EP2815793B1 - Dispositif de mouvement de vitesse - Google Patents

Dispositif de mouvement de vitesse Download PDF

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Publication number
EP2815793B1
EP2815793B1 EP13172279.5A EP13172279A EP2815793B1 EP 2815793 B1 EP2815793 B1 EP 2815793B1 EP 13172279 A EP13172279 A EP 13172279A EP 2815793 B1 EP2815793 B1 EP 2815793B1
Authority
EP
European Patent Office
Prior art keywords
partial area
foot
horizontal
drive unit
foot plate
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
Application number
EP13172279.5A
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German (de)
English (en)
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EP2815793A1 (fr
Inventor
Martin Schörgendorfer
Christof Hepp
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Schepp Medtech GmbH
Original Assignee
Schepp Medtech GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Schepp Medtech GmbH filed Critical Schepp Medtech GmbH
Priority to EP13172279.5A priority Critical patent/EP2815793B1/fr
Priority to US14/306,427 priority patent/US9700478B2/en
Priority to CN201410270280.8A priority patent/CN104224489B/zh
Publication of EP2815793A1 publication Critical patent/EP2815793A1/fr
Priority to HK15105892.1A priority patent/HK1204910A1/xx
Application granted granted Critical
Publication of EP2815793B1 publication Critical patent/EP2815793B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0266—Foot
    • 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
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
    • A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/1215—Rotary drive
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1619—Thorax
    • A61H2201/1621—Holding means therefor

Definitions

  • the invention relates to a gait movement device for generating a gait movement of a person with two controlled foot guide units, each comprising a foot plate for supporting a foot, wherein the foot plates for simulating the gait movement to each other alternately forward and backward movable, wherein a suspension unit is provided in which the human is suspended for weight relief, wherein the foot plates each have a front and a rear portion, wherein during the controlled movement process of the foot plates, the rear portion relative to the front portion moves out of the common plane to the bending of the metatarsal toe joint to enable.
  • a gait movement apparatus which restores walking to people unable to walk, and which has foot plates which are periodically driven by movement means whereby the feet of the person held in the suspension unit are correspondingly moved by the apparatus.
  • the movement devices each have a cantilever which can be pivoted into different elevations, which is articulated on a first carriage of a linear guide and rotatably connected to holding means for fastening one foot each. Further provided are a second carriage with a linear drive for changing the height position of the respective holding means and a rotary drive for changing the inclination of the respective holding means. Since the free ends of the pivotal boom must absorb the weight of the person, there is a relatively high weight of the construction. Due to the rigid foot plates, bending of the ankle during movement is not supported.
  • the US Pat. No. 6,027,430 A describes a training device in the manner of a crosstrainer, the foot plates but have no drive with which a controlled movement for gait rehabilitation of handicapped persons would be possible.
  • the rigid foot plates are also not conducive to a rolling of the ankle.
  • a training device with movable base plates out which perform a controlled walking motion via a drive.
  • Each footplate has a centrally located hinge defining a front and a rear portion of the footplate to allow for normal ankle kinking movement during walking.
  • the foot plates are coupled at their sides with endless chains to allow the reciprocation by the drive.
  • the horizontal and vertical movement of the foot plates and the pivoting movement of the rear portion of the foot plate are effected by the endless chains, the storage of the foot plates relatively complex and the control of the individual movements can not be set independently to adapt to the respective person.
  • the object of the invention is therefore to provide a gait movement device of the type mentioned, with which a correct walking movement of the person to be trained can be achieved.
  • Another object of the invention is to provide a gait movement device with which a adapted to the natural walking motion of humans speed distribution between pillar and swing leg phase can be realized.
  • the front end of the rear portion of the base plate has two rollers which roll on two ramp paths, which are composed of a rear horizontal portion and a front linearly rising portion.
  • the foot plate is guided so that when the foot moves forward the foot without being angled, swings along a circular arc, the top of the foot lifts easily.
  • the rear end of the front portion and the front end of the rear portion of the foot plates can be connected to each other via a hinge, so that the rear portion of the foot plates relative to the front portion of the common plane is pivotable in an angular position.
  • the formation of the joint between the front and the rear portion can be done with simple technical means, it must only be ensured that in the Abwinkelphase the movement allows the joint an angular position between the front and the rear portion.
  • the base plate In order to allow lifting of the heel during the Abwinkvorganges of the foot, the base plate during a horizontal movement at the same time perform a vertical movement.
  • the horizontal movement is superimposed on a vertical movement of the base plate, for which purpose a horizontal and vertical drive of the base plate is provided, wherein the horizontal drive of the base plate comprises a push rod actuated by a first eccentric drive and a push rod driven by the push rod which is coupled at its actuating end to the footplate.
  • the horizontal drive can be done by a motor that drives the first eccentric drive and via this the push rod whose movement on the further push rod in a linear Movement is deflected.
  • the center of the rotational movement may be arranged at a variable distance to the path of the linear movement, whereby a different velocity distribution between the forward and backward movement can be realized.
  • a further embodiment of the invention may consist in that the vertical drive comprises a second eccentric drive and a coupled thereto, pivotable between a horizontal and an inclined position bar, wherein on the bar a sliding or rolling bearing guide carriage is arranged, to which the actuating end of further push rod is coupled, and the guide carriage in turn is connected via a hinge to the rear end of the rear portion of the base plate.
  • the horizontal and vertical movement can overlap each other and the base plate each perform the forward and backward movement and the Abwinkelmos.
  • the vertical drive should also represent this time division derived from the circular drive motion, which according to another embodiment of the invention can be achieved by having the second eccentric drive first Exzenterarm and driven by this second Exzenterarm, wherein the second eccentric rotates at twice as high angular velocity as the first eccentric.
  • the superimposed movement of the first and second Exzenterarmes leads to the desired distribution of raising and lowering phase of the rear portion of the base plate.
  • the invention may be provided in a further embodiment that the front end of the front portion of the foot plate has two rollers which roll on a horizontal portion of a frame part, wherein when moving the rear portion of the base plate along the linearly rising portion of the front portion of the base plate is moved with the rear portion at an angle to the horizontal and lift the roles of the front portion of the horizontal portion of the frame part, while the rollers of the rear portion roll up the two ramp tracks.
  • Fig.1 to 5 show a part of a gait movement device for generating a gait movement of a person who is suspended during use of the device by means of a not shown suspension unit for weight relief, for example by a known strap so that the legs and feet of humans have to remove no or a small load and the feet can be moved for exercise or rehabilitation purposes by the gait movement device.
  • a known suspension unit for weight relief for example by a known strap so that the legs and feet of humans have to remove no or a small load and the feet can be moved for exercise or rehabilitation purposes by the gait movement device.
  • use of the gait movement device without strap or the like is also possible.
  • the movement of the feet is done by two controlled foot guide units 100, of which in the Fig.1 to 5 the left is representative of the right, corresponding mirror-symmetrical foot guide unit is shown, each having a foot plate 101st to cover a foot.
  • the right and left foot plates 101 are alternately moved forward and backward in a known manner.
  • the foot plates 101 each have a front and a rear portion 15, 14, wherein during the movement process of the foot plates 101, the rear portion 14 relative to the front portion 15 out of the common plane is movable out to allow the bending of the metatarsal toe joint ,
  • Fig.2 shows a position in which the rear and the front portion 15, 14 are present in a common plane
  • Figure 3 shows a position in which the rear portion 14 is pivoted relative to the front portion.
  • the walking movement of the two foot plates 101 is achieved by a horizontal drive and a vertical drive, which are driven by a single motor 1.
  • the motor 1 drives a mounted on its drive axle gear or sprocket 27 which is connected via a chain 2 and another gear 24 with a countershaft 111 into engagement, which in turn via a chain 4 and a gear 3, a first eccentric. 5 of the horizontal drive drives, which comprises a via the first eccentric 5 operated push rod 6 and a driven by the push rod 6 further push rod 19 which is coupled at its operating end to the base plate 101 and which generates the horizontal movement.
  • the further push rod 19 is hinged at one end to a horizontally movable on a linear axis 20 horizontal slide 21 which is reciprocated due to the movement of the push rod 6, and hinged at its other end to a guide carriage 13 which in turn pivotally connected to the rear End of the rear portion 14 is connected.
  • the eccentric distance or the eccentric radius of the first eccentric drive 5 is via an adjusting device 26, e.g. a belt drive or a spindle drive, infinitely adjustable, whereby the step size is adjustable.
  • an adjusting device 26 e.g. a belt drive or a spindle drive, infinitely adjustable, whereby the step size is adjustable.
  • the velocity distribution between the leg and the swing leg phase of the foot which is preferably 60:40, is achieved by means of a horizontal drive, ie an offset between the axis of the eccentric drive 5 and the point of articulation of the push rod 6 on the horizontal slide 21.
  • the vertical drive comprises for each foot a second eccentric drive 7, 8, 9, 10, 11 and coupled thereto, pivotable between a horizontal and an inclined position bar 17, on which the sliding or rolling bearing guide carriage 13 is arranged, to which Operating end of the further push rod 19 is coupled, wherein the guide carriage 13 in turn is connected via a hinge 130 to the rear end of the rear portion of the foot plate 101, 111.
  • Fig.1 is representative of both feet only a bar 17 and the associated vertical drive shown in the actual embodiment of the device according to the invention a total of two bars 17 are provided.
  • a pivot bearing 131 is provided, via which the lifting and lowering movement of the beam 17 is performed.
  • an eccentric motion carriage 12 is slidably disposed thereon, which transfers the rotational movement of the second eccentric drive 7, 8, 9, 10, 11 into the raising and lowering movement of the beam 17.
  • the second eccentric drive 7, 8, 9, 10, 11 is driven via a gear 25 arranged on the countershaft 111 and a chain 22, which engages with a toothed wheel or sprocket 7.
  • a belt could also be provided.
  • the gear 7 causes via a first Exzenterarm 9 and a stored on this gear 10 a rolling movement along the outer periphery of a fixedly arranged gear 8, wherein the gear 10 in turn rotates a second Exzenterarm 11, which is arranged with a arranged at its outer end bearing pin 138 in a arranged on the Exzenterschisschlitten 12 pivot bearing bush 139 is rotatably mounted.
  • the second eccentric drive By means of the second eccentric drive a periodic raising and lowering of the beam 17 is achieved, wherein by lifting the beam 17 of the rear portion 14 of the base plate 101 is pivoted up to allow the heel lifting against the forefoot, so that a natural bending movement of the foot can take place.
  • the rear portion 14 of the base plate 101 In the lowered state of the beam 17, the rear portion 14 of the base plate 101 is also in the lowered state and in a common plane with the front portion 15 of the base plate 101st
  • the second eccentric drive includes the eccentric movements of the first eccentric arm 9 and the second eccentric 11, it can be achieved that the time portion of the lowered state of the beam 17 is longer than that of the raised state to simulate the natural Abwinkelvorgang of the foot, in the shortly before the lifting of the foot uses the angling, which takes a shorter time than the previous period in which the sole of the foot rests, claims.
  • the first eccentric 9 runs at the same angular speed as the eccentric drive 5 of the horizontal drive, while the second eccentric 11 rotates at twice the angular velocity, resulting in a longer retention of the beam 17 in the lowered state.
  • the bar 17 remains about a three-quarter turn of the first eccentric 9 below and then goes in the last quarter turn quickly in the air and lowers again quickly.
  • the foot plate 101 is slidably mounted in the front, in the middle and in the rear region to perform the reciprocating motion of the foot plate 101 to achieve the movement process.
  • the front end of the rear portion 14 of the foot plate 101 has two spaced apart from one another to the movement direction rollers 170 which roll on two parallel ramp tracks 18, of which in Fig.1 only one is shown.
  • the ramp tracks 18 are composed of a rear horizontal portion and a front linearly rising portion.
  • the front end of the front portion 15 of the foot plate 101 has two rollers 171, of which in Fig.1 only one is shown, which roll on a horizontal portion of a frame member 16, wherein moving the rear portion of the foot plate 101 along the linearly rising portion of the ramp tracks 18 of the front portion of the foot plate 101 is moved to the rear portion 14 at an angle to the horizontal and the rollers 171 of the front portion 15 lift off the horizontal portion of the frame member 16, while the rollers 170 of the rear portion 14 roll up the two ramp tracks 180.
  • the front portion 15 strikes against the rear portion 14 and is therefore still after lifting in the common plane with the rear portion.
  • the end position of this movement is in Figure 5 shown.
  • the sole of the foot rests on the front and rear portion 15, 14 and is directed at an angle upwards.
  • Fig.2 and Fig.4 represent positions of the foot plate 101, in which the sole of the foot completely horizontal and just rests on this.
  • Fig.6 and 7 show a further embodiment, in turn, only one half of the device is shown for a foot.
  • the further push rod 19 is guided horizontally and designed as compensation for the height movement, a sliding template 190 which compensates during the movement process, the periodically occurring height difference between the front and rear portion of the base plate 15, 14, which is caused by the vertical drive.
  • Figure 8 shows a movement curve 50 of the circular moving points in the device according to the invention, an equally circular movement curve 53 on the drive side of the eccentric of the vertical drive and an output side adjusting motion curve 51 and a movement curve 52 of the rear portion 14 of the foot plate 101stigmaskurve 52 blanket the movement of the heel.
  • Movement curves 53 and 51 are part of the vertical drive, wherein movement curve 53 is formed by the rolling of the gear 10 along the outer periphery of the gear 8, whereby the beam 17 is raised and lowered periodically and during the lifting of the beam 17, the rear portion 14 of the base plate 101 swung up is and then lowered again, so that the movement curve 52 results for the rear portion 14.
  • Figure 9 shows the progression of the horizontal speed of the foot plate 101 at different pitches and at the same step frequency, wherein the positive speed values of the Schwungbeinphase and the negative speed values of the supporting leg phase are assigned.
  • the speed distribution is about 60:40.

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  • 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)
  • Orthopedic Medicine & Surgery (AREA)
  • Rehabilitation Tools (AREA)

Claims (7)

  1. Dispositif à mouvement de marche pour générer le mouvement de la marche chez un humain, avec deux unités de guidage de pied (100) commandées qui comprennent chacune une plaque d'appui (101), sur laquelle peut être posé un pied, les plaques d'appui (101) pouvant être déplacées en alternance l'une contre l'autre en avant et en arrière pour simuler le mouvement de la marche, une unité de suspension étant prévue, par laquelle la personne peut être suspendue pour diminuer la charge, les plaques d'appui (101) ayant chacune une zone partielle antérieure et postérieure (15, 14), la zone partielle postérieure (14) sortant d'un plan commun par rapport à la zone partielle postérieure (15) pendant le déplacement commandé des plaques d'appui (101), pour permettre à l'articulation entre le médio-pied et les orteils de se plier, caractérisé en ce que l'extrémité antérieure de la zone partielle postérieure (14) de la plaque d'appui (101, 111) a deux rouleaux (170) qui roulent sur deux voies à rampe (18), qui sont composées d'une partie postérieure horizontale et une partie antérieure s'étendant vers le haut de façon linéaire.
  2. Dispositif à mouvement de marche selon la revendication 1, caractérisé en ce que l'extrémité postérieure de la zone partielle antérieure (15) et l'extrémité antérieure de la zone partielle postérieure (14) des plaques d'appui (101) sont reliées par une charnière (120) qui fait en sorte que la zone partielle postérieure (14) des plaques d'appui (101) peut être pivotée dans une position angulaire hors du plan commun par rapport à la zone partielle antérieure (15).
  3. Dispositif à mouvement de marche selon les revendications 1 ou 2, caractérisé en ce qu'un entraînement horizontal et vertical de la plaque d'appui (101) est prévu, l'entraînement horizontal de la plaque d'appui (191) comprenant une tige de poussée (6), actionnée par un premier entraînement à excentrique (5), et une autre tige de poussée (19), entrainée par la tige de poussée, qui est accouplée avec la plaque d'appui (101) à son extrémité d'actionnement.
  4. Dispositif à mouvement de marche selon les revendications 1, 2 ou 3, caractérisé en ce que l'entraînement vertical comprend un deuxième entraînement à excentrique (7, 8, 9, 10, 11) pour l'entraînement vertical et une barre (17) accouplée à celui-ci, pouvant être pivotée entre une position horizontale et une position inclinée, sur la barre étant placé un chariot de guidage (13), logé de facon coulissante ou roulante, auquel l'extrémité d'actionnement de la tige de poussée (19) est accouplée, le chariot de guidage (13) étant à son tour relié par une charnière à l'extrémité postérieure de la zone partielle postérieure (14) de la plaque d'appui (101).
  5. Dispositif à mouvement de marche selon la revendication 4, caractérisé en ce que le deuxième entraînement à excentrique comprend un premier bras à excentrique (9) pour le mouvement vertical et un deuxième bras à excentrique (11) entrainé par le premier, le deuxième bras à excentrique (11) tournant avec une vitesse angulaire qui est le double de celle du premier bras à excentrique (9).
  6. Dispositif à mouvement de marche selon l'une quelconque des revendications 1 à 5, caractérisé en ce que l'extrémité antérieure de la zone partielle antérieure (15) de la plaque d'appui (101) a deux rouleaux (171), qui roulent sur une partie horizontale d'un élément cadre (16), la zone partielle antérieure (15) de la plaque d'appui (10) étant déplacée avec la zone partielle postérieure (14) selon un certain angle par rapport à l'horizontale, et les rouleaux (171) de la zone partielle antérieure (15) se soulevant de la partie horizontale de l'élément cadre (16) lors d'un déplacement de la zone partielle postérieure (14) de la plaque d'appui (101) le long de la partie de la zone partielle antérieure (15) de la plaque d'appui (10) qui s'étend vers le haut de façon linéaire, pendant que les rouleaux (170) de la zone partielle postérieure (15) roulent vers le haut sur les deux voies à rampe (18).
  7. Dispositif à mouvement de marche selon l'une quelconque des revendications précédentes, caractérisé en ce que l'entraînement horizontal et l'entraînement vertical peuvent être entrainés par un moteur (1) commun.
EP13172279.5A 2013-06-17 2013-06-17 Dispositif de mouvement de vitesse Active EP2815793B1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP13172279.5A EP2815793B1 (fr) 2013-06-17 2013-06-17 Dispositif de mouvement de vitesse
US14/306,427 US9700478B2 (en) 2013-06-17 2014-06-17 Training device for human walking movement
CN201410270280.8A CN104224489B (zh) 2013-06-17 2014-06-17 步行移动装置
HK15105892.1A HK1204910A1 (en) 2013-06-17 2015-06-19 Walking movement device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP13172279.5A EP2815793B1 (fr) 2013-06-17 2013-06-17 Dispositif de mouvement de vitesse

Publications (2)

Publication Number Publication Date
EP2815793A1 EP2815793A1 (fr) 2014-12-24
EP2815793B1 true EP2815793B1 (fr) 2018-09-05

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EP13172279.5A Active EP2815793B1 (fr) 2013-06-17 2013-06-17 Dispositif de mouvement de vitesse

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US (1) US9700478B2 (fr)
EP (1) EP2815793B1 (fr)
CN (1) CN104224489B (fr)
HK (1) HK1204910A1 (fr)

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CN108236557B (zh) * 2016-12-27 2019-12-24 上银科技股份有限公司 行走训练机
CN107080680B (zh) * 2017-05-11 2020-03-10 李正鹏 人体椎间盘突出膨出治疗机
CN107115628B (zh) * 2017-06-13 2022-07-29 杭州安杰制动器有限公司 一种轮系式自行车骑行模拟器械
JP2019134889A (ja) * 2018-02-05 2019-08-15 株式会社イノフィス 足首及び足指の機能訓練装置
US11826609B2 (en) * 2018-05-07 2023-11-28 Hiwin Technologies Corp. Rehabilitation equipment
US20190336379A1 (en) * 2018-05-07 2019-11-07 Hiwin Technologies Corp. Rehabilitation equipment
KR102127011B1 (ko) * 2019-02-11 2020-06-25 큐렉소 주식회사 진입 특성이 향상된 착석형 보행재활로봇
US11097158B2 (en) * 2019-08-28 2021-08-24 Hiwin Technologies Corp. Gait training machine and method of using same
US11266879B2 (en) * 2020-02-24 2022-03-08 Hiwin Technologies Corp. Adaptive active training system
CN111671624B (zh) * 2020-06-22 2021-08-27 山东大学 一种穿戴式跖趾关节步行助力装置
CN113332109B (zh) * 2021-06-16 2023-03-10 温振杰 一种角度可调的骨科康复锻炼装置

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Publication number Publication date
CN104224489A (zh) 2014-12-24
US9700478B2 (en) 2017-07-11
EP2815793A1 (fr) 2014-12-24
US20140371640A1 (en) 2014-12-18
HK1204910A1 (en) 2015-12-11
CN104224489B (zh) 2018-02-16

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