CN106949213A - One kind amplification bent axle, corresponding actuating unit and composite power mechanism - Google Patents
One kind amplification bent axle, corresponding actuating unit and composite power mechanism Download PDFInfo
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- CN106949213A CN106949213A CN201710335060.2A CN201710335060A CN106949213A CN 106949213 A CN106949213 A CN 106949213A CN 201710335060 A CN201710335060 A CN 201710335060A CN 106949213 A CN106949213 A CN 106949213A
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- transmission mechanism
- actuating unit
- bent axle
- reductor
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- 230000007246 mechanism Effects 0.000 title claims abstract description 56
- 230000003321 amplification Effects 0.000 title claims abstract description 26
- 238000003199 nucleic acid amplification method Methods 0.000 title claims abstract description 26
- 239000002131 composite material Substances 0.000 title claims description 5
- 230000005540 biological transmission Effects 0.000 claims abstract description 44
- 230000001133 acceleration Effects 0.000 claims abstract description 7
- 230000033001 locomotion Effects 0.000 claims abstract description 5
- 230000008450 motivation Effects 0.000 claims description 2
- 230000015572 biosynthetic process Effects 0.000 claims 1
- 239000003638 chemical reducing agent Substances 0.000 abstract description 3
- 230000001737 promoting effect Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H21/00—Gearings comprising primarily only links or levers, with or without slides
- F16H21/10—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane
- F16H21/16—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane for interconverting rotary motion and reciprocating motion
- F16H21/18—Crank gearings; Eccentric gearings
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/12—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types
- F16H37/124—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types for interconverting rotary motion and reciprocating motion
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
A kind of actuating unit, comprising：Amplify bent axle；First transmission mechanism a, rotating shaft of its clutch end with amplifying bent axle is rigidly connected；Four connecting rods, one end is socketed on four crank journals of amplification bent axle respectively；Four levers, one end is respectively equipped with pivot, and the other end of four connecting rods is socketed on four pivots respectively；Reductor；Second transmission mechanism, comprising four power input points, drives reductor to reverse, plays acceleration；3rd transmission mechanism, is driven by output end of reducer, and the output power of the 3rd transmission mechanism is used to drive executing agency.The present invention can drive heavier plant equipment with less manpower, extend the use scope of manual machine, save the energy, improve plant equipment movement flexibility.
Description
Technical field
The present invention relates to machine power technical field, and in particular to one kind is amplified bent axle, corresponding actuating unit and is combined
Actuating unit.
Background technology
Although the mankind enter the epoch for promoting machinery using fuel already, still there are many inventors to pursue manpower machine
The development of tool, is directed to promoting vehicle, aircraft etc. using manpower actuating unit.Manpower actuating unit Portable energy-saving, and often
It is cheap, if being applied to that in traffic machinery industry mankind's activity radius can be greatly improved.
Current manpower actuating unit is only capable of meeting less power demand, far can not meet and promote vehicle, aircraft
It is required that.
The content of the invention
It is an object of the invention to provide one kind amplification bent axle, corresponding actuating unit and composite power mechanism, carry energetically
The rotating speed of high manpower input, to meet the requirement for promoting vehicle, aircraft etc..
One kind amplification bent axle, includes two rotating shafts, the first crank arm and the second crank arm：
Two rotating shafts, are coaxially disposed；
Four first crank arms, the axis direction formed along two rotating shafts is set gradually, and phase angle between any two is 90 °, and
One end of every first crank arm is respectively positioned on axis, and the other end of every first crank arm is respectively equipped with crank journal；First
One end of the crank arm of root first is rigidly connected with a rotating shaft, one end of last crank arm of root first and another rotating shaft rigidity
Connection, to be rotated with two rotating shafts；One end of second first crank arm and one end of the 3rd first crank arm are rigidly connected；
Two second crank arms, phase angle between the two is 90 °, and the effective length of the second crank arm is that the first crank arm is effective
Twice of length；The two ends of every second crank arm are connected with the crank journal on corresponding two first crank arms respectively.
A kind of actuating unit, comprising above-mentioned amplification bent axle, and, also include；
First transmission mechanism a, rotating shaft of its clutch end with amplifying bent axle is rigidly connected, and the first transmission mechanism drives and put
Two rotating shafts rotation of large crankshaft；
Four connecting rods, one end is socketed on four crank journals of amplification bent axle respectively, and every connecting rod is with corresponding crank journal
For axle, freely rotate；
Four levers, one end is respectively equipped with pivot, and the other end of four connecting rods is socketed on four pivots respectively, using pivot as axle
Freely rotate；The fulcrum of four levers is coaxial；
Second transmission mechanism, comprising four power input points, four power input points are consolidated with the other end of four levers respectively
Fixed connection, drives reductor to reverse, plays acceleration；
3rd transmission mechanism, is tape handler or chain-drive mechanism, is driven by output end of reducer, the 3rd transmission mechanism it is defeated
Going out power is used to drive executing agency.
Above-mentioned a kind of actuating unit, also comprising first support, second support, the 3rd support, the 4th support and keel：
First support, amplification bent axle is fixed in first support；
Second support is fixed in second support, first transmission mechanism one end, and the other end is fixed on first support；
3rd support, the fulcrum of four levers is arranged on the 3rd support；
4th support, reductor and the 3rd transmission mechanism are both secured on the 4th support；
Keel, described first support, second support, the 3rd support and the 4th support is in turn secured on the keel.
A kind of above-mentioned actuating unit, wherein, first transmission mechanism is chain-drive mechanism, specifically comprising driving tooth
Wheel, foot-operated, driven gear and chain：
Driving gear, the center of circle is fixed on the secondary support bracket；
Foot-operated, rotary shaft is arranged at the home position of driving gear, is the input point of man power, with the foot-operated rotation of Manual-pushing
Turn, so as to drive driving gear to rotate；
Driven gear, is fixed in first support, and its home position is rigidly connected with a rotating shaft, when driven gear rotation
When drive two rotating shafts rotation；The radius of the driving gear is more than the radius of the driven gear；
The circular motion of driving gear, is delivered on driven gear by chain by chain, makes driven gear rotate.
A kind of above-mentioned actuating unit, wherein, second transmission mechanism includes chain, extension spring and ratchet：
Four chains, one end is fixedly connected with the other end of corresponding lever；
Four extension springs, one end is fixedly connected with the other end of corresponding chain, and the other end is individually fixed on the 3rd support；
Four ratchets, are connected with rigidity of gear reduction unit, and girth is suitable with the effective length of chain, are pulled and counterclockwise revolved by chain
Turn, driving reductor is accelerated, on reductor without influence when being rotated clockwise.
A kind of above-mentioned actuating unit, wherein, first transmission mechanism is chain-drive mechanism or tape handler or tooth
Wheel transmission or axle transmission.
A kind of composite power mechanism, the actuating unit as described above comprising two and the above, multiple actuating units are successively
Connection, the 3rd transmission mechanism of latter actuating unit directly drives the amplification bent axle of previous actuating unit, makes first to move
The output end of reducer of force mechanisms obtains higher power output.
The advantages of the present invention are：
（1）Extend the use scope of manual machine.
（2）The energy is saved, plant equipment movement flexibility is improved.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the shaft side figure of power crankshaft in the present invention.
Fig. 3 is the front view of power crankshaft in the present invention.
The right view of power crankshaft in Fig. 4 present invention.
Power crankshaft and connecting rod and lever connection diagram in Fig. 5 present invention.
Embodiment
Below in conjunction with accompanying drawing, by describing a preferably specific embodiment in detail, the present invention is further elaborated.
Reversely installed as shown in figure 1, the present invention passes sequentially through the first transmission mechanism 400, amplification bent axle 100, reductor 600
Accelerate with the level Four of the 3rd transmission mechanism 700, mechanical separator speed is improved into tens or even hundred times, power is provided for subsequent structural.
As shown in Fig. 2 ~ Fig. 4, amplification bent axle 100 proposed by the present invention is included：Two rotating shafts 101, four first crank arms
102nd, two second crank arms 103 and 4 crank journals 104.
Two rotating shafts 101, are coaxially disposed, and the synchronous rotary when rotating；
Four first crank arms 102, the axis direction formed along two rotating shafts 101 is set gradually, and phase angle between any two is
90 °, and one end of every first crank arm 102 is respectively positioned on axis, the other end of every first crank arm 102 is respectively equipped with song
Arbor neck 104；One end of first first crank arm 102 is rigidly connected with a rotating shaft 101, last crank arm of root first
102 one end is rigidly connected with another rotating shaft 101, to be rotated with two rotating shafts 101；The one of second first crank arm 102
One end with the 3rd first crank arm 102 is held to be rigidly connected；It is 250mm that the first crank arm 102, which chooses length, in the present embodiment.
The phase angle of two second crank arms 103 between the two is 90 °, and the effective length of the second crank arm 103 is first
Twice of the effective length of crank arm 102；The two ends of every second crank arm 103 respectively with corresponding two first crank arms 102
On crank journal 104 connect.The effective length of second crank arm 103 be its central point of two ends crank journal 104 between away from
From.The effective length of first crank arm 102 is the central point of its one end crank journal 104 between the central point of respective axes of rotation 101
Distance.It is 500mm that the second crank arm 103, which chooses length, in the present embodiment.
As shown in figure 5, each one connecting rod 200 of connection of four crank journals 104 of amplification bent axle 100, four connecting rods 200
The other end respectively connects a lever 300, and amplification bent axle 100 drives four levers 300 respectively to do and once moved up and down for each revolution,
Downward one-level mechanism conveys four torsion, improves efficiency.
It is as shown in Figure 1 a kind of actuating unit proposed by the present invention, to ensure definition in figure, eliminates a connecting rod
200, two levers 300 are specifically passed comprising above-mentioned amplification bent axle 100 and four connecting rods 200, four levers 300, first
Motivation structure 400, the second transmission mechanism 500, reductor 600, the 3rd transmission mechanism 700, first support 1100, second support
1000th, the 3rd support 900, the 4th support 800 and keel 1200.
First transmission mechanism 400 can be chain-drive mechanism or tape handler or gear drive or axle transmission.This implementation
Chain-drive mechanism is selected in example.The rigidity of a rotating shaft 101 of the clutch end of first transmission mechanism 400 and amplification bent axle 100
Connection, the first transmission mechanism 400 drives two rotating shafts 101 of amplification bent axle 100 to rotate.Wherein, the center of circle of driving gear 402 is consolidated
It is scheduled in second support 1000；Foot-operated 401 rotary shaft is arranged at the home position of driving gear 402, is the defeated of man power
Access point, with foot-operated 401 rotation of Manual-pushing, so as to drive driving gear 402 to rotate；Driven gear 403, is fixed on first support
On 1100, its home position is rigidly connected with a rotating shaft 101, and two rotating shafts 101 are driven when driven gear 403 rotates
Rotation；The circular motion of driving gear 402, is delivered on driven gear 403 by chain 404 by chain, makes driven gear 403 revolve
Turn；The radius of the driving gear 402 is more than the radius of the driven gear 403, carries out first order acceleration, multiple of acceleration etc.
In the radius divided by the radius of driven gear 403 of driving gear 402.
Amplify the linear velocity at bent axle 100 and the moved in coaxial of driven gear 403, crank journal 104 and obtain second level amplification,
Its multiplication factor is equal to the radius of the effective length of the first crank arm 102 divided by driven gear 403.
Four connecting rods 200, one end is socketed on four crank journals 104 of amplification bent axle 100 respectively, every connecting rod 200
It is axle with corresponding crank journal 104, freely rotates.
Four levers 300, one end is respectively equipped with pivot 301, and the other end of four connecting rods 200 is socketed on four pivots respectively
On 301, freely rotated for axle with pivot 301；The fulcrum of four levers 300 is coaxial.
Second transmission mechanism 500, comprising four power input points, four power input points respectively with four levers 300
The other end be fixedly connected, drive reductor 600 reverse, carry out third level acceleration.Wherein, four chains 501, one end with it is corresponding
The other end of lever 300 be fixedly connected；Four extension springs 503, one end is fixedly connected with the other end of corresponding chain 501, separately
One end is individually fixed on the 3rd support 900；Four ratchets 502, are rigidly connected with reductor 600, and girth has with chain 501
Imitate length quite, counterclockwise rotates are pulled by chain 501, driving reductor 600 is accelerated, is rotated clockwise
When on reductor 600 without influence.
3rd transmission mechanism 700, is tape handler or chain-drive mechanism, and the present embodiment selects tape handler, is reduced
Vibration, obtains continuous, constant rotating speed.3rd transmission mechanism 700 is driven by the output end of reductor 600, and the power of output is used for
Drive executing agency.Wherein, driving wheel radius is more than driven pulley, carries out fourth stage acceleration.
First support 1100, amplification bent axle 100 is fixed in first support 1100.
Second support 1000 is fixed in second support 1000, one end of the first transmission mechanism 400, and the other end is fixed on first
Frame 1100.
3rd support 900, the fulcrum of four levers 300 is arranged on the 3rd support 900, fulcrum height and lever 300
Power arm, the selection of resistance arm determines according to actual needs.Power arm is much larger than resistance arm, is carried to the second transmission mechanism 500
For big torsion.
4th support 800, the transmission mechanism 700 of reductor 600 and the 3rd is both secured on the 4th support 800.
Keel 1200, described first support 1100, second support 1000, the 3rd support 900 and the 4th support 800 are successively
It is fixed on the keel 1200.
In the present embodiment, in order to mitigate the deadweight of the dynamic structure, amplification bent axle 100, four connecting rods 200, four thick sticks
Bar 300 all employs carbon fibre material.In other need not mitigate the embodiment of deadweight, still traditional material can be used.
In order to obtain higher power output in output end, above-mentioned actuating unit, which can be superimposed, to be used, multiple as one kind
Close actuating unit.Specifically include：Two and the actuating unit as described above of the above, multiple actuating units are sequentially connected, latter
3rd transmission mechanism 700 of individual actuating unit directly drives the amplification bent axle 100 of previous actuating unit, makes first engine
The output end of reductor 600 of structure obtains higher power output.Now, the He of the first transmission mechanism 400 of previous actuating unit
The reductor 600 of latter actuating unit all fails, and cuts little ice.
Although present disclosure is discussed in detail by above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read the above, for the present invention's
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (7)
1. one kind amplification bent axle（100）, it is characterised in that include：
Two rotating shafts（101）, it is coaxially disposed；
Four first crank arms（102）, along two rotating shafts（101）The axis direction of formation is set gradually, phase between any two
Angle is 90 °, and every first crank arm（102）One end be respectively positioned on axis, every first crank arm（102）The other end point
She You not crank journal（104）；First first crank arm（102）One end and rotating shaft（101）It is rigidly connected, last
The crank arm of root first（102）One end and another rotating shaft（101）It is rigidly connected, with two rotating shafts（101）Rotation；Second
First crank arm（102）One end and the 3rd first crank arm（102）One end be rigidly connected；
Two second crank arms（103）, phase angle between the two is 90 °, the second crank arm（103）Effective length be first
Crank arm（102）Twice of effective length；Every second crank arm（103）Two ends respectively with corresponding two first crank arms
（102）On crank journal（104）Connection.
2. a kind of actuating unit, it is characterised in that include amplification bent axle as claimed in claim 1（100）, and, also include：
First transmission mechanism（400）, its clutch end is with amplifying bent axle（100）A rotating shaft（101）It is rigidly connected, first
Transmission mechanism（400）Drive amplification bent axle（100）Two rotating shafts（101）Rotation；
Four connecting rods（200）, one end is socketed on amplification bent axle respectively（100）Four crank journals（104）On, every connecting rod
（200）With corresponding crank journal（104）Freely rotated for axle；
Four levers（300）, one end is respectively equipped with pivot（301）, four connecting rods（200）The other end be socketed on four pivots respectively
Axle（301）On, with pivot（301）Freely rotated for axle；Four levers（300）Fulcrum it is coaxial；
Reductor（600）；
Second transmission mechanism（500）, comprising four power input points, four power input points respectively with four levers（300）
The other end be fixedly connected, drive reductor（600）Reverse, play acceleration；
3rd transmission mechanism（700）, it is tape handler or chain-drive mechanism, by reductor（600）Output end drives, and the 3rd passes
Motivation structure（700）Output power be used for drive executing agency.
3. a kind of actuating unit as claimed in claim 2, it is characterised in that include：
First support（1100）, amplify bent axle（100）It is fixed on first support（1100）On；
Second support（1000）, the first transmission mechanism（400）Second support is fixed in one end（1000）, the other end is fixed on first
Support（1100）；
3rd support（900）, four levers（300）Fulcrum be arranged at the 3rd support（900）On；
4th support（800）, reductor（600）With the 3rd transmission mechanism（700）It is both secured to the 4th support（800）On；
Keel（1200）, described first support（1100）, second support（1000）, the 3rd support（900）With the 4th support
（800）It is in turn secured to the keel（1200）On.
4. a kind of actuating unit as claimed in claim 3, it is characterised in that first transmission mechanism（400）For Chain conveyer
Mechanism, is specifically included：
Driving gear（402）, the center of circle is fixed on second support（1000）On；
It is foot-operated（401）, rotary shaft is arranged at driving gear（402）Home position, be the input point of man power, pushed with people
It is dynamic foot-operated（401）Rotation, so as to drive driving gear（402）Rotation；
Driven gear（403）, it is fixed on first support（1100）On, its home position and a rotating shaft（101）Rigidity connects
Connect, work as driven gear（403）Two rotating shafts are driven during rotation（101）Rotation；The driving gear（402）Radius be more than it is described
Driven gear（403）Radius；
Chain（404）, by chain by driving gear（402）Circular motion be delivered to driven gear（403）On, make driven gear
（403）Rotation.
5. a kind of actuating unit as claimed in claim 3, it is characterised in that second transmission mechanism（500）Comprising：
Four chains（501）, one end and corresponding lever（300）The other end be fixedly connected；
Four extension springs（503）, one end and corresponding chain（501）The other end be fixedly connected, the other end is individually fixed in the 3rd
Support（900）On；
Four ratchets（502）, with reductor（600）It is rigidly connected, girth and chain（501）Effective length quite, by chain
（501）Counterclockwise rotates are pulled, reductor is driven（600）Accelerate, to reductor when being rotated clockwise
（600）Without influence.
6. a kind of actuating unit as claimed in claim 2, it is characterised in that first transmission mechanism（400）For Chain conveyer
Mechanism or tape handler or gear drive or axle transmission.
7. a kind of composite power mechanism, it is characterised in that the actuating unit as claimed in claim 2 comprising two and the above,
Multiple actuating units are sequentially connected, the 3rd transmission mechanism of latter actuating unit（700）Directly drive previous actuating unit
Amplification bent axle（100）, make the reductor of first actuating unit（600）Output end obtains higher power output.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710335060.2A CN106949213A (en) | 2017-05-12 | 2017-05-12 | One kind amplification bent axle, corresponding actuating unit and composite power mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710335060.2A CN106949213A (en) | 2017-05-12 | 2017-05-12 | One kind amplification bent axle, corresponding actuating unit and composite power mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106949213A true CN106949213A (en) | 2017-07-14 |
Family
ID=59478500
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710335060.2A Pending CN106949213A (en) | 2017-05-12 | 2017-05-12 | One kind amplification bent axle, corresponding actuating unit and composite power mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106949213A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108953529A (en) * | 2018-08-20 | 2018-12-07 | 东莞市松研智达工业设计有限公司 | A kind of steel wire gear |
| CN108953528A (en) * | 2018-08-20 | 2018-12-07 | 东莞市松研智达工业设计有限公司 | A kind of adjustable steel wire gear |
| CN110966367A (en) * | 2019-12-06 | 2020-04-07 | 中国科学院深圳先进技术研究院 | Amplitude-adjustable sine mechanism |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101813170A (en) * | 2009-10-16 | 2010-08-25 | 北京中清能发动机技术有限公司 | Mechanism for mutual conversion between reciprocating motion and rotating motion, part and device thereof |
| CN203258006U (en) * | 2013-05-08 | 2013-10-30 | 邵阿秋 | Continuous rotating mechanism |
| CN104747672A (en) * | 2014-09-12 | 2015-07-01 | 刘新星 | Transmission structure allowing crankshaft lever to increase torque to enable power machine to efficiently utilize energy |
-
2017
- 2017-05-12 CN CN201710335060.2A patent/CN106949213A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101813170A (en) * | 2009-10-16 | 2010-08-25 | 北京中清能发动机技术有限公司 | Mechanism for mutual conversion between reciprocating motion and rotating motion, part and device thereof |
| CN203258006U (en) * | 2013-05-08 | 2013-10-30 | 邵阿秋 | Continuous rotating mechanism |
| CN104747672A (en) * | 2014-09-12 | 2015-07-01 | 刘新星 | Transmission structure allowing crankshaft lever to increase torque to enable power machine to efficiently utilize energy |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108953529A (en) * | 2018-08-20 | 2018-12-07 | 东莞市松研智达工业设计有限公司 | A kind of steel wire gear |
| CN108953528A (en) * | 2018-08-20 | 2018-12-07 | 东莞市松研智达工业设计有限公司 | A kind of adjustable steel wire gear |
| CN108953529B (en) * | 2018-08-20 | 2021-07-13 | 江苏英杰光缆科技有限公司 | Steel wire speed change mechanism |
| CN108953528B (en) * | 2018-08-20 | 2021-09-24 | 良求机械股份有限公司 | Adjustable steel wire speed change mechanism |
| CN110966367A (en) * | 2019-12-06 | 2020-04-07 | 中国科学院深圳先进技术研究院 | Amplitude-adjustable sine mechanism |
| CN110966367B (en) * | 2019-12-06 | 2021-01-15 | 中国科学院深圳先进技术研究院 | Amplitude-adjustable sine mechanism |
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