CN110170987A - Unidirectional locking joint hinge - Google Patents
Unidirectional locking joint hinge Download PDFInfo
- Publication number
- CN110170987A CN110170987A CN201910487321.1A CN201910487321A CN110170987A CN 110170987 A CN110170987 A CN 110170987A CN 201910487321 A CN201910487321 A CN 201910487321A CN 110170987 A CN110170987 A CN 110170987A
- Authority
- CN
- China
- Prior art keywords
- batten
- fixed plate
- wedge
- cam disc
- leading
- 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
- 239000007937 lozenge Substances 0.000 claims abstract description 8
- 210000002414 leg Anatomy 0.000 description 14
- 210000000629 knee joint Anatomy 0.000 description 7
- 210000000689 upper leg Anatomy 0.000 description 6
- 230000005484 gravity Effects 0.000 description 4
- 238000005452 bending Methods 0.000 description 3
- 206010061258 Joint lock Diseases 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 244000287353 Crassocephalum crepidioides Species 0.000 description 1
- 206010016322 Feeling abnormal Diseases 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Pivots And Pivotal Connections (AREA)
- Chairs For Special Purposes, Such As Reclining Chairs (AREA)
Abstract
Unidirectional locking joint hinge, including the first fixed plate, second fixed plate, movable plate, cam disc, wedge-shaped batten, it is leading to be oriented to batten with rear to batten, movable plate and cam disc, which are integrated, to be made, it is leading to form a guide groove between batten and rear guiding batten, a short axle is provided between first fixed plate and the lower part of the second fixed plate, the eccentric part of cam disc is rotatably connected in short axle, the top of wedge-shaped batten is slidably arranged in guide groove, the lower rearward side side of wedge-shaped batten is provided with the lozenges with cam disc cooperation, second fixed plate middle and upper part offers long hole, the length direction of long hole is parallel to the length direction of guide groove, wedge-shaped batten side be connected be pierced by long hole manually adjust positioning component.Principle of the invention science, structure are simple, easy to use, and using the mechanical structure of lozenges and cam engagement come adjusting sitting posture, this purely mechanic mechanism realizes the stability of carry-on seat, so that it is guaranteed that the security reliability of seat in use.
Description
Technical field
The invention belongs to mechanical exoskeleton technical fields, and in particular to a kind of unidirectional locking joint hinge.
Background technique
Currently, the worker of many labor-intensive enterprises is on assembling line or when some particular job environment works
Need ceaselessly to do the movement bent over, squatted, and much working is the progress long-time operation under the state of squatting, it is long and long
It, falls lumbar vertebrae and kneed illness.Traditional seat does not adapt to the posture of different height of the worker in operation, existing
Also wearable seat wears in technology for using, such as disclosed in Publication No. CN104970607A, CN104473486A
Seat is worn, but the main stress point of these existing wearable seats in use is just at position corresponding with leg knee joint
Structure, the construction of existing wearable seat is typically more complicated, and has used electromagnet, damper (air pressure or liquid
Pressure), pressure sensor, the electric control gears such as controller, be not pure mechanic structure, higher cost, this is needed in use
Worker must skilled operation could use, in addition automatically controlled to need power supply, the reliability of control element is poor, often goes out
Existing failure.
Summary of the invention
The present invention in order to solve shortcoming in the prior art, provide it is a kind of using pure mechanic structure, structure it is simple, just
In operation, the unidirectional locking joint hinge that reliability is strong, at low cost.
In order to solve the above technical problems, the present invention adopts the following technical scheme: unidirectional locking joint hinge, including first solid
Fixed board, the second fixed plate, movable plate, cam disc, wedge-shaped batten, it is leading to batten and after be oriented to batten, cam disc, wedge-shaped bar
It is plate, leading to batten and rear guiding batten is positioned at the first fixed plate and the second fixed plate between, the first fixed plate, the second fixation
Plate, it is leading be connected to one to batten with rear guiding batten by several fastening bolts, movable plate and cam disc are one
System is at movable plate top is fixedly connected with cam disc lower part, leading to form a guiding between batten and rear guiding batten
Slot, it is leading be greater than to the length of batten after be oriented to the length of batten, leading to flush to batten with rear guiding batten upper end, first is solid
A short axle is provided between fixed board and the lower part of the second fixed plate, the eccentric part of cam disc is rotatably connected in short axle, wedge shape
The top of batten is slidably arranged in guide groove, and the lower rearward side side of wedge-shaped batten is provided with the lozenges with cam disc cooperation,
The front side edge of wedge-shaped batten is slidably matched with leading to batten, and the second fixed plate middle and upper part offers long hole, the length side of long hole
To the length direction for being parallel to guide groove, wedge-shaped batten side be connected be pierced by long hole manually adjust positioning component.
Manually adjusting positioning component includes T-type unlock rod, spring, gasket and connecting screw, T-type unlock rod include outer diameter compared with
Thick head and thinner bar portion, T-type unlock rod center offer perforation and the counter sink positioned at head, open up on wedge-shaped batten
There is threaded hole corresponding with long hole, the diameter of threaded hole is less than the width of long hole, and the one end of the rod of T-type unlock rod extend into long hole
Interior and contact with wedge-shaped bar plate surface, connecting screw is passed through by counter sink and perforates and be threadedly coupled in threaded hole, gasket and bullet
Spring covers the bar portion in T-type unlock rod, and gasket is contacted with the second fixed plate, both ends of the spring respectively with gasket and T-type unlock rod
Head press cooperation.
The outer upper of first fixed plate is provided with liner plate, and the lower part of liner plate passes through fastening bolt together with the first fixed plate
It is connect with the second fixed plate.
Gasket upper lateral part is connected with quick release drawstring.
By adopting the above technical scheme, the top of the first fixed plate and liner plate has been bolted by several first connections
Telescopic adjustment rod piece, movable plate lower part have been bolted lower telescopic adjustment rod piece, lower telescopic adjustment by several second connections
Rod piece lower end is hinged with foot's connection support component, and lower telescopic adjustment rod piece top is provided with the first connecting plate, sets on the first connecting plate
There is shank bandage, upper telescopic adjustment rod piece lower part is provided with the second connecting plate, and the second connecting plate is equipped with thigh bandage, upper telescopic adjustment
Rod piece top is provided with third connecting plate, and upper telescopic adjustment rod piece, unidirectional locking joint hinge, lower telescopic adjustment rod piece and foot connect
It connects support component and forms one group of leg ectoskeleton support frame, the third of the upper telescopic adjustment rod piece of two groups of leg ectoskeleton support frames
Waist stern bandage is set between connecting plate, thus forms carry-on seat.
In the use of the present invention, two groups of leg ectoskeleton support frames be respectively fixedly connected with the left leg of operator left side and
The right side of right leg first adjusts the length of upper telescopic adjustment rod piece and lower telescopic adjustment rod piece, to be suitble to the leg according to operator
Minister's degree, the position of unidirectional locking joint hinge and knee joint are contour, will be small by foot's binding in foot's connection support component
The binding of leg bandage is bound in lower leg and thigh, waist stern bandage in waist in shank top, the binding of thigh bandage.
Then by driving T-type unlock rod, position of the wedge-shaped batten in guide groove is driven, shank drives in bending
Lower telescopic adjustment rod piece rotates backward, and the movable plate connecting with the lower link upper end of lower telescopic adjustment rod piece drives cam disc with short
It also rotating backward centered on axis, after turning to certain angle, the lozenges of cam disc top and wedge-shaped batten presses cam disc,
Cam disc cannot rotate backward, and the angle between upper telescopic adjustment rod piece and lower telescopic adjustment rod piece is fixed at this time, foot
Connection support component, lower telescopic adjustment rod piece, unidirectional locking joint hinge and upper telescopic adjustment rod piece are just decided to be bending branch
The structure of support, waist stern bandage are just support operator and are carried out operation in a manner of sitting posture, alleviate kneed stress in this way.
When needing normal walking, quick release drawstring is pulled up, T-type unlock rod is pulled to the top of long hole, wedge
Shape batten is moved up along guide groove, cam disc rotate backward 180 ° when, will not contact with wedge-shaped batten, ensure away in this way
Flexibility when road.When needing the sitting posture of some posture, T-type unlock rod is just manually operated, adjusts wedge-shaped batten in guide groove
Interior position presses to position after cam disc rotates backward with wedge-shaped batten.
Quick release drawstring also has a security function: if in using seat, knee joint lock state servant's
Gravity center instability will topple over backward, be difficult adjustment state since motion of knee joint is limited and avoid falling down.Quick solution can be pulled at this time
Drawstring is locked, the rapidly moving upward completion unlock of wedge-shaped batten is made.Quick release drawstring can also be connect with arm or other limbs,
Such as linkage of unlocking when the natural swing (being swung upwards or forward to maintain to balance) of arm when falling down fastly.
Spring, which plays, makes wedge-shaped batten remain the state crimped with the second fixed plate inner surface, to avoid wedge-shaped bar
Plate moves down under self gravity and influences flexibility when normally walking.
In conclusion the principle of the invention is scientific, structure is simple, easy to use, using the machinery of lozenges and cam engagement
Structure carrys out adjusting sitting posture, this purely mechanic mechanism realizes the stability of carry-on seat, so that it is guaranteed that seat is in use
Security reliability.
Detailed description of the invention
Fig. 1 is floor map of the invention；
Fig. 2 is the A-A cross-sectional view in Fig. 1 along long hole length direction；
Fig. 3 is explosive view of the invention；
Fig. 4 is the three-dimensional structural schematic diagram that the present invention is mounted on carry-on seat；
Fig. 5 is schematic diagram of the carry-on seat in use state.
Specific embodiment
As Figure 1-Figure 5, unidirectional locking joint hinge of the invention, including the first fixed plate 1, the second fixed plate 2, work
It is movable plate 3, cam disc 4, wedge-shaped batten 5, leading to batten 6 and rear guiding batten 7, it is cam disc 4, wedge-shaped batten 5, leading to batten
6 and rear guiding batten 7 between the first fixed plate 1 and the second fixed plate 2, the first fixed plate 1, the second fixed plate 2, it is leading to
Batten 6 and rear guiding batten 7 are connected to one by several fastening bolts 8, and movable plate 3 and cam disc 4 are integrated system
At 3 top of movable plate is fixedly connected with 4 lower part of cam disc, leading to form a guiding between batten 6 and rear guiding batten 7
Slot 11, the leading length to batten 6 is oriented to the length of batten 7 after being greater than, leading to flush to batten 6 and rear guiding 7 upper end of batten,
A short axle 12 is provided between first fixed plate 1 and the lower part of the second fixed plate 2, the eccentric part of cam disc 4 is rotatably connected on
In short axle 12, the top of wedge-shaped batten 5 is slidably arranged in guide groove 11, the lower rearward side side of wedge-shaped batten 5 be provided with it is convex
The lozenges 13 that wheel disc 4 cooperates, the front side edge of wedge-shaped batten 5 are slidably matched with leading to batten 6,2 middle and upper part of the second fixed plate
Long hole 14 is offered, the length direction of long hole 14 is parallel to the length direction of guide groove 11, and wedge-shaped 5 side of batten, which is connected with, to be pierced by
Long hole 14 manually adjusts positioning component.
Manually adjusting positioning component includes T-type unlock rod 16, spring 17, gasket 18 and connecting screw 19, T-type unlock rod 16
Including the thicker head of outer diameter and thinner bar portion, 16 center of T-type unlock rod offers perforation and the counter sink positioned at head, wedge
Threaded hole corresponding with long hole 14 is offered on shape batten 5, the diameter of threaded hole is less than the width of long hole 14, T-type unlock rod 16
One end of the rod extend into long hole 14 and contacted with wedge-shaped 5 surface of batten, connecting screw 19 passes through perforation and spiral shell by counter sink
Line is connected in threaded hole, and gasket 18 and spring 17 cover the bar portion in T-type unlock rod 16, and gasket 18 connects with the second fixed plate 2
Touching, 17 both ends of spring are pressed with the head of gasket 18 and T-type unlock rod 16 respectively to be cooperated.
The outer upper of first fixed plate 1 is provided with liner plate 20(and plays the role of enhancing 1 bonding strength of the first fixed plate),
The lower part of liner plate 20 is connect by fastening bolt 8 with the second fixed plate 2 together with the first fixed plate 1.
18 upper lateral part of gasket is connected with quick release drawstring 21.
The top of first fixed plate 1 and liner plate 20 is connected with telescopic adjustment rod piece by several the first connection bolts 9
22,3 lower part of movable plate is connected with lower telescopic adjustment rod piece 23, lower telescopic adjustment rod piece 23 by several the second connection bolts 10
Lower end is hinged with foot's connection support component 24, and lower 23 top of telescopic adjustment rod piece is provided with the first connecting plate, sets on the first connecting plate
There is shank bandage 25, upper 22 lower part of telescopic adjustment rod piece is provided with the second connecting plate, and the second connecting plate is equipped with thigh bandage 26, above stretches
Contracting adjusts 22 top of rod piece and is provided with third connecting plate, upper telescopic adjustment rod piece 22, unidirectional locking joint hinge, lower telescopic advance lever
Part 23 connects support component 24 with foot and forms one group of leg ectoskeleton support frame, and two groups of the upper of leg ectoskeleton support frame are stretched
It adjusts and waist stern bandage 32 is set between the third connecting plate of rod piece 22, thus form carry-on seat.
It is unidirectional locking joint hinge 27 since the present invention is claimed, it is all telescopic advance lever parts 22 as above, lower flexible
Adjusting rod piece 23 and connecting support component 24 with foot is to describe specifically installing and its make for unidirectional locking joint hinge 27
It is addressed with mode of operation.Therefore, upper telescopic adjustment rod piece 22, lower telescopic adjustment rod piece 23 connect support component 24 with foot
Specific configuration be not described in detail in the present invention.
In the use of the present invention, two groups of leg ectoskeleton support frames be respectively fixedly connected with the left leg of operator left side and
The right side of right leg first adjusts the length of upper telescopic adjustment rod piece 22 and lower telescopic adjustment rod piece 23, to be suitble to according to operator
Leg length, the position of unidirectional locking joint hinge 27 and knee joint are contour, by foot binding foot connect support component
24(includes foot pedal 28, connecting plate 29, instep bandage 30 and heel bandage 31 etc.) on, shank bandage 25 is bound small
Leg top, the binding of thigh bandage 26 are bound in lower leg and thigh, waist stern bandage 32 in waist.
Then by driving T-type unlock rod 16, drive position of the wedge-shaped batten 5 in guide groove 11, shank in bending,
Lower telescopic adjustment rod piece 23 is driven to rotate backward, the movable plate 3 connecting with the lower link upper end of lower telescopic adjustment rod piece 23 drives
Cam disc 4 is also rotated backward centered on short axle 12, and cam disc 4 is after turning to certain angle, 4 top of cam disc and wedge-shaped bar
The lozenges 13 of plate 5 presses, and cam disc 4 cannot rotate backward, at this time upper telescopic adjustment rod piece 22 and lower telescopic adjustment rod piece
Angle between 23 is fixed, foot connect support component 24, lower telescopic adjustment rod piece 23, unidirectional locking joint hinge 27 and on
Telescopic adjustment rod piece 22 is just decided to be the structure of bent support, waist stern bandage 32 just support operator in a manner of sitting posture into
Row operation alleviates kneed stress in this way.
When needing normal walking, quick release drawstring 21 is pulled up, T-type unlock rod 16 is pulled to the most upper of long hole 14
End, wedge-shaped batten 5 moves up along guide groove 11, cam disc 4 rotate backward 180 ° when, will not be contacted with wedge-shaped batten 5, this
Flexibility when sample ensures on foot.When needing the sitting posture of some posture, T-type unlock rod 16, adjustment wedge shape is just manually operated
Position of the batten 5 in guide groove 11 presses to position after cam disc 4 rotates backward with wedge-shaped batten 5.
Quick release drawstring 21 also has a security function: if in using seat, knee joint lock state servant
Gravity center instability to topple over backward, be difficult adjustment state since motion of knee joint is limited and avoid falling down.It can pull at this time quickly
Drawstring 21 is unlocked, the rapidly moving upward completion of wedge-shaped batten 5 is unlocked.Quick release drawstring 21 can also be with arm or other limbs
Body connection, such as linkage of unlocking when the natural swing (being swung upwards or forward to maintain to balance) of arm when falling down fastly.
Spring 17, which plays, makes wedge-shaped batten 5 remain the state crimped with 2 inner surface of the second fixed plate, to avoid wedge
Shape batten 5 moves down under self gravity and influences flexibility when normally walking.
The present embodiment not makes any form of restriction shape of the invention, material, structure etc., all according to this hair
Bright technical spirit any simple modification, equivalent change and modification to the above embodiments, belong to the technology of the present invention side
The protection scope of case.
Claims (4)
1. unidirectional locking joint hinge, it is characterised in that: including the first fixed plate, the second fixed plate, movable plate, cam disc, wedge
Shape batten, it is leading to batten and after be oriented to batten, cam disc, leading is located at first to batten and rear guiding batten at wedge-shaped batten
It is the first fixed plate, the second fixed plate, leading to batten and rear guiding batten passes through several between fixed plate and the second fixed plate
Fastening bolt is connected to one, and movable plate and cam disc are integrated and are made, the fixed company in movable plate top and cam disc lower part
Connect, it is leading to form a guide groove between rear guiding batten to batten, it is leading be greater than to the length of batten after be oriented to batten
Length, it is leading to be flushed to batten and rear guiding batten upper end, one is provided between the first fixed plate and the lower part of the second fixed plate
The eccentric part of root short axle, cam disc is rotatably connected in short axle, and the top of wedge-shaped batten is slidably arranged in guide groove, wedge-shaped bar
The lower rearward side side of plate is provided with the lozenges with cam disc cooperation, and the front side edge of wedge-shaped batten is matched with leading to batten sliding
It closes, the second fixed plate middle and upper part offers long hole, and the length direction of long hole is parallel to the length direction of guide groove, wedge-shaped batten side
Portion be connected be pierced by long hole manually adjust positioning component.
2. unidirectional locking joint according to claim 1 hinge, it is characterised in that: manually adjusting positioning component includes T-type
Unlock rod, spring, gasket and connecting screw, T-type unlock rod include the thicker head of outer diameter and thinner bar portion, T-type unlock rod
Center offers perforation and the counter sink positioned at head, offers threaded hole corresponding with long hole on wedge-shaped batten, threaded hole
Diameter is less than the width of long hole, and the one end of the rod of T-type unlock rod extend into long hole and contacts with wedge-shaped bar plate surface, connects spiral shell
Bar is passed through by counter sink and perforates and be threadedly coupled in threaded hole, and gasket and spring cover the bar portion in T-type unlock rod, gasket with
The contact of second fixed plate, both ends of the spring is pressed with the head of gasket and T-type unlock rod respectively to be cooperated.
3. unidirectional locking joint according to claim 2 hinge, it is characterised in that: the outer upper of the first fixed plate is arranged
There is liner plate, the lower part of liner plate passes through fastening bolt together with the first fixed plate and connect with the second fixed plate.
4. unidirectional locking joint according to claim 2 hinge, it is characterised in that: gasket upper lateral part is connected with quick release
Drawstring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910487321.1A CN110170987B (en) | 2019-06-05 | 2019-06-05 | One-way locking joint hinge |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910487321.1A CN110170987B (en) | 2019-06-05 | 2019-06-05 | One-way locking joint hinge |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110170987A true CN110170987A (en) | 2019-08-27 |
| CN110170987B CN110170987B (en) | 2024-06-21 |
Family
ID=67697137
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910487321.1A Active CN110170987B (en) | 2019-06-05 | 2019-06-05 | One-way locking joint hinge |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110170987B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112518710A (en) * | 2019-09-17 | 2021-03-19 | 株式会社捷太格特 | Auxiliary device |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0466538A1 (en) * | 1990-07-10 | 1992-01-15 | ETABLISSEMENTS PROTEOR Société anonyme dite: | Joint for lower limbs orthosis, lockable in the stretched position of these limbs |
| JP2000177449A (en) * | 1998-12-11 | 2000-06-27 | Daihatsu Motor Co Ltd | Seat device for automobile |
| US6309368B1 (en) * | 1996-02-16 | 2001-10-30 | Beiersdorf Ag | Knee-joint orthesis |
| KR200412396Y1 (en) * | 2006-01-09 | 2006-03-27 | 조상덕 | Orthopedic Knee Supports |
| KR20060109740A (en) * | 2005-04-18 | 2006-10-23 | 조상덕 | Knee joint support to relieve pain and shock of knee joint |
| CN106983638A (en) * | 2017-05-12 | 2017-07-28 | 华中科技大学 | A kind of passive type weight support exoskeleton device based on gait phase Self-unlocking |
| CN109545610A (en) * | 2018-12-07 | 2019-03-29 | 浙江正东机车部件有限公司 | Locomotive smart lock |
| CN210282274U (en) * | 2019-06-05 | 2020-04-10 | 王震虎 | One-way locking joint hinge |
-
2019
- 2019-06-05 CN CN201910487321.1A patent/CN110170987B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0466538A1 (en) * | 1990-07-10 | 1992-01-15 | ETABLISSEMENTS PROTEOR Société anonyme dite: | Joint for lower limbs orthosis, lockable in the stretched position of these limbs |
| US6309368B1 (en) * | 1996-02-16 | 2001-10-30 | Beiersdorf Ag | Knee-joint orthesis |
| JP2000177449A (en) * | 1998-12-11 | 2000-06-27 | Daihatsu Motor Co Ltd | Seat device for automobile |
| KR20060109740A (en) * | 2005-04-18 | 2006-10-23 | 조상덕 | Knee joint support to relieve pain and shock of knee joint |
| KR200412396Y1 (en) * | 2006-01-09 | 2006-03-27 | 조상덕 | Orthopedic Knee Supports |
| CN106983638A (en) * | 2017-05-12 | 2017-07-28 | 华中科技大学 | A kind of passive type weight support exoskeleton device based on gait phase Self-unlocking |
| CN109545610A (en) * | 2018-12-07 | 2019-03-29 | 浙江正东机车部件有限公司 | Locomotive smart lock |
| CN210282274U (en) * | 2019-06-05 | 2020-04-10 | 王震虎 | One-way locking joint hinge |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112518710A (en) * | 2019-09-17 | 2021-03-19 | 株式会社捷太格特 | Auxiliary device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110170987B (en) | 2024-06-21 |
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