CN109048808A - A kind of Three Degree Of Freedom waves turntable - Google Patents
A kind of Three Degree Of Freedom waves turntable Download PDFInfo
- Publication number
- CN109048808A CN109048808A CN201810993462.6A CN201810993462A CN109048808A CN 109048808 A CN109048808 A CN 109048808A CN 201810993462 A CN201810993462 A CN 201810993462A CN 109048808 A CN109048808 A CN 109048808A
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- China
- Prior art keywords
- driving mechanism
- word frame
- back word
- degree
- pitching
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/14—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting the bench top
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Machine Tool Units (AREA)
Abstract
The present invention provides a kind of Three Degree Of Freedoms to wave turntable, including rolling driving mechanism, pitching driving mechanism and Back Word frame；The Back Word frame is connect by revolute with lower platform, and pitching driving mechanism both ends are hinged with the Back Word frame and lower platform respectively, swings Back Word frame around X-axis with respect to lower platform by the movement of pitching driving mechanism；The Back Word frame is connect by revolute with upper mounting plate, and rolling driving mechanism both ends are hinged with the Back Word frame and upper mounting plate respectively, waves upper mounting plate around Y-axis with respect to Back Word frame by the movement of rolling driving mechanism.The pitching driving mechanism is installed in Back Word frame two sides, is moved toward one another by two pitching driving mechanisms, swings Back Word frame around X-axis.The movable simulation of the present invention, can be realized the three-degree-of-freedom motion of rolling, pitching, revolution, this, which waves turntable, has the characteristics that bearing capacity is strong, safe and reliable, working space is big.
Description
Technical field
The present invention relates to operating platform technical field, in particular to a kind of Three Degree Of Freedom waves turntable.
Background technique
Since Stewart mechanism is in the successful application on Tire testing and flight simulator, six-degree-of-freedom parallel connection mechanism
Become the object of many scholars research always.Six-degree-of-freedom parallel connection mechanism is widely used, and cost is also higher.Due to the limit of structure
System, six-degree-of-freedom parallel connection mechanism could not solve very well there are many technical problem, such as movement coupling is strong, forward kinematics solution is complicated,
Working space is small, drive characteristic is poor etc..Therefore domestic and foreign scholars are to lower-mobilities such as two degrees of freedom, Three Degree Of Freedom and four-degree-of-freedoms
Parallel institution research gradually deeply.Minority carrier generation lifetime due to its driving element is few, kinematic pair is few, mechanism is simple,
It is compact-sized, manufacturing expense is low, bearing capacity is strong and control precision it is high the advantages that should be had extensively in parallel machine, industry
The fields such as production, medical amusement equipment, aerospace and the simulation of heavy weapon mechanical environment, in particular to simulate the water surface of ship
Movement, aerospace, astronomical observation, training simulation driving etc..
Due to the difference of parallel institution structure, the performances such as working space, bearing capacity of mechanism can be had differences, therefore
Specific occasion, it is still necessary to design special mechanism to realize.In addition to this, there are still many for existing minority carrier generation lifetime
Problem.Chinese patent proposes a kind of tilter of Three Degree Of Freedom based on parallel institution, which includes fixed platform, moves and put down
Platform and driving branch and the static balance device for connecting the two platforms, although three-degree-of-freedom motion can be completed,
It can only realize rolling, pitching and the movement for going up and down freedom degree, cannot achieve revolution freedom degree movement；Chinese patent proposes one
The 3-freedom parallel mechanism of kind of space symmetr, the mechanism include moving platform, rack and are connected in moving platform and rack in parallel
Between three branches, although can be realized three-degree-of-freedom motion, using three branches as supporter, make
Its bearing capacity is declined, and is limited its scope of application.
Space three-freedom tilter has in fields such as processing, Medical Devices, food packaging, bridge constructions at present
Boundless prospect, needs to design and had not only been able to satisfy actual motion requirement, but also has less kinematic pair and higher operation
The new mechanism of speed.
Summary of the invention
For the deficiencies in the prior art, the present invention provides a kind of Three Degree Of Freedoms to wave turntable, for moving mould
It is quasi-, it can be realized the three-degree-of-freedom motion of rolling, pitching, revolution, this is waved, and turntable is strong with bearing capacity, safe and reliable, work
Make the features such as space is big, is particularly suitable for the movement simulation test of all very big super large load of structure size and weight.
The present invention achieves the above technical objects by the following technical means.
A kind of Three Degree Of Freedom waves turntable, including rolling driving mechanism, pitching driving mechanism and Back Word frame；The Back Word frame
It is connect by revolute with lower platform, pitching driving mechanism both ends are hinged with the Back Word frame and lower platform respectively, pass through
The movement of pitching driving mechanism swings Back Word frame around X-axis with respect to lower platform；
The Back Word frame is connect by revolute with upper mounting plate, rolling driving mechanism both ends respectively with the Back Word frame
It is hinged with upper mounting plate, upper mounting plate is waved around Y-axis with respect to Back Word frame by the movement of rolling driving mechanism.
Further, left and right sidesing pillar is equipped between the Back Word frame and lower platform, described left and right sidesing pillar one end and lower platform are solid
Fixed connection, the left and right sidesing pillar other end are connect with Back Word frame revolute, swing Back Word frame around X-axis by revolute.
Further, the pitching driving mechanism is installed in Back Word frame two sides, passes through two pitching driving mechanism phases
To movement, swing Back Word frame around X-axis.
Further, front and back pillar is equipped between the Back Word frame and upper mounting plate, front and back pillar one end and upper mounting plate are solid
Fixed connection, the front and back pillar other end are connect with Back Word frame revolute, swing Back Word frame around Y-axis by revolute.
Further, the rolling driving mechanism is installed in the another two sides of the Back Word frame, passes through two rolling driving mechanisms
It moves toward one another, swings Back Word frame around Y-axis.
Further, the pitching driving mechanism and rolling driving mechanism are respectively hydraulic-driven executing agency or air pressure driving
Executing agency or Piezoelectric Driving executing agency.
Further, when the rolling driving mechanism or pitching driving mechanism are liquid/gas pressure driving executing agency, further include
Liquid/gas system；The liquid/gas system includes solenoid directional control valve and power unit, and power unit is connect with solenoid directional control valve；One
The rodless cavity of the rod chamber of the rolling driving mechanism and another rolling driving mechanism respectively with A mouthfuls of companies of solenoid directional control valve
Connect, the rod chamber of the rodless cavity of a rolling driving mechanism and another rolling driving mechanism respectively with electromagnetic switch
B mouthfuls of valve connections；
Or the rodless cavity of the rod chamber of a pitching driving mechanism and another pitching driving mechanism respectively with
A mouthfuls of solenoid directional control valve connections, the rodless cavity of a pitching driving mechanism and another pitching driving mechanism have bar
Chamber is connect with B mouthfuls of solenoid directional control valve respectively, and power unit is connect with solenoid directional control valve.
It further, further include rotary motion mechanism, rotary motion mechanism is installed on the upper mounting plate top.
Further, the rotary motion mechanism includes rotary disk, pivoting support, transmission gear and power mechanism, and described time
Pivoting support is equipped between turntable and upper mounting plate, the pivoting support is engaged with transmission gear, and the transmission gear is mounted on dynamic
Force mechanisms output end makes rotary disk rotary motion by gear drive.
The beneficial effects of the present invention are:
1. Three Degree Of Freedom of the present invention waves turntable, driven by rolling driving mechanism, pitching driving mechanism and revolution
Rolling, pitching and the movement for turning round three degree of freedom may be implemented in motivation structure.
2. Three Degree Of Freedom of the present invention waves turntable, rolling, pitching driving mechanism respectively constitute plane three-link machine
Structure, non-interference, flexibility is good, and sport efficiency is high.
3. Three Degree Of Freedom of the present invention waves turntable, structure is simple, and bearing capacity is strong, manufacture, easy for installation, work
Space is big, and drive characteristic is good.
4. Three Degree Of Freedom of the present invention waves turntable, revolution freedom degree, letter are realized in rotary motion mechanism self-movement
It is single reliable.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that Three Degree Of Freedom of the present invention waves turntable.
Fig. 2 is that Three Degree Of Freedom of the present invention waves movement schematic diagram of the turntable around Y-axis rolling.
Fig. 3 is that Three Degree Of Freedom of the present invention waves movement schematic diagram of the turntable around X-axis pitching.
Fig. 4 is the partial sectional view that Three Degree Of Freedom of the present invention waves turntable.
Fig. 5 is the hydraulic schematic diagram of rolling driving mechanism of the present invention.
In figure:
1- lower platform；2- pedestal；3- rolling driving mechanism；4- left and right sidesing pillar；5- hinged-support；6- upper mounting plate；7- revolution branch
It holds；8- rotary disk；9- servo motor；10- retarder；11- transmission gear；Pillar before and after 12-；13- Back Word frame；14- rolling is driven
Motivation structure；15- pitching driving mechanism；16- mandrel；17- fuel tank；18- power unit；19- solenoid directional control valve；
Specific embodiment
Present invention will be further explained with reference to the attached drawings and specific examples, but protection scope of the present invention is simultaneously
It is without being limited thereto.
As shown in Figure 1, Three Degree Of Freedom of the present invention waves turntable, upper mounting plate 6, pedestal 2, lower platform are specifically included that
1, Back Word frame 13, pitching driving mechanism 15, the first rolling driving mechanism 3, the second rolling driving mechanism 14, rotary disk 8, revolution branch
Hold 7, transmission gear 11, servo motor 9, retarder 10, hinged-support 5, left and right sidesing pillar 4, front and back pillar 12, mandrel 16.
As shown in Figure 3 and Figure 4, mountable pedestal 2 on the lower platform 1, pedestal 2 are fixedly connected with left and right sidesing pillar 4, lower flat
Left and right sidesing pillar 4 can also be mounted directly on platform 1；Described 4 one end of left and right sidesing pillar is fixedly connected with lower platform 1, and the left and right sidesing pillar 4 is another
One end is connect with 13 revolute of Back Word frame, swings Back Word frame 13 around X-axis by revolute.Another single mandrel 16 penetrates the left side
Right pillar 4 and Back Word frame 13；15 both ends of pitching driving mechanism are hinged with the Back Word frame 13 and lower platform 1 respectively, pass through
The movement of pitching driving mechanism 15 swings Back Word frame 13 around X-axis with respect to lower platform 1；The pitching driving mechanism 15 may be mounted at
13 side of Back Word frame can also be symmetrically mounted on 13 two sides of Back Word frame, when 13 two sides of Back Word frame be symmetrically installed it is described
Pitching driving mechanism 15 is moved toward one another by two pitching driving mechanisms 15, swings Back Word frame 13 around X-axis.
As shown in Figure 2 and Figure 4, it is connected through a screw thread between the upper mounting plate 6 and front and back pillar 12；The front and back pillar 12
It is connect with 13 revolute of Back Word frame, described 12 one end of front and back pillar is fixedly connected with upper mounting plate 6,12 other end of front and back pillar
It is connect with 13 revolute of Back Word frame, swings Back Word frame 13 around Y-axis by revolute.One single mandrel 16 penetrates the front and back pillar
12 and Back Word frame 13；The first rolling driving mechanism 3 and the second rolling driving mechanism 14 are installed in the another two sides of the Back Word frame 13, pass through
First rolling driving mechanism 3 and the second rolling driving mechanism 14 move toward one another, and swing Back Word frame 13 around Y-axis.First rolling is driven
Motivation structure 3 and 14 one end of the second rolling driving mechanism pass through hinged-support 5 respectively and connect with upper mounting plate 6, the first rolling driving mechanism 3
Pass through hinged-support 5 respectively with 14 other end of the second rolling driving mechanism to connect with Back Word frame 13.
It is fixed on upper mounting plate 6 as shown in Figure 1, the gear in pivoting support 7 is connected through a screw thread；In pivoting support 7
It is connected through a screw thread between bearing and rotary disk 8；By flanged joint between servo motor 9, retarder 10, assembles and lead to again
It crosses and is threaded in 8 upper surface of rotary disk；By using key connection between transmission gear 11 and the output shaft of retarder 10；Driving cog
Wheel 11 and the gear engaged transmission in pivoting support 7.The pivoting support 7 is engaged with transmission gear 11, the transmission gear 11
It is mounted on 10 output end of retarder, 8 rotary motion of rotary disk is made by gear drive.
The pitching driving mechanism 15, the first rolling driving mechanism 3 and the second rolling driving mechanism 14 are respectively hydraulic drive
Dynamic executing agency or air pressure driving executing agency or Piezoelectric Driving executing agency.As shown in figure 5, working as the first rolling driving machine
It further include liquid/gas system when structure 3, the second rolling driving mechanism 14 and pitching driving mechanism 15 are hydraulic-driven executing agency；Institute
Stating liquid/gas system includes solenoid directional control valve 19 and power unit 18, and power unit 18 is connect with 19P mouthfuls of solenoid directional control valve；First
The rod chamber of rolling driving mechanism 3 is connect with 19A mouthfuls of solenoid directional control valve respectively with the rodless cavity of the second rolling driving mechanism 14, the
The rodless cavity of one rolling driving mechanism 3 and the rod chamber of the second rolling driving mechanism 14 respectively with 19B mouthfuls of solenoid directional control valve
Connection；19T mouthfuls of solenoid directional control valve connect with fuel tank 17.If there are two the pitching driving mechanism 15 that is arranged symmetrically, principle with
It is consistent above.
Motion process of the invention is as follows:
Rolling motion: when the piston rod of the first rolling driving mechanism 3 stretches out, the piston rod of the second rolling driving mechanism 14 contracts
Rolling motion occurs for Hui Shi, 6 stress of upper mounting plate, and the movement of turntable rolling freedom degree is waved in realization.
Pitching: when the piston rod of pitching driving mechanism 15 stretches out or retracts, pitching, band occur for Back Word frame 13
Dynamic upper mounting plate 6 carries out pitching, and the movement of turntable pitching freedom degree is waved in realization.
Rotary motion: by 9 output torque of servo motor, being slowed down by retarder 10, then band nutating gear 11 rotates, with
Gear engagement in pivoting support 7, is fixed on upper mounting plate 6, to pass since the gear in pivoting support 7 is connected through a screw thread
Moving gear 11 drives rotary disk 8 to make revolution freedom degree movement.
Hybrid motion: as needed will above 3 kinds movement, any combination.
The embodiment is a preferred embodiment of the present invention, but present invention is not limited to the embodiments described above, not
In the case where substantive content of the invention, any conspicuous improvement that those skilled in the art can make, replacement
Or modification all belongs to the scope of protection of the present invention.
Claims (9)
1. a kind of Three Degree Of Freedom waves turntable, which is characterized in that including rolling driving mechanism (3,14), pitching driving mechanism (15)
With Back Word frame (13)；The Back Word frame (13) is connect by revolute with lower platform (1), pitching driving mechanism (15) both ends
Respectively hingedly with the Back Word frame (13) and lower platform (1), keep Back Word frame (13) opposite by pitching driving mechanism (15) movement
Lower platform (1) is swung around X-axis；
The Back Word frame (13) is connect by revolute with upper mounting plate (6), rolling driving mechanism (3, the 14) both ends respectively with
The Back Word frame (13) and upper mounting plate (6) hingedly, by rolling driving mechanism (3,14) movement make upper mounting plate (6) with respect to Back Word frame
(13) it is waved around Y-axis.
2. Three Degree Of Freedom according to claim 1 waves turntable, which is characterized in that the Back Word frame (13) and lower platform
(1) left and right sidesing pillar (4) are equipped between, described left and right sidesing pillar (4) one end is fixedly connected with lower platform (1), the left and right sidesing pillar (4)
The other end is connect with Back Word frame (13) revolute, swings Back Word frame (13) around X-axis by revolute.
3. Three Degree Of Freedom according to claim 2 waves turntable, which is characterized in that install institute in Back Word frame (13) two sides
Pitching driving mechanism (15) are stated, are moved toward one another by two pitching driving mechanisms (15), put Back Word frame (13) around X-axis
It is dynamic.
4. Three Degree Of Freedom according to claim 1 waves turntable, which is characterized in that the Back Word frame (13) and upper mounting plate
(6) front and back pillar (12) are equipped between, described front and back pillar (12) one end is fixedly connected with upper mounting plate (6), the front and back pillar
(12) other end is connect with Back Word frame (13) revolute, swings Back Word frame (13) around Y-axis by revolute.
5. Three Degree Of Freedom according to claim 3 waves turntable, which is characterized in that the another two sides installation of the Back Word frame (13)
The rolling driving mechanism (3,14) is moved toward one another by two rolling driving mechanisms (3,14), makes Back Word frame (13) around Y
Axis is swung.
6. Three Degree Of Freedom according to claim 1 waves turntable, which is characterized in that the pitching driving mechanism (15) and cross
Shaking driving mechanism (3,14) is respectively hydraulic-driven executing agency or air pressure driving executing agency or Piezoelectric Driving executing agency.
7. the Three Degree Of Freedom according to claim 3 or 5 waves turntable, which is characterized in that when the rolling driving mechanism (3,
It 14) further include liquid/gas system when or pitching driving mechanism (15) is liquid/gas pressure driving executing agency；The liquid/gas system packet
Solenoid directional control valve (19) and power unit (18) are included, the power unit (18) connect with solenoid directional control valve (19)；Described in one
The rod chamber of rolling driving mechanism (3,14) and the rodless cavity of another rolling driving mechanism (3,14) are changed with electromagnetism respectively
It is connected to A mouthfuls of valve (19), the rodless cavity of a rolling driving mechanism (3,14) and another rolling driving mechanism (3,
14) rod chamber respectively with solenoid directional control valve (19) B mouthfuls connect；
Or the rod chamber of a pitching driving mechanism (15) and the rodless cavity of another pitching driving mechanism (15) divide
Not with solenoid directional control valve (19) A mouthfuls connect, the rodless cavity of a pitching driving mechanism (15) and another described pitching are driven
The rod chamber of motivation structure (15) respectively with solenoid directional control valve (19) B mouthfuls connect, power unit is connect with solenoid directional control valve (19).
8. Three Degree Of Freedom according to claim 1-6 waves turntable, which is characterized in that further include revolution driving machine
Rotary motion mechanism is installed on structure, upper mounting plate (6) top.
9. Three Degree Of Freedom according to claim 8 waves turntable, which is characterized in that the rotary motion mechanism includes revolution
Disk (8), pivoting support (7), transmission gear (11) and power mechanism are equipped with revolution between the rotary disk (8) and upper mounting plate (6)
It supports (7), the pivoting support (7) is engaged with transmission gear (11), and the transmission gear (11) is mounted on power mechanism output
End, makes rotary disk (8) rotary motion by gear drive.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810993462.6A CN109048808A (en) | 2018-08-29 | 2018-08-29 | A kind of Three Degree Of Freedom waves turntable |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810993462.6A CN109048808A (en) | 2018-08-29 | 2018-08-29 | A kind of Three Degree Of Freedom waves turntable |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109048808A true CN109048808A (en) | 2018-12-21 |
Family
ID=64756383
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810993462.6A Pending CN109048808A (en) | 2018-08-29 | 2018-08-29 | A kind of Three Degree Of Freedom waves turntable |
Country Status (1)
| Country | Link |
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| CN (1) | CN109048808A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108284417A (en) * | 2017-12-29 | 2018-07-17 | 河南平高电气股份有限公司 | Double layer rotating mounting plate |
| CN110260110A (en) * | 2019-06-27 | 2019-09-20 | 上海海事大学 | A kind of six degree of freedom mixed connection platform for compensation of undulation |
| CN110685595A (en) * | 2019-09-23 | 2020-01-14 | 陈腊根 | Underlying multi-input rotary table device |
| CN111462573A (en) * | 2020-04-24 | 2020-07-28 | 沈阳工业大学 | Platform is swayd to slope rotation axis formula |
| CN111604869A (en) * | 2020-05-22 | 2020-09-01 | 陕西理工大学 | Rotary platform |
| WO2021135524A1 (en) * | 2019-12-31 | 2021-07-08 | 中科振声（苏州）电子科技有限公司 | Rolling simulation platform, test platform and test system |
| CN114354168A (en) * | 2021-12-31 | 2022-04-15 | 湘潭大学 | Biax heavy load sways test bench |
| CN114776043A (en) * | 2022-05-24 | 2022-07-22 | 山东新源建设工程集团有限公司 | Auxiliary installation device for assembly type building construction |
| CN116972808A (en) * | 2023-09-22 | 2023-10-31 | 北京普达迪泰科技有限公司 | Device and method for measuring three-dimensional scanning coordinates |
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| CN106991865A (en) * | 2017-02-09 | 2017-07-28 | 沈阳工业大学 | Slide block connecting rod tilter |
| CN206638975U (en) * | 2017-04-07 | 2017-11-14 | 沈阳工业大学 | Three Degree Of Freedom layer-stepping tilter |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108284417A (en) * | 2017-12-29 | 2018-07-17 | 河南平高电气股份有限公司 | Double layer rotating mounting plate |
| CN110260110A (en) * | 2019-06-27 | 2019-09-20 | 上海海事大学 | A kind of six degree of freedom mixed connection platform for compensation of undulation |
| CN110260110B (en) * | 2019-06-27 | 2021-11-05 | 上海海事大学 | Six-degree-of-freedom series-parallel platform for wave compensation |
| CN110685595A (en) * | 2019-09-23 | 2020-01-14 | 陈腊根 | Underlying multi-input rotary table device |
| WO2021135524A1 (en) * | 2019-12-31 | 2021-07-08 | 中科振声（苏州）电子科技有限公司 | Rolling simulation platform, test platform and test system |
| CN111462573A (en) * | 2020-04-24 | 2020-07-28 | 沈阳工业大学 | Platform is swayd to slope rotation axis formula |
| CN111604869A (en) * | 2020-05-22 | 2020-09-01 | 陕西理工大学 | Rotary platform |
| CN114354168A (en) * | 2021-12-31 | 2022-04-15 | 湘潭大学 | Biax heavy load sways test bench |
| CN114776043A (en) * | 2022-05-24 | 2022-07-22 | 山东新源建设工程集团有限公司 | Auxiliary installation device for assembly type building construction |
| CN116972808A (en) * | 2023-09-22 | 2023-10-31 | 北京普达迪泰科技有限公司 | Device and method for measuring three-dimensional scanning coordinates |
| CN116972808B (en) * | 2023-09-22 | 2023-12-08 | 北京普达迪泰科技有限公司 | Device and method for measuring three-dimensional scanning coordinates |
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Application publication date: 20181221 |
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