CN204814703U - Power driven type low limbs joint pressure relief device's power control rotates and bears mechanism - Google Patents
Power driven type low limbs joint pressure relief device's power control rotates and bears mechanism Download PDFInfo
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- CN204814703U CN204814703U CN201520542938.6U CN201520542938U CN204814703U CN 204814703 U CN204814703 U CN 204814703U CN 201520542938 U CN201520542938 U CN 201520542938U CN 204814703 U CN204814703 U CN 204814703U
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- reducing motor
- hinge seat
- power control
- bearing
- servomotor
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Abstract
Power driven type low limbs joint pressure relief device's power control rotates and bears mechanism adjusts the structure, bears structure and power control unit including connecting the rotation, bears the structure lower extreme and is connected the rotation and adjust the connection of structure middle part, power control unit establishes and is bearing mechanism rear side lower part. The utility model discloses simple structure easily makes, and degree of automation is high, the instrument that can take care of oneself as the old person can regard as the incomplete recovering after being ill of body to take exercise moreover, has fully alleviateed the pressure that people bear the heavy object to the weight of bearing the heavy object has been improved greatly, also specially adapted rugged mountain path transportation goods.
Description
Technical field
This utility model relates to a kind of device of auxiliary old people's action, and mechanism is born in the dynamic Control rotation particularly relating to a kind of powder actuated joint of the lower extremity decompressor.
Background technology
Along with the society of the aging of stepping into gradually, the heavy burden that youngster supports middle old man is also increasing.Have and much seem usual housework, be all difficult to for the middle-aged and elderly people of being short of physical strength; The problem that two people support four or more old men will be faced after only child gets married, in life, also more and more can run into the problem of individual physical wretched insufficiency.Therefore, market is needed a kind of machine badly in order to auxiliary body weak person and middle-aged and elderly people motion, help this part people and improve their self-care ability and improve their quality of life.
Utility model content
This utility model in order to solve weak point of the prior art, provide a kind of structure simple, light, be easy to manipulate, the dynamic Control of powder actuated joint of the lower extremity decompressor that automaticity is high rotates and bears mechanism.
For solving the problems of the technologies described above, this utility model adopts following technical scheme: the dynamic Control of powder actuated joint of the lower extremity decompressor is rotated and born mechanism, comprise connection of rotating adjustment structure, bear structure and power control unit, bear structure lower end and be connected with in the middle part of connection of rotating adjustment structure; Power control unit is located at bears mechanism's back lower;
Connection of rotating adjustment structure comprises one piece of width adjustment plates and two pieces of connecting plates, bear between structure lower end with two pieces of connecting plate upper ends and be connected by holder, width adjustment plates two ends are connected respectively with in the middle part of two pieces of connecting plates, the lower end of every block connecting plate is all hinged with can along the X of vertical plane rotation to hinge seat, X is hinged with Z-direction first flap that can rotate along the horizontal plane outside hinge seat, be hinged with Z-direction second flap that can rotate along the horizontal plane outside Z-direction first flap, outside Z-direction second flap, be hinged with the Y-direction hinge seat that can rotate along the horizontal plane; Belt is provided with between two pieces of connecting plates; Connecting plate is provided with X for driving X to rotate to hinge seat to reducing motor, the Y-direction hinge seat in left side is provided with the left Y-direction reducing motor for driving the swing of left retractable support structure, and the Y-direction hinge seat on right side is provided with the right Y-direction reducing motor for driving the swing of right retractable support structure;
The Z-direction driving mechanism driving Y-direction hinge seat to rotate along Z-direction is provided with in Y-direction hinge seat, described Z-direction driving mechanism comprises the sleeve pipe be located in Y-direction hinge seat, servomotor is provided with in sleeve pipe, central gear, planet carrier, planetary gear, ring gear, output shaft, bearing, bearing block and shaft coupling, servomotor is coaxial to be fixed on Z-direction second flap, planetary gear rotation is connected on planet carrier, planet carrier is located in ring gear, central gear is located on the power output shaft of servomotor, central gear is positioned in the middle of planetary gear through planet carrier, planetary gear engages with central gear and ring gear respectively, ring gear is fixedly connected with bearing block is coaxial, bearing is located in bearing block, output shaft one end and planet carrier central coaxial are to being fixedly connected with, the output shaft other end is connected with shaft coupling one end through bearing inner race, the shaft coupling other end is fixedly connected with Y-direction hinge seat,
Described structure of bearing comprises vertically disposed framework, and framework lower end and holder are bolted to connection, and framework is provided with Height Adjustable heavy burden link, and the framework left and right sides is respectively equipped with a shoulder belt.
Described power control unit comprises the casing be located on framework, accumulator and servo controller is provided with in casing, leg muscle group electromyographic signal sensor and hip joint muscle group electromyographic signal sensor, accumulator respectively with servo controller, X is to reducing motor, left Y-direction reducing motor, right Y-direction reducing motor is connected by cable with servomotor, servo controller by data signal line respectively with X to reducing motor, left Y-direction reducing motor, right Y-direction reducing motor, servomotor, leg muscle group electromyographic signal sensor is connected with hip joint muscle group electromyographic signal sensor.
Adopt technique scheme, powder actuated joint of the lower extremity decompressor also comprises left retractable support structure and right retractable support structure, two ends, connection of rotating adjustment structure left and right are connected with the upper end of left retractable support structure and right retractable support structure respectively, and left retractable support structure is identical and symmetrical with the structure of right retractable support structure; With left retractable support structure upper end thereof outside the Y-direction hinge seat in left side, with right retractable support structure upper end thereof outside the Y-direction hinge seat on right side;
Described left retractable support structure comprises pneumatic muscle, arc, thigh support pipe, shank stay pipe, thigh expansion link, shank expansion link and pedal, shank stay pipe upper end is provided with mount pad, knee joint hinge is passed through on mount pad in thigh support pipe lower end, thigh expansion link is plugged in thigh support pipe from top to bottom, thigh support pipe top is provided with the upper locking ring for locating thigh expansion link, shank expansion link is plugged in shank stay pipe from bottom to top, and shank stay pipe bottom is provided with the lower retaining ring for locating shank expansion link; Shank expansion link lower end is fixedly connected with outside pedal upper surface, and thigh support pipe is connected with the arc location-plate that may be stuck on thigh, and arc location-plate is provided with thigh bandage, and pedal is provided with foot binder;
Shank stay pipe lower end is provided with undersetting, thigh support pipe middle and lower part is provided with upper bracket, the lower end of pneumatic muscle is hinged on undersetting, arc upper end thereof is on upper bracket, arc lower end and pneumatic muscle upper end thereof, be provided with wear-resisting slideway along the vertical direction on rear side of arc, on front side of mount pad, be provided with the roller be connected that to roll with wear-resisting slideway.
Described pneumatic muscle comprises air bag and is easy to level and vertical flexible diamond weave net, and diamond weave net is located on air bag inwall, and air bag is provided with valve, and gasbag outer surface is provided with soft elastic external protection.
Described power control unit also comprises the servo-pneumatic proportioning valve group, air relief valve and the liquid nitrogen bottle that are located in casing, servo controller is connected with servo-pneumatic proportioning valve group by data signal line, the outlet of liquid nitrogen bottle is connected by the import of air relief valve with servo-pneumatic proportioning valve group, and the outlet of servo-pneumatic proportioning valve group is connected with the import of pneumatic muscle.
Powder actuated joint of the lower extremity decompressor in use, the both feet of user are stepped on respectively on the footrests and fix with foot binder, thigh position uses arc location-plate entangle and adopt thigh bandage to tighten, waist uses belt by fastening for connection of rotating adjustment structure, and shoulder puts shoulder belt will bear fastening structure.Leg muscle group electromyographic signal sensor and hip joint muscle group electromyographic signal sensor are pasted leg muscle group and hip joint muscle group place respectively simultaneously.Weight is tied up on heavy burden link, and the gravity of weight is supported by left retractable support structure and right retractable support structure after bearing structure, connection of rotating adjustment structure, so just significantly reduces the pressure of people's spinal column and lower limb.
Assuming that thigh swing is around X-axis motion, it is that internal rotation of hip joint and outward turning are moved around Z axis around Y-axis motion that thigh swings.Can beyond human body around X-axis and the revolute pair around Y-axis, but can only in human body around the revolute pair of Z axis motion.When stepping forward dynamic left lower limb or right lower limb, hip joint muscle and leg muscle can change, variable signal is transferred to servo controller by leg muscle group electromyographic signal sensor and hip joint muscle group electromyographic signal sensor, servo controller left Y-direction reducing motor or right Y-direction reducing motor is given an order signal, and left Y-direction reducing motor and right Y-direction reducing motor drive left retractable support structure and right retractable support structure respectively.If thigh swings, servo controller is given an order to X to reducing motor signal, two X in left and right drive connection of rotating adjustment structure to rotate to reducing motor respectively, and connection of rotating adjustment structure outer end drives left retractable support structure and right retractable support structure to swing.When internal rotation of hip joint and outward turning, servo controller is given an order to X to reducing motor signal, and servomotor rotates, and drives planetary gear by central gear, and planetary gear drives Y-direction hinge seat by output shaft and rotates relative to Z-direction second flap.
When people stands from preparation of squatting down, need larger leg pulling force to realize standing, and when standing, only need very little strength to maintain.Pneumatic muscle drives arc, can provide the different arm of force and force production like this by the position of the fulcrum changing arc.Roller is exactly the fulcrum of arc, and along with the change of stretching, extension angle, the position that roller contacts with arc is also changing.When pneumatic muscle stroke is longer, when the stretching, extension angle between thigh support pipe and shank stay pipe is larger, roller present position can the closer to wear-resisting slideway bottom; Between thigh support pipe and shank stay pipe, stretch angle more hour, when namely going down on one's knees, roller present position can the closer to wear-resisting slideway top, thus move at the seasonal epidemic pathogens for preparing to stand of squatting down the pulling force that tendon provides larger.
When the people of different height uses, by up-down adjustment thigh expansion link in thigh support pipe, up-down adjustment shank expansion link in shank stay pipe, and by upper locking ring and lower retaining ring, thigh expansion link and shank expansion link are locked.The length of width adjustment plates scalable connection of rotating adjustment structure again in horizontal direction, uses with the people of applicable different waistline.
The airbag inflation of pneumatic muscle, diamond weave net horizontal direction increases, and vertical direction shortens, balancing weight is pulled upwardly by the pulling force that pneumatic muscle produces upwards, and the air bag of pneumatic muscle shrinks, and diamond weave net horizontal direction reduces, vertical direction is extended, and balancing weight falls.Pneumatic muscle only produces pulling force and does not produce thrust, the same with human muscle.
Powder actuated joint of the lower extremity decompressor structure is simple, be easy to manufacture, automaticity is high, the instrument can taken care of oneself as old people, and can take exercise as the residual recovery after being ill of body, fully alleviate the pressure that people bear weight, and substantially increase the weight of bearing weight, be also specially adapted to rugged mountain path transporting cargo.
Accompanying drawing explanation
Fig. 1 is the structural representation of powder actuated joint of the lower extremity decompressor;
Fig. 2 is the left view (under work using state) of Fig. 1;
Fig. 3 is the structural representation of power control unit;
Fig. 4 is the entirety assembling schematic diagram of the connection of rotating adjustment structure on right side;
Fig. 5 is the explosive view of connection of rotating adjustment structure in Fig. 4;
Schematic diagram when Fig. 6 is pneumatic muscle pucker & bloat in Fig. 1.
Detailed description of the invention
As shown in figs 1 to 6, powder actuated joint of the lower extremity decompressor, comprise left retractable support structure, right retractable support structure, connection of rotating adjustment structure, bear structure, power control unit, two ends, connection of rotating adjustment structure left and right are connected with the upper end of left retractable support structure and right retractable support structure respectively, bear structure lower end and are connected with in the middle part of connection of rotating adjustment structure; Left retractable support structure is identical and symmetrical with the structure of right retractable support structure; Power control unit is located at bears mechanism's back lower.
Connection of rotating adjustment structure comprises one piece of width adjustment plates 1 and two pieces of connecting plates 2, bear between structure lower end with two pieces of connecting plate 2 upper ends and be connected by holder 3, width adjustment plates 1 two ends are connected respectively with in the middle part of two pieces of connecting plates 2, the lower end of every block connecting plate 2 is all hinged with can along the X of vertical plane rotation to hinge seat 4, X is hinged with Z-direction first flap 5 that can rotate along the horizontal plane outside hinge seat 4, Z-direction second flap 6 that can rotate along the horizontal plane is hinged with outside Z-direction first flap 5, the Y-direction hinge seat 7 that can rotate along the horizontal plane is hinged with outside Z-direction second flap 6, with left retractable support structure upper end thereof outside the Y-direction hinge seat 7 in left side, with right retractable support structure upper end thereof outside the Y-direction hinge seat 7 on right side, belt 8 is provided with between two pieces of connecting plates 2.
Connecting plate 2 is provided with X for driving X to rotate to hinge seat 4 to reducing motor 9, the Y-direction hinge seat 7 in left side is provided with the left Y-direction reducing motor 10 for driving the swing of left retractable support structure, and the Y-direction hinge seat 7 on right side is provided with the right Y-direction reducing motor 11 for driving the swing of right retractable support structure.
The Z-direction driving mechanism driving Y-direction hinge seat 7 to rotate along Z-direction is provided with in Y-direction hinge seat 7.
Z-direction driving mechanism comprises the sleeve pipe 12 be located in Y-direction hinge seat 7, servomotor 13 is provided with in sleeve pipe 12, central gear 14, planet carrier 15, planetary gear 16, ring gear 17, output shaft 18, bearing 19, bearing block 20 and shaft coupling 21, servomotor 13 is coaxial to be fixed on Z-direction second flap 6, planetary gear 16 is rotatably connected on planet carrier 15, planet carrier 15 is located in ring gear 17, central gear 14 is located on the power output shaft 18 of servomotor 13, central gear 14 is positioned in the middle of planetary gear 16 through planet carrier 15, planetary gear 16 engages with central gear 14 and ring gear 17 respectively, ring gear 17 is fixedly connected with bearing block 20 is coaxial, bearing 19 is located in bearing block 20, output shaft 18 one end and planet carrier 15 central coaxial are to being fixedly connected with, output shaft 18 other end is connected with shaft coupling 21 one end through bearing 19 inner ring, shaft coupling 21 other end is fixedly connected with Y-direction hinge seat 7.
Left retractable support structure comprises pneumatic muscle 22, arc 23, thigh support pipe 24, shank stay pipe 25, thigh expansion link 26, shank expansion link 27 and pedal 28, shank stay pipe 25 upper end is provided with mount pad 29, thigh support pipe 24 lower end is hinged on mount pad 29 by knee joint hinge 30, thigh expansion link 26 is plugged in thigh support pipe 24 from top to bottom, thigh support pipe 24 top is provided with the upper locking ring 31 for locating thigh expansion link 26, shank expansion link 27 is plugged in shank stay pipe 25 from bottom to top, shank stay pipe 25 bottom is provided with the lower retaining ring 32 for locating shank expansion link 27, shank expansion link 27 lower end is fixedly connected with outside pedal 28 upper surface, and thigh support pipe 24 is connected with the arc location-plate 33 that may be stuck on thigh, and arc location-plate 33 is provided with thigh bandage 34, and pedal 28 is provided with foot binder 35.
Shank stay pipe 25 lower end is provided with undersetting 36, thigh support pipe 24 middle and lower part is provided with upper bracket 37, the lower end of pneumatic muscle 22 is hinged on undersetting 36, arc 23 upper end thereof is on upper bracket 37, arc 23 lower end and pneumatic muscle 22 upper end thereof, be provided with wear-resisting slideway 38 on rear side of arc 23 along the vertical direction, on front side of mount pad 29, be provided with the roller 39 be connected that to roll with wear-resisting slideway 38.
Pneumatic muscle 22 comprises air bag 40 and is easy to level and vertical flexible diamond weave net 41, and diamond weave net 41 is located on air bag 40 inwall, and air bag 40 is provided with valve 42, and air bag 40 outer surface is provided with soft elastic external protection 43.
Bear structure and comprise vertically disposed framework 44, framework 44 lower end and holder 3 are bolted to connection, and framework 44 is provided with Height Adjustable heavy burden link 45, and framework 44 left and right sides is respectively equipped with a shoulder belt 46.
Power control unit comprises the casing 47 be located on framework 44, accumulator 48 is provided with in casing 47, servo controller 49, servo-pneumatic proportioning valve group 50, air relief valve 51, liquid nitrogen bottle 52, leg muscle group electromyographic signal sensor 53 and hip joint muscle group electromyographic signal sensor 54, accumulator 48 respectively with servo controller 49, X is to reducing motor 9, left Y-direction reducing motor 10, right Y-direction reducing motor 11 is connected by cable with servomotor 13, servo controller 49 by data signal line respectively with servo-pneumatic proportioning valve group 50, X is to reducing motor 9, left Y-direction reducing motor 10, right Y-direction reducing motor 11, servomotor 13, leg muscle group electromyographic signal sensor 53 is connected with hip joint muscle group electromyographic signal sensor 54, the outlet of liquid nitrogen bottle 52 is connected by the import of air relief valve 51 with servo-pneumatic proportioning valve group 50, the outlet of servo-pneumatic proportioning valve group 50 is connected by high-pressure air pipe 56 with the import of pneumatic muscle 22.
This utility model in use, the both feet of user are stepped on respectively and are also fixed with foot binder 35 on pedal 28, thigh position uses arc location-plate 33 entangle and adopt thigh bandage 34 to tighten, waist uses belt 8 by fastening for connection of rotating adjustment structure, and shoulder puts shoulder belt 46 will bear fastening structure.Leg muscle group electromyographic signal sensor 53 and hip joint muscle group electromyographic signal sensor 54 are pasted leg muscle group and hip joint muscle group place respectively simultaneously.Weight is tied up on heavy burden link 45, and the gravity of weight is supported by left retractable support structure and right retractable support structure after bearing structure, connection of rotating adjustment structure, so just significantly reduces the pressure of people's spinal column and lower limb.
Assuming that thigh swing is around X-axis motion, it is that internal rotation of hip joint and outward turning are moved around Z axis around Y-axis motion that thigh swings.Can beyond human body around X-axis and the revolute pair around Y-axis, but can only in human body around the revolute pair of Z axis motion.When stepping forward dynamic left lower limb or right lower limb, hip joint muscle and leg muscle can change, variable signal is transferred to servo controller 49 by leg muscle group electromyographic signal sensor 53 and hip joint muscle group electromyographic signal sensor 54, servo controller 49 left Y-direction reducing motor 10 or right Y-direction reducing motor 11 is given an order signal, and left Y-direction reducing motor 10 and right Y-direction reducing motor 11 drive left retractable support structure and right retractable support structure respectively.If thigh swings, servo controller 49 is given an order to X to reducing motor 9 signal, two X in left and right drive connection of rotating adjustment structure to rotate to reducing motor 9 respectively, and connection of rotating adjustment structure outer end drives left retractable support structure and right retractable support structure to swing.When internal rotation of hip joint and outward turning, servo controller 49 is given an order to X to reducing motor 9 signal, servomotor 13 rotates, and drives planetary gear 16 by central gear 14, and planetary gear 16 drives Y-direction hinge seat 7 by output shaft 18 and rotates relative to Z-direction second flap 6.
When people stands from preparation of squatting down, need larger leg pulling force to realize standing, and when standing, only need very little strength to maintain.Pneumatic muscle 22 drives arc 23, can provide the different arm of force and force production like this by the position of the fulcrum changing arc 23.Roller 39 is exactly the fulcrum of arc 23, and along with the change of stretching, extension angle, the position that roller 39 contacts with arc 23 is also changing.When pneumatic muscle 22 stroke is longer, when the stretching, extension angle between thigh support pipe 24 and shank stay pipe 25 is larger, roller 39 present position can the closer to wear-resisting slideway 38 bottom; Between thigh support pipe 24 and shank stay pipe 25, stretch angle more hour, when namely going down on one's knees, roller 39 present position can the closer to wear-resisting slideway 38 top, thus move at the seasonal epidemic pathogens for preparing to stand of squatting down the pulling force that tendon 22 provides larger.
When the people of different height uses, by up-down adjustment thigh expansion link 26 in thigh support pipe 24, up-down adjustment shank expansion link 27 in shank stay pipe 25, and by upper locking ring 31 and lower retaining ring 32, thigh expansion link 26 and shank expansion link 27 are locked.The length of width adjustment plates 1 scalable connection of rotating adjustment structure again in horizontal direction, uses with the people of applicable different waistline.
The air bag 40 of pneumatic muscle 22 expands, and diamond weave net 41 horizontal direction increases, and vertical direction shortens, balancing weight 55 is pulled upwardly by the pulling force that pneumatic muscle 22 produces upwards, and the air bag 40 of pneumatic muscle 22 shrinks, and diamond weave net 41 horizontal direction reduces, vertical direction is extended, and balancing weight 55 falls.Pneumatic muscle 22 produces pulling force and does not produce thrust, the same with human muscle.
Claims (2)
1. the dynamic Control of powder actuated joint of the lower extremity decompressor is rotated and is born mechanism, it is characterized in that: comprise connection of rotating adjustment structure, bear structure and power control unit, bears structure lower end and be connected with in the middle part of connection of rotating adjustment structure; Power control unit is located at bears mechanism's back lower;
Connection of rotating adjustment structure comprises one piece of width adjustment plates and two pieces of connecting plates, bear between structure lower end with two pieces of connecting plate upper ends and be connected by holder, width adjustment plates two ends are connected respectively with in the middle part of two pieces of connecting plates, the lower end of every block connecting plate is all hinged with can along the X of vertical plane rotation to hinge seat, X is hinged with Z-direction first flap that can rotate along the horizontal plane outside hinge seat, be hinged with Z-direction second flap that can rotate along the horizontal plane outside Z-direction first flap, outside Z-direction second flap, be hinged with the Y-direction hinge seat that can rotate along the horizontal plane; Belt is provided with between two pieces of connecting plates; Connecting plate is provided with X for driving X to rotate to hinge seat to reducing motor, the Y-direction hinge seat in left side is provided with the left Y-direction reducing motor for driving the swing of left retractable support structure, and the Y-direction hinge seat on right side is provided with the right Y-direction reducing motor for driving the swing of right retractable support structure;
The Z-direction driving mechanism driving Y-direction hinge seat to rotate along Z-direction is provided with in Y-direction hinge seat, described Z-direction driving mechanism comprises the sleeve pipe be located in Y-direction hinge seat, servomotor is provided with in sleeve pipe, central gear, planet carrier, planetary gear, ring gear, output shaft, bearing, bearing block and shaft coupling, servomotor is coaxial to be fixed on Z-direction second flap, planetary gear rotation is connected on planet carrier, planet carrier is located in ring gear, central gear is located on the power output shaft of servomotor, central gear is positioned in the middle of planetary gear through planet carrier, planetary gear engages with central gear and ring gear respectively, ring gear is fixedly connected with bearing block is coaxial, bearing is located in bearing block, output shaft one end and planet carrier central coaxial are to being fixedly connected with, the output shaft other end is connected with shaft coupling one end through bearing inner race, the shaft coupling other end is fixedly connected with Y-direction hinge seat,
Described structure of bearing comprises vertically disposed framework, and framework lower end and holder are bolted to connection, and framework is provided with Height Adjustable heavy burden link, and the framework left and right sides is respectively equipped with a shoulder belt.
2. the dynamic Control of powder actuated joint of the lower extremity decompressor according to claim 1 is rotated and is born mechanism, it is characterized in that: described power control unit comprises the casing be located on framework, accumulator is provided with in casing, servo controller, leg muscle group electromyographic signal sensor and hip joint muscle group electromyographic signal sensor, accumulator respectively with servo controller, X is to reducing motor, left Y-direction reducing motor, right Y-direction reducing motor is connected by cable with servomotor, servo controller by data signal line respectively with X to reducing motor, left Y-direction reducing motor, right Y-direction reducing motor, servomotor, leg muscle group electromyographic signal sensor is connected with hip joint muscle group electromyographic signal sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520542938.6U CN204814703U (en) | 2015-07-24 | 2015-07-24 | Power driven type low limbs joint pressure relief device's power control rotates and bears mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520542938.6U CN204814703U (en) | 2015-07-24 | 2015-07-24 | Power driven type low limbs joint pressure relief device's power control rotates and bears mechanism |
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| Publication Number | Publication Date |
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| CN204814703U true CN204814703U (en) | 2015-12-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520542938.6U Expired - Fee Related CN204814703U (en) | 2015-07-24 | 2015-07-24 | Power driven type low limbs joint pressure relief device's power control rotates and bears mechanism |
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| CN (1) | CN204814703U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109070334A (en) * | 2015-12-24 | 2018-12-21 | 赛峰电子与防务公司 | Modular ectoskeleton structure including knapsack supporting module |
-
2015
- 2015-07-24 CN CN201520542938.6U patent/CN204814703U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109070334A (en) * | 2015-12-24 | 2018-12-21 | 赛峰电子与防务公司 | Modular ectoskeleton structure including knapsack supporting module |
| CN109070334B (en) * | 2015-12-24 | 2021-09-14 | 赛峰电子与防务公司 | Modular exoskeleton structure including backpack support module |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151202 Termination date: 20160724 |
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| CF01 | Termination of patent right due to non-payment of annual fee |