CN102151215A - Exoskeletal rehabilitation mechanical arm for upper limb - Google Patents
Exoskeletal rehabilitation mechanical arm for upper limb Download PDFInfo
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- CN102151215A CN102151215A CN 201110086977 CN201110086977A CN102151215A CN 102151215 A CN102151215 A CN 102151215A CN 201110086977 CN201110086977 CN 201110086977 CN 201110086977 A CN201110086977 A CN 201110086977A CN 102151215 A CN102151215 A CN 102151215A
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Abstract
The invention relates to an exoskeletal rehabilitation mechanical arm for an upper limb, which comprises a shoulder C-shaped outer track support, a track slider, a shoulder connecting rod, an upper arm connecting rod, a forearm connecting rod, a wrist annular outer track support, a wrist oscillation connecting rod and a handle, wherein one end of the track slider is arranged inside the shoulder C-shaped outer track support, and the other end is hinged with the upper part of the shoulder connecting rod; the shoulder connecting rod is hinged with the upper arm connecting rod; the lower end of the upper arm connecting rod is hinged with the back end of the forearm connecting rod; the wrist annular outer track support is arranged at the front end of the forearm connecting rod; a wrist annular slider is arranged inside the wrist annular outer track support; and the back end of the wrist oscillation connecting rod is connected with the wrist annular slider, and the front end is provided with the handle. By using the exoskeletal rehabilitation mechanical arm, various motions of shoulder joints, elbow joints and wrist joints and combined motions thereof required by arm rehabilitation training of patients can be conveniently implemented.
Description
Technical field
The present invention relates to rehabilitative engineering technology in the technical field of medical instruments, particularly relate to a kind of upper limb exoskeleton-type rehabilitation mechanical arm.
Background technology
" apoplexy " claims " cerebrovascular " again, is referred to as " apoplexy " in the traditional Chinese medical science, is because cerebral circulation causes the disease of the neurological deficit more than 24 hours unusually, can be divided into " ischemia apoplexy " and " hemorrhagic cerebral apoplexy ".The former is because a variety of causes causes the pathological changes of the brain cell blood supply insufficiency due to the cerebral vasospasm.The latter is because rupture of blood vessel in brain causes the pathological changes of brain function forfeiture, accounts for 80% patient and is cerebral infarction.Stroke patient is usually expressed as loss of consciousness, hemiplegia, aphasia, memory disappearance, facial hemiparalysis, incontinence of urination and defecation etc.The annual apoplexy patient of China reaches 2,000,000, has every year 1200000 people to die from apoplexy approximately.Apoplexy survivor 60 is to 80% sequela of leaving in various degree, and four minutes one to four minute three patients with cerebral apoplexy may recur in 2 to 5 years.
Apoplexy is an acute cerebrovascular disease, has sickness rate height, disability rate height, mortality rate height and relapse rate high " four height " characteristics.At present, the relevant high-risk group's quantity of China's apoplexy also has the trend that increases substantially, and is used for about 20,000,000,000 yuans of the expense of this control every year.
Rehabilitation engineering (Rehabilitation engineering) is an important branch subject of biomedical engineering, mainly studies the quality of life how the application engineering technological means improves disabled.Its theoretical basis is that man-machine environment is integrated and engineering is bionical, has formed the facility and the device of serving various rehabilitation purposes on this basis.
Hemiplegia is modal apoplexy sequela.The recovery of upper extremity function is bigger to patient's activity of daily living influence, also is to be difficult to one of problem that solves in the rehabilitation.After the hemiplegia, the forfeiture of patient's one side extremity motor function.Clinical proof gets involved rehabilitation training as early as possible and not only can keep range of motion, prevent arthrogryposis, and can obviously improve the eventual rehabilitation degree of patient moving function.
The hemiplegic upper limb recovery exercising robot is to substitute the doctor to draw the patient and suffer from limb and carry out rehabilitation, finishes a kind of armarium of training action.It is different from the general industrial robot, and it has special target and specific working environment.During design hemiplegic upper limb recovery exercising robot, must meet the rule of clinical rehabilitation training simultaneously from patient's needs.When satisfying training function, robot should guarantee to greatest extent that the patient suffers from the safety of limb, and should fully take into account the adaptability of robot and working environment and patient's acceptability.
The research of China's healing robot is started late, with regard to the arm rehabilitation equipment, product function is single, its range of application is limited to local joint more, it is carpal joint, the rehabilitation of elbow joint and shoulder joint is to be finished by independent apparatus, and the integrated products that can realize each joint rehabilitation of entire arms is seldom arranged.In the domestic relevant healing robot research and development, for the product that solves the training of cerebrovascular hemiplegia of limb patient moving dysfunction healing robot, especially upper extremity function training rehabilitation robot also is in the starting stage, wherein shoulder adopts the 2DOF design more, has but sacrificed the degree of freedom of part when making things convenient for mechanism design.Mostly they are to adopt large-scale rack-like structures, and volume is big, cost is high, comfortableness difference and being difficult to substantially realizes the reverse input of moving.
Summary of the invention
Technical problem to be solved by this invention provides a kind of upper limb exoskeleton-type rehabilitation mechanical arm, can conveniently realize the required shoulder joint of patient's arm rehabilitation training, elbow joint, carpal various motions and their aggregate motion.
The technical solution adopted for the present invention to solve the technical problems is: a kind of upper limb exoskeleton-type rehabilitation mechanical arm is provided, comprise shoulder C type outside track bearing, track slide block, connecting rod, upper arm connecting rod, forearm connecting rod, wrist annular outside track bearing, wrist swinging connecting rod and handle on the shoulders, one end of described track slide block is arranged in the described shoulder C type outside track bearing, and the other end is connected with the upper articulation of described connecting rod on the shoulders; Described connecting rod on the shoulders and described upper arm connecting rod are articulated and connected; The rear end of the lower end of described upper arm connecting rod and forearm connecting rod is articulated and connected; The front end of described forearm connecting rod is equipped with described wrist annular outside track bearing; Be provided with the wrist ring slider in the described wrist annular outside track bearing; The rear end of described wrist swinging connecting rod links to each other with described wrist ring slider, and front end is provided with described handle.
Described connecting rod on the shoulders and described upper arm connecting rod also are connected by spacing arc-shaped guide rail.
Described wrist ring slider is provided with symmetric two extension blocks; The rear end of described wrist swinging connecting rod and described extension block are articulated and connected.
Adjust between the two distance by noggin piece between described connecting rod on the shoulders and track slide block.
Be connected by slot between described handle and the hand swing connecting bar.
Described upper arm connecting rod and forearm connecting rod adopt the molectron of size adjustable to make.
Beneficial effect
Owing to adopted above-mentioned technical scheme, the present invention compared with prior art, have following advantage and good effect: the present invention adopts the shoulder joint design of Three Degree Of Freedom can conveniently realize the various motions that the rehabilitation of hemiplegic patient's arm is required, package unit can The synchronized Coordinative Control shoulder joint, elbow joint, carpal joint, and the various motions of scapula, the molectron that each structural member is changed into simple size adjustable can realize that the adjustment of all size adapts to the patient of different builds.The Three Degree Of Freedom design of the shoulder joint place band imaginary axis not only provides depends on exoskeleton-type framework closely, also realizes the input of reverse movement simultaneously easily, therefore realizes the active, half active exercise that need in the rehabilitation training equally easily.This device also can be expanded the device as take exercise in the healthy human body joint and athlete's limb motion is trained.The present invention can further realize the family oriented of armarium and the simplification of operation thereof for the exploitation of the healing robot of the autonomous input motion device that provides the foundation by application of the present invention.Structural design of the present invention is simple, dexterous, the multiple degrees of freedom rehabilitation, helps promotion and application.
Description of drawings
Fig. 1 is an overall simplification structure chart of the present invention;
Fig. 2 is a shoulder joint simplified structure diagram among the present invention;
Fig. 3 is a carpal joint simplified structure diagram among the present invention.
The specific embodiment
Below in conjunction with specific embodiment, further set forth the present invention.Should be understood that these embodiment only to be used to the present invention is described and be not used in and limit the scope of the invention.Should be understood that in addition those skilled in the art can make various changes or modifications the present invention after the content of having read the present invention's instruction, these equivalent form of values fall within the application's appended claims institute restricted portion equally.
Embodiments of the present invention relate to a kind of upper limb exoskeleton-type rehabilitation mechanical arm, as Fig. 1, Fig. 2 and shown in Figure 3, upper limb exoskeleton-type rehabilitation mechanical arm comprises shoulder C type outside track bearing 1, track slide block 2, connecting rod 3, upper arm connecting rod 4, forearm connecting rod 5, wrist annular outside track bearing 6, wrist swinging connecting rod 7 and handle 8 on the shoulders.One end of track slide block 2 is arranged in the described shoulder C type outside track bearing 1, and track slide block 2 can slide around described shoulder C type outside track bearing 1.The other end of track slide block 2 is connected with the upper articulation of connecting rod 3 on the shoulders.Connecting rod 3 is articulated and connected with upper arm connecting rod 4 on the shoulders, and for stability and the accuracy of realizing mechanism kinematic, connecting rod 3 also is connected by spacing arc-shaped guide rail 18 with upper arm connecting rod 4 on the shoulders.The rear end of the lower end of upper arm connecting rod 4 and forearm connecting rod 5 is articulated and connected.The front end of forearm connecting rod 5 is equipped with wrist annular outside track bearing 6, is provided with wrist ring slider 9 in the wrist annular outside track bearing 6, and wrist ring slider 9 can slide in wrist annular outside track bearing 6.Wrist ring slider 9 is provided with symmetric two extension blocks 10, and the rear end of wrist swinging connecting rod 7 and extension block 10 are articulated and connected.Wrist swinging connecting rod 7 front ends are provided with handle 8, are connected by slot between this handle 8 and the hand swing connecting bar 7.
As depicted in figs. 1 and 2, shoulder C type outside track bearing 1 is fastened by flexibility with patient's shoulder and is connected, and the tiny skew of whole shoulder can be rotated by the 7th 17 low-angle and be realized.Shoulder forward swing and back pendulum are to realize around first 11 motion that external shoulder C type outside track bearing 1 constitutes by track slide block 2.The rotation that shoulder connects upper arm is to realize by with the 2 hinged formation of track slide block second 12 of connecting rod 3 on the shoulders.The abduction function of shoulder the 3rd 13 by connecting rod on the shoulders 3 and the 4 hinged formation of upper arm connecting rod realize, simultaneously for the stability that realizes mechanism kinematic and accuracy on the shoulders connecting rod 3 also be connected with upper arm connecting rod 4 by spacing arc-shaped guide rail 18.The degree of freedom at elbow joint place adopts the 4th 14 of simple hinged formation to realize.Real carpal joint has three degree of freedom, but the demand of balance rehabilitation and the portability of mechanism design, scheme is finally only chosen two degree of freedom wherein, can realize the rotation of wrist and the swing of palm.As shown in Figure 3, the rotation of wrist is to cooperate the 5th 15 of formation to realize by wrist annular outside track bearing 6 and wrist ring slider 9.Swing is to realize by with extension block 10 hinged formation the 6th 16 of wrist swinging connecting rod 7.
Have the motion membership relation between each turning cylinder, be followed successively by the 7th, first, second, the 3rd, the 4th, the 5th, the 6th to inferior by main.Motion place in each joint all can design one group of mechanical stop limiter and realize each joint safety movement in range of activity in actual use.And forearm connecting rod, upper arm connecting rod and the 7th present position all can be designed to the molectron of size adjustable, also can adjusting between the two by noggin piece between connecting rod and track slide block on the shoulders, distance realizes the adjustable for height function of shoulder, be connected by slot between handle and hand swing connecting bar, so just realized the wearable ectoskeleton mechanical arm of a deft design, size adjustable.
Be not difficult to find, the present invention relates to the main six-freedom degree of arm rehabilitation training needs and an attached adjusting degree of freedom of scapula.Realize the three degree of freedom of shoulder joint by 3 rotating shafts of concurrent, satisfying the ball slave function of having realized true shoulder joint place under the hands-off prerequisite of member and health, the installation that is designed to arm like this provides enough reliable spaces, can well realize the ectoskeleton structure of Wearable.Wherein the imaginary axis that constitutes by shoulder C shape track realizes the shoulder forward swing and swings to the rear, by with slide block that C shape track cooperates on longitudinal axis realize that shoulder is connected the spinning motion of upper arm, by the abduction exercise of shoulder rear side perpendicular to the axle realization shoulder of above diaxon.3 between centers have certain filiation, and the imaginary axis that constitutes for C shape track drives the axle of realizing rotation, realize that the axle of upper arm rotation drives the axle of realizing the abduction function.Divide the interference that effectively to avoid member and health in 3 the common cooperation that plants to realize all motions of true shoulder joint in this relation.The elbow joint place adopts simple hinge to connect.The real carpal joint of human body has three degree of freedom originally, but weighs the benefit that demand and mechanism design provided in the rehabilitation, and scheme is finally only chosen two degree of freedom wherein, both can realize the rotation of wrist and the swing of palm.The present invention can pass through pneumatic actuation or motor-driven, driving device can be directly installed on the position that will drive, and also can cooperate top sheave to realize driving as actuating device by the steel wire rope of band Outer Tube, and implementation is quite flexible.
This shows that the present invention is simple in structure, light and handy, easy to adjust, flexible, adapt to the patient of different builds and the rehabilitation training requirement of different phase, simultaneously cheap, practicality is good, can realize that fully everything required in the rehabilitation realizes the rehabilitation to patient.In addition motion can reverse input characteristics not only for the product development of this field a new generation device that provides the foundation, also can expand device as take exercise in the healthy human body joint and athlete's limb motion is trained.
Claims (6)
1. upper limb exoskeleton-type rehabilitation mechanical arm, comprise shoulder C type outside track bearing (1), track slide block (2), connecting rod (3), upper arm connecting rod (4), forearm connecting rod (5), wrist annular outside track bearing (6), wrist swinging connecting rod (7) and handle (8) on the shoulders, it is characterized in that, one end of described track slide block (2) is arranged in the described shoulder C type outside track bearing (1), and the other end is connected with the upper articulation of described connecting rod on the shoulders (3); Described connecting rod on the shoulders (3) is articulated and connected with described upper arm connecting rod (4); The rear end of the lower end of described upper arm connecting rod (4) and forearm connecting rod (5) is articulated and connected; The front end of described forearm connecting rod (5) is equipped with described wrist annular outside track bearing (6); Be provided with wrist ring slider (9) in the described wrist annular outside track bearing (6); The rear end of described wrist swinging connecting rod (7) links to each other with described wrist ring slider (9), and front end is provided with described handle (8).
2. upper limb exoskeleton-type rehabilitation mechanical arm according to claim 1 is characterized in that, described connecting rod on the shoulders (3) also is connected by spacing arc-shaped guide rail (18) with described upper arm connecting rod (4).
3. upper limb exoskeleton-type rehabilitation mechanical arm according to claim 1 is characterized in that described wrist ring slider (9) is provided with symmetric two extension blocks (10); The rear end of described wrist swinging connecting rod (7) and described extension block (10) are articulated and connected.
4. upper limb exoskeleton-type rehabilitation mechanical arm according to claim 1 is characterized in that, adjusts between the two distance by noggin piece between described connecting rod on the shoulders (3) and track slide block (2).
5. upper limb exoskeleton-type rehabilitation mechanical arm according to claim 1 is characterized in that, is connected by slot between described handle (8) and the hand swing connecting bar (7).
6. upper limb exoskeleton-type rehabilitation mechanical arm according to claim 1 is characterized in that, described upper arm connecting rod (4) and forearm connecting rod (5) adopt the molectron of size adjustable to make.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110086977 CN102151215B (en) | 2011-04-07 | 2011-04-07 | Exoskeletal rehabilitation mechanical arm for upper limb |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110086977 CN102151215B (en) | 2011-04-07 | 2011-04-07 | Exoskeletal rehabilitation mechanical arm for upper limb |
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| CN102151215A true CN102151215A (en) | 2011-08-17 |
| CN102151215B CN102151215B (en) | 2013-03-06 |
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| CN 201110086977 Expired - Fee Related CN102151215B (en) | 2011-04-07 | 2011-04-07 | Exoskeletal rehabilitation mechanical arm for upper limb |
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102940561A (en) * | 2012-12-07 | 2013-02-27 | 付风生 | Upper limb rehabilitation training robot |
| CN102961235A (en) * | 2012-12-07 | 2013-03-13 | 付风生 | Upper-limb rehabilitation training robot |
| CN103203758A (en) * | 2013-04-07 | 2013-07-17 | 东华大学 | Arc-shaped guide rail mechanism applicable to joint drive |
| CN103622793A (en) * | 2013-11-28 | 2014-03-12 | 上海交通大学 | Self-service two-side synchronous external skeleton rehabilitation facility |
| CN104029212A (en) * | 2014-06-13 | 2014-09-10 | 上海交通大学 | Rotary mechanical wrist with three degrees of freedom and external rotation center |
| WO2014194578A1 (en) * | 2013-06-06 | 2014-12-11 | 中山大学 | Upper limb rehabilitation robot |
| CN104523401A (en) * | 2014-12-28 | 2015-04-22 | 上海电机学院 | Upper limb rehabilitation device |
| CN104825312A (en) * | 2015-05-06 | 2015-08-12 | 电子科技大学 | Self-adaptive binding design for exoskeleton robot shank |
| CN104905941A (en) * | 2015-06-09 | 2015-09-16 | 上海电机学院 | Upper limb rehabilitation training device |
| CN105250116A (en) * | 2015-10-10 | 2016-01-20 | 付风生 | Upper limb rehabilitation training robot manipulator |
| CN105252522A (en) * | 2015-11-20 | 2016-01-20 | 哈尔滨工业大学 | Flexible transmission upper-limb exoskeleton robot for wearing |
| CN105748260A (en) * | 2016-04-26 | 2016-07-13 | 华北理工大学 | Shoulder rehabilitation training robot with three degrees of freedom |
| CN106031669A (en) * | 2015-03-09 | 2016-10-19 | 山东建筑大学 | A seven-degree-of-freedom upper limb assisting exoskeleton robot |
| CN110236879A (en) * | 2019-06-10 | 2019-09-17 | 西北工业大学 | Exoskeleton rehabilitation training mechanical arm and its voice interactive system |
| CN110812126A (en) * | 2019-12-17 | 2020-02-21 | 张兴容 | A limbs motion rehabilitation appearance for upper limbs apoplexy hemiplegia patient |
| CN111067761A (en) * | 2020-01-10 | 2020-04-28 | 燕山大学 | Generalized shoulder joint rehabilitation training device |
| CN111168646A (en) * | 2019-12-27 | 2020-05-19 | 兰州空间技术物理研究所 | Limiting structure on three degrees of freedom of space spherical mechanism |
| CN112155945A (en) * | 2020-10-14 | 2021-01-01 | 河南理工大学 | Mechanical device for universal rehabilitation training of wrist joint |
| CN112353630A (en) * | 2020-09-28 | 2021-02-12 | 东华大学 | Pneumatic wrist exoskeleton auxiliary component |
| CN112472523A (en) * | 2020-12-10 | 2021-03-12 | 清华大学 | Elbow joint exoskeleton rehabilitation training robot |
| CN113304016A (en) * | 2021-07-09 | 2021-08-27 | 哈尔滨理工大学 | Elbow exoskeleton structure based on 3-PRR plane parallel mechanism |
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Cited By (30)
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| CN102961235A (en) * | 2012-12-07 | 2013-03-13 | 付风生 | Upper-limb rehabilitation training robot |
| CN102961235B (en) * | 2012-12-07 | 2014-12-10 | 付风生 | Upper-limb rehabilitation training robot |
| CN102940561A (en) * | 2012-12-07 | 2013-02-27 | 付风生 | Upper limb rehabilitation training robot |
| CN103203758A (en) * | 2013-04-07 | 2013-07-17 | 东华大学 | Arc-shaped guide rail mechanism applicable to joint drive |
| WO2014194578A1 (en) * | 2013-06-06 | 2014-12-11 | 中山大学 | Upper limb rehabilitation robot |
| CN103622793A (en) * | 2013-11-28 | 2014-03-12 | 上海交通大学 | Self-service two-side synchronous external skeleton rehabilitation facility |
| CN104029212B (en) * | 2014-06-13 | 2016-03-16 | 上海交通大学 | Three Degree Of Freedom is external turns heart rotating machinery wrist |
| CN104029212A (en) * | 2014-06-13 | 2014-09-10 | 上海交通大学 | Rotary mechanical wrist with three degrees of freedom and external rotation center |
| CN104523401A (en) * | 2014-12-28 | 2015-04-22 | 上海电机学院 | Upper limb rehabilitation device |
| CN106031669A (en) * | 2015-03-09 | 2016-10-19 | 山东建筑大学 | A seven-degree-of-freedom upper limb assisting exoskeleton robot |
| CN104825312A (en) * | 2015-05-06 | 2015-08-12 | 电子科技大学 | Self-adaptive binding design for exoskeleton robot shank |
| CN104825312B (en) * | 2015-05-06 | 2016-11-30 | 电子科技大学 | A kind of exoskeleton robot shank self adaptation bondage device |
| CN104905941A (en) * | 2015-06-09 | 2015-09-16 | 上海电机学院 | Upper limb rehabilitation training device |
| CN105250116A (en) * | 2015-10-10 | 2016-01-20 | 付风生 | Upper limb rehabilitation training robot manipulator |
| CN105252522B (en) * | 2015-11-20 | 2017-03-29 | 哈尔滨工业大学 | A kind of Flexible Transmission upper limb exoskeleton robot for wearing |
| CN105252522A (en) * | 2015-11-20 | 2016-01-20 | 哈尔滨工业大学 | Flexible transmission upper-limb exoskeleton robot for wearing |
| CN105748260A (en) * | 2016-04-26 | 2016-07-13 | 华北理工大学 | Shoulder rehabilitation training robot with three degrees of freedom |
| CN105748260B (en) * | 2016-04-26 | 2018-09-25 | 华北理工大学 | Three Degree Of Freedom shoulder recovery exercising robot |
| CN110236879A (en) * | 2019-06-10 | 2019-09-17 | 西北工业大学 | Exoskeleton rehabilitation training mechanical arm and its voice interactive system |
| CN110236879B (en) * | 2019-06-10 | 2021-09-21 | 西北工业大学 | Exoskeleton rehabilitation training mechanical arm and voice interaction system thereof |
| CN110812126A (en) * | 2019-12-17 | 2020-02-21 | 张兴容 | A limbs motion rehabilitation appearance for upper limbs apoplexy hemiplegia patient |
| CN111168646A (en) * | 2019-12-27 | 2020-05-19 | 兰州空间技术物理研究所 | Limiting structure on three degrees of freedom of space spherical mechanism |
| CN111168646B (en) * | 2019-12-27 | 2023-04-07 | 兰州空间技术物理研究所 | Limiting structure on three degrees of freedom of space spherical mechanism |
| CN111067761A (en) * | 2020-01-10 | 2020-04-28 | 燕山大学 | Generalized shoulder joint rehabilitation training device |
| CN112353630A (en) * | 2020-09-28 | 2021-02-12 | 东华大学 | Pneumatic wrist exoskeleton auxiliary component |
| CN112155945B (en) * | 2020-10-14 | 2022-10-04 | 河南理工大学 | Mechanical device for universal rehabilitation training of wrist joint |
| CN112155945A (en) * | 2020-10-14 | 2021-01-01 | 河南理工大学 | Mechanical device for universal rehabilitation training of wrist joint |
| CN112472523A (en) * | 2020-12-10 | 2021-03-12 | 清华大学 | Elbow joint exoskeleton rehabilitation training robot |
| CN112472523B (en) * | 2020-12-10 | 2024-05-10 | 清华大学 | Elbow joint exoskeleton rehabilitation training robot |
| CN113304016A (en) * | 2021-07-09 | 2021-08-27 | 哈尔滨理工大学 | Elbow exoskeleton structure based on 3-PRR plane parallel mechanism |
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Inventor after: Wang Shengze Inventor after: Zhang Hui Inventor after: Cong Guodong Inventor after: Dong Huaibao Inventor after: Yi Weifan Inventor after: Yu Haiyan Inventor after: Wang Chaoxin Inventor before: Zhang Hui Inventor before: Cong Guodong Inventor before: Yi Weifan Inventor before: Dong Huaibao Inventor before: Wang Chaoxin |
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| COR | Change of bibliographic data |
Free format text: CORRECT: INVENTOR; FROM: ZHANG HUI CONG GUODONG YI WEIFAN DONG HUAIBAO WANG CHAOXIN TO: WANG SHENGZE ZHANG HUI CONG GUODONG DONG HUAIBAO YI WEIFAN YU HAIYAN WANG CHAOXIN |
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| C14 | Grant of patent or utility model | ||
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Granted publication date: 20130306 Termination date: 20170407 |