurred stinging tooth, under tooth barElastomeric cushion material generation deformation, tooth bar tilts, the smooth engaging-in tooth bar of gear; At starting point or the end of slide block horizontal reciprocating movementPoint, is arranged on the gear that switches tracks on detent mechanism and is changed to new position by switch tracks slope or the high-order slope that switches tracks of low level respectively,And remained on this position by the detent mechanism that switched tracks, make it can engaging-in target tooth bar in follow-up horizontal movement; Machine makes zeroStructure can be eliminated the height error accumulating between in a horizontal reciprocating movement cycle of gear nut and device base plate; Its spyLevy and be, between each member, form movement relation by 11 kinematic pairs, first is connected between slide rail and slide blockMoving sets, second is the rack-and-pinion being connected between high-order tooth bar, low level rack and pinion, the 3rd is to be connected in toothWheel and the revolute pair switching tracks between detent mechanism, the 4th is the revolute pair being connected between slide block and screw rod, the 5th is to connectBe connected to the screw pair between screw rod and nut, the 6th is the moving sets being connected between nut and guide post, and the 7th is to connectThe moving sets that is connected to slide block and switches tracks between detent mechanism, the 8th is to be connected in the revolute pair that makes zero head and make zero between axle,The 9th is the revolute pair being connected between roller shaft and roller, and the tenth is connected in roller and low level switches tracks between slopeRolling pair, the 11 is to be connected in roller and the high-order rolling pair switching tracks between slope; Wherein, slide rail, low level switch tracks slope,Switch tracks slope, make zero axle and mount pad of a high position is installed on device base plate, and elastomeric cushion material is arranged on mount pad, a high positionTooth bar, low level tooth bar are fixedly connected with its elastomeric cushion material respectively, and slide block is arranged on slide rail by moving sets, and location switches tracksMechanism is arranged on slide block by moving sets, and gear is arranged on and is switched tracks on detent mechanism by revolute pair, roller shaft fixed installationSwitching tracks on detent mechanism, roller is arranged on roller shaft by revolute pair, and guide post is fixedly installed in slide block, and screw rod is by turningMoving pair is arranged on slide block, and nut is arranged on screw rod and by moving sets and is connected with guide post by screw pair, gear and spiral shellBar is coaxial and be connected by spline, and the head that makes zero is arranged on and is made zero on axle by revolute pair, the head that makes zero with low level tooth bar in transverse tooth thicknessConcordant in direction, Compress Spring one end is connected with the head that makes zero, and the other end and the high position slope that switches tracks is connected.
2. a kind of mechanical device that uses single power source to realize two-dimentional closing motion track according to claim 1, itsBe characterised in that by the high-low position rackwork of respective numbers and the corresponding number of teeth be arranged on be parallel to slide rail, can engage with gearRelevant position on, and the mechanism of making zero of respective numbers is installed, can make the horizontal reciprocating movement cycle of nut at slide blockThe two-dimentional closing motion track that middle formation is different.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410402811.4A CN104154200B (en) | 2014-08-17 | 2014-08-17 | A kind of mechanical device that uses single power source to realize two-dimentional closing motion track |
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| CN201410402811.4A CN104154200B (en) | 2014-08-17 | 2014-08-17 | A kind of mechanical device that uses single power source to realize two-dimentional closing motion track |
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| CN104154200B true CN104154200B (en) | 2016-05-11 |
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| CN106426964B (en) * | 2016-10-08 | 2018-12-28 | 温州职业技术学院 | Water-color paintbrush step-by-step movement auto-feed conveying mechanism |
| CN109281999B (en) * | 2018-11-07 | 2023-09-01 | 段沧桑 | Comprehensive self-locking mechanism |
| CN110379066B (en) * | 2019-08-02 | 2024-05-10 | 深圳怡化电脑股份有限公司 | Transmission assembly with boundary crossing protection function and financial equipment |
| CN116621304B (en) * | 2023-07-20 | 2023-09-19 | 山东锦绣山河环境工程有限公司 | Alum throwing equipment for rural pond sewage treatment |
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| CN202268773U (en) * | 2011-09-23 | 2012-06-06 | 深圳市斯普雷博科技有限公司 | Feed screw integrated linear guide rail double-shaft electric cylinder type double-shaft electric robot device |
| CN103527738B (en) * | 2013-10-19 | 2015-12-23 | 段沧桑 | A kind of mechanical mechanism realizing lifting rotation action |
| CN204004270U (en) * | 2014-08-17 | 2014-12-10 | 段沧桑 | A kind of mechanical device that uses single power source to realize two-dimentional closing motion track |
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