CN104575229A - Three-dimensional book for showing manipulator mechanism - Google Patents
Three-dimensional book for showing manipulator mechanism Download PDFInfo
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- CN104575229A CN104575229A CN201410776219.0A CN201410776219A CN104575229A CN 104575229 A CN104575229 A CN 104575229A CN 201410776219 A CN201410776219 A CN 201410776219A CN 104575229 A CN104575229 A CN 104575229A
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- connecting rod
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- springs
- drive connecting
- dimensional
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
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- Engineering & Computer Science (AREA)
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a three-dimensional book for showing a manipulator mechanism. The three-dimensional book comprises a cover, common planar pages and a three-dimensional page, wherein a manipulator device is mounted on the three-dimensional page and comprises a first spring group, four groups of manipulator connection rods and a second spring group mounted at the rear ends of the manipulator connection rod groups; a first straining rope and a second straining rope are respectively fixed with a sliding block of the first spring group and the second spring group and then are connected with the manipulator connection rods. When the three-dimensional page is turned over, the tension on the first straining rope can be changed by moving the sliding block, so that a mechanical finger operates. According to the three-dimensional book, due to hand operation of a learner, a movement mechanism of a manipulator can be vividly learned; when learning the knowledge point, the learner can practice and consolidate the knowledge point.
Description
Technical field
The present invention relates to a kind of books, particularly a kind of three-dimensional book showing manipulator mechanism.
Background technology
Book is the carrier of knowledge, is that Students ' Learning is requisite.For the student of mechanical major, at this kind of subject based on schematic diagram of study mechanical principle, often feel gruelling, indigestion, because some concrete structures are all the printings of simple picture and text, student often needs to go to understand according to the imagination of oneself, and this is for mechanism uncommon in some daily lifes, and in understanding, difficulty is just very large.Teacher is when upper this kind of course, and simple explanation often can not be dealt with problems, and class can be made on the contrary to become uninteresting.Common way puts some ppt PowerPoints to assist understanding, but be confined to unidirectional seeing and listen, and the participation of student is low, enthusiasm is poor, explanation weak effect.
Summary of the invention
In order to there is shortcoming large by the understanding difficulty of printing figure message, that teaching is directly perceived not, students' participation degree is low when solving and learn now mechanical principle, a kind of three-dimensional book showing manipulator mechanism is provided, this three-dimensional book is convenient for carrying, manually actuated manipulator mechanism, demonstration and results of learning good.
For achieving the above object, the present invention is by the following technical solutions:
Show a three-dimensional book for manipulator mechanism, comprise strip of paper used for sealing, common plane page and three-dimensional page, common plane page, three-dimensional page are provided with binding hole, and common plane page, three-dimensional page and strip of paper used for sealing, through binding hole, are fixed by set collar, it is characterized in that being provided with robot device on three-dimensional page, robot device comprises the first groups of springs, four groups of mechanical arm connecting rods and is arranged on the second groups of springs of mechanical arm rod rear end, often organize mechanical arm connecting rod to be all arranged on base, often organize mechanical arm connecting rod and comprise drive connecting rod group and follower link group, three-dimensional page is provided with base, base is hinged with associating connecting rod, the first segment connecting rod of drive connecting rod group and follower link group, the first rotating shaft is articulated with respectively with the two ends of combining connecting rod, second rotating shaft, first drive connecting rod and the 4th rotating shaft hinged, second drive connecting rod and the first drive connecting rod hinged, 3rd drive connecting rod and the second drive connecting rod hinged, 3rd drive connecting rod and the 3rd rotating shaft hinged, first follower link and second follower link of follower link group are hinged, second follower link and the 4th rotating shaft hinged, end and the 3rd rotating shaft of the second follower link are hinged, base is provided with the first fulcrum and the second fulcrum, the spring at front end of the first groups of springs is fixedly connected with slide block rear end by slide rail, the rear end of the spring of the first groups of springs is fixedly connected with the first support, first tension rope one end and slide block are fixed, and the other end walks around the first fulcrum successively, the second fulcrum is fixedly connected with the end of the first drive connecting rod of drive connecting rod group, second tension rope one end is fixedly connected with the front end of the spring of the second groups of springs, and the rear end of the second groups of springs is fixedly connected with the second support, and the second tension rope other end is walked around the second fulcrum and is fixedly connected with the end of the first segment connecting rod of drive connecting rod group, first support and the second support are fixed on three-dimensional page.
Above-mentioned a kind of three-dimensional book showing manipulator mechanism, when described mechanical arm keeps horizontality, slide block is resisted against the spring at front end of the first groups of springs, the pulling force that the spring of the first tension rope and the first groups of springs produces jointly with, the second tension rope is the same with the pulling force that the spring of the second groups of springs produces jointly.
Open three-dimensional page, now, the tension force of first, second tension rope is the same, and mechanical arm keeps horizontality, can pass through moving slider, change the tension force of the first tension rope, makes mechanical finger produce action.This three-dimensional book, by the hands-on of student, can learn robot movement mechanism intuitively, while this knowledge point of study, put into practice simultaneously and consolidate this knowledge point.
Accompanying drawing explanation
Fig. 1 is one-piece construction schematic diagram of the present invention.
Structural representation when Fig. 2 is mechanical arm of the present invention setting.
Structural representation when Fig. 3 is mechanical arm maintenance level of the present invention.
Fig. 4 is the schematic diagram of mechanical arm of the present invention.
Be labeled as in figure: 1 common plane page, 11 set collars, 2 three-dimensional pages, 3 second groups of springs, 4 second tension ropes, 5 mechanical arm connecting rods, 6 first tension ropes, 7 first groups of springs, 8 slide blocks, 51 first drive connecting rod, 52 second drive connecting rod, 53 the 3rd drive connecting rod, 54 first follower link, 55 second follower link, 81 first fulcrums, 82 second fulcrums, 83 associating connecting rods, 84 first rotating shafts, 85 second rotating shafts, 87 the 4th rotating shafts, 9 bases, 10 slide rails, the first support 11, second support 12.
Embodiment
Embodiment one
With reference to accompanying drawing, a kind of three-dimensional book showing manipulator mechanism, comprises strip of paper used for sealing, common plane page 1 and three-dimensional page 3, and common plane page, three-dimensional page are provided with binding hole, and common plane page, three-dimensional page and strip of paper used for sealing, through binding hole, are fixed by set collar 11, three-dimensional page is provided with robot device, and robot device comprises the first groups of springs 7, four groups of mechanical arm connecting rods 5 and is arranged on the second groups of springs 3 of mechanical arm rod rear end, often organizing mechanical arm connecting rod is all arranged on base 9, often organize mechanical arm connecting rod and comprise drive connecting rod group and follower link group, three-dimensional page is provided with base 9, base is hinged with associating connecting rod 83, the first segment connecting rod 51 of drive connecting rod group and follower link group, 54 are articulated with the first rotating shaft 84 respectively with the two ends of combining connecting rod, second rotating shaft 85, first drive connecting rod 55 and the 4th rotating shaft 87 hinged, second drive connecting rod 52 and the first drive connecting rod hinged, 3rd drive connecting rod 53 and the second drive connecting rod hinged, 3rd drive connecting rod and the 3rd rotating shaft 86 hinged, first follower link 54 of follower link group and the second follower link 55 hinged, second follower link 55 and the 4th rotating shaft 87 hinged, end and the 3rd rotating shaft 86 of the second follower link 55 are hinged, base is provided with the first fulcrum 81 and the second fulcrum 82, the spring at front end of the first groups of springs is fixedly connected with slide block 8 rear end by slide rail 10, the rear end of the spring of the first groups of springs is fixedly connected with the first support, first tension rope 6 one end and slide block are fixed, and the other end is walked around the first fulcrum 81, second fulcrum 82 successively and is fixedly connected with the end of the first drive connecting rod 51 of drive connecting rod group, second tension rope 4 one end is fixedly connected with the front end of the spring of the second groups of springs, and the rear end of the second groups of springs is fixedly connected with the second support, and the second tension rope other end is walked around the second fulcrum 82 and is fixedly connected with the end of the first segment connecting rod 51 of drive connecting rod group, first support and the second support are fixed on three-dimensional page.
When mechanical arm keeps horizontality, slide block is resisted against the spring at front end of the first groups of springs, the pulling force that the spring of the first tension rope and the first groups of springs produces jointly with, the second tension rope is the same with the pulling force that the spring of the second groups of springs produces jointly.
Open three-dimensional page, now, the tension force of first, second tension rope is the same, and mechanical arm keeps horizontality, can pass through moving slider, change the tension force of the first tension rope, makes mechanical finger produce action.
Claims (2)
1. show a three-dimensional book for manipulator mechanism, comprise strip of paper used for sealing, common plane page and three-dimensional page, common plane page, three-dimensional page are provided with binding hole, and common plane page, three-dimensional page and strip of paper used for sealing, through binding hole, are fixed by set collar;
It is characterized in that being provided with robot device on three-dimensional page, robot device comprises the first groups of springs, four groups of mechanical arm connecting rods and is arranged on the second groups of springs of mechanical arm rod rear end, often organize mechanical arm connecting rod to be all arranged on base, often organize mechanical arm connecting rod and comprise drive connecting rod group and follower link group, three-dimensional page is provided with base, base is hinged with associating connecting rod, the first segment connecting rod of drive connecting rod group and follower link group, the first rotating shaft is articulated with respectively with the two ends of combining connecting rod, second rotating shaft, first drive connecting rod and the 4th rotating shaft hinged, second drive connecting rod and the first drive connecting rod hinged, 3rd drive connecting rod and the second drive connecting rod hinged, 3rd drive connecting rod and the 3rd rotating shaft hinged, first follower link and second follower link of follower link group are hinged, second follower link and the 4th rotating shaft hinged, end and the 3rd rotating shaft of the second follower link are hinged, base is provided with the first fulcrum and the second fulcrum, the spring at front end of the first groups of springs is fixedly connected with slide block rear end by slide rail, the rear end of the spring of the first groups of springs is fixedly connected with the first support, first tension rope one end and slide block are fixed, and the other end walks around the first fulcrum successively, the second fulcrum is fixedly connected with the end of the first drive connecting rod of drive connecting rod group, second tension rope one end is fixedly connected with the front end of the spring of the second groups of springs, and the rear end of the second groups of springs is fixedly connected with the second support, and the second tension rope other end is walked around the second fulcrum and is fixedly connected with the end of the first segment connecting rod of drive connecting rod group, first support and the second support are fixed on three-dimensional page.
2. a kind of three-dimensional book showing manipulator mechanism as claimed in claim 1, when it is characterized in that described mechanical arm maintenance horizontality, slide block is resisted against the spring at front end of the first groups of springs, the pulling force that the spring of the first tension rope and the first groups of springs produces jointly with, the second tension rope is the same with the pulling force that the spring of the second groups of springs produces jointly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410776219.0A CN104575229B (en) | 2014-12-17 | 2014-12-17 | Three-dimensional book for showing manipulator mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410776219.0A CN104575229B (en) | 2014-12-17 | 2014-12-17 | Three-dimensional book for showing manipulator mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104575229A true CN104575229A (en) | 2015-04-29 |
| CN104575229B CN104575229B (en) | 2017-02-01 |
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ID=53091166
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410776219.0A Active CN104575229B (en) | 2014-12-17 | 2014-12-17 | Three-dimensional book for showing manipulator mechanism |
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| Country | Link |
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| CN (1) | CN104575229B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5988684A (en) * | 1997-09-08 | 1999-11-23 | Lawrence Product Development | Mechanized and motorized books with internal mechanism for selectively moving objects relative to book pages |
| CN101301754A (en) * | 2008-07-01 | 2008-11-12 | 舒宏琦 | Robot hand action mechanism |
| CN104036682A (en) * | 2014-05-05 | 2014-09-10 | 浙江工业大学 | Three-dimensional mechanical book |
| CN104036685A (en) * | 2014-05-30 | 2014-09-10 | 杭州电子科技大学 | Three-dimensional mechanism book |
| CN104077952A (en) * | 2014-05-07 | 2014-10-01 | 浙江工业大学 | Three-dimensional mechanical book |
-
2014
- 2014-12-17 CN CN201410776219.0A patent/CN104575229B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5988684A (en) * | 1997-09-08 | 1999-11-23 | Lawrence Product Development | Mechanized and motorized books with internal mechanism for selectively moving objects relative to book pages |
| CN101301754A (en) * | 2008-07-01 | 2008-11-12 | 舒宏琦 | Robot hand action mechanism |
| CN104036682A (en) * | 2014-05-05 | 2014-09-10 | 浙江工业大学 | Three-dimensional mechanical book |
| CN104077952A (en) * | 2014-05-07 | 2014-10-01 | 浙江工业大学 | Three-dimensional mechanical book |
| CN104036685A (en) * | 2014-05-30 | 2014-09-10 | 杭州电子科技大学 | Three-dimensional mechanism book |
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| Publication number | Publication date |
|---|---|
| CN104575229B (en) | 2017-02-01 |
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