CN106355990B - Two-degree-of-freedom plane five-bar mechanism demonstration instrument - Google Patents
Two-degree-of-freedom plane five-bar mechanism demonstration instrument Download PDFInfo
- Publication number
- CN106355990B CN106355990B CN201610953900.7A CN201610953900A CN106355990B CN 106355990 B CN106355990 B CN 106355990B CN 201610953900 A CN201610953900 A CN 201610953900A CN 106355990 B CN106355990 B CN 106355990B
- Authority
- CN
- China
- Prior art keywords
- driving
- steering engine
- lifting
- connecting rod
- bar mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
Landscapes
- 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)
- Transmission Devices (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention relates to a double-degree-of-freedom plane five-rod mechanism demonstration instrument which comprises a frame base, a control mechanism, a tablet, a five-rod mechanism for fixing painting tools, a driving mechanism for driving the five-rod mechanism to act and a lifting mechanism for lifting the five-rod mechanism, wherein the control mechanism is respectively connected with the driving mechanism and the lifting mechanism, the tablet is arranged on the frame base, the driving mechanism comprises a driving steering engine and a driving steering engine support, the driving steering engine is fixed on the driving steering engine support and is in transmission connection with the five-rod mechanism, the driving steering engine support is hinged with the frame base, and the lifting mechanism is arranged on the frame base and is in transmission connection with the driving mechanism to drive the driving mechanism to swing and control the lifting of the five-rod mechanism. Compared with the prior art, the invention has the advantages of light architecture, free programming, strong operability and expansibility, and the like.
Description
Technical Field
The invention belongs to parallel mechanisms, and particularly relates to a demonstration instrument for a two-degree-of-freedom plane five-bar mechanism.
Background
The parallel mechanism is a novel mechanism, and has the advantages of improving some fundamental limits of the serial mechanism, which are difficult to break through, and supplementing and expanding the serial mechanism. Although the parallel mechanism research has been carried out for 80 years, early research is mainly focused on six-degree-of-freedom researches, and until the last 80 th century, students begin to research fewer-degree-of-freedom parallel mechanisms, and some novel parallel mechanism configurations are proposed, so that the marketization degree of the parallel mechanism is increased. It can be seen that the development of the parallel mechanism is still in a starting stage, and the research value of the parallel mechanism is high. In the teaching of the plane parallel mechanism, the double-freedom-degree plane five-bar mechanism is the most basic parallel mechanism and is the basis of the parallel mechanism teaching, but because the analysis of the double-freedom-degree plane five-bar mechanism is complex and the corresponding dynamic demonstration teaching aid on the market is very deficient, teachers can only explain the motion trail and the motion form of the mechanism through simple explanation and image data in the teaching of the mechanism, so that students are difficult to understand and the enthusiasm and creativity of learning of the students are influenced.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide the dual-freedom-degree plane five-rod mechanism demonstrator which is light in structure, free to program, strong in operability and expansibility.
The aim of the invention can be achieved by the following technical scheme:
the utility model provides a two degree of freedom plane five-bar mechanism demonstration instrument, includes frame base, control mechanism, wordpad, is used for fixing the five-bar mechanism of painting instrument, is used for driving the actuating mechanism of five-bar mechanism action and is used for lifting the lifting mechanism of five-bar mechanism, control mechanism be connected with actuating mechanism and lifting mechanism respectively, wordpad set up on the frame base, actuating mechanism include drive steering wheel and drive steering wheel support, drive steering wheel fix on drive steering wheel support to be connected with five-bar mechanism transmission, drive steering wheel support articulated with the frame base, lifting mechanism set up on the frame base to through being connected with the actuating mechanism transmission, drive actuating mechanism swing, control the lift of five-bar mechanism.
As the preferred technical scheme, the drive steering wheel be equipped with two, set up side by side on the drive steering wheel support, five pole mechanisms including articulated first original movable connecting rod, first driven connecting rod, second driven connecting rod and the original movable connecting rod of second in proper order, the free end of first original movable connecting rod and the original movable connecting rod of second respectively with the output shaft of two drive steering wheels, first driven connecting rod or second driven connecting rod outwards extend in the junction of first driven connecting rod and second driven connecting rod, form extension, the extension on be equipped with the fixer that is used for fixed painting instrument.
As a preferable technical scheme, the fixer is a jack for being connected with the painting tool through interference.
As the preferable technical scheme, lifting mechanism include lifting steering wheel, lifting steering wheel rocking arm and lifting connecting rod, the one end of lifting steering wheel rocking arm set up in the drive shaft of lifting steering wheel to swing under the drive of lifting steering wheel, the other end, lifting connecting rod and the drive steering wheel support of lifting steering wheel rocking arm are articulated in proper order and are connected.
As the preferable technical scheme, the control mechanism comprises a singlechip and a steering engine driving plate, wherein the singlechip is connected with the steering engine driving plate through a serial port line, and the driving mechanism and the lifting mechanism are connected with the steering engine driving plate.
As the preferable technical scheme, the demonstration instrument further comprises an erasing mechanism, wherein the erasing mechanism comprises an erasing head and a plug clamp, the plug clamp is arranged on the stand base, the erasing head is detachably arranged in the plug clamp and is in contact connection with the writing board, and a hole for enabling a painting tool to be inserted into and dragging the erasing head to move on the writing board is formed in the erasing head.
As the preferable technical scheme, the erasing head clamp is in a semicircular arc shape and is positioned at one corner of the writing board, and the erasing head is a cylindrical erasing head matched with the inner side surface of the erasing head clamp.
The invention controls the action of the driving mechanism and the lifting mechanism through the control mechanism, so that the painting tool fixed on the five-rod mechanism draws a track on the tablet, when the track drawn by the painting tool needs to be erased, the lifting mechanism drives the driving mechanism to swing, thereby lifting the five-rod mechanism to enable the painting tool to leave the tablet, the driving mechanism drives the five-rod mechanism to act, the painting tool is moved to the position above the wiping head, the lifting mechanism drives the painting tool to descend, the painting tool is inserted into the hole, the painting tool drags the wiping head to separate from the wiping head clamp under the driving of the driving mechanism, the track drawn by the painting tool is erased, and after the erasing is finished, the wiping head is reset through the driving mechanism and the lifting mechanism.
Compared with the prior art, the invention has the following beneficial effects:
(1) Two degree of freedom teaching aids: the invention is mainly applied to the teaching of the link mechanism and the parallel mechanism in colleges and universities, and enriches the types of the original link teaching tools. Students can learn the track characteristics, the movement range and other relevant knowledge of the double-degree-of-freedom five-rod mechanism through visual knowledge.
(2) The expansibility is strong: the invention is not only suitable for teaching of the link mechanism and the parallel mechanism, but also can be used as teaching aid of the disciplines such as electromechanical transmission, electromechanical control, mechanical principle and the like, and has strong expansibility.
(3) Free programming operability is strong: the invention can be programmed freely. Students can assemble by themselves, and the program for writing the preset track of the students is beneficial to exciting creativity and interests of the students, so that the students learn the related knowledge of the two-degree-of-freedom five-link in the practice of waving the creatives of the students, and the experimental contents are more diversified.
(4) Light architecture: the invention has simple structure and very light weight. The teacher can be used in a laboratory, and can be easily brought into a classroom to perform teaching activities.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of another view of the present invention;
FIG. 3 is an exploded view of the lifting steering engine and the frame base of the present invention;
FIG. 4 is an exploded view of the drive steering engine and frame base of the present invention;
FIG. 5 is an exploded view of the five-bar mechanism of the present invention;
fig. 6 is a side cross-sectional view of a second motive linkage and drive steering engine of the present invention.
In the figure, 1 is a first driven connecting rod, 2 is a second driven connecting rod, 3 is a first driven connecting rod, 4 is a second driven connecting rod, 5a, 5b and 5c are five-bar mechanism hinging pieces, 5d and 5e are driving shaft connecting pieces, 6 is a driving steering engine mounting bracket, 7 is a driving steering engine mounting gasket, 8a, 8b, 8c and 8d are driving steering engine fastening pieces, 9 is a first auxiliary lifting bracket, 10 is a main lifting bracket, 11 is a second auxiliary lifting bracket, 12 is a first driving steering engine, 13 is a second driving steering engine, 14 is a writing board, 15 is a front panel, 16 is a wiping head clamp, 17 is a wiping head, 18a, 18b, 18c and 18d are driving mechanism hinging pieces, 19 is a first auxiliary connecting seat, 20 is a main connecting seat, 21 is a second auxiliary connecting seat, 22 is a lifting steering engine mounting gasket, 23 is a lifting steering engine, 24a and 24b are lifting steering engine fastening pieces, 25 is a lifting steering engine, 26 is a hinging screw, 27 is a lifting connecting rod, and 28 is a mark.
Detailed Description
The invention will now be described in detail with reference to the drawings and specific examples.
Example 1
The utility model provides a two degree of freedom plane five-bar mechanism demonstration instrument, as shown in fig. 1-2, including the frame base, a control mechanism, the tablet, erasure mechanism, be used for fixed painting instrument's five-bar mechanism, a actuating mechanism for driving five-bar mechanism action and a lifting mechanism for lifting five-bar mechanism, control mechanism is connected with actuating mechanism and lifting mechanism respectively, the tablet sets up on the frame base, actuating mechanism includes drive steering wheel and drive steering wheel support, drive steering wheel is fixed on drive steering wheel support, and be connected with five-bar mechanism transmission, drive steering wheel support is articulated with the frame base, lifting mechanism sets up on the frame base, and through being connected with actuating mechanism transmission, drive actuating mechanism swings, the lift of control five-bar mechanism.
The driving steering engine is provided with two driving steering engine supports, the driving steering engine supports are arranged in parallel, the five-bar mechanism comprises a first driving connecting rod, a first driven connecting rod, a second driven connecting rod and a second driving connecting rod which are sequentially hinged, the free ends of the first driving connecting rod and the second driving connecting rod are respectively connected with the output shafts of the two driving steering engines, the first driven connecting rod or the second driven connecting rod extends outwards at the joint of the first driven connecting rod and the second driven connecting rod to form an extension part, and a fixer for fixing a painting tool is arranged on the extension part and is an insertion hole for being connected with the painting tool through interference. The lifting mechanism comprises a lifting steering engine, a lifting steering engine rocker arm and a lifting connecting rod, one end of the lifting steering engine rocker arm is arranged on a driving shaft of the lifting steering engine and swings under the driving of the lifting steering engine, and the other end of the lifting steering engine rocker arm, the lifting connecting rod and the driving steering engine support are sequentially hinged. The erasing mechanism comprises an erasing head and a plug clamp, the plug clamp is arranged on the base of the machine frame, the erasing head is detachably arranged in the plug clamp and is in contact connection with the writing board, a hole for enabling a painting tool to be inserted into and dragging the erasing head to move on the writing board is formed in the erasing head, the erasing head clamp is in a semicircular arc shape and is positioned at one corner of the writing board, and the erasing head is a cylindrical erasing head matched with the inner side face of the erasing head clamp. The control mechanism comprises a singlechip and a steering engine driving plate, the singlechip is connected with the steering engine driving plate through a serial port line, and the driving mechanism and the lifting mechanism are connected with the steering engine driving plate.
Specifically, the method comprises the following steps:
as shown in fig. 1 to 4, the chassis base of the present embodiment is formed by mutually parallel first auxiliary connection bases 19, main connection bases 20, and second auxiliary connection bases 21, which are sequentially connected by bonding through the front panel 15; the tablet 14 is horizontally and adhesively mounted on the upper surface of the chassis base; the wiping head clamp 16 is horizontally and adhesively mounted on the front panel 15, and the wiping head 17 is clamped in the wiping head clamp 16 to form an wiping device. The driving steering engine mounting bracket 6 is in adhesive connection with the driving steering engine mounting gasket 7, the first auxiliary lifting bracket 9, the second auxiliary lifting bracket 11 and the main lifting bracket 10 are sequentially connected with the driving steering engine mounting gasket 7 through the steering engine mounting bracket 6 to form a driving steering engine bracket, and are hinged with the frame base through driving mechanism hinging pieces (18 a, 8b and 18 c), wherein the driving mechanism hinging pieces (18 a, 18b and 18 c) comprise driving mechanism hinging screws (18 a1, 18b1 and 18c 1) and driving mechanism hinging locknuts (18 a2, 18b2 and 18c 2); two driving steering gears (a first driving steering gear 12 and a second driving steering gear 13) are fixedly arranged on the driving steering gear bracket through driving steering gear fastening pieces (8 a, 8b, 8c and 8 d), wherein the driving steering gear fastening pieces (8 a, 8b, 8c and 8 d) comprise driving steering gear fastening screws (8 a1, 8b1, 8c1 and 8d 1) and driving steering gear fastening nuts (8 a2, 8b2, 8c2 and 8d 2). The lifting steering engine mounting gasket 22 is adhered to the main connecting seat 20, and the lifting steering engine 23 is fixedly mounted on the main connecting seat 20 through lifting steering engine fasteners (24 a and 24 b); the lifting connecting rod 27 is hinged with the lifting steering engine rocker 25 and the main lifting bracket 10 through a hinge screw 26 and a hinge piece 18d to form a lifting mechanism, wherein the driving mechanism hinge piece 18d comprises a screw 18d1, gaskets (18 d2 and 18d 3) and a locknut 18d4; the lifting steering engine rocker arm 25 is arranged on a driving shaft of the lifting steering engine 23, and the driving shaft can drive the lifting steering engine rocker arm 25 to swing, so that the lifting mechanism is driven to enable the driving steering engine support to rotate relative to the frame base. The first driven connecting rod 1 and the second driven connecting rod 2 are hinged with the first driving connecting rod 3 and the second driving connecting rod 4 through five-rod mechanism hinging pieces (5 a, 5b and 5 c) to form a five-rod mechanism, as shown in fig. 5, wherein the five-rod mechanism hinging pieces (5 a, 5b and 5 c) comprise five-rod mechanism hinging screws (5 a1, 5b1 and 5c 1) and five-rod mechanism hinging locknuts (5 a2, 5b2 and 5c 2). The first driving connecting rod 3 and the second driving connecting rod 4 in the five-rod mechanism are respectively and fixedly connected with driving shafts of the first driving steering engine 12 and the second driving steering engine 13 through driving shaft connecting pieces (5 d and 5 e) according to the matched relation shown in the cross section of fig. 6, wherein the driving shaft connecting pieces (5 d and 5 e) comprise driving shaft connecting screws (5 d1 and 5d2 and 5e1 and 5e 2) and driving steering engine rocker arms (5 d3 and 5e 3), and the driving shafts can drive the two driving rods to swing.
When the three steering engines are aligned in angle, the painting tool, namely the marker pen 28, can be inserted into the mounting hole of the first driven connecting rod 1 through interference fit.
In practical teaching, three steering engine control lines of the dual-freedom-degree plane five-bar mechanism demonstrator can be connected to a single chip microcomputer, and after a preset program is led into the single chip microcomputer, the mechanism can complete drawing and erasing actions of a preset track point in the program. The lifting action of the five-rod mechanism is completed by driving the lifting mechanism by the lifting steering engine 22; when the track is drawn, the two driving steering engines respectively drive the two driving connecting rods, so that the two driven connecting rods are further driven, and the marker pen 28 arranged on the first driven connecting rod 1 can draw a corresponding track on the writing board 14; during erasing, the two steering engines work, so that the pen heads of the marker pens 28 are inserted into the holes of the wiper head 17, the wiper head 17 is pulled out of the wiper head clamp 16, and after the erasure is completed according to a preset track, the wiper head 17 is reset into the wiper head clamp 16.
The principle of this embodiment:
the mechanical structure part comprises: the device comprises a frame base, a tablet, a driving steering engine bracket, a driving steering engine, a lifting mechanism, a lifting steering engine, a five-rod mechanism, an erasing device, a singlechip and a steering engine driving plate. The writing board is horizontally arranged on the frame base; the wiping head clamp in the wiping device is also horizontally arranged on the frame base, and the wiping head is arranged in the wiping head clamp; the driving steering engine bracket is hinged with the frame base through a screw nut, and the driving steering engine is fixedly arranged on the driving steering engine bracket through the screw nut; the lifting steering engine is fixedly arranged on the frame base through a screw nut, and the lifting connecting rod is respectively hinged with the lifting steering engine rocker arm and the driving steering engine rocker arm through the screw nut; the five-bar mechanism comprises two driving connecting bars and two driven connecting bars, wherein the two driving connecting bars are hinged with the two driven connecting bars through screw nuts, and the two driving connecting bars are respectively and tightly connected with the two driving steering engine rocker arms through screws; the marker is mounted on one of the follower links (the first follower link 1 in this embodiment) in the five-bar mechanism by an interference fit.
The electronic control part comprises a singlechip and a steering engine driving plate. The singlechip is connected with the steering engine driving plate through serial lines, and control lines of three steering engines are connected on the driving plate. The single chip microcomputer reversely solves the track points of the five-bar mechanism to obtain position parameters of the driving steering engine and the lifting steering engine, the position parameters are sent to the steering engine driving plate through the serial port, and the steering engine driving plate generates control signals of three steering engines according to the position parameters, so that the three steering engines are driven to run to corresponding positions, and the five-bar mechanism can draw corresponding tracks or the pen point drags the wiping head to finish corresponding wiping actions.
Claims (5)
1. The utility model provides a two degree of freedom plane five-bar mechanism demonstration instrument which is characterized in that, including frame base, control mechanism, tablet, be used for fixing the five-bar mechanism of painting instrument, be used for driving the actuating mechanism of five-bar mechanism action and be used for lifting the lifting mechanism of five-bar mechanism, control mechanism be connected with actuating mechanism and lifting mechanism respectively, the tablet set up on the frame base, actuating mechanism include drive steering engine and drive steering engine support, drive steering engine fix on drive steering engine support to with five-bar mechanism transmission connection, drive steering engine support articulated with the frame base, lifting mechanism set up on the frame base to through with actuating mechanism transmission connection, drive actuating mechanism swing, control five-bar mechanism's lift;
the five-bar mechanism comprises a first driving connecting rod, a first driven connecting rod, a second driven connecting rod and a second driving connecting rod which are sequentially hinged, the free ends of the first driving connecting rod and the second driving connecting rod are respectively connected with the output shafts of the two driving steering engines, the first driven connecting rod or the second driven connecting rod extends outwards at the joint of the first driven connecting rod and the second driven connecting rod to form an extension part, and a fixer for fixing painting tools is arranged on the extension part;
the lifting mechanism comprises a lifting steering engine, a lifting steering engine rocker arm and a lifting connecting rod, one end of the lifting steering engine rocker arm is arranged on a driving shaft of the lifting steering engine and swings under the driving of the lifting steering engine, and the other end of the lifting steering engine rocker arm, the lifting connecting rod and the driving steering engine support are sequentially hinged.
2. The dual degree of freedom planar five bar mechanism demonstrator of claim 1, wherein the holder is a socket for interference connection with a painting tool.
3. The dual-degree-of-freedom plane five-bar mechanism demonstration instrument according to claim 1, wherein the control mechanism comprises a single chip microcomputer and a steering engine driving plate, the single chip microcomputer is connected with the steering engine driving plate through a serial port line, and the driving mechanism and the lifting mechanism are connected with the steering engine driving plate.
4. The two-degree-of-freedom plane five-bar mechanism demonstration instrument according to claim 1, further comprising an erasing mechanism, wherein the erasing mechanism comprises an erasing head and a plug clamp, the plug clamp is arranged on the frame base, the erasing head is detachably arranged in the plug clamp and is in contact connection with the tablet, and a hole for inserting and dragging a painting tool to move on the tablet is formed in the erasing head.
5. The two-degree-of-freedom planar five-bar mechanism demonstrator of claim 4, wherein the wiper clip is semi-circular and is positioned at one corner of the tablet, and the wiper is a cylindrical wiper matched with the inner side of the wiper clip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610953900.7A CN106355990B (en) | 2016-10-27 | 2016-10-27 | Two-degree-of-freedom plane five-bar mechanism demonstration instrument |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610953900.7A CN106355990B (en) | 2016-10-27 | 2016-10-27 | Two-degree-of-freedom plane five-bar mechanism demonstration instrument |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106355990A CN106355990A (en) | 2017-01-25 |
| CN106355990B true CN106355990B (en) | 2023-05-02 |
Family
ID=57864693
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610953900.7A Active CN106355990B (en) | 2016-10-27 | 2016-10-27 | Two-degree-of-freedom plane five-bar mechanism demonstration instrument |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106355990B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106671066B (en) * | 2017-03-01 | 2018-10-16 | 东北大学 | A kind of vertical reconfigurable multifunctional parallel institution |
| CN108748096B (en) * | 2018-06-11 | 2020-06-02 | 深圳市小怪兽教育科技有限公司 | Drawing mechanical arm and control system thereof |
| CN108437663A (en) * | 2018-06-11 | 2018-08-24 | 深圳市盖范教育科技有限公司 | A kind of mechanical arm drawing mechanism |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2003055653A1 (en) * | 2001-12-31 | 2003-07-10 | Tianjin University | Planar parallel robot mechanism with two translational degrees of freedom |
| CN203746335U (en) * | 2014-01-13 | 2014-07-30 | 浙江水利水电学院 | Dynamic controllable hinge four-bar mechanism teaching aid |
| CN204516170U (en) * | 2015-02-13 | 2015-07-29 | 付琛 | A kind of resultant motion track demo platform of multi-configuration plane mechanism point |
| CN206322412U (en) * | 2016-10-27 | 2017-07-11 | 上海建桥学院 | A kind of double freedom planar five-bar mechanism demonstrator |
-
2016
- 2016-10-27 CN CN201610953900.7A patent/CN106355990B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2003055653A1 (en) * | 2001-12-31 | 2003-07-10 | Tianjin University | Planar parallel robot mechanism with two translational degrees of freedom |
| CN203746335U (en) * | 2014-01-13 | 2014-07-30 | 浙江水利水电学院 | Dynamic controllable hinge four-bar mechanism teaching aid |
| CN204516170U (en) * | 2015-02-13 | 2015-07-29 | 付琛 | A kind of resultant motion track demo platform of multi-configuration plane mechanism point |
| CN206322412U (en) * | 2016-10-27 | 2017-07-11 | 上海建桥学院 | A kind of double freedom planar five-bar mechanism demonstrator |
Non-Patent Citations (1)
| Title |
|---|
| 吴凡 ; 赵世英 ; 吴夏野 ; 王艺龙 ; 李思遥 ; .多功能平面机构演示仪的研制.科技视界.2014,(35),全文. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106355990A (en) | 2017-01-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106355990B (en) | Two-degree-of-freedom plane five-bar mechanism demonstration instrument | |
| CN203910156U (en) | Teaching aid of cam and rod mechanisms | |
| WO2018036042A1 (en) | Mathematics teaching tool for education | |
| CN211222765U (en) | Blackboard for English teaching | |
| CN110481217A (en) | A kind of complementary education instructional device | |
| CN211787557U (en) | College english education multimedia teaching device | |
| CN206322412U (en) | A kind of double freedom planar five-bar mechanism demonstrator | |
| CN205428354U (en) | Multi -functional plane link mechanism teaching mode | |
| CN208819427U (en) | A kind of teaching work of fine arts exhibition apparatus for demonstrating | |
| CN206312435U (en) | Chinese teaching servicing unit | |
| CN213844375U (en) | Preschool education is with multi-functional educational aid | |
| CN109129447A (en) | A kind of mechanical rival's arm configuration for writing erasing | |
| CN210377972U (en) | Picture and text gallows for study | |
| CN107499029A (en) | A kind of blackboard convenient for cleaning | |
| CN210324754U (en) | English vocabulary teaching auxiliary device | |
| CN207799929U (en) | A kind of multi-functional higher mathematics explanation showing stand | |
| CN213634959U (en) | Teaching device is used in innovation entrepreneurship training | |
| CN219800327U (en) | Copy board | |
| CN106652659A (en) | Practical teaching demonstration rod | |
| CN211149693U (en) | Alphabet reading display board for teaching | |
| CN206133959U (en) | Chinese teaching presentation device | |
| CN205381063U (en) | Mathematics drawing teaching board based on gaussian | |
| CN215341648U (en) | Teaching model for displaying pronunciation position and pronunciation principle | |
| CN203588484U (en) | Novel teaching board for computer teaching | |
| CN205523242U (en) | Dust removal blackboard is used in english teaching |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |