CN109434809A - A kind of straight line slide unit six degree of freedom platform structure - Google Patents
A kind of straight line slide unit six degree of freedom platform structure Download PDFInfo
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- CN109434809A CN109434809A CN201811528532.7A CN201811528532A CN109434809A CN 109434809 A CN109434809 A CN 109434809A CN 201811528532 A CN201811528532 A CN 201811528532A CN 109434809 A CN109434809 A CN 109434809A
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- 238000005096 rolling process Methods 0.000 claims description 16
- 239000011295 pitch Substances 0.000 claims description 4
- 241000282376 Panthera tigris Species 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 23
- 238000006243 chemical reaction Methods 0.000 abstract description 9
- 238000000034 method Methods 0.000 abstract description 9
- 230000008569 process Effects 0.000 abstract description 8
- 150000001875 compounds Chemical class 0.000 abstract description 6
- 238000012423 maintenance Methods 0.000 abstract description 6
- 230000009471 action Effects 0.000 abstract description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 230000007659 motor function Effects 0.000 abstract description 5
- 230000008901 benefit Effects 0.000 abstract description 4
- 230000000694 effects Effects 0.000 abstract description 4
- 238000005381 potential energy Methods 0.000 abstract description 3
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 6
- 229910052802 copper Inorganic materials 0.000 description 6
- 239000010949 copper Substances 0.000 description 6
- 238000006073 displacement reaction Methods 0.000 description 5
- 230000002441 reversible effect Effects 0.000 description 4
- 230000007704 transition Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
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- 239000007787 solid Substances 0.000 description 2
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- 230000005611 electricity Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
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- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000036316 preload Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
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Abstract
The present invention relates to a kind of straight line slide unit six degree of freedom platform structures, it mainly include a upper mounting plate component, six groups of straight line slipway mechanisms and six groups of support components, slipway mechanism is set to below upper mounting plate component, support component is respectively articulated with by hook hinge and upper mounting plate component and slide unit component, slipway mechanism is driven using horizontally disposed servo motor, and slide unit is equipped with extension spring.Support component drives upper mounting plate movement with the compound motion of slipway mechanism, realizes motor function identical with conventionally known six degree of freedom platform.Extension spring can convert kinetic energy and gravitional force to elastic potential energy, and the invertibity of energy conversion increases load capacity under identical output power；Horizontally disposed servo motor replaces tradition along the electric cylinder of support rod direction setting, the activity space that the minimum altitude in platform execution action process can be reduced, increase upper mounting plate vertical direction, this structure is more simple, manufacture and maintenance cost is more cheap, realizes economic benefit bigizationner.
Description
Technical field
The present invention relates to six degree of freedom mechanical structure field, especially a kind of straight line slide unit six degree of freedom platform structure.
Background technique
Currently, well known six degree of freedom platform structure is by six servo electric jars, upper mounting plate, upper lower platform hook hinge
Mounting base and lower platform are formed by connecting.Lower platform is fixed with respect to ground, by changing the stroke of six servo electric jars, in promotion
Platform assembly completion rotate around X-axis, Y-axis rotation, Z axis rotation, is displaced etc. and moves and a series of along X-axis displacement, Y-axis displacement, Z axis
Compound motion.But the six degree of freedom platform of this structure is moved up and down by the motor driven feed screw nut pair of six electric cylinders
Thrust is generated to drive upper mounting plate component movement, gravitional force conversion can not be stored as when overcoming load to do manual work available
Energy；And current six degree of freedom platform electric cylinder internal structure is complex, maintenance cost is higher；In addition due to electric cylinder
The intrinsic height of the limitation platform of self structure can not reduce.
Summary of the invention
In order to increase the load of Same Efficieney lower platform, office of the existing six degree of freedom platform in terms of self structure is overcome
Sex-limited, the present invention for the technical problems in the prior art, provides a kind of novel straight line slide unit six degree of freedom platform knot
Structure, which can realize motor function identical with conventionally known six degree of freedom platform, and load under identical output power
It increasing, platform executes minimum altitude in action process and reduces, and structure is more simple, and manufacture and maintenance cost are more cheap, thus
Realize economic benefit bigizationner.
A kind of straight line slide unit six degree of freedom platform structure is based on Stewart platform, including a upper mounting plate component, six
Support component and a lower platform component, the support component upper end and the upper mounting plate member hinges, which is characterized in that institute
Stating lower platform component includes lower platform and three slide unit components, three slide unit components be mutually 120 °, be horizontally set on it is described
On lower platform component, each slide unit component includes two slipway mechanisms arranged side by side, and the slipway mechanism includes one solid
Determine portion and the telescopic movable part that connect with the fixed part, the fixed part of the slipway mechanism is fixed with the lower platform
Connection, the movable part of the slipway mechanism and the lower end of the support component are hinged.
Support component drives upper mounting plate movement with the compound motion of slipway mechanism, realizes and conventionally known six degree of freedom
The identical motor function of platform.
Preferably, the fixed part includes a slide unit fixed plate, and the slipway mechanism passes through the slide unit fixed plate and institute
Lower platform is stated to be fixedly connected；The movable part includes servo motor, screw rod, sliding block, and the servo motor is fixedly installed in described
In slide unit fixed plate, one end of the screw rod is fixedly connected with the output revolving shaft of the servo motor, and the sliding block is equipped with logical
Hole, the other end of the screw rod pass through the through-hole and are threadedly coupled with the sliding block.
Driving device replaces servo electric jar using servo motor, and servo motor is horizontally disposed, drops platform oneself height
It is low, structure is more simple.
Preferably, the slipway mechanism further includes spring anchorage bracket and extension spring, and the spring anchorage bracket is arranged in institute
Side of the slide unit fixed plate far from the sliding block is stated, and is fixedly connected with the slide unit fixed plate；One end of the extension spring
It is fixedly connected with the sliding block, the other end is connect with the spring anchorage bracket.
The setting of extension spring can convert elastic potential for the gravitional force for the kinetic energy and upper mounting plate that slide block movement generates
Can, the conversion of energy carries out reversible transition due to the invertibity of sliding block and the upper mounting plate direction of motion, makes to bear under identical output power
Loading capability increases.
Preferably, it is additionally provided with guide rail below the sliding block, the sliding block is slidably connected with the guide rail；The guide rail and institute
It is parallel to state screw rod, and described guide rail one end is fixedly connected with the slide unit fixed plate.
The setting of guide rail reduces the frictional force in sliding block sliding process, while giving sliding block precise positioning.
Preferably, the both ends of the screw rod are respectively equipped with a UCP bearing block, and the nearly motor side of the screw rod passes through described
UCP bearing block is connect with the slide unit fixed plate, and the nearly slider end of the screw rod is connected by the UCP bearing block and the guide rail
It connects.
UCP bearing block is bearing with spherical outside surface of usheing to seat, and the UCP bearing block reduces dynamic while providing support to screw rod
Coefficient of friction, holding shaft core position in power transmittance process are fixed, and two UCP bearing blocks are cooperated by screw rod, make screw rod
Transmission process axis do not generate offset, entire slipway mechanism operation it is more stable.
Preferably, the support component includes a support rod, and the post upper is equipped with rotary shaft, rolling bearing with before
Hinge fork, the rotary shaft lower end are fixedly connected with the upper end of the support rod, in the rotary shaft upper end and the rolling bearing
Circle is fixedly connected, it is described before hinge fork lower end be fixedly connected with the housing washer, it is described before hinge pitch upper end with it is described
Upper mounting plate component is hinged by hook hinge；Fork is cut with scissors in the lower end of the support rod after being equipped with, cut with scissors fork and the support rod after described
It is threadedly coupled；Hinge fork is hinged by hook hinge and the movable part of the slipway mechanism after described.
Preferably, the rolling bearing housing joint bearing seat cuts with scissors fork fixing seat before described and the bearing block passes through screw
Connection.
The movement of slipper push support component, when support component movement angle is limited by upper mounting plate, rolling bearing structure can
Post upper flexible angle adjustment is helped, support component support upper mounting plate is made to realize the conversion of more perspective and displacement.
Preferably, the preceding hinge fork is equipped with pin shaft with rear cut with scissors in fork, and the pin shaft extends transversely through the hinge fork simultaneously
It is fixed with screw.
Beneficial effects of the present invention:
Servo motor drives six groups of straight line slipway mechanisms, and support component drives upper mounting plate with the compound motion of slipway mechanism
Motor function identical with conventionally known six degree of freedom platform is realized in movement, and because of the setting of extension spring, can be by cunning
The gravitional force conversion for the kinetic energy and upper mounting plate that block movement generates is stored as elastic potential energy, and the conversion of energy is because of sliding block and upper mounting plate
The invertibity of the direction of motion and carry out reversible transition, increase load capacity；Driving device uses servo
Motor replaces servo electric jar, and traditional servo electric jar is arranged along support rod direction, and servo motor is horizontally disposed in the present invention,
Platform can be made to reduce the minimum altitude executed in action process, the activity space for increasing upper mounting plate vertical direction, while this structure
More simple, manufacture and maintenance cost are more cheap, realize economic benefit bigizationner.
Detailed description of the invention
Fig. 1 is straight line slide unit six degree of freedom platform structure main view of the present invention；
Fig. 2 is slipway mechanism top view of the present invention；
Fig. 3 is upper mounting plate assembly assumption diagram of the present invention；
Fig. 4 is support component structure chart of the present invention；
Fig. 5 is straight line slide unit assembly assumption diagram of the present invention.
In attached drawing, parts list represented by the reference numerals are as follows:
1, upper mounting plate component, 2, upper hook hinge, 3, slide unit component, 4, support component, 21, preceding hinge fork, 22, pin shaft, 23,
Preceding hinge fork fixing seat, 24, bearing block, 25, locking nut, 26, rolling bearing, 27, rotary shaft, 28, support rod, 29, rear hinge fork,
210, copper sheathing, 31, slide unit fixed plate, 32, spring anchorage bracket, 33, lifting bolt, 34, extension spring, 35, servo motor, 36,
Motor cabinet, 37, shaft coupling, 38, UCP bearing block, 39, screw rod, 310, guide rail, 311, feed screw nut, 312, hook hinge installation
Seat, 313, sliding block, 314, lower hook hinge.
Specific embodiment
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the invention.
As shown in Fig. 1~5, a kind of straight line slide unit six degree of freedom platform structure, based on Stewart platform, including one
1, six support component 4 of platform assembly and a lower platform component, 4 upper end of support component and upper mounting plate component 1 are hinged, lower flat
Platform component includes lower platform and three slide unit components 3, and three slide unit components 3 are mutually 120 °, are horizontally set on the lower platform group
On part.
Each slide unit component 3 includes two slipway mechanisms arranged side by side, slipway mechanism include a fixed part and one with it is solid
Determine the telescopic movable part of portion's connection, the fixed part of slipway mechanism is fixedly connected with lower platform, the movable part of slipway mechanism and
The lower end of support component 4 is hinged.Fixed part includes a slide unit fixed plate 31, and two slipway mechanisms arranged side by side pass through a cunning
Platform fixed plate 31 is fixedly connected with lower platform；Movable part includes servo motor 35, screw rod 39, sliding block 313, and servo motor 35 passes through
Motor cabinet 36 is fixedly installed in slide unit fixed plate 31, and motor cabinet 36 is connected by screw to slide unit fixed plate 31；Screw rod 39
One end is fixedly connected with the output revolving shaft of servo motor 35 by shaft coupling 37, and sliding block 313 is equipped with through-hole, and through-hole side is equipped with
Feed screw nut 311, and the other end of screw rod 39 passes through through-hole and is threadedly coupled with feed screw nut 311.
In the present embodiment, slipway mechanism further includes spring anchorage bracket 32 and extension spring disposed in parallel 34, and spring is fixed
The side on slipway mechanism far from sliding block is arranged in frame 32, and is fixedly connected with slide unit fixed plate 31；One end of extension spring 34
It is fixedly connected with sliding block 313, the other end is connect with spring anchorage bracket 32.34 both ends of extension spring are equipped with lifting bolt 33, hang
Collar bolt 33 is separately fixed on spring anchorage bracket 32 and sliding block 313, and 34 both ends of extension spring are each passed through and are fixed on hanging ring
On the hanging ring of bolt 33.
Realizing motor function identical with conventionally known six degree of freedom platform simultaneously, the setting of extension spring 34 will
The gravitional force of kinetic energy and upper mounting plate that the movement of sliding block 313 generates converts and is stored as elastic potential energy, and the conversion of energy is because of sliding block
With the invertibity of the upper mounting plate direction of motion and carry out reversible transition, increase load capacity under identical output power；Driving device
Replace servo electric jar using servo motor 35, traditional servo electric jar is arranged along support rod direction, servo electricity in the present invention
Machine 35 is horizontally disposed, and so that upper mounting plate is executed minimum altitude in action process reduces, also increases the activity of upper mounting plate vertical direction
Space, while this structure is more simple, manufacture and maintenance cost are lower.
In the present embodiment, two closed slides 310 are additionally provided with below sliding block 313, sliding block 313 is slidably connected with guide rail 310；
Guide rail 310 is arranged in parallel with screw rod 39, and two 310 one end of closed slide are fixedly connected with slide unit fixed plate 31 by screw.
The both ends of screw rod 39 are respectively equipped with a UCP bearing block 38.The nearly motor side of screw rod 39 passes through a UCP bearing block 38, the UCP
Bearing block is fixedly connected with slide unit fixed plate 31 with screw.The nearly slider end of screw rod passes through another UCP bearing block 38, the UCP
Bearing block is connected across on two closed slides 310 and is screwed connection.Lower hook hinge 314 is equipped with above slide unit 313,
Lower hook hinge 314 is installed on slide unit 313 by hook hinge mounting base 312, lower hook hinge 314 and support rod component 4
Lower end is hinged.
UCP bearing block 38 is usherd to seat bearing with spherical outside surface, the UCP bearing block 38 while providing support to screw rod 39,
It reduces the coefficient of friction in power transmission process, shaft core position is kept to fix, two UCP bearing blocks 38 pass through 39 phase interworking of screw rod
Close, make screw rod transmission process axis do not generate offset, entire slipway mechanism run it is more stable.
As shown in figure 4,28 upper end of support rod is equipped with rotary shaft 27, rolling bearing 26 and preceding hinge fork 21,27 lower end of rotary shaft
It is connect with the threaded upper ends of support rod 28,27 upper end of rotary shaft is fixedly connected with 26 inner ring of rolling bearing, 26 outer ring of rolling bearing
It is socketed bearing block 24, the lower end of preceding hinge fork 21 is fixedly connected with 26 outer ring of rolling bearing, preceding hinge fork fixing seat 23 and the bearing
Seat 24 is connected by screw to, and the upper end of preceding hinge fork 21 and upper mounting plate component 1 are hinged by upper hook hinge 2；Under support rod 28
Hinge fork 29 after end is equipped with, rear hinge fork 29 are threadedly coupled with support rod 28；Hinge fork 29 passes through lower hook hinge 314 and slipway mechanism afterwards
Sliding block 313 it is hinged.
Sliding block 313 pushes support component 4 to move, when 4 movement angle of support component is limited by upper mounting plate, rolling bearing 27
Rotation, 28 upper end flexible angle adjustment of support rod can be helped, make support component 4 support upper mounting plate component 1 realize more perspective with
The conversion of displacement.
In the present embodiment, pin shaft 22 and copper sheathing 210 are equipped in the hinge fork, the pin shaft 22 extends transversely through hinge fork and copper sheathing
It 210 and is fixed with screw, the hinge fork is hinged with hook hinge.The copper sheathing 210 can increase the flexibility of hook hinge, subtract
The mechanical wear of few hook hinge motion process.
More specifically, the external screw thread that hinge pitches 21 lower ends before support component is connected with the internal screw thread of preceding hinge fork fixing seat 23 to be used in combination
Screw preload is marked closely, preceding hinge fork fixing seat 23 is connected by screw on bearing block 24, and two rolling bearings 26 are separately mounted to
In the bearing hole of 24 upper and lower ends of bearing block, support rod rotary shaft 27 passes through 26 inner ring of rolling bearing, fixed with locking nut 25,
The external screw thread of support rod rotary shaft 27 is connected with the internal screw thread of 28 front end of support rod, and is pre-tightened with screw is marked closely；After support component
The external screw thread of hinge fork 29 is connected with the internal screw thread of 28 lower end of support rod, and is pre-tightened with screw is marked closely, and pin shaft 22 passes through two copper sheathings
210 be connected to support component with screw after on hinge fork 29, another pin shaft 22 passes through two copper sheathings 210 and with screw is connected to support
Before component on hinge fork 21.
Working principle:
Servo motor drives six groups of straight line slipway mechanisms, and support component drives upper mounting plate with the compound motion of slipway mechanism
It moves, realizes that promotion upper mounting plate component completion is rotated around X-axis, Y-axis rotates, Z axis rotates, is displaced along X-axis displacement, Y-axis, Z axis position
A series of function of the movement such as shifting and compound motions；And because extension spring is equipped between sliding block and slide unit fixed plate, in cunning
When block moves, the gravitional force for the kinetic energy and upper mounting plate that slide block movement generates can be converted and be stored as elastic potential by extension spring
Can, the conversion of energy, which carries out reversible transition because of sliding block and the invertibity of the upper mounting plate direction of motion, to be made to load under identical output power
Ability increases；Driving device replaces servo electric jar using servo motor, and traditional servo electric jar is arranged along support rod direction,
Servo motor is horizontally disposed in the present invention, platform can be made to reduce the minimum altitude executed in action process, increase upper mounting plate vertical
The activity space in direction, while this structure is more simple, manufacture and maintenance cost are more cheap, and it is bigger to realize economic benefit
Change.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of straight line slide unit six degree of freedom platform structure is based on Stewart platform, including a upper mounting plate component (1), six
Support component (4) and a lower platform component, support component (4) upper end and the upper mounting plate component (1) are hingedly, special
Sign is, the lower platform component includes lower platform and three slide unit components (3), three slide unit components (3) be mutually 120 °,
It is horizontally set on the lower platform component, each slide unit component (3) includes two slipway mechanisms arranged side by side, described
Slipway mechanism includes a fixed part and the telescopic movable part that connect with the fixed part, the fixed part of the slipway mechanism
It is fixedly connected with the lower platform, the movable part of the slipway mechanism and the lower end of the support component (4) are hinged.
2. a kind of straight line slide unit six degree of freedom platform structure according to claim 1, which is characterized in that the fixed part includes
One slide unit fixed plate (31), the slipway mechanism are fixedly connected by the slide unit fixed plate (31) with the lower platform；It is described
Movable part includes servo motor (35), screw rod (39), sliding block (313), and the servo motor (35) is fixedly installed in the slide unit
In fixed plate (31), one end of the screw rod (39) is fixedly connected with the output revolving shaft of the servo motor (35), the sliding block
(313) it is equipped with through-hole, the other end of the screw rod (39) passes through the through-hole and is threadedly coupled with the sliding block (313).
3. a kind of straight line slide unit six degree of freedom platform structure according to claim 2, which is characterized in that the slipway mechanism is also
Including spring anchorage bracket (32) and extension spring (34), spring anchorage bracket (32) setting is remote in the slide unit fixed plate (31)
Side from the sliding block, and be fixedly connected with the slide unit fixed plate (31)；One end of the extension spring (34) with it is described
Sliding block (313) is fixedly connected, and the other end is connect with the spring anchorage bracket (32).
4. a kind of straight line slide unit six degree of freedom platform structure according to Claims 2 or 3, which is characterized in that the sliding block
(313) lower section is additionally provided with guide rail (310), and the sliding block (313) is slidably connected with the guide rail (310)；The guide rail (310) with
In parallel, and the guide rail (310) one end is fixedly connected the screw rod (39) with the slide unit fixed plate (31).
5. a kind of straight line slide unit six degree of freedom platform structure according to claim 4, which is characterized in that the screw rod (39)
Both ends are respectively equipped with a UCP bearing block (38), and the nearly motor side of the screw rod (39) passes through the UCP bearing block (38) and institute
Slide unit fixed plate (31) connection is stated, the nearly slider end of the screw rod is connected by the UCP bearing block (38) and the guide rail (310)
It connects.
6. a kind of straight line slide unit six degree of freedom platform structure according to claim 1, which is characterized in that the support component
It (4) include a support rod (28) that support rod (28) upper end is equipped with rotary shaft (27), rolling bearing (26) and preceding hinge and pitches
(21), rotary shaft (27) lower end is fixedly connected with the upper end of the support rod (28), rotary shaft (27) upper end and institute
It states rolling bearing (26) inner ring to be fixedly connected, the lower end and the rolling bearing (26) outer ring that fork (21) is cut with scissors before described, which are fixed, to be connected
It connects, upper end and the upper mounting plate component (1) that fork (21) is cut with scissors before described are hinged by hook hinge；Under the support rod (28)
Hinge fork (29) after end is equipped with cuts with scissors fork (29) after described and is threadedly coupled with the support rod (28)；Hinge fork (29) passes through tiger after described
The movable part of gram hinge and the slipway mechanism is hinged.
7. a kind of straight line slide unit six degree of freedom platform structure according to claim 6, which is characterized in that the rolling bearing
(26) housing joint bearing seat (24) are cut with scissors fork fixing seat (23) before described and are connected by screw to the bearing block (24).
8. a kind of straight line slide unit six degree of freedom platform structure according to claim 6, which is characterized in that hinge fork (21) before described
It is equipped with pin shaft (22) in the rear hinge fork (29), the pin shaft (22) is extended transversely through the hinge and pitches and fixed with screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811528532.7A CN109434809A (en) | 2018-12-13 | 2018-12-13 | A kind of straight line slide unit six degree of freedom platform structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811528532.7A CN109434809A (en) | 2018-12-13 | 2018-12-13 | A kind of straight line slide unit six degree of freedom platform structure |
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Cited By (5)
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| CN110119100A (en) * | 2019-04-15 | 2019-08-13 | 广东精铟海洋工程创新研究有限公司 | A kind of intelligence control system and method for adjustable type six degree of freedom platform |
| CN111634224A (en) * | 2020-07-20 | 2020-09-08 | 吉林工程技术师范学院 | Three-degree-of-freedom vehicle-mounted unmanned aerial vehicle storage device |
| CN112936231A (en) * | 2021-03-26 | 2021-06-11 | 燕山大学 | Three-degree-of-freedom motion simulation platform for realizing gravity balance |
| CN114973903A (en) * | 2022-06-10 | 2022-08-30 | 范莹莹 | Multi-degree-of-freedom simulation platform for intelligent classroom teaching |
| CN115116291A (en) * | 2022-06-10 | 2022-09-27 | 范莹莹 | Multi-degree-of-freedom simulation method for intelligent classroom teaching |
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| CN112936231B (en) * | 2021-03-26 | 2022-11-08 | 燕山大学 | Three-freedom-degree motion simulation platform for realizing gravity balance |
| CN114973903A (en) * | 2022-06-10 | 2022-08-30 | 范莹莹 | Multi-degree-of-freedom simulation platform for intelligent classroom teaching |
| CN115116291A (en) * | 2022-06-10 | 2022-09-27 | 范莹莹 | Multi-degree-of-freedom simulation method for intelligent classroom teaching |
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