CN210631303U - Linear motion mechanism and operation trolley - Google Patents
Linear motion mechanism and operation trolley Download PDFInfo
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- CN210631303U CN210631303U CN201921066931.6U CN201921066931U CN210631303U CN 210631303 U CN210631303 U CN 210631303U CN 201921066931 U CN201921066931 U CN 201921066931U CN 210631303 U CN210631303 U CN 210631303U
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Abstract
The utility model provides a linear motion mechanism and operation platform truck belongs to medical instrument technical field. The problem that the balance radial moment capacity of a linear motion mechanism of an existing operation trolley is relatively poor is solved. The linear motion mechanism of the operation trolley comprises a lead screw with one end connected to a bottom plate, a motor used for driving the lead screw to rotate, a nut arranged on the lead screw in a matched mode and a stand base plate fixedly connected with the nut, the axis of the lead screw is parallel to a side plate, the stand base plate is parallel to the axis of the lead screw, a first guide structure which is parallel to the stand base plate is arranged between the stand base plate and one of the side plates parallel to the stand base plate, a carriage which is parallel to the stand base plate is arranged on one side, away from the first guide structure, of the stand base plate, the other end of the lead screw is connected with the carriage, and a second guide structure which is parallel. The utility model has the advantages of small transverse dimension, effective balance of lateral force moment, maximum reduction of the minimum height and the like which can be reached.
Description
Technical Field
The utility model belongs to the technical field of medical instrument, a linear motion mechanism and operation platform truck are related to.
Background
As shown in fig. 5, the surgical cart includes a base 100, a rotary upright 300 disposed on the base 100, a cross beam disposed at the upper end of the rotary upright 300, and a manipulator 200 disposed on the cross beam, and the linear motion mechanism on the rotary upright is used for bearing the weight of the lifting body (in fig. 5, the lifting body is the cross beam and the manipulator 200), transmitting the transverse bending moment from the lifting body to the rotary upright, and driving the lifting body to move up and down, and meanwhile, the surgical cart can be stopped at any time according to the control requirement during the lifting process, and can be reliably maintained at the required position for a long time. In order to achieve a better surgical operation, it is required that the elevating body has a long axial stroke and can be stopped and locked at an arbitrary position, and among many driving methods, a driving method of a (ball) screw nut is preferable.
At present, the mounting modes of the feed screw nut mainly include the following three types: a. fixed-fixed type; b. fixed-supported; c. fixed-free. For the two installation modes of a and b, bases of a fixed end and a supporting end of the screw rod are required to be installed on a fixed base plate, the load body is installed on the nut, the screw rod is driven to rotate through the motor, the nut can drive the load body to do linear reciprocating motion, in the fixed-free installation mode, the base of the fixed end of the screw rod is installed on the base plate, the free end is suspended, the load body is installed on the nut, the screw rod is driven to rotate through the motor, and the nut can drive the load body to do linear reciprocating motion.
For the mounting modes a and b, the fixed end and the base of the supporting end are required to be mounted on a fixed base plate, if the body of the load body needs to exceed the supporting end, ① needs to be grooved on the load body to avoid the base of the supporting end, but the lateral rigidity of the load body is weakened, ② or the load body is axially offset from the axis of the lead screw by a sufficient distance in parallel, the nut and the load body are rigidly connected through a connecting plate, but the lead screw can be subjected to transverse bending moment, so that the performance and the safety of the lead screw are affected.
The rotary upright column on the existing operation trolley is generally in a closed rectangular shape, a round shape or a square shape, parts are not contained inside or are not used as a main body structure for containing the parts, the linear motion mechanism is generally arranged on the outer surface of the rotary upright column, namely the upright column is internally arranged, the load is externally arranged, and under the same sectional area, the rigidity of the upright column is relatively weaker, and the load capacity is low.
SUMMERY OF THE UTILITY MODEL
The utility model aims at solving the problems in the prior art, and provides a linear motion mechanism capable of balancing radial moment and an operation trolley provided with the linear motion mechanism.
The purpose of the utility model can be realized by the following technical proposal:
a linear motion mechanism is arranged in a rotary stand column formed by a bottom plate and a plurality of side plates and comprises a screw rod, a motor, a nut and a stand column base plate, wherein one end of the screw rod is connected to the bottom plate, the motor is used for driving the screw rod to rotate around the central axis of the screw rod, the nut is arranged on the screw rod in a matched mode, the stand column base plate is fixedly connected with the nut, the axis of the screw rod is parallel to the axis of the screw rod, a first guide structure which is axially guided along the screw rod is arranged between the stand column base plate and one of the side plates which is parallel to the stand column base plate, a carriage which is parallel to the stand column base plate is arranged on one side, far away from the first guide structure, of the stand column base plate, the other end.
The rotary upright post is composed of a bottom plate and four side plates, the bottom plate is perpendicular to the side plates, the cross section of the rotary upright post is rectangular, the linear motion mechanism is arranged in the rotary upright post and drives the upright post substrate to move along the length direction of the rotary upright post, and one end, far away from the bottom plate, of the upright post substrate is higher than the tops of the side plates. Because the nut and the lead screw are matched, when the motor drives the lead screw to rotate, the rotary motion of the lead screw is converted into the linear motion of the nut, the stand column substrate is fixedly connected with the nut, the stand column substrate is driven to perform linear motion when the nut performs linear motion, all the weight of the lifting body acts on the stand column substrate, the radial torque can be balanced through the arranged first guide structure, the carriage is arranged on the stand column substrate through the second guide structure, and the transverse size of the linear motion mechanism can be greatly reduced.
In the above linear motion mechanism, the guide structure includes at least one main guide rail fixed on the side plate and a main slider slidably disposed on the main guide rail, at least one main slider is disposed on each main guide rail, and the column substrate is fixedly connected to all the main sliders. When the upright post base plate moves linearly, all the main sliding blocks are driven to move on the main guide rail matched with the main sliding blocks. The main guide rail and the main sliding block play roles in guiding and limiting the upright post base plate and balance radial torque.
In foretell linear motion mechanism, leading rail be two and be parallel to each other locate on same curb plate, every leading rail on all be equipped with two main sliders, the stand base plate stride establish on two leading rails, the lead screw projection line on the curb plate that is equipped with leading rail to the distance of two leading rails equal. Namely, the screw rod and the two main guide rails are arranged in a centering way, and the stability is high. The distance between the two main sliding blocks on the same main guide rail is less than or equal to half of the length of the side plate. The main sliding block is arranged at one end of the upright column base plate close to the bottom plate as much as possible.
In the above linear motion mechanism, the guide structure includes at least one auxiliary guide rail fixed on one side of the column substrate away from the main slider and an auxiliary slider slidably disposed on the auxiliary guide rail, the auxiliary guide rail is parallel to the main guide rail, and each auxiliary guide rail is provided with at least one auxiliary slider, and the carriage is fixedly connected with the auxiliary slider.
In the above linear motion mechanism, the two auxiliary guide rails are arranged in parallel, each auxiliary guide rail is provided with two auxiliary sliding blocks, the carriage is arranged on the two auxiliary guide rails in a spanning manner, and the distances from the projection line of the screw rod on the upright post substrate to the two main guide rails are equal. Namely, the screw rod is arranged in a centering way with the two auxiliary guide rails.
In the above linear motion mechanism, the base plate is fixed with a first connecting seat, one side of the carriage, which is away from the auxiliary sliding block, is fixed with a second connecting seat which is arranged opposite to the first connecting seat, one end of the screw rod is rotatably connected with one connecting seat, and the other end of the screw rod is rotatably connected with the second connecting seat.
The specific connection mode is as follows: the first connecting seat is provided with a first connecting hole, the second connecting seat is provided with a second connecting hole, one end of the screw rod penetrates into the first connecting hole and is axially and radially limited through the first bearing, the rotary connection is realized, the other end of the screw rod penetrates into the second connecting hole and is axially and radially limited through the second bearing, and the rotary connection is realized. The first connecting hole and the second connecting hole are coaxially arranged, and the first bearing and the second bearing are coaxially arranged.
In the above linear motion mechanism, the carriage is fixed with a speed reducer, an output shaft of the speed reducer is coaxially and fixedly connected with the screw rod through a coupling, the motor is fixed on the speed reducer, and the output shaft of the motor is coaxially and fixedly connected with an input shaft of the speed reducer. Namely, a speed reducer is arranged between the motor and the screw rod, and the speed reducer can adopt a gear speed reducer.
In the above linear motion mechanism, the brake is fixed on the carriage, and the screw rod is inserted into the brake. When the base plate of the upright post moves in place, the brake locks the screw rod to prevent the screw rod from continuously rotating. Meanwhile, a motor brake can be arranged on the motor, and the arrangement of the double brakes increases the safety factor.
In order to facilitate the nut to be fixedly connected with the upright post base plate, a hollow connecting plate is fixed on the upright post base plate, the nut is fixed on the connecting plate, and the screw rod is arranged in the connecting plate in a penetrating mode.
Because the auxiliary sliding block, the dragging plate, the screw rod, the nut, the motor and the like are positioned on one side of the upright post substrate, the upright post substrate can be arranged into an enclosing structure to enclose the auxiliary sliding block, the dragging plate, the screw rod, the nut and the motor, the sealing performance and the safety are improved, and the system deformation is reduced.
An operation trolley comprises a rotary upright post, wherein the linear motion mechanism is arranged in the rotary upright post.
In the above-mentioned operation trolley, the rotary upright column comprises a bottom plate and a plurality of side plates vertically arranged on the bottom plate, and two adjacent side plates are fixedly connected through an angle plate.
In the above-mentioned surgical trolley, the number of the side plates is four.
When the rotary upright post is provided with four side plates, the cross section of the rotary upright post is rectangular. One side of the angle plate is provided with a first connecting part, the first connecting part is provided with a plurality of threaded holes which are uniformly distributed along the length direction of the first connecting part, the other side of the angle plate is provided with a second connecting part, the second connecting part is provided with a plurality of threaded holes which are uniformly distributed along the length direction of the second connecting part, the two sides of the side plate are respectively provided with a plurality of connecting holes which are in one-to-one correspondence with the threaded holes, and the. The rotary upright post is designed in a split structure, the linear motion mechanism is arranged in the rotary upright post, namely the rotary upright post is arranged externally, the load is arranged internally, and the transverse deformation generated when a large transverse bending moment is applied is small.
Compared with the prior art, the utility model has the advantages of it is following: the horizontal size is little, the noise is little, the load is big, holistic rigidity is high, and factor of safety is high under equal horizontal size, and system's deflection is little under the prerequisite of equal load, installs stopper, speed reducer, motor on the planker for lead screw extreme lower position greatly reduced, the extreme lower position that the lifting body of furthest reduced the operation platform truck can reach, can reduce holistic focus height when the lifting body falls to extreme lower position.
Drawings
Fig. 1 is a front view of the linear motion mechanism provided by the present invention.
Fig. 2 is a sectional view of the linear motion mechanism provided by the present invention.
Fig. 3 is a schematic view of a part of the structure of the operation trolley provided by the present invention.
Fig. 4 is a transverse sectional view of the surgical cart provided by the present invention.
Fig. 5 is a schematic structural view of a surgical cart provided in the background art.
In the figure, 1, a bottom plate; 2. a side plate; 3. a screw rod; 4. a motor; 5. a nut; 6. a column base plate; 7. a carriage; 8. a main guide rail; 9. a main slider; 10. a secondary guide rail; 11. a sub slider; 12. a first connecting seat; 13. a second connecting seat; 14. a speed reducer; 15. a brake; 16. a rotating column; 17. a gusset is provided.
Detailed Description
The following are specific embodiments of the present invention and the accompanying drawings are used to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.
The surgical cart shown in fig. 5 includes a base 100, a rotary column 300 disposed on the base 100, a cross beam disposed at an upper end of the rotary column 300, and a manipulator 200 disposed on the cross beam, and the linear motion mechanism is disposed in the rotary column 300. The linear motion mechanism shown in fig. 1 is arranged in a rotary upright post formed by a bottom plate 1 and a plurality of side plates 2, the rotary upright post is formed by one bottom plate 1 and four side plates 2, the bottom plate 1 is vertical to the side plates 2, and the cross section of the rotary upright post is rectangular. The linear motion mechanism comprises a screw rod 3 with one end connected to the bottom plate 1, a motor 4 used for driving the screw rod 3 to rotate around the central axis of the screw rod, a nut 5 arranged on the screw rod 3 in a matched mode and an upright post substrate 6 fixedly connected with the nut 5, the axis of the screw rod 3 is parallel to the side plate 2, and the upright post substrate 6 is parallel to the axis of the screw rod 3. The linear motion mechanism is arranged in the rotary upright column and drives the upright column substrate 6 to move along the length direction of the rotary upright column, and one end, far away from the bottom plate 1, of the upright column substrate 6 is higher than the top of the side plate 2. To improve the accuracy of the movement, it is preferable that the ball screw is engaged with the nut 5.
As shown in fig. 2, a first guide structure which is guided along the axial direction of the screw rod 3 is arranged between the column base plate 6 and one of the side plates 2 which is parallel to the column base plate 6, a carriage 7 which is parallel to the column base plate 6 is arranged on one side of the column base plate 6 which is far away from the first guide structure, the other end of the screw rod 3 is connected with the carriage 7, and a second guide structure which is guided along the axial direction of the screw rod 3 is arranged between the carriage 7 and the column base plate 6.
Because nut 5 and 3 cooperation settings of lead screw, when motor 4 drive lead screw 3 gyration, the rotary motion of lead screw 3 truns into the linear motion of nut 5, stand base plate 6 links firmly with nut 5 simultaneously, will drive 6 linear motion of stand base plate when 5 linear motion of nut, the whole weight of the crossbeam of operation platform truck and manipulator is used in on stand base plate 6, but radial moment is balanced through the guide structure one that sets up, set up planker 7 on stand base plate 6 through guide structure two, can reduce linear motion mechanism's horizontal size greatly.
The first guide structure comprises at least one main guide rail 8 fixed on the side plate 2 and a main sliding block 9 arranged on the main guide rail 8 in a sliding manner, each main guide rail 8 is at least provided with one main sliding block 9, and the stand column substrate 6 is fixedly connected with all the main sliding blocks 9. When the upright post base plate 6 moves linearly, all the main sliding blocks 9 are driven to move on the main guide rail 8 matched with the main sliding blocks. The main guide rail 8 and the main sliding block 9 play guiding and limiting roles for the upright post base plate 6, and balance radial torque.
In this embodiment, as shown in fig. 1, the two main guide rails 8 are parallel to each other and are disposed on the same side plate 2, two main sliders 9 are disposed on each main guide rail 8, the column substrate 6 is disposed across the two main guide rails 8, and the distances from the projection line of the lead screw 3 on the side plate 2 provided with the main guide rails 8 to the two main guide rails 8 are equal, i.e., the lead screw 3 and the two main guide rails 8 are arranged in a centered manner, so that the stability is high. The distance between two main sliders 9 on the same main guide rail 8 is less than or equal to half the length of the side plate 2. The main slide block 9 should be arranged at one end of the upright base plate 6 close to the bottom plate 1 as much as possible.
The guide structure II comprises at least one auxiliary guide rail 10 fixed on one side of the upright post substrate 6 far away from the main slide block 9 and an auxiliary slide block 11 arranged on the auxiliary guide rail 10 in a sliding manner, the auxiliary guide rail 10 is parallel to the main guide rail 8, each auxiliary guide rail 10 is at least provided with one auxiliary slide block 11, and the carriage 7 is fixedly connected with the auxiliary slide block 11.
Specifically, the two auxiliary guide rails 10 are arranged in parallel, two auxiliary sliding blocks 11 are arranged on each auxiliary guide rail 10, the carriage 7 is arranged on the two auxiliary guide rails 10 in a crossing mode, the distances from the projection line of the screw rod 3 on the upright post substrate 6 to the two main guide rails 8 are equal, and the screw rod 3 and the two auxiliary guide rails 10 are arranged in a centering mode.
As shown in fig. 1, a first connecting seat 12 is fixed on the bottom plate 1, a second connecting seat 13 opposite to the first connecting seat 12 is fixed on one side of the carriage 7 away from the auxiliary sliding block 11, one end of the screw rod 3 is rotatably connected with the first connecting seat 12, and the other end of the screw rod is rotatably connected with the second connecting seat 13.
The specific connection mode is as follows: the first connecting seat 12 is provided with a first connecting hole, the second connecting seat 13 is provided with a second connecting hole, one end of the screw rod 3 penetrates into the first connecting hole and is axially and radially limited through the first bearing, the rotary connection is realized, the other end of the screw rod 3 penetrates into the second connecting hole and is axially and radially limited through the second bearing, and the rotary connection is realized. The first connecting hole and the second connecting hole are coaxially arranged, and the first bearing and the second bearing are coaxially arranged.
As shown in fig. 1, a speed reducer 14 is fixed on the carriage 7, an output shaft of the speed reducer 14 is coaxially and fixedly connected with the screw rod 3 through a coupling, the motor 4 is fixed on the speed reducer 14, and an output shaft of the motor 4 is coaxially and fixedly connected with an input shaft of the speed reducer 14. Namely, a speed reducer 14 is arranged between the motor 4 and the screw rod 3, and the speed reducer 14 can be a gear speed reducer 14.
As shown in fig. 1 and 2, a brake 15 is fixed on the carriage 7, and the screw rod 3 is inserted into the brake 15. When the column base plate 6 moves in place, the brake 15 locks the screw rod 3 to prevent the screw rod 3 from continuing to rotate. Meanwhile, a motor brake can be arranged on the motor 4, and the arrangement of the double brakes increases the safety factor.
In order to conveniently and fixedly connect the nut 5 with the upright post base plate 6, a hollow connecting plate is fixed on the upright post base plate 6, the nut 5 is fixed on the connecting plate, and the screw rod 3 penetrates through the connecting plate.
Because the auxiliary sliding block 11, the carriage 7, the screw rod 3, the nut 5 and the motor 4 are positioned on one side of the upright post substrate 6, the upright post substrate 6 can be arranged into a surrounding structure, the auxiliary sliding block 11, the carriage 7, the screw rod 3, the nut 5 and the motor 4 are surrounded, the sealing performance and the safety are improved, and the system deformation is reduced.
The operation trolley shown in fig. 3 comprises a rotary upright post 16, wherein a linear motion mechanism is arranged in the rotary upright post 16, as shown in fig. 2, the rotary upright post comprises a bottom plate 1 and a plurality of side plates 2 vertically arranged on the bottom plate 1, and two adjacent side plates 2 are fixedly connected through an angle plate 17.
In this embodiment, the number of the side plates 2 is four.
When the swiveling column 16 has four side plates 2, it has a rectangular cross section. One side of the angle plate 17 is provided with a first connecting part, the first connecting part is provided with a plurality of threaded holes which are uniformly distributed along the length direction of the first connecting part, the other side of the first connecting part is provided with a second connecting part, the second connecting part is provided with a plurality of threaded holes which are uniformly distributed along the length direction of the second connecting part, the two sides of the side plate 2 are respectively provided with a plurality of connecting holes which are in one-to-one correspondence with the threaded holes, and. The rotary upright post 16 adopts a split structure design, and the linear motion mechanism is arranged in the rotary upright post 16, namely the rotary upright post is externally arranged, the load is internally arranged, and the transverse deformation generated when a large transverse bending moment is applied is small.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications, additions and substitutions for the specific embodiments described herein may be made by those skilled in the art without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.
Claims (10)
1. A linear motion mechanism is arranged in a rotary upright post formed by a bottom plate (1) and a plurality of side plates (2), and comprises a screw rod (3) with one end connected to the bottom plate (1), a motor (4) used for driving the screw rod (3) to rotate around the central axis of the screw rod, a nut (5) arranged on the screw rod (3) in a matching way, and an upright post substrate (6) fixedly connected with the nut (5), wherein the axis of the screw rod (3) is parallel to the side plates (2), the upright post substrate (6) is parallel to the axis of the screw rod (3), the linear motion mechanism is characterized in that a first guide structure which is axially guided along the screw rod (3) is arranged between the upright post substrate (6) and one side plate (2) which is parallel to the upright post substrate (6), a carriage (7) which is parallel to the upright post substrate (6) is arranged on one side of the upright post substrate (6) far away from the first guide structure, and the, and a second guide structure which is guided along the axial direction of the screw rod (3) is arranged between the dragging plate (7) and the upright post substrate (6).
2. A linear motion mechanism according to claim 1, wherein the guiding structure comprises at least one main guide rail (8) fixed to the side plate (2) and main sliding blocks (9) slidably disposed on the main guide rail (8), at least one main sliding block (9) is disposed on each main guide rail (8), and the column base plate (6) is fixedly connected to all the main sliding blocks (9).
3. The linear motion mechanism according to claim 2, wherein the two main guide rails (8) are parallel to each other and are arranged on the same side plate (2), each main guide rail (8) is provided with two main sliding blocks (9), the column base plate (6) is arranged on the two main guide rails (8) in a crossing manner, and the distances from the projection line of the screw rod (3) on the side plate (2) provided with the main guide rails (8) to the two main guide rails (8) are equal.
4. The linear motion mechanism according to claim 2, wherein the guiding structure comprises at least one auxiliary guide rail (10) fixed on one side of the column base plate (6) far from the main slider (9) and an auxiliary slider (11) slidably arranged on the auxiliary guide rail (10), the auxiliary guide rail (10) is parallel to the main guide rail (8), each auxiliary guide rail (10) is provided with at least one auxiliary slider (11), and the carriage (7) is fixedly connected with the auxiliary slider (11).
5. The linear motion mechanism according to claim 4, wherein the two secondary guide rails (10) are arranged in parallel, each secondary guide rail (10) is provided with two secondary sliding blocks (11), and the carriage (7) spans the two secondary guide rails (10).
6. The linear motion mechanism as claimed in claim 5, wherein the base plate (1) is fixed with a first connecting seat (12), one side of the carriage (7) away from the secondary slide block (11) is fixed with a second connecting seat (13) opposite to the first connecting seat (12), one end of the screw rod (3) is rotatably connected with the first connecting seat (12), and the other end of the screw rod is rotatably connected with the second connecting seat (13).
7. The linear motion mechanism as claimed in claim 1, wherein the carriage (7) is fixed with a speed reducer (14), an output shaft of the speed reducer (14) is coaxially and fixedly connected with the screw rod (3) through a coupling, the motor (4) is fixed on the speed reducer (14), and an output shaft of the motor (4) is coaxially and fixedly connected with an input shaft of the speed reducer (14).
8. The linear motion mechanism as claimed in claim 1, wherein a brake (15) is fixed on the carriage (7), and the lead screw (3) is inserted into the brake (15).
9. An operation trolley, characterized in that it comprises a rotary upright (16), said rotary upright (16) being provided with a linear motion mechanism according to any one of claims 1-8.
10. The surgical trolley according to claim 9, wherein the rotary upright (16) comprises a bottom plate (1) and a plurality of side plates (2) vertically arranged on the bottom plate (1), and two adjacent side plates (2) are fixedly connected through an angle plate (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921066931.6U CN210631303U (en) | 2019-07-10 | 2019-07-10 | Linear motion mechanism and operation trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921066931.6U CN210631303U (en) | 2019-07-10 | 2019-07-10 | Linear motion mechanism and operation trolley |
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| Publication Number | Publication Date |
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| CN210631303U true CN210631303U (en) | 2020-05-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921066931.6U Active CN210631303U (en) | 2019-07-10 | 2019-07-10 | Linear motion mechanism and operation trolley |
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| CN (1) | CN210631303U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110200704A (en) * | 2019-07-10 | 2019-09-06 | 重庆金山科技（集团）有限公司 | Straight-line motion mechanism and operation trolley |
-
2019
- 2019-07-10 CN CN201921066931.6U patent/CN210631303U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110200704A (en) * | 2019-07-10 | 2019-09-06 | 重庆金山科技（集团）有限公司 | Straight-line motion mechanism and operation trolley |
| CN110200704B (en) * | 2019-07-10 | 2023-12-22 | 重庆金山医疗机器人有限公司 | Linear motion mechanism and operation trolley |
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| TR01 | Transfer of patent right |
Effective date of registration: 20210129 Address after: 401120 No.18, Cuiping Lane 2, Huixing street, Yubei District, Chongqing Patentee after: CHONGQING JINSHAN MEDICAL ROBOT Co.,Ltd. Address before: 401120 18 neon Road, two Road Industrial Park, Yubei District, Chongqing Patentee before: Chongqing Jinshan Scinece & Technology (Group) Co.,Ltd. |
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| TR01 | Transfer of patent right |