CN202751550U - Cross-shaped universal rocking bar type upper limb recovery mechanical device - Google Patents
Cross-shaped universal rocking bar type upper limb recovery mechanical device Download PDFInfo
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- CN202751550U CN202751550U CN 201220389681 CN201220389681U CN202751550U CN 202751550 U CN202751550 U CN 202751550U CN 201220389681 CN201220389681 CN 201220389681 CN 201220389681 U CN201220389681 U CN 201220389681U CN 202751550 U CN202751550 U CN 202751550U
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Abstract
The utility model discloses a cross-shaped universal rocking bar type upper limb recovery mechanical device which comprises a base seat, a rocking bar with a handle arranged on top, a locating seat, a first motor, an arc-shaped arm and a second motor, wherein the locating seat is in rotary fit with the base seat through a first rotary shaft which is fixedly connected with the locating seat, the locating seat is in hinged connection with the rocking bar through a second rotary shaft, the first motor is installed on the base seat, an output shaft of the first motor is connected with the first rotary shaft through a first transmission component, the arc-shaped arm is in hinged connection with the base seat through a third rotary shaft, a guide groove is arranged along the inner side face of the arc-shaped arm, the bottom end of the rocking arm is in sliding fit with the guide groove, the second motor is installed on the base seat, an output shaft of the second motor is connected with the arc-shaped arm through a second transmission component, and the second rotary shaft and the third rotary shaft share the same axis and are arranged perpendicular to the first rotary shaft. An upper limb is fixed on the handle, axial sway of the upper limb around the first rotary shaft is achieved through the first motor, and axial sway of the upper limb around the third rotary shaft is achieved through the second motor. The cross-shaped universal rocking bar type upper limb recovery mechanical device has the advantages of being compact in structure, quick in movement, high in accuracy, and easy to assemble.
Description
Technical field
This utility model relates to a kind of rehabilitation mechanical device, especially a kind of cross universal rocker-type upper limb healing machinery device.
Background technology
The research of healing robot starts from the eighties in last century, before nineteen ninety, mainly is the American-European and Japanese research of being engaged in this respect; After nineteen ninety, the research of healing robot enters into all-round developing period.In the world, more and more automatization and intellectuality of the research and development of healing robot.
At home, the research level of healing robot has the trend of cumulative year after year, publication number is CN101347380 in the Chinese patent, open day is on January 21st, 2009, patent name is for disclosing a kind of upper limb rehabilitation robot device in " a kind of upper limb hemiplegia rehabilitation robot device with adjustable training plan ", this device comprises seat, training plan, training plan adjusting device, and is installed in mechanical arm, wrist analog bracket and ancon carriage on the training plan.The training plan adjusting device can be passed through to regulate training plan with respect to the height on ground, and the angle of training plan and horizontal plane, finishes the needs of rehabilitation training in many planes to adapt to different patients.This rehabilitation robot device is simple in structure, adjust by scope of operation pose, can satisfy the patient and do significantly main passive exercise on various inclined-planes, and adjustable inclined surface apparatus targetedly, can autotelicly carry out specialized training to impaired joint and corresponding muscle group, reach better rehabilitation efficacy.But this patent is a kind of plane training devices in essence, therefore still be subject to each plane during the rehabilitation training in three dimensions, can't realize the arbitrarily motion of track in the three dimensions.
Chinese patent Patent application publication number is CN102283761, and Shen Qing Publication day is December in 2011 21 days, and patent name is for disclosing a kind of upper limb rehabilitation robot device in " upper limb rehabilitation robot ", and this device comprises base; Be fixed on the line slideway on the described base, be slidingly arranged in the slide block on the described line slideway, drive the first driving mechanism of described slide block; Be fixed on the frame on the described slide block, rotate the rocking bar that is arranged on the described frame, drive the second driving mechanism of described rocking bar; Tie up the hands device along what the bearing of trend of described rocking bar moved, drive described the 3rd driving mechanism of tying up the hands device.This healing robot has the freedom of motion of three directions, and the motion of three directions both can carry out simultaneously, also can carry out separately respectively, has guaranteed the adequacy of rehabilitation exercise.But because this healing robot has adopted in-line structural design, the power of its consumption is larger, and control accuracy is difficult to ensure.
The utility model content
In order to overcome the deficiencies in the prior art, it is a kind of simple in structure that this utility model provides, and is active in one's movements, and precision is high, and the cross universal rocker-type upper limb healing that can move arbitrarily in three dimensions machinery device.
Technical solutions of the utility model are: a kind of cross universal rocker-type upper limb healing machinery device, comprise that pedestal, top establish handled rocking bar, and also be provided with:
Positioning seat is rotatably assorted by affixed the first rotating shaft and pedestal, and positioning seat is hinged by the second rotating shaft and rocking bar;
The first motor is installed on the pedestal, and its output shaft connects described the first rotating shaft by the first drive disk assembly;
Arched arm is hinged on the pedestal by the 3rd rotating shaft, is provided with gathering sill along the medial surface of this arched arm, and bottom and the gathering sill of described rocking bar are slidingly matched;
The second motor is installed on the pedestal, and its output shaft connects arched arm by the second drive disk assembly;
Wherein, described the second rotating shaft has identical axis with the 3rd rotating shaft, and with the perpendicular layout of the first rotating shaft.
Further be set to: the axis direction of described the first rotating shaft and the second rotating shaft all is positioned on the horizontal plane.
Adopt technique scheme, because the axis direction of the first rotating shaft and the second rotating shaft all is positioned on the horizontal plane, therefore when rocking bar rotates around two axial lines, also namely be to rotate around the axis that is positioned on the horizontal plane all the time, be positioned at so the fulcrum that the handle on the rocking bar also will wind with rocker bottom and swing.When upper limb is fixed in when going forward side by side capable rehabilitation training on the handle, the little arm portion of upper limb is in level mostly, and the forearm laying state will be that the most comfortable is steady this moment, but carries out with the rhythm of easily releiving when the guarantee upper limb is done rehabilitation training thus.
Further be set to: described positioning seat is circulus, and rocking bar is arranged in the positioning seat, and the first rotating shaft one end and positioning seat outer wall are fixed, and the other end and pedestal are rotatably assorted, and the second rotating shaft is rotatably assorted with positioning seat inwall and rocking bar respectively.
Adopt technique scheme, the center of positioning seat is through hole, positioning seat is sheathed on the rocking bar by through hole, wherein, the second rotating shaft is positioned between positioning seat inwall and rocking bar, like this can be corresponding the space of minimizing the second rotating shaft when installing, also can improve the stability when being rotatably assorted between rocking bar and positioning seat simultaneously; In addition, the first rotating shaft is fixed on the positioning seat outer wall, and is rotatably assorted with pedestal, thereby consists of the matching relationship between rocking bar, positioning seat and pedestal.This technical scheme not only so that the overall structure letter is gathered, has been saved installing space, and has improved the stability when installing.
Further be set to: described arched arm is U-shaped structure, and the both ends of this arched arm opening part are rotatably assorted with pedestal respectively.
Adopt technique scheme, the both ends of arched arm all and form being rotatably assorted of coaxial arrangement between pedestal, also be that arched arm is more stable when pedestal rotates, the gathering sill of arched arm inboard guiding rocker bottom is more stable when sliding, and should not be subjected to other External Force Actings and deflects.
Further be set to: described rocking bar comprises the stationary pipes that is rotatably assorted by the second rotating shaft and positioning seat; The telescoping tube that mutually is socketed with stationary pipes; Be used for driving telescoping tube along the telescopic drive part of stationary pipes axial stretching.
Adopt technique scheme, rocking bar is Collapsible structure, by the telescopic drive part can realize telescoping tube along fixed tubular axle to elongate or shorten, so then can guarantee to be fixed in upper limb on the handle with the motion campaign of telescoping tube, and this motion is controlled realization by the telescopic drive part.
Further be set to: described telescopic drive part comprises the flexible motor with the coaxial setting of stationary pipes; Screw rod with flexible motor output shaft interlock; Be fixedly connected with telescoping tube, and with the suitable nut of screw rod; Be rotatably assorted between described telescoping tube and stationary pipes, and along the stationary pipes axial sliding fit.
Adopt technique scheme, by the fixing screw rod of flexible motor output end, realize that nut is along the movement of screw axial, because nut and telescoping tube are fixed, so drive telescoping tube along fixed tubular axle to translation, slow speed during expansion link stretching motion that this structure is brought, and motion stabilization are releived steadily thereby guarantee to be positioned at when upper limb on the handle is done training.In this utility model, the telescopic drive part can also adopt cylinder except adopting flexible motor, and the piston rod of cylinder is axial arranged and fix with telescoping tube along stationary pipes, when piston rod is done stretching motion, can realize the stretching motion of telescoping tube.Wherein, the linkage structure that screw rod and nut form also is that ball screw cooperates, and this cooperation is converted into the gyration of screw rod the rectilinear motion of nut, and this structure not only transmission is simple, and kinematic accuracy is high, the resistance when having reduced transmission.
Further be set to: described rocking bar is vertically arranged.
Adopt technique scheme, because when upper limb is done rehabilitation training, arm mainly is to need in the vertical direction to move up and down, thereby realize the exercise of upper arm and shoulder muscle, therefore rocking bar words of vertically arranging, also be that telescoping tube will vertically carry out stretching motion on the rocking bar, thereby satisfy upper limb to the needs of training motion.
Further be set to: described telescoping tube is provided with the power induction apparatus that is subjected to force direction and produces corresponding induced signal for responding to handle, be provided be used to receiving corresponding induced signal and producing the control unit of corresponding executive signal, this control unit sends corresponding executive signal to the first motor, the second motor and flexible motor respectively.
Adopt technique scheme, owing to needing the upper limbs force of rehabilitation very weak, be difficult to realize corresponding upper limb action by self strength, therefore, in order to realize the intellectuality of rehabilitation training, go to respond to the faint motion of upper limb by installing in the power induction apparatus of grip, this faint power is responded to and produces the induced signal of the power direction of motion by force transducer, this induced signal is transferred to the control unit place, this control unit is according to the direction of induced signal, then by control the first motor, the second motor and flexible motor are realized any direction motion of upper limb on three dimensions, thereby realize the rehabilitation training to muscle of upper extremity.Because the first motor, the second motor and flexible motor can drive handle and realize respectively in the three dimensions along the moving of X-axis, Y-axis and three directions of Z axis, therefore can guarantee handle any motion of point in three dimensions.
Further be set to: described the first drive disk assembly comprises the belt wheel with the first rotating shaft interlock again, reaches the belt with belt wheel and the interlock of the first motor output shaft; The second drive disk assembly comprises the belt wheel with the 3rd rotating shaft interlock, reaches the belt with belt wheel and the interlock of the second motor output shaft.
Adopt technique scheme, because the band transmission has simple in structure, stable drive, can cushion absorbing, can be between large distance between axles and multiaxis transferring power, and have cheap, need not lubricate, safeguard the characteristics that are easy to, so the first motor and the second motor be respectively by realizing the rotation of the first rotating shaft and the 3rd rotating shaft with transmission, and then guarantee more to stablize when upper limb is done rehabilitation training comfortable.
The beneficial effects of the utility model are: upper limb is fixed on the handle, then realize the rotation of the first rotating shaft by the first motor-driven, and rotate with the fixing positioning seat of the first rotating shaft, because being connected the second rotating shaft with rocking bar, positioning seat connects, and the second rotating shaft is mutually vertical with the first rotating shaft, so, when the first rotating shaft is rotated, the second rotating shaft will be subject to winding perpendicular to self axial revolving force, also i.e. the second rotating shaft can't be rotated around self rotating shaft, and the second rotating shaft will drive rocking bar around the first rotating shaft axial rotation, thereby realize that upper limb is around the axial swing of the first rotating shaft; Simultaneously, rotate around the 3rd rotating shaft by the second motor-driven arched arm, gathering sill can be for rocking bar slip when the first rotating shaft is rotated on the arched arm, and this moment this gathering sill inwall will limit and drive rocker around the 3rd rotating shaft axial rotation, thereby the realization upper limb is around the axial swing of the 3rd rotating shaft; Because the first rotating shaft and the perpendicular layout of the second rotating shaft, therefore upper limb can be mobile arbitrarily on the first rotating shaft and plane, the second rotating shaft place, thereby move in the optional position on this plane of realizing upper limb.In sum, the utlity model has compact conformation, overall weight is light, is active in one's movements, and precision is high, is easy to assembling and the characteristics that can move arbitrarily in three dimensions.
Description of drawings
Fig. 1 is the structural representation of this utility model embodiment.
Fig. 2 is the partial structurtes schematic diagram of this utility model embodiment.
Fig. 3 is the top view of Fig. 2.
Fig. 4 is the A-A cutaway view of Fig. 2.
Fig. 5 is the installation diagram of this utility model embodiment positioning seat and arched arm.
Fig. 6 is the cutaway view of this utility model embodiment rocking bar and handle.
The specific embodiment
Below in conjunction with accompanying drawing this utility model is further described:
Shown in Fig. 1-5, the present embodiment comprises pedestal 1, pedestal 1 comprises base plate 11 and is installed on mount pad 13 on the base plate 11 by pillar 12, this mount pad 13 is the square circulus in cross section, be connected with positioning seat 3 by the first rotating shaft 21 in the middle of this mount pad 13, the end that this first rotating shaft 21 is connected with positioning seat 3 is for being fixedly connected with, and the end that is connected with mount pad 13 is for being rotationally connected, therefore when the first rotating shaft 21 is rotated, positioning seat 3 also will rotate together thereupon.
Positioning seat 3 is the circulus of cross section circle, is connected with rocking bar 4 by the second rotating shaft 22 in the middle of this positioning seat 3, and these the second rotating shaft 22 two ends keep being rotatably assorted with positioning seat 3 and rocking bar 4 respectively.Herein and since the second rotating shaft 22 axially and 21 of the first rotating shafts keep mutually vertical setting, therefore when the first rotating shaft 21 rotation, the second rotating shaft 22 will be subject to along self revolving force radially, also be that the second rotating shaft 22 will can be around self rotating shaft rotation.Be provided with the arched arm 5 of U-shaped structure at the outer wall of mount pad 13, the both ends of these arched arm 5 opening parts are positioned at respectively the both sides of mount pad 13, and are rotatably assorted by the 3rd rotating shaft 23 and mount pad 13, the 3rd rotating shaft 23 and the second rotating shaft 22 coaxial settings.Be provided with the gathering sill 51 that cooperates with rocking bar 4 basal slidings on the arched arm 5 towards the inboard of rocking bar 4, the length direction that this gathering sill 51 is slotted is axial along the 3rd rotating shaft 23, also be that gathering sill 51 length direction of slotting is vertical with the first rotating shaft 21, therefore when rocking bar 4 rotates with the first rotating shaft 21, then will slide in gathering sill 51 in rocking bar 4 bottoms.Frictional force in order to reduce to slide, so be provided with a lead at rocking bar 4 bottom diagrams, fixed cover is provided with a rolling bearing on this lead, the outer wall of this rolling bearing rolls with gathering sill 51 inwalls and cooperates.In addition, stable when guaranteeing upper extremity exercise is so be provided with at the top of rocking bar 4 for the fixing handle 6 of upper limb.
When upper limb is fixed in when carrying out rehabilitation training on the handle 6, the little arm portion of upper limb is in level mostly, therefore the first rotating shaft 21 and the 3rd rotating shaft 23 place axis all are positioned on the horizontal plane, only in this way, when rocking bar 4 around two axially during rotation, could realize handle 6 all the time around being positioned at axially rotating on the horizontal plane, be positioned at so the fulcrum that the handle 6 on the rocking bar 4 also will wind with rocking bar 4 bottoms and swing.At this moment, the placement of forearm also will be the most comfortable stably, the most easily releive when also only in this way the guarantee upper limb is done rehabilitation training.
In order to realize the rotation of the first rotating shaft 21 and the 3rd rotating shaft 23, so also be fixed with the first motor 71 and the second motor 72 on the mount pad 13, be fixed with respectively belt wheel in the first rotating shaft 21 and the 3rd rotating shaft 23, and the first motor 71 and the second motor 72 realize that by belt and the belt wheel in the first rotating shaft 21 and the 3rd rotating shaft 23 the band transmission cooperates respectively.Because the band transmission has simple in structure, stable drive, can cushion absorbing, can be between large distance between axles and multiaxis transferring power, and have cheap, need not lubricate, safeguard the characteristics that are easy to, so when by the band transmission upper limb being carried out rehabilitation training, the motion of upper limb is more steadily with comfortable.Wherein, the first drive disk assembly or the second drive disk assembly also can adopt the mode of power transmission shaft, such as drive shaft, and at least two of drive shafts, wherein an end of a drive shaft and the coaxial setting of the output shaft of the first motor 71, the other end and the first rotating shaft 21 coaxial settings; One end of another drive shaft and the coaxial setting of the output shaft of the second motor 72, the other end and the 3rd rotating shaft 23 coaxial settings.When electric machine rotation, by the torque transfer of drive shaft, thereby realize the rotation of the first rotating shaft 21 or the 3rd rotating shaft 23.
As shown in Figure 6, rocking bar 4 comprise the stationary pipes 41 that is rotatably assorted by the second rotating shaft 22 and positioning seat 3, with the mutual telescoping tubes 42 of socket of stationary pipes 41, and be used for driving telescoping tube 42 along the flexible motor 43 of stationary pipes 41 axial stretchings, should be coaxially connected with screw rod 44 by flexible motor 43 outfans, be arranged with nut 45 on this screw rod 44, this nut 45 is fixedly connected with telescoping tube 42, and because telescoping tube 42 and 41 of stationary pipes are rotatably assorted, and along stationary pipes 41 axial sliding fits, so driving telescoping tube 42, nut 45 axially carries out stretching motion along stationary pipes 41.In order to guarantee that upper limb can carry out rehabilitation training by in the vertical direction, the then axially vertically setting of stationary pipes 41, the flexible direction that also is rocking bar 4 is vertical direction.
In this utility model, upper limb is fixed on the handle 6, then drive the rotation that realizes the first rotating shaft 21 by the first motor 41, and rotate with the first rotating shaft 21 fixing positioning seats 3, connect by the second rotating shaft 22 because positioning seat 3 is connected with rocking bar, and the second rotating shaft 22 is mutually vertical with the first rotating shaft 21.So, when the first rotating shaft 21 is rotated, the second rotating shaft 22 will be subject to winding perpendicular to self axial revolving force, and also i.e. the second rotating shaft 22 can't be rotated around self rotating shaft, and the second rotating shaft 22 will drive rocking bar around the first rotating shaft 21 axial rotation, thereby realize that upper limb is around the axial swing of the first rotating shaft 21; Simultaneously, driving arched arm 5 by the second motor 72 rotates around the 3rd rotating shaft 23, gathering sill 51 can slide when the first rotating shaft 21 is rotated for rocking bar 4 on the arched arm 5, and this moment this gathering sill 51 inwall will limit and drive rocker 4 around the 3rd rotating shaft 23 axial rotation, thereby the realization upper limb is around the axial swing of the 3rd rotating shaft 23; Because the first rotating shaft 21 and the second rotating shaft 22 perpendicular layouts, therefore upper limb can be mobile arbitrarily on the first rotating shaft 21 and plane, the second rotating shaft 22 place, thereby move in the optional position on this plane of realizing upper limb.In sum, the utlity model has compact conformation, overall weight is light, is active in one's movements, and precision is high, is easy to assembling and the characteristics that can move arbitrarily in three dimensions.
Claims (9)
1. cross universal rocker-type upper limb healing machinery device comprises that pedestal, top establish handled rocking bar, it is characterized in that, also is provided with:
Positioning seat is rotatably assorted by affixed the first rotating shaft and pedestal, and positioning seat is hinged by the second rotating shaft and rocking bar;
The first motor is installed on the pedestal, and its output shaft connects described the first rotating shaft by the first drive disk assembly;
Arched arm is hinged on the pedestal by the 3rd rotating shaft, is provided with gathering sill along the medial surface of this arched arm, and bottom and the gathering sill of described rocking bar are slidingly matched;
The second motor is installed on the pedestal, and its output shaft connects arched arm by the second drive disk assembly;
Wherein, described the second rotating shaft has identical axis with the 3rd rotating shaft, and with the perpendicular layout of the first rotating shaft.
2. cross universal rocker-type upper limb healing according to claim 1 machinery device, it is characterized in that: the axis direction of described the first rotating shaft and the second rotating shaft all is positioned on the horizontal plane.
3. cross universal rocker-type upper limb healing according to claim 2 machinery device, it is characterized in that: described positioning seat is circulus, rocking bar is arranged in the positioning seat, the first rotating shaft one end and positioning seat outer wall are fixed, the other end and pedestal are rotatably assorted, and the second rotating shaft is rotatably assorted with positioning seat inwall and rocking bar respectively.
4. cross universal rocker-type upper limb healing according to claim 3 machinery device, it is characterized in that: described arched arm is U-shaped structure, and the both ends of this arched arm opening part are rotatably assorted with pedestal respectively.
5. cross universal rocker-type upper limb healing according to claim 2 machinery device, it is characterized in that: described rocking bar comprises
The stationary pipes that is rotatably assorted by the second rotating shaft and positioning seat;
The telescoping tube that mutually is socketed with stationary pipes;
Be used for driving telescoping tube along the telescopic drive part of stationary pipes axial stretching.
6. cross universal rocker-type upper limb healing according to claim 5 machinery device, it is characterized in that: described telescopic drive part comprises
Flexible motor with the coaxial setting of stationary pipes;
Screw rod with flexible motor output shaft interlock;
Be fixedly connected with telescoping tube, and with the suitable nut of screw rod;
Be rotatably assorted between described telescoping tube and stationary pipes, and along the stationary pipes axial sliding fit.
7. cross universal rocker-type upper limb healing according to claim 6 machinery device, it is characterized in that: described rocking bar is vertically arranged.
8. cross universal rocker-type upper limb healing according to claim 7 machinery device, it is characterized in that: described telescoping tube is provided with the power induction apparatus that is subjected to force direction and produces corresponding induced signal for responding to handle, be provided be used to receiving corresponding induced signal and producing the control unit of corresponding executive signal, this control unit sends corresponding executive signal to the first motor, the second motor and flexible motor respectively.
9. cross universal rocker-type upper limb healing according to claim 1 machinery device, it is characterized in that: described the first drive disk assembly comprises the belt wheel with the first rotating shaft interlock, and with the belt of belt wheel and the interlock of the first motor output shaft; The second drive disk assembly comprises the belt wheel with the 3rd rotating shaft interlock, reaches the belt with belt wheel and the interlock of the second motor output shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220389681 CN202751550U (en) | 2012-08-08 | 2012-08-08 | Cross-shaped universal rocking bar type upper limb recovery mechanical device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220389681 CN202751550U (en) | 2012-08-08 | 2012-08-08 | Cross-shaped universal rocking bar type upper limb recovery mechanical device |
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| Publication Number | Publication Date |
|---|---|
| CN202751550U true CN202751550U (en) | 2013-02-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220389681 Withdrawn - After Issue CN202751550U (en) | 2012-08-08 | 2012-08-08 | Cross-shaped universal rocking bar type upper limb recovery mechanical device |
Country Status (1)
| Country | Link |
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| CN (1) | CN202751550U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102805697A (en) * | 2012-08-08 | 2012-12-05 | 中国科学院宁波材料技术与工程研究所 | Cross universal rocker type upper limb rehabilitation machine |
| CN105031826A (en) * | 2015-07-01 | 2015-11-11 | 杨慧馨 | Auxiliary rehabilitation device for wushu department |
-
2012
- 2012-08-08 CN CN 201220389681 patent/CN202751550U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102805697A (en) * | 2012-08-08 | 2012-12-05 | 中国科学院宁波材料技术与工程研究所 | Cross universal rocker type upper limb rehabilitation machine |
| CN102805697B (en) * | 2012-08-08 | 2014-06-04 | 中国科学院宁波材料技术与工程研究所 | Cross universal rocker type upper limb rehabilitation machine |
| CN105031826A (en) * | 2015-07-01 | 2015-11-11 | 杨慧馨 | Auxiliary rehabilitation device for wushu department |
| CN105031826B (en) * | 2015-07-01 | 2017-09-12 | 杨慧馨 | Wushu department auxiliary rehabilitation device |
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| C14 | Grant of patent or utility model | ||
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Granted publication date: 20130227 Effective date of abandoning: 20140604 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20130227 Effective date of abandoning: 20140604 |
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| RGAV | Abandon patent right to avoid regrant |