CN109330820B - Passive reconfigurable gentle and agreeable constant force booster unit of knee joint - Google Patents
Passive reconfigurable gentle and agreeable constant force booster unit of knee joint Download PDFInfo
- Publication number
- CN109330820B CN109330820B CN201811093983.2A CN201811093983A CN109330820B CN 109330820 B CN109330820 B CN 109330820B CN 201811093983 A CN201811093983 A CN 201811093983A CN 109330820 B CN109330820 B CN 109330820B
- Authority
- CN
- China
- Prior art keywords
- barrel
- wall
- ratchet shaft
- rotating sleeve
- compliant
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 210000000629 knee joint Anatomy 0.000 title claims abstract description 18
- 210000000689 upper leg Anatomy 0.000 claims abstract description 12
- 210000003127 knee Anatomy 0.000 claims 3
- 230000004888 barrier function Effects 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 210000002414 leg Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 231100000915 pathological change Toxicity 0.000 description 1
- 230000036285 pathological change Effects 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Prostheses (AREA)
- Orthopedics, Nursing, And Contraception (AREA)
Abstract
The invention provides a knee joint passive reconfigurable flexible constant force assisting device, which comprises a first barrel and a second barrel, wherein the second barrel is sleeved outside the first barrel, a shank supporting plate is fixedly assembled on the outer surface of the first barrel, a thigh supporting plate is fixedly assembled on the outer surface of the second barrel, a ratchet shaft is fixedly assembled at the center of the bottom of the inner wall of the first barrel, a rotating sleeve is assembled on the outer surface of the ratchet shaft, the rotating sleeve is fixedly connected with the second barrel, a flexible unit is arranged on the outer surface of the rotating sleeve and comprises a plurality of flexible sheets, the flexible sheets are axially overlapped along the ratchet shaft and comprise a friction ring and an elastic support, the inner wall of the friction ring is attached to the rotating sleeve, a plurality of elastic supports are arranged on the circumferential array of the outer surface of the friction ring, a plurality of stop blocks matched with the elastic supports are fixedly assembled on the inner wall of the first barrel, and the stop blocks are arranged along the ratchet shaft as a central spiral array A solution for bracing.
Description
Technical Field
The invention belongs to the technical field of human body power assisting machines, and particularly relates to a passive reconfigurable gentle and smooth constant force power assisting device for a knee joint.
Background
With the development of advanced manufacturing, more convenient and effective human body assistance instruments are widely applied to daily life of people. The knee joint is one of the key points of research attention of human body power assisting instruments as an important weight bearing part of the leg, particularly, along with the aggravation of the aging of the population and the change of the living and working modes of people in modern cities, the injury of the knee joint and the proportion of the generated pathological changes and the auxiliary recovery requirements are increased year by year, so that the injury of the knee joint is prevented and is more and more emphasized by people, and therefore the design and the research and the development of knee joint protection and power assisting devices are widely emphasized by scholars at home and abroad.
In summary, there is a need for a device to assist recovery in elderly or people with problems in the knee joint itself, or in patients requiring rehabilitation of the knee joint, and in any case the ultimate goal of such a device is to reduce the forces experienced by the knee joint. However, most of the existing knee joint supporting devices are active and rigid components, so that the problems of overlarge device mass, poor cruising ability, complex electric circuit arrangement, low fault tolerance rate and the like are inevitably caused, even though passive devices are adopted, the supporting force is provided by a spring, but the spring is difficult to meet the motion amplitude required in the squatting process, and the stability of the supporting force is difficult to maintain. In view of the above problems, the present invention provides a solution for sequentially carrying out load bearing in a multi-stage compliant sheet manner and providing a supporting force by the characteristics of the compliant device.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a human body assistance mechanism which utilizes the flexibility characteristic of a material to provide counter moment to support a human body.
The technical scheme of the invention is as follows:
a knee joint passive reconfigurable flexible constant force assisting device comprises a first barrel body with an open top and a second barrel body with an open bottom, wherein the second barrel body is sleeved outside the first barrel body, a shank supporting plate is fixedly assembled on the outer surface of the first barrel body, a thigh supporting plate is fixedly assembled on the outer surface of the second barrel body, two sides of the thigh supporting plate and two sides of the shank supporting plate are respectively assembled with a bandage fixing pin, a ratchet shaft is fixedly assembled at the center of the bottom of the inner wall of the first barrel body, a rotating sleeve is assembled on the outer surface of the ratchet shaft and fixedly connected with the second barrel body, a flexible unit is arranged on the outer surface of the rotating sleeve and comprises a plurality of flexible sheets, the flexible sheets are axially stacked along the ratchet shaft and comprise a friction ring and an elastic support, the inner wall of the friction ring is tightly attached to the rotating sleeve, a plurality of elastic supports are arranged on the circumferential array of the outer surface of the friction ring, a plurality of stop blocks matched with the elastic supports, the plurality of blocks are arranged in a spiral array around the ratchet shaft.
As a preferred scheme, the ratchet shaft is rotationally connected with the rotating sleeve, the ratchet is arranged on the outer surface of the ratchet shaft, the inner wall of the rotating sleeve is provided with a pawl groove, a pawl elastic sheet matched with the ratchet is fixedly assembled in the pawl groove, and one end of the pawl elastic sheet is inserted into a tooth groove of the ratchet.
Preferably, the inner wall of the first barrel is fixedly provided with a reset barrier, and the reset barrier is arranged parallel to the ratchet shaft.
As a preferable scheme, the first cylinder outer wall is provided with a first antifriction layer, and the first cylinder inner wall is provided with a second antifriction layer.
Preferably, the top of the second cylinder is fixedly provided with a pull ring.
Preferably, at least three compliant sheets are provided.
Preferably, each compliance sheet is provided with at least two elastic supports.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention adopts the structure that the bottom of a first cylinder body is fixedly assembled with a ratchet shaft, the outer surface of the ratchet shaft is rotatably assembled with a rotating sleeve, a plurality of layers of flexible sheets are superposed and arranged along the axial direction of the rotating sleeve, a stop block matched with an elastic support is arranged on the inner wall of the first cylinder body, the weight of the upper body of a human body is used as a drive, friction force exists due to the fit between a friction ring and the rotating sleeve, the first-stage flexible sheet far away from the bottom of the first cylinder body is stressed to generate deflection until the friction ring and a shaft sleeve slide relatively, and the flexible sheets below the first-stage flexible sheet are sequentially stressed to generate deflection, so that stable supporting force is generated, the weight of the device can be reduced, and the cruising ability of.
2. The flexible units adopted by the invention have flexible characteristics, can generate larger deformation, and are lighter compared with the traditional rigid member.
3. Utilize the ejector pad that the spiral array set up, can make multistage gentle and agreeable piece produce crooked deformation in proper order, and then for the human process of squatting provides the holding power, this kind of hierarchical setting can satisfy the range requirement of motion, has guaranteed again that the holding power is steady to the load of even every level gentle and agreeable piece, not fragile.
4. The number and the number of the compliant sheets in the compliant unit can be adjusted according to different individuals, and reconfigurability is realized.
5. The ratchet is arranged on the outer surface of the ratchet shaft, and the pawl matched with the ratchet is arranged on the outer wall of the rotating sleeve, so that unidirectional free rotation between the rotating sleeve and the wheel shaft can be realized, further deformation and reset of the flexible unit are controlled, and the mechanism can continuously work.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the internal structure of the present invention;
FIG. 3 is a schematic view of a compliant sheet according to the present invention;
FIG. 4 is a schematic view of the assembly of a first friction reducing layer with a second friction reducing layer in accordance with the present invention;
FIG. 5 is a schematic view of the ratchet and pawl spring of the present invention;
fig. 6 is a schematic view of the position of the compliant blades in the operating state of the present invention.
Wherein: a first cylinder 1; a second cylinder 2; a shank support plate 3; a thigh support plate 4; a strap fixing pin 5; a ratchet shaft 6; a rotating sleeve 7; a compliant sheet 8; a friction ring 81; an elastic support 82; a stopper 9; a ratchet 10; a pawl groove 11; a pawl spring 12; a reset bar 13; first anti-friction layer 14; a second friction reducing layer 15; a pull ring 16.
Detailed Description
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
In order to solve the problems in the prior art, as shown in fig. 1 to 6, the invention provides a knee joint passive reconfigurable flexible constant force assisting device, which comprises a first cylinder body 1 with an open top and a second cylinder body 2 with an open bottom, wherein the second cylinder body 2 is sleeved outside the first cylinder body 1, a lower leg support plate 3 is fixedly arranged on the outer surface of the first cylinder body 1, a thigh support plate 4 is fixedly arranged on the outer surface of the second cylinder body 2, strap fixing pins 5 are respectively arranged on two sides of the thigh support plate 4 and the lower leg support plate 3, a ratchet shaft 6 is fixedly arranged in the center of the bottom of the inner wall of the first cylinder body 1, a rotating sleeve 7 is arranged on the outer surface of the ratchet shaft 6, the rotating sleeve 7 is fixedly connected with the second cylinder body 2, a flexible unit is arranged on the outer surface of the rotating sleeve 7, the flexible unit comprises five flexible sheets 8, the five flexible sheets 8 are axially overlapped along the ratchet shaft 6, the inner wall of the friction ring 81 is tightly attached to the rotating sleeve by 7, three elastic supports 82 are arranged on the circumferential array of the outer surface of the friction ring 81, fifteen stop blocks 9 matched with the elastic supports 82 are fixedly assembled on the inner wall of the first barrel body 1, each stop block 9 corresponds to one elastic support 82, the fifteen stop blocks 9 are divided into three groups, one group of the stop blocks is arranged by taking the ratchet shaft 6 as a central spiral array, the vertical distance between every two adjacent stop blocks 9 is equal to the thickness of the friction ring 81, the circumferential included angle between every two adjacent stop blocks 9 is 30 degrees, and the three groups of stop blocks 9 are arranged by taking the ratchet shaft 6 as a central 120-degree circumferential array.
In the present embodiment, the compliant unit is specifically made of 6061 or 7a04 aluminum alloy.
Specifically, the ratchet shaft 6 is rotatably connected with the rotating sleeve 7, the ratchet 10 is arranged on the outer surface of the ratchet shaft 6, the inner wall of the rotating sleeve 7 is provided with a pawl groove 11, a pawl elastic sheet 12 matched with the ratchet 10 is fixedly assembled in the pawl groove 11, one end of the pawl elastic sheet 12 is inserted into a tooth groove of the ratchet 10, unidirectional free rotation between the rotating sleeve 7 and the ratchet shaft 6 can be realized, when a human body squats down, the ratchet shaft 6 and the rotating sleeve 7 are locked, so that the human body is supported by utilizing the friction force between the friction ring 81 and the rotating sleeve 7 to play a power assisting role, and when the human body stands, the ratchet shaft 6 and the rotating sleeve 7 can rotate freely, so that the mechanism can work continuously.
Specifically, the inner wall of the first barrel 1 is fixedly provided with a reset barrier strip 13, the reset barrier strip 13 is arranged in parallel with the ratchet shaft 6, and when a human body stands up, the flexible sheet 8 of the following unit is convenient to reset, so that the elastic supports 82 are aligned with each other.
Specifically, first barrel 1 outer wall is provided with first antifriction layer 14, and first barrel 1 inner wall is provided with second antifriction layer 15, and first antifriction layer 14 can reduce the friction between first barrel 1 outer wall and the 2 inner walls of second barrel, and second antifriction layer 15 can reduce the friction between elastic support 82 and first barrel 1 inner wall, and first antifriction layer 14, second antifriction layer 15 adopt wear-resisting copper material to make.
In particular, the top of the second cylinder 2 is fixedly fitted with a tab 16, facilitating storage and movement of the invention when not in use.
The working principle of the invention is as follows:
the last compliance piece 8 of definition distance 1 bottom of first barrel is first order compliance piece 8, and adjacent with first order compliance piece 8 is second order compliance piece 8, arranges in proper order.
When the device is used, the binding belt is fixed by the binding belt fixing pin 5, the thigh supporting plate 4 is fixed on the thigh, the shank supporting plate 3 is fixed on the shank, when a human body squats, the included angle between the thigh and the shank is reduced, so that the thigh supporting plate 4 and the shank supporting plate 3 rotate around the ratchet shaft 6 and approach each other, the stop block 9 on the inner wall of the first barrel 1 moves along with the stop block and contacts with the elastic support 82 of the flexible sheet 8, the external force is not enough to overcome the friction force between the first-stage flexible sheet 8 and the rotating sleeve 7 in the flexible unit when the human body just squats, therefore, the rotation of the flexible sheet 8 around the ratchet shaft 6 does not occur, only the bending deformation of each elastic support 82 on the flexible sheet 8 occurs, the driving force for continuous squat increases, the first-stage flexible sheet 8 keeps the shape and rotates relative to the rotating sleeve 7, and then the second-stage flexible sheets 8 to the fifth-stage flexible sheets below generate the same bending deformation and rotation as the topmost flexible sheet, until the human body squats to the expected position, when the human body stands up, the ratchet shaft 6 and the rotating sleeve 7 can rotate freely, and the flexible sheets 8 at all levels are restored to the initial position through the reset barrier strips 13.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent replacements, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A knee joint passive reconfigurable flexible power assisting device is characterized by comprising a first barrel body with an open top and a second barrel body with an open bottom, wherein the second barrel body is sleeved outside the first barrel body, a shank supporting plate is fixedly assembled on the outer surface of the first barrel body, a thigh supporting plate is fixedly assembled on the outer surface of the second barrel body, two sides of the thigh supporting plate and two sides of the shank supporting plate are respectively assembled with a bandage fixing pin, a ratchet shaft is fixedly assembled at the center of the bottom of the inner wall of the first barrel body, a rotating sleeve is assembled on the outer surface of the ratchet shaft and fixedly connected with the second barrel body, a flexible unit is arranged on the outer surface of the rotating sleeve and comprises a plurality of flexible sheets which are axially overlapped along the ratchet shaft, each flexible sheet comprises a friction ring and an elastic support, the inner wall of the friction ring is tightly attached to the rotating sleeve, and a plurality of elastic supports are arranged on the circumferential array, a plurality of stop blocks matched with the elastic support are fixedly assembled on the inner wall of the first barrel, and the stop blocks are spirally arranged along the ratchet shaft as the center.
2. The knee joint passive reconfigurable compliant power assisting device of claim 1, wherein the ratchet shaft is rotatably connected with the rotating sleeve, a ratchet is arranged on the outer surface of the ratchet shaft, a pawl groove is formed in the inner wall of the rotating sleeve, a pawl elastic sheet matched with the ratchet is fixedly assembled in the pawl groove, and one end of the pawl elastic sheet is inserted into a tooth groove of the ratchet.
3. The passive reconfigurable compliant knee assist device of claim 1, wherein the first barrel inner wall is fixedly assembled with a reset bar, and the reset bar is arranged parallel to the ratchet shaft.
4. The passive reconfigurable compliant knee joint assistance device of claim 1, wherein the first cylinder outer wall is provided with a first friction reducing layer and the first cylinder inner wall is provided with a second friction reducing layer.
5. The passive reconfigurable compliant knee joint assistance device of claim 1, wherein the top of the second cylinder is fixedly equipped with a pull ring.
6. The passive reconfigurable compliant knee assist device of claim 1, wherein at least three compliant blades are provided.
7. The passive reconfigurable compliant knee assist device of claim 1, wherein at least two resilient mounts are provided for each compliant blade.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811093983.2A CN109330820B (en) | 2018-09-19 | 2018-09-19 | Passive reconfigurable gentle and agreeable constant force booster unit of knee joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811093983.2A CN109330820B (en) | 2018-09-19 | 2018-09-19 | Passive reconfigurable gentle and agreeable constant force booster unit of knee joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109330820A CN109330820A (en) | 2019-02-15 |
| CN109330820B true CN109330820B (en) | 2020-07-28 |
Family
ID=65305603
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811093983.2A Active CN109330820B (en) | 2018-09-19 | 2018-09-19 | Passive reconfigurable gentle and agreeable constant force booster unit of knee joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109330820B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109953845B (en) * | 2019-04-30 | 2021-08-13 | 安徽理工大学 | Joint supporting device based on compliant constant-torque mechanism |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110049470A (en) * | 2009-11-05 | 2011-05-12 | (주)트리플씨메디칼 | Knee brace including rotator hinge member |
| WO2014039134A1 (en) * | 2012-09-07 | 2014-03-13 | The Regents Of The University Of California | Controllable passive artificial knee |
| CN107041825A (en) * | 2017-05-18 | 2017-08-15 | 浙江机电职业技术学院 | A kind of postoperative elbow knee joint rehabilitation device |
| CN107349080A (en) * | 2017-04-05 | 2017-11-17 | 哈尔滨理工大学 | A kind of healing robot rotary joint permanent magnetism servomechanism |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6517503B1 (en) * | 1998-09-18 | 2003-02-11 | Becker Orthopedic Appliance Company | Orthosis knee joint |
| US10898403B2 (en) * | 2016-02-05 | 2021-01-26 | Purdue Research Foundation | Device and methods for movement assistance |
| US11052011B2 (en) * | 2016-09-02 | 2021-07-06 | Panasonic Intellectual Property Management Co., Ltd. | Standing-up assistance apparatus, standing-up assistance method, and non-transitory computer-readable recording medium |
-
2018
- 2018-09-19 CN CN201811093983.2A patent/CN109330820B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110049470A (en) * | 2009-11-05 | 2011-05-12 | (주)트리플씨메디칼 | Knee brace including rotator hinge member |
| WO2014039134A1 (en) * | 2012-09-07 | 2014-03-13 | The Regents Of The University Of California | Controllable passive artificial knee |
| CN107349080A (en) * | 2017-04-05 | 2017-11-17 | 哈尔滨理工大学 | A kind of healing robot rotary joint permanent magnetism servomechanism |
| CN107041825A (en) * | 2017-05-18 | 2017-08-15 | 浙江机电职业技术学院 | A kind of postoperative elbow knee joint rehabilitation device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109330820A (en) | 2019-02-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109330820B (en) | Passive reconfigurable gentle and agreeable constant force booster unit of knee joint | |
| CN109834700A (en) | Knee joint bearing part and exoskeleton robot | |
| CN109966117B (en) | Passive wearable walking-aid robot | |
| KR20110030276A (en) | Electric telescopic stick | |
| CN111096876A (en) | Lower limb load moving exoskeleton | |
| CN209304604U (en) | A kind of torsional spring type power-assisted joint and assistant robot | |
| CN107088140A (en) | A kind of built-in air-pressure type wearable lower limb servicing unit | |
| CN207139796U (en) | Hip joint servomechanism and lower limb exoskeleton | |
| CN211434953U (en) | Clinical shank stretching device that uses of orthopedics | |
| US20140142482A1 (en) | Flexing arrangement | |
| US20130197301A1 (en) | Stimulation aid device | |
| CN111467158B (en) | Nursing bed | |
| CN111102147B (en) | Flexible exoskeleton assisting in energy collection management and migration of lower limbs of human body | |
| PT10760T (en) | FLOOR WITH REBATABLE BANK | |
| CN113829327B (en) | Knee joint energy-saving collecting and power assisting device | |
| CN113414757B (en) | Knee joint movement energy collecting and utilizing device | |
| CN212590355U (en) | Resistance swimsuit for training | |
| CN207545721U (en) | Overturn position-limit mechanism and device for healing and training | |
| CN209153657U (en) | A kind of collapsible Special electrocardiogram bed | |
| CN110640721A (en) | Novel passive human body load exoskeleton | |
| CN210968876U (en) | Passive waist assistance exoskeleton | |
| CN217309528U (en) | Connecting piece suitable for combined shoe cabinet | |
| CN209453540U (en) | It is a kind of to move stable search and rescue robot | |
| CN211863725U (en) | Lower limb muscle strength auxiliary training device | |
| CN209529515U (en) | A kind of medicine first aid auxiliary device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |