CN104368151B - 2DOF vivid platform - Google Patents
2DOF vivid platform Download PDFInfo
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- CN104368151B CN104368151B CN201410617710.9A CN201410617710A CN104368151B CN 104368151 B CN104368151 B CN 104368151B CN 201410617710 A CN201410617710 A CN 201410617710A CN 104368151 B CN104368151 B CN 104368151B
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- rod assembly
- universal joint
- electric cylinder
- pull bar
- candan universal
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 14
- 238000009434 installation Methods 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 abstract description 7
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 1
Abstract
The invention provides a kind of novel 2DOF vivid platform, including bottom bracket, left linkage, candan universal joint, platform body, right connecting rod mechanism, described platform body both sides are respectively mounted described left candan universal joint and described right candan universal joint, described left linkage includes left electric cylinder, left skeleton, described left electric cylinder is used for driving described left skeleton to move, described right connecting rod mechanism includes right electric cylinder, right skeleton, cylinder is moved for driving described right skeleton to move in the described right side, described left skeleton is connected with described left candan universal joint, described right skeleton is connected with described right candan universal joint.The invention has the beneficial effects as follows: the 2DOF vivid platform of the present invention can ensure that vivid platform face carries out left rotation and right rotation, oscilaltion campaign on the premise of being initial setting up state, and left-right rotation both can allow 2 power source self-movements realize, it is also possible to allow 2 power source aggregate motions realize.
Description
Technical field
The present invention relates to recreation facility field, particularly relate to 2DOF vivid platform.
Background technology
Along with the rise of cultural industry, domestic various entertainment selections develop rapidly, and various recreation facilities emerge in an endless stream.Either the emulation car of virtual reality, hull are tested, or as robot limb part, multi-degree of freedom dynamic platform is as the pith of recreation facility.Power source the distribution generally split type and monoblock type of tradition 2DOF vivid platform.Split type power source is vivid platform and rotates to be the independent power of rotation, and vivid platform is upper and lower independent power up and down, and both can not cooperate and make vivid platform individually rotate or up and down；Integral power source is vivid platform rotary motion or moves up and down and must carry out realizing with 2 power sources.
Summary of the invention
In order to solve the problems of the prior art, the invention provides a kind of 2DOF vivid platform.
The invention provides a kind of 2DOF vivid platform, including bottom bracket, left linkage, candan universal joint, platform body, right connecting rod mechanism, described candan universal joint includes left candan universal joint and right candan universal joint, described platform body both sides are respectively mounted described left candan universal joint and described right candan universal joint, described left linkage and described right connecting rod mechanism and are separately mounted on described bottom bracket；Described left linkage includes left electric cylinder and the left skeleton being connected with described left electric cylinder, described left electric cylinder is used for driving described left skeleton to move, described right connecting rod mechanism includes right electric cylinder and the right skeleton being connected with described right electric cylinder, described right electric cylinder is used for driving described right skeleton to move, described left skeleton is connected with described left candan universal joint, and described right skeleton is connected with described right candan universal joint.
As a further improvement on the present invention, described right connecting rod mechanism also includes right bearing, right universal joint, the right supporting plate of chassis overhang, Right socle, dextrorotation swivel base, bottom right rod assembly, bottom right pull bar, right turn pulling plate, right rod assembly, right pull bar, upper right rod assembly, upper right pull bar, described right electric cylinder is connected with described bottom right rod assembly by described right bearing, described right electric cylinder is connected by described right universal joint supporting plate right with described chassis overhang, described Right socle supporting plate right with described chassis overhang is connected, described dextrorotation swivel base is connected with described Right socle, described bottom right rod assembly can be rotated with the connection position of described dextrorotation swivel base under the driving of described right electric cylinder, described dextrorotation swivel base can rotate freely around the connection position with described Right socle；The described right pulling plate that turns is connected with the installation of described right rod assembly, described right rod assembly is connected with described bottom right rod assembly, described right rod assembly can connect position rotation around described bottom right rod assembly with the described right pulling plate that turns, described bottom right pull bar is connected with the described right pulling plate that turns, and makes described bottom right pull bar limit described right rod assembly around the rotation of described bottom right rod assembly by the described right pulling plate that turns；Described right rod assembly is connected with described upper right rod assembly, enable described upper right rod assembly to connect position around described right rod assembly to rotate, described right pull bar is connected with described upper right rod assembly, described right pull bar is connected with the described right pulling plate that turns, and makes described upper right rod assembly limit described upper right rod assembly by described right pull bar and connects position rotation around described right rod assembly.
As a further improvement on the present invention, described left linkage also includes left bearing, left universal joint, the left supporting plate of chassis overhang, left pedestal, left-handed swivel base, lower-left rod assembly, lower-left pull bar, left turn pulling plate, left rod assembly, left pull bar, upper left rod assembly, upper left pull bar, described left electric cylinder is connected with described lower-left rod assembly by described left bearing, described left electric cylinder is connected by the left supporting plate of chassis overhang described in described left universal joint, described left pedestal supporting plate left with described chassis overhang is connected, described left-handed swivel base is connected with described left pedestal, described lower-left rod assembly can be rotated with the connection position of described left-handed swivel base under the driving of described left electric cylinder, described left-handed swivel base can rotate freely around the connection position with described left pedestal；The described left pulling plate that turns is connected with the installation of described left rod assembly, described left rod assembly is connected with described lower-left rod assembly, described left rod assembly can connect position rotation around described lower-left rod assembly with the described left pulling plate that turns, described lower-left pull bar is connected with the described left pulling plate that turns, and makes described lower-left pull bar limit described left rod assembly around the rotation of described lower-left rod assembly by the described left pulling plate that turns；Described left rod assembly is connected with described upper left rod assembly, enable described upper left rod assembly to connect position around described left rod assembly to rotate, described left pull bar is connected with described upper left rod assembly, described left pull bar is connected with the described left pulling plate that turns, and makes described upper left rod assembly limit described upper left rod assembly by described left pull bar and connects position rotation around described left rod assembly.
As a further improvement on the present invention, described upper right rod assembly is provided with right rotation axis hole position, and the dextral shaft of described right candan universal joint inserts in the right rotation axis hole position of described upper right rod assembly；Described upper right pull bar is provided with right pulling force axis hole position, and the right thrust axis of described right candan universal joint inserts in the right pulling force axis hole position of described upper right pull bar.
As a further improvement on the present invention, described upper left rod assembly is provided with anticlockwise axis hole position, and the left-handed rotating shaft of described left candan universal joint is inserted in the anticlockwise axis hole position of described upper left rod assembly；Described upper left pull bar is provided with Zola's power axis hole position, and the left thrust axis of described left candan universal joint inserts in Zola's power axis hole position of described upper left pull bar.
As a further improvement on the present invention, described right electric cylinder is right servo electric jar, and described right bearing is right flake bearing.
As a further improvement on the present invention, described left electric cylinder is left servo electric jar, and described left bearing is left flake bearing.
The invention has the beneficial effects as follows: the 2DOF vivid platform of the present invention can ensure that vivid platform face carries out left rotation and right rotation, oscilaltion campaign on the premise of being initial setting up state, and left-right rotation both can allow 2 power source self-movements realize, it is also possible to allow 2 power source aggregate motions realize；By action while 2 power sources, but vivid platform rises or falls.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the right connecting rod mechanism structure schematic diagram of the present invention.
Fig. 3 is the left linkage arrangement schematic diagram of the present invention.
Fig. 4 is the platform body structural representation of the present invention.
Detailed description of the invention
As shown in Figures 1 to 4, the invention discloses a kind of 2DOF vivid platform, including bottom bracket 300, left linkage 200, candan universal joint, platform body 28, right connecting rod mechanism 100, described candan universal joint includes left candan universal joint 29 and right candan universal joint 27, described platform body 28 both sides are respectively mounted described left candan universal joint 29 and described right candan universal joint 27, and described left linkage 200 and described right connecting rod mechanism 100 are separately mounted on described bottom bracket 300；Described left linkage 200 includes left electric cylinder 14 and the left skeleton being connected with described left electric cylinder 14, described left electric cylinder 14 is used for driving described left skeleton to move, described right connecting rod mechanism 100 includes right electric cylinder 1 and the right skeleton being connected with described right electric cylinder 1, described right electric cylinder 1 is used for driving described right skeleton to move, described left skeleton is connected with described left candan universal joint 29, and described right skeleton is connected with described right candan universal joint 27.
nullDescribed right connecting rod mechanism 100 also includes right bearing 2、Right universal joint 3、The right supporting plate of chassis overhang 4、Right socle 5、Dextrorotation swivel base 6、Bottom right rod assembly 7、Bottom right pull bar 8、Right turn pulling plate 9、Right rod assembly 10、Right pull bar 11、Upper right rod assembly 12)、Upper right pull bar 13，Described right electric cylinder 1 is connected with described bottom right rod assembly 7 by described right bearing 2，Described right electric cylinder 1 is connected by described right universal joint 3 supporting plate right with described chassis overhang 4，Described Right socle 5 supporting plate right with described chassis overhang 4 is connected，Described dextrorotation swivel base 6 is connected with described Right socle 5，Described bottom right rod assembly 7 can be rotated with the connection position of described dextrorotation swivel base 6 under the driving of described right electric cylinder 1，Described dextrorotation swivel base 6 can rotate freely around the connection position with described Right socle 5；The described right pulling plate 9 that turns is connected with the installation of described right rod assembly 10, described right rod assembly 10 is connected with described bottom right rod assembly 7, described right rod assembly 10 can connect position rotation around described bottom right rod assembly 7 with the described right pulling plate 9 that turns, described bottom right pull bar 8 is connected with the described right pulling plate 9 that turns, and makes described bottom right pull bar 8 be limited described right rod assembly 10 rotated around described bottom right rod assembly 7 by the described right pulling plate 9 that turns；Described right rod assembly 10 is connected with described upper right rod assembly 12, make described upper right rod assembly 12 can connect position around described right rod assembly 10 to rotate, described right pull bar 11 is connected with described upper right rod assembly 12, described right pull bar 11 is connected with the described right pulling plate 9 that turns, and makes described upper right rod assembly 12 limit described upper right rod assembly 12 by described right pull bar 11 and connects position rotation around described right rod assembly 10.
That is, right electric cylinder 1 controls the rotary motion of upper right rod assembly 12 by its connecting rod.
nullDescribed left linkage 200 also includes left bearing 15、Left universal joint 16、The left supporting plate of chassis overhang 17、Left pedestal 18、Left-handed swivel base 19、Lower-left rod assembly 20、Lower-left pull bar 21、Left turn pulling plate 22、Left rod assembly 23、Left pull bar 24、Upper left rod assembly 25、Upper left pull bar 26，Described left electric cylinder 14 is connected with described lower-left rod assembly 20 by described left bearing 15，Described left electric cylinder 14 is connected by described left universal joint 16 supporting plate left with described chassis overhang 17，Described left pedestal 18 supporting plate left with described chassis overhang 17 is connected，Described left-handed swivel base 19 is connected with described left pedestal 18，Described lower-left rod assembly 20 can be rotated with the connection position of described left-handed swivel base 19 under the driving of described left electric cylinder 14，Described left-handed swivel base 19 can rotate freely around the connection position with described left pedestal 18；The described left pulling plate 22 that turns is connected with the installation of described left rod assembly 23, described left rod assembly 23 is connected with described lower-left rod assembly 20, described left rod assembly 23 can connect position rotation around described lower-left rod assembly 20 with the described left pulling plate 22 that turns, described lower-left pull bar 21 is connected with the described left pulling plate 22 that turns, and makes described lower-left pull bar 21 be limited described left rod assembly 23 rotated around described lower-left rod assembly 20 by the described left pulling plate 22 that turns；Described left rod assembly 23 is connected with described upper left rod assembly 25, make described upper left rod assembly 25 can connect position around described left rod assembly 23 to rotate, described left pull bar 24 is connected with described upper left rod assembly 25, described left pull bar 24 is connected with the described left pulling plate 22 that turns, and makes described upper left rod assembly 25 limit described upper left rod assembly 25 by described left pull bar 24 and connects position rotation around described left rod assembly 23.
The most left electric cylinder 14 controls the rotary motion of upper left rod assembly 25 by its connecting rod.
Described upper right rod assembly 12 is provided with right rotation axis hole position 102, and the dextral shaft 104 of described right candan universal joint 27 inserts in the right rotation axis hole position 102 of described upper right rod assembly 12；Described upper right pull bar 13 is provided with right pulling force axis hole position 101, and the right thrust axis 103 of described right candan universal joint 27 inserts in the right pulling force axis hole position 101 of described upper right pull bar 13.
Described upper left rod assembly 25 is provided with anticlockwise axis hole position 202, and the left-handed rotating shaft 204 of described left candan universal joint 29 is inserted in the anticlockwise axis hole position 202 of described upper left rod assembly 25；Described upper left pull bar 26 is provided with Zola's power axis hole position 201, and the left thrust axis 203 of described left candan universal joint 29 inserts in Zola's power axis hole position 201 of described upper left pull bar 26.
Described right electric cylinder 1 is right servo electric jar, and described right bearing 2 is right flake bearing.
Described left electric cylinder 14 is left servo electric jar, and described left bearing 15 is left flake bearing.
The present invention controls platform body 28 by right electric cylinder 1 and left electric cylinder 14.Bottom right pull bar 8 belongs to fixed position with the link position of dextrorotation swivel base 6, therefore the pulling force axis hole position of upper right pull bar 13 makes platform body 28 right state remain original state after being connected it with the thrust axis of right candan universal joint 27.Lower-left pull bar 21 belongs to fixed position with the link position of left-handed swivel base 19, therefore the pulling force axis hole position of upper left pull bar 26 makes platform body 28 right state remain original state after being connected it with the thrust axis of left candan universal joint 29.
Right electric cylinder 1, the centre position that initial origin position is its electric cylinder row total kilometres of left electric cylinder 14 motion are set.If right electric cylinder 1 shrinks, platform body 28 can be made to anticlockwise；If right electric cylinder 1 stretches out, platform body 28 can be made to right rotation.If left electric cylinder 14 shrinks, platform body 28 can be made to right rotation；If left electric cylinder 14 stretches out, platform body 28 can be made to anticlockwise.If right servo electric jar 1 shrinks, left servo electric jar 14 stretches out, platform body 28 can be made to anticlockwise, rotational steps is than individually shrinking being twice of right electric cylinder 1.If right electric cylinder 1 stretches out, left electric cylinder 14 shrinks, platform body 28 can be made to anticlockwise, rotational steps is than individually shrinking being twice of left electric cylinder 14.If right electric cylinder 1 and left electric cylinder 14 shrink simultaneously, platform body 28 vertically rises；If right electric cylinder 1 and left electric cylinder 14 stretch out simultaneously, platform body 28 is vertically lowered.
The 2DOF vivid platform of the present invention can ensure that vivid platform face carries out left rotation and right rotation, oscilaltion campaign on the premise of being initial setting up state, and left-right rotation both can allow 2 power source self-movements realize, it is also possible to allow 2 power source aggregate motions realize；By action while 2 power sources, but vivid platform rises or falls.
This 2DOF vivid platform can make platform body generation left rotation and right rotation and oscilaltion, and its any one position being mainly characterized by motor process can ensure that platform body face is initial designs state.This 2DOF vivid platform controls simple and convenient, it is adaptable to be widely popularized.
Above content is to combine concrete preferred implementation further description made for the present invention, it is impossible to assert the present invention be embodied as be confined to these explanations.For general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, it is also possible to make some simple deduction or replace, all should be considered as belonging to protection scope of the present invention.
Claims (6)
1. a 2DOF vivid platform, it is characterized in that: include bottom bracket (300), left linkage (200), candan universal joint, platform body (28), right connecting rod mechanism (100), described candan universal joint includes left candan universal joint (29) and right candan universal joint (27), described platform body (28) both sides are respectively mounted described left candan universal joint (29) and described right candan universal joint (27), and described left linkage (200) and described right connecting rod mechanism (100) are separately mounted on described bottom bracket (300)；Described left linkage (200) includes left electric cylinder (14) and the left skeleton being connected with described left electric cylinder (14), described left electric cylinder (14) is used for driving described left skeleton to move, described right connecting rod mechanism (100) includes right electric cylinder (1) and the right skeleton being connected with described right electric cylinder (1), described right electric cylinder (1) is used for driving described right skeleton to move, described left skeleton is connected with described left candan universal joint (29), and described right skeleton is connected with described right candan universal joint (27)；nullDescribed right connecting rod mechanism (100) also includes right bearing (2)、Right universal joint (3)、The right supporting plate of chassis overhang (4)、Right socle (5)、Dextrorotation swivel base (6)、Bottom right rod assembly (7)、Bottom right pull bar (8)、Right turn pulling plate (9)、Right rod assembly (10)、Right pull bar (11)、Upper right rod assembly (12)、Upper right pull bar (13)，Described right electric cylinder (1) is connected with described bottom right rod assembly (7) by described right bearing (2)，Described right electric cylinder (1) is connected by described right universal joint (3) supporting plate right with described chassis overhang (4)，Described Right socle (5) supporting plate right with described chassis overhang (4) is connected，Described dextrorotation swivel base (6) is connected with described Right socle (5)，Described bottom right rod assembly (7) can be rotated with the connection position of described dextrorotation swivel base (6) under the driving of described right electric cylinder (1)，Described dextrorotation swivel base (6) can rotate freely around the connection position with described Right socle (5)；The described right pulling plate (9) that turns is connected with the installation of described right rod assembly (10), described right rod assembly (10) is connected with described bottom right rod assembly (7), described right rod assembly (10) can connect position rotation with the described right pulling plate (9) that turns around described bottom right rod assembly (7), described bottom right pull bar (8) is connected with the described right pulling plate (9) that turns, and makes described bottom right pull bar (8) limit described right rod assembly (10) around described bottom right rod assembly (7) rotation by the described right pulling plate (9) that turns；Described right rod assembly (10) is connected with described upper right rod assembly (12), make described upper right rod assembly (12) position can be connected around described right rod assembly (10) to rotate, described right pull bar (11) is connected with described upper right rod assembly (12), described right pull bar (11) is connected with the described right pulling plate (9) that turns, and makes described upper right rod assembly (12) limit described upper right rod assembly (12) by described right pull bar (11) and connects position rotation around described right rod assembly (10).
2. a 2DOF vivid platform, it is characterized in that: include bottom bracket (300), left linkage (200), candan universal joint, platform body (28), right connecting rod mechanism (100), described candan universal joint includes left candan universal joint (29) and right candan universal joint (27), described platform body (28) both sides are respectively mounted described left candan universal joint (29) and described right candan universal joint (27), and described left linkage (200) and described right connecting rod mechanism (100) are separately mounted on described bottom bracket (300)；Described left linkage (200) includes left electric cylinder (14) and the left skeleton being connected with described left electric cylinder (14), described left electric cylinder (14) is used for driving described left skeleton to move, described right connecting rod mechanism (100) includes right electric cylinder (1) and the right skeleton being connected with described right electric cylinder (1), described right electric cylinder (1) is used for driving described right skeleton to move, described left skeleton is connected with described left candan universal joint (29), and described right skeleton is connected with described right candan universal joint (27)；Described left linkage (200) also includes left bearing (15), left universal joint (16), the left supporting plate of chassis overhang (17), left pedestal (18), left-handed swivel base (19), lower-left rod assembly (20), lower-left pull bar (21), left turns pulling plate (22), left rod assembly (23), left pull bar (24), upper left rod assembly (25)
, upper left pull bar (26), described left electric cylinder (14) is connected with described lower-left rod assembly (20) by described left bearing (15), described left electric cylinder (14) is connected by described left universal joint (16) supporting plate left with described chassis overhang (17), described left pedestal (18) supporting plate left with described chassis overhang (17) is connected, described left-handed swivel base (19) is connected with described left pedestal (18), described lower-left rod assembly (20) can be rotated with the connection position of described left-handed swivel base (19) under the driving of described left electric cylinder (14), described left-handed swivel base (19) can rotate freely around the connection position with described left pedestal (18)；The described left pulling plate (22) that turns is connected with the installation of described left rod assembly (23), described left rod assembly (23) is connected with described lower-left rod assembly (20), described left rod assembly (23) can connect position rotation with the described left pulling plate (22) that turns around described lower-left rod assembly (20), described lower-left pull bar (21) is connected with the described left pulling plate (22) that turns, and makes described lower-left pull bar (21) limit described left rod assembly (23) around described lower-left rod assembly (20) rotation by the described left pulling plate (22) that turns；Described left rod assembly (23) is connected with described upper left rod assembly (25), make described upper left rod assembly (25) position can be connected around described left rod assembly (23) to rotate, described left pull bar (24) is connected with described upper left rod assembly (25), described left pull bar (24) is connected with the described left pulling plate (22) that turns, and makes described upper left rod assembly (25) limit described upper left rod assembly (25) by described left pull bar (24) and connects position rotation around described left rod assembly (23).
2DOF vivid platform the most according to claim 1, it is characterized in that: described upper right rod assembly (12) is provided with right rotation axis hole position (102), the dextral shaft (104) of described right candan universal joint (27) inserts in the right rotation axis hole position (102) of described upper right rod assembly (12)；Described upper right pull bar (13) is provided with right pulling force axis hole position (101), and the right thrust axis (103) of described right candan universal joint (27) inserts in the right pulling force axis hole position (101) of described upper right pull bar (13).
2DOF vivid platform the most according to claim 2, it is characterized in that: described upper left rod assembly (25) is provided with anticlockwise axis hole position (202), the left-handed rotating shaft (204) of described left candan universal joint (29) is inserted in the anticlockwise axis hole position (202) of described upper left rod assembly (25)；Described upper left pull bar (26) is provided with Zola's power axis hole position (201), and the left thrust axis (203) of described left candan universal joint (29) inserts in Zola's power axis hole position (201) of described upper left pull bar (26).
2DOF vivid platform the most according to claim 1, it is characterised in that: described right electric cylinder (1) is right servo electric jar, and described right bearing (2) is right flake bearing.
2DOF vivid platform the most according to claim 2, it is characterised in that: described left electric cylinder (14) is left servo electric jar, and described left bearing (15) is left flake bearing.
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| CN201410617710.9A CN104368151B (en) | 2014-11-05 | 2014-11-05 | 2DOF vivid platform |
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| CN201410617710.9A CN104368151B (en) | 2014-11-05 | 2014-11-05 | 2DOF vivid platform |
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| CN104368151A CN104368151A (en) | 2015-02-25 |
| CN104368151B true CN104368151B (en) | 2016-10-05 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1509848A (en) * | 2002-12-23 | 2004-07-07 | 三星电子株式会社 | Robot with two-leg walk |
| CN101121424A (en) * | 2007-09-07 | 2008-02-13 | 哈尔滨工程大学 | Double-foot robot lower limb mechanism with multiple freedom degree |
| CN202923742U (en) * | 2012-05-02 | 2013-05-08 | 李川涛 | Robot walking structure |
| CN204684652U (en) * | 2014-11-05 | 2015-10-07 | 深圳市普乐方文化科技有限公司 | A kind of 2DOF vivid platform |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009050939A (en) * | 2007-08-24 | 2009-03-12 | Nsk Ltd | Link mechanism and leg wheel type robot |
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- 2014-11-05 CN CN201410617710.9A patent/CN104368151B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1509848A (en) * | 2002-12-23 | 2004-07-07 | 三星电子株式会社 | Robot with two-leg walk |
| CN101121424A (en) * | 2007-09-07 | 2008-02-13 | 哈尔滨工程大学 | Double-foot robot lower limb mechanism with multiple freedom degree |
| CN202923742U (en) * | 2012-05-02 | 2013-05-08 | 李川涛 | Robot walking structure |
| CN204684652U (en) * | 2014-11-05 | 2015-10-07 | 深圳市普乐方文化科技有限公司 | A kind of 2DOF vivid platform |
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Denomination of invention: 2-DOF dynamic platform Effective date of registration: 20211221 Granted publication date: 20161005 Pledgee: Shenzhen Longgang sub branch of Agricultural Bank of China Ltd. Pledgor: SHENZHEN PLAYFUN CULTURE SCIENCE AND TECHNOLOGY Co.,Ltd. Registration number: Y2021980015801 |
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