CN219323798U - Three-shaft transmission mechanism of robot treatment bed - Google Patents
Three-shaft transmission mechanism of robot treatment bed Download PDFInfo
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- CN219323798U CN219323798U CN202223266771.4U CN202223266771U CN219323798U CN 219323798 U CN219323798 U CN 219323798U CN 202223266771 U CN202223266771 U CN 202223266771U CN 219323798 U CN219323798 U CN 219323798U
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 95
- 230000007246 mechanism Effects 0.000 title claims abstract description 27
- 239000003638 chemical reducing agent Substances 0.000 claims description 14
- 238000012546 transfer Methods 0.000 claims description 7
- 230000001225 therapeutic effect Effects 0.000 abstract description 9
- 238000001959 radiotherapy Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 206010028980 Neoplasm Diseases 0.000 description 2
- 239000002245 particle Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000002661 proton therapy Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The three-shaft transmission mechanism of the robot therapeutic bed is provided with a three-shaft rotating arm, one end of the three-shaft rotating arm is provided with a rotating arm supporting lug, the other end of the three-shaft rotating arm is provided with a rotating interface, the rotating interface is connected with a rotating adapter flange, the rotating adapter flange is connected with a rotating base, and the rotating base is connected with a rotating control object; the inner part of the triaxial rotating arm is provided with an accommodating groove, and a central shaft transmission assembly, a first shaft transmission assembly and a second shaft transmission assembly are arranged in the accommodating groove; the central shaft transmission assembly is connected with the center of the rotary adapter flange, the first shaft transmission assembly is connected with one side of the rotary adapter flange, and the second shaft transmission assembly is connected with the other side of the rotary adapter flange; the rotary control object is connected with a collision block, the rotary base is connected with a travel limit switch, and the collision block and the travel limit switch are matched to control the rotation of the rotary base. The utility model can play a role in accurate rotation control of the rotation control object, and has higher safety and flexibility on the premise of meeting the control amplitude.
Description
Technical Field
The utility model relates to a transmission mechanism, in particular to a three-shaft transmission mechanism of a robot therapeutic bed.
Background
Proton radiotherapy is the most advanced noninvasive accurate treatment method for cancers at present, proton particles are extremely tiny, high-energy proton beams are generated through a particle accelerator and are injected into a human body under precise control, and energy is accurately released to a lesion part, so that a treatment effect is achieved.
The position of the bed surface of the robot treatment bed can be adjusted in six-dimensional movement (three-dimensional translation and three-axis rotation) according to the requirements, the speed of the three-dimensional translation is required to be selected between 8mm/s and 90mm/s, and the rotation speed of the bed surface is required to be adjustable between 6 degrees/s and 0.5 degrees/s, so that the novel radiation treatment aims featuring accurate positioning, accurate planning and accurate treatment are achieved.
In the accurate radiotherapy process, in order to realize accurate positioning of a radiotherapy patient and accurate measurement of a tumor position, a fractionated therapy is generally adopted for the radiotherapy patient, and the positioning is repeated in each treatment process, so that a higher requirement is provided for a radiotherapy patient positioning system.
The existing robot treatment bed has the advantages that the three-shaft transmission mechanism plays a role of connecting the treatment bed with the two-shaft transmission mechanism, the treatment bed needs to realize multi-degree-of-freedom angle adjustment, such as left-right inclination rotation, front-back inclination swinging, horizontal rotation and the like, and especially the left-right inclination adjustment is suitable for not only meeting the safety requirements of users, but also meeting the precision requirements, and has practical application significance on how to realize accurate control of the rotation amplitude.
Disclosure of Invention
Therefore, the three-shaft transmission mechanism of the robot therapeutic bed provided by the utility model realizes the connection between the therapeutic bed and the two-shaft transmission mechanism, and ensures the precision and reliability of rotation transmission.
In order to achieve the above object, the present utility model provides the following technical solutions: the three-shaft transmission mechanism of the robot treatment bed comprises a three-shaft rotating arm, wherein one end of the three-shaft rotating arm is provided with a rotating arm supporting lug which is U-shaped, the other end of the three-shaft rotating arm is provided with a rotary interface, the rotary interface is connected with a rotary adapter flange, the rotary adapter flange is connected with a rotary base, and the rotary base is connected with a rotary control object;
an accommodating groove is formed in the triaxial rotating arm, and a central shaft transmission assembly, a first shaft transmission assembly and a second shaft transmission assembly are arranged in the accommodating groove; the central shaft transmission assembly is connected with the center of the rotary transfer flange, the first shaft transmission assembly is connected with one side of the rotary transfer flange, and the second shaft transmission assembly is connected with the other side of the rotary transfer flange;
the rotary control object is connected with a collision block, the rotary base is connected with a travel limit switch, and the collision block is matched with the travel limit switch to control the rotation of the rotary base.
As a preferable scheme of the three-shaft transmission mechanism of the robotic treatment couch, the first shaft transmission assembly comprises a first spline shaft, a first motor port and a first output port; one end of the first spline shaft is connected with the first motor port through a cross joint, and the other end of the first spline shaft is connected with the first output port through a cross joint.
As the preferable scheme of the three-shaft transmission mechanism of the robot therapeutic bed, the central shaft transmission assembly comprises a central spline shaft, a central motor port and a central output port; one end of the center spline shaft is connected with the center motor port through a cross joint, and the other end of the center spline shaft is connected with the center output port through a cross joint.
As a preferable scheme of the three-shaft transmission mechanism of the robotic treatment couch, the second shaft transmission assembly comprises a second spline shaft, a second motor port and a second output port; one end of the second spline shaft is connected with the second motor port through a cross joint, and the other end of the second spline shaft is connected with the second output port through a cross joint.
As the preferable scheme of the three-shaft transmission mechanism of the robot therapeutic bed, the three-shaft transmission mechanism further comprises a motor mounting frame, wherein the motor mounting frame is connected with a first driving motor, a central driving motor and a second driving motor;
a driving shaft of the first driving motor is connected with the first motor port; the driving shaft of the central driving motor is connected with the central motor port; the driving shaft of the second driving motor is connected with the second motor port;
the motor mounting frame, the first driving motor, the center driving motor and the second driving motor are all located in the accommodating groove.
As the preferable scheme of the three-shaft transmission mechanism of the robot treatment bed, the three-shaft transmission mechanism further comprises a swinging support base, wherein a butt flange is formed on one side of the swinging arm support lug, a speed reducer mounting port is formed on one side of the swinging support base, and the butt flange is connected with a speed reducer transmission shaft at the speed reducer mounting port;
the other side of the rotary arm support lug is provided with a matching groove, the other side of the swing support base is provided with a matching bulge, and the matching groove is connected with the matching bulge through a matching bearing.
As a preferable scheme of the three-axis transmission mechanism of the robotic treatment couch, the rotation control object adopts a library card robot, and the library card robot is a mechanical arm KR210.
As a preferable scheme of the three-shaft transmission mechanism of the robot therapeutic bed, the rotary control object is connected with a therapeutic bed body.
The utility model has the following advantages: the three-shaft rotating arm is arranged, one end of the three-shaft rotating arm is provided with a rotating arm support lug, the rotating arm support lug is U-shaped, the other end of the three-shaft rotating arm is provided with a rotating interface, the rotating interface is connected with a rotating adapter flange, the rotating adapter flange is connected with a rotating base, and the rotating base is connected with a rotating control object; the inner part of the triaxial rotating arm is provided with an accommodating groove, and a central shaft transmission assembly, a first shaft transmission assembly and a second shaft transmission assembly are arranged in the accommodating groove; the central shaft transmission assembly is connected with the center of the rotary adapter flange, the first shaft transmission assembly is connected with one side of the rotary adapter flange, and the second shaft transmission assembly is connected with the other side of the rotary adapter flange; the rotary control object is connected with a collision block, the rotary base is connected with a travel limit switch, and the collision block and the travel limit switch are matched to control the rotation of the rotary base. The utility model can play a role in accurate rotation control of the rotation control object, and has higher safety and flexibility on the premise of meeting the control amplitude.
Drawings
In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It will be apparent to those skilled in the art from this disclosure that the drawings described below are merely exemplary and that other embodiments may be derived from the drawings provided without undue effort.
The structures, proportions, sizes, etc. shown in the present specification are shown only for the purposes of illustration and description, and are not intended to limit the scope of the utility model, which is defined by the claims, so that any structural modifications, changes in proportions, or adjustments of sizes, which do not affect the efficacy or the achievement of the present utility model, should fall within the scope of the utility model.
FIG. 1 is a schematic perspective view of a three-axis drive mechanism of a robotic treatment couch provided in an embodiment of the present utility model;
FIG. 2 is a perspective view of another perspective view of a three-axis drive mechanism for a robotic treatment couch provided in an embodiment of the present utility model;
FIG. 3 is a schematic top view of a three-axis drive mechanism of a robotic treatment couch provided in an embodiment of the present utility model;
fig. 4 is a schematic diagram of a three-axis transmission mechanism of a robotic treatment couch engaging a rotation control object and a swing support base according to an embodiment of the present utility model.
In the figure, 1, a triaxial rotating arm; 2. a rotating arm support lug; 3. a rotary interface; 4. rotating the adapter flange; 5. rotating the base; 6. rotating the control object; 7. a receiving groove; 8. a central shaft transmission assembly; 9. a first shaft drive assembly; 10. a second shaft transmission assembly; 11. a bump; 12. a travel limit switch; 13. a first spline shaft; 14. a first motor port; 15. a first output port; 16. a central spline shaft; 17. a central motor port; 18. a central output port; 19. a second spline shaft; 20. a second motor port; 21. a second output port; 22. a motor mounting rack; 23. a first driving motor; 24. a center drive motor; 25. a second driving motor; 26. a swing support base; 27. a butt flange; 28. a speed reducer mounting port; 29. a mating groove; 30. and the matching bulge.
Detailed Description
Other advantages and advantages of the present utility model will become apparent to those skilled in the art from the following detailed description, which, by way of illustration, is to be read in connection with certain specific embodiments, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
Referring to fig. 1, 2, 3 and 4, the embodiment of the utility model provides a three-shaft transmission mechanism of a robot therapeutic bed, which comprises a three-shaft rotating arm 1, wherein one end of the three-shaft rotating arm 1 is provided with a rotating arm supporting lug 2, the rotating arm supporting lug 2 is U-shaped, the other end of the three-shaft rotating arm 1 is provided with a rotary interface 3, the rotary interface 3 is connected with a rotary adapter flange 4, the rotary adapter flange 4 is connected with a rotary base 5, and the rotary base 5 is connected with a rotary control object 6; the rotation control object 6 adopts a library card robot, which is a robot arm KR210. The rotating control object 6 is connected with a treatment bed body;
wherein, the three-shaft rotary arm 1 is internally provided with a containing groove 7, and a central shaft transmission assembly 8, a first shaft transmission assembly 9 and a second shaft transmission assembly 10 are arranged in the containing groove 7; the central shaft transmission assembly 8 is connected with the center of the rotary adapter flange 4, the first shaft transmission assembly 9 is connected with one side of the rotary adapter flange 4, and the second shaft transmission assembly 10 is connected with the other side of the rotary adapter flange 4;
wherein, the rotation control object 6 is connected with a bump 11, the rotation base 5 is connected with a travel limit switch 12, and the bump 11 and the travel limit switch 12 cooperate to control the rotation of the rotation base 5.
In this embodiment, the first shaft drive assembly 9 includes a first spline shaft 13, a first motor port 14, and a first output port 15; one end of the first spline shaft 13 is connected with the first motor port 14 through a cross joint, and the other end of the first spline shaft 13 is connected with the first output port 15 through a cross joint. The central shaft transmission assembly 8 comprises a central spline shaft 16, a central motor port 17 and a central output port 18; one end of the center spline shaft 16 is connected with a center motor port 17 through a cross joint, and the other end of the center spline shaft 16 is connected with a center output port 18 through a cross joint. The second shaft drive assembly 10 includes a second spline shaft 19, a second motor port 20, and a second output port 21; one end of the second spline shaft 19 is connected with a second motor port 20 through a cross joint, and the other end of the second spline shaft 19 is connected with a second output port 21 through a cross joint.
Specifically, one end of the first spline shaft 13 is connected with the first motor port 14 for power input, one end of the first spline shaft 13 is connected with the first output port 15 for power output, one end of the central spline shaft 16 is connected with the central motor port 17 for power input, one end of the central spline shaft 16 is connected with the central output port 18 for power output, one end of the second spline shaft 19 is connected with the second motor port 20 for power input, and one end of the second spline shaft 19 is connected with the second output port 21 for power output. The central shaft transmission assembly 8, the first shaft transmission assembly 9 and the second shaft transmission assembly 10 respectively drive the rotary adapter flange 4 from the center and the two sides, so that the load of a single shaft is reduced, the stress distribution of the rotary adapter flange 4 is more reasonable, the stress concentration points are reduced, and the reliability and the service life are improved.
The central shaft transmission assembly 8, the first shaft transmission assembly 9 and the second shaft transmission assembly 10 all adopt spline transmission modes, bear large torque under the same shaft diameter, are uniformly stressed, have small stress concentration, long service life and good guidance quality, and can properly move along the axis during use.
Meanwhile, through the collision block 11 and the travel limit switch 12, the rotation control of the rotary transfer flange 4 can be realized, the collision block 11 touches the travel limit switch 12 to acquire a rotation signal, and the travel limit switch 12 can adopt WLNJ-TH.
In this embodiment, the motor driving device further comprises a motor mounting frame 22, wherein the motor mounting frame 22 is connected with a first driving motor 23, a central driving motor 24 and a second driving motor 25; the driving shaft of the first driving motor 23 is connected with the first motor port 14; the drive shaft of the center drive motor 24 is connected to the center motor port 17; a drive shaft of the second drive motor 25 is connected to the second motor port 20; the motor mount 22, the first drive motor 23, the center drive motor 24, and the second drive motor 25 are all inside the accommodation groove 7.
Specifically, the central shaft transmission assembly 8, the first shaft transmission assembly 9 and the second shaft transmission assembly 10 are arranged in parallel, and the first driving motor 23, the central driving motor 24 and the second driving motor 25 are integrally installed through one motor installation frame 22, so that the whole structure is more compact and concise.
The first driving motor 23, the central driving motor 24 and the second driving motor 25 can rotate forward or backward according to the arrangement, so as to realize forward or backward rotation of the rotary adapter flange 4, the rotary base 5 and the rotary control object 6.
In the embodiment, the swing support device further comprises a swing support base 26, wherein a butt flange 27 is formed on one side of the swing arm support lug 2, a speed reducer mounting port 28 is formed on one side of the swing support base 26, and the butt flange 27 is connected with a speed reducer transmission shaft at the speed reducer mounting port 28; the other side of the swivel arm support lug 2 is provided with a matching groove 29, the other side of the swinging support base 26 is provided with a matching protrusion 30, and the matching groove 29 is connected with the matching protrusion 30 through a matching bearing.
Specifically, the swing support base 26 may be used to support and control the up-and-down swing of the whole triaxial rotating arm 1, wherein the speed reducer at the speed reducer mounting port 28 is matched with the motor to realize the up-and-down swing driving, and the combination of the matching groove 29, the matching protrusion 30 and the matching bearing ensures the up-and-down swing stability of the triaxial rotating arm 1.
Wherein, grating encoder can be integrated at the position of the matching bulge 30 and the matching bearing to realize accurate control of the up-down swing amplitude.
In summary, the three-axis rotating arm 1 is provided, one end of the three-axis rotating arm 1 is provided with a rotating arm supporting lug 2, the rotating arm supporting lug 2 is U-shaped, the other end of the three-axis rotating arm 1 is provided with a rotary interface 3, the rotary interface 3 is connected with a rotary adapter flange 4, the rotary adapter flange 4 is connected with a rotary base 5, and the rotary base 5 is connected with a rotary control object 6; the three-shaft rotating arm 1 is internally provided with a containing groove 7, and a central shaft transmission assembly 8, a first shaft transmission assembly 9 and a second shaft transmission assembly 10 are arranged in the containing groove 7; the central shaft transmission assembly 8 is connected with the center of the rotary adapter flange 4, the first shaft transmission assembly 9 is connected with one side of the rotary adapter flange 4, and the second shaft transmission assembly 10 is connected with the other side of the rotary adapter flange 4; the rotation control object 6 is connected with a ram 11, the rotation base 5 is connected with a travel limit switch 12, and the ram 11 and the travel limit switch 12 cooperate to control the rotation of the rotation base 5. One end of the first spline shaft 13 is connected with the first motor port 14 for power input, one end of the first spline shaft 13 is connected with the first output port 15 for power output, one end of the central spline shaft 16 is connected with the central motor port 17 for power input, one end of the central spline shaft 16 is connected with the central output port 18 for power output, one end of the second spline shaft 19 is connected with the second motor port 20 for power input, and one end of the second spline shaft 19 is connected with the second output port 21 for power output. The central shaft transmission assembly 8, the first shaft transmission assembly 9 and the second shaft transmission assembly 10 respectively drive the rotary adapter flange 4 from the center and the two sides, so that the load of a single shaft is reduced, the stress distribution of the rotary adapter flange 4 is more reasonable, the stress concentration points are reduced, and the reliability and the service life are improved. The central shaft transmission assembly 8, the first shaft transmission assembly 9 and the second shaft transmission assembly 10 all adopt spline transmission modes, bear large torque under the same shaft diameter, are uniformly stressed, have small stress concentration, have long service life and good guidance quality, and can properly move along the axis during use. The first driving motor 23, the center driving motor 24, and the second driving motor 25 may be simultaneously rotated forward or backward according to the arrangement to achieve forward or backward rotation of the rotary adapter flange 4, the rotary base 5, and the rotary control object 6. The swing support base 26 can be used for supporting and controlling the up-and-down swing of the whole triaxial rocking arm 1, wherein a speed reducer at a speed reducer mounting port 28 is matched with a motor to realize the up-and-down swing driving, and the combination of a matched groove 29, a matched protrusion 30 and a matched bearing ensures the up-and-down swing stability of the triaxial rocking arm 1. The utility model can play a role in accurate rotation control of the rotation control object 6, and has higher safety and flexibility on the premise of meeting the control amplitude.
While the utility model has been described in detail in the foregoing general description and specific examples, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications may be made without departing from the spirit of the utility model as claimed.
Claims (8)
1. The three-shaft transmission mechanism of the robot treatment bed is characterized by comprising a three-shaft rotating arm (1), wherein one end of the three-shaft rotating arm (1) is provided with a rotating arm supporting lug (2), the rotating arm supporting lug (2) is U-shaped, the other end of the three-shaft rotating arm (1) is provided with a rotary interface (3), the rotary interface (3) is connected with a rotary adapter flange (4), the rotary adapter flange (4) is connected with a rotary base (5), and the rotary base (5) is connected with a rotary control object (6);
an accommodating groove (7) is formed in the triaxial rotating arm (1), and a central shaft transmission assembly (8), a first shaft transmission assembly (9) and a second shaft transmission assembly (10) are arranged in the accommodating groove (7); the central shaft transmission assembly (8) is connected with the center of the rotary transfer flange (4), the first shaft transmission assembly (9) is connected with one side of the rotary transfer flange (4), and the second shaft transmission assembly (10) is connected with the other side of the rotary transfer flange (4);
the rotary control object (6) is connected with a collision block (11), the rotary base (5) is connected with a travel limit switch (12), and the collision block (11) and the travel limit switch (12) are matched to control the rotation of the rotary base (5).
2. A robotic treatment couch tri-axial transmission according to claim 1, wherein the first shaft transmission assembly (9) comprises a first spline shaft (13), a first motor port (14) and a first output port (15); one end of the first spline shaft (13) is connected with the first motor port (14) through a cross joint, and the other end of the first spline shaft (13) is connected with the first output port (15) through a cross joint.
3. A robotic couch tri-axial transmission according to claim 2, wherein the central shaft transmission assembly (8) comprises a central spline shaft (16), a central motor port (17) and a central output port (18); one end of the center spline shaft (16) is connected with the center motor port (17) through a cross joint, and the other end of the center spline shaft (16) is connected with the center output port (18) through a cross joint.
4. A robotic treatment couch tri-axial transmission according to claim 3, wherein the second shaft transmission assembly (10) comprises a second spline shaft (19), a second motor port (20) and a second output port (21); one end of the second spline shaft (19) is connected with the second motor port (20) through a cross joint, and the other end of the second spline shaft (19) is connected with the second output port (21) through a cross joint.
5. The three-axis transmission mechanism of the robotic treatment couch of claim 4, further comprising a motor mount (22), the motor mount (22) being connected to a first drive motor (23), a center drive motor (24) and a second drive motor (25);
a driving shaft of the first driving motor (23) is connected with the first motor port (14); the driving shaft of the central driving motor (24) is connected with the central motor port (17); a driving shaft of the second driving motor (25) is connected with the second motor port (20);
the motor mounting frame (22), the first driving motor (23), the center driving motor (24) and the second driving motor (25) are all arranged in the accommodating groove (7).
6. The three-axis transmission mechanism of the robotic treatment couch of claim 1, further comprising a swinging support base (26), wherein a butt flange (27) is formed on one side of the swinging support base (2), a speed reducer mounting port (28) is formed on one side of the swinging support base (26), and the butt flange (27) is connected with a speed reducer transmission shaft at the speed reducer mounting port (28);
the other side of the rotary arm support lug (2) is provided with a matching groove (29), the other side of the swing support base (26) is provided with a matching bulge (30), and the matching groove (29) and the matching bulge (30) are connected through a matching bearing.
7. A robotic couch tri-axial transmission as claimed in claim 1, wherein said rotary control object (6) is a library card robot, said library card robot being a robotic arm KR210.
8. A robotic couch tri-axial transmission according to claim 7, wherein said rotating control object (6) is connected to a couch body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223266771.4U CN219323798U (en) | 2022-12-06 | 2022-12-06 | Three-shaft transmission mechanism of robot treatment bed |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223266771.4U CN219323798U (en) | 2022-12-06 | 2022-12-06 | Three-shaft transmission mechanism of robot treatment bed |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219323798U true CN219323798U (en) | 2023-07-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202223266771.4U Active CN219323798U (en) | 2022-12-06 | 2022-12-06 | Three-shaft transmission mechanism of robot treatment bed |
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| Country | Link |
|---|---|
| CN (1) | CN219323798U (en) |
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2022
- 2022-12-06 CN CN202223266771.4U patent/CN219323798U/en active Active
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Effective date of registration: 20240201 Address after: 110000 Room 606, No. 39-1, Chuangxin Second Road, China (Liaoning) pilot Free Trade Zone, Hunnan District, Shenyang City, Liaoning Province Patentee after: Shenyang Hongxing Intelligent Technology Co.,Ltd. Country or region after: China Address before: 110000 No.3 Yuanhang West Road, Hunnan District, Shenyang City, Liaoning Province Patentee before: SHENYANG GENERAL ROBOT TECHNOLOGY Co.,Ltd. Country or region before: China |
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