CN106838205B - Orthogonal transmission mechanism - Google Patents

Orthogonal transmission mechanism Download PDF

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Publication number
CN106838205B
CN106838205B CN201710028480.6A CN201710028480A CN106838205B CN 106838205 B CN106838205 B CN 106838205B CN 201710028480 A CN201710028480 A CN 201710028480A CN 106838205 B CN106838205 B CN 106838205B
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shaft
transmission
half shaft
power conversion
conversion
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CN106838205A (en
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潘敏强
钟育坚
彭杰
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South China University of Technology SCUT
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South China University of Technology SCUT
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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
    • F16H49/00—Other gearings
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/50—Photovoltaic [PV] energy

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)

Abstract

The invention discloses an orthogonal transmission mechanism, which comprises a shell and further comprises: four transmission shafts which are symmetrically and orthogonally penetrated through the shell in pairs, wherein the axes of the transmission shafts are positioned on the same horizontal plane, the shape and the structure are consistent, ball hinges are arranged at one end of each transmission shaft positioned in the shell in an offset manner in the same direction, telescopic conversion shafts are connected between two opposite ball hinges, the two conversion shafts are orthogonally distributed, and a long round hole for the other conversion shaft to penetrate through is axially arranged in the middle of one conversion shaft; the Z-axis power spindle penetrates through the shell, is perpendicular to the plane where the transmission shafts are located and is located at the intersection of the four transmission shafts, and a cross-shaped through hole which is connected with the conversion shaft in a penetrating mode is formed in the middle of the Z-axis power spindle. The invention has simple structure, the mechanical principle is only a space link mechanism, the production cost is low, the cost of a mechanical system is further reduced, the invention has good popularization value, and the invention is suitable for the field of integrated development of the mechanical system.

Description

Orthogonal transmission mechanism
Technical Field
The invention relates to the technical field of complex mechanical systems, in particular to an orthogonal transmission mechanism in a motor transmission control system integrated by a single-input multi-output mechanical system.
Background
A transmission is a component or mechanism that transfers power from one part of a machine to another, causing the machine or machine component to move or operate. The rapid development of science and technology and the continuous improvement of the social life level promote the continuous development of machinery towards the direction of complicating, refining and integrating, and the traditional transmission mechanism can not meet the requirement of mechanical development. Complex mechanical systems often have complex mechanical movements that are coupled and associated with each other, require multiple motors to be driven simultaneously, and require the coupling and association of the complex mechanical movements to be achieved in terms of control by corresponding hardware and software. If the mechanical structure is more complex, the number of motors is increased, the number of control devices for coupling driving is increased, and the volume and the mass of a mechanical system are increased, so that the development trend of integration is violated, and the instability of coupling association control can influence the effect of complex mechanical transmission. Therefore, research on mechanical transmission methods and mechanisms applied to complex mechanical systems has become an important topic in the field of mechanical transmission.
Disclosure of Invention
In order to meet the coupling and association between mechanical movements, a single-input and multi-output integrated device is realized, meanwhile, the driving quantity of motors and control devices for coupling driving are reduced, and the volume and the mass of a mechanical system are minimized; the invention provides an orthogonal transmission mechanism, which realizes single-input and multi-output power conversion, greatly reduces the volume structure and the number of motors of an overall mechanical system, and plays roles in power divergence and transmission in a complex mechanical system.
The invention is realized by adopting the following technical scheme:
an orthogonal transmission mechanism comprising a housing, further comprising:
four transmission shafts which are symmetrically and orthogonally penetrated through the shell in pairs, the axes of the transmission shafts are positioned on the same horizontal plane, the shape and the structure of the transmission shafts are consistent, ball hinges are arranged at one end of the four transmission shafts positioned in the shell in an offset manner towards the same direction, telescopic conversion shafts are connected between two opposite ball hinges, the two conversion shafts are orthogonally distributed, and a long round hole for the other conversion shaft to penetrate through is axially arranged in the middle of one conversion shaft;
the Z-axis power spindle penetrates through the shell, is perpendicular to the plane where the four transmission shafts are located and is located at the intersection of the four transmission shafts, and a cross-shaped through hole which is connected with the conversion shaft in a penetrating mode is formed in the middle of the Z-axis power spindle.
Further, the four transmission shafts comprise an X positive half shaft transmission shaft, an X negative half shaft transmission shaft, a Y positive half shaft transmission shaft and a Y negative half shaft transmission shaft, wherein the X positive half shaft transmission shaft and the X negative half shaft transmission shaft are symmetrically arranged on the X shaft, and the Y positive half shaft transmission shaft and the Y negative half shaft transmission shaft are symmetrically arranged on the Y shaft.
Further, one ends of the X positive half shaft power conversion shaft and the X negative half shaft power conversion shaft are mutually nested to realize expansion and contraction, and the other ends of the X positive half shaft power conversion shaft and the X negative half shaft power conversion shaft are respectively and movably connected with the X positive half shaft transmission shaft and the X negative half shaft transmission shaft through ball hinges; and one end of the Y positive half shaft power conversion shaft and one end of the Y negative half shaft power conversion shaft are mutually nested to realize expansion and contraction, and the other end of the Y positive half shaft power conversion shaft and the other end of the Y negative half shaft power conversion shaft are respectively and movably connected with the Y positive half shaft transmission shaft and the Y negative half shaft transmission shaft through ball hinges.
Further, the Y positive half shaft power conversion shaft and the Y negative half shaft power conversion shaft are respectively provided with a slotted hole for the X positive half shaft power conversion shaft and the X negative half shaft power conversion shaft along the axial direction in the middle of the Y negative half shaft power conversion shaft.
Further, a main shaft connecting sleeve is arranged in the middle of the Z-axis power main shaft, and four hollow shaft sleeves matched with the conversion shaft are perpendicularly arranged on the peripheral wall of the main shaft connecting sleeve in a protruding mode. Thereby reducing the extrusion pressure intensity between the transmission parts, providing service life and being convenient for maintenance.
Further, the ball hinge comprises a hinged support and a ball body rotationally arranged in a spherical cavity of the hinged support, the hinged support and a transmission shaft connected with the hinged support are of an integrated structure, and the ball body is connected with a conversion shaft through threads.
Further, the shell is of a hollow spherical structure and comprises a split upper hemisphere and a split lower hemisphere, a rolling bearing is arranged between the shell and the transmission shaft, and a linear rotary bushing is arranged between the shell and the Z-axis power main shaft. The contact area of the rolling bearing is large, the lubrication is kept good, the wear resistance is good, and the lubricating oil film has an impact resistance effect.
Further, the back of the hinged support is arc-shaped, and the radian of the hinged support is matched with the radian of the inner wall of the shell. Therefore, the normal operation of the mechanism can be ensured and the collision to the shell can not be caused only by leaving a small amount of clearance between the hinged support and the inner wall of the shell, so that the volume of the shell can be reduced to the greatest extent, the volume of the whole orthogonal transmission mechanism is reduced, and the miniaturization is realized.
Further, key grooves convenient for transmission are formed at both ends of the Z-axis power main shaft and one end of the transmission shaft extending out of the shell.
Furthermore, the transmission shaft and the Z-axis power main shaft are made of malleable cast iron, and the cast iron has higher strength, plasticity and impact toughness, so that the stability and the tightness of the connecting piece are ensured. The high strength and high elasticity of the malleable cast iron ensure the impact deformation resistance of the integral structure, and the corrosion resistance ensures that the malleable cast iron still can work normally in severe environments, thereby increasing the working adaptability of the malleable cast iron
Compared with the prior art, the invention has the beneficial effects that:
single input, multiple output: the single-input and multi-output transmission of the orthogonal transmission mechanism means that in order to realize an integration function, one of an X negative half shaft transmission shaft, an X positive half shaft transmission shaft, a Y negative half shaft transmission shaft, a Y positive half shaft transmission shaft and a Z-axis power main shaft is driven by a single motor, so that other shafts are driven to move through coupling association between the X negative half shaft transmission shaft, the X positive half shaft transmission shaft, the Y negative half shaft transmission shaft, the Y positive half shaft transmission shaft and the Z-axis power main shaft, the transmission of motion is realized, the use of a motor and control is reduced, and the integration is truly realized. The functions of single input and multiple output of the orthogonal transmission mechanism reduce the number of motors, the volume and the mass, and really realize the integrated development of a mechanical system. Meanwhile, the single input and multiple output can realize the coupling association transmission of each executive component in a limited way, and the use of a control device is reduced.
Multiple input, single output: the multi-input and single-output transmission of the orthogonal transmission mechanism is that a single executing piece is synchronously driven by a plurality of motors in order to improve the precision, so that the motion of the executing piece is more stable, less oscillation occurs, the error is reduced, and the precision is truly realized. Meanwhile, the precision is also one of the characteristics of the orthogonal transmission mechanism. The orthogonal transmission mechanism can improve the precision degree through multiple inputs and single output, and in the transmission process, even if motors cannot be completely synchronous due to inconsistent changes of various currents or voltages, the output can normally and stably operate due to coupling association of the inputs, so that the precision degree of a mechanical transmission system is improved.
The orthogonal transmission mechanism provided by the invention has the advantages that the structure is simple, the mechanical principle is only a space link mechanism, the manufacturing is simple, the production cost is low, and the number of driving motors and the configuration of control devices can be greatly reduced, so that the cost of a mechanical system can be further reduced, the reliability and the applicability are improved, the popularization value is good, and the orthogonal transmission mechanism is suitable for the field of integrated development of the mechanical system.
Drawings
Fig. 1 is an isometric view of an external appearance of an orthogonal transmission mechanism according to an embodiment of the present invention.
Fig. 2 is an isometric view of the interior of an orthogonal transmission in accordance with an embodiment of the present invention.
Fig. 3 is an internal top view of an orthogonal transmission mechanism according to an embodiment of the present invention.
Fig. 4 is an internal connection diagram of an orthogonal transmission mechanism of an embodiment of the present invention with the Z-axis power spindle removed.
Fig. 5 is an isometric view of the Z-axis power spindle of the orthogonal transmission mechanism of the present invention.
The figure shows: 1-X positive half shaft transmission shaft; 2-Y positive half shaft power transmission shaft; 3-X negative half shaft transmission shaft; 4-Y negative half shaft transmission shafts; a 5-X positive half shaft power conversion shaft; 6-Y positive half shaft power conversion shaft; 7-X negative half shaft power conversion shaft; 8-Y negative half shaft power conversion shaft; 9-rolling bearings; a 10-Z axis power spindle; 11-a housing; 12-a main shaft connecting sleeve; 13-ball hinges; 14-oblong holes; 15-a hinged support; 16-sphere.
Detailed Description
The present invention will be described in further detail with reference to the drawings and specific examples, which are not to be construed as limiting the embodiments of the present invention.
As shown in fig. 1 to 4, a quadrature transmission mechanism includes a housing 11, and further includes:
four transmission shafts which are symmetrically and orthogonally penetrated through the shell 11 in pairs, the axes of the transmission shafts are positioned on the same horizontal plane, the shape and the structure are consistent, ball hinges 13 are arranged at one end of each transmission shaft positioned in the shell 11 in a biased manner in the same direction, telescopic conversion shafts are connected between two opposite ball hinges 13, the two conversion shafts are orthogonally distributed, and a long round hole 14 for the other conversion shaft to penetrate through is arranged in the middle of one conversion shaft along the axial direction; the ball hinge 13 comprises a hinged support 15 and a ball 16 rotatably arranged in a spherical cavity of the hinged support 15, the hinged support 15 and a connected transmission shaft are of an integrated structure, and the ball 16 is connected with a conversion shaft through threads;
the Z-axis power main shaft 10 is arranged on the shell 11 in a penetrating manner, is perpendicular to the plane where the four transmission shafts are located and is located at the intersection of the four transmission shafts, and a cross-shaped through hole connected with the conversion shaft in a penetrating manner is formed in the middle of the Z-axis power main shaft 10.
Specifically, in this embodiment, the four transmission shafts include an X positive half shaft transmission shaft 1, an X negative half shaft transmission shaft 3, a Y positive half shaft transmission shaft 2, and a Y negative half shaft transmission shaft 4, where the X positive half shaft transmission shaft 1 and the X negative half shaft transmission shaft 3 are symmetrically disposed on the X axis, and the Y positive half shaft transmission shaft 2 and the Y negative half shaft transmission shaft 4 are symmetrically disposed on the Y axis.
Specifically, in this embodiment, the X positive half shaft power conversion shaft 5, the X negative half shaft power conversion shaft 7, the y positive half shaft power conversion shaft 6, and the y negative half shaft power conversion shaft 8, where one ends of the X positive half shaft power conversion shaft 5 and the X negative half shaft power conversion shaft 7 are nested with each other to implement expansion and contraction, and the other ends are respectively movably connected with the X positive half shaft transmission shaft 1 and the X negative half shaft transmission shaft 3 through ball hinges 13, and the nested expansion structure enables the X positive half shaft power conversion shaft 5 and the X negative half shaft power conversion shaft 7 to be matched and separated at any time in the movement process; one end of the Y positive half shaft power conversion shaft 6 and one end of the Y negative half shaft power conversion shaft 8 are mutually nested to realize expansion and contraction, and the other end of the Y positive half shaft power conversion shaft is respectively and movably connected with the Y positive half shaft transmission shaft 2 and the Y negative half shaft transmission shaft 4 through ball hinges 13. The middle parts of the Y positive half shaft power conversion shaft 6 and the Y negative half shaft power conversion shaft 8 are respectively provided with a long round hole 14 for the X positive half shaft power conversion shaft 5 and the X negative half shaft power conversion shaft 7 along the axial direction, and the nested telescopic structure and the arrangement of the long round hole 14 can enable the Y positive half shaft power conversion shaft 6 and the Y negative half shaft power conversion shaft 8 to be matched and separated at any time in the movement process.
In this embodiment, as shown in fig. 5, a spindle connecting sleeve 12 is disposed in the middle of the Z-axis power spindle 10, and four hollow sleeves matched with the conversion shaft are disposed on the outer peripheral wall of the spindle connecting sleeve 12 in an orthogonal protruding manner. Thereby reducing the extrusion pressure intensity between the transmission parts, providing service life and being convenient for maintenance.
Specifically, in this embodiment, the housing 11 is of a hollow spherical structure, and includes split upper and lower hemispheres, a rolling bearing 9 is disposed between the housing 11 and the transmission shaft, and a linear rotation bushing is disposed between the housing 11 and the Z-axis power spindle 10. In addition, the back of the hinged support 15 is arc-shaped, and the arc of the back is matched with the arc of the inner wall of the shell 11. Therefore, the normal operation of the mechanism can be ensured and the collision can not be caused to the shell 1 only by leaving a small amount of clearance between the hinged support 15 and the inner wall of the shell 11, so that the volume of the shell can be reduced to the greatest extent, the volume of the whole orthogonal transmission mechanism is reduced, and the miniaturization is realized.
Meanwhile, key grooves convenient for transmission are formed in both ends of the Z-axis power main shaft 10 and one end of each transmission shaft extending out of the shell 11, each transmission shaft is connected with the power mechanism through the key groove, and both ends of the Z-axis power main shaft 10 are connected with the executing mechanism through the key grooves to drive the executing mechanism to do periodic rotation and linear motion.
In addition, in one possible embodiment of the present invention, the materials of the transmission shaft and the Z-axis power spindle 10 are all wrought cast iron, and the cast iron has high strength, plasticity and impact toughness, so that the stability and the tightness of the connecting piece are ensured. The high strength and high elasticity of the malleable cast iron ensure the impact deformation resistance of the integral structure, and the corrosion resistance ensures that the malleable cast iron can still work normally under severe environments, thereby increasing the working adaptability and durability, prolonging the service life and reducing the maintenance time.
The X, Y and Z three axes of the embodiment are similar to a Cartesian space coordinate system in space, so that the orthogonal conversion function of an orthogonal transmission mechanism is exerted to a greater extent, and the practical application in a mechanical system is better served.
The working principle of the invention is as follows:
working condition I
Single input, multiple output: namely, the motor is used for driving the X positive half shaft transmission shaft 1 to do anticlockwise rotation, the X positive half shaft transmission shaft 1 drives the X positive half shaft power conversion shaft 5 to do anticlockwise rotation in space through the ball hinge, and at the moment, the X positive half shaft power conversion shaft 5 drives the Z shaft power main shaft 10 to do linear reciprocating motion along the axis and do rotation motion around the axis at the same time through rotation. At this time, the Z-axis power spindle 10 transmits power to an external device and drives the X-negative half-shaft power conversion shaft 7, the Y-positive half-shaft power conversion shaft 6 and the Y-negative half-shaft power conversion shaft 8 to spatially move, and each power conversion shaft drives the X-negative half-shaft transmission shaft 3, the Y-positive half-shaft power transmission shaft 2 and the Y-negative half-shaft power transmission shaft 4 to anticlockwise rotate through the ball hinge 13, so that power output is realized through each transmission shaft. Similarly, the motor can drive any one transmission shaft to rotate clockwise and anticlockwise, and the power of the motor is indirectly transmitted through other rotation shafts and the Z-axis power main shaft 10.
Working condition II
Multiple input, single output: the synchronous rotating speed motor is utilized to drive the X positive half shaft transmission shaft 1, the X negative half shaft transmission shaft 3, the Y positive half shaft transmission shaft 2 and the Y negative half shaft transmission shaft 4 to rotate clockwise, at the moment, the Z-axis power main shaft 10 simultaneously reciprocates up and down and performs linear motion and rotary motion due to the traction motion, under the working condition, even if the rotating speed is lower than or higher than the rated rotating speed due to unstable voltage or current of one shaft of the X positive half shaft transmission shaft 1, the X negative half shaft transmission shaft 3, the Y positive half shaft transmission shaft 2 and the Y negative half shaft transmission shaft 4, the vibration is not caused, the hardware negative feedback is realized, and the stability and the reliability of the transmission mechanism are improved.
The above examples of the present invention are merely illustrative of the present invention and are not intended to limit the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.

Claims (8)

1. An orthogonal transmission mechanism comprising a housing (11), characterized in that it further comprises:
four transmission shafts which are symmetrically and orthogonally penetrated through the shell (11) in pairs, the axes of the transmission shafts are positioned on the same horizontal plane and have the same shape and structure, one ends of the four transmission shafts positioned in the shell (11) are provided with ball hinges (13) in a biased way towards the same direction, two opposite ball hinges (13) are connected and provided with telescopic conversion shafts, the two conversion shafts are orthogonally distributed, and a long round hole (14) for the other conversion shaft to penetrate through is axially arranged in the middle of one conversion shaft;
the Z-axis power main shaft (10) penetrates through the shell (11), is perpendicular to the plane where the four transmission shafts are located and is located at the intersection of the four transmission shafts, and a cross-shaped through hole which is connected with the conversion shaft in a penetrating manner is formed in the middle of the Z-axis power main shaft (10);
the middle part of the Z-axis power main shaft (10) is provided with a main shaft connecting sleeve (12), and the peripheral wall of the main shaft connecting sleeve (12) is orthogonally provided with four hollow shaft sleeves matched with the conversion shaft in a protruding way;
and key grooves convenient for transmission are formed at two ends of the Z-axis power main shaft (10) and one end of the transmission shaft extending out of the shell (11).
2. The orthogonal transmission mechanism of claim 1, wherein: the four transmission shafts comprise an X positive half shaft transmission shaft (1), an X negative half shaft transmission shaft (3), a Y positive half shaft transmission shaft (2) and a Y negative half shaft transmission shaft (4), wherein the X positive half shaft transmission shaft (1) and the X negative half shaft transmission shaft (3) are symmetrically arranged on the X shaft, and the Y positive half shaft transmission shaft (2) and the Y negative half shaft transmission shaft (4) are symmetrically arranged on the Y shaft.
3. The orthogonal transmission mechanism of claim 1, wherein: the conversion shaft comprises an X positive half shaft power conversion shaft (5), an X negative half shaft power conversion shaft (7), a Y positive half shaft power conversion shaft (6) and a Y negative half shaft power conversion shaft (8), wherein one ends of the X positive half shaft power conversion shaft (5) and the X negative half shaft power conversion shaft (7) are mutually nested to realize expansion and contraction, and the other ends are respectively and movably connected with the X positive half shaft transmission shaft (1) and the X negative half shaft transmission shaft (3) through ball hinges (13); one end of the Y positive half shaft power conversion shaft (6) and one end of the Y negative half shaft power conversion shaft (8) are mutually nested to realize expansion and contraction, and the other end of the Y positive half shaft power conversion shaft is respectively and movably connected with the Y positive half shaft transmission shaft (2) and the Y negative half shaft transmission shaft (4) through ball hinges (13).
4. A quadrature drive as claimed in claim 3, wherein: the Y positive half shaft power conversion shaft (6), Y negative half shaft power conversion shaft (8) middle part is provided with respectively along the axial and supplies X positive half shaft power conversion shaft (5), and slotted hole (14) of X negative half shaft power conversion shaft (7).
5. A quadrature drive as claimed in claim 3, wherein: the ball hinge (13) comprises a hinged support (15) and a ball body (16) rotationally arranged in a spherical cavity of the hinged support (15), the hinged support (15) and a connected transmission shaft are of an integrated structure, and the ball body (16) is connected with a conversion shaft through threads.
6. A quadrature drive as claimed in claim 3, wherein: the shell (11) is of a hollow spherical structure and comprises a split upper hemisphere and a split lower hemisphere, a rolling bearing (9) is arranged between the shell (11) and a transmission shaft, and a linear rotation bushing is arranged between the shell (11) and a Z-axis power main shaft (10).
7. The orthogonal transmission mechanism of claim 5, wherein: the back of the hinged support (15) is arc-shaped, and the radian of the back of the hinged support is matched with that of the inner wall of the shell (11).
8. The orthogonal transmission mechanism of claim 1, wherein: the transmission shaft and the Z-axis power main shaft (10) are made of malleable cast iron.
CN201710028480.6A 2017-01-16 2017-01-16 Orthogonal transmission mechanism Active CN106838205B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710028480.6A CN106838205B (en) 2017-01-16 2017-01-16 Orthogonal transmission mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710028480.6A CN106838205B (en) 2017-01-16 2017-01-16 Orthogonal transmission mechanism

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CN106838205A CN106838205A (en) 2017-06-13
CN106838205B true CN106838205B (en) 2023-07-18

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Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0022273A3 (en) * 1979-07-10 1981-07-01 Johannes Schiller Infinitely variable switch gear mechanism
CN102135167B (en) * 2011-01-18 2013-11-27 华南理工大学 Parallel multi-output micro-transmission
CN102862137A (en) * 2011-07-07 2013-01-09 杭州巨星工具有限公司 Bi-direction mechanical straightener
US20150362043A1 (en) * 2014-06-12 2015-12-17 Benjamin J. Podurgiel, Iii Gearing system
CN104314736B (en) * 2014-10-21 2017-01-18 华南理工大学 Totally-enclosed power generation device simultaneously utilizing wave energy and wind energy
CN206563071U (en) * 2017-01-16 2017-10-17 华南理工大学 A kind of Perpendicular Transmission

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