CN204215650U - The compound teaching aid of planar linkage mechanism - Google Patents
The compound teaching aid of planar linkage mechanism Download PDFInfo
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- CN204215650U CN204215650U CN201420500431.XU CN201420500431U CN204215650U CN 204215650 U CN204215650 U CN 204215650U CN 201420500431 U CN201420500431 U CN 201420500431U CN 204215650 U CN204215650 U CN 204215650U
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Abstract
The utility model discloses the compound teaching aid of a kind of planar linkage mechanism, comprise casing, planar linkage mechanism, drive part and Demonstration Control System; Planar linkage mechanism at least comprises the first side link, the second side link and connecting rod; The gear drive pair I that drive part comprises drive motor and coordinates with the transmission of drive motor output shaft, and with can the gear drive pair II that coordinates with the main drive shaft transmission of gear drive pair I of the mode of clutch; Demonstration Control System comprises: pick-up unit, CPU (central processing unit) and display device; To the relation of the quickreturn characteristics of planar linkage mechanism, extreme position and quickreturn characteristics and crank angle between two limit positions in the teaching of this teaching aid, and planar linkage mechanism mechanism have determine move condition set forth intuitively, the problem that existing planar linkage teaching aid is serious to each knowwhy point blocking phenomenon can be solved, there is quite high systematicness, be a multiple knowledge level is unified into macroscopic view architectonic compound teaching aid.
Description
Technical field
The utility model relates to teaching aid field, particularly the compound teaching aid of a kind of planar linkage mechanism.
Background technology
Along with the raising that country requires for machinery industry Personnel Overall Qualities, the course mechanical to colleges and universities, the particularly requirement of the foundation class such as mechanical principle, Machine Design course are also improving constantly.With regard to the Experiment Teaching Mode of current mechanical principle, explanation for basic theory is almost also in space state, especially laboratory teaching aid also rests on traditional " thing one model " stage, this disconnects with the study habit of current university students and thinking habit, also contradicts the objective reality of machinery industry Manpower Requirement with growing.
Planar linkage mechanism is the plane mechanism that many structure lower pairs connect to form, and the simplest planar linkage mechanism is four-bar linkage, and it is most widely used planar linkage mechanism, and is the basis of composition multi-bar linkage.Four-bar linkage generally comprises frame bar, and frame bar generally maintains static, and what be directly connected with frame bar is called the first side link and the second side link, and two side links are connected by the intermediate connecting rod be not directly connected with frame bar.Four-bar linkage, according to the existence condition of crank, can be divided into crank and rocker mechanism, double-crank mechanism and double rocker mechanism.For crank and rocker mechanism, it also exists the kinetic characteristics such as extreme position, quickreturn characteristics and dead-centre position in motion process, and along with concept of parameters such as generation crank angle between two limit positions, pressure angle, drive line angle and advanceto returntime ratios, and in field research, fail to properly settle the relation of knowledge-transference and students' ability training, put undue emphasis on knowledge-transference, ignoring Knowledge Internalization is student ability and quality.In experimental teaching, the experiment of checking type is many, and the experiment of exploration type is few, and laboratory does not allow classmate come into knowwhy inside, has not excited classmates to the exploration desire of knowwhy yet, does not play the due effect of experimental teaching, experimental teaching simultaneously lacks systematicness, each knowwhy point blocking phenomenon of the above crank and rocker mechanism is serious, existing teaching aid mostly is explains respectively to knowledge point, as more common by changing the explaination of rod member length to four-bar mechanism Grashof's criterion, do not have aly dabble multiple knowledge level and be unified into macroscopical architectonic compound teaching aid, meanwhile, experimental teaching and other practical teaching links depart from, ignore integration and the continuity of knowledge, separate between each practice, global design theory is not emphasized in whole teaching process, and, because the restriction in class hour, the more time can not be arranged to allow student concentrate, synchronously to test.And traditional experiment is because organizational form is difficult to launch because being subject to many-sided constraints such as experimental site, experiment equipment, experiment interest, in addition classmates obtain the change of knowledge approach and custom, and traditional single type teaching aid progressively exits teaching stage on mechanical principle laboratory.
Utility model content
In view of this, the utility model provides a kind of planar linkage mechanism compound teaching aid, make them at least can to four bar change types under the quickreturn characteristics of planar linkage mechanism (for crank and rocker mechanism), crank angle between two limit positions, extreme position and Grashof's criterion, and the relation scheduling theory knowledge point of quickreturn characteristics and crank angle between two limit positions is set forth clearly, the overall coherence of student to planar linkage mechanism knowledge point is had and is clearly familiar with.
The compound teaching aid of planar linkage mechanism of the present utility model, comprises casing, planar linkage mechanism, drive part and Demonstration Control System;
Planar linkage mechanism at least comprises the first side link, the second side link and connecting rod, and described first side link, the second side link and connecting rod are adjustable length structure;
Drive part comprises drive motor and coordinates with the transmission of drive motor output shaft and gear drive pair I for driving the first side link planar to rotate;
Demonstration Control System comprises: for detect the characterisitic parameter produced in two pushrod movement processes pick-up unit, for the CPU (central processing unit) that processes pick-up unit detection signal and the display device for showing central processing unit for processing result; Pick-up unit is connected with described CPU (central processing unit) signal, and CPU (central processing unit) signal output part is connected with display device signal input part.
Further, pick-up unit comprises: position transducer, tachogenerator and charactron;
Position transducer to be arranged on the first side link and for gathering the rotational angle signal relevant to the positional information of the first side link;
Tachogenerator is installed on the second side link and goes Cheng Sudu and opening speed for gathering the second side link;
Charactron is installed on cabinet exterior, and charactron comprises: remove journey time charactron and charactron return interval for gathering for first side link return interval for what gather that the first side link goes the journey time.
Further, Demonstration Control System also comprises the alarming device having been moved to extreme position for prompting mechanism, alarming device comprises pilot lamp group and hummer, pilot lamp group comprises the first pilot lamp group for warning way limit position and the second pilot lamp group for warning backhaul extreme position, and hummer is all connected with CPU (central processing unit) signal with pilot lamp group.
Further, Demonstration Control System also comprises the input media for inputting corresponding rod member physical length, and input media is arranged on described casing.
Further, planar linkage mechanism also comprises the 3rd side link for the formation of five bar structures; Drive part also comprises with can the gear drive pair II that coordinates with the main drive shaft transmission of described gear drive pair I of the mode of clutch.
Further, the first side link, the second side link, connecting rod and the 3rd side link are provided with length adjustment scale;
Further, position transducer is Hall element, and tachogenerator is speed probe.
The beneficial effects of the utility model: the compound teaching aid of planar linkage mechanism of the present utility model, not only can get information about the cranked condition of four-bar linkage tool and this knowwhy point of bar long relation decision four-bar mechanism type by changing bar length, also combine by planar linkage mechanism and Demonstration Control System, quickreturn characteristics to planar linkage mechanism in the teaching of this teaching aid, the relation of extreme position and quickreturn characteristics and crank angle between two limit positions is set forth intuitively, the problem that existing planar linkage teaching aid is serious to each knowwhy point blocking phenomenon can be solved, there is quite high systematicness, be a there is multiple knowledge level and be unified into macroscopic view architectonic compound teaching aid, there is higher Practical teaching be worth.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the utility model is further described.
Fig. 1 is planar linkage mechanism of the present utility model compound teaching aid one-piece construction schematic diagram;
Fig. 2 is the drive part structural representation of the compound teaching aid of planar linkage mechanism of the present utility model;
Fig. 3 is the frame diagram of the Demonstration Control System of the compound teaching aid of planar linkage mechanism of the present utility model.
Embodiment
As shown in the figure: the compound teaching aid of planar linkage mechanism of the present embodiment, comprises casing 20, planar linkage mechanism, drive part and Demonstration Control System;
Planar linkage mechanism at least comprises the first side link 1, second side link 2 and connecting rod 3, first side link 1, second side link 2 and connecting rod 3 and is adjustable length structure, adjustable length structure makes the first side link 1, connecting rod 3 and the second side link 2 are Collapsible structure, namely can be existing umbrella Telescopic rod structure, also can be other existing stretching structure, change by button 21, by changing the quantitative relation between each bar length, four-bar mechanism can be become different types: crank rocker, double-crank or double rocking lever, by observing the LED display group (being LED display group 4 and LED display group 5 in figure) representing crank track, when observing different four-bar mechanisms intuitively, the motion conditions of each rod member, classmate intuitively can see the difference between the type of different four-bar mechanism, the long relation of intuitivism apprehension bar can determine this knowledge point of four-bar mechanism type, such as, after a motion process terminates, press the button of the long mechanism of change bar, crank is extended, this time extend and the relation made between bar length is no longer met the cranked condition of tool, become double rocker mechanism, again carry out an entire motion process of four-bar mechanism, now find out by the LED display group (being LED display group 4 and LED display group 5 in figure) being the center of circle with the pin joint of side link and frame, drive crank can not turn a whole circle, driven rocking bar can not turn a whole circle, by twice contrast, the difference of perception crank and rocker mechanism and double rocker mechanism intuitively, wherein, LED display group 4 successively lights according to the velocity of rotation of the first side link 1, and LED display group 5 successively lights according to the velocity of rotation of the second side link, all controlled by single-chip microcomputer,
Drive part comprises drive motor 6 and coordinates with the transmission of drive motor output shaft and gear drive pair I for driving the first side link 1 planar to rotate; Gear drive pair I comprises main drive shaft, driving gear 7, driven shaft and follower gear 8, wherein driven shaft end and the first side link 1 are fixed for driving, and in the utility model, the first side link 1 is as driving link, directly driven by drive motor 6, wherein drive motor 6 is stepper motor;
Demonstration Control System comprises: described Demonstration Control System comprises: for detect the characterisitic parameter produced in two pushrod movement processes pick-up unit 7, for the CPU (central processing unit) 8 that processes pick-up unit 7 detection signal and the display device 9 for showing CPU (central processing unit) 8 result; Described pick-up unit is connected with described CPU (central processing unit) signal, and described CPU (central processing unit) signal output part is connected with described display device signal input part;
The demo system of the present embodiment can carry out different demonstration operations according to the change type of planar linkage mechanism, when the first side link 1 is driving crank, when second side link 2 is driven rocking bar, the Demonstration Control System course of work is: gathering the first side link 1 by pick-up unit 7 is driving crank, position, the pole parameter of planar linkage mechanism when second side link 2 is driven rocking bar, position, pole parameter comprises: the first side link 1 goes the journey time, first side link 1 return interval, second side link 2 goes Cheng Sudu and the second side link 2 opening speed, and mechanism kinematic is to the positional information of the first side link 1 during extreme position, CPU (central processing unit) 8, according to parameter acquisition module 7 gained first side link 1 positional information, draws mechanism's crank angle between two limit positions, and utilizes the Cheng Sudu that goes of crank angle between two limit positions and the second side link 2 to draw advanceto returntime ratio with the ratio of opening speed respectively, display device 9 goes Cheng Sudu to show that the computation process of advanceto returntime ratio and result show with the ratio of opening speed by gained crank angle between two limit positions value and respectively by crank angle between two limit positions and the second side link 2,
When being drive crank at the first side link 1, when second side link 2 is driven crank, the course of work of Demonstration Control System is: by the rotational angle signal that pick-up unit collection is relevant to the first side link 1 positional information, again by CPU (central processing unit) according to being drive crank at the first side link 1, second side link 2 draws the first side link 1 pendulum angle for pick-up unit institute signal transmission during driven crank, and in the above-described state according to defeated rod member physical length the pressure angle of mechanism and drive line angle are calculated in real time, when drive line angle is zero, judge now as dead-centre position, and control signal is transferred to drive motor control module 19 and control motor stalling, best, display device 9, also for showing transmission angle value in real time, pressure angle value and the first side link 1 angle of oscillation angle value, and indication mechanism when moving to connecting rod 3 and the first side link 1 conllinear position be dead-centre position,
The pick-up unit of above Demonstration Control System, CPU (central processing unit) and display device are hardware unit, between the signal connected mode that realizes.Signal transacting and signal judge all can be realized by existing very basic mode, even if it relates to software program be also prior art, do not repeat them here.
In the present embodiment, pick-up unit 7 comprises: position transducer 10, tachogenerator 11 and charactron;
Position transducer 10 to be arranged on the first side link 1 and for gathering the rotational angle signal relevant to the positional information of the first side link 1;
Tachogenerator 11 to be installed on the second side link and to go Cheng Sudu and opening speed for gathering the second side link 2;
Charactron is installed on cabinet exterior and is connected with CPU (central processing unit), go journey time and first side link 1 return interval for gathering the first side link 1, charactron comprises: remove journey time charactron 12 and the charactron 13 return interval for gathering for first side link 1 return interval for what gather that the first side link 1 goes the journey time.
In the present embodiment, described Demonstration Control System also comprises the alarming device 14 having been moved to extreme position for prompting mechanism, described alarming device 14 comprises pilot lamp group and hummer 15, described pilot lamp group comprises the first pilot lamp group 16 for warning way limit position and the second pilot lamp group 17 for warning backhaul extreme position, and described hummer is all connected with described CPU (central processing unit) signal with described pilot lamp group, the lamp of the first pilot lamp group 16 and the second pilot lamp group 17 is all be embedded on boxboard, the lamp often organizing pilot lamp group is all be lit simultaneously, be described for the first pilot lamp group 16, in the rotating shaft of driving first side link, circumferencial direction is fixedly installed the gear of a synchronous axial system, this gear is provided with magnetic element, this magnetic element is with this pinion rotation, just signal is sent for going during way limit position when turning to position transducer, when being now actually the first side link as crank and connecting rod first time conllinear, also it is the moment that backhaul charactron starts timing, now single-chip microcomputer performs interrupt routine, and send control signal and light the first pilot lamp group, buzzer call, return interval, charactron started timing, second pilot lamp group implementation is with the first pilot lamp group.
This teaching aid in use, when the first side link 1 is as crank setting in motion, the control signal of going journey time charactron 12 to receive CPU (central processing unit) 8 to transmit, start to enter duty, accurate record now the first side link 1 go the journey time, when first extreme position arrives, the first pilot lamp group 16 reception control signal overlapped with this extreme position, glimmer, meanwhile, hummer 15 reception control signal, sound, remind the arrival of extreme position, both combine, the eye-catching position showing extreme position.While first extreme position arrives, go journey charactron to stop timing, backhaul charactron starts timing, record return interval, first side link 1 continues motion, and when arrival second extreme position, backhaul charactron stops timing, accurate record first side link 1 is as the return interval of crank, the second pilot lamp group 17 reception control signal now overlapped with the second mechanical location, glimmers, simultaneously hummer 15 reception control signal, sound, remind extreme position to arrive.By being contrasted the time that two charactrons record, explain the existence of quick-return characteristics of planar linkage and the definition of crank angle between two limit positions intuitively;
In addition, at the first side link 1 as in driving crank motion process, the rate signal going Cheng Sudu and opening speed of the second side link 2 is recorded by tachogenerator 11, tachogenerator 11 by signal synchronous feedback to CPU (central processing unit) 8, and by the method for the ratio of speed, stoke speed ratio K is calculated in CPU (central processing unit) 8, then display device is utilized computing formula and result to be shown, meanwhile, when four-bar mechanism motion reaches capacity position, the positional information (this positional information actual refers to first side link 1 rotational angle signal) of the first side link 1 as crank is collected by position transducer 10, and by rotational angle signal feedback to CPU (central processing unit) 8, crank angle between two limit positions is calculated by CPU (central processing unit) 8, and utilize the company of crank angle between two limit positions to calculate stroke speed ratio relation K, and the company of this process and result are presented on display module 9, the advanceto returntime ratio drawn by ratio through speed contrasts with the advanceto returntime ratio drawn through crank angle between two limit positions, explain the relation of quick-return characteristics of planar linkage and crank angle between two limit positions intuitively.
In the present embodiment, Demonstration Control System also comprises the input media 18 for inputting corresponding rod member physical length, and described input media is arranged on described casing;
In the present embodiment, because the existence at dead point needs rocking bar as driving link, in order to make kinematic train simple, change bar length measuring mechanism is utilized to change the long relation of bar, the first side link 1 is made to conjugate drive crank by above-mentioned driving crank, the second side link 2 is made to be also driven crank by above-mentioned driven rocking bar, after changing bar length, read the length (marked thereon has size scale) of corresponding rod member, then pass through at input media 18 (in the present embodiment, input media 18 and the integrated setting of display device 9, be positioned at Same Physical locations of structures) the upper bar length inputting correspondence, input media 18 is connected with CPU (central processing unit) 8 signal, data importing CPU (central processing unit) 8 will be inputted, CPU (central processing unit) 8 is to being drive crank at the first side link 1, second side link 2 is the size at driven crank state downforce angle, the size of drive line angle processes in real time, and the structure processed out is shown in display device 9, meanwhile, position transducer 10 is to being drive crank at the first side link 1, second side link 2 is that under driven crank state, the pendulum angle signal relevant to the positional information of the first side link 1 gathers, and by the Signal transmissions that collects to CPU (central processing unit) 8, the pendulum angle of the first side link 1 as rocking bar is drawn in real time through CPU (central processing unit) 8, and it is shown in display device 9.Wherein, when to calculate drive line angle be zero to CPU (central processing unit) 8, judge now as dead-centre position, because mechanism can not move in dead-centre position, for avoiding destroying, the numerical signal calculated is passed to the motor control unit (i.e. single-chip microcomputer) of control step motor by CPU (central processing unit) 8, and motor control unit just can control motor, allows motor stop in dead-centre position.In addition, display device 9 can also show motor speed etc., just during these parameters by the sensor that arranges separately instead of obtained by process.
In the present embodiment, planar linkage mechanism also comprises the 3rd side link 22 for the formation of five bar structures, and drive part also comprises with can the gear drive pair II that coordinates with the main drive shaft transmission of described gear drive pair I of the mode of clutch; Wherein, gear drive pair II comprises an engaging sleeve 24, make the main drive shaft of gear drive secondary II and described gear drive pair I can the mode transmission of clutch coordinate by engaging sleeve, engaging sleeve be enclosed within the neutral gear 25 of main drive shaft of gear drive pair I can the mode of clutch be in transmission connection, the transmission gear 26 of gear drive pair II is meshed with the gear on engaging sleeve transmission, in addition, the 3rd side link is fixedly installed on casing by pin 23, the 3rd side link and the second side link 2 hinged;
In order to explain mechanism, there is the condition determining to move, need to carry out contrast with reference to five-rod to set forth, need the mechanism adopting change bar number, the course of work of the mechanism of change bar number is: when mechanism's pin wedging of change bar number is on wall box, 3rd side link (i.e. the 5th bar) is fixed, and is now above-mentioned four-bar mechanism; When pin takes off from sidewall, the 5th bar loosens, and is now five-rod;
Under five-rod duty, by long for the bar of long for each bar relation displacement crank and rocker mechanism, taken off from sidewall by pin, now mechanism is five-rod, when engaging sleeve is separated, only have a driving link, five-rod is irregular movement, when engaging sleeve engages, there are two driving links, five-rod is regular motion, by the two contrast, explains mechanism intuitively and has the condition determining to move.In addition, consider in five bar motions and may occur interfering, adopt the existence that sensor sensing is interfered, and signal is passed to CPU (central processing unit) 8, CPU (central processing unit) 8 pairs of stepper motors send control signal, make step motor stop, avoid producing large destruction.
In the present embodiment, the first side link 1, second side link 2, connecting rod 3 and the 3rd side link are provided with length adjustment scale.
In the present embodiment, position transducer 10 is Hall element, and tachogenerator 11 is speed probe; Wherein, position transducer 10 can be Hall element, and for gathering rotational angle signal, tachogenerator 11 is speed probe, can be Hall effect tachometric transducer, for measuring the circular motion rotating speed of the second side link 2.
Method of the present utility model not only can control to carry out teaching demonstration to for the relation of the quickreturn characteristics of four bar plane mechanisms of crank and rocker mechanism, extreme position and quickreturn characteristics and limit angle, also can carry out teaching demonstration to the dead-centre position of four-bar mechanism, drive line angle concept, make the demonstration scope of this teaching aid more extensive, and there is system ensemble.
What finally illustrate is, above embodiment is only in order to illustrate the technical solution of the utility model and unrestricted, although be described in detail the utility model with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can modify to the technical solution of the utility model or equivalent replacement, and not departing from aim and the scope of technical solutions of the utility model, it all should be encompassed in the middle of right of the present utility model.
Claims (7)
1. the compound teaching aid of planar linkage mechanism, is characterized in that: comprise casing, planar linkage mechanism, drive part and Demonstration Control System;
Described planar linkage mechanism at least comprises the first side link, the second side link and connecting rod, and described first side link, the second side link and connecting rod are adjustable length structure;
Described drive part comprises drive motor and coordinates with the transmission of drive motor output shaft and gear drive pair I for driving the first side link planar to rotate;
Described Demonstration Control System comprises: for detect the characterisitic parameter produced in two pushrod movement processes pick-up unit, for the CPU (central processing unit) that processes pick-up unit detection signal and the display device for showing central processing unit for processing result; Described pick-up unit is connected with described CPU (central processing unit) signal, and described CPU (central processing unit) signal output part is connected with described display device signal input part.
2. the compound teaching aid of planar linkage mechanism according to claim 1, is characterized in that: described pick-up unit comprises: position transducer, tachogenerator and charactron;
Described position transducer to be arranged on described first side link and for gathering the rotational angle signal relevant to the positional information of the first side link;
Described tachogenerator is installed on described second side link and goes Cheng Sudu and opening speed for gathering the second side link;
Described charactron is installed on described cabinet exterior and is connected with CPU (central processing unit), and described charactron comprises: remove journey time charactron and charactron return interval for gathering for first side link return interval for what gather that the first side link goes the journey time.
3. the compound teaching aid of planar linkage mechanism according to claim 1, it is characterized in that: described Demonstration Control System also comprises the alarming device having been moved to extreme position for prompting mechanism, described alarming device comprises pilot lamp group and hummer, described pilot lamp group comprises the first pilot lamp group for warning way limit position and the second pilot lamp group for warning backhaul extreme position, and described hummer is all connected with described CPU (central processing unit) signal with described pilot lamp group.
4. the compound teaching aid of planar linkage mechanism according to claim 1, is characterized in that: described Demonstration Control System also comprises the input media for inputting corresponding rod member physical length, and described input media is arranged on described casing.
5. the compound teaching aid of planar linkage mechanism according to claim 1, is characterized in that: described planar linkage mechanism also comprises the 3rd side link for the formation of five bar structures; Described drive part also comprises with can the gear drive pair II that coordinates with the main drive shaft transmission of described gear drive pair I of the mode of clutch.
6. the compound teaching aid of planar linkage mechanism according to claim 5, is characterized in that: described first side link, described second side link, described connecting rod and described 3rd side link are provided with length adjustment scale.
7. the compound teaching aid of planar linkage mechanism according to claim 2, is characterized in that: described position transducer is Hall element, and described tachogenerator is speed probe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420500431.XU CN204215650U (en) | 2014-09-01 | 2014-09-01 | The compound teaching aid of planar linkage mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420500431.XU CN204215650U (en) | 2014-09-01 | 2014-09-01 | The compound teaching aid of planar linkage mechanism |
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| CN204215650U true CN204215650U (en) | 2015-03-18 |
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| CN201420500431.XU Expired - Fee Related CN204215650U (en) | 2014-09-01 | 2014-09-01 | The compound teaching aid of planar linkage mechanism |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106251767A (en) * | 2016-10-31 | 2016-12-21 | 北京交通大学 | A kind of multi link passive walking shows mechanism |
| CN106530944A (en) * | 2017-01-03 | 2017-03-22 | 华巧燕 | Gear transmission teaching instrument |
| CN106997715A (en) * | 2017-04-18 | 2017-08-01 | 天津城建大学 | A kind of mechanism creative mix demonstration teaching aid |
-
2014
- 2014-09-01 CN CN201420500431.XU patent/CN204215650U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106251767A (en) * | 2016-10-31 | 2016-12-21 | 北京交通大学 | A kind of multi link passive walking shows mechanism |
| CN106530944A (en) * | 2017-01-03 | 2017-03-22 | 华巧燕 | Gear transmission teaching instrument |
| CN106997715A (en) * | 2017-04-18 | 2017-08-01 | 天津城建大学 | A kind of mechanism creative mix demonstration teaching aid |
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Granted publication date: 20150318 Termination date: 20160901 |