CN206470037U - Four-degree-of-freedom motion - Google Patents
Four-degree-of-freedom motion Download PDFInfo
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- CN206470037U CN206470037U CN201720078591.3U CN201720078591U CN206470037U CN 206470037 U CN206470037 U CN 206470037U CN 201720078591 U CN201720078591 U CN 201720078591U CN 206470037 U CN206470037 U CN 206470037U
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- motion
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Abstract
The utility model discloses a kind of four-degree-of-freedom motion, including：Longitudinal two-freedom planar motion mechanism, vertical two-freedom planar motion mechanism and system control box, vertical two-freedom planar motion mechanism is arranged on the movement output ends of longitudinal two-freedom planar motion mechanism, and acted by longitudinal two-freedom planar motion mechanism drive, the system control box is arranged on longitudinal two-freedom planar motion mechanism and controls longitudinal two-freedom planar motion mechanism and the action of vertical two-freedom planar motion mechanism.The utility model is high with kinematic accuracy by setting longitudinal two-freedom planar motion mechanism and vertical two-freedom planar motion mechanism, and operational shock is small, can simulate the advantage of high-frequency motion；Being capable of dummy level translation, any one or the two or more coupled motions that rotate around vertical axis rotation, vertical translation, around trunnion axis in these four motion modes, it is adaptable to the adhering performance experimental study of marine structure.
Description
Technical field
The utility model is related to ocean engineering experiment technical field, more particularly to a kind of four-degree-of-freedom motion.
Background technology
Planar motion mechanism is applied than wide in Ship Maneuverability experimental study, in the prior art disclosed level
Facial plane motion, can drive ship to do swaying, the first motion for shaking two frees degree；Disclosed vertical plane in the prior art
Planar motion mechanism, can drive ship to do heaving, the motion of pitching (or rolling) two frees degree.
For Ship Controling Journal of Sex Research planar motion mechanism can only simulation water plane or vertical plane two frees degree
Motion.In addition, current planar motion mechanism is using the transmission such as ball-screw, worm and gear, electric cylinder, cross sliding sash, rotating disk
Mode, is adapted to output low frequency, the motion of large amplitude, and it is relatively low to vibrate larger, precision in high frequency motion, unsuitable ocean structure
How the scrutiny of thing viscous hydrodynamic forces performance, therefore, overcome above mentioned problem to export high-precision motion there is provided one kind
And motion simple in construction, it is those skilled in the art's technical problem urgently to be resolved hurrily.
Utility model content
The utility model offer is a kind of can to export high-precision motion and four-degree-of-freedom motion simple in construction.
In order to solve the above technical problems, the utility model provides a kind of four-degree-of-freedom motion, including：Longitudinal direction two is freely
Planar motion mechanism, vertical two-freedom planar motion mechanism and system control box are spent, wherein, the vertical two-freedom plane
Motion is arranged on the movement output ends of longitudinal two-freedom planar motion mechanism, and is put down by longitudinal two-freedom
Face motion drive action, the system control box is arranged on longitudinal two-freedom planar motion mechanism and controls institute
State longitudinal two-freedom planar motion mechanism and the action of vertical two-freedom planar motion mechanism.
Preferably, longitudinal two-freedom planar motion mechanism includes：Mounting seat, it is set in parallel in the installation
The longitudinal rail of base both sides, the sliding block matched with the longitudinal rail, the collar component on the sliding block and
Zigzag tread patterns component, wherein, the zigzag tread patterns component passes through longitudinal hinge connection with the collar component.
Preferably, the zigzag tread patterns component includes：The horizontal movement for being symmetricly set on the mounting seat both sides is watched
Motor, horizontal synchronization band linear actuator and longitudinal pull bar are taken, wherein, the horizontal movement servomotor passes through the level
Timing belt linear actuator drives longitudinal pull bar along lengthwise movement, longitudinal pull bar by longitudinal hinge with
The collar component connection, and the collar component and vertical two-freedom planar motion mechanism are affixed.
Preferably, the collar component includes：It is fixed on collar base on the sliding block, installed in the collar bottom
Collar on seat and the collar pressing plate being connected with the collar, the collar pressing plate and longitudinal hinge and vertical two from
Connected respectively by degree planar motion mechanism.
Preferably, the collar pressing plate includes collar inner ring pressing plate and collar outer ring pressing plate, wherein, outside the collar
Circle is affixed by collar outer ring pressing plate and the collar base, and the inner ring of the collar is wrapped up by the collar inner ring pressing plate, institute
The center for stating collar inner ring pressing plate offers the through hole passed through for the vertical two-freedom planar motion mechanism, and the collar
Inner ring pressing plate is affixed by vertical mounting bracket and the vertical two-freedom planar motion mechanism.
Preferably, longitudinal hinge includes：Longitudinal hinge seat, longitudinal hinge slider, longitudinal hinge axis and longitudinal direction hinge
Carrier bar；Wherein, longitudinal hinge seat and the collar component be affixed and longitudinal hinge seat on offer chute, the cunning
Block is arranged in the chute and is hinged by longitudinal hinge axis with longitudinal flap, longitudinal flap and institute
State the connection of zigzag tread patterns component.
Preferably, the vertical two-freedom planar motion mechanism includes：With longitudinal two-freedom plane motion
The mounting column of mechanism connection, be located at the mounting column two with respect to the vertical drive component on lateral surface and with it is described vertical
The connecting plate of drive component connection.
Preferably, the vertical drive component includes：The catenary motion being arranged on the mounting column lateral surface is watched
Take motor, the vertical timing belt linear actuator being connected with the catenary motion servomotor and straight with the vertical timing belt
The vertical pull bar of line drive connection, the vertical pull bar is hinged by vertical hinge with the connecting plate.
Preferably, the vertical hinge includes：Vertical hinge seat, vertical hinge slider and vertical hinge axis, wherein, institute
Vertical hinge seat is stated to be fixed on the connecting plate and offer an elongated slot, the vertical hinge slider on the vertical hinge seat
It is slidably connected by the elongated slot with the vertical hinge seat, the vertical pull bar is hung down by the vertical hinge axis with described
It is hinged to hinge slider.
Preferably, the setting direction of the catenary motion servomotor and the surge direction one of four-degree-of-freedom motion
Cause, and the catenary motion servomotor is also consolidated by motor reinforced liner and longitudinal two-freedom planar motion mechanism
Connect.
Compared with prior art, the utility model is by setting longitudinal two-freedom planar motion mechanism and vertical two freely
Planar motion mechanism is spent, high with kinematic accuracy, operational shock is small, can simulate the advantage of high-frequency motion；Being capable of dummy level
Translation, around vertical axis rotation, vertical translation, around trunnion axis rotate in these four motion modes any one or it is two or more
Coupled motions, it is adaptable to the adhering performance experimental study of marine structure.
Brief description of the drawings
Fig. 1 is the structural representation of four-degree-of-freedom motion of the present utility model；
Fig. 2 is the left view of four-degree-of-freedom motion of the present utility model；
Fig. 3 is the top view of four-degree-of-freedom motion of the present utility model；
Fig. 4 is Fig. 1 A-A faces sectional view；
Fig. 5 is Fig. 1 B-B faces sectional view.
Shown in figure：
1- longitudinal directions two-freedom planar motion mechanism；
11- mounting seats, 12- longitudinal rails, 13- sliding blocks；
14- collars component, 141- collars base, 142- collars, 143- collars outer ring pressing plate, press on 144- collar inner rings
Plate, 145- collar inner ring lower platens；
15- zigzag tread patterns component, 151- horizontal movements servomotor, 152- horizontal synchronizations band linear actuator, 153- are indulged
To pull bar；
16- longitudinal directions hinge, the longitudinal hinge seats of 161-, the longitudinal hinge sliders of 162-, the longitudinal hinge axis of 163-, 164- are longitudinally cut with scissors
Carrier bar；
The vertical mounting brackets of 17-；
The vertical two-freedom planar motion mechanisms of 2-, 21- mounting columns；
The vertical drive components of 22-, 221- catenary motions servomotor, the vertical timing belt linear actuators of 222-, 223- hang down
To pull bar；
23- connecting plates；
The vertical hinges of 24-, the vertical hinge seats of 241-, the vertical hinge sliders of 242-, the vertical hinge axis of 243-；
25- motor reinforced liners；
3- system control boxes.
Embodiment
To enable above-mentioned purpose of the present utility model, feature and advantage more obvious understandable, below in conjunction with the accompanying drawings to this
The embodiment of utility model is described in detail.It should be noted that, the utility model accompanying drawing is using simplified form
And non-accurately ratio is used, only to convenient, lucidly aid illustration the utility model embodiment purpose.
As shown in Figures 1 to 5, the utility model provides a kind of four-degree-of-freedom motion, including：Longitudinal two-freedom is put down
Face motion 1, vertical two-freedom planar motion mechanism 2 and system control box 3, wherein, the vertical two-freedom plane
Motion 2 is arranged on the movement output ends of longitudinal two-freedom planar motion mechanism 1, and by longitudinal two-freedom
The drive of planar motion mechanism 1 is acted, and the system control box 3 is arranged on longitudinal two-freedom planar motion mechanism 1 simultaneously
Longitudinal two-freedom planar motion mechanism 1 and vertical two-freedom planar motion mechanism 2 is controlled to act.Specifically, it is described
Longitudinal two-freedom planar motion mechanism 1 can realize the coupling fortune for moving horizontally (surging) and (head shakes) being rotated around vertical axis
It is dynamic；The vertical two-freedom planar motion mechanism 2 can realize vertical movement (heaving) and be rotated (pitching) around trunnion axis
Coupled motions, by using the system control box 3, the utility model can translate with dummy level, rotated around vertical axis, vertical
Translation, any one or the two or more coupled motions rotated around trunnion axis in these four motion modes, it is adaptable to tie ocean
The adhering performance experimental study of structure thing.Compared with prior art, the kinematic accuracy of four-degree-of-freedom motion of the present utility model
It is higher, very little is vibrated during operation, can be with the higher motion of analog frequency.
Please emphasis reference picture 2 to Fig. 4, longitudinal two-freedom planar motion mechanism 1 includes：It is mounting seat 11, parallel
Be arranged on the both sides of mounting seat 11 longitudinal rail 12, with the gap of longitudinal rail 12 coordinate sliding block 13, be arranged on
Collar component 14 and zigzag tread patterns component 15 on the sliding block 13, wherein, the zigzag tread patterns component 15 and the collar
Component 14 is connected by longitudinal hinge 16, and the collar component 14 and vertical two-freedom planar motion mechanism 2 are affixed.
Preferably, the zigzag tread patterns component 15 includes：It is symmetricly set on the level fortune of the both sides of mounting seat 11
Dynamic servomotor 151, horizontal synchronization band linear actuator 152 and longitudinal pull bar 153, wherein, the horizontal movement servo electricity
Machine 151 drives longitudinal pull bar 153 along lengthwise movement by horizontal synchronization band linear actuator 152, the longitudinal direction
Pull bar 153 is connected by longitudinal hinge 16 with the collar component 14.The utility model is watched by using horizontal movement
Take motor 151 and horizontal synchronization band linear actuator 152, displacement accuracy reach 0.1mm, running frequency reach 2Hz, with vibrate it is small,
The high advantage of repetitive positioning accuracy.
Preferably, the collar component 14 includes：It is fixed on collar base 141 on the sliding block 13, installed in institute
The collar 142 on collar base 141 and the collar pressing plate being connected with the collar 142 are stated, the collar pressing plate is indulged with described
Connected respectively to hinge 16 and vertical two-freedom planar motion mechanism 2.
Please emphasis reference picture 4, the collar pressing plate include by collar inner ring top board 144 and collar inner ring lower platen 145
The collar inner ring pressing plate formed, and collar outer ring pressing plate 143 are assembled, specifically, the collar 142 is decussation roller collar,
Its outer ring is affixed by collar outer ring pressing plate 143 and the collar base 141, and the inner ring of the collar 142 is by the axle
Ring inner ring top board 144 and collar inner ring lower platen 145 are wrapped up.Further, the center of the collar inner ring pressing plate is offered
The square through hole passed through for the vertical two-freedom planar motion mechanism 2, and the collar inner ring pressing plate passes through vertical installation
The mounting column 21 of support 17 and the vertical two-freedom planar motion mechanism 2 is affixed.
Preferably, longitudinal hinge 16 includes：Longitudinal hinge seat 161, longitudinal hinge slider 162, longitudinal hinge axis
163 and longitudinal flap 164；Wherein, longitudinal hinge seat 161 is arranged on the collar inner ring pressing plate, the longitudinal direction hinge
Chute is offered on chain seat 161, longitudinal hinge slider 162 is arranged in the chute and by longitudinal hinge axis
163 are hinged with longitudinal flap 164, and longitudinal flap 164 is connected with the zigzag tread patterns component 15.
Please emphasis reference picture 3 to Fig. 5, the vertical two-freedom planar motion mechanism 2 includes：With the collar inner ring pressure
Plate passes through the connected mounting column 21 of vertical mounting bracket 17, the vertical drive being located on the relative lateral surface of 21 liang of the mounting column
Dynamic component 22 and the connecting plate 23 being connected with the vertical drive component 22.
Specifically, the mounting column 21 is square tube shape, and arrangement vertically；The vertical drive component 22 includes：Set
Catenary motion servomotor 221 on the lateral surface of mounting column 21, it is connected with the catenary motion servomotor 221
Vertical timing belt linear actuator 222 and the vertical pull bar 223 being connected with the vertical timing belt linear actuator 222,
The vertical pull bar 223 is hinged by vertical hinge 24 with the connecting plate 23.Similarly, using catenary motion servomotor
221 and vertical timing belt linear actuator 222, it is same to have the advantages that the small, repetitive positioning accuracy of vibration is high.
The vertical hinge 24 can prevent the vertical pull bar 223 of the both sides of mounting column 21 from producing horizontal separation.
Further, emphasis reference picture 5 is asked, the vertical hinge 24 includes：Vertical hinge seat 241, vertical hinge slider 242 and vertical
Hinge axis 243, wherein, the vertical hinge seat 241 is fixed on the connecting plate 23 and opened up on the vertical hinge seat 241
There is an elongated slot, the vertical hinge slider 242 is slidably connected by the elongated slot with the vertical hinge seat 241, described vertical
Pull bar 223 is hinged by the vertical hinge axis 243 with the vertical hinge slider 242.
The setting direction of the catenary motion servomotor 221 is consistent with the surge direction of four-degree-of-freedom motion, and
The catenary motion servomotor 221 also passes through motor reinforced liner 25 and longitudinal two-freedom planar motion mechanism 1
Collar inner ring pressing plate is affixed.
With continued reference to Fig. 1 to Fig. 5, the course of work of the present utility model is：
The horizontal synchronization band linear actuator 152 of longitudinal two-freedom planar motion mechanism 1 is in horizontal movement servomotor
Lengthwise movement is carried out under 151 drive, longitudinal pull bar 153 and longitudinal lengthwise movement of flap 164 is driven, and then drive described
Collar 142 is moved.When two horizontal synchronization band 152 Complete Synchronizations of linear actuator, the inner ring of the collar 142 does not have with outer ring
There is relative rotation, it is overall to be moved horizontally (surging) along longitudinal rail 12；When two horizontal synchronization band linear actuators 152
When completely asynchronous, slip is not produced between longitudinal rail 12 and sliding block 13, the only inner ring of collar 142 is carried out around vertical relative to outer ring
The rotation of d-axis (head shakes)；It can realize to move horizontally by two motions of the horizontal synchronization with linear actuator 152 of control and (indulge
Swing) and around the coupled motions of vertical axis rotation (head shakes).When the inner ring of the collar 142 relatively rotates with outer ring, two
Individual longitudinal hinge seat 161 diminishes in the distance for being transversely to the machine direction the direction of motion of pull bar 153.Preferably, longitudinal hinge seat
Track length in 161 is adapted with the distance change, and longitudinal hinge axis 163 can be by longitudinal hinge slider 162 in the cunning
Slided in groove, longitudinal hinge 16 can be avoided stuck.
It is similar with the method for operation of longitudinal two-freedom planar motion mechanism 1, the vertical two-freedom plane fortune
The vertical timing belt linear actuator 222 of motivation structure 2 carries out catenary motion, band under the drive of catenary motion servomotor 221
Dynamic vertical pull bar 223 carries out catenary motion, and then drives connecting plate 23 to move.When two vertical timing belt linear actuator
During 222 Complete Synchronization, connecting plate 23 carries out vertical movement (heaving)；When two vertical timing belt linear actuator 222 is completely different
During step, connecting plate 23 carries out the rotation (pitching) around trunnion axis；By controlling two fortune of the vertical synchronization with linear actuator 222
The dynamic coupled motions that can be realized vertical movement (heaving) and (pitching) is rotated around trunnion axis.When connecting plate 23 is rotated around trunnion axis
When, two vertical hinge seat 241 diminishes in the distance perpendicular to the vertical direction of motion of pull bar 223.Similarly, vertical hinge seat
The size of elongated slot in 241 is adapted with the distance change, and vertical hinge axis 243 is by vertical hinge slider 242 in elongated slot
Slide, vertical hinge 24 can be avoided stuck.
During this, described 3 pairs of levels of system control box are entered to motion servo motor and catenary motion servomotor
Row is controlled respectively.Longitudinal two-freedom planar motion mechanism 1 is using bi-motor, dual drive, it is possible to achieve surging and head shake；It is vertical
Two-freedom planar motion mechanism 2 realizes heaving and pitching using bi-motor, dual drive.Vertical two-freedom planar motion mechanism
2 are arranged on the movement output ends of longitudinal two-freedom planar motion mechanism 1, under being uniformly controlled of system control box 3, can be achieved
Surging, heaving, pitching and any one first shaken in these four motion modes or two or more coupled motions.Vertical two freely
The connecting plate 23 for spending planar motion mechanism 2 is final movement output structure, and the marine structure of required test need to be connected with this
Plate 23 is connected.
To sum up, the utility model by vertical two-freedom planar motion mechanism 2 by being arranged on longitudinal two-freedom plane
The movement output ends of motion 1, are finally driven the ocean structure mould of required test by vertical two-freedom planar motion mechanism 2
Type is moved, and realizes the function of four-degree-of-freedom motion.That is, longitudinal two-freedom planar motion mechanism 1 can drive
Vertical two-freedom planar motion mechanism 2 carries out horizontal translation, rotates both motions around vertical axis, along with vertical two freely
Degree planar motion mechanism 2 itself can carry out vertical translation, be rotated around trunnion axis, finally realize that motoring ring test model is carried out jointly
The function of four-degree-of-freedom motion.Mechanism of the present utility model is simple, maintenance, easy maintenance.
Obviously, those skilled in the art can be new without departing from this practicality to the various changes of utility model progress and modification
The spirit and scope of type.So, if these modifications and variations of the present utility model belong to the utility model claim and its
Within the scope of equivalent technologies, then the utility model is also intended to including these changes and modification.
Claims (10)
1. a kind of four-degree-of-freedom motion, it is characterised in that including：Longitudinal two-freedom planar motion mechanism, vertical two are certainly
By degree planar motion mechanism and system control box, wherein, the vertical two-freedom planar motion mechanism is arranged on the longitudinal direction
The movement output ends of two-freedom planar motion mechanism, and acted by longitudinal two-freedom planar motion mechanism drive, institute
System control box is stated to be arranged on longitudinal two-freedom planar motion mechanism and control longitudinal two-freedom plane fortune
Motivation structure and the action of vertical two-freedom planar motion mechanism.
2. four-degree-of-freedom motion as claimed in claim 1, it is characterised in that longitudinal two-freedom plane motion machine
Structure includes：Mounting seat, the longitudinal rail for being set in parallel in the mounting seat both sides, the cunning matched with the longitudinal rail
Block, collar component and zigzag tread patterns component on the sliding block, wherein, the zigzag tread patterns component and the collar
Component is by longitudinal hinge connection, and the collar component and vertical two-freedom planar motion mechanism are affixed.
3. four-degree-of-freedom motion as claimed in claim 2, it is characterised in that the zigzag tread patterns component includes：Symmetrically
The horizontal movement servomotor, horizontal synchronization band linear actuator and longitudinal pull bar of the mounting seat both sides are arranged on, its
In, the horizontal movement servomotor drives longitudinal pull bar to be transported along longitudinal direction by horizontal synchronization band linear actuator
Dynamic, longitudinal pull bar is connected by longitudinal hinge with the collar component.
4. four-degree-of-freedom motion as claimed in claim 2, it is characterised in that the collar component includes：It is fixed on institute
State the collar base on sliding block, the collar on the collar base and the collar pressing plate being connected with the collar, institute
Collar pressing plate is stated to be connected respectively with longitudinal hinge and vertical two-freedom planar motion mechanism.
5. four-degree-of-freedom motion as claimed in claim 4, it is characterised in that the collar pressing plate includes collar inner ring pressure
Plate and collar outer ring pressing plate, wherein, the outer ring of the collar is affixed by collar outer ring pressing plate and the collar base, the axle
The inner ring of ring is wrapped up by the collar inner ring pressing plate, and the center of the collar inner ring pressing plate is offered for the vertical two-freedom
The through hole that planar motion mechanism is passed through, and the collar inner ring pressing plate is flat by vertical mounting bracket and the vertical two-freedom
Face motion is affixed.
6. the four-degree-of-freedom motion as described in Claims 2 or 3 or 4 or 5, it is characterised in that longitudinal hinge includes：
Longitudinal hinge seat, longitudinal hinge slider, longitudinal hinge axis and longitudinal flap；Wherein, longitudinal hinge seat and the collar
Component is affixed and longitudinal hinge seat on offer chute, longitudinal hinge slider is arranged in the chute and by institute
State longitudinal hinge axis to be hinged with longitudinal flap, longitudinal flap is connected with the zigzag tread patterns component.
7. four-degree-of-freedom motion as claimed in claim 1, it is characterised in that the vertical two-freedom plane motion machine
Structure includes：The mounting column that is connected with longitudinal two-freedom planar motion mechanism, to be located at the mounting column two-phase external
Vertical drive component on side and the connecting plate being connected with the vertical drive component.
8. four-degree-of-freedom motion as claimed in claim 7, it is characterised in that the vertical drive component includes：Set
Catenary motion servomotor on the mounting column lateral surface, with the catenary motion servomotor connect it is vertical synchronous
The vertical pull bar being connected with linear actuator and with the vertical timing belt linear actuator, the vertical pull bar passes through
Vertical hinge is hinged with the connecting plate.
9. four-degree-of-freedom motion as claimed in claim 8, it is characterised in that the vertical hinge includes：Vertical hinge
Seat, vertical hinge slider and vertical hinge axis, wherein, the vertical hinge seat is fixed on the connecting plate and the vertical hinge
An elongated slot is offered on chain seat, the vertical hinge slider is slidably connected by the elongated slot with the vertical hinge seat, described
Vertical pull bar is hinged by the vertical hinge axis with the vertical hinge slider.
10. four-degree-of-freedom motion as claimed in claim 8, it is characterised in that the catenary motion servomotor is set
Put direction consistent with the surge direction of four-degree-of-freedom motion, and the catenary motion servomotor also reinforces branch by motor
Frame and longitudinal two-freedom planar motion mechanism are affixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720078591.3U CN206470037U (en) | 2017-01-19 | 2017-01-19 | Four-degree-of-freedom motion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720078591.3U CN206470037U (en) | 2017-01-19 | 2017-01-19 | Four-degree-of-freedom motion |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206470037U true CN206470037U (en) | 2017-09-05 |
Family
ID=59703404
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720078591.3U Withdrawn - After Issue CN206470037U (en) | 2017-01-19 | 2017-01-19 | Four-degree-of-freedom motion |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206470037U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106706265A (en) * | 2017-01-19 | 2017-05-24 | 上海交通大学 | Four-freedom-degree motion mechanism |
-
2017
- 2017-01-19 CN CN201720078591.3U patent/CN206470037U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106706265A (en) * | 2017-01-19 | 2017-05-24 | 上海交通大学 | Four-freedom-degree motion mechanism |
| CN106706265B (en) * | 2017-01-19 | 2023-06-30 | 上海交通大学 | Four-degree-of-freedom movement mechanism |
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Granted publication date: 20170905 Effective date of abandoning: 20230630 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20170905 Effective date of abandoning: 20230630 |