CN206058907U - One kind receives mini positioning platform - Google Patents
One kind receives mini positioning platform Download PDFInfo
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- CN206058907U CN206058907U CN201620933860.5U CN201620933860U CN206058907U CN 206058907 U CN206058907 U CN 206058907U CN 201620933860 U CN201620933860 U CN 201620933860U CN 206058907 U CN206058907 U CN 206058907U
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Abstract
The utility model discloses one kind receives mini positioning platform, including motion input device, compliant motion platform and the platform base for fixing flexible motion platform, motion input device is connected with the side of compliant motion platform by the first input lever, and the compliant motion platform side is connected with output stage by flexible hinge；The head end of the first input lever is connected with platform base, and its stage casing is provided with the first input table of the first motion input device of connection, and its end is provided with the second input table of the second motion input device of connection, and the opposite side of its end is connected with compliant motion platform.Different input tables are respectively provided with for input displacement in the diverse location of lever, different displacement equations multiples can be realized by different input table position input displacements and by the first transmitting movement for being input into lever, the precision of corresponding output displacement is also just different, can adapt under different application scene, for different delivery stroke multiples and the demand of different accuracy.
Description
Technical field
This utility model is related to mechanical displacement multiplying arrangement technical field, more particularly, it relates to one kind to receive micro- positioning flat
Platform.
Background technology
With science and technology growing, the continuous improvement of nanotechnology, in order to pursue the quality of life of quality, perhaps
It is multi-field that higher requirement is proposed to nano-micro level locating platform.Such as Ultra-precision Turning manufacturing industry, biological cell engineering, chip light
Quarter machine and lead sewing machine etc. have higher required precision to receiving microfluidic platform.
Receive in mini positioning platform field what is driven by precision driver, precision and stroke are its further development and application lances
The Main Bottleneck of shield.Realize at present the big stroke high position precision of motion platform method be using grand micro- two grade working table, it is grand dynamic
Platform realizes that big stroke, micropositioner realize final positioning precision.The main thought of this kind of locating platform design is by two types
Motor combine, DC motor control mechanism grand movement, precision driver ensure end effector it is high-precision
Degree.This design is widely used in the locating platform of flexible mechanism, but under some particular cases, it is impossible to meeting big stroke will
Ask.
Mini positioning platform of commonly receiving is subject to the restriction work of itself inherent structure can be single, and equipment in actual applications each
Index demand is typically various, which results in
Platform, causes the waste of equipment cost to a certain extent.
In sum, how to efficiently solve and existing receive micro- positioning output device and be difficult to meet different accuracy and output row
The problem of the positioning requirements of journey etc., is current those skilled in the art's urgent problem.
Utility model content
In view of this, the purpose of this utility model is to provide one kind to receive mini positioning platform, and this receives the knot of mini positioning platform
Structure design can be efficiently solved existing to be received micro- positioning output device and is difficult to meet being positioned to for different accuracy and delivery stroke
The technical problem asked etc..
In order to achieve the above object, this utility model provides following technical scheme：
One kind receives mini positioning platform, including motion input device, compliant motion platform and is used for fixing flexible motion platform
Platform base, the motion input device by first input lever be connected with the side of the compliant motion platform, it is described
The compliant motion platform side is connected with output stage by flexible hinge；The head end of the first input lever is connected with platform base
Connect, its stage casing is provided with the first input table of the first motion input device of connection, its end is provided with connection the second motion input
Second input table of device, the opposite side of its end are connected with the compliant motion platform.
Preferably, it is above-mentioned to receive in mini positioning platform, by the between first input table and the first input lever
One flexible hinge connects, and is connected by the second flexible hinge between the end of the first input lever and the compliant motion platform
Connect.
Preferably, above-mentioned to receive in mini positioning platform, the compliant motion platform includes the first lever of semi-surrounding structure, institute
State the top of the first lever to be connected with the described first input lever by second flexible hinge, the first lever top it is another
Side passes through symmetrically arranged 3rd flexible hinge and the 4th flexible hinge, with the first output for being arranged at the output stage side
The top side connection of bar.
Preferably, above-mentioned to receive in mini positioning platform, first lever is arranged away from the bottom of the described first input lever
Opening, is symmetrically arranged with the 5th flexible hinge and the 6th flexible hinge on the inside of the opening, the first lever bottom it is interior
Side is connected with the bottom side of first take-off lever by flexible hinge.
Preferably, above-mentioned to receive in mini positioning platform, the end of first take-off lever is provided with T-shaped connection end, by institute
State the both sides of T-shaped connection end respectively with the 3rd flexible hinge, the 4th flexible hinge and the 5th flexible hinge, the 6th flexible hinge
Chain connects, and the other end of first take-off lever is fixedly connected through the opening with the output stage.
Preferably, above-mentioned to receive in mini positioning platform, the compliant motion platform also includes installing solid with the platform base
Fixed fixed part, is connected with the fixed part by a pair of outside flexible hinge on the outside of the left and right two of first lever respectively.
Preferably, above-mentioned to receive in mini positioning platform, first flexible hinge, the second flexible hinge and the outside are flexible
Hinge is circular arc type flexible hinge；3rd flexible hinge, the 4th flexible hinge, the 5th flexible hinge and the 6th flexible hinge
Chain connection is straight beam type flexible hinge.
Preferably, above-mentioned to receive in mini positioning platform, the compliant motion platform is perpendicular to the described first input lever input
The side in direction is also associated with the second input lever, and the second input lever is identical with the described first input lever construction, its
End second lever flat with compliant motion is connected, and second lever is identical with first lever construction, and the output is flat
Platform is additionally provided with the second take-off lever perpendicular to the direction of first take-off lever, second take-off lever, second lever it
Between attachment structure it is identical with the attachment structure between first take-off lever and first lever.
Preferably, above-mentioned to receive in mini positioning platform, the compliant motion platform and described first is input into lever input direction
Threeth input lever is also associated with to another side just, the 3rd input lever is identical with the described first input lever construction,
Its end threeth lever flat with compliant motion is connected, and the 3rd lever is identical with first lever construction, the output
The direction of platform and first take-off lever just to opposite side be additionally provided with the 3rd take-off lever, it is the 3rd take-off lever, described
Attachment structure between 3rd lever is identical with the attachment structure between first take-off lever and first lever.
Preferably, above-mentioned to receive in mini positioning platform, the motion input device is specially piezoelectric ceramic actuator.
What this utility model was provided receives mini positioning platform, including motion input device, compliant motion platform and for fixing
The platform base of compliant motion platform, the motion input device is by the first input lever and the one of the compliant motion platform
Side connects, and described compliant motion platform side is connected with output stage by flexible hinge；The head end of the first input lever
It is connected with platform base, its stage casing is provided with the first input table of the first motion input device of connection, and its end is provided with connection
Second input table of the second motion input device, the opposite side of its end are connected with the compliant motion platform.It is this receive it is micro- fixed
Compliant motion platform displacement enlargement is adopted in bit platform, compliant motion platform includes the lever connected by flexible hinge, using soft
Property chain connection conduction displacement, flexible hinge and lever position itself and size accurately in the case of, it is ensured that displacement
It is more accurate to amplify；On this basis, the displacement of motion input device is exported to compliant motion by the first input lever
Platform, is respectively provided with different input tables for input displacement in the diverse location of lever, defeated by different input table positions
Enter displacement and the transmitting movement by the first input lever can realize different displacement equations multiples, corresponding output displacement
Precision is also just different.This design that different input displacement positions are arranged on the first input lever, can well adapt to reality
In the use of border under different application scene, for different delivery stroke multiples and the demand of different accuracy, same complete equipment is improve
Utilization rate, saved use cost, efficiently solve it is existing receive micro- positioning output device be difficult to meet different accuracy and
The technical problem of the positioning requirements of delivery stroke.
Description of the drawings
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, below will be to embodiment
Or accompanying drawing to be used is briefly described needed for description of the prior art, it should be apparent that, drawings in the following description are only
It is some embodiments of the present utility model, for those of ordinary skill in the art, in the premise for not paying creative work
Under, can be with according to these other accompanying drawings of accompanying drawings acquisition.
The structural representation for receiving mini positioning platform that Fig. 1 is provided for this utility model embodiment；
Fig. 2 for this utility model embodiment provide receive mini positioning platform the first lever positions structure for amplifying illustrate
Figure.
In accompanying drawing, labelling is as follows：
First input lever 1, the first input table 1-1, the second input table 1-2, the first flexible hinge 1-3, the second flexible hinge
Chain 1-4, the first lever 2, output stage 3, the first take-off lever 4, T-shaped connection end 4-1, the 3rd flexible hinge 4-2, the 4th flexible hinge
Chain 4-3, the 5th flexible hinge 4-4, the 6th flexible hinge 4-5, fixed part 5, outside flexible hinge 5-1, the second input lever 6.
Specific embodiment
This utility model embodiment discloses one kind and receives mini positioning platform, and to solve, existing to receive micro- positioning output device difficult
To meet the technical problem of the positioning requirements of different accuracy and delivery stroke etc..
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only this utility model a part of embodiment, rather than whole
Embodiment.Based on the embodiment in this utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment for being obtained, belongs to the scope of this utility model protection.
Refer to Fig. 1, Fig. 2, the structural representation for receiving mini positioning platform that Fig. 1 is provided for this utility model embodiment；Fig. 2
For this utility model embodiment provide receive mini positioning platform the first lever positions mplifying structure schematic diagram.
What this utility model embodiment was provided receives mini positioning platform, including motion input device, compliant motion platform and use
In the platform base of fixing flexible motion platform, the motion input device is by the first input lever 1 and the compliant motion
The side connection of platform, described compliant motion platform side is connected with output stage 3 by flexible hinge；The first input thick stick
The head end of bar 1 is connected with platform base, and its stage casing is provided with the first input table 1-1 of the first motion input device of connection, its end
End is provided with the second input table 1-2 of the second motion input device of connection, the opposite side of its end and the compliant motion platform
Connection.
Wherein it should be noted that compliant motion platform includes lever and the platform group connected by flexible hinge structure
Part, realizes accurate displacement equations, and the standing part of compliant motion platform is fixedly connected with platform base, movable part not with it is flat
Platform base connects, and the positive and negative both sides of the end of the first input lever are connected with the second input platform and compliant motion platform respectively；
In addition on the first input lever, set input table is not limited only to the first and second input tables, according to different strokes and essence
Spend and require also other input tables can be arranged in the other positions on the first input lever, need to adapt to more different using
Ask.
In addition, head end, end and stage casing are relative concepts, for illustrating the relative position of junction point on lever or platform
Put, have no specific size and position limitation, the size and flexible hinge of the displacement of needs output in concrete application, can be passed through
Design specifically adjusts the position of pin joint to adapt to concrete application environment.
This to receive using compliant motion platform displacement enlargement in mini positioning platform, compliant motion platform is included by flexible hinge
The lever of connection, using flexible hinge connection conduction displacement, in flexible hinge and lever position itself and size accurately situation
Under, it is ensured that the more accurate of displacement is amplified；On this basis, lever is input into by the position of motion input device by first
Move output and give compliant motion platform, different input tables are respectively provided with for input displacement, by not in the diverse location of lever
Same input table position input displacement simultaneously can realize different displacement equations multiples by the first transmitting movement for being input into lever,
The precision of corresponding output displacement is also just different.This design that different input displacement positions are set on the first input lever,
Can well adapt under actually used middle different application scene, for different delivery stroke multiples and the demand of different accuracy,
The utilization rate of same complete equipment is improve, use cost has been saved, efficiently solves that existing to receive micro- positioning output device difficult
To meet the technical problem of the positioning requirements of different accuracy and delivery stroke.
It is further to optimize above-mentioned technical proposal, preferred on the basis of above-described embodiment, above-mentioned mini positioning platform of receiving
In, connected by the first flexible hinge 1-3 between the first input table 1-1 and the first input lever 1, described first is defeated
Enter.
Flexible hinge is the more regular elastic bearing of a kind of simple structure, shape, with geometric center overlapping of axles
The centre of gyration, the finite deformation for relying on the elastic sheet of circumference radial equipartition are operated.Under torsional load, around its revolution
Center produces gyration in limited angular range.The flexible hinge adopted in the present embodiment itself can be with lever or platform
Other interior fixed components are integrally formed processing, can be prevented effectively from rigging error.
It is further to optimize above-mentioned technical proposal, preferred on the basis of above-described embodiment, above-mentioned mini positioning platform of receiving
In, the compliant motion platform includes the first lever 2 of semi-surrounding structure, and the top of first lever 2 passes through described second
Flexible hinge 1-4 is connected with the described first input lever 1, and the opposite side on 2 top of the first lever is soft by the symmetrically arranged 3rd
Property hinge 4-2 and the 4th flexible hinge 4-3, is connected with the top side of the first take-off lever 4 for being arranged at 3 side of the output stage.
First lever mated symmetrically arranged flexible hinge of the technical scheme that the present embodiment is provided by semi-surrounding structure
The amplification of displacement is realized, it is by the first input top output pressure and displacement of the lever to the first lever, another by the first lever
Two flexible hinges of side transmit displacement to the first take-off lever, export with first as the three, the 4th flexible hinges are symmetrical
Lever is connected, and is prevented from output displacement direction and shifts, and makes defeated to output stage transmission displacement by the first take-off lever
Go out platform to the axially displaced of take-off lever.
It is further to optimize above-mentioned technical proposal, preferred on the basis of above-described embodiment, above-mentioned mini positioning platform of receiving
In, first lever 2 arranges opening away from the bottom of the described first input lever 1, is symmetrically arranged with the inside of the opening
5th flexible hinge 4-4 and the 6th flexible hinge 4-5, the inner side of 2 bottom of the first lever is by flexible hinge and described the
The bottom side connection of one take-off lever 4.
The present embodiment provide technical scheme on the basis of above-mentioned technical proposal, further in the opening of the first lever
The inner side of side arranges the opposite side that symmetrical flexible hinge connects the first take-off lever, auxiliary by the 5th and the 6th flexible hinge
The three, the 4th flexible hinge transmitting movements are helped, the stability and precision of delivery stroke is improve.
It is further to optimize above-mentioned technical proposal, preferred on the basis of above-described embodiment, above-mentioned mini positioning platform of receiving
In, the end of first take-off lever 4 is provided with T-shaped connection end 4-1, by the both sides of the T-shaped connection end 4-1 respectively with institute
State the 3rd flexible hinge 4-2, the 4th flexible hinge 4-3 and the 5th flexible hinge 4-4, the 6th flexible hinge 4-5 connection, described the
The other end of one take-off lever 4 is fixedly connected through the opening with the output stage 3.
The technical scheme that the present embodiment is provided further optimizes the company of the 3rd to the 6th flexible hinge and the first take-off lever
Mode is connect, by the end construction of T-shaped, increased end can make flexible hinge promote first with the space of fixing flexible hinge
The position of take-off lever can more be evenly distributed in the both sides of the first output boom end, make the depth of parallelism of movement output more preferable.
It is further to optimize above-mentioned technical proposal, preferred on the basis of above-described embodiment, above-mentioned mini positioning platform of receiving
In, the compliant motion platform also includes installing fixed fixed part 5, the left and right of first lever 2 with the platform base
It is connected with the fixed part 5 by a pair of outside flexible hinge 5-1 on the outside of two respectively.
Extension of the fixed part for compliant motion platform in the technical scheme that the present embodiment is provided, compliant motion platform lead to
Cross fixed part to realize fixation is installed with platform base, fixed part not merely refers to some ad hoc structure but compliant motion platform
With the fixed part of platform base, by passing through a pair of outside flexible hinge and solid on the outside of the left and right two of the first lever respectively
Determine portion's connection and effectively ensure that the fixed pivot of lever motion is stable；In addition this left and right sides is symmetrical arranged flexible hinge and will pass
Design that the lever and standing part for passing motion is connected is more enough to be guaranteed in output campaign, can on the direction of stroke
It is effectively decoupled, prevents from affecting the precision of displacement output.
It is further to optimize above-mentioned technical proposal, preferred on the basis of above-described embodiment, above-mentioned mini positioning platform of receiving
In, the first flexible hinge 1-3, the second flexible hinge 1-4 and the outside flexible hinge 5-1 are circular arc type flexible hinge
Chain；The 3rd flexible hinge 4-2, the 4th flexible hinge 4-3, the 5th flexible hinge 4-4 and the 6th flexible hinge 4-5 connection is equal
For straight beam type flexible hinge.
Wherein, circular arc hinge is hinged two ends in excessive position using the design of circular arc, hinge itself
The structure of two opposing arcs is presented, which has in flexible hinge, and motion transmitting accuracy is high, and the less feature of slewing area is fitted
Close the application site of first, second flexible hinge in the technical program；Beam type hinge is hinged two ends in excessive position
Using the design of square, as design needs, the 3rd to the 6th flexible hinge is required to realize larger displacement transmission,
Due to the not exigent kinematic accuracy of the position-limiting action of other flexible hinges, so adopting straight beam type flexible hinge.
It is further to optimize above-mentioned technical proposal, preferred on the basis of above-described embodiment, above-mentioned mini positioning platform of receiving
In, the compliant motion platform is also associated with the second input lever perpendicular to the side of the described first input 1 input direction of lever
6, the second input lever 6 is identical with the described first input 1 structure of lever, and its end second lever flat with compliant motion connects
Connect, second lever is identical with 2 structure of the first lever, and the output stage 3 is perpendicular to the side of first take-off lever 4
To the second take-off lever is additionally provided with, the attachment structure between second take-off lever, second lever is with the described first output
Attachment structure between bar 4 and first lever 2 is identical.
The technical scheme that further the present embodiment is provided equally is arranged and previous embodiment in the opposite side of output stage
The basically identical displacement transferring structure of middle structure, order are received mini positioning platform and not only can realize the accurate output row on single direction
Journey, additionally it is possible to carry out the amplification output of displacement in the direction of vertical previous embodiment outbound course, realize in whole plane
In the range of realize the accurate amplification output of displacement.
It is further to optimize above-mentioned technical proposal, preferred on the basis of above-described embodiment, above-mentioned mini positioning platform of receiving
In, the compliant motion platform is just also associated with the 3rd input thick stick with the described first input 1 input direction of lever to another side
Bar, the 3rd input lever are identical with the described first input 1 structure of lever, and its end threeth lever flat with compliant motion connects
Connect, the 3rd lever is identical with 2 structure of the first lever, the direction of the output stage 3 and first take-off lever 4 is just
To opposite side be additionally provided with the 3rd take-off lever, the attachment structure between the 3rd take-off lever, the 3rd lever is with described
Attachment structure between first take-off lever 4 and first lever 2 is identical.
The effect of the technical scheme that the present embodiment is proposed is similar to the effect of above-described embodiment, makes the output of displacement not only
The single direction being confined in a dimension, and positive and negative two-way displacement equations output is can be achieved on, further optimize and set
Standby practicality.
It is further to optimize above-mentioned technical proposal, preferred on the basis of above-described embodiment, above-mentioned mini positioning platform of receiving
In, the motion input device is specially piezoelectric ceramic actuator.
Piezoelectric ceramic actuator is a kind of inverse piezoelectric principle of utilization piezoelectric ceramics, is realized by control electric current input accurate
The device of displacement output, can provide accurately motion input using piezoelectric ceramic actuator, flat through compliant motion so as to make
Platform sends out the displacement of big output can be more precisely controllable.
In this specification, each embodiment is described by the way of progressive, and what each embodiment was stressed is and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or use that this practicality is new
Type.Various modifications to these embodiments will be apparent for those skilled in the art, determined herein
The General Principle of justice can be realized in the case of without departing from spirit or scope of the present utility model in other embodiments.Cause
This, this utility model is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein
The most wide scope consistent with features of novelty.
Claims (10)
1. one kind receives mini positioning platform, including motion input device, compliant motion platform and for fixing flexible motion platform
Platform base, it is characterised in that the motion input device is by the first side for being input into lever and the compliant motion platform
Connection, described compliant motion platform side is connected with output stage by flexible hinge；It is described first input lever head end with
Platform base connects, and its stage casing is provided with the first input table of the first motion input device of connection, and its end is provided with connection the
Second input table of two motion input devices, the opposite side of its end are connected with the compliant motion platform.
2. mini positioning platform of receiving according to claim 1, it is characterised in that first input table and the described first input
Connected by the first flexible hinge between lever, passed through between the end of the first input lever and the compliant motion platform
Second flexible hinge connects.
3. mini positioning platform of receiving according to claim 2, it is characterised in that the compliant motion platform includes that semi-surrounding is tied
First lever of structure, the top of first lever are connected with the described first input lever by second flexible hinge, the
The opposite side on one lever top passes through symmetrically arranged 3rd flexible hinge and the 4th flexible hinge, and the output is flat with being arranged at
The top side connection of the first take-off lever of platform side.
4. mini positioning platform of receiving according to claim 3, it is characterised in that first lever is away from the described first input
The bottom of lever arranges opening, is symmetrically arranged with the 5th flexible hinge and the 6th flexible hinge on the inside of the opening, and described the
The inner side of one lever bottom is connected with the bottom side of first take-off lever by flexible hinge.
5. mini positioning platform of receiving according to claim 4, it is characterised in that the end of first take-off lever is provided with T
Shape connection end, it is flexible with the 3rd flexible hinge, the 4th flexible hinge and the 5th respectively by the both sides of the T-shaped connection end
Hinge, the connection of the 6th flexible hinge, the other end of first take-off lever are fixed with the output stage through the opening and are connected
Connect.
6. mini positioning platform of receiving according to claim 5, it is characterised in that the compliant motion platform also include with it is described
Platform base installs fixed fixed part, passes through a pair of outside flexible hinge and institute on the outside of the left and right two of first lever respectively
State fixed part connection.
7. mini positioning platform of receiving according to claim 6, it is characterised in that first flexible hinge, the second flexible hinge
Chain and the outside flexible hinge are circular arc type flexible hinge；It is 3rd flexible hinge, the 4th flexible hinge, the 5th flexible
Hinge and the connection of the 6th flexible hinge are straight beam type flexible hinge.
8. according to any one of claim 3 to 7 mini positioning platform received, it is characterised in that the compliant motion platform hangs down
The straight side in the described first input lever input direction is also associated with the second input lever, the second input lever with it is described
First input lever construction is identical, and its end second lever flat with compliant motion is connected, second lever and described first
Lever construction is identical, and the output stage is additionally provided with the second take-off lever perpendicular to the direction of first take-off lever, and described
Attachment structure between two take-off levers, second lever is tied with the connection between first take-off lever and first lever
Structure is identical.
9. mini positioning platform of receiving according to claim 8, it is characterised in that the compliant motion platform is defeated with described first
Enter lever input direction and the 3rd input lever, the 3rd input lever and the described first input are just also associated with to another side
Lever construction is identical, and its end threeth lever flat with compliant motion is connected, the 3rd lever and first lever construction
It is identical, the direction of the output stage and first take-off lever just to opposite side be additionally provided with the 3rd take-off lever, described
Attachment structure between three take-off levers, the 3rd lever is tied with the connection between first take-off lever and first lever
Structure is identical.
10. mini positioning platform of receiving according to claim 8, it is characterised in that the motion input device is specially piezoelectricity
Ceramic driver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620933860.5U CN206058907U (en) | 2016-08-24 | 2016-08-24 | One kind receives mini positioning platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620933860.5U CN206058907U (en) | 2016-08-24 | 2016-08-24 | One kind receives mini positioning platform |
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| Publication Number | Publication Date |
|---|---|
| CN206058907U true CN206058907U (en) | 2017-03-29 |
Family
ID=58384253
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620933860.5U Expired - Fee Related CN206058907U (en) | 2016-08-24 | 2016-08-24 | One kind receives mini positioning platform |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106251910A (en) * | 2016-08-24 | 2016-12-21 | 广东工业大学 | One receives mini positioning platform |
-
2016
- 2016-08-24 CN CN201620933860.5U patent/CN206058907U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106251910A (en) * | 2016-08-24 | 2016-12-21 | 广东工业大学 | One receives mini positioning platform |
| CN106251910B (en) * | 2016-08-24 | 2019-11-08 | 广东工业大学 | One kind receives mini positioning platform |
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