CN114404900A - Multi-joint upper limb rehabilitation device - Google Patents
Multi-joint upper limb rehabilitation device Download PDFInfo
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- CN114404900A CN114404900A CN202111665099.3A CN202111665099A CN114404900A CN 114404900 A CN114404900 A CN 114404900A CN 202111665099 A CN202111665099 A CN 202111665099A CN 114404900 A CN114404900 A CN 114404900A
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- sliding rod
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- upper limb
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 37
- 230000007246 mechanism Effects 0.000 claims abstract description 31
- 230000005540 biological transmission Effects 0.000 claims abstract description 15
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 230000008093 supporting effect Effects 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 7
- 208000006011 Stroke Diseases 0.000 description 4
- 210000003414 extremity Anatomy 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 230000004064 dysfunction Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 208000016988 Hemorrhagic Stroke Diseases 0.000 description 1
- 208000032382 Ischaemic stroke Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000036770 blood supply Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 208000020658 intracerebral hemorrhage Diseases 0.000 description 1
- 230000008449 language Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002232 neuromuscular Effects 0.000 description 1
- 230000037361 pathway Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
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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
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/16—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles for hands or fingers
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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
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
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- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to the technical field of upper limb rehabilitation, in particular to a multi-joint upper limb rehabilitation device, which comprises a transmission mechanism 1 arranged in an inner cavity of a case 2, a joint grasping mechanism 3 arranged in the transmission mechanism 1, and a bracket 4 arranged below the joint grasping mechanism 3, wherein the bracket 4 is fixed in the case 2; the upper limb multi-degree-of-freedom training device is driven by the motor, the slide bars are connected and driven, large-range multi-degree-of-freedom training of multiple joints of an upper limb is achieved, the training joints are grabbed by the grabbing airbags, the upper limb multi-degree-of-freedom training device can adapt to different upper limb joint size characteristics, and is good in wearing comfort, good in adaptability and low in manufacturing cost.
Description
Technical Field
The invention relates to the technical field of upper limb rehabilitation, in particular to a multi-joint upper limb rehabilitation device.
Background
Stroke is a neuromuscular pathway injury disease caused by the blockage of blood supply to the brain, can cause functional disorders such as movement, sensation, language and the like, and becomes a main reason for high disability rate and death rate in China. Cerebral apoplexy includes ischemic stroke and hemorrhagic stroke, and has the features of high morbidity, high mortality and high disability rate. Clinical findings show that more than 75% of stroke subjects show different degrees of limb movement dysfunction, thus seriously affecting the quality of life of the subjects and causing heavy burden to the subjects, families and society. The upper limb function of the human body accounts for 60% of the whole body function. 55-75% of the surviving stroke subjects leave limb dysfunction, which seriously affects the quality of life and the mobility of the subjects. According to the relevant practice, the hemiplegic testee can recover the simple movement ability of the limbs to a certain extent, even recover the limb to a certain extent through timely and active exercise rehabilitation training.
Generally speaking, the traditional upper limb rehabilitation device has the problems of low training freedom, few training parts and low comfort level, and the traditional rehabilitation device is complex in mechanism, high in manufacturing cost and difficult to operate and use.
Disclosure of Invention
Aiming at the defects of the prior art, the invention designs the upper limb rehabilitation device which is driven by a motor, is connected and driven by a slide bar structure, can train most joints of the upper limb, has large movement space and high degree of freedom and has adaptive grasping.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a multi-joint upper limb rehabilitation device comprises a case (2), wherein a transmission mechanism (1) is arranged in an inner cavity of the case (2), a joint grasping mechanism (3) is arranged in the transmission mechanism (1), a support bracket (4) is arranged below the joint grasping mechanism (3), and the support bracket (4) is fixed inside the case (2).
The technical scheme of the invention is further improved as follows: the transmission mechanism (1) is characterized in that an X-axis sliding rod (108) and a Y-axis sliding rod (106) cross and penetrate through the upper half part of a grabbing air bag fixing block (301), sliding sleeves (107) are respectively installed at the tails of two ends of the X-axis sliding rod (108) and the Y-axis sliding rod (106), the sliding sleeves (107) are respectively matched with a sliding rod a (114), a sliding rod b (116), a sliding rod c (115) and a sliding rod d (109), one end of the sliding rod d (109) and one end of the sliding rod a (114) are fixed on a sliding block a (120), the other end of the sliding rod a (114) and one end of the sliding rod c (115) are fixed on a sliding block b (119), the other end of the sliding rod c (115) and the sliding rod b (116) are fixed on a sliding block c (118), and the other end of the sliding rod b (116) and the sliding rod d (109) are fixed on a sliding block d (117).
The technical scheme of the invention is further improved as follows: the ends of the sliding rod a (114), the sliding rod b (116), the sliding rod c (115) and the sliding rod d (109) are horizontally fixed on the sliding block a (120), the sliding block b (119), the sliding block c (118) and the sliding block d (117) in pairs.
The technical scheme of the invention is further improved as follows: the penetrating position of the X-axis sliding rod (108) is higher than that of the Y-axis sliding rod (106), and the distance between the X-axis sliding rod and the Y-axis sliding rod is as follows: 3-6 cm.
The technical scheme of the invention is further improved as follows: the body of the sliding block a (120) is vertically provided with a through hole and is matched with the sliding rod e (110), the body of the sliding block b (119) is vertically provided with a through hole and is matched with the sliding rod f (111), the body of the sliding block c (118) is vertically provided with a through hole and is matched with the sliding rod g (112), and the body of the sliding block d (117) is vertically provided with a through hole and is matched with the sliding rod h (113).
The technical scheme of the invention is further improved as follows: a first motor (101) is fixedly arranged on the inner side of the sliding block c (118), a track of the first motor (101) is fixed on a sliding sleeve (107) at the tail end of the X-axis sliding rod (108) through a fixing ring (102), and the first motor (101) is connected with a power supply.
The technical scheme of the invention is further improved as follows: a second motor (105) is fixedly arranged on the outer side of the sliding block b (119), a crawler belt of the second motor (105) is fixed on a sliding sleeve (107) at the tail end of the Y-axis sliding rod (106) through a fixing ring (102), and the second motor (105) is connected with a power supply.
The technical scheme of the invention is further improved as follows: a track shaft (103) is fixed on the inner side of the sliding block d (117), the track shaft (103) extends downwards to be connected with a track of a third motor (104), the third motor (104) is fixed at the bottom in the case (2), and the third motor (104) is connected with a power supply.
The technical scheme of the invention is further improved as follows: the middle part of the track shaft (103) is provided with a through hole which is matched with a slide bar d (109).
The technical scheme of the invention is further improved as follows: the joint grasping mechanism (3) is fixed on the bottom surface of the grasping air bag fixing block (301) through the grasping air bag (302), the middle cavity of the grasping air bag fixing block (301) is connected with one end of an air pipe (304), the other end of the air pipe (304) is connected with a fan (303), and the fan (303) is connected with a power supply.
The technical scheme of the invention is further improved as follows: 2/3 for grasping the body of the air bag fixing block (301) is a cavity.
The technical scheme of the invention is further improved as follows: the grasping air bag (302) is of a human palm imitating structure, and salient points are arranged on the surface of the grasping air bag.
The technical scheme of the invention is further improved as follows: the bracket (4) is formed by fixing the bottom of a bracket (403) on a base (404), fixing a support frame (402) at the top of the bracket (403), wherein the support frame (402) is a cavity, and elastic belts (401) are arranged at openings at two ends of the support frame.
The technical scheme of the invention is further improved as follows: the support frame (402) is a semi-arc body with an upward opening.
The technical scheme of the invention is further improved as follows: the two ends of the elastic belt (401) are provided with knots and fixed in the support frame (402).
The technical scheme of the invention is further improved as follows: the bottom ends of the slide bar e (110), the slide bar f (111), the slide bar g (112) and the slide bar h (113) are respectively fixed on the inner bottom surface of the case (2).
Compared with the prior art, the multi-joint upper limb rehabilitation device provided by the invention has the following beneficial effects:
1. the invention provides a multi-joint upper limb rehabilitation device which adopts an air bag type joint grasping mechanism, can effectively and comfortably grasp a joint to be trained, has a good grasping effect and improves the comfort level of a user.
2. The invention provides a multi-joint upper limb rehabilitation device, which can realize the movement and training of different joint parts, and has simpler structure, lower manufacturing cost and more convenient and faster use compared with other rehabilitation devices.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural view of a multi-joint upper limb rehabilitation device of the invention.
Fig. 2 is a schematic diagram of a transmission mechanism of a multi-joint upper limb rehabilitation device.
Fig. 3 is a schematic view of a joint grasping mechanism of a multi-joint upper limb rehabilitation device according to the present invention.
Fig. 4 is a schematic view of a bracket of a multi-joint upper limb rehabilitation device of the invention.
Reference numbers in the figures: 1-a transmission mechanism; 2-a case; 3-a joint grasping mechanism; 4-a holder; 108-X axis slide bar; a 106-Y axis slide bar; 114-slide bar a; 116-slide bar b; 115-slide bar c; 109-slide bar d; 107-sliding sleeves; 120-a slider a; 119-a slider b; 118-a slider c; 117-slider d; 110-slide bar e; 111-slide bar f; 112-slide bar g; 113-a slide bar h; 101-a first motor; 102-a retaining ring; 105-a second electric machine; 103-a track shaft; 104-a third motor; 302-grip balloon; 301-grasping an airbag fixation block; 303-a fan; 304-trachea; 401-an elastic band; 402-frame; 403-a bracket; 404-base.
Detailed Description
The present invention will be described in further detail with reference to the following examples:
as shown in fig. 1, the present invention provides a multi-joint upper limb rehabilitation device, which comprises a case 2, a transmission mechanism 1 arranged in an inner cavity of the case 2, a joint grasping mechanism 3 arranged in the transmission mechanism 1, a bracket 4 arranged below the joint grasping mechanism 3, and a bracket 4 fixed inside the case 2; the joint grasping mechanism 3 realizes the all-around motion of the joint to be trained, the bracket 4 fixes the bottom of the case, and according to the difference of the training parts, a trainer can select a proper part to fix, thereby assisting the activities of a plurality of joints on the upper limb of the trainer and completing the rehabilitation training or daily activities of the corresponding parts.
As shown in fig. 2, a transmission mechanism 1 in the multi-joint upper limb rehabilitation device is crossed and penetrated through the upper half part of a fixed grasping air bag block 301 by an X-axis slide bar 108 and a Y-axis slide bar 106, sliding sleeves 107 are respectively installed at the tails of two ends of the X-axis slide bar 108 and the Y-axis slide bar 106, the sliding sleeves 107 are respectively matched with a slide bar a114, a slide bar b116, a slide bar c115 and a slide bar d109 to form a frame of the transmission mechanism 1, and then the frame is combined and fixed by 4 sliding blocks, one end of a slide bar d109 and one end of the slide bar a114 are fixed on a slide block a120, the other end of the slide bar a114 and one end of a slide bar c115 are fixed on a slide block b119, the other end of the slide bar c115 and the slide bar b116 are fixed on a slide block c118, and the other end of the slide bar b116 and the slide bar d109 are fixed on a slide block d 117; the ends of the sliding rod a114, the sliding rod b116, the sliding rod c115 and the sliding rod d109 are horizontally fixed on the sliding block a120, the sliding block b119, the sliding block c118 and the sliding block d117 in pairs, and deformation in the motion process is prevented from being inconsistent through horizontal fixation; preferably, the penetrating position of the X-axis slide bar 108 is higher than the penetrating position of the Y-axis slide bar 106, and the distance between the two is as follows: 3-6 cm. A through hole is vertically formed in the body of the sliding block a120 and is matched with a sliding rod e110, a through hole is vertically formed in the body of the sliding block b119 and is matched with a sliding rod f111, a through hole is vertically formed in the body of the sliding block c118 and is matched with a sliding rod g112, a through hole is vertically formed in the body of the sliding block d117 and is matched with a sliding rod h113, so that the sliding rod e110, the sliding rod f111, the sliding rod g112 and the sliding rod h113 can independently move up and down, and the bottom ends of the sliding rod e110, the sliding rod f111, the sliding rod g112 and the sliding rod h113 are respectively fixed on the inner bottom surface of the case 2; a first motor 101 is fixedly arranged on the inner side of the sliding block c118, a track of the first motor 101 is fixed on a sliding sleeve 107 at the end of the X-axis sliding rod 108 through a fixing ring 102, the first motor 101 is connected with a power supply, when the track of the first motor 101 and the sliding sleeve 107 at the end of the X-axis sliding rod 108 are relatively fixed, the motor drives the track to rotate, and the X-axis sliding rod 108 is driven to move in the X-axis direction; a second motor 105 is fixedly arranged on the outer side of the sliding block b119, a crawler belt of the second motor 105 is fixed on a sliding sleeve 107 at the tail end of the Y-axis sliding rod 106 through a fixing ring 102, the second motor 105 is connected with a power supply, and when the crawler belt of the second motor 105 and the sliding sleeve 107 at the tail end of the Y-axis sliding rod 106 are relatively fixed, the motor drives the crawler belt to drive, so that the Y-axis sliding rod 106 moves together; a track shaft 103 is fixed on the inner side of the sliding block d117, the track shaft 103 extends downwards to a third motor 104 and is connected with a track, the third motor 104 is fixed at the bottom in the case 2, the third motor 104 is connected with a power supply, when the track of the third motor 104 is relatively fixed with any one of a slide bar e110, a slide bar f111, a slide bar g112 and a slide bar h113, the slide bars are driven to move together in the Z-axis direction during track transmission; the third motor 104 is connected with a power supply, when the caterpillar track of the third motor 104 is relatively fixed with the caterpillar track shaft 103 and the motor drives the caterpillar track to drive, the sliding rod frames on the horizontal plane are driven to move together in the Z-axis direction; the middle part of the track shaft 103 is provided with a through hole which is matched with the sliding rod d109, so that the sliding rod d109 can move conveniently without limitation.
As shown in fig. 3, the joint grasping mechanism 3 in the multi-joint upper limb rehabilitation device is fixed on the bottom surface of a grasping air bag fixing block 301 by a grasping air bag 302, a cavity in the middle of the grasping air bag fixing block 301 is connected with one end of an air pipe 304, the other end of the air pipe 304 is connected with a fan 303, the fan 303 is connected with a power supply, 2/3 of the grasping air bag fixing block 301 is a cavity, the grasping air bag 302 is of a structure imitating a human palm, and salient points are arranged on the surface; the grabbing air bag 302 and the fan 303 are matched for use, so that a plurality of different joints of the upper limb of a human body, such as fingers, hands and small arms, can be grabbed; the grasping air bag 302 can be a plurality of micro air blowers according to the grasping force requirement, the power supply in the embodiment is a main power supply, the power supply is connected with the micro control module and the touch screen, the micro control module can automatically control the power supply to send commands to each motor and fan according to a built-in set program, and parameters of the motor and fan can be set on the touch screen according to the user requirement, so that the rehabilitation training of the user is realized.
As shown in fig. 4, the bracket 4 in the multi-joint upper limb rehabilitation device is composed of a base 404, a bracket 403 fixed at the bottom, a supporting frame 402 fixed at the top of the bracket 403, the supporting frame 402 being a cavity and having two openings at two ends provided with elastic bands 401; the support frame 402 is a semi-arc body with an upward opening; the two ends of the elastic band 401 are provided with buckles and fixed in the support frame 402, the joints needing to be supported are placed on the support frame 402, and the elastic band 401 can be freely adjusted to stretch and retract, so that the supporting effect on different joints is realized.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention should fall within the protection scope defined by the appended claims.
Claims (9)
1. A multi-joint upper limb rehabilitation device is characterized in that: the joint grasping mechanism comprises a transmission mechanism (1) arranged in an inner cavity of a case (2), a joint grasping mechanism (3) arranged in the transmission mechanism (1), a support bracket (4) arranged below the joint grasping mechanism (3), and the support bracket (4) fixed inside the case (2).
2. The multi-articulated upper limb rehabilitation device according to claim 1, characterized in that: the transmission mechanism (1) is characterized in that an X-axis sliding rod (108) and a Y-axis sliding rod (106) cross and penetrate through the upper half part of a grabbing air bag fixed block (301), sliding sleeves (107) are respectively installed at the tails of two ends of the X-axis sliding rod (108) and the Y-axis sliding rod (106), the sliding sleeves (107) are respectively matched with a sliding rod a (114), a sliding rod b (116), a sliding rod c (115) and a sliding rod d (109), one end of the sliding rod d (109) and one end of the sliding rod a (114) are fixed on a sliding block a (120), the other end of the sliding rod a (114) and one end of the sliding rod c (115) are fixed on a sliding block b (119), the other end of the sliding rod c (115) and the sliding rod b (116) are fixed on a sliding block c (118), and the other end of the sliding rod b (116) and the sliding rod d (109) are fixed on a sliding block d (117); the ends of the sliding rod a (114), the sliding rod b (116), the sliding rod c (115) and the sliding rod d (109) are horizontally fixed on the sliding block a (120), the sliding block b (119), the sliding block c (118) and the sliding block d (117) in pairs; the penetrating position of the X-axis sliding rod (108) is higher than that of the Y-axis sliding rod (106), and the distance between the X-axis sliding rod and the Y-axis sliding rod is as follows: 3-6 cm.
3. The multi-articulated upper limb rehabilitation device according to claim 2, characterized in that: a body of the sliding block a (120) is vertically provided with a through hole and is matched with the sliding rod e (110), a body of the sliding block b (119) is vertically provided with a through hole and is matched with the sliding rod f (111), a body of the sliding block c (118) is vertically provided with a through hole and is matched with the sliding rod g (112), and a body of the sliding block d (117) is vertically provided with a through hole and is matched with the sliding rod h (113); a first motor (101) is fixedly arranged on the inner side of the sliding block c (118), a track of the first motor (101) is fixed on a sliding sleeve (107) at the tail end of the X-axis sliding rod (108) through a fixing ring (102), and the first motor (101) is connected with a power supply; a second motor (105) is fixedly arranged on the outer side of the sliding block b (119), a crawler belt of the second motor (105) is fixed on a sliding sleeve (107) at the tail end of the Y-axis sliding rod (106) through a fixing ring (102), and the second motor (105) is connected with a power supply; a track shaft (103) is fixed on the inner side of the sliding block d (117), the track shaft (103) extends downwards to be connected with a track of a third motor (104), the third motor (104) is fixed at the bottom in the case (2), and the third motor (104) is connected with a power supply.
4. The multi-articulated upper limb rehabilitation device according to claim 3, characterized in that: the middle part of the track shaft (103) is provided with a through hole which is matched with a slide bar d (109).
5. The multi-articulated upper limb rehabilitation device according to claim 1, characterized in that: the joint grasping mechanism (3) is fixed on the bottom surface of the grasping air bag fixing block (301) through the grasping air bag (302), the middle cavity of the grasping air bag fixing block (301) is connected with one end of an air pipe (304), the other end of the air pipe (304) is connected with a fan (303), and the fan (303) is connected with a power supply.
6. The multi-articulated upper limb rehabilitation device according to claim 5, characterized in that: 2/3 for grasping the body of the air bag fixing block (301) is a cavity.
7. The multi-articulated upper limb rehabilitation device according to claim 5, characterized in that: the grasping air bag (302) is of a human palm imitating structure, and salient points are arranged on the surface of the grasping air bag.
8. The multi-articulated upper limb rehabilitation device according to claim 1, characterized in that: the bracket support (4) is formed by fixing the bottom of a bracket (403) on a base (404), a support frame (402) is fixed at the top of the bracket (403), the support frame (402) is a cavity, and elastic belts (401) are arranged at openings at two ends of the support frame; the supporting frame (402) is a semi-arc body with an upward opening; the two ends of the elastic belt (401) are provided with knots and fixed in the support frame (402).
9. The multi-articulated upper limb rehabilitation device according to claim 3, characterized in that: the bottom ends of the slide bar e (110), the slide bar f (111), the slide bar g (112) and the slide bar h (113) are respectively fixed on the inner bottom surface of the case (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111665099.3A CN114404900A (en) | 2021-12-31 | 2021-12-31 | Multi-joint upper limb rehabilitation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111665099.3A CN114404900A (en) | 2021-12-31 | 2021-12-31 | Multi-joint upper limb rehabilitation device |
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| Publication Number | Publication Date |
|---|---|
| CN114404900A true CN114404900A (en) | 2022-04-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111665099.3A Pending CN114404900A (en) | 2021-12-31 | 2021-12-31 | Multi-joint upper limb rehabilitation device |
Country Status (1)
| Country | Link |
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| CN (1) | CN114404900A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1533760A (en) * | 2003-03-27 | 2004-10-06 | 许尹萍 | Programmable digital systematic massager |
| CN101152117A (en) * | 2006-09-29 | 2008-04-02 | 朱铁成 | Function of human body training device and method of use thereof |
| CN105919788A (en) * | 2016-05-22 | 2016-09-07 | 程岚 | Comfortable type medical shoulder massage device |
| CN107693263A (en) * | 2017-10-30 | 2018-02-16 | 路丽娟 | A kind of care bed thigh support frame |
| CN207522613U (en) * | 2017-11-21 | 2018-06-22 | 浙江理工大学 | The XYZ telecontrol equipments of cup robot |
| CN108938363A (en) * | 2018-08-09 | 2018-12-07 | 吕家环 | A kind of double mechanical arms work compound cupping glass bed |
| CN112089601A (en) * | 2020-09-28 | 2020-12-18 | 郑州铁路职业技术学院 | Neck massage kneading device based on air bag |
| CN113413309A (en) * | 2021-07-08 | 2021-09-21 | 上海叮铃铃信息技术有限公司 | Intelligent equipment treatment cabin for water needle moxibustion |
-
2021
- 2021-12-31 CN CN202111665099.3A patent/CN114404900A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1533760A (en) * | 2003-03-27 | 2004-10-06 | 许尹萍 | Programmable digital systematic massager |
| CN101152117A (en) * | 2006-09-29 | 2008-04-02 | 朱铁成 | Function of human body training device and method of use thereof |
| CN105919788A (en) * | 2016-05-22 | 2016-09-07 | 程岚 | Comfortable type medical shoulder massage device |
| CN107693263A (en) * | 2017-10-30 | 2018-02-16 | 路丽娟 | A kind of care bed thigh support frame |
| CN207522613U (en) * | 2017-11-21 | 2018-06-22 | 浙江理工大学 | The XYZ telecontrol equipments of cup robot |
| CN108938363A (en) * | 2018-08-09 | 2018-12-07 | 吕家环 | A kind of double mechanical arms work compound cupping glass bed |
| CN112089601A (en) * | 2020-09-28 | 2020-12-18 | 郑州铁路职业技术学院 | Neck massage kneading device based on air bag |
| CN113413309A (en) * | 2021-07-08 | 2021-09-21 | 上海叮铃铃信息技术有限公司 | Intelligent equipment treatment cabin for water needle moxibustion |
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Application publication date: 20220429 |