CN111161622A - Real standard platform of single joint of robot - Google Patents
Real standard platform of single joint of robot Download PDFInfo
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- CN111161622A CN111161622A CN202010119977.0A CN202010119977A CN111161622A CN 111161622 A CN111161622 A CN 111161622A CN 202010119977 A CN202010119977 A CN 202010119977A CN 111161622 A CN111161622 A CN 111161622A
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- 238000012549 training Methods 0.000 claims abstract description 23
- 238000003466 welding Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 230000035807 sensation Effects 0.000 abstract description 3
- 230000006872 improvement Effects 0.000 abstract description 2
- 238000003860 storage Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 238000002474 experimental method Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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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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Abstract
The invention discloses a robot single-joint training platform which comprises a workbench, a rotating unit, a joint unit I and a joint unit II; a workbench: an empty groove is formed in the rear side of the workbench, a base is fixedly installed right above the empty groove of the workbench, and a control panel is fixedly installed at the upper end of the workbench; a rotating unit: the rotation unit includes master gear one, motor two, connecting rod, pinion one, ball and rotation axis, master gear one rotates and installs inside the workstation dead slot, two fixed mounting of motor are in workstation rear side bottom, output shaft fixed connection master gear one of motor two, this real platform of instructing of single joint of robot, its structure is diversified, can accomplish multiple experimental operation, can be better for real person of instructing provides actual operation, lets real person of instructing experience feel the sensation of controlling on the spot to improve learning interest effectively, and then improve effectual improvement learning efficiency.
Description
Technical Field
The invention relates to the technical field of practical training platforms, in particular to a robot single-joint practical training platform.
Background
With the progress and rapid development of science and technology, more and more automatic robots appear in production and life of people, and in order to better adapt to production and life needs and cultivate more professional talents which can know the robots and actually operate the robots, many schools develop robot training courses. However, most of training courses of the robots are only limited to explanation on books, and few real practical training robots are provided for practical operation of learners, so that the learners cannot experience an immersive control experience, and the learning efficiency is low;
the application number 201821745469.8 provides a robot training platform, which comprises a base, a workbench, two first moving plates, two second moving plates and a lifting mechanism, wherein the workbench is cuboid, the lifting mechanism is horizontally arranged above the base, four right-angle corners of the lower end of the workbench are respectively provided with a first rotating part, two first moving plates are respectively and horizontally arranged below two ends of the front side of the lower end of the workbench, the upper ends of the first moving plates are respectively provided with a second rotating part, the second rotating parts are respectively and rotatably connected with the first rotating parts above the second rotating parts, the two second moving plates are respectively and horizontally arranged below two ends of the rear side of the lower end of the workbench, the upper ends of the second moving plates are respectively provided with a sliding plate, the upper ends of the sliding plates are respectively provided with a third rotating part, the third rotating parts are respectively and rotatably connected with the first rotating parts above the sliding plates, and the lifting mechanism is arranged on the base and is respectively and drivingly connected with the;
its simple structure, can not be better for the real person of instructing provides actual operation, still can not let the real person of instructing experience simultaneously and control the sensation personally on the scene, learning inefficiency.
Disclosure of Invention
The invention aims to overcome the existing defects and provide a robot single-joint training platform which is diversified in structure, can complete various experimental operations, can better provide practical operations for a training person, and enables the training person to feel the operation and control feeling of being personally on the scene, so that the learning interest is effectively improved, the learning efficiency is effectively improved, and the problems in the background technology can be effectively solved.
In order to achieve the purpose, the invention provides the following technical scheme: a robot single-joint training platform comprises a workbench, a rotating unit, a joint unit I and a joint unit II;
a workbench: an empty groove is formed in the rear side of the workbench, a base is fixedly installed right above the empty groove of the workbench, and a control panel is fixedly installed at the upper end of the workbench;
a rotating unit: the rotating unit comprises a first main gear, a second motor, a connecting rod, a first pinion, balls and a rotating shaft, the first main gear is rotatably installed inside a hollow groove of the workbench, the second motor is fixedly installed at the bottom of the rear side of the workbench, an output shaft of the second motor is fixedly connected with the first main gear, the first pinion is rotatably installed inside the hollow groove of the workbench, the first main gear is meshed with the first pinion, the bottom end of the connecting rod is fixedly connected with the middle part of the first pinion, the top end of the connecting rod penetrates through the base and is fixedly connected with the rotating shaft, the balls are installed inside the lower end of the rotating shaft, and the input end of the second motor is electrically connected with the output end of the;
a first joint unit: the two main gears of the first joint unit are respectively and rotatably arranged on two sides of a first fixing frame, and the first fixing frame is fixedly arranged at the upper end of the rotating shaft;
a second joint unit: the second joint unit comprises a box body, a fourth motor, a crown gear and a gear, the lower end of the box body is fixedly connected with one end of a second arm, the other end of the second arm is fixedly connected with a connecting shaft of the first joint unit, the fourth motor is fixedly installed at the upper end of the box body, the crown gear is rotatably installed inside the upper end of the box body, an output shaft of the fourth motor is fixedly connected with the crown gear, the gear is rotatably installed on the left side of the box body, the crown gear is meshed with the gear, and the input end of the fourth motor is electrically connected with the output end of the control board;
wherein: the gear type bicycle is characterized by further comprising a first rotating shaft and a first arm, wherein one end of the first rotating shaft is fixedly connected with the gear, and the other end of the first rotating shaft is fixedly connected with the first arm.
Furthermore, the first joint unit comprises a second main gear, a connecting shaft, a third motor and a second pinion, the third motor is fixedly arranged on one side of the first fixing frame, the two pinions are respectively rotatably arranged on two sides of the first fixing frame, the two second main gears and the two pinions are respectively meshed with each other, two ends of the connecting shaft are respectively fixedly connected with the two pinions, and the input end of the third motor is electrically connected with the output end of the control board. The control panel controls the motor III to rotate, and the motor III drives the main gear II to rotate so as to drive the secondary gear II to rotate, so that the vertical angle of the arm II is changed.
The robot hand is arranged in the middle of an output shaft of the first motor, one end of the output shaft of the first motor is rotatably connected to the other side of the first fixing frame, and the input end of the first motor is electrically connected with the output end of the control panel. The first motor is controlled to rotate through the control panel, and then the first motor controls the robot hand to work.
Further, the storage cabinet and the placing rack are further included, the storage cabinet is fixedly installed at one end of the workbench, and the placing rack is fixedly installed at the other end of the workbench. The required article of real standard in-process can be placed to the locker, and the rack is placed the manipulator, is convenient for change.
Furthermore, the four-leg-type electric welding machine further comprises supporting legs and an operation box, wherein the four supporting legs are fixedly arranged at four corners of the bottom of the workbench, and the operation box is arranged in the middle of the upper end of the workbench. The training person can carry out relevant experimental operation on the operation box.
Compared with the prior art, the invention has the beneficial effects that: this real standard platform of single joint of robot has following benefit:
1. the robot single-joint practical training platform is provided with a rotating unit, a joint unit I and a joint unit II, the rotating direction can be better controlled through the rotating unit, and the operation can be better completed through the joint unit I and the joint unit II;
2. articles required in the practical training process can be placed through the storage cabinet, and the placing rack is used for placing mechanical hands, so that the replacement is convenient, and the operation process is more convenient;
3. this real standard platform of single joint of robot, its structure is diversified, can accomplish multiple experiment operation, can be better for real person of instructing provides actual operation, lets real person of instructing experience the sensation of controlling personally on the scene to improve learning interest effectively, and then improve effectual improvement learning efficiency.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic cross-sectional view of the present invention;
FIG. 3 is an enlarged schematic view of the structure at the position A of the present invention;
FIG. 4 is an enlarged view of the structure of the present invention at B;
fig. 5 is a schematic structural diagram of a joint unit of the invention.
In the figure: 1 workbench, 2 storage cabinets, 3 control boards, 4 motors I, 5 placement racks, 6 rotating units, 61 primary gear I, 62 motors II, 63 connecting rods, 64 secondary gear I, 65 balls, 66 rotating shafts, 7 joints units I, 71 primary gear II, 72 connecting shafts, 73 motors III, 74 secondary gear II, 8 supporting legs, 9 joints units II, 91 box bodies, 92 motors IV, 93 crown gears, 94 gears, 10 mounts I, 11 mounts II, 12 robot hands, 13 bases, 14 rotating shafts, 15 arms I, 16 arms II and 17 operation boxes.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-5, the present invention provides a technical solution: a robot single-joint training platform comprises a workbench 1, a rotating unit 6, a first joint unit 7 and a second joint unit 9;
a workbench 1: an empty groove is formed in the rear side of the workbench 1, a base 13 is fixedly installed right above the empty groove of the workbench 1, and a control panel 3 is fixedly installed at the upper end of the workbench 1; the four-leg-support-type electric welding machine further comprises supporting legs 8 and an operation box 17, wherein the four supporting legs 8 are fixedly arranged at four corners of the bottom of the workbench 1, and the operation box 17 is arranged in the middle of the upper end of the workbench 1; the training person can perform relevant experiment operations on the operation box 17;
the rotating unit 6: the rotating unit 6 comprises a first main gear 61, a second motor 62, a connecting rod 63, a first pinion 64, balls 65 and a rotating shaft 66, wherein the first main gear 61 is rotatably installed inside the empty groove of the workbench 1, the second motor 62 is fixedly installed at the bottom of the rear side of the workbench 1, an output shaft of the second motor 62 is fixedly connected with the first main gear 61, the first pinion 64 is rotatably installed inside the empty groove of the workbench 1, the first main gear 61 and the first pinion 64 are mutually meshed, the bottom end of the connecting rod 63 is fixedly connected with the middle part of the first pinion 64, the top end of the connecting rod 63 penetrates through the base 13 to be fixedly connected with the rotating shaft 66, the balls 65 are installed inside the lower end of the rotating shaft 66, and the input end of the second; the robot hand 12 is arranged in the middle of an output shaft of the motor I4, one end of the output shaft of the motor I4 is rotatably connected to the other side of the fixed frame II 11, and an input end of the motor I4 is electrically connected with an output end of the control board 3; the control panel 3 controls the first motor 4 to rotate, and the first motor 4 controls the robot hand 12 to work;
the joint unit one 7: the two second main gears 71 of the first joint unit 7 are respectively rotatably installed on two sides of the first fixing frame 10, and the first fixing frame 10 is fixedly installed at the upper end of the rotating shaft 66; the first joint unit 7 comprises a second main gear 71, a connecting shaft 72, a third motor 73 and a second auxiliary gear 74, the third motor 73 is fixedly arranged on one side of the first fixing frame 10, the two second auxiliary gears 74 are respectively and rotatably arranged on two sides of the first fixing frame 10, the two second main gears 71 and the two second auxiliary gears 74 are respectively meshed with each other, two ends of the connecting shaft 72 are respectively and fixedly connected with the two second auxiliary gears 74, and the input end of the third motor 73 is electrically connected with the output end of the control board 3; the control panel 3 controls the motor III 73 to rotate, the motor III 73 drives the main gear II 71 to rotate, and then drives the secondary gear II 74 to rotate, so that the vertical angle of the arm II 16 is changed;
a second joint unit 9: the second joint unit 9 comprises a box body 91, a fourth motor 92, a crown gear 93 and a gear 94, the lower end of the box body 91 is fixedly connected with one end of a second arm 16, the other end of the second arm 16 is fixedly connected with the connecting shaft 72 of the first joint unit 7, the fourth motor 92 is fixedly arranged at the upper end of the box body 91, the crown gear 93 is rotatably arranged in the upper end of the box body 91, an output shaft of the fourth motor 92 is fixedly connected with the crown gear 93, the gear 94 is rotatably arranged at the left side of the box body 91, the crown gear 93 is meshed with the gear 94, and the input end of the fourth motor 92 is electrically connected; the control panel 3 controls a motor IV 92 to rotate, the motor IV 92 drives a crown gear 93 to rotate, and then drives a gear 94 to rotate, so that the first 15 vertical angle of the arm is changed;
wherein: the device further comprises a rotating shaft 14 and a first arm 15, wherein one end of the rotating shaft 14 is fixedly connected with a gear 94, and the other end of the rotating shaft 14 is fixedly connected with the first arm 15. Still include locker 2 and rack 5, locker 2 fixed mounting is in the one end of workstation 1, rack 5 fixed mounting is at the other end of workstation 1. The storage cabinet 2 can be used for placing articles required in the training process, and the placing rack 5 is used for placing mechanical hands, so that the storage cabinet is convenient to replace.
When in use: the control panel 3 is firstly opened, an empty groove is formed in the rear side of the workbench 1, a base 13 is fixedly installed right above the empty groove of the workbench 1, and the control panel 3 is fixedly installed at the upper end of the workbench 1; the rotating unit 6 comprises a first main gear 61, a second motor 62, a connecting rod 63, a first pinion 64, balls 65 and a rotating shaft 66, wherein the first main gear 61 is rotatably installed inside the empty groove of the workbench 1, the second motor 62 is fixedly installed at the bottom of the rear side of the workbench 1, an output shaft of the second motor 62 is fixedly connected with the first main gear 61, the first pinion 64 is rotatably installed inside the empty groove of the workbench 1, the first main gear 61 and the first pinion 64 are mutually meshed, the bottom end of the connecting rod 63 is fixedly connected with the middle part of the first pinion 64, the top end of the connecting rod 63 penetrates through the base 13 to be fixedly connected with the rotating shaft 66, the balls 65 are installed inside the lower end of the rotating shaft 66, and the input end of the second; the two second main gears 71 of the first joint unit 7 are respectively rotatably installed on two sides of the first fixing frame 10, and the first fixing frame 10 is fixedly installed at the upper end of the rotating shaft 66; the second joint unit 9 comprises a box body 91, a fourth motor 92, a crown gear 93 and a gear 94, the lower end of the box body 91 is fixedly connected with one end of a second arm 16, the other end of the second arm 16 is fixedly connected with the connecting shaft 72 of the first joint unit 7, the fourth motor 92 is fixedly arranged at the upper end of the box body 91, the crown gear 93 is rotatably arranged in the upper end of the box body 91, an output shaft of the fourth motor 92 is fixedly connected with the crown gear 93, the gear 94 is rotatably arranged at the left side of the box body 91, the crown gear 93 is meshed with the gear 94, and the input end of the fourth motor 92 is electrically connected; the device further comprises a rotating shaft 14 and a first arm 15, wherein one end of the rotating shaft 14 is fixedly connected with a gear 94, and the other end of the rotating shaft 14 is fixedly connected with the first arm 15. The first joint unit 7 comprises a second main gear 71, a connecting shaft 72, a third motor 73 and a second auxiliary gear 74, the third motor 73 is fixedly installed on one side of the first fixing frame 10, the two second auxiliary gears 74 are respectively and rotatably installed on two sides of the first fixing frame 10, the two second main gears 71 and the two second auxiliary gears 74 are respectively meshed with each other, two ends of the connecting shaft 72 are respectively and fixedly connected with the two auxiliary gears 74, and an input end of the third motor 73 is electrically connected with an output end of the control board 3. The control panel 3 controls the motor three 73 to rotate, the motor three 73 drives the main gear two 71 to rotate, and then drives the secondary gear two 74 to rotate, so that the vertical angle of the arm two 16 is changed. The robot hand is characterized by further comprising a first motor 4, a second fixing frame 11 and a robot hand 12, wherein the second fixing frame 11 is fixedly installed at the upper end of the first arm 15, the first motor 4 is fixedly installed at one side of the second fixing frame 11, the robot hand 12 is installed in the middle of an output shaft of the first motor 4, one end of the output shaft of the first motor 4 is rotatably connected to the other side of the second fixing frame 11, and an input end of the first motor 4 is electrically connected with an output end of the control. The control panel 3 controls the first motor 4 to rotate, and the first motor 4 controls the robot hand 12 to work. Still include locker 2 and rack 5, locker 2 fixed mounting is in the one end of workstation 1, rack 5 fixed mounting is at the other end of workstation 1. The storage cabinet 2 can be used for placing articles required in the training process, and the placing rack 5 is used for placing mechanical hands, so that the storage cabinet is convenient to replace. Still include landing leg 8 and control box 17, four landing legs 8 fixed mounting are in the bottom four corners of workstation 1, and control box 17 installs in the upper end middle part of workstation 1. The training person can perform relevant experimental operations on the operation box 17.
It should be noted that the core chip of the control board 3 disclosed in this embodiment is a PLC single chip with a specific model of siemens ST-700, the first motor 4, the second motor 62, the third motor 73, and the fourth motor 92 can be freely configured according to an actual application scenario, and the first motor 4, the second motor 62, the third motor 73, and the fourth motor 92 can be YT motors produced by shanghai motor products company ltd. The control board controls the first motor 4, the second motor 62, the third motor 73 and the fourth motor 92 to work by adopting a common method in the prior art.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The utility model provides a real standard platform of single joint of robot which characterized in that: comprises a workbench (1), a rotating unit (6), a joint unit I (7) and a joint unit II (9);
table (1): an empty groove is formed in the rear side of the workbench (1), a base (13) is fixedly installed right above the empty groove of the workbench (1), and a control panel (3) is fixedly installed at the upper end of the workbench (1);
rotating unit (6): the rotating unit (6) comprises a first main gear (61), a second motor (62), a connecting rod (63), a first pinion (64), a ball (65) and a rotating shaft (66), the first main gear (61) is rotatably arranged in the empty groove of the workbench (1), the second motor (62) is fixedly arranged at the bottom of the rear side of the workbench (1), an output shaft of the second motor (62) is fixedly connected with a first primary gear (61), a first secondary gear (64) is rotatably arranged in the empty groove of the workbench (1), the first main gear (61) and the first auxiliary gear (64) are meshed with each other, the bottom end of the connecting rod (63) is fixedly connected with the middle part of the first auxiliary gear (64), the top end of the connecting rod (63) passes through the base (13) and is fixedly connected with the rotating shaft (66), a ball (65) is arranged in the lower end of the rotating shaft (66), and the input end of the motor II (62) is electrically connected with the output end of the control board (3);
joint unit one (7): the two second main gears (71) of the first joint unit (7) are respectively and rotatably arranged on two sides of the first fixing frame (10), and the first fixing frame (10) is fixedly arranged at the upper end of the rotating shaft (66);
joint unit two (9): the second joint unit (9) comprises a box body (91), a fourth motor (92), a crown gear (93) and a gear (94), the lower end of the box body (91) is fixedly connected with one end of the second arm (16), the other end of the second arm (16) is fixedly connected with a connecting shaft (72) of the first joint unit (7), the fourth motor (92) is fixedly installed at the upper end of the box body (91), the crown gear (93) is rotatably installed inside the upper end of the box body (91), an output shaft of the fourth motor (92) is fixedly connected with the crown gear (93), the gear (94) is rotatably installed on the left side of the box body (91), the crown gear (93) and the gear (94) are meshed with each other, and the input end of the fourth motor (92) is electrically connected with the output end of the control board (3);
wherein: the device is characterized by further comprising a rotating shaft (14) and a first arm (15), wherein one end of the rotating shaft (14) is fixedly connected with a gear (94), and the other end of the rotating shaft (14) is fixedly connected with the first arm (15).
2. The robot single-joint training platform according to claim 1, characterized in that: the first joint unit (7) comprises a second main gear (71), a connecting shaft (72), a third motor (73) and a second auxiliary gear (74), the third motor (73) is fixedly arranged on one side of the first fixing frame (10), the two second auxiliary gears (74) are respectively rotatably arranged on two sides of the first fixing frame (10), the two second main gears (71) and the two second auxiliary gears (74) are respectively meshed with each other, two ends of the connecting shaft (72) are respectively fixedly connected with the two auxiliary gears (74), and the input end of the third motor (73) is electrically connected with the output end of the control plate (3).
3. The robot single-joint training platform according to claim 1, characterized in that: still include motor (4), mount two (11) and robot hand (12), mount two (11) fixed mounting is in the upper end of arm (15), motor (4) fixed mounting is in one side of mount two (11), the output shaft middle part at motor (4) is installed in robot hand (12), the opposite side at mount two (11) is connected in the rotation of output shaft one end of motor (4), the output of control panel (3) is connected to the input electricity of motor (4).
4. The robot single-joint training platform according to claim 1, characterized in that: still include locker (2) and rack (5), locker (2) fixed mounting is in the one end of workstation (1), rack (5) fixed mounting is at the other end of workstation (1).
5. The robot single-joint training platform according to claim 1, characterized in that: the four-leg-type electric welding machine is characterized by further comprising supporting legs (8) and an operation box (17), wherein the four supporting legs (8) are fixedly installed at four corners of the bottom of the workbench (1), and the operation box (17) is installed in the middle of the upper end of the workbench (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010119977.0A CN111161622B (en) | 2020-02-28 | Real standard platform of single joint of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010119977.0A CN111161622B (en) | 2020-02-28 | Real standard platform of single joint of robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111161622A true CN111161622A (en) | 2020-05-15 |
| CN111161622B CN111161622B (en) | 2024-06-25 |
Family
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112369867A (en) * | 2020-10-22 | 2021-02-19 | 北京工业大学 | Industrial design simulation product rotation type viewing device |
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| CN209699109U (en) * | 2019-04-22 | 2019-11-29 | 西安盘古智能科技有限公司 | A kind of real training six-joint robot |
| CN110533983A (en) * | 2019-09-18 | 2019-12-03 | 江苏汇博机器人技术股份有限公司 | A kind of dismounting of industrial robot and maintenance comprehensive practical traning apparatus for checking |
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| JPS5973284A (en) * | 1982-10-19 | 1984-04-25 | フアナツク株式会社 | Articulated arm type industrial robot |
| KR200364302Y1 (en) * | 2004-07-24 | 2004-10-11 | 성낙윤 | Portable Robot Arms With Wheel |
| CN104112390A (en) * | 2014-07-23 | 2014-10-22 | 南京理工大学 | Electromechanical comprehensive experiment platform |
| CN104269099A (en) * | 2014-09-19 | 2015-01-07 | 苏州博实机器人技术有限公司 | Modularized building-block-type demountable serial robot |
| CN206471056U (en) * | 2017-01-26 | 2017-09-05 | 江苏哈工海渡工业机器人有限公司 | A kind of robot single joint practical traning platform |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112369867A (en) * | 2020-10-22 | 2021-02-19 | 北京工业大学 | Industrial design simulation product rotation type viewing device |
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