CN209450872U - Upper limb healing equipment - Google Patents
Upper limb healing equipment Download PDFInfo
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- CN209450872U CN209450872U CN201820433702.2U CN201820433702U CN209450872U CN 209450872 U CN209450872 U CN 209450872U CN 201820433702 U CN201820433702 U CN 201820433702U CN 209450872 U CN209450872 U CN 209450872U
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- upper limb
- inner ring
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- limb rehabilitation
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Abstract
The utility model provides a kind of upper limb healing equipment, including display device, control device, seat and two groups of upper limb rehabilitation robots, the control device is electrically connected with upper limb rehabilitation robot described in the display device, two groups respectively, the display device is oppositely arranged with the seat, and upper limb rehabilitation robot described in two groups is respectively arranged on the two sides of the seat；The upper limb rehabilitation robot includes the wrist training device that can be carried out three-dimensional motion.The utility model can be carried out the wrist training device of three-dimensional motion by setting, can be directed in three-dimensional space the damage at wrist for user and carry out multivariant training；Meanwhile upper limb rehabilitation robot is respectively set by the way that the two sides of seat are arranged in the utility model, and the training simultaneously of double upper limbs can be carried out for patient, realizes synchronization and the exercise for coordination of pair upper limbs.
Description
Technical field
The utility model relates to medical rehabilitation equipment, and in particular to a kind of upper limb healing equipment.
Background technique
The damage as caused by apoplexy, head injury or operation on spinal cord frequently results in the multiple muscle group motor functions of patient
It is impaired.The verified repeating motion of nerve remodeling row theory and rehabilitation training can make patient recovered part or most of fortune again
Dynamic function.Repetitive training is very uninteresting, and is labour intensive and inefficient work for therapist, for treatment
For teacher, it is duplicate patient is trained be it is very uninteresting, it is high-intensitive and inefficient because therapist only patient is controlled
It treats, patient is assisted to carry out comprehensive rehabilitation training.
It has been proved to be currently, substituting artificial type rehabilitation using healing robot effectively, for upper limb healing
Robot device also increase year by year.Upper limb rehabilitation robot emphasis has been placed on mostly in the training of arm at present, and is neglected
Depending on the rehabilitation training of wrist multiple degrees of freedom can not be carried out for the damage at wrist in three-dimensional space using having a single function
Training；Also, lack the upper limb healing equipment that double upper limbs while training can be carried out for patient on the market at present.
Utility model content
The purpose of the utility model is to provide a kind of upper limb healing equipment, can be in three-dimensional space for the damage at wrist
Multivariant training is carried out, and the training simultaneously of double upper limbs can be carried out for patient.
A kind of upper limb healing equipment that in order to achieve the above object, the utility model provides, wherein the upper limb healing equipment
Including display device, control device, seat and two groups of upper limb rehabilitation robots, the control device is filled with the display respectively
It sets, the electrical connection of upper limb rehabilitation robot described in two groups, the display device is oppositely arranged with the seat, upper limb health described in two groups
Multiple robot is respectively arranged on the two sides of the seat；The upper limb rehabilitation robot includes the wrist training that can be carried out three-dimensional motion
Device.
As described above upper limb healing equipment, wherein upright projection of two upper limb rehabilitation robots in horizontal plane
Center forms the angle greater than 0 ° and less than 180 ° in the line of centres of the upright projection of horizontal plane with the seat respectively.
As described above upper limb healing equipment, wherein upright projection of two upper limb rehabilitation robots in horizontal plane
Center forms the angle greater than 90 ° and less than 150 ° in the line of centres of the upright projection of horizontal plane with the seat respectively.
Upper limb healing equipment as described above, wherein the wrist training device includes that outer ring, inner ring and support hold component,
The outer ring can horizontally rotate, and the inner ring is coaxially disposed within the inside of the outer ring, and the inner ring can be with its axis
Center is rotated, and the support holds the axially penetrate through inner ring of the component along the inner ring, and the support holds the both ends point of component
The two sides of the inner ring are not extended to, and the support holds the inner surface that component can vertically be rotationally connected with the inner ring.
Upper limb healing equipment as described above, wherein it includes bottom plate, fupport arm and handle, the bottom plate that the support, which holds component,
It can be vertically rotationally connected with the inner surface of the inner ring, the bottom plate is arranged along the axial direction of the inner ring, and the bottom plate
Both ends extend to the two sides of the inner ring respectively, on the upper surface for the first end that the fupport arm is set to the bottom plate with can be removably mounted,
The handle is vertical on the upper surface of the second end of the bottom plate in which can be removably mounted, and the handle can be centered on its axis
It is rotated.
Upper limb healing equipment as described above, wherein the second end of the bottom plate, which is located at the lower section of the handle, to be equipped with
Obliquity sensor.
Upper limb healing equipment as described above, wherein the handle is equipped with the triggering being electrically connected with the control device
Force snesor.
Upper limb healing equipment as described above, wherein the upper limb rehabilitation robot further includes lifting rotating shaft, lifting electricity
Machine, rotating electric machine, telescopic arm and telescope motor；The lifting rotating shaft can be along the vertical direction by the driving of the lifting motor
It moves back and forth up and down, and the lifting rotating shaft can be rotated by the driving of the rotating electric machine centered on its axis；
The telescopic arm is vertically connected at the top of the lifting rotating shaft, and the driving energy that the telescopic arm passes through the telescope motor
It stretches in the horizontal direction；The wrist training device is connected to the end of the telescopic arm.
Upper limb healing equipment as described above, wherein the end of the telescopic arm is located under the wrist training device
Multi-dimension force sensor is equipped at side.
Upper limb healing equipment as described above, wherein the upper limb rehabilitation robot further include the shell of bottom opening with
And the pedestal of the bottom opening of the shell can be closed, the lifting rotation is located on the pedestal, and the lifting rotation
The upper end of axis upwardly extends the outside that the shell is extended at the top of the shell, the lifting motor and the electric rotating
Machine is set to the inside of the shell.
Compared with prior art, the advantages of the utility model, is as follows:
The utility model can be carried out the wrist training device of three-dimensional motion by setting, can be for user in three-dimensional space
Damage at wrist carries out multivariant training；Meanwhile the utility model is set respectively by the way that the two sides of seat are arranged in
Upper limb rehabilitation robot is set, and the training simultaneously of double upper limbs can be carried out for patient, realizes synchronization and the exercise for coordination of double upper limbs.
Detailed description of the invention
Following drawings are only intended to schematically illustrate and explain the present invention, does not limit the model of the utility model
It encloses.Wherein:
Fig. 1 is the structural schematic diagram of upper limb healing equipment provided by the utility model；
Fig. 2 is the structural schematic diagram of the upper limb rehabilitation robot of upper limb healing equipment provided by the utility model；
Fig. 3 is the structure of the wrist training device of the upper limb rehabilitation robot of upper limb healing equipment provided by the utility model
Schematic diagram；
Fig. 4 is another structural schematic diagram of the upper limb rehabilitation robot of upper limb healing equipment provided by the utility model；
Fig. 5 is that the cross-section structure of the telescopic arm of the upper limb rehabilitation robot of upper limb healing equipment provided by the utility model shows
It is intended to；
Fig. 6 is the first of the wrist training device of the upper limb rehabilitation robot of upper limb healing equipment provided by the utility model
Motion mode schematic diagram；
Fig. 7 is the second of the wrist training device of the upper limb rehabilitation robot of upper limb healing equipment provided by the utility model
Motion mode schematic diagram；
Fig. 8 is the third of the wrist training device of the upper limb rehabilitation robot of upper limb healing equipment provided by the utility model
Motion mode schematic diagram.
Drawing reference numeral explanation:
1, display device；
2, seat；
3, upper limb rehabilitation robot；
31, wrist training device；
311, outer ring；
312, inner ring；
313, support holds component；
3131, bottom plate；
3132, fupport arm；
3133, handle；
32, lifting rotating shaft；
33, lifting motor；
34, rotating electric machine；
35, telescopic arm；
351, turn-screw；
352, shaft coupling；
353, linear slide block；
36, telescope motor；
38, pedestal；
39, shell
391, moving handle；
392, radiator fan
Specific embodiment
In order to have clearer understanding to the technical solution of the utility model, purpose and effect, now in conjunction with Detailed description of the invention sheet
The specific embodiment of utility model.
As shown in Figure 1, the utility model provides a kind of upper limb healing equipment, wherein upper limb healing equipment includes display
Device 1, control device (not shown), seat 2 and two groups of upper limb rehabilitation robots 3, control device respectively with display device
1, two groups of upper limb rehabilitation robots 3 are electrically connected, wherein display device 1 and control device can integrate as an entirety, display
Device 1 is oppositely arranged with seat 2, can be in real time in display device 1 during carrying out rehabilitation training convenient for user
The upper extremity exercise situation of oneself is observed, display device 1 can be touch screen, order to input operation instruction to issue to control device
It enables；Two groups of upper limb rehabilitation robots 3 are respectively arranged on the two sides of seat 2, so that double upper limbs of user are synchronously carried out health simultaneously
Refreshment is practiced, and can be realized strong side in rehabilitation training and drives Ipsilateral, bilateral cooperative motion, strong side and Ipsilateral comparison evaluation and test etc.
The core function of two-side synchronous training；Upper limb rehabilitation robot 3 includes the wrist training device 31 that can be carried out three-dimensional motion, specifically
To establish three-dimensional cartesian coordinate system by zero point of the bottom of wrist training device 31, wrist training device 31 can be respectively with three
X axis, Y-axis and the Z axis of dimension rectangular coordinate system are that rotary shaft is rotated, and so can be realized wrist and carry out in three dimensions
The flexible training of Three Degree Of Freedom, realize wrist individually train, effectively overcome the prior art only for arm be trained without
The problem of device being trained specifically for wrist.
Further, upper limb healing equipment provided by the utility model, wherein two upper limb rehabilitation robots 3 are in horizontal plane
The center of upright projection formed with seat 2 in the line of centres of the upright projection of horizontal plane be greater than 0 ° and less than 180 ° respectively
Angle.Since the space of human upper limb is located on front side of human body, by two upper limb rehabilitation robots 3 and seat 2
Position be set as two upper limb rehabilitation robots 3 the center of the upright projection of horizontal plane respectively with seat 2 horizontal plane vertical throwing
The line of centres of shadow, which is formed, is greater than 0 ° and the angle less than 180 °, substantially covers the whole of the upper extremity exercise on front side of human body
Space can carry out rehabilitation training for human upper limb in maximum magnitude.
Preferably, upper limb healing equipment provided by the utility model, wherein two upper limb rehabilitation robots 3 are in horizontal plane
The center of upright projection formed with seat 2 in the line of centres of the upright projection of horizontal plane be greater than 90 ° and less than 150 ° respectively
Angle.Two upper limb rehabilitation robots 3 are set as two upper limb rehabilitation robots 3 in the vertical throwing of horizontal plane with the position of seat 2
The center of shadow forms the angle greater than 90 ° and less than 150 ° in the line of centres of the upright projection of horizontal plane with seat 2 respectively,
Two can be reduced under the premise of there is the sufficiently large training enveloping space of the upper limb healing equipment of guarantee the utility model as far as possible
3 the space occupied of upper limb rehabilitation robot.
Further, as shown in Fig. 2, Fig. 3 and Fig. 6~Fig. 8, upper limb healing equipment provided by the utility model, wherein hand
Wrist training device 31 includes that outer ring 311, inner ring 312 and support hold component 313, and outer ring 311 can horizontally rotate (the movement of outer ring 311
Mode is the vertical view aspect view of wrist training device 31 see Fig. 6, in Fig. 6), preferably, the rotational angle of outer ring 311 is
α, and α≤120 °；Inner ring 312 is coaxially disposed within the inside of outer ring 311, and inner ring 312 can be turned centered on its axis
Dynamic (motion mode of inner ring 312 is the main view aspect view of wrist training device 31 see Fig. 7, Fig. 7), preferably, inner ring
312 rotational angle is β, and β≤120 °；Support holds component 313 and axially penetrates through inner ring 312 along inner ring 312, and support holds component
313 both ends extend to the two sides of inner ring 312 respectively, and support holds the inside table that component 313 can vertically be rotationally connected with inner ring 312
Face (it is the side view aspect view of wrist training device 31 that support, which holds the motion mode of component 313 see Fig. 8, Fig. 8), i.e., support holds group
The both ends of part 313 can be swung up and down, preferably, support holds the rotational angle of component 323 as γ, and γ≤45 °.By Fig. 6~Fig. 8
As can be seen that the wrist training device 31 of the utility model can be axis along three reference axis in same three-dimensional cartesian coordinate system
It is rotated, to meet the requirement that wrist multiple degrees of freedom is flexibly trained.
Further, as shown in Fig. 2, Fig. 3 and Fig. 6~Fig. 8, upper limb healing equipment provided by the utility model, wherein
It includes bottom plate 3131, fupport arm 3132 and handle 3133 that support, which holds component 313, and bottom plate 3131 can vertically be rotationally connected with inner ring 312
Inner surface, i.e. the both ends of bottom plate 3131 can swing up and down, axial direction setting of the bottom plate 3131 along inner ring 312, and bottom plate 3131
Both ends extend to the two sides of inner ring 312 respectively, i.e., the first end of bottom plate 3131 by inner ring 312 the first lateral edge inner ring 312 axis
To through inner ring 312 and extending to second side of inner ring 312, and the second end of bottom plate 3131 remains in the first side of inner ring 312, arm
On the upper surface for the first end that support 3132 is set to bottom plate 3131 with can be removably mounted, handle 3133 is vertical at bottom plate 3131 in which can be removably mounted
Second end upper surface on, and handle 3133 can be rotated centered on its axis；The first end distance of bottom plate 3131 makes
User is closer, and fupport arm 3132 is supported towards user for the arm to user, the second end distance of bottom plate 3131
Farther out, when in use, the upper limb of user axially penetrates through inner ring 312 by the first lateral edge inner ring 312 of inner ring 312 to user
The second side for extending to inner ring 312 holds handle 3133, and loosening arm falls in arm in fupport arm 3132, can start wrist at this time
Rehabilitation training.
Further, upper limb healing equipment provided by the utility model, wherein the second end of bottom plate 3131 is located at handle
Obliquity sensor (not shown) is equipped at 3133 lower section.By be arranged obliquity sensor, be able to detect arm three
Rotational angle and position on a direction, and control device is fed back in real time, cooperate with software built-in in control device
At relevant game training, increase the interest of wrist rehabilitation training.
Further, upper limb healing equipment provided by the utility model, wherein handle 3133 is equipped with and control device
The triggering force snesor (not shown) of electrical connection.By grasping handle 3133, the trigger force on handle 3133 passes user
Sensor, which detects, passes to control device for force signal after the grip of user, this is practical new for control after judgement for control device
Type operation, completes relative motion, to realize the interaction between user and the utility model upper limb healing equipment.
Further, as shown in figure 4, upper limb healing equipment provided by the utility model, wherein upper limb rehabilitation robot 3
It further include lifting rotating shaft 32, lifting motor 33, rotating electric machine 34, telescopic arm 35 and telescope motor 36；Lifting rotating shaft 32 is logical
The driving for crossing lifting motor 33 can move back and forth up and down along the vertical direction, and lifting rotating shaft 32 passes through the drive of rotating electric machine 34
Kinetic energy is rotated centered on its axis, and in setting, rotating electric machine 34 is mounted on the top of lifting rotating shaft 32, by same
It walks with the synchronous pulley in lifting rotating shaft 32 is drivingly connected, quickly and easily realizes the quick rotation of lifting rotating shaft 32；
Telescopic arm 35 is vertically connected at the top of lifting rotating shaft 32, and telescopic arm 35 can be along level side by the driving of telescope motor 36
To flexible；Wrist training device 31 is connected to the end of telescopic arm 35, and telescope motor 36 can be installed with wrist training device 31
In the same end of telescopic arm 35, Fig. 5 is referred to, telescope motor 36 is set to the inside of telescopic arm 35, and the inside of telescopic arm 35 is along it
Length direction is equipped with turn-screw 351 and is connect by shaft coupling 352 with telescope motor 36, is threadedly coupled and sets on turn-screw 351
The lower end of linear sliding block 353, linear slide block 353 extends to the lower section of telescopic arm 35 through telescopic arm 35 and lifting rotating shaft 32 connects
It connects, in use, telescope motor 36 drives turn-screw 351 to rotate, and with linear slide block 353 phase occurs for turn-screw 351
To displacement to drive 35 telescopic moving of telescopic arm.By the way that lifting rotating shaft 32 to be set as going up and down and rotating simultaneously, and match
The retractable telescopic arm 35 for being installed on 32 top of lifting rotating shaft is closed, the utility model is made to be able to carry out the fortune of three-dimensional space
Dynamic, the end (one end of wrist training device 31 is installed i.e. on telescopic arm 35) of telescopic arm 35 can reach the utility model movement
Any position in the enveloping space.In training, upper limb is placed in wrist training device 31, passes through the upper of lifting rotating shaft 32
Under vertically move and the horizontal extension of the telescopic arm 35 that is rotatably assorted in horizontal plane is mobile and wrist training device 31 three
Maintenance and operation is dynamic, can be realized the movement of six-freedom degree, it is thus possible to realize the arm rehabilitation training flexible and changeable in three-dimensional space.
Further, upper limb healing equipment provided by the utility model, wherein the end of telescopic arm 35 is located at wrist instruction
Practice and is equipped with multi-dimension force sensor (not shown), specially three-dimensional force sensor at the lower section of device 31.Three-dimensional force sensor
Can three linear strength at dynamic detection wrist training device 31, no matter how telescopic arm 35 moves in the horizontal direction,
The power of vertical direction is always consistent with the movement in vertical direction, and no matter how telescopic arm 35 rotates, and detects in horizontal direction
Power is always from the power in horizontal direction in the correct direction of telescopic arm 35.The wrist that control device feeds back obliquity sensor is instructed
The posture for practicing device 31 is shown in display device 1, the angle that can allow user oneself that can feed back by obliquity sensor
The force signal of position signal and multi-dimension force sensor feedback, sees the movement position and training effect of oneself arm in real time, may be used also
So that doctor easily sees arm position and the training effect of user, the execution and supervision of order are provided for doctor.
Further, as shown in Figures 2 and 4, upper limb healing equipment provided by the utility model, wherein upper limb rehabilitation machine
Device people 3 further includes the pedestal 38 of the shell 39 of bottom opening and the bottom opening of energy closure 39, and lifting rotating shaft 32 is set
In on pedestal 38, and the upper end of lifting rotating shaft 32 upwardly extends the outside that shell 39 is extended to through the top of shell 39, lifting
Motor 33 and rotating electric machine 34 are set to the inside of shell 39.The side of shell 39 is equipped with moving handle 391, facilitates upper limb health
The overall movement of multiple robot 3.Shell 39 can wrap up the transmission parts such as lifting motor 33, rotating electric machine 34, protect this
A little transmission parts also increase the safety of the upper limb healing equipment of the utility model, and wherein shell 39 is equipped with radiator fan
392, it radiates for the inside to shell 39.
It wherein, can be with installation settings lifting sliding rail and rotation slide rail (being not shown in figure), so that lifting inside shell 39
Rotary shaft 32 goes up and down along lifting sliding rail and is rotated along rotation slide rail, to guarantee that 32 motion stabilization of lifting rotating shaft is accurate.
Compared with prior art, the advantages of the utility model, is as follows:
The utility model can be carried out the wrist training device of three-dimensional motion by setting, can be for user in three-dimensional space
Damage at wrist carries out multivariant training；Meanwhile the utility model is set respectively by the way that the two sides of seat are arranged in
Upper limb rehabilitation robot is set, and the training simultaneously of double upper limbs can be carried out for patient, realizes synchronization and the exercise for coordination of double upper limbs.
The above descriptions are merely exemplary embodiments of the present utility model, the model being not intended to limit the utility model
It encloses.Any those skilled in the art, it is made etc. under the premise of not departing from the conceptions and principles of the utility model
With variation and modification, the range of the utility model protection should belong to.
Claims (9)
1. a kind of upper limb healing equipment, which is characterized in that the upper limb healing equipment includes display device, control device, seat
And two groups of upper limb rehabilitation robots, the control device are electric with upper limb rehabilitation robot described in the display device, two groups respectively
Connection, the display device are oppositely arranged with the seat, and upper limb rehabilitation robot described in two groups is respectively arranged on the seat
Two sides；The upper limb rehabilitation robot includes the wrist training device that can be carried out three-dimensional motion；
The wrist training device includes that outer ring, inner ring and support hold component, and the outer ring can horizontally rotate, and the inner ring is coaxially
It is set to the inside of the outer ring, and the inner ring can be rotated centered on its axis, the support holds component along described interior
Ring axially penetrates through the inner ring, and the two sides for asking the both ends for holding component to extend to the inner ring respectively, the support hold component
The inner surface of the inner ring can be vertically rotationally connected with.
2. upper limb healing equipment according to claim 1, which is characterized in that two upper limb rehabilitation robots are in horizontal plane
The center of upright projection formed to be greater than in the line of centres of the upright projection of horizontal plane with the seat respectively and 0 ° and be less than
180 ° of angle.
3. upper limb healing equipment according to claim 1, which is characterized in that two upper limb rehabilitation robots are in horizontal plane
The center of upright projection formed to be greater than in the line of centres of the upright projection of horizontal plane with the seat respectively and 90 ° and be less than
150 ° of angle.
4. upper limb healing equipment according to claim 1, which is characterized in that it is described support hold component include bottom plate, fupport arm and
Handle, the bottom plate can vertically be rotationally connected with the inner surface of the inner ring, and the bottom plate is set along the axial direction of the inner ring
It sets, and the both ends of the bottom plate extend to the two sides of the inner ring respectively, the fupport arm is set to the first of the bottom plate with can be removably mounted
On the upper surface at end, the handle is vertical on the upper surface of the second end of the bottom plate in which can be removably mounted, and the handle energy
It is rotated centered on its axis.
5. upper limb healing equipment according to claim 4, which is characterized in that the second end of the bottom plate is located at the handle
Lower section at be equipped with obliquity sensor.
6. upper limb healing equipment according to claim 4 or 5, which is characterized in that the handle is equipped with and the control
The triggering force snesor of device electrical connection.
7. described in any item upper limb healing equipment according to claim 1~5, which is characterized in that the upper limb rehabilitation robot
It further include lifting rotating shaft, lifting motor, rotating electric machine, telescopic arm and telescope motor；The lifting rotating shaft passes through the liter
The driving of drop motor can move back and forth up and down along the vertical direction, and the driving energy that the lifting rotating shaft passes through the rotating electric machine
It is rotated centered on its axis；The telescopic arm is vertically connected at the top of the lifting rotating shaft, and the telescopic arm
It can be stretched in the horizontal direction by the driving of the telescope motor；The wrist training device is connected to the end of the telescopic arm
Portion.
8. upper limb healing equipment according to claim 7, which is characterized in that the end of the telescopic arm is located at the wrist
Multi-dimension force sensor is equipped at the lower section of training device.
9. upper limb healing equipment according to claim 7, which is characterized in that the upper limb rehabilitation robot further includes bottom
The shell of opening and can close the shell bottom opening pedestal, the lifting rotation is located on the pedestal, and
The upper end of the lifting rotating shaft upwardly extends the outside that the shell is extended at the top of the shell, the lifting motor
And the rotating electric machine is set to the inside of the shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820433702.2U CN209450872U (en) | 2018-03-28 | 2018-03-28 | Upper limb healing equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820433702.2U CN209450872U (en) | 2018-03-28 | 2018-03-28 | Upper limb healing equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209450872U true CN209450872U (en) | 2019-10-01 |
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ID=68035398
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820433702.2U Active CN209450872U (en) | 2018-03-28 | 2018-03-28 | Upper limb healing equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209450872U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110314064A (en) * | 2018-03-28 | 2019-10-11 | 北京蝶禾谊安信息技术有限公司 | Upper limb healing equipment |
-
2018
- 2018-03-28 CN CN201820433702.2U patent/CN209450872U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110314064A (en) * | 2018-03-28 | 2019-10-11 | 北京蝶禾谊安信息技术有限公司 | Upper limb healing equipment |
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Effective date of registration: 20200805 Address after: Four Hanwei International Plaza No. 186 Beijing 100070 Fengtai District South Fourth Ring Road No. 6 Building 7 layer Patentee after: DIH TECHNOLOGIES (CHINA) Co.,Ltd. Address before: 100070 Fengtai District, Beijing, South Fourth Ring Road 186, four, 6, 6 floor 11 units (Park) Patentee before: BEIJING DIH AEONMED INFORMATION TECHNOLOGY Co.,Ltd. |
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Effective date of registration: 20210331 Address after: 1702-1, 17th floor, Caisheng building, 17 Longhua Road, Longhua District, Haikou City, Hainan Province Patentee after: Diehe Technology (Hainan) Co.,Ltd. Address before: 100070 7th floor, building 6, area 4, Hanwei International Plaza, 186 South 4th Ring Road West, Fengtai District, Beijing Patentee before: DIH TECHNOLOGIES (CHINA) Co.,Ltd. |
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Effective date of registration: 20220309 Address after: 312366 room 120-2, building D, Kechuang Park, No. 398, mahuan Road, Lihai street, Shaoxing City, Zhejiang Province Patentee after: Diehe Technology (Shaoxing) Co.,Ltd. Address before: 1702-1, 17th floor, Caisheng building, 17 Longhua Road, Longhua District, Haikou City, Hainan Province Patentee before: Diehe Technology (Hainan) Co.,Ltd. |