DE19952477A1 - Castor-mounted base for medical equipment has supplementary retractable castors enhancing manoeuvrability in confined spaces - Google Patents
Castor-mounted base for medical equipment has supplementary retractable castors enhancing manoeuvrability in confined spacesInfo
- Publication number
- DE19952477A1 DE19952477A1 DE19952477A DE19952477A DE19952477A1 DE 19952477 A1 DE19952477 A1 DE 19952477A1 DE 19952477 A DE19952477 A DE 19952477A DE 19952477 A DE19952477 A DE 19952477A DE 19952477 A1 DE19952477 A1 DE 19952477A1
- Authority
- DE
- Germany
- Prior art keywords
- tripod
- castors
- base
- additional
- rollers
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/20—Surgical microscopes characterised by non-optical aspects
- A61B90/25—Supports therefor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
- F16M11/2014—Undercarriages with or without wheels comprising means allowing pivoting adjustment around a vertical axis
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
- F16M11/2021—Undercarriages with or without wheels comprising means allowing pivoting adjustment around a horizontal axis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/20—Surgical microscopes characterised by non-optical aspects
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M2200/00—Details of stands or supports
- F16M2200/04—Balancing means
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M2200/00—Details of stands or supports
- F16M2200/06—Arms
- F16M2200/068—Arms being part of the undercarriage
Abstract
Description
Die Erfindung betrifft ein fahrbares Stativ für ein bewegbar anzuordnendes medizinisches Gerät mit einem Stativfuß nach dem Oberbegriff von Anspruch 1.The invention relates to a mobile stand for a movable medical device Device with a tripod base according to the preamble of claim 1.
Eine derartiges Stativ ist z. B. aus der EP 0 656 194 B1 bekannt. Um dieses bekannte Stativ z. B. im Operationssaal verschieben zu können, weist es einen Stativfuß mit einer Mehrzahl feststellbarer Rollen auf.Such a tripod is such. B. known from EP 0 656 194 B1. To this well-known tripod e.g. B. to move in the operating room, it has a tripod base with a plurality lockable roles.
Auch das von der Anmelderin entwickelte und vertriebene NC4 Bodenstativ ist ein gattungsgemäßes Stativ mit einem Fahrrollen aufweisenden Stativfuß, wobei das NC4 Bodenstativ zwei Fahrrollen mit stativfußfester Rollachse und relativ großem Rollenumfang und zwei als Lenkrollen ausgebildete Fahrrollen mit relativ kleinem Rollenumfang aufweist. Durch diese Fahrrollenkonfiguration wird sowohl eine gute Wendig- bzw. Manövrierbarkeit als auch ein stabiler und leichter Geradeauslauf des Stativs erreicht.The NC4 floor stand developed and sold by the applicant is also a generic tripod with a tripod base with castors, the NC4 Floor stand, two castors with a tripod-fixed roll axis and a relatively large roll circumference and has two castors designed as steering rollers with a relatively small roller circumference. This castor configuration ensures good maneuverability and maneuverability as well as a stable and easy straight running of the tripod.
Aufgabe der Erfindung ist es, ein Stativ mit noch weiter verbesserter Beweglichkeit zu schaffen.The object of the invention is to provide a tripod with still further improved mobility create.
Diese Aufgabe wird durch die Merkmale in Anspruch 1 gelöst. Denn durch die ausstellbare Zusatzrolle können zusätzliche Bewegungsmöglichkeiten geschaffen oder bereits in der jeweiligen Fahrrollenkonfiguration angelegte Bewegungseigenschaften verbessert werden. Bei der aus dem NC4 Bodenstativ bekannten Fahrrollenkonfiguration kann durch eine ausstellbare Zusatzrolle bei Bedarf z. B. eine Beweglichkeit des Stativ quer zu den großen Geradeauslauffahrrollen geschaffen werden.This object is solved by the features in claim 1. Because by the exhibitable Additional role can create additional movement options or already in the Movement characteristics applied to the respective castor configuration can be improved. In the case of the castor configuration known from the NC4 floor stand, a extendable additional role if necessary z. B. a mobility of the tripod across the large Straight running castors are created.
Es kann aber auch bei einem Stativfuß mit drei oder mehr als Lenkrollen ausgebildeten Fahrrollen durch eine als Fahrrolle mit stativfußfester Rollachse ausgebildete Zusatzrolle der Geradeauslauf erheblich verbessert werden. Dabei können auch bei ausgestellten Zusatzrollen alle Lenkrollen ihren Bodenkontakt behalten und weiterhin fahrwirksam bleiben.But it can also be designed with a tripod base with three or more castors Rollers by an additional roller designed as a roller with a tripod foot-fixed roll axis Straight ahead can be significantly improved. It can also be used when exhibiting additional roles all swivel castors remain in contact with the ground and remain effective.
Die abhängigen Ansprüche betreffen weitere vorteilhafte Ausführungsformen der Erfindung.The dependent claims relate to further advantageous embodiments of the invention.
Im folgenden wird die Erfindung anhand eines Ausführungsbeispiels im Zusammenhang mit den beigefügten Figuren erläutert.In the following, the invention is illustrated using an exemplary embodiment in connection with the attached figures explained.
Es zeigen:Show it:
Fig. 1 eine schematische Seitenansicht eines erfindungsgemäßen Stativs, Fig. 1 is a schematic side view of a tripod according to the invention,
Fig. 2 den Stativfuß des Stativs von Fig. 1 in einer perspektivischen Darstellung gesehen von schräg unten, Fig. 2 shows the stand base of the stand of Fig. 1 in a perspective view seen obliquely from below,
Fig. 3 eine Fig. 1 entsprechende Darstellung mit ausgestellten Zusatzrollen, Fig. 3 is a Fig. 1 representation corresponding with exhibited auxiliary rollers,
Fig. 4 den Stativfuß des Stativs von Fig. 1 in einer Draufsicht gesehen in Richtung des Pfeils IV von Fig. 1 und Fig. 4 the tripod base of the tripod of Fig. 1 seen in a plan view in the direction of arrow IV of Fig. 1 and
Fig. 5 den Stativfuß des Stativs von Fig. 1 in einer Fig. 3 entsprechenden Draufsicht, in der einige Stativfußkomponenten der Übersichtlichkeit halber nicht dargestellt sind. Fig. 5 shows the stand base of the stand of Fig. 1 corresponding to FIGS. 3 plan view, are not shown in some Stativfußkomponenten sake of clarity.
Fig. 1 zeigt ein erfindungsgemäßes fahr- bzw. verschiebbares Stativ 1, welches als Gerät ein Operationsmikroskop 3 trägt, das frei bewegbar sein soll. Das Stativ 1 umfaßt ein Basisteil 5, welches auf einem Stativfuß 7 um eine vertikale Drehachse A1 drehbar gelagert ist. Fig. 1 shows an inventive driving or movable stand 1, which carries a surgical microscope as a device 3, which is to be freely movable. The stand 1 comprises a base part 5 which is mounted on a stand base 7 so as to be rotatable about a vertical axis of rotation A1.
Zum detaillierten Aufbau der Stativarme und Schwenkbeweglichkeiten des Stativs 1 wird auf die DE 197 42 051 A1 der Anmelderin verwiesen. For detailed structure of the tripod arms and pivoting mobility of the tripod 1 , reference is made to DE 197 42 051 A1 by the applicant.
Über einen am Stativfuß 7 befestigten Schiebebügel 6 ist der Stativfuß 7 und damit das Stativ 1 aufgrund von Fahrrollen, welche an dem Stativfuß 7 drehbar angeordnet sind, verschieb- bzw. fahrbar. Von diesen Fahrrollen sind in Fig. 1 eine Fahrrolle 9 mit relativ großem Durchmesser und eine als Lenkrolle ausgebildete Fahrrolle 11 mit kleinerem Durchmesser zu erkennen.A fixed base of the stand 7 handlebar 6 of the stand base 7 and therefore the tripod 1 is due to driving rollers which are arranged rotatably on the stand base 7, displaceable or movable. Of these castors, a castor 9 with a relatively large diameter and a castor 11 designed as a castor with a smaller diameter can be seen in FIG. 1.
In Fig. 2 sind neben den Fahrrollen 9 und 11 die weiteren Fahrrollen 10 und 12 dargestellt. Die Fahrrollen 9 und 10 mit relativ großem Durchmesser sind um eine stativfußfeste Rollachse A2 drehbar, während die Rollachsen der Lenkrollen 11 und 12 in bekannter Weise in einer zum Boden parallelen Ebene verschwenkbar sind.In FIG. 2, in addition to the drive rollers 9 and 11 shown the further drive rollers 10 and 12. The rollers 9 and 10 with a relatively large diameter can be rotated about a roll axis A2 fixed to the stand, while the roll axes of the steering rollers 11 and 12 can be pivoted in a known manner in a plane parallel to the ground.
Zusätzlich zu den Fahrrollen 9, 10, 11 und 12 weist das Stativ 1 noch Zusatzrollen 13 und 14 auf, welche in Fig. 2 in ihrer in das unten offene Gehäuse 15 des Stativfußes 7 zurückgezogenen Stellung dargestellt sind. Die Zusatzrollen 13 und 14 sind bei Betätigung eines Fußpedals 17 derart ausstellbar, daß sie die Fahrrollen 9 und 10 geringfügig vom Boden abheben.In addition to the driving rollers 9 , 10 , 11 and 12 , the stand 1 also has additional rollers 13 and 14 , which are shown in FIG. 2 in their position retracted into the housing 15 of the stand base 7 which is open at the bottom. The additional rollers 13 and 14 can be raised when a foot pedal 17 is actuated in such a way that they slightly lift the castors 9 and 10 off the ground.
Die ausgestellte Zusatzrollenstellung ist in Fig. 3 dargestellt. In dieser Stellung haben die Fahrrollen 9 und 10 keinen Bodenkontakt mehr, sind also fahrunwirksam. Da die Zusatzrollen 13 und 14 zudem als Lenkrollen ausgebildet sind, ist das Stativ 1 in dieser Stellung selbst auf kleinstem Raum sehr beweglich und manövrierbar.The issued additional roller position is shown in Fig. 3. In this position the castors 9 and 10 are no longer in contact with the ground and are therefore ineffective. Since the additional rollers 13 and 14 are also designed as castors, the stand 1 is very mobile and maneuverable in this position even in the smallest space.
In Fig. 2 ist ferner zu erkennen, daß die Zusatzrollen 13 und 14 an einer Schwinge 19 angeordnet sind, welche in Abstand von den Zusatzrollen 13 und 14 am Stativfuß 7 angelenkt ist. Bei Betätigung des Fußpedals 17 wird die Schwinge 19 durch einen hydraulischen Arbeitszylinder 23 um die in Fig. 4 dargestellten Anlenkpunkte 21 und 22 nach unten verschwenkt, wodurch die Zusatzrollen 13 und 14 ausgestellt werden. Gegen dieses Auswärtsverschwenken der Schwinge 19 wirkt eine Rückziehfeder 33, welche das Zurückstellen der Zusatzrollen 13 und 14 bewirkt. In Fig. 2 it can also be seen that the additional rollers 13 and 14 are arranged on a rocker 19 which is articulated at a distance from the additional rollers 13 and 14 on the stand base 7 . When the foot pedal 17 is actuated, the rocker 19 is pivoted downward by a hydraulic working cylinder 23 about the articulation points 21 and 22 shown in FIG. 4, as a result of which the additional rollers 13 and 14 are raised. A return spring 33 acts against this swinging out of the rocker 19 , which causes the additional rollers 13 and 14 to be reset.
Eine als Stopper ausgebildete Fahrbremse 25 ist mittels eines Fußschalters 27 betätigbar. In vorteilhafter Weise wird die Fahrbremse 25 durch die Betätigung des Fußpedals 17 gestellt und auch wieder gelöst.A driving brake 25 designed as a stopper can be actuated by means of a foot switch 27 . Advantageously, the driving brake 25 is set and released again by actuating the foot pedal 17 .
In der Draufsicht nach Fig. 5 ist der Stativfuß 7 von unten ohne Fahrbremse 25, Schwinge 19 und Zusatzrollen 13 und 14 dargestellt, wodurch ein Pumpzylinder 29 zu erkennen ist, der mit dem Arbeitszylinder 23 über eine Hydraulikleitung 31 verbunden ist. Pumpzylinder 29 und Arbeitszylinder 23 funktionieren nach dem Prinzip einer hydraulischen Presse, wobei durch eine pumpende Betätigung des Fußpedals 17 ein Hydraulikfluid aus einem nicht dargestellten Reservoir vom Pumpzylinder 29 in den Arbeitszylinder 23 gedrückt wird und dadurch die Schwinge 19 mit den Zusatzrollen 13 und 14 ausstellt.In the plan view of Fig. 5 of the stand base 7 from below without driving brake 25, swing arm 19 and auxiliary rollers 13 and 14, it can be seen forming a pump cylinder 29 which is connected to the working cylinder 23 via a hydraulic line 31. Pump cylinder 29 and cylinder 23 operate on the principle of a hydraulic press, wherein a hydraulic fluid is forced from an unillustrated reservoir on the pump cylinder 29 into the working cylinder 23 by a pumping operation of the foot pedal 17 and thereby the swing arm 19 exhibited with the additional rollers. 13 and 14
Zum Zurückziehen der Zusatzrollen 13 und 14 wird über den Fußschalter 27 ein das Hydraulikfluid in das Reservoir zurücklassendes Ventil geöffnet. Gleichzeitig unterstützt die Rückziehfeder 33 das Einziehen der Schwinge 19 und damit das Zurückziehen der Zusatzrollen 13 und 14.To retract the additional rollers 13 and 14 , a valve which leaves the hydraulic fluid in the reservoir is opened via the foot switch 27 . At the same time, the retraction spring 33 supports the retraction of the rocker 19 and thus the retraction of the additional rollers 13 and 14 .
Claims (12)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19952477A DE19952477B4 (en) | 1999-10-29 | 1999-10-29 | Mobile tripod |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19952477A DE19952477B4 (en) | 1999-10-29 | 1999-10-29 | Mobile tripod |
Publications (2)
Publication Number | Publication Date |
---|---|
DE19952477A1 true DE19952477A1 (en) | 2001-05-03 |
DE19952477B4 DE19952477B4 (en) | 2009-04-02 |
Family
ID=7927519
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE19952477A Expired - Lifetime DE19952477B4 (en) | 1999-10-29 | 1999-10-29 | Mobile tripod |
Country Status (1)
Country | Link |
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DE (1) | DE19952477B4 (en) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7174982B2 (en) | 2003-06-27 | 2007-02-13 | Carl-Zeiss-Stiftung Trading As Carl Zeiss | Displaceable support stand |
DE102012101136B3 (en) * | 2012-02-14 | 2013-07-04 | Leica Microsystems (Schweiz) Ag | Stand for holding microscope in operating theater during operation, has control unit for controlling drive unit such that drive unit supportingly drives roller of stand leg when sensor unit detects traversing movement of stand |
DE102014103745A1 (en) * | 2014-03-19 | 2015-10-08 | Leica Microsystems (Schweiz) Ag | Tripod foot for microscopes |
CN108542074A (en) * | 2018-06-20 | 2018-09-18 | 星际纵横(厦门)信息科技有限公司 | A kind of outdoor umbrella lifting pedestal |
CN112178413A (en) * | 2020-08-28 | 2021-01-05 | 南京蹑波物联网科技有限公司 | Industrial robot auxiliary moving device and moving method |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1994028815A1 (en) * | 1993-06-15 | 1994-12-22 | Mitaka Kohki Co., Ltd. | Stand for optical device |
DE19742051B4 (en) * | 1997-09-24 | 2006-12-28 | Carl Zeiss | Tripod with energy storage for weight balance |
DE29902141U1 (en) * | 1999-02-09 | 1999-05-20 | Nienhaus Berthold | Mobile multi-purpose stand |
-
1999
- 1999-10-29 DE DE19952477A patent/DE19952477B4/en not_active Expired - Lifetime
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7174982B2 (en) | 2003-06-27 | 2007-02-13 | Carl-Zeiss-Stiftung Trading As Carl Zeiss | Displaceable support stand |
DE102012101136B3 (en) * | 2012-02-14 | 2013-07-04 | Leica Microsystems (Schweiz) Ag | Stand for holding microscope in operating theater during operation, has control unit for controlling drive unit such that drive unit supportingly drives roller of stand leg when sensor unit detects traversing movement of stand |
CN103256461A (en) * | 2012-02-14 | 2013-08-21 | 莱卡微系统(瑞士)股份公司 | Stand with casters driven assistively used for holding at least one medical device |
US8718898B2 (en) | 2012-02-14 | 2014-05-06 | Leica Microsystems (Schweiz) Ag | Stand for holding at least one medical device, having assistively driven casters |
CN103256461B (en) * | 2012-02-14 | 2015-07-08 | 莱卡微系统(瑞士)股份公司 | Stand with casters driven assistively used for holding at least one medical device |
DE102014103745A1 (en) * | 2014-03-19 | 2015-10-08 | Leica Microsystems (Schweiz) Ag | Tripod foot for microscopes |
US9732902B2 (en) | 2014-03-19 | 2017-08-15 | Leica Microsystems (Schweiz) Ag | Stand base for microscopes |
DE102014103745B4 (en) | 2014-03-19 | 2019-10-17 | Leica Microsystems (Schweiz) Ag | Tripod foot for microscopes |
CN108542074A (en) * | 2018-06-20 | 2018-09-18 | 星际纵横(厦门)信息科技有限公司 | A kind of outdoor umbrella lifting pedestal |
CN108542074B (en) * | 2018-06-20 | 2024-03-19 | 云未科技有限公司 | Lifting base for outdoor umbrella |
CN112178413A (en) * | 2020-08-28 | 2021-01-05 | 南京蹑波物联网科技有限公司 | Industrial robot auxiliary moving device and moving method |
Also Published As
Publication number | Publication date |
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DE19952477B4 (en) | 2009-04-02 |
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Legal Events
Date | Code | Title | Description |
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8110 | Request for examination paragraph 44 | ||
8364 | No opposition during term of opposition | ||
R071 | Expiry of right |