CN104188784A - Massage device for bed - Google Patents
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- CN104188784A CN104188784A CN201410453231.8A CN201410453231A CN104188784A CN 104188784 A CN104188784 A CN 104188784A CN 201410453231 A CN201410453231 A CN 201410453231A CN 104188784 A CN104188784 A CN 104188784A
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Abstract
The invention discloses a massage device for a bed, and belongs to the field of massage apparatuses. The massage device for the bed comprises a base, a support, a rolling massage device, a vibrating massage device and a controller, wherein a linear driving mechanism which can drive the base to carry out reciprocating linear movement is arranged at the bottom of the base, the lower end of the support is fixed to the base, both the rolling massage device and the vibrating massage device are installed at the upper end of the support, a perpendicular lifting mechanism which can push the rolling massage device to ascend is arranged at the lower end of the rolling massage device, a traction mechanism which can drive the vibrating massage device to reciprocate left and right is connected to the vibrating massage device, and the linear driving mechanism, the perpendicular lifting mechanism, the traction mechanism and the vibrating massage device are all connected with the controller. According to the massage device for the bed, rolling massage and vibrating massage are organically combined, massage can be performed in multiple modes, the comfort level of massage is high, all-directional massage can be carried out on a human body, and especially, the part, with small contact force with a bed surface, of the human body can also be well massaged.
Description
Technical field
The present invention relates to a kind of massage machine, more particularly, relate to a kind of bed massage machine.
Background technology
Paralytic does not have self-care ability conventionally, and need to couch for a long time at bed.Couch for a long time and easily make skin in compression, subcutaneous tissue and muscle ischemic necrosis, form decubital ulcer.Massage is conducive to blood circulation promoting, promotes venous return, enhances metabolism, improves function of nervous system, prevents amyotrophy and joint stiffness, avoid forming decubital ulcer, therefore, the patient of paralysis should help to implement limbs passive exercise and muscle is massaged by nursing staff and family members completely, general each needs 10～20 minutes, every day 2～3 times, bring very large trouble and labor intensity to like this medical personnel and family members.
At present, in order to reduce the labor intensity of medical personnel and families of patients, improve medical worker's work efficiency, occurred on the market many massage machines for paralytic, and brought certain effect to paralytic's treatment.Existing more massage couch all adopts human body to lie low on bed body, massage machine is arranged at a body bottom back of human body is massaged, massage machine is generally massage ball, massage roller etc., such massage couch utilizes and on scroll wheel effect and scroll wheel, massages protruding mechanical force maneuver, by collaterals of human and the multiple sensor of stimulation of exerting pressure, exerted pressure in He Jing cave, hundreds of acupoints of whole body, by to back, waist, the shank numb muscle of aching imposes traction, extruding, the whole body massages such as kneading, muscle is produced to soft stimulation, and keypoint part is carried out to repeated massage back and forth, thereby recover the fibrous elasticity of muscle, accelerate blood circulation speed, mediator's yin-yang, balanced QI-blood circulation, strengthen function, promote human body health, but adopt the massage couch of this method, due to the deadweight of human body, massage machine generally can not be controlled massage force well, cannot contact completely for some position of health, therefore massage position not comprehensive, and massaging way is single, human comfort is lower.
In addition, because rhythm of life is accelerated, pressure increases gradually, also pay attention to day by day daily leisure health care of Healthy People, therefore also corresponding some casual health massage couchs that occurred.
Summary of the invention
1. the technical problem that invention will solve
The object of the invention is to overcome the deficiency that existing bed massage machine massage position is comprehensive, massaging way is single, human comfort is low, a kind of bed massage machine is provided, adopt technical scheme of the present invention, rolling massage and vibration massage are organically combined, having realized various modes massages, massage comfort level is high, and can carry out omnibearing massage for human body, especially also can realize good massage effect for human body and the less position of bed surface contact force; Simultaneously simple in structure, operation is smooth, with low cost, and the massage that is particularly useful for paralytic bed is used.
2. technical scheme
For achieving the above object, technical scheme provided by the invention is:
A kind of bed massage machine of the present invention, comprises base, support, rolling massage device, vibration massage machine and controller, and the bottom of described base is provided with the straight line driving mechanism that can drive base linear reciprocating motion; The lower end of described support is fixed on base, and described rolling massage device and vibration massage machine are all installed on the upper end of support; The lower end of described rolling massage device is provided with and can promotes the vertical lifting mechanism that rolling massage device rises, and is connected with and can drives the reciprocating haulage gear in vibration massage machine left and right on described vibration massage machine; Described straight line driving mechanism, vertical lifting mechanism, haulage gear and vibration massage machine are all connected with controller, for control rolling massage device and/or vibration massage machine realize multiple massage functions.
Further, described rolling massage device comprises massage roller and crossbeam, and described massage roller is installed on crossbeam by one section of optical axis, and massage roller evenly arranges two or more on crossbeam; Described crossbeam is connected with vertical lifting mechanism, and steadily rises under the promotion of vertical lifting mechanism.
Further, described vertical lifting mechanism comprises two fairleads, two guide pillars and an electric pushrod, described fairlead is individually fixed on support, described guide pillar is individually fixed in the below of crossbeam, and guide pillar matches with fairlead, described electric pushrod is fixed on base, and the carriage release lever of electric pushrod is positioned at the below of crossbeam.
Further, be fixed with vibration massage bracket on described support, in described vibration massage bracket, be horizontally disposed with guide post, described vibration massage machine is symmetrically installed with two groups on guide post; Described vibration massage machine comprises agitator, spacing strap, spring lever and agitator base, described agitator base and above-mentioned guide post are slidably connected, described spring lever is arranged on agitator base, and described agitator is fixed on the fixing head on spring lever top by spacing strap.
Further, between described spring lever and agitator base, be also provided with linear bearing.
Further, described haulage gear comprises motor fixing plate, traction electric machine, crank, pull rope and extension spring, described traction electric machine is installed on base by motor fixing plate, the output shaft of described traction electric machine and one end of crank are connected, the other end of crank is provided with First Line wheel, the second line wheel and the 3rd line wheel are installed in described vibration massage bracket, described vibration massage machine is between the second line wheel and the 3rd line wheel, described pull rope is walked around First Line wheel, the second line wheel and be connected with agitator base after, continue to walk around the 3rd line wheel and be connected with one end of extension spring, the other end and the base of described extension spring are connected.
Further, described straight line driving mechanism comprises base slide block, base rail, electric machine support, base drive motors, shaft coupling, gear and tooth bar, and described base slide block is fixed on the below of base, and is slidably matched with base rail; Described electric machine support is fixed on the below of base, and described base drive motors and gear are installed on electric machine support, and base drive motors is connected by shaft coupling with gear, and described tooth bar is fixed on the below of gear, and is meshed with gear.
Further, described rolling massage device is by vertical lifting mechanism jack-up or fall, and straight line driving mechanism drives rolling massage device to move horizontally along the direction of base rail simultaneously, realizes wave rolling massage.
3. beneficial effect
Adopt technical scheme provided by the invention, compared with existing known technology, there is following remarkable result:
(1) a kind of bed massage machine of the present invention, the bottom of its base is provided with the straight line driving mechanism that can drive base linear reciprocating motion; The lower end of support is fixed on base, and rolling massage device and vibration massage machine are all installed on the upper end of support; The lower end of rolling massage device is provided with and can promotes the vertical lifting mechanism that rolling massage device rises, and on vibration massage machine, is connected with and can drives the reciprocating haulage gear in vibration massage machine left and right; Straight line driving mechanism, vertical lifting mechanism, haulage gear and vibration massage machine are all connected with controller, be used for controlling rolling massage device and/or vibration massage machine realize multiple massage functions, rolling massage and vibration massage are organically combined, having realized various modes massages, massage comfort level is high, and can carry out omnibearing massage for human body, especially also can realize good massage effect for human body and the less position of bed surface contact force;
(2) a kind of bed massage machine of the present invention, its massage roller is installed on crossbeam by one section of optical axis, and massage roller evenly arranges two or more on crossbeam; Crossbeam is connected with vertical lifting mechanism, and steadily rise under the promotion of vertical lifting mechanism, the lifting of massage roller can drive mattress protuberance or fall, good massage effect can be played in the position that is difficult to massage for some, and paralytic's health is played to certain effect of unfolding, be beneficial to health blood circulation, prevent from forming decubital ulcer;
(3) a kind of bed massage machine of the present invention, its vertical lifting mechanism comprises two fairleads, two guide pillars and an electric pushrod, fairlead is individually fixed on support, guide pillar is individually fixed in the below of crossbeam, and guide pillar matches with fairlead, and electric pushrod is fixed on base, and the carriage release lever of electric pushrod is positioned at the below of crossbeam, utilize fairlead and guide pillar to realize guiding, steadily, electric pushrod operation noise is little, thrust large and be convenient to control for simple in structure, guiding;
(4) a kind of bed massage machine of the present invention, is fixed with vibration massage bracket on its support, in vibration massage bracket, has been horizontally disposed with guide post, swings massage machine and on guide post, is symmetrically installed with two groups; Agitator base and guide post are slidably connected, spring lever is arranged on agitator base, agitator is fixed on by spacing strap on the fixing head on spring lever top, agitator is electromagnetic oscillation, its knocking vibration is similar to the sensation of pounding one's back, and the strength that it beats and frequency can regulate at any time according to patients ' demand, its massage effect is outstanding, can alleviate patient's muscle fatigue;
(5) a kind of bed massage machine of the present invention, is also provided with linear bearing between its spring lever and agitator base, has effectively reduced friction and the noise of vibration massage machine in the time of vibration, and the massage machine work that makes to vibrate is more steady;
(6) a kind of bed massage machine of the present invention, its haulage gear draws vibration massage machine by pull rope and moves back and forth along left and right directions, and structural design is ingenious, has realized the vibration massage to the different body parts of patient; Utilize traction electric machine driving crank to carry out pulling motion, facilitated the Position Control of vibration massage machine;
(7) a kind of bed massage machine of the present invention, its straight line driving mechanism drives whole massage machine to move along the length direction of patient bed by pinion and rack, can carry out omnibearing massage to patient's back, waist and shank; And, in conjunction with the rise and fall of rolling massage device, realize wave rolling massage, compared with traditional massaging way, massage effect is better, and massage comfort level is higher;
(8) a kind of bed massage machine of the present invention, simple in structure, operation is smooth, and it is convenient to control, and with low cost, massaging way is various, has met the user demand of consumer, is worth of widely use.
Brief description of the drawings
Fig. 1 is a kind of bed massage machine overall structure schematic diagram of the present invention;
Fig. 2 is an angle structural representation of the embodiment of the present invention;
Fig. 3 is another angle structural representation of the embodiment of the present invention;
Fig. 4 is the straight line driving mechanism structural representation in the embodiment of the present invention.
Label declaration in schematic diagram:
1, base; 2, support; 3, rolling massage device; 31, massage roller; 32, crossbeam; 4, vibration massage machine; 41, agitator; 42, spacing strap; 43, spring lever; 44, agitator base; 45, vibration massage bracket; 46, guide post; 5, controller; 6, straight line driving mechanism; 61, base slide block; 62, base rail; 63, electric machine support; 64, base drive motors; 65, shaft coupling; 66, gear; 67, tooth bar; 7, vertical lifting mechanism; 71, fairlead; 72, guide pillar; 73, electric pushrod; 8, haulage gear; 81, motor fixing plate; 82, traction electric machine; 83, crank; 84, First Line wheel; 85, pull rope; 86, the second line wheel; 87, the 3rd line wheel; 88, extension spring.
Detailed description of the invention
For further understanding content of the present invention, the present invention is described in detail in conjunction with the accompanying drawings and embodiments.
Embodiment
In conjunction with Fig. 1, a kind of bed massage machine of the present embodiment, the massage that is particularly useful for paralytic bed is used, and can also be used for health care bed, recovery bed, leisure bed and high-grade hotel massage couch etc.Taking paralytic bed as example, a kind of bed massage machine of the present embodiment, be installed on the below of paralytic bed, need the use that matches of the bed board of curtain shape softness, this massage machine mainly comprises base 1, support 2, rolling massage device 3, vibration massage machine 4 and controller 5, the bottom of base 1 is provided with the straight line driving mechanism 6 that can drive base 1 linear reciprocating motion, realizes comprehensive covering massage of whole patient bed; The lower end of support 2 is fixed on base 1, and rolling massage device 3 and vibration massage machine 4 are all installed on the upper end of support 2; The lower end of rolling massage device 3 is provided with and can promotes the vertical lifting mechanism 7 that rolling massage device 3 rises, and has realized bed board jack-up is formed to crowned; On vibration massage machine 4, be connected with and can drive the vibration massage machine 4 reciprocating haulage gears 8 in left and right, realized comprehensive massage of human body left and right directions; Straight line driving mechanism 6, vertical lifting mechanism 7, haulage gear 8 and vibration massage machine 4 are all connected with controller 5, for controlling rolling massage device 3 and/or the massage machine 4 that vibrates is realized multiple massage functions.Above-mentioned multiple massage functions mainly comprises that straight line driving mechanism 6 drives rolling massage device 3 to move back and forth and vibration that the rolling massage realized, vibration massage machine 4 are realized by electromagnetic oscillation is knocked massage, straight line driving mechanism 6 and driven rolling massage device 3 to move back and forth while vertical lifting mechanism 7 to promote the rolling massage device 3 wave rolling massage realized etc. that moves up and down, utilize controller 5 to control straight line driving mechanism 6, vertical lifting mechanism 7, haulage gear 8 and vibration massage machine 4, can also be combined into according to demand more massaging way.The present embodiment organically combines rolling massage and vibration massage, having realized various modes massages, massage comfort level is high, and can carry out omnibearing massage for human body, especially also can realize good massage effect for human body and the less position of bed surface contact force.
As shown in Figures 2 and 3, rolling massage device 3 in the present embodiment comprises massage roller 31 and crossbeam 32, massage roller 31 is polyurethane wheel, massage comfort level is high, massage roller 31 is installed on crossbeam 32 by one section of optical axis, and massage roller 31 evenly arranges two or more on crossbeam 32, specifically in the present embodiment, massage roller 31 is set to two, and the left and right sides of the crossbeam 32 that is placed in; Crossbeam 32 is connected with vertical lifting mechanism 7, and steadily rise under the promotion of vertical lifting mechanism 7, the lifting of massage roller 31 can drive mattress protuberance or fall, good massage effect can be played in the position that is difficult to massage for some, and paralytic's health is played to certain effect of unfolding, be beneficial to health blood circulation, prevent from forming decubital ulcer.Vertical lifting mechanism 7 in the present embodiment comprises two fairleads 71, two guide pillars 72 and electric pushrods 73, fairlead 71 is individually fixed on support 2, guide pillar 72 is individually fixed in the below of crossbeam 32, and guide pillar 72 matches with fairlead 71, be that crossbeam 32 can vertically rise or decline under the guide effect of guide pillar 72 and fairlead 71, utilize fairlead 71 and guide pillar 72 to realize guiding, simple in structure, guiding steadily; Electric pushrod 73 is fixed on base 1, particularly, on base 1, be provided with installing hole, the below of installing hole is provided with bracing frame, after the installing hole that electric pushrod 73 passes on base 1, is fixed on bracing frame, and the carriage release lever of electric pushrod 73 is positioned at the below of crossbeam 32, carriage release lever and crossbeam 32 are movable, carriage release lever is after crossbeam 32 jack-up, and the decline of crossbeam 32 realizes by patient's own wt, and electric pushrod 73 moves that noise is little, thrust large and is convenient to control.
Continue referring to Fig. 2 and Fig. 3, be fixed with vibration massage bracket 45 on the support 2 in the present embodiment, in vibration massage bracket 45, be horizontally disposed with guide post 46, this guide post 46 is arranged with two in parallel, and vibration massage machine 4 is symmetrically installed with two groups on guide post 46; Vibration massage machine 4 comprises agitator 41, spacing strap 42, spring lever 43 and agitator base 44, agitator base 44 is slidably connected with above-mentioned guide post 46, slide block is specifically installed in the bottom of agitator base 44, is utilized the realization that cooperatively interacts of slide block and guide post 46 to be slidably connected; Spring lever 43 is arranged on agitator base 44, agitator 41 is fixed on the fixing head on spring lever 43 tops by spacing strap 42, particularly, spring lever 43 is provided with 4, its lower end is all flexibly connected with agitator base 44, upper end is fixedly connected with above-mentioned fixing head, agitator 41 is installed on fixing head, can form extendable room definitely by the vertical direction, spring lever 43 can shrink under the pressure of body weight, make agitator 41 and bed surface remain certain contacting, and play good cushioning effect.Agitator 41 in the present embodiment is electromagnetic oscillation, and the vibration of its knocking is similar to the sensation of pounding one's back, and its strength of beaing and frequency can regulate at any time according to patients ' demand, and massage effect is outstanding, can alleviate patient's muscle fatigue.In addition, in order effectively to reduce friction and the noise of vibration massage machine 4 in the time vibrating, in the present embodiment, between spring lever 43 and agitator base 44, be also provided with linear bearing (not shown), the massage machine 4 that makes to vibrate is worked more steady.
Haulage gear 8 comprises motor fixing plate 81, traction electric machine 82, crank 83, pull rope 85 and extension spring 88, traction electric machine 82 is installed on base 1 by motor fixing plate 81, one end of the output shaft of traction electric machine 82 and crank 83 is connected, the other end of crank 83 is provided with First Line wheel 84, the second line wheel 86 and the 3rd line wheel 87 are installed in vibration massage bracket 45, vibration massage machine 4 is between the second line wheel 86 and the 3rd line wheel 87, pull rope 85 is walked around First Line wheel 84, the second line wheel 86 and be connected with agitator base 44 after, continue to walk around the 3rd line wheel 87 and be connected with one end of extension spring 88, the other end of extension spring 88 and base 1 are connected.In the time that traction electric machine 82 rotates, First Line wheel 84 moves in a circle around the output shaft of traction electric machine 82, thereby drive pull rope 85 to move, and drive vibration massage machine 4 to move horizontally, extension spring 88 is for realizing the reseting movement of vibration massage machine 4, realized vibration massage machine 4 and moved back and forth along left and right directions, structural design is ingenious, has realized the vibration massage to the different body parts of patient; Utilize traction electric machine 82 driving cranks 83 to carry out pulling motion, facilitated the Position Control of vibration massage machine 4.
As shown in Figure 4, straight line driving mechanism 6 in the present embodiment comprises base slide block 61, base rail 62, electric machine support 63, base drive motors 64, shaft coupling 65, gear 66 and tooth bar 67, base slide block 61 is fixed on the below of base 1, and be slidably matched with base rail 62, particularly, two base slide blocks 61 are fixed respectively in the left and right sides, below of base 1, and match with two base rails 62 of the left and right sides respectively; Electric machine support 63 is fixed on the below of base 1, and base drive motors 64 and gear 66 are installed on electric machine support 63, and base drive motors 64 is connected by shaft coupling 65 with gear 66, and tooth bar 67 is fixed on the below of gear 66, and is meshed with gear 66; Particularly, electric machine support 63 surrounds " m " shape support by three risers and a transverse slat, and is fixed on the bottom of base 1 by transverse slat, difference mounting seat drive motors 64 and gear 66 between adjacent two risers.Straight line driving mechanism 6 in the present embodiment drives whole massage machine to move along the length direction of patient bed by pinion and rack, can carry out omnibearing massage to patient's back, waist and shank; And rolling massage device 3 is by vertical lifting mechanism 7 jack-up or fall, straight line driving mechanism 6 drives rolling massage device 3 to move horizontally along the direction of base rail 62 simultaneously, realize wave rolling massage, compared with traditional massaging way, massage effect is better, and massage comfort level is higher.
A kind of bed massage machine of the present embodiment, rolling massage and vibration massage are organically combined, having realized various modes massages, massage comfort level is high, and can carry out omnibearing massage for human body, especially also can realize good massage effect for human body and the less position of bed surface contact force; Simultaneously simple in structure, operation is smooth, with low cost.
Below schematically the present invention and embodiment thereof are described, this description does not have restricted, and shown in accompanying drawing is also one of embodiments of the present invention, and actual structure is not limited to this.So, if those of ordinary skill in the art is enlightened by it, in the situation that not departing from the invention aim, without creatively designing the frame mode similar to this technical scheme and embodiment, all should belong to protection scope of the present invention.
Claims (8)
1. a bed massage machine, it is characterized in that: comprise base (1), support (2), rolling massage device (3), vibration massage machine (4) and controller (5), the bottom of described base (1) is provided with the straight line driving mechanism (6) that can drive base (1) linear reciprocating motion; It is upper that base (1) is fixed in the lower end of described support (2), and described rolling massage device (3) and vibration massage machine (4) are all installed on the upper end of support (2); The lower end of described rolling massage device (3) is provided with and can promotes the vertical lifting mechanism (7) that rolling massage device (3) rises, and is connected with and can drives the vibration reciprocating haulage gear in massage machine (4) left and right (8) on described vibration massage machine (4); Described straight line driving mechanism (6), vertical lifting mechanism (7), haulage gear (8) and vibration massage machine (4) are all connected with controller (5), for controlling rolling massage device (3) and/or the massage machine (4) that vibrates is realized multiple massage functions.
2. a kind of bed massage machine according to claim 1, it is characterized in that: described rolling massage device (3) comprises massage roller (31) and crossbeam (32), it is upper that described massage roller (31) is installed on crossbeam (32) by one section of optical axis, and massage roller (31) evenly arranges two or more on crossbeam (32); Described crossbeam (32) is connected with vertical lifting mechanism (7), and steadily rises under the promotion of vertical lifting mechanism (7).
3. a kind of bed massage machine according to claim 2, it is characterized in that: described vertical lifting mechanism (7) comprises two fairleads (71), two guide pillars (72) and an electric pushrod (73), described fairlead (71) is individually fixed on support (2), described guide pillar (72) is individually fixed in the below of crossbeam (32), and guide pillar (72) matches with fairlead (71), described electric pushrod (73) is fixed on base (1), and the carriage release lever of electric pushrod (73) is positioned at the below of crossbeam (32).
4. according to a kind of bed massage machine described in claim 1 or 2 or 3, it is characterized in that: on described support (2), be fixed with vibration massage bracket (45), in described vibration massage bracket (45), be horizontally disposed with guide post (46), described vibration massage machine (4) is symmetrically installed with two groups on guide post (46); Described vibration massage machine (4) comprises agitator (41), spacing strap (42), spring lever (43) and agitator base (44), described agitator base (44) is slidably connected with above-mentioned guide post (46), it is upper that described spring lever (43) is arranged at agitator base (44), and described agitator (41) is fixed on the fixing head on spring lever (43) top by spacing strap (42).
5. a kind of bed massage machine according to claim 4, is characterized in that: between described spring lever (43) and agitator base (44), be also provided with linear bearing.
6. a kind of bed massage machine according to claim 4, it is characterized in that: described haulage gear (8) comprises motor fixing plate (81), traction electric machine (82), crank (83), pull rope (85) and extension spring (88), described traction electric machine (82) is installed on base (1) by motor fixing plate (81), the output shaft of described traction electric machine (82) and one end of crank (83) are connected, the other end of crank (83) is provided with First Line wheel (84), the second line wheel (86) and the 3rd line wheel (87) are installed in described vibration massage bracket (45), described vibration massage machine (4) is positioned between the second line wheel (86) and the 3rd line wheel (87), described pull rope (85) is walked around First Line wheel (84), the second line wheel (86) and be connected with agitator base (44) after, continue to walk around the 3rd line wheel (87) and be connected with one end of extension spring (88), the other end and the base (1) of described extension spring (88) are connected.
7. a kind of bed massage machine according to claim 4, it is characterized in that: described straight line driving mechanism (6) comprises base slide block (61), base rail (62), electric machine support (63), base drive motors (64), shaft coupling (65), gear (66) and tooth bar (67), described base slide block (61) is fixed on the below of base (1), and is slidably matched with base rail (62); Described electric machine support (63) is fixed on the below of base (1), described base drive motors (64) and gear (66) are installed on electric machine support (63), and base drive motors (64) is connected by shaft coupling (65) with gear (66), described tooth bar (67) is fixed on the below of gear (66), and is meshed with gear (66).
8. a kind of bed massage machine according to claim 7, it is characterized in that: described rolling massage device (3) is by vertical lifting mechanism (7) jack-up or fall, straight line driving mechanism (6) drives rolling massage device (3) to move horizontally along the direction of base rail (62) simultaneously, realizes wave rolling massage.
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| CN201410453231.8A CN104188784B (en) | 2014-09-05 | 2014-09-05 | A kind of bed massage machine |
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| CN110975228A (en) * | 2019-11-13 | 2020-04-10 | 盐城市艾斯特体育器材有限公司 | Sit up is with sports trainer with massage function |
| CN111265010A (en) * | 2020-02-19 | 2020-06-12 | 常州工学院 | Drawer type book push-pull access book shelf device and book taking and returning method thereof |
| CN112690550A (en) * | 2021-01-04 | 2021-04-23 | 哈工大机器人(中山)无人装备与人工智能研究院 | Hindbrain massage hand lifting drive device and hair washing machine |
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