CN211797560U - Active elbow joint rehabilitation exoskeleton mechanical arm - Google Patents
Active elbow joint rehabilitation exoskeleton mechanical arm Download PDFInfo
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- CN211797560U CN211797560U CN201921361713.5U CN201921361713U CN211797560U CN 211797560 U CN211797560 U CN 211797560U CN 201921361713 U CN201921361713 U CN 201921361713U CN 211797560 U CN211797560 U CN 211797560U
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Abstract
The utility model provides an active recovered ectoskeleton arm of elbow joint, include: the outer large arm fixing component and the small arm fixing device. The active elbow joint rehabilitation exoskeleton mechanical arm provided by the utility model is convenient to carry and easy to operate, can be used in various environments, and can be worn and used by patients even without instruction for training; the mechanical arm adopts a limit sensor structure, is high in intelligence and reliability, is suitable for long-term training, and does not have secondary injury risk; the reduction box adopts a bidirectional worm and gear structure, the transformation ratio can be set according to the power and the rotating speed of the motor, the torque and the rotating speed required by the mechanical arm, the worm and gear structure converts the longitudinal rotating driving force of the driving motor into the transverse rotating driving force to be output to the outer small arm fixing shaft, and the mechanical arm adopts two selectable power supply modes of a dry battery and a USB interface, so that the applicability is wide, and no damage risk exists; and the mechanical arm is low in cost, and the expenditure of a patient is greatly reduced.
Description
Technical Field
The utility model relates to an elbow joint rehabilitation auxiliary devices's field especially relates to an active elbow joint rehabilitation ectoskeleton arm.
Background
At present, two schemes are generally adopted for active equipment for upper limb rehabilitation training, one scheme is multi-joint rehabilitation equipment, the whole arm is required to be worn, and the active equipment is heavy and complex in structure; the other is single joint rehabilitation equipment which is often provided with a base which is large in size and difficult to carry or a large driving device, such as a pneumatic device, a hydraulic device and the like.
The hydraulic driving mode often has the leakage problem in the use process, the system has low working efficiency and high system cost, and the pneumatic driving mode has light weight and low price of elements, but the power/volume mass of the cylinder is low, so that the load requirement can not be met generally, the pneumatic driving mode is not suitable for the exoskeleton mechanical arm system with high requirements on installation space and portability, and the application range is limited greatly.
Therefore, there is a need to provide an active type elbow joint rehabilitation exoskeleton robot to solve the above technical problems.
SUMMERY OF THE UTILITY MODEL
The utility model provides an active recovered ectoskeleton arm of elbow joint has solved current arm mechanism complicacy, carries inconvenient problem.
In order to solve the technical problem, the utility model provides an active recovered ectoskeleton arm of elbow joint, include: the outer large arm fixing component and the small arm fixing device are arranged on the outer side of the main body;
the outer large arm fixing assembly comprises two first connecting blocks, the bottoms of the two first connecting blocks are connected through a first U-shaped placing block, one side of each first connecting block is fixedly connected with a U-shaped placing box, and the outer large arm fixing assembly and the inner large arm fixing assembly are fixedly mounted on the two first connecting blocks respectively;
the forearm fixing device comprises two second connecting blocks, bottom plates of the two second connecting blocks are connected through a second U-shaped placing block, and an outer side forearm fixing assembly and an inner side forearm fixing assembly are fixedly mounted on the two second connecting blocks respectively;
the driving device is fixed on the outer side large arm fixing assembly and is positioned inside the placing box, the driving device comprises a driving motor and a reduction gearbox, one end of an output shaft of the driving motor is in transmission connection with the reduction gearbox, and the reduction gearbox adopts a bidirectional worm and gear structure;
and the limiting sensor is arranged on the outer side forearm fixing component.
Preferably, the front of the first connecting block is provided with a large arm fixing shaft through hole, one side of the first connecting block is provided with two large arm fixing holes, the upper side of the first connecting block is provided with two large arm nylon belt holes, two sides of the inside of the U-shaped placing box are respectively provided with a battery chamber and a driving device chamber, the driving device is positioned in the driving device chamber, and a large arm pillow groove is formed between the first connecting block and the first U-shaped placing box.
Preferably, the front surface of the second connecting block is provided with a small arm fixing shaft through hole, one side of the second connecting block is provided with two small arm fixing holes, the upper side of the second connecting block is provided with a small arm nylon belt hole, and a small arm pillow groove is formed between the two second connecting blocks and the second U-shaped placing block.
Preferably, the fixed subassembly of the big arm in outside includes big arm outside fixed axle, two first fixed orificess have been seted up to the main shaft part of big arm outside fixed axle, the fixed shaft hole in big arm outside has been seted up to one side of big arm outside fixed axle, one side of big arm outside fixed axle just is located big arm round pin key hole has been seted up to one side in the fixed shaft hole in big arm outside, inboard big arm fixed subassembly includes the inboard fixed axle of big arm, two third fixed orificess have been seted up to the main shaft part of the inboard fixed axle of big arm, the inboard fixed shaft hole in big arm has been seted up to one side of the inboard fixed axle of big arm.
Preferably, the fixed subassembly of outside forearm includes forearm outside fixed axle, two second fixed orificess have been seted up to the main shaft part of forearm outside fixed axle, the fixed shaft hole in the forearm outside has been seted up to one side of forearm outside fixed axle, one side of forearm outside fixed axle just is located forearm round pin key hole has been seted up to one side in the fixed shaft hole in the forearm outside, inboard forearm fixed subassembly includes the inboard fixed axle of forearm, two fourth fixed orificess have been seted up to the main shaft part of the inboard fixed axle of forearm, the inboard fixed shaft hole of forearm has been seted up to one side of the inboard fixed axle of forearm, the one end of the inboard fixed axle of forearm and the one end of the inboard fixed axle of big arm pass through rivet cooperation forearm inboard fixed shaft hole and the inboard fixed shaft hole fixed connection of big arm.
Preferably, the limit sensor comprises a sensor main body, a D-shaped groove is formed in the sensor main body, a pin key is arranged on one side, located in the D-shaped groove, of the sensor main body, and one end of the pin key penetrates through a small arm pin key hole and is located inside a large arm pin key hole.
Preferably, the reduction gearbox is fixed on the large arm outer side fixing shaft and is close to the large arm outer side fixing shaft hole, and an output shaft of the reduction gearbox sequentially penetrates through the large arm outer side fixing shaft hole, the small arm outer side fixing shaft hole and the D-shaped groove.
Compared with the prior art, the utility model provides an active recovered ectoskeleton arm of elbow joint has following beneficial effect:
the utility model provides an active type elbow joint rehabilitation exoskeleton mechanical arm which is convenient to carry and easy to operate, is small and exquisite, is convenient to use in various environments, and can be worn and used by patients even without instruction for training;
the mechanical arm adopts a driving device combined with a limit sensor, has high intellectualization and strong reliability, is suitable for long-term training and has no secondary injury risk;
the mechanical arm adopts two selectable power supply modes of a dry battery and a USB interface, has wide applicability, convenient use and no harm risk, and has extremely low cost, thereby greatly reducing the recovery expenditure of patients;
the device is connected with the arm by adopting a nylon bandage type structure, the bandage has high inosculation with the arm and is suitable for patients with different arm thicknesses, the power transmission is smoother, and the arm is very convenient to fix and separate.
Drawings
Fig. 1 is a schematic structural diagram of a preferred embodiment of an active elbow joint rehabilitation exoskeleton robot provided by the present invention;
FIG. 2 is a schematic structural view of the outboard boom attachment assembly shown in FIG. 1;
FIG. 3 is a schematic view of the forearm fixation device of FIG. 1;
FIG. 4 is a schematic structural diagram of the driving device shown in FIG. 1;
FIG. 5 is a schematic mechanical view of the limit display of FIG. 1;
FIG. 6 is a schematic structural view of the outboard macro arm securing assembly shown in FIG. 1;
FIG. 7 is a schematic structural view of the outer forearm fixation assembly of FIG. 1;
FIG. 8 is a schematic view of the inner boom attachment assembly shown in FIG. 1;
fig. 9 is a schematic structural view of the medial forearm fixation assembly shown in fig. 1.
Reference numbers in the figures: 1. an outer large arm fixing component 11, a first connecting block 12, a first U-shaped placing block 13, a large arm nylon belt hole 14, a large arm fixing hole 15, a large arm fixing shaft through hole 16, a U-shaped placing box 2, a small arm fixing device 21, a second connecting block 22, a second U-shaped placing block 23, a small arm nylon belt hole 24, a small arm fixing hole 25, a small arm fixing shaft through hole 3, a driving device 31, a driving motor 32, a reduction gearbox 4, a limit sensor 41, a sensor body 42, a D-shaped groove 43, a pin key 5, an outer large arm fixing component 51, a large arm outer fixing shaft 52, a first fixing hole 53, a large arm outer fixing shaft hole 54, a large arm pin key hole 6, an outer small arm fixing component 61, a small arm outer fixing shaft 62, a second fixing hole 63, a small arm outer fixing shaft hole 64, a small arm pin key hole, 7. the inner large arm fixing component 71, a large arm inner fixing shaft 72, a large arm inner fixing shaft hole 73, a third fixing hole 8, an inner small arm fixing component 81, a small arm inner fixing shaft 82, a fourth fixing hole 83 and a small arm inner fixing shaft hole.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and embodiments.
Please refer to fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7 and fig. 8 in combination, wherein fig. 1 is a schematic structural view of a preferred embodiment of the active type elbow joint rehabilitation exoskeleton arm provided by the present invention; FIG. 2 is a schematic structural view of the outboard boom attachment assembly shown in FIG. 1; FIG. 3 is a schematic view of the forearm fixation device of FIG. 1; FIG. 4 is a schematic structural diagram of the driving device shown in FIG. 1; FIG. 5 is a schematic mechanical view of the limit display of FIG. 1; FIG. 6 is a schematic structural view of the outboard macro arm securing assembly shown in FIG. 1; FIG. 7 is a schematic structural view of the outer forearm fixation assembly of FIG. 1; FIG. 8 is a schematic view of the inner boom attachment assembly shown in FIG. 1; fig. 9 is a schematic structural view of the medial forearm fixation assembly shown in fig. 1. An active elbow joint rehabilitation exoskeleton robot comprising: the outer large arm fixing component 1 and the small arm fixing device 2;
the outer large arm fixing assembly comprises two first connecting blocks 11, the bottoms of the two first connecting blocks 11 are connected through a first U-shaped placing block 12, a U-shaped placing box 16 is fixedly connected to one side of each first connecting block 11, and an outer large arm fixing assembly 5 and an inner large arm fixing assembly 7 are fixedly mounted on the two first connecting blocks 11 respectively;
the forearm fixing device 2 comprises two second connecting blocks 21, the bottom plates of the two second connecting blocks 21 are connected through a second U-shaped placing block 22, an outer side forearm fixing component 6 and an inner side forearm fixing component 8 are respectively fixedly mounted on the two second connecting blocks 21, and the outer side large arm fixing component 1 and the forearm fixing device 2 are made of polylactic acid materials, are stable in structure, have good heat stability and bacterial resistance, are made of starch extracted from plant resources, and are safe, environment-friendly and low in price;
the driving device 3 is fixed on the outer large arm fixing component 5 and is positioned inside the placing box 16, the driving device 3 comprises a driving motor 31 and a reduction gearbox 32, the driving motor 31 can rotate in the forward and reverse directions, one end of an output shaft of the driving motor 31 is in transmission connection with the reduction gearbox 32, the reduction gearbox 32 adopts a bidirectional worm and gear structure, the reduction gearbox 32 can set a transformation ratio according to the power and the rotating speed of the driving motor 31, the torque and the rotating speed required by the mechanical arm on one hand, on the other hand, the worm and gear structure converts the longitudinal rotating driving force of the driving motor 31 into a transverse rotating driving force which is output to the outer small arm fixing shaft 61 to drive the mechanical arm to complete stretching and bending actions, and in addition, the worm and gear structure has the bidirectional property and supports the power transmission of the forward;
and the limiting sensor 4 is arranged on the outer side forearm fixing component 6, and the limiting sensor 4 is fixed on the outer side forearm fixing shaft 61 and is close to one side of the forearm pin key hole.
The front surface of the first connecting block 11 is provided with a big arm fixing shaft through hole 15, one side of the first connecting block 11 is provided with two big arm fixing holes 14, the upper side of the first connecting block 11 is provided with two big arm nylon belt holes 13, nylon belts are fixed through the big arm nylon belt holes 13, the two nylon belts on the two first connecting blocks 11 are respectively provided with a magic tape A surface and a magic tape B surface, two sides of the inside of the U-shaped placing box 16 are respectively provided with a battery chamber and a driving device chamber, a battery is arranged in the battery chamber and used for supplying power to the driving motor 31, the driving motor 31 can also provide power through a micro USB interface, the micro USB interface is a charging interface of a common android mobile phone and is arranged in the battery chamber of the U-shaped placing box 16, a three-phase control switch is arranged outside the U-shaped placing box 16 and used for controlling the starting and closing of the driving motor 31, the driving device 3 is arranged in the driving, a large arm pillow groove is formed between the two first connecting blocks 11 and the first U-shaped placing block 12.
The front surface of the second connecting block 21 is provided with a small arm fixing shaft through hole 25, one side of the second connecting block 21 is provided with two small arm fixing holes 24, the upper side of the second connecting block 23 is provided with a small arm nylon belt hole 23, a nylon belt is fixed through the small arm nylon belt hole 23, two nylon belts on the two second connecting blocks 21 are respectively provided with a magic tape A surface and a magic tape B surface, and a small arm pillow groove is formed between the two second connecting blocks 21 and the second U-shaped placing block 22.
Big arm fixed subassembly 5 in outside includes big arm outside fixed axle 51, two first fixed orificess 52 have been seted up to the main shaft part of big arm outside fixed axle 51, big arm outside fixed axle hole 53 has been seted up to one side of big arm outside fixed axle 51, one side of big arm outside fixed axle 51 just is located big arm round pin key hole 54 has been seted up to one side of big arm outside fixed axle hole 53, inboard big arm fixed subassembly 7 includes big arm inboard fixed axle 71, two third fixed orificess 73 have been seted up to the main shaft part of big arm inboard fixed axle 71, big arm inboard fixed axle hole 72 has been seted up to one side of big arm inboard fixed axle 71.
The outside forearm fixed subassembly 6 includes forearm outside fixed axle 61, two second fixed orificess 62 have been seted up to the main shaft part of forearm outside fixed axle 61, the fixed shaft hole in the forearm outside 63 has been seted up to one side of forearm outside fixed axle 61, one side of forearm outside fixed axle 61 just is located forearm pin key hole 64 has been seted up to one side of the fixed shaft hole in the forearm outside 63, inboard forearm fixed subassembly 8 includes the inboard fixed axle 81 of forearm, two fourth fixed orificess 82 have been seted up to the main shaft part of the inboard fixed axle 81 of forearm, the inboard fixed shaft hole 83 of forearm has been seted up to one side of the inboard fixed axle 81 of forearm, the inboard fixed shaft hole 83 of one end of the inboard fixed axle 81 of forearm and the inboard fixed shaft hole 72 fixed connection of big arm of rivet cooperation forearm are passed through with the one end of the inboard fixed axle 71 of big arm.
The limit sensor 4 comprises a sensor main body 41, a D-shaped groove 42 is formed in the sensor main body 41, a pin key 43 is arranged on one side, located on the D-shaped groove 42, of the sensor main body 41, and one end of the pin key 43 penetrates through a small arm pin key hole 64 and is located inside a large arm pin key hole 54.
The reduction gearbox 32 is fixed on the big arm outer side fixing shaft 51 and is close to the big arm outer side fixing shaft hole 53, an output shaft of the reduction gearbox 32 sequentially penetrates through the big arm outer side fixing shaft hole 53, the small arm outer side fixing shaft hole 63 and the D-shaped groove 42, the output shaft of the reduction gearbox 32 is fixedly connected with the inner surface of the small arm outer side fixing shaft hole 63, and the connection mode can be welding or other connection modes.
The large arm outer side fixing shaft 51 and the large arm inner side fixing shaft 71 are respectively inserted into the large arm fixing shaft through holes 15 in the two first connecting blocks 11, the far ends of the large arm outer side fixing shaft 51 and the large arm inner side fixing shaft 71 are located outside the large arm fixing shaft through holes 15, the two first fixing holes 52 and the third fixing holes 73 respectively correspond to the positions of the large arm fixing holes 14 in the first connecting blocks 11 and are fixed through screws, the inner wall of each large arm fixing hole 14 is provided with threads, the large arm fixing holes 14 are communicated with the large arm fixing shaft through holes 15, the small arm fixing device 2 and the outer side small arm fixing component 6 and the inner side small arm fixing component 8 are mounted in the same mode, the inner side is a side close to a human body, and the outer side is a side far away from the human body.
The utility model provides an active recovered ectoskeleton arm of elbow joint's theory of operation as follows:
s1: when in use, the big arm and the small arm are respectively placed in the big arm pillow groove on the outer big arm fixing component 5 and the small arm pillow groove on the outer small arm fixing component 6, and then are sequentially fixed through the nylon belts;
s2: the three-phase control switch controls the driving motor 31 to be started, the driving motor 31 drives the output shaft of the reduction gearbox 32 to rotate, on one hand, the reduction gearbox 32 can set a transformation ratio according to the power and the rotating speed of the driving motor 31, the torque and the rotating speed required by the mechanical arm, on the other hand, the worm gear structure converts the longitudinal rotating driving force of the driving motor 31 into the transverse rotating driving force and outputs the transverse rotating driving force to the outer side fixing shaft 61 of the small arm to drive the mechanical arm to complete stretching and bending actions, in addition, the worm gear structure has bi-directionality and supports the power transmission of the forward and reverse rotation of the driving motor 31, the output shaft of the reduction gearbox 32 drives the outer side fixing shaft 61 of the small arm to rotate so as to drive the small arm fixing device 2 to rotate, the small arm fixing device 2 drives the small arm to rotate, the pin keys 43 on the limit sensor 4 reciprocate in the large arm pin key holes 54 and sense, when the small arm fixing device 2 and the outer large arm fixing component 1 are in a fully unfolded or fully bent state, a signal is sent to control the driving motor 31 to rotate reversely, the mechanical arm drives the small arm and the large arm to do reciprocating bending motion, and the arm is subjected to rehabilitation training;
s3: after the training is finished, the mechanical arm can be taken down by tearing the nylon bandage.
Compared with the prior art, the utility model provides an active recovered ectoskeleton arm of elbow joint has following beneficial effect:
the mechanical arm is convenient to carry and easy to operate, is small and exquisite, is convenient to use in various environments, and can be worn and used by a patient even without instruction for training;
the mechanical arm adopts the driving device 3 combined with the limit sensor 4, has high intellectualization and strong reliability, is suitable for long-term training and has no secondary injury risk;
the mechanical arm adopts two selectable power supply modes of a dry battery and a USB interface, has wide applicability, convenient use and no harm risk, and has extremely low cost, thereby greatly reducing the recovery expenditure of patients;
the device is connected with the arm by adopting a nylon bandage type structure, the bandage has high inosculation with the arm and is suitable for patients with different arm thicknesses, the power transmission is smoother, and the arm is very convenient to fix and separate.
The above only is the embodiment of the present invention, not limiting the scope of the present invention, all the equivalent structures or equivalent processes of the present invention are used in the specification and the attached drawings, or directly or indirectly applied to other related technical fields, and the same principle is included in the protection scope of the present invention.
Claims (7)
1. An active elbow joint rehabilitation exoskeleton mechanical arm, comprising: the outer large arm fixing component and the small arm fixing device are arranged on the outer side of the main body;
the outer large arm fixing assembly comprises two first connecting blocks, the bottoms of the two first connecting blocks are connected through a first U-shaped placing block, one side of each first connecting block is fixedly connected with a U-shaped placing box, and the outer large arm fixing assembly and the inner large arm fixing assembly are fixedly mounted on the two first connecting blocks respectively;
the forearm fixing device comprises two second connecting blocks, bottom plates of the two second connecting blocks are connected through a second U-shaped placing block, and an outer side forearm fixing assembly and an inner side forearm fixing assembly are fixedly mounted on the two second connecting blocks respectively;
the driving device is fixed on the outer side large arm fixing assembly and is positioned inside the placing box, the driving device comprises a driving motor and a reduction gearbox, one end of an output shaft of the driving motor is in transmission connection with the reduction gearbox, and the reduction gearbox adopts a bidirectional worm and gear structure;
and the limiting sensor is arranged on the outer side forearm fixing component.
2. The active exoskeleton arm for elbow joint rehabilitation as claimed in claim 1, wherein the front surface of the first connecting block is provided with a large arm fixing shaft through hole, one side of the first connecting block is provided with two large arm fixing holes, the upper side of the first connecting block is provided with two large arm nylon hole holes, two sides of the inside of the U-shaped placing box are respectively provided with a battery chamber and a driving device chamber, the driving device is located inside the driving device chamber, and a large arm pillow groove is formed between the two first connecting blocks and the first U-shaped placing box.
3. The active elbow joint rehabilitation exoskeleton arm of claim 1, wherein a forearm fixing shaft through hole is formed in the front surface of the second connecting block, two forearm fixing holes are formed in one side of the second connecting block, a forearm nylon hole is formed in the upper side of the second connecting block, and a forearm pillow groove is formed between the two second connecting blocks and the second U-shaped placing block.
4. The active exoskeleton arm for elbow joint rehabilitation of claim 1, wherein the outer forearm fixing assembly comprises an outer forearm fixing shaft, the main shaft portion of the outer forearm fixing shaft is provided with two first fixing holes, one side of the outer forearm fixing shaft is provided with an outer forearm fixing shaft hole, one side of the outer forearm fixing shaft and the one side of the outer forearm fixing shaft in the outer forearm fixing shaft hole are provided with a forearm pin key hole, the inner forearm fixing assembly comprises an inner forearm fixing shaft, the main shaft portion of the inner forearm fixing shaft is provided with two third fixing holes, and one side of the inner forearm fixing shaft is provided with an inner forearm fixing shaft hole.
5. The active elbow joint rehabilitation exoskeleton mechanical arm of claim 1, the outer side forearm fixing component comprises a forearm outer side fixing shaft, the main shaft part of the forearm outer side fixing shaft is provided with two second fixing holes, one side of the small arm outer side fixing shaft is provided with a small arm outer side fixing shaft hole, one side of the small arm outer side fixing shaft and one side of the small arm outer side fixing shaft hole are provided with small arm pin key holes, the inner side forearm fixing component comprises a forearm inner side fixing shaft, the main shaft part of the forearm inner side fixing shaft is provided with two fourth fixing holes, one side of the small arm inner side fixing shaft is provided with a small arm inner side fixing shaft hole, and one end of the small arm inner side fixing shaft is fixedly connected with one end of the large arm inner side fixing shaft through the rivet matched small arm inner side fixing shaft hole and the large arm inner side fixing shaft hole.
6. The active exoskeleton arm for elbow joint rehabilitation of claim 1, wherein the limit sensor comprises a sensor body, a D-shaped groove is formed in the sensor body, a pin key is arranged on the sensor body and located on one side of the D-shaped groove, and one end of the pin key penetrates through a pin key hole of the small arm and is located inside a pin key hole of the large arm.
7. The active elbow joint rehabilitation exoskeleton mechanical arm as claimed in claim 1, wherein the reduction box is fixed on the outer side fixing shaft of the upper arm and close to the outer side fixing shaft hole of the upper arm, and an output shaft of the reduction box sequentially passes through the outer side fixing shaft hole of the upper arm, the outer side fixing shaft hole of the lower arm and the D-shaped groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921361713.5U CN211797560U (en) | 2019-08-21 | 2019-08-21 | Active elbow joint rehabilitation exoskeleton mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921361713.5U CN211797560U (en) | 2019-08-21 | 2019-08-21 | Active elbow joint rehabilitation exoskeleton mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211797560U true CN211797560U (en) | 2020-10-30 |
Family
ID=72995072
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921361713.5U Active CN211797560U (en) | 2019-08-21 | 2019-08-21 | Active elbow joint rehabilitation exoskeleton mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211797560U (en) |
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2019
- 2019-08-21 CN CN201921361713.5U patent/CN211797560U/en active Active
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Effective date of registration: 20220315 Address after: 101318 No. 2269, floor 1, building 1, Anhua street, Konggang street, Shunyi District, Beijing Patentee after: Amileyuan Intelligent Technology (Beijing) Co.,Ltd. Address before: 518000 1016 (D13), No. 5, golf Avenue, Guangpei community, Guanlan street, Longhua District, Shenzhen, Guangdong Patentee before: Pingkangyuan Technology (Shenzhen) Co.,Ltd. |