CN106492413A - Recovery exercising robot - Google Patents
Recovery exercising robot Download PDFInfo
- Publication number
- CN106492413A CN106492413A CN201611002954.1A CN201611002954A CN106492413A CN 106492413 A CN106492413 A CN 106492413A CN 201611002954 A CN201611002954 A CN 201611002954A CN 106492413 A CN106492413 A CN 106492413A
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- bed
- bed body
- body component
- upper limbs
- component
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- 238000011084 recovery Methods 0.000 title claims abstract description 57
- 210000001364 upper extremity Anatomy 0.000 claims abstract description 114
- 210000003141 lower extremity Anatomy 0.000 claims description 21
- 230000001154 acute effect Effects 0.000 claims description 3
- 210000003414 extremity Anatomy 0.000 description 12
- 230000033001 locomotion Effects 0.000 description 12
- 230000000694 effects Effects 0.000 description 5
- 238000005096 rolling process Methods 0.000 description 4
- 206010011985 Decubitus ulcer Diseases 0.000 description 3
- 208000004210 Pressure Ulcer Diseases 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000017531 blood circulation Effects 0.000 description 2
- 230000037396 body weight Effects 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000001351 cycling effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 239000011343 solid material Substances 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/06—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement
- A63B22/0605—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement performing a circular movement, e.g. ergometers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0214—Stretching or bending or torsioning apparatus for exercising by rotating cycling movement
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/0002—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements involving an exercising of arms
- A63B22/0007—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements involving an exercising of arms by alternatively exercising arms or legs, e.g. with a single set of support elements driven either by the upper or the lower limbs
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/0002—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements involving an exercising of arms
- A63B22/001—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements involving an exercising of arms by simultaneously exercising arms and legs, e.g. diagonally in anti-phase
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0119—Support for the device
- A61H2201/0138—Support for the device incorporated in furniture
- A61H2201/0142—Beds
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1676—Pivoting
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/06—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement
- A63B22/0605—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement performing a circular movement, e.g. ergometers
- A63B2022/0611—Particular details or arrangement of cranks
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
- A63B2225/09—Adjustable dimensions
Landscapes
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Pain & Pain Management (AREA)
- Vascular Medicine (AREA)
- Epidemiology (AREA)
- Cardiology (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of recovery exercising robot, the recovery exercising robot includes：Bed body component；Upper limbs trainer, the upper limbs trainer are located on the bed body component；Leg training device, the leg training device is located on the bed body component, and the leg training device is spaced apart with the upper limbs trainer, the leg training device includes treadmill component, and the treadmill component is can adjust with the distance of the upper limbs trainer.According to the recovery exercising robot of the present invention, recovery exercising robot can be enable to be applied to the crowd of larger range of height or leg length.
Description
Technical field
The present invention relates to medical rehabilitation apparatus technical field, more particularly, to a kind of recovery exercising robot.
Background technology
In correlation technique, for the recovery exercising robot that trains with upper and lower limb simultaneously, upper limbs trainer is to lower limb
The distance of trainer is the change of fixed or small range, enabling the Patient height for participating in training is restricted.
Content of the invention
It is contemplated that at least solving one of technical problem present in prior art.For this purpose, the invention reside in proposing one
Recovery exercising robot is planted, the recovery exercising robot goes for the crowd of larger range of height or leg length.
According to the present invention recovery exercising robot, including：Bed body component；Upper limbs trainer, the upper limbs training cartridge
It is set on the bed body component；Leg training device, the leg training device are located on the bed body component, and described under
Limb trainer is spaced apart with the upper limbs trainer, and the leg training device includes treadmill component, and the treadmill group
Part is can adjust with the distance of the upper limbs trainer.
According to the recovery exercising robot of the present invention, recovery exercising robot can be enable to be applied to larger range of body
The crowd of high or leg length.
In certain embodiments, the bed body component is provided with upwardly extending hold-down support, the leg training device
Also include swinging mounting, the swinging mounting is rotationally connected with the hold-down support, the treadmill component rotationally sets
On the swinging mounting, and the treadmill component and the swinging mounting with regard to the hold-down support Pivot axle every
Open.
In certain embodiments, open slot is formed with, the open slot is along the bed body component on the bed body component
Length direction extends, and the open slot is through described one end along its length of the bed body component, the hold-down support
Including being arranged in two of the relative both sides in the width direction of the open slot, the swinging mounting is rotatably arranged at two
Between the individual hold-down support.
In certain embodiments, the medial surface of the hold-down support is concordant with the side wall of the open slot.
In certain embodiments, the treadmill component includes：Crank axle, the crank axle are rotatably arranged at the rotation
On support, the crank axle includes the first pedal spindle on the left of the swinging mounting and on the right side of the swinging mounting
Second pedal spindle, first pedal spindle are parallel with second pedal spindle and described on the rotational plane of the crank axle
Angle between one pedal spindle and second pedal spindle is 180 degree.
In certain embodiments, the treadmill component also includes pedal, and the pedal includes being respectively provided at first pin
Two stepped on axle and second pedal spindle, and two pedals are vertical with the bed body component.
Alternatively, the upper limbs trainer is included spaced two along the bed body element width direction, described
Upper limbs trainer includes first support and the cursor being rotatably arranged in first support, one end of the first support with
The bed body component is connected and the other end is connected with the cursor；The cursor is located at the inner side of the first support, institute
Stating cursor includes that first support arm, second support arm and the 3rd support arm, the first support arm are rotatably connected with the first support
And the width along the bed body component extends, one end of the second support arm is connected with the inner of the first support arm and another
One end is connected with the 3rd support arm, and the 3rd support arm extends internally along the width of the bed body component, and described first
Support arm is parallel and vertical with the second support arm with the 3rd support arm.
In certain embodiments, the bed body component includes：Fixed bed；Standing bed, the standing bed stand up position and
It is rotatably arranged between folding position in the fixed bed；Driving means, the driving means respectively with the fixed bed and
The standing bed is connected, and the driving means are used for driving the standing bed to stand up between position and the folding position described
Rotate.
In certain embodiments, one end of the standing bed is pivotably connected with the fixed bed, in the folding position
The standing bed is stacked on top of one another with the fixed bed, in the angle stood up between standing bed described in position and the fixed bed
At an acute angle.
In certain embodiments, the bed body component includes mattress, and the mattress is located on the bed body component and along institute
The length direction for stating bed body component extends.
In certain embodiments, one end of the neighbouring described leg training device of the mattress is detachably arranged in the bed
On body component.
In certain embodiments, the bottom of the bed body component is provided with multiple rollers, and the plurality of roller is along the bed body
The circumferentially-spaced arrangement of component.
The additional aspect and advantage of the present invention will be set forth in part in the description, and partly will become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Description of the drawings
Fig. 1 is the schematic diagram of recovery exercising robot according to embodiments of the present invention；
Fig. 2 is the schematic diagram of the recovery exercising robot shown in Fig. 1, wherein upper limbs trainer and treadmill component away from
Close to；
Fig. 3 is the schematic diagram of the recovery exercising robot shown in Fig. 1, wherein upper limbs trainer and treadmill component away from
From farther out.
Reference：
Recovery exercising robot 100,
Bed body component 1, fixed bed 11, standing bed 12, hold-down support 121, open slot 122,
Upper limbs trainer 2, first support 21,
Cursor 22, the first limb arm 221, second support arm 222, the 3rd support arm 223,
Leg training device 3, swinging mounting 31,
Treadmill component 32, pedal 322,
Roller 4, mattress 5.
Specific embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from start to finish
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and be not considered as limiting the invention.
Recovery exercising robot 100 according to embodiments of the present invention is described below with reference to Fig. 1-Fig. 3.
As shown in figure 1, recovery exercising robot 100 according to embodiments of the present invention, including：Bed body component 1, upper limbs is trained
Device 2 and with leg training device 3.
Specifically, as shown in figure 1, upper limbs trainer 2 is located on bed body component 1；Leg training device 3 is also provided in bed body
On component 1, and leg training device 3 and upper limbs trainer 2 are along the length direction (before for example shown in Fig. 1 of bed body component 1
Rear direction) it is spaced apart, leg training device 3 includes treadmill component 32, and the distance of treadmill component 32 and upper limbs trainer 2 can
Adjust.Thus, by adjusting the distance between treadmill component 32 and upper limbs trainer 2, recovery exercising robot can be enable
Enough it is applied to the crowd of larger range of height or leg length.
Wherein it is possible to make upper limbs trainer 2 fix with 1 relative position of bed body component, treadmill component 32 and bed body component 1
Relative position adjustable, by adjust the relative position of treadmill component 32 come adjust treadmill component and upper limbs trainer away from
From；Can also be treadmill component and the relative position of bed body component is fixed, the relative position of upper limbs trainer and bed body component
Adjustable, the distance between treadmill component and upper limbs trainer are adjusted by the position of regulation upper limbs trainer；Can be with
It is that relative position between treadmill component and upper limbs trainer and bed body component is adjustable, can passes through to adjust treadmill group simultaneously
The position of part and upper limbs trainer come realize adjust the distance between treadmill component and upper limbs trainer.
Recovery exercising robot according to embodiments of the present invention, can enable recovery exercising robot be applied to bigger model
The height that encloses or the crowd of leg length.
In some embodiments of the invention, as shown in figure 1, hold-down support 121 can be provided with bed body component 1, fixed
Bearing 121 is upwardly extended from the upper surface of bed body component 1, and leg training device 3 can also include swinging mounting 31, swinging mounting
31 are rotationally connected with hold-down support 121, and treadmill component is rotatably arranged on swinging mounting 31, and treadmill component and rotation
The Pivot axle with regard to hold-down support 121 of support 31 separates.Thus, when swinging mounting 31 is around with regard to hold-down support 121
When Pivot axle is rotated, swinging mounting 31 drives treadmill component 32 to revolve around it central axis so that treadmill component 32 with
The relative position of bed body component 1 can change, and then treadmill component 32 and the relative position of upper limbs trainer 2 are occurred
Change, such that it is able to realize adjusting the distance between treadmill component 32 and upper limbs trainer 2, so that recovery exercising robot can
To adapt to the crowd of larger range of height or leg length.
In some embodiments of the invention, open slot 122 could be formed with, open slot 122 can edge on bed body component 1
The length direction (fore-and-aft direction for example shown in Fig. 1) of bed body component 1 extends, and open slot 122 is through the edge of bed body component 1
One end (front end of the bed body component 1 for example shown in Fig. 1) of length direction, hold-down support 121 can include being arranged in opening
Two of the relative both sides of (left and right directions for example shown in Fig. 1) in the width direction of groove 1, swinging mounting 31 is rotationally
It is located between two hold-down supports 121.Thus, it is possible to be easy to, by swinging mounting 31 on hold-down support 121, improve and rotate
The reliability and stability connected between support 31 and hold-down support 121, make the compacter conjunction of structure of leg training device 3
Reason.
Preferably, the medial surface (side towards open slot 122 of hold-down support 121) of hold-down support 121 can with open
The side wall (left side wall and right side wall of the open slot 122 for example shown in Fig. 1) of mouth groove 122 is concordant.Thus, it is possible to avoid rotating
Support 31 interferes collision with the side wall of open slot 122 during rotation so that the structure of leg training device 3 is more
Compact and reasonable.
In some embodiments of the invention, leg training device 3 is located on bed body component 1, and leg training device 3 is located at
The one end along its length of bed body component 1, so as to more be adapted to organization of human body, the convenient training for carrying out lower limb simultaneously is convenient
The training of four limbs linkage.Leg training device 3 also includes that treadmill component 32, treadmill component 32 are rotatably arranged at swinging mounting 31
On, and treadmill component 32 be suitable to cooperate with human body lower limbs do treadmill movement.That is, treadmill component 32 can be driven under patient
Limb does treadmill movement, or patient can actively carry out treadmill movement using treadmill component 32, wherein, treadmill movement refer to similar to
The motion of stepping bicycle.Thus, by using leg training device 3 lower limb of patient are carried out with the rehabilitation training of treadmill movement,
Gait training in compared with correlation technique, can improve the effect to leg training, and rehabilitation efficacy is more preferable.
Further, treadmill component 32 can include：Crank axle, crank axle are rotatably arranged on swinging mounting 31, bent
Arbor includes the first pedal spindle and the second pedal spindle, and wherein, the first pedal spindle is located at the left side of swinging mounting 31, the second pedal spindle
The right side of swinging mounting 31 is located at, and the first pedal spindle is parallel to each other with the second pedal spindle, on the rotational plane of crank axle, the
Angle between one pedal spindle and the second pedal spindle is 180 degree.So, during rehabilitation training, the left lower extremity of patient and
Right lower extremity can be stepped on the first pedal spindle and the second pedal spindle respectively, carried out similar to the treadmill movement rehabilitation training that jogs.
Certainly, the angle between the first pedal spindle and the second pedal spindle can also be 0 degree, so, in the mistake of rehabilitation training
Cheng Zhong, the left lower extremity of patient are identical with the movement locus of right lower extremity, i.e. synchronous axial system, rather than the alternate rotation in 180 degree, by
This, can improve increase treadmill component 32 for the rehabilitation training pattern of lower limb, train more comprehensive.
Advantageously, as shown in figure 1, treadmill component 32 can also include that pedal 322, pedal 322 can include interval setting
Two, and two pedals 322 are respectively provided at the two ends of crank axle, and further, two pedals 322 are respectively provided at first and ride
On axle and the second pedal spindle, thus, compared to directly stepping down on the first pedal spindle and the second pedal spindle, arranging pedal 322 can be with
Increase the pin of patient and the contact area of treadmill component 32, it is ensured that the pin of patient can effectively trample treadmill component 32, it is to avoid
Slip.
Preferably, as shown in Fig. 2 upper limbs trainer 2 is located at the middle part along its length of bed body component 1, upper limbs is trained
Device 2 can include two, and two upper limbs trainers 2 can be along 1 width of bed body component (for example shown in Fig. 2
Left and right directions) interval setting.So, two upper limbs trainers 2 can respectively positioned at the left and right sides of patient body so that disease
The right-hand man of people can carry out rehabilitation training using a upper limbs trainer 2 respectively, such that it is able to reduce upper limbs trainer 2
Take up room, while making upper limbs trainer 2 more be adapted to the position of patient body, make structure setting more reasonable.
Specifically, upper limbs trainer 2 can include that first support 21 and cursor 22, cursor 22 are rotatably arranged at
In first support 21, when cursor 22 is rotated, cursor 22 can drive the upper limbs of patient to be rotated, so as to reach instruction
Practice the effect of upper limbs.
More specifically, one end (lower end of the first support 21 for example shown in Fig. 2) of first support 21 and bed body component 1
It is connected, and the other end (upper end of the first support 21 for example shown in Fig. 2) of first support 21 is connected with cursor 22.By
This, first support 21 can play a part of to support and install cursor 22.
When rehabilitation training is carried out using upper limbs trainer 2, patient can hold cursor 22, in the band of cursor 22
The rehabilitation training of rotation mode is carried out under dynamic；If patient cannot grasp cursor 22, it is possible to use bandage is by the upper limbs of patient
It is fixed on cursor 22, is driven by cursor 22 upper limbs of patient to carry out rehabilitation training.
Additionally, upper limbs trainer 2 can also be resistance exercise, that is to say, that the upper limbs of patient is not in cursor 22
Drive under move, but patient actively promotes cursor 22 to be rotated, as a result, upper limbs trainer 2
To realize active training, it is also possible to realize passive exercise.
Further, as shown in Fig. 2 cursor 22 can be located at inner side (towards human body of first support 21
Side), cursor 22 can include first support arm 221, second support arm 222 and the 3rd support arm 223, first support arm 221 and first
Frame 21 is rotatable to be connected, and the width (left and right directions for example shown in Fig. 2) along bed body component 1 extends, second support arm
222 one end is connected with the inner (one end of the neighbouring human body of first support arm 221) of first support arm 221, and second support arm 222
The other end is connected with the 3rd support arm 223, and the 3rd support arm 223 is along the width (left and right for example shown in Fig. 2 of bed body component 1
Direction) inwardly (towards the direction of patient body) extension, first support arm 221 is parallel with the 3rd support arm 223, and first support arm 221
Vertical with second support arm 222 with the 3rd support arm 223, now, first support arm 221,223 shape of second support arm 222 and the 3rd support arm
Become " Z " font.Thus, it is possible to simplify the structure of cursor, simultaneously facilitate patient and grasp cursor 22 or be easy to patient's
On cursor 22, upper limbs and cursor 22 so as to realize patient using cursor 22 carry out rotation fortune jointly for upper limbs colligation
Dynamic, and the plane of rotation of rotary motion is parallel with human body, realizes the rehabilitation training of upper limbs.
When patient carries out rehabilitation training using upper limbs trainer 2 and leg training device 3 simultaneously, the rotation fortune of upper limbs
The treadmill movement of dynamic and lower limb can realize that four limbs link, and the training of four limbs linkage is similar to the state of jogging of people, thus, can
So that training is more fully, rehabilitation efficacy is more preferable.Additionally, during rehabilitation training, patient and bed body group can also be adjusted
The extruded parts of the contact surface of part 1, adjusts the pressure sore position of body, so as to preventing and improving pressure sore problem, is more applicable for growing
The rehabilitation training of the patient of phase bed.
In some embodiments of the invention, containing cavities are formed with bed body component 1；Upper limbs trainer 2 is in open position
Put and be rotatably arranged at and reception position between on bed body component 1, in reception position, upper limbs trainer 2 is accommodated in containing cavities
Interior, in open position, upper limbs trainer 2 is stretched out outside containing cavities.
So, when patient need not carry out rehabilitation training using upper limbs trainer 2, can be by upper limbs trainer 2
Be accommodated in the containing cavities of bed body component, to reduce taking up room for upper limbs trainer 2, extend bed body component 1 top and
The space of surrounding, makes the upper surface of bed body component 1 flat, increases the utilization rate of bed body component 1, meanwhile, recovery exercising robot
Common sick bed can also be made to use, further, since upper limbs trainer 2 mostly is hard solid material in irregular shape, will be upper
Limb trainer 2 be accommodated in containing cavities can also be prevented effectively from because upper limbs trainer exposed outside and caused safety is hidden
Suffer from, while upper limbs trainer can also be protected, it is to avoid upper limbs trainer damaged in collision etc..When client need is instructed using upper limbs
When practicing device, upper limbs trainer can be made to stretch out containing cavities, be easy to patient to carry out rehabilitation training.
When rehabilitation training being carried out using recovery exercising robot, upper limbs trainer 2 can be accommodated in bed body group first
In part 1, then patient is moved to bed body component, to facilitate shifting to put patient, it is to avoid patient is collided with upper limbs trainer, as general
When patient is located on bed body component, then upper limbs trainer is made to stretch out outside accommodating chamber by upper limbs trainer is opened, finally sharp again
The body of patient is fixed on bed body component with bandage, and the four limbs of patient are fixed on upper limbs trainer, carry out health
Refreshment is practiced.Thus, it is possible to convenient patient uses recovery exercising robot, the convenience for using is improved.
That is, upper limbs trainer can be accommodated in the storage of bed body component when upper limbs trainer is not used
In chamber, thus, upper limbs trainer not only can be protected, it is to avoid there is potential safety hazard, recovery exercising robot can also be extended
The scope of activities of surrounding, is conducive to patient is moved on bed body component, and recovery exercising robot now can also do other use
On the way, improving the utilization rate of recovery exercising robot.
In some embodiments of the invention, when upper limbs trainer 2 is located at reception position, upper limbs trainer 2
Upper surface can be substantially concordant with the upper surface of bed body component 1, that is to say, that when upper limbs trainer 2 is located at reception position,
The upper surface of upper limbs trainer 2 can be slightly above the upper surface of bed body component, and the upper surface of upper limbs trainer can be with lower slightly
In the upper surface of bed body component, it is preferable that the upper surface of upper limbs trainer is concordant with the upper surface of bed body component.Thus, may be used
So that the upper surface of bed body component is more flat, so as to improve patient using comfortableness during recovery exercising robot.
In some embodiments of the invention, recovery exercising robot can also include：Driver, driver are instructed with upper limbs
Practice device to be connected, driver is used for driving upper limbs trainer to rotate between open position and reception position.For example, driver
Can be with upper limbs trainer when needing using upper limbs trainer, driver can drive upper limbs trainer to turn to and beat
Open position, after the completion of training, driving means can drive upper limbs trainer to turn to reception position again, thus, it is possible to
The automatic spring and automatic drawing back of upper limbs trainer is realized, the automaticity of recovery exercising robot is improved, is improved and is used
Convenience.
It should be noted that upper limbs trainer 2 can also be manually operated makes upper limbs trainer 2 from reception position
Open position is turned to, and/or manually operated makes upper limbs trainer 2 reception position be turned to from open position.
In some embodiments of the invention, recovery exercising robot 100 can also include actuator, and actuator can be only
It is connected with upper limbs trainer 2, actuator only can also be connected with leg training device 3, actuator can also be while and upper limbs
Trainer 2 is connected with leg training device 3, and actuator is used for driving cursor 22 and treadmill component 32 to rotate.Work as actuator
When driving cursor 22 and/or treadmill component 32 to rotate, the mode of operation of upper limbs trainer 2 and/or leg training device 3 is
The passive exercise driven by actuator, that is to say, that the motion of the upper limbs and/or lower limb of patient is driven by actuator, rather than
The active training of patient, this kind of pattern be applied to upper limbs and lower limb unable, cannot active training patient.
Additionally, when actuator does not work, that is to say, that actuator does not drive 32 turns of cursor 22 and/or treadmill component
When dynamic, the upper limbs trainer 2 and/or leg training device 3 of recovery exercising robot 100 are in resistance exercise state, i.e. disease
The upper limbs and/or lower limb of people actively promotes cursor 22 and/or treadmill component 32 to rotate, and carries out the rehabilitation similar to the pattern of jogging
Training.
In addition, actuator can be also used for driving swinging mounting around the Pivot axle rotation with regard to fixed pillar, use
In the distance between regulation upper limbs trainer and treadmill component.
In some embodiments of the invention, as shown in figure 1, bed body component 1 can include：Fixed bed 11, standing bed 12
And driving means, wherein, standing bed 12 is in position of standing up (12 location of standing bed in such as Fig. 1 and Fig. 2) and folding position
It is rotatably arranged between putting in fixed bed 11；Driving means are connected with fixed bed 11 and standing bed 12 respectively, and driving means are used
In driving standing bed 12 in rotation between position and folding position of standing up.When user needs to enter using recovery exercising robot 100
During row rehabilitation training, standing bed 12 is located at folding position, and standing bed 12 is folded with fixed bed 11, at this point it is possible to be easy to patient
Shifting is placed in standing bed 12, is recycled bandage that patient is fixed in standing bed 12, then can be driven using driving means
Vertical bed 12 turns to position of standing up, and so, patient can proceed by rehabilitation training.
Preferably, one end (front end of the standing bed 12 for example shown in Fig. 1) of standing bed 12 is pivotable with fixed bed 11
It is connected, when standing bed 12 is located at folding position, standing bed 12 is stacked on top of one another with fixed bed 11, to reduce recovery exercising robot
100 take up room, simultaneously facilitates to move patient and puts to standing bed 12；When standing bed 12 is located at stands up position, standing bed 12
At an acute angle with the angle between fixed bed 11.Thus, it is possible to make patient carry out rehabilitation training in the state of being similar to stand, turn
Move the centre of body weight of patient, the blood circulation of body can be accelerated during training, so as to strengthen training effect, prevention and
Improve pressure sore.
Wherein, the angle between standing bed 12 and fixed bed 11 can be adjusted according to the concrete condition of patient,
Such as angle between standing bed 12 and fixed bed 11 can be 30 °, 45 °, 60 °, 70 °, 80 °, 85 ° etc..
Alternatively, the type of drive of driving means can be the one kind in Motor drive, air pressure driving and hydraulic-driven.By
This, can flexibly select the type of drive of driving means as needed, improve the applicability of recovery exercising robot 100.
In some embodiments of the invention, recovery exercising robot can also include that mattress 5, mattress 5 can be located at bed
The top of body component 1, and mattress 5 can along bed body component 1 length direction (fore-and-aft direction for example shown in Fig. 1) extend,
Thus, by arranging mattress 5, patient can be made more comfortable during using recovery exercising robot 100.
Preferably, one end (front end of the mattress 5 for example shown in Fig. 1) of the neighbouring leg training device 3 of mattress 5 is removable
It is located at unloading on bed body component, when the people of different heights carries out rehabilitation training, by installing or removing the part mattress, can be with
Adapt to demand of the people of different heights in training, such that it is able to improve recovery exercising robot applicability and use comfortable
Property.
In some embodiments of invention, the bottom of bed body component 1 can be provided with multiple rollers 4, and multiple rollers 4 are along bed body
The circumferentially-spaced arrangement of component 1.In conjunction with Fig. 2, fixed bed 11 is in horizontally extending oblong-shaped, the bottom surface of fixed bed 11
On four rolling 4 is installed, four rolling 4 is located at four Angle Positions of fixed bed 11 respectively, by arranging roller 4, can be so as to
In mobile recovery exercising robot 100.
The recovery exercising robot 100 according to a specific embodiment of the invention is described below with reference to Fig. 1-Fig. 3.
With reference to Fig. 1, healing robot 100 includes bed body component 1, upper limbs trainer 2, leg training device 3 and drives
Part.
Specifically, as shown in figure 1, bed body component 1 includes that fixed bed 11, standing bed 12 and driving means, standing bed 12 exist
Stand up；The front end of standing bed 12 and 11 pivotable phase of fixed bed
Even, driving means are connected with fixed bed 11 and standing bed 12 respectively, for driving standing bed 12 in position and the folding position of standing up
Between rotate.In folding position, standing bed 12 is stacked on top of one another with fixed bed 11, stand up position standing bed 12 and fixed bed 11 it
Between angle be not more than 90 degree.The type of drive of driving means is the one kind in Motor drive, air pressure driving and hydraulic-driven.Rise
Vertical bed 12 can be adjusted by driving means when the angle between position and fixed bed 11 is stood up, that is to say, that driven
Dynamic device can adjust the adjustable height of standing bed 12.
The bottom of fixed bed 11 is provided with four rolling 4, circumferentially-spaced arrangement of the four rolling 4 along fixed bed 11, standing bed
Top be also further provided with mattress, and one end of the neighbouring leg training device of mattress is detachably arranged on bed body component.
Upper limbs trainer 2 and leg training device 3 are each provided in standing bed 12, and upper limbs trainer 2 includes arranging
At two of the 12 middle part left and right sides of standing bed, leg training device 3 is arranged on the front side of standing bed 12.Actuator is respectively at upper
Limb trainer 2 is connected with leg training device 3.Upper limbs trainer is located at the middle part along its length of bed body component, under
Limb trainer is located at the front end of bed body component.
Upper limbs trainer 2 includes that first support 21 and cursor 22, cursor 22 are rotatably arranged at first support 21
Inner side, cursor 22 includes first support arm 221, second support arm 222 and the 3rd support arm 223, first support arm 221 and first support
21 rotatable connected and along bed body component 1 widths extend, the inner of one end of second support arm 222 and first support arm 221
It is connected and the other end is connected with the 3rd support arm 223, the 3rd support arm 223 extends internally along the width of bed body component 1, first
Arm 221 is parallel and vertical with second support arm 222 with the 3rd support arm 223.
Open slot is formed with bed body component, and open slot extends along the length direction of bed body component, and open slot runs through bed
The front end of body component, bed body component are provided with upwardly extending hold-down support, and hold-down support includes the edge width for being arranged in open slot
Two of the relative both sides in degree direction.
Leg training device 3 includes that swinging mounting 31 and treadmill component 32, swinging mounting are rotatably arranged at two fixations
Between bearing.The medial surface of hold-down support is concordant with the side wall of open slot.Treadmill component 32 is rotatably arranged at swinging mounting 31
On, and treadmill component 32 be suitable to cooperate with human body lower limbs do treadmill movement.Treadmill component 32 includes：Crank axle and pedal 322, crank
Axle is rotatably arranged on swinging mounting 31, and crank axle includes the first pedal spindle on the left of swinging mounting 31 and be located at rotating
The second pedal spindle on the right side of support 31, the first pedal spindle parallel with the second pedal spindle and on the rotational plane of crank axle the first pin
The angle that steps between axle and the second pedal spindle is 180 degree.Pedal 322 includes being respectively provided on the first pedal spindle and the second pedal spindle
Two.
During being trained using recovery exercising robot 100, the treadmill training that lower limb step on treadmill component 32 is similar
In cycling.The rotation of upper limbs then refers to that hand holds cursor, and cursor is with first support arm as axis of rotation, but the direction of plane of rotation
Body parallel with people.And the training of upper and lower limb can be that the resistance for being set to set resistance according to the actual conditions of patient is instructed
Practice, or the passive exercise driven by actuator, wherein actuator can be motor.
When client need carries out rehabilitation training, patient is fixed in standing bed 12 first with bandage, adjustment is stood up
Angle of the bed 12 to needs, patient can start to train.Wherein training content includes：Lower limb step on the treadmill mould of treadmill component 32
Formula training and the rotation of upper limbs and 22 synchronous axial system of cursor are trained.Upper and lower limb simultaneously participates in training and is four limbs linkage instruction
Practice.The similar pattern of jogging with people of four limbs linkage training mode.Upper and lower limb training can also separate as needed individually to be trained.
Recovery exercising robot 100 according to embodiments of the present invention, using the function of standing up of standing bed 12, transferable patient
Centre of body weight, in conjunction with the training mode of four limbs linkage, can accelerate the blood circulation of patient body, reduce or pre- against pressure during training
The generation of sore, while also improve the rehabilitation effect of patient.
Additionally, by adjusting the distance between treadmill component and upper limbs trainer, so that larger range of crowd
Four limbs linkage training can be carried out using the recovery exercising robot of the present embodiment.
In describing the invention, it is to be understood that term " " center ", " longitudinal direction ", " horizontal ", " length ", " width ",
" thickness ", " on ", D score, "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outward ", " up time
The orientation of instruction such as pin ", " counterclockwise ", " axial direction ", " radially ", " circumference " or position relationship be based on orientation shown in the drawings or
Position relationship, is for only for ease of description description of the invention and simplified, rather than indicates or imply that the device or element of indication must
Therefore must be not considered as limiting the invention with specific orientation, with specific azimuth configuration and operation.
Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or
Implicitly include one or more this feature.In describing the invention, " multiple " are meant that two or more,
Unless otherwise expressly limited specifically.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected, or be detachably connected, or integral；Can be that machinery connects
Connect, or electrically connect, can also be communication；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, can be with
It is connection or the interaction relationship of two elements of two element internals.For the ordinary skill in the art, may be used
To understand above-mentioned term concrete meaning in the present invention as the case may be.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy described with reference to the embodiment or example
Point is contained at least one embodiment or example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.And, the specific features of description, structure, material or feature can be with office
Combined in one or more embodiments or example in an appropriate manner.Additionally, in the case of not conflicting, the skill of this area
The feature of the different embodiments or example described in this specification and different embodiments or example can be tied by art personnel
Close and combine.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that：Not
These embodiments can be carried out with multiple changes, modification, replacement and modification in the case of the principle and objective that depart from the present invention, this
The scope of invention is limited by claim and its equivalent.
Claims (12)
1. a kind of recovery exercising robot, it is characterised in that include：
Bed body component；
Upper limbs trainer, the upper limbs trainer are located on the bed body component；
Leg training device, the leg training device are located on the bed body component, and the leg training device with described
Upper limbs trainer is spaced apart, and the leg training device includes treadmill component, and the treadmill component is trained with the upper limbs
The distance of device can adjust.
2. recovery exercising robot according to claim 1, it is characterised in that the bed body component is provided with and upwardly extends
Hold-down support, the leg training device also includes swinging mounting, the swinging mounting rotationally with the hold-down support
Be connected, the treadmill component is rotatably arranged on the swinging mounting, and the treadmill component and the swinging mounting with regard to
The Pivot axle of the hold-down support separates.
3. recovery exercising robot according to claim 2, it is characterised in that be formed with opening on the bed body component
Groove, the open slot extend along the length direction of the bed body component, and the open slot is long through the edge of the bed body component
The one end in degree direction, the hold-down support include being arranged in the two of the relative both sides in the width direction of the open slot
Individual, the swinging mounting is rotatably arranged between two hold-down supports.
4. recovery exercising robot according to claim 3, it is characterised in that the medial surface of the hold-down support with described
The side wall of open slot is concordant.
5. recovery exercising robot according to claim 2, it is characterised in that the treadmill component includes：
Crank axle, the crank axle are rotatably arranged on the swinging mounting, and the crank axle includes propping up positioned at described rotation
The first pedal spindle on the left of frame and the second pedal spindle on the right side of the swinging mounting, first pedal spindle and described second
Pedal spindle is parallel and angle on the rotational plane of the crank axle between first pedal spindle and second pedal spindle
For 180 degree.
6. recovery exercising robot according to claim 5, it is characterised in that the treadmill component also includes pedal, institute
State that pedal includes being respectively provided on first pedal spindle and second pedal spindle two, and two pedals are and institute
State bed body component vertical.
7. recovery exercising robot according to claim 1, it is characterised in that the upper limbs trainer is included along described
Bed body element width direction is spaced two, and the upper limbs trainer includes first support and is rotatably arranged at first
Cursor on support, one end of the first support is connected with the bed body component and the other end is connected with the cursor；
The cursor is located at the inner side of the first support, and the cursor includes first support arm, second support arm and the 3rd
Arm, the first support arm is rotatably connected with the first support and the width along the bed body component extends, and described the
One end of two support arms is connected with the inner of the first support arm and the other end is connected with the 3rd support arm, the 3rd support arm edge
The width of the bed body component extends internally, the first support arm parallel with the 3rd support arm and with the second support arm
Vertically.
8. recovery exercising robot according to claim 1, it is characterised in that the bed body component includes：
Fixed bed；
Standing bed, the standing bed be rotatably arranged between position and folding position in the fixed bed being stood up；
Driving means, the driving means are connected with the fixed bed and the standing bed respectively, and the driving means are used for driving
Move the standing bed rotate between position and the folding position in described standing up.
9. recovery exercising robot according to claim 8, it is characterised in that one end of the standing bed and the fixation
Bed is pivotably connected, stacked on top of one another with the fixed bed in standing bed described in the folding position, stands up described in position described
Angle between standing bed and the fixed bed is at an acute angle.
10. recovery exercising robot according to claim 1, it is characterised in that the bed body component includes mattress, described
Mattress is located on the bed body component and the length direction along the bed body component extends.
11. recovery exercising robots according to claim 10, it is characterised in that the neighbouring described lower limb instruction of the mattress
The one end for practicing device is detachably arranged on the bed body component.
12. recovery exercising robots according to claim 1, it is characterised in that the bottom of the bed body component is provided with many
Individual roller, circumferentially-spaced arrangement of the plurality of roller along the bed body component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611002954.1A CN106492413A (en) | 2016-11-14 | 2016-11-14 | Recovery exercising robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611002954.1A CN106492413A (en) | 2016-11-14 | 2016-11-14 | Recovery exercising robot |
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| Publication Number | Publication Date |
|---|---|
| CN106492413A true CN106492413A (en) | 2017-03-15 |
Family
ID=58324478
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611002954.1A Pending CN106492413A (en) | 2016-11-14 | 2016-11-14 | Recovery exercising robot |
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| CN (1) | CN106492413A (en) |
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| CN108095927A (en) * | 2017-12-18 | 2018-06-01 | 荆门宁杰机电技术服务有限公司 | A kind of medical limbs resume training bed |
| CN109663278A (en) * | 2019-01-17 | 2019-04-23 | 郑州大学第附属医院 | A kind of rehabilitation nursing device for orthopedics patient |
| CN109846665A (en) * | 2019-01-18 | 2019-06-07 | 童泽富 | A kind of sitting and lying formula recovery training appliance for recovery lower limbs material |
| CN110200784A (en) * | 2019-06-10 | 2019-09-06 | 王爱玉 | A kind of supplemental training convalescence device for leaden paralysis person |
| CN114010455A (en) * | 2021-10-31 | 2022-02-08 | 清华大学 | Upper and lower limb movement rehabilitation bed |
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