CN210721937U - Six-degree-of-freedom simulation platform and system - Google Patents
Six-degree-of-freedom simulation platform and system Download PDFInfo
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- CN210721937U CN210721937U CN201920961798.4U CN201920961798U CN210721937U CN 210721937 U CN210721937 U CN 210721937U CN 201920961798 U CN201920961798 U CN 201920961798U CN 210721937 U CN210721937 U CN 210721937U
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Abstract
The embodiment of the utility model provides a six degree of freedom simulation platform and system. The six-degree-of-freedom simulation platform comprises a storage platform, six steering engines and six moving rods. Each motion rod comprises two connecting rods and two hook joints, each first hook joint comprises two first U-shaped structures which are arranged in parallel, closed ends of the two first U-shaped structures are connected through a first connecting piece, open ends of the two first U-shaped structures are correspondingly connected through a second connecting piece, and a third connecting piece is connected between the two second connecting columns; the second hook joint comprises two second U-shaped structures which are arranged in parallel, the closed ends of the two second U-shaped structures are connected through a fourth connecting piece, the open ends of the two second U-shaped structures are correspondingly connected through a fifth connecting piece respectively, and through holes are formed in the opposite positions of the two fifth connecting columns. The embodiment of the utility model provides an in tiger's hinge have simple structure, advantage such as with low costs.
Description
Technical Field
The utility model relates to a six degrees of freedom simulation platform structure field especially relates to a six degrees of freedom simulation platform and system.
Background
The motion of the object in space has six degrees of freedom, namely, the degree of freedom of movement along three coordinate axis directions in a rectangular coordinate system and the degree of freedom of rotation around the three coordinate axes. Therefore, to fully determine the position of the object, the six degrees of freedom must be determined.
The six-degree-of-freedom simulation platform can simulate various motion postures of an object in space, and can be widely applied to various training simulators such as flight simulators, naval vessel simulators, naval helicopter take-off and landing simulation platforms, tank simulators, automobile driving simulators, train driving simulators, earthquake simulators, dynamic movies, entertainment equipment and other fields. Therefore, how to manufacture a six-degree-of-freedom simulation platform with simple structure and low cost is an urgent problem to be solved.
SUMMERY OF THE UTILITY MODEL
The utility model provides a six degree of freedom simulation platform and system, simple structure cost is lower.
The embodiment of the utility model provides a first aspect provides a six degrees of freedom simulation platform, include: the device comprises a storage platform, six steering engines and six moving rods; each motion rod comprises a first connecting rod, a second connecting rod, a first hook joint and a second hook joint; wherein the content of the first and second substances,
the first hook joint comprises two first U-shaped structures which are arranged in parallel, the closed ends of the two first U-shaped structures are connected through a first connecting piece, the open ends of the two first U-shaped structures are correspondingly connected through a second connecting piece respectively, and a third connecting piece is connected between the two second connecting columns;
the second hook joint comprises two second U-shaped structures which are arranged in parallel, the closed ends of the two second U-shaped structures are connected through a fourth connecting piece, the open ends of the two second U-shaped structures are correspondingly connected through a fifth connecting piece respectively, and through holes are formed in the opposite positions of the two fifth connecting columns;
the first end of the first connecting rod is sleeved on the first connecting piece and can rotate around the first connecting piece, the first end of the second connecting rod is sleeved on the third connecting piece and can rotate around the third connecting piece, and the second end of the second connecting rod is sleeved on the fourth connecting piece and can rotate around the fourth connecting piece;
the second end of each first connecting rod is connected with one steering engine respectively and is driven by the steering engine to rotate;
two fifth connecting posts of each second hook joint are connected with the storage platform through bolts penetrating through the two through holes and can rotate around the bolts.
In a feasible implementation mode, a rotary pointer is arranged on the steering engine, a clamping groove of the rotary pointer is formed in the second end of the first connecting rod, and the rotary pointer is clamped in the clamping groove and drives the first connecting rod to rotate along with the rotation of the rotary pointer.
In a possible implementation manner, the six-degree-of-freedom simulation platform further includes: the base is triangular and comprises three base sides and three base side connecting pieces; wherein the content of the first and second substances,
every base edge is provided with two towards triangle-shaped outside open-ended holding chambeies, and the holding chamber is used for placing the steering wheel, and three base limit is through two liang of connections in three base limit connecting piece.
In one possible implementation, the motion bar is integrally formed.
In one possible implementation, the motion bar is obtained by 3D printing.
A second aspect of the embodiments of the present invention provides a six-degree-of-freedom simulation platform system, which includes a client, a controller, and a six-degree-of-freedom simulation platform according to any one of the possible implementations of the first aspect and the first aspect, wherein,
the client is in communication connection with the controller, and the controller is in communication connection with the six steering engines;
the client is used for receiving an operation instruction input by a user and sending the operation instruction to the controller;
the controller is used for sending respective rotation instructions to the six steering engines according to the operation instructions.
In a possible implementation manner, the six-degree-of-freedom simulation platform system further includes: a gyroscope; wherein the content of the first and second substances,
the gyroscope is in communication connection with the client and used for detecting the motion parameters of the object placing platform and sending the motion parameters to the client, and the client displays the motion parameters to a user.
The embodiment of the utility model provides a six degree of freedom simulation platform and system, including platform, six steering engines and six motion poles. Every motion pole all includes two connecting rods and two hooke's hinges, the embodiment of the utility model provides an in hooke's hinge have simple structure, advantage such as with low costs.
The utility model discloses on the basis of the realization that above-mentioned each side provided, can also make further combination in order to provide more realizations.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive labor.
Fig. 1 is a schematic structural diagram of a six-degree-of-freedom simulation platform according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a motion bar according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a first hooke joint according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a second hooke joint according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a base according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a base edge according to an embodiment of the present invention;
fig. 7 is a schematic structural view of a base edge connector according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a six-degree-of-freedom simulation platform system according to an embodiment of the present invention.
Reference numerals:
10-a placement platform; 20-a steering engine; 30-a motion bar;
40, a base; 31 — a first link; 311-card slot;
32-a second link; 33-a first hooke's joint; 331 — a first U-shaped configuration;
332 — a first connecting member; 333-a second connector; 334 — a third connection;
34-a second hook joint; 341-second U-shaped configuration; 342-a fourth link;
343-fifth connecting member; 344 — a through hole; 41-base edge;
411-an accommodating cavity; 42-base edge connector; 1-a client;
2-a controller; 3-six-degree-of-freedom simulation platform; 4-gyroscope.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
The embodiment of the utility model provides an aspect provides a six degrees of freedom simulation platform. Fig. 1 is a schematic structural diagram of a six-degree-of-freedom simulation platform provided by the embodiment of the present invention, and fig. 2 is a schematic structural diagram of a motion bar provided by the embodiment of the present invention. The motion rod of the six-degree-of-freedom simulation platform in the embodiment has a simple structure and is low in manufacturing cost. As shown in fig. 1 and 2, the six-degree-of-freedom simulation platform includes: the device comprises a storage platform 10, six steering engines 20 and six moving rods 30; each motion bar 30 comprises a first link 31, a second link 32, a first hook joint 33 and a second hook joint 34; wherein the content of the first and second substances,
the first hooke joint 33 comprises two first U-shaped structures 331 arranged in parallel, closed ends of the two first U-shaped structures 331 are connected through a first connecting piece 332, open ends of the two first U-shaped structures 331 are correspondingly connected through a second connecting piece 333 respectively, and a third connecting piece 334 is connected between the two second connecting columns 333;
the second hooke joint 34 includes two second U-shaped structures 341 arranged in parallel, closed ends of the two second U-shaped structures 341 are connected through a fourth connecting piece 342, open ends of the two second U-shaped structures 341 are correspondingly connected through a fifth connecting piece 343, and through holes 344 are arranged at opposite positions of the two fifth connecting columns 343;
the first end of the first link 31 is sleeved on the first connecting piece 332 and can rotate around the first connecting piece 332, the first end of the second link 32 is sleeved on the third connecting piece 334 and can rotate around the third connecting piece 334, and the second end of the second link 32 is sleeved on the fourth connecting piece 342 and can rotate around the fourth connecting piece 342;
the second end of each first connecting rod 31 is connected with one steering engine 20 and driven by the steering engine 20 to rotate;
the two fifth connecting posts 343 of each second hooke's hinge 34 are connected to the platform 10 through bolts 345 inserted into the two through holes 344, and can rotate around the bolts 345.
Illustratively, referring to fig. 2, each motion bar 30 includes a first link 31, a first hooke joint 33, a second link 32, and a second hooke joint 34, which are connected in sequence. The first connecting rod 31 is connected with the steering engine 20, the second hook joint 34 is connected with the object placing platform 10, the moving rods 30 can drive the rotation of the steering engine 20 to the object placing platform 10, and the 6 moving rods 30 are respectively controlled by the 6 steering engines 20 to move, so that the lifting, longitudinal and lateral three-line movement and pitching, yawing and inclining three-angle movement of the object placing platform 10 are realized.
Exemplarily, fig. 3 is a schematic structural diagram of a first hooke joint according to an embodiment of the present invention. Referring to fig. 3, the first hooke's hinge 33 includes two first U-shaped structures 331 perpendicular to the display interface. The two first U-shaped structures 331 are arranged in parallel. The first connecting member 332 connects the closed ends of the two first U-shaped structures 331. Alternatively, the first connecting member 332 may be cylindrical, and the first end of the first link 31 is sleeved on the first connecting member 332 and can rotate around the first connecting member 332. The first end of the first link 31 may be a hollow cylindrical shape having an axis in the same direction as that of the first link 332 and perpendicular to the first link 31. The second connecting member 333 is used to connect corresponding one end of the two first U-shaped structures 331, a third connecting member 334 is connected between the two second connecting posts 333, and the direction of the third connecting member 334 is perpendicular to the first connecting member 332. Optionally, the third connecting member 334 may also be cylindrical, the first end of the second connecting rod 32 is sleeved on the third connecting member 334 and can rotate around the third connecting member 334, the first end of the second connecting rod 32 may also be hollow cylindrical, and an axis of the hollow cylindrical is in the same direction as an axis of the third connecting member 334 and is perpendicular to the second connecting rod 32. The first hook joint 33 provided by the embodiment can realize bidirectional movement, and compared with the existing hook joint which realizes bidirectional movement by depending on a cross shaft, the hook joint has the advantages of simple structure and low manufacturing cost.
Exemplarily, fig. 4 is a schematic structural diagram of a second hooke joint provided in an embodiment of the present invention. Referring to fig. 4, the second hooke's hinge 34 includes two second U-shaped structures 341 perpendicular to the display interface. The two second U-shaped structures 341 are arranged in parallel. A fourth connection 342 connects the closed ends of the two second U-shaped structures 341. Alternatively, the fourth connecting member 342 may be cylindrical, and the second end of the second connecting rod 32 is sleeved on the fourth connecting member 342 and can rotate around the fourth connecting member 342. The second end of the second link 32 may be a hollow cylinder having an axis in the same direction as that of the fourth link 342 and perpendicular to the second link 32. Illustratively, the axes of the hollow columns at both ends of the second link 32 are parallel. The fifth connecting members 343 are used for connecting corresponding ends of the two second U-shaped structures 341, through holes 344 are respectively formed in the two fifth connecting members 343, and the positions of the two through holes 344 correspond to each other, so that bolts 345 can be inserted into the through holes. Correspondingly, the platform 10 is provided with a positioning portion that can be clamped in the two through holes 344 of the second hooke joint 34, and the positioning portion is also provided with a through hole at a position corresponding to the positioning portion, so that the second hooke joint 34 is connected with the platform 10 by using the bolt 345, and the second hooke joint 34 can rotate around the bolt 345. The second hook joint 34 provided by the embodiment can also realize bidirectional movement, and compared with the existing hook joint which realizes bidirectional movement by means of a cross shaft, the hook joint is simple in structure and low in manufacturing cost.
The embodiment of the utility model provides a six degree of freedom simulation platforms include platform, six steering engines and six motion poles. Every motion bar all includes two connecting rods and two hooke joints, redesigns the structure of hooke joint in this embodiment, has advantages such as simple structure, with low costs.
Exemplarily, the embodiment of the present invention further provides a six-degree-of-freedom simulation platform. The steering engine 20 is provided with a rotary pointer, the second end of the first connecting rod 31 is provided with a clamping groove 311 for the rotary pointer, and the rotary pointer is clamped in the clamping groove 311 to drive the first connecting rod 31 to rotate along with the rotation of the rotary pointer.
Illustratively, the rotating pointer is fixedly connected with the rotating shaft of the steering engine 20, which is helpful for indicating the rotating angle of the steering engine 20. As shown in fig. 1 and 2, in the present embodiment, a locking groove 311 is provided at the second end of the first link 31. The shape of the card slot 311 matches the shape of the rotary index. When the steering engine 20 drives the rotating pointer to rotate, the rotating pointer and the slot 311 are fixedly arranged, so that the first connecting rod 31 is driven to move together.
The steering wheel in this embodiment is simple, the easy installation with the connected mode of first connecting rod.
Exemplarily, the embodiment of the present invention further provides a six-degree-of-freedom simulation platform. Fig. 5 is a schematic structural diagram of a base provided by the embodiment of the present invention, fig. 6 is a schematic structural diagram of a base edge provided by the embodiment of the present invention, and fig. 7 is a schematic structural diagram of a base edge connecting member provided by the embodiment of the present invention. As shown in fig. 5 to 7, the six-degree-of-freedom simulation platform further includes: the base 40 is triangular, and comprises three base sides 41 and three base side connecting pieces 42; wherein the content of the first and second substances,
each base edge 41 is provided with two containing cavities 411 which are opened towards the outer side of the triangle, the containing cavities 411 are used for containing the steering engine 20, and the three base edges 41 are connected in pairs through three base edge connecting pieces 42.
For example, referring to fig. 5, 6 steering engines 20 are disposed on a base 40, and for convenience of installation, the base 40 may include three base sides 41 with the same structure, which may be joined into a triangle. The holding chamber 411 of two steering engines 20 is arranged on each base edge, and the opening of the holding chamber 411 faces to the outer side of the triangle, so that the steering engines 20 can be conveniently maintained or replaced when the steering engines 20 have faults. A lead hole for a lead of the steering engine 20 to pass through is further formed in the accommodating cavity 411 along the direction of the base edge 41. Steering wheel 20 accessible screw fixation sets up in holding chamber 411. As shown in fig. 5 and 6, the opening of the accommodation chamber 411 toward the outside of the triangle communicates with the lead hole near the end of the base side 41.
Illustratively, three base edges 41 are connected two by three base edge connectors 42 as shown in fig. 7. The base edge connecting piece 42 is step-shaped and used for fixing the base edge 41, so that the relative sliding between the base edge 41 and the base edge connecting piece 42 is avoided, and the improvement of the base stability of the six-degree-of-freedom simulation platform is facilitated.
In a possible six-degree-of-freedom simulation platform implementation mode, six steering engines 20 are fixed on a base 40, the connection point of each first connecting rod 31 and each steering engine 20 is located on the same circumference, and the connection point of each second hooke joint 34 and each object placing platform 10 is located on the same circumference.
In an exemplary embodiment, the motion bar 30 in the above embodiment is an integrally formed structure, which improves the strength of the motion bar 30 and also reduces the assembly difficulty of the motion bar 30.
Illustratively, the motion bar 30 in the above embodiments is obtained by 3D printing. The motion rod for 3D printing is high in strength and low in cost, and the Hooke joint and the connecting rod are not required to be assembled, so that the assembly difficulty of the six-degree-of-freedom simulation platform is reduced.
Exemplarily, the embodiment of the present invention further provides a six-degree-of-freedom simulation platform system. Fig. 8 is a schematic structural diagram of a six-degree-of-freedom simulation platform system according to an embodiment of the present invention. As shown in fig. 8, the six-degree-of-freedom simulation platform system includes a client 1, a controller 2, and a six-degree-of-freedom simulation platform 3, wherein the client 1 is in communication connection with the controller 2, and the controller 2 is in communication connection with six steering engines 20;
the client 1 is used for receiving an operation instruction input by a user and sending the operation instruction to the controller 2;
the controller 2 is configured to send respective rotation instructions to the six steering engines 20 according to the operation instructions.
Illustratively, the six-degree-of-freedom simulation platform 3 may be a six-degree-of-freedom simulation platform as in any of the embodiments shown in fig. 1 to 7 described above. The client 1 may be a mobile phone, an operating handle, an operating rod, a tablet, a computer, a server, and the like, and is configured to receive a movement operation instruction of a user on the six-degree-of-freedom simulation platform. The moving operation instruction input by the user may be a moving distance of the placement platform 10 in six degrees of freedom, and may also be a moving angle of the 6 motion bars 30. The client 1 and the controller 2 may employ a bluetooth communication connection.
The controller 2 may be an embedded Field Programmable Gate Array (FPGA), a computer, a server, or the like, and the controller 2 may be in communicative connection with the six steering engines 20, or may be electrically connected thereto. The controller 2 sends respective rotation instructions to the six steering engines 20 according to the operation instructions input by the user, and the rotation instructions may specifically be different pulse durations corresponding to different rotation angles. The steering engine 20 rotates according to the received pulse signal, so as to control the object placing platform 10 to move according to the user instruction.
Optionally, as shown in fig. 8, the six-degree-of-freedom simulation platform system further includes: a gyroscope 4; wherein the content of the first and second substances,
the gyroscope 4 is in communication connection with the client 1 and is used for detecting the motion parameters of the object placing platform 10 and sending the motion parameters to the client 1, and the client 1 displays the motion parameters to a user.
Illustratively, the client 1 further includes a display screen, and the gyroscope 4 is configured to detect a real motion parameter of the storage platform 10 and feed the real motion parameter back to the client 1, so that the user may adjust the input instruction according to a detection result of the gyroscope 4.
In the above embodiments, all or part of the implementation may be realized by software, hardware, firmware or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The procedures or functions described in accordance with the embodiments of the present invention are all or partially performed when the computer program instructions are loaded and executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (7)
1. A six-degree-of-freedom simulation platform, comprising: the device comprises a storage platform (10), six steering engines (20) and six moving rods (30); each motion rod (30) comprises a first connecting rod (31), a second connecting rod (32), a first Hooke joint (33) and a second Hooke joint (34); wherein the content of the first and second substances,
the first Hooke joint (33) comprises two first U-shaped structures (331) which are arranged in parallel, the closed ends of the two first U-shaped structures (331) are connected through a first connecting piece (332), the open ends of the two first U-shaped structures (331) are correspondingly connected through a second connecting piece (333) respectively, and a third connecting piece (334) is connected between the two second connecting pieces (333);
the second hook joint (34) comprises two second U-shaped structures (341) which are arranged in parallel, the closed ends of the two second U-shaped structures (341) are connected through a fourth connecting piece (342), the open ends of the two second U-shaped structures (341) are correspondingly connected through a fifth connecting piece (343), and through holes (344) are formed in the positions, opposite to the fifth connecting pieces (343);
the first end of the first connecting rod (31) is sleeved on the first connecting piece (332) and can rotate around the first connecting piece (332), the first end of the second connecting rod (32) is sleeved on the third connecting piece (334) and can rotate around the third connecting piece (334), and the second end of the second connecting rod (32) is sleeved on the fourth connecting piece (342) and can rotate around the fourth connecting piece (342);
the second end of each first connecting rod (31) is connected with one steering engine (20) respectively and driven by the steering engines (20) to rotate;
the two fifth connecting pieces (343) of each second hook joint (34) are connected with the storage platform (10) through bolts (345) arranged in the two through holes (344) in a penetrating manner, and can rotate around the bolts (345).
2. The six-degree-of-freedom simulation platform according to claim 1, wherein a rotary pointer is arranged on the steering engine (20), a clamping groove (311) for the rotary pointer is formed in the second end of the first connecting rod (31), and the rotary pointer is clamped in the clamping groove (311) to drive the first connecting rod (31) to rotate along with rotation of the rotary pointer.
3. The six-degree-of-freedom simulation platform according to claim 1 or 2, further comprising: the base (40), the said base (40) is triangular, including three base sides (41) and three base side connecting pieces (42); wherein the content of the first and second substances,
every be provided with two towards triangle-shaped outside open-ended holding chamber (411) on base limit (41), holding chamber (411) are used for placing steering wheel (20), three base limit (41) are through two liang of connections of three base limit connecting piece (42).
4. A six degree-of-freedom simulation platform according to claim 1 or 2, wherein the motion bar (30) is integrally formed.
5. The six-degree-of-freedom simulation platform according to claim 1 or 2, wherein the motion bar (30) is obtained by 3D printing.
6. A six-degree-of-freedom simulation platform system comprising a client (1), a controller (2), and the six-degree-of-freedom simulation platform (3) according to any one of claims 1 to 5,
the client (1) is in communication connection with the controller (2), and the controller (2) is in communication connection with the six steering engines (20);
the client (1) is used for receiving an operation instruction input by a user and sending the operation instruction to the controller (2);
and the controller (2) is used for sending respective rotation instructions to the six steering engines (20) according to the operation instructions.
7. The six-degree-of-freedom simulation platform system of claim 6, further comprising: a gyroscope (4); wherein the content of the first and second substances,
the gyroscope (4) is in communication connection with the client (1) and is used for detecting the motion parameters of the object placing platform (10) and sending the motion parameters to the client (1), and the client (1) displays the motion parameters to a user.
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| CN201920961798.4U CN210721937U (en) | 2019-06-24 | 2019-06-24 | Six-degree-of-freedom simulation platform and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115171508A (en) * | 2022-08-11 | 2022-10-11 | 南方海洋科学与工程广东省实验室(广州) | Simulation platform device for offshore environment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115171508A (en) * | 2022-08-11 | 2022-10-11 | 南方海洋科学与工程广东省实验室(广州) | Simulation platform device for offshore environment |
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