CN112704887A - Three-degree-of-freedom motion platform with left and right transverse moving function - Google Patents
Three-degree-of-freedom motion platform with left and right transverse moving function Download PDFInfo
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- CN112704887A CN112704887A CN202011488857.4A CN202011488857A CN112704887A CN 112704887 A CN112704887 A CN 112704887A CN 202011488857 A CN202011488857 A CN 202011488857A CN 112704887 A CN112704887 A CN 112704887A
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63J—DEVICES FOR THEATRES, CIRCUSES, OR THE LIKE; CONJURING APPLIANCES OR THE LIKE
- A63J25/00—Equipment specially adapted for cinemas
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Abstract
A three-degree-of-freedom motion platform with left and right transverse moving comprises: the lower platform is used for mounting each part; the upper platform is used for installing bearing equipment; the upper platform is arranged above the lower platform; the first electric cylinder driving assembly is used for driving the upper platform to move; the first electric cylinder driving assembly is arranged on the lower platform and is connected with the upper platform; the second electric cylinder driving assembly is used for driving the upper platform to move; the second electric cylinder driving assembly is arranged on the lower platform and is connected with the upper platform; the transverse displacement stable supporting assembly is used for driving the upper platform to move; the lateral displacement stable supporting component is arranged on the lower platform and connected with the upper platform. The utility model has the advantages of this application simple structure, easy maintenance, it is small, highly low, be convenient for use in the limited environment in space.
Description
Technical Field
The invention belongs to the technical field of multi-degree-of-freedom motion, and particularly relates to a three-degree-of-freedom motion platform with a left-right transverse moving function.
Background
The mainstream platform in the current market is mainly a three-degree-of-freedom platform or a six-degree-of-freedom platform, wherein the three-degree-of-freedom platform has no function of horizontal moving and only has functions of front-back swinging, left-right swinging and up-down displacement, and the six-degree-of-freedom platform has high manufacturing cost and large volume although the six-degree-of-freedom platform has more freedom of motion, and cannot be used in specific occasions, particularly cinema scenes. In some applications, such as when a user is experiencing a 4D movie, a platform with side-to-side traversing is required.
Disclosure of Invention
In view of the above, the present invention provides a three-degree-of-freedom motion platform with left-right lateral movement, which overcomes or at least partially solves the above problems.
In order to solve the technical problem, the invention provides a three-degree-of-freedom motion platform with left and right lateral movement, which comprises:
the lower platform is used for mounting each part;
the upper platform is used for installing bearing equipment; the upper platform is arranged above the lower platform;
the first electric cylinder driving assembly is used for driving the upper platform to move; the first electric cylinder driving assembly is arranged on the lower platform and is connected with the upper platform;
the second electric cylinder driving assembly is used for driving the upper platform to move; the second electric cylinder driving assembly is arranged on the lower platform and is connected with the upper platform;
the transverse displacement stable supporting assembly is used for driving the upper platform to move; the lateral displacement stable supporting component is arranged on the lower platform and connected with the upper platform.
Preferably, the first electric cylinder drive assembly includes: the first universal joint seat is arranged on the lower platform, the first cross universal seat is arranged on the upper platform, the first end of the first telescopic cylinder body is hinged to the first universal joint seat, the second end of the first telescopic cylinder body is hinged to the first cross universal seat, and the first servo motor is connected with the first telescopic cylinder body.
Preferably, the second electric cylinder drive assembly includes: the hydraulic cylinder comprises a second universal joint seat, a second crossed universal seat, a second telescopic cylinder body and a second servo motor, wherein the second universal joint seat is arranged on the lower platform, the second crossed universal seat is arranged on the upper platform, the first end of the second telescopic cylinder body is hinged to the second universal joint seat, the second end of the second telescopic cylinder body is hinged to the second crossed universal seat, and the second servo motor is connected with the second telescopic cylinder body.
Preferably, the lateral displacement stabilizing support assembly comprises: the electric cylinder fixing seat is arranged on the lower platform, the third ball joint seat is arranged on the upper platform, the electric cylinder is driven to articulate on the electric cylinder fixing seat, the support frame is arranged on the lower platform, the double-pendulum support arm passes through the rotating shaft and articulates on the support frame, the first end of the double-pendulum support arm is articulated with the electric cylinder, and the second end of the double-pendulum support arm is articulated with the third ball joint seat.
Preferably, the lateral displacement stabilizing support assembly further comprises: and the first end of the double-pendulum supporting arm is hinged with the driving electric cylinder through the joint bearing.
Preferably, the lateral displacement stabilizing support assembly further comprises: the fixed pivot of electric jar, the fixed pivot of electric jar wears to establish the electric jar fixing base with drive electric jar to realize the articulated of the two.
Preferably, the first electric cylinder driving assembly and the second electric cylinder driving assembly are disposed on a first side of the lower platform, and the lateral displacement stabilizing support assembly is disposed on a second side of the lower platform.
Preferably, the first electric cylinder driving assembly, the second electric cylinder driving assembly and the lateral displacement stabilizing support assembly are arranged on the lower platform in an isosceles triangle shape.
Preferably, the lateral displacement stabilizing support assembly is located on a perpendicular bisector of a line segment formed by connecting the first electric cylinder driving assembly and the second electric cylinder driving assembly.
Preferably, the first electric cylinder driving assembly and the second electric cylinder driving assembly are connected to form a straight line parallel to the movement direction of the driving electric cylinder in the lateral displacement stabilizing support assembly.
One or more technical solutions in the embodiments of the present invention have at least the following technical effects or advantages: the three-degree-of-freedom motion platform with the left and right transverse moving function is simple in structure, convenient to maintain, small in size, low in height, convenient to use in an environment with limited space and capable of achieving the function of the three-degree-of-freedom platform; compared with the prior motion platform, the left-right lateral moving function is added, so that the audience can feel the left-right lateral moving feeling during the experience; the invention adopts the transmission mechanism of the electric cylinder, has quick motion response and high position precision, and can simulate various high-frequency vibrations; for the product of the same type, owing to increase one set of lateral displacement and stabilize supporting component, but volume and height do not all increase, and lateral displacement stabilizes supporting component and has integrateed the function of controlling sideslip transmission function and platform antitorque and move, and the motion is more stable.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
FIG. 1 is a schematic overall structure diagram of a three-degree-of-freedom motion platform with left and right lateral movements according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a first electric cylinder driving assembly in a three-degree-of-freedom motion platform with left-right lateral movement according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a lateral displacement stabilizing support assembly in a three-degree-of-freedom motion platform with left and right lateral movement according to an embodiment of the present invention.
Detailed Description
The present invention will be described in detail below with reference to specific embodiments and examples, and the advantages and various effects of the present invention will be more clearly apparent therefrom. It will be understood by those skilled in the art that these specific embodiments and examples are for the purpose of illustrating the invention and are not to be construed as limiting the invention.
Throughout the specification, unless otherwise specifically noted, terms used herein should be understood as having meanings as commonly used in the art. Accordingly, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. If there is a conflict, the present specification will control.
Unless otherwise specifically stated, various raw materials, reagents, instruments, equipment and the like used in the present invention are commercially available or can be prepared by existing methods.
Referring to fig. 1-3, in the embodiment of the present application, the present invention provides a three-degree-of-freedom motion platform with left and right lateral movements, including:
a lower platform 10 for mounting various parts;
an upper platform 20 for mounting a load bearing device; the upper platform 20 is arranged above the lower platform 10;
the first electric cylinder driving assembly 30 is used for driving the upper platform 20 to move; the first electric cylinder driving assembly 30 is arranged on the lower platform 10 and connected with the upper platform 20;
the second electric cylinder driving assembly 40 is used for driving the upper platform 20 to move; the second electric cylinder driving assembly 40 is arranged on the lower platform 10 and connected with the upper platform 20;
a lateral displacement stabilizing support assembly 50 for driving the upper platform 20 to move; the lateral displacement stabilizing support assembly 50 is disposed on the lower platform 10 and connected to the upper platform 20.
In the embodiment of the present application, the first electric cylinder driving assembly 30, the second electric cylinder driving assembly 40 and the lateral displacement stabilizing support assembly 50 work together, so as to realize the motions of the upper platform 20, such as front-back swinging, left-right swinging or up-down translation, relative to the lower platform 10.
As shown in fig. 1 to 3, in the embodiment of the present application, the first electric cylinder drive assembly 30 includes: the first universal joint seat 31 is arranged on the lower platform 10, the first cross universal seat 32 is arranged on the upper platform 20, a first end of the first telescopic cylinder 33 is hinged to the first universal joint seat 31, a second end of the first telescopic cylinder 33 is hinged to the first cross universal seat 32, and the first servo motor 34 is connected to the first telescopic cylinder 33.
In the embodiment of the present application, the first electric cylinder driving assembly 30 is vertically disposed between the upper platform 20 and the lower platform 10, the first telescopic cylinder 33 is driven by the first servo motor 34 to perform a telescopic linear motion in a vertical direction, and the first electric cylinder driving assembly 30 is rotated in two directions by the first universal joint base 31 and the first cross universal base 32. The first electric cylinder drive assembly 30 and the second electric cylinder drive assembly 40 are in the bottom position when not energized, and the first electric cylinder drive assembly 30 and the second electric cylinder drive assembly 40 move to the middle positions of their respective strokes after normal energization. When the electric power is turned on, the driving electric cylinder 51 moves to the middle point position of the self stroke, and the whole double swing supporting arm 54 is at the middle point position of the swing stroke and is perpendicular to the lower platform 10. When the lateral displacement stabilizing support assembly 50 is not moved, the first electric cylinder driving assembly 30 and the second electric cylinder driving assembly 40 do telescopic motion in different directions, so that the upper platform 20 can be controlled to do left-right swinging motion relative to the lower platform 10; when the first electric cylinder driving assembly 30 and the second electric cylinder driving assembly 40 move in the same direction, the upper platform 20 swings back and forth relative to the lower platform 10; when the first electric cylinder driving assembly 30 and the second electric cylinder driving assembly 40 do not move, the entire upper platform 20 does left-right displacement motion relative to the lower platform 10 when the lateral displacement stabilizing support assembly 50 does left-right swing; when the first electric cylinder drive assembly 30, the second electric cylinder drive assembly 40 and the lateral displacement stabilizing support assembly 50 are simultaneously moved, the entire upper platform 20 is compositely moved with respect to the lower platform 10 at this time.
In the embodiment of the present application, the second electric cylinder drive assembly 40 includes: the hydraulic cylinder comprises a second universal joint seat, a second cross-shaped universal seat, a second telescopic cylinder body and a second servo motor, wherein the second universal joint seat is arranged on the lower platform 10, the second cross-shaped universal seat is arranged on the upper platform 20, the first end of the second telescopic cylinder body is hinged to the second universal joint seat, the second end of the second telescopic cylinder body is hinged to the second cross-shaped universal seat, and the second servo motor is connected with the second telescopic cylinder body.
In the embodiment of the present application, the second electric cylinder driving assembly 40 has the same structure as the first electric cylinder driving assembly 30, and the description thereof is omitted.
As shown in fig. 1-3, in the present embodiment, the lateral displacement stabilizing support assembly 50 includes: the hydraulic lifting device comprises a driving electric cylinder 51, an electric cylinder fixing seat 52, a triangular support frame 53, a double-swing support arm 54, a third cardan joint seat 55 and a rotating shaft 56, wherein the electric cylinder fixing seat 52 is arranged on the lower platform 10, the third cardan joint seat 55 is arranged on the upper platform 20, the driving electric cylinder 51 is hinged to the electric cylinder fixing seat 52, the support frame is arranged on the lower platform 10, the double-swing support arm 54 is hinged to the support frame through the rotating shaft 56, and a first end of the double-swing support arm 54 is hinged to the driving electric cylinder 51 while a second end of the double-swing support arm is hinged to the third cardan joint seat 55.
In the embodiment of the present application, the upper end of the third gimbal base 55 is fixedly connected to the upper platform 20, and the lower end of the third gimbal base 55 is rotatably connected to the double-swing supporting arm 54, so that the upper platform 20 can rotate in two directions, i.e., forward and backward swing and left and right swing, under the action of the third gimbal base 55. The upper, middle and lower parts of the double-pendulum supporting arm 54 are respectively provided with an end hole, the upper end hole is rotatably connected with the lower end of a thirty-second universal joint seat 55, the middle end hole is rotatably connected with a triangular supporting frame 53 through a rotating shaft 56, the lower end hole is rotatably connected with a driving electric cylinder 51, and the whole double-pendulum supporting arm 54 can do swinging motion around the rotating shaft 56 under the support of the triangular supporting frame 53. Since the double pendulum support arm 23 can only swing in one direction, it can provide a stable support and anti-torsion action for the upper platform 20 under the control of the driving electric cylinder 51, and since the whole lateral displacement stabilizing support assembly 50 bears most of the supporting force of the upper platform 20, the movement of the first electric cylinder driving assembly 30 and the second electric cylinder driving assembly 40 is more labor-saving. The triangular support frame 53 is arranged in a triangular shape, so that the whole lateral displacement stabilizing and supporting assembly 50 is more stable in structure, the lower end of the triangular support frame is fixedly connected with the lower platform 10, and a stabilizing supporting force and a torsion resisting force are provided for the whole upper platform 20 through the double-swing supporting arm 54. The lower end hole of the double-pendulum supporting arm 54 is rotatably connected with the electric cylinder driving seat 51, the electric cylinder driving seat 51 is rotatably connected with the electric cylinder fixing seat 52, the electric cylinder fixing seat 52 is fixedly connected with the lower platform 10 through a screw, and the double-pendulum supporting arm 54 can be driven to swing when the electric cylinder driving seat 51 makes telescopic motion. Under the action of the rotating shaft 56, the upper end and the lower end of the double-pendulum supporting arm 54 move in opposite directions, the driving electric cylinder 51 is electrified and then is located in the middle of the self stroke, at the moment, the double-pendulum supporting arm 54 is perpendicular to the lower platform 10, when the driving electric cylinder 51 receives a control command, the telescopic motion is carried out, the double-pendulum supporting arm 54 is driven to carry out the swinging motion, and therefore the transverse displacement motion of the upper platform 20 is driven through the action of the third cross universal joint seat 55. The entire upper platform 20 moves with the double-swing support arm 54 as a support point, and when the driving electric cylinder 51, the first electric cylinder driving assembly 30 and the second electric cylinder driving assembly 40 move together, the entire upper platform 20 can make various compound movements with respect to the lower platform 10.
As shown in fig. 1-3, in the present embodiment, the lateral displacement stabilizing support assembly 50 further comprises: and a joint bearing 57, wherein a first end of the double-pendulum supporting arm 54 is hinged with the driving electric cylinder 51 through the joint bearing 57.
In the embodiment of the present application, the lower end hole of the double-pendulum supporting arm 54 is rotatably connected to the joint bearing 57 of the driving electric cylinder 51, and the joint bearing 57 can rotate in any direction, so that when the position of the driving electric cylinder 51 is not perpendicular to the double-pendulum supporting arm 54, the radial force of the driving electric cylinder 51 is reduced, thereby reducing the wear of the driving electric cylinder 51 and greatly increasing the service life of the driving electric cylinder 51. In other embodiments, the driving electric cylinder 51 may be replaced by a transmission mechanism having a telescopic motion, such as a folding electric cylinder, a hydraulic cylinder, and a pneumatic cylinder.
As shown in fig. 1-3, in the present embodiment, the lateral displacement stabilizing support assembly 50 further comprises: the electric cylinder fixing rotating shaft 58 penetrates through the electric cylinder fixing seat 52 and the driving electric cylinder 51 to realize the hinging of the electric cylinder fixing rotating shaft 58 and the driving electric cylinder 51.
In the embodiment of the present application, the electric cylinder fixing rotating shaft 58 penetrates through the driving electric cylinder 51 and the electric cylinder fixing base 52, so as to realize the rotation connection between the driving electric cylinder 51 and the electric cylinder fixing base 52.
In the embodiment of the present application, the first electric cylinder driving assembly 30 and the second electric cylinder driving assembly 40 are disposed at a first side of the lower platform 10, and the lateral displacement stabilizing support assembly 50 is disposed at a second side of the lower platform 10.
In the embodiment of the present application, the first electric cylinder driving assembly 30 and the second electric cylinder driving assembly 40 are disposed at a first side of the lower platform 10, and the lateral displacement stabilizing support assembly 50 is disposed at a second side of the lower platform 10, that is, the lateral displacement stabilizing support assembly 50 is disposed opposite to the first electric cylinder driving assembly 30 and the second electric cylinder driving assembly 40.
In the embodiment of the present application, the first electric cylinder driving assembly 30, the second electric cylinder driving assembly 40 and the lateral displacement stabilizing support assembly 50 are arranged on the lower platform 10 in an isosceles triangle shape. Further, the lateral displacement stabilizing support assembly 50 is located on a midperpendicular line where the first electric cylinder driving assembly 30 and the second electric cylinder driving assembly 40 are connected to form a line segment.
In the present embodiment, the isosceles triangle arrangement of the first electric cylinder driving assembly 30, the second electric cylinder driving assembly 40 and the lateral displacement stabilizing support assembly 50 may make the movement of the upper platform 20 more balanced and stable.
In the embodiment of the present application, the first electric cylinder driving assembly 30 and the second electric cylinder driving assembly 40 are connected to form a straight line parallel to the moving direction of the driving electric cylinder 51 in the lateral displacement stabilizing support assembly 50.
In the embodiment of the present application, the connection between the first electric cylinder driving assembly 30 and the second electric cylinder driving assembly 40 forms a first straight line, the moving direction of the driving electric cylinder 51 in the lateral displacement stabilizing support assembly 50 forms a second straight line, and the first straight line and the second straight line are parallel, so that the movement of the upper platform 20 can be more balanced and stable.
The three-degree-of-freedom motion platform with the left and right transverse moving function is simple in structure, convenient to maintain, small in size, low in height, convenient to use in an environment with limited space and capable of achieving the function of the three-degree-of-freedom platform; compared with the prior motion platform, the left-right lateral moving function is added, so that the audience can feel the left-right lateral moving feeling during the experience; the invention adopts the transmission mechanism of the electric cylinder, has quick motion response and high position precision, and can simulate various high-frequency vibrations; for the product of the same type, owing to increase one set of lateral displacement and stabilize supporting component, but volume and height do not all increase, and lateral displacement stabilizes supporting component and has integrateed the function of controlling sideslip transmission function and platform antitorque and move, and the motion is more stable.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element. The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
In short, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a three degree of freedom motion platform of sideslip about area which characterized in that includes:
the lower platform is used for mounting each part;
the upper platform is used for installing bearing equipment; the upper platform is arranged above the lower platform;
the first electric cylinder driving assembly is used for driving the upper platform to move; the first electric cylinder driving assembly is arranged on the lower platform and is connected with the upper platform;
the second electric cylinder driving assembly is used for driving the upper platform to move; the second electric cylinder driving assembly is arranged on the lower platform and is connected with the upper platform;
the transverse displacement stable supporting assembly is used for driving the upper platform to move; the lateral displacement stable supporting component is arranged on the lower platform and connected with the upper platform.
2. The three-degree-of-freedom motion platform with left-right lateral movement according to claim 1, wherein the first electric cylinder driving assembly comprises: the first universal joint seat is arranged on the lower platform, the first cross universal seat is arranged on the upper platform, the first end of the first telescopic cylinder body is hinged to the first universal joint seat, the second end of the first telescopic cylinder body is hinged to the first cross universal seat, and the first servo motor is connected with the first telescopic cylinder body.
3. The three-degree-of-freedom motion platform with left-right lateral movement according to claim 1, wherein the second electric cylinder driving assembly comprises: the hydraulic cylinder comprises a second universal joint seat, a second crossed universal seat, a second telescopic cylinder body and a second servo motor, wherein the second universal joint seat is arranged on the lower platform, the second crossed universal seat is arranged on the upper platform, the first end of the second telescopic cylinder body is hinged to the second universal joint seat, the second end of the second telescopic cylinder body is hinged to the second crossed universal seat, and the second servo motor is connected with the second telescopic cylinder body.
4. The three-degree-of-freedom motion platform with left-right lateral movement according to claim 1, wherein the lateral displacement stabilizing support assembly comprises: the electric cylinder fixing seat is arranged on the lower platform, the third ball joint seat is arranged on the upper platform, the electric cylinder is driven to articulate on the electric cylinder fixing seat, the support frame is arranged on the lower platform, the double-pendulum support arm passes through the rotating shaft and articulates on the support frame, the first end of the double-pendulum support arm is articulated with the electric cylinder, and the second end of the double-pendulum support arm is articulated with the third ball joint seat.
5. The motion platform with left-right lateral movement of claim 4, wherein the lateral displacement stabilizing support assembly further comprises: and the first end of the double-pendulum supporting arm is hinged with the driving electric cylinder through the joint bearing.
6. The motion platform with left-right lateral movement of claim 4, wherein the lateral displacement stabilizing support assembly further comprises: the fixed pivot of electric jar, the fixed pivot of electric jar wears to establish the electric jar fixing base with drive electric jar to realize the articulated of the two.
7. The motion platform with left-right traverse motion of claim 1, wherein the first and second electric cylinder driving assemblies are disposed on a first side of the lower platform, and the lateral displacement stabilizing support assembly is disposed on a second side of the lower platform.
8. The motion platform with left-right lateral movement according to claim 1 or 7, wherein the first electric cylinder driving assembly, the second electric cylinder driving assembly and the lateral displacement stabilizing support assembly are arranged on the lower platform in an isosceles triangle shape.
9. The three-degree-of-freedom motion platform with left-right lateral movement according to claim 8, wherein the lateral displacement stabilizing support assembly is located on a middle vertical line of a line segment formed by connecting the first electric cylinder driving assembly and the second electric cylinder driving assembly.
10. The three-degree-of-freedom motion platform with the left-right lateral movement function according to claim 1, wherein the first electric cylinder driving assembly and the second electric cylinder driving assembly are connected to form a straight line parallel to the motion direction of the driving electric cylinder in the lateral displacement stabilizing support assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011488857.4A CN112704887B (en) | 2020-12-16 | 2020-12-16 | Three-degree-of-freedom motion platform with left and right transverse moving function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011488857.4A CN112704887B (en) | 2020-12-16 | 2020-12-16 | Three-degree-of-freedom motion platform with left and right transverse moving function |
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| CN112704887A true CN112704887A (en) | 2021-04-27 |
| CN112704887B CN112704887B (en) | 2022-11-11 |
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| CN202011488857.4A Active CN112704887B (en) | 2020-12-16 | 2020-12-16 | Three-degree-of-freedom motion platform with left and right transverse moving function |
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| KR20120011914A (en) * | 2010-07-27 | 2012-02-09 | (주)트윈테크 | Simulator with 4 dof |
| CN202497713U (en) * | 2012-03-01 | 2012-10-24 | 北京太阳光影影视科技有限公司 | Compact air-compression type 4D dynamic seat platform |
| CN102940411A (en) * | 2012-11-19 | 2013-02-27 | 上海恒润数码影像科技有限公司 | Three-degree-of-freedom base and 4D seat applying same |
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| CN112704887B (en) | 2022-11-11 |
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