CN102499850B - Chinese medical massage robot - Google Patents

Chinese medical massage robot Download PDF

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Publication number
CN102499850B
CN102499850B CN2011103083765A CN201110308376A CN102499850B CN 102499850 B CN102499850 B CN 102499850B CN 2011103083765 A CN2011103083765 A CN 2011103083765A CN 201110308376 A CN201110308376 A CN 201110308376A CN 102499850 B CN102499850 B CN 102499850B
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axis
shaft
slider
massage
connected
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CN2011103083765A
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Chinese (zh)
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CN102499850A (en
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胡磊
谭一鸣
郭娜
刘志明
葛锐
杨艳
张婕
彭程
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北京航空航天大学
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Abstract

本发明公开了一种中医按摩机器人,包括按摩床体、两自由度仿人体移动龙门机构和三自由度仿人机械臂;按摩床体包括电控箱、支撑座、床架、拖链和床垫等;两自由度仿人体移动龙门机构包括X轴移动导轨、Y轴移动导轨、X轴步进电机、纵向立杆、X轴滚珠丝杠、Y轴滚珠丝杠、Y轴步进电机、龙门支架、前后移动滑板和移动滑块等;三自由度仿人机械臂包括U1轴滚珠丝杠、U1轴移动导轨、Z轴直线导轨、U1轴步进电机、U1轴传动齿轮、U2轴制动装置、U2轴按摩手、Z轴电动推杆、传感器、滚轮、U2轴步进电机、关节连接件、U1轴上下移动滑块等。 The present invention discloses a Chinese massage robot, comprising a body massage, two degrees of freedom mimicking moving gantry mechanism and three degrees of freedom of humanoid robot arm; massage body comprising the electronic control box, the support base, bed frames, bed and towline pad and the like; two degrees of freedom mimicking gantry moving mechanism includes an X-axis moving guide, Y-axis moving guide, the X-axis stepper motor, longitudinal pole, the X-axis ball screw, Y-axis ball screw, Y-axis stepper motor, gantry holder, move the slide back and forth movement of the slider and the like; humanoid manipulator comprises three degrees of freedom of the ball screw shaft U1, U1 guide axis, Z-axis linear guide, U1 axis stepper motor, a transmission gear shaft U1, U2 shaft system actuating means, U2 hand massage axis, Z-axis electric push rod, a sensor, wheel, U2 axis stepper motor, the articulation member, the movement of the slider shaft Ul like. 本发明能够方便的定位按摩位置,能够实现按摩滚法、指揉、掌揉、振法等中医按摩手法。 The present invention can be conveniently positioned massage position of the massage roller method can be realized, kneading means, palm rubbing, vibration massage TCM method.

Description

—种中医按摩机器人 - kind of Chinese massage robot

技术领域 FIELD

[0001 ] 本发明涉及一种中医按摩机器人,属于先进制造技术领域。 [0001] The present invention relates to a robot Chinese massage, belong to the advanced manufacturing technology.

背景技术 Background technique

[0002] 随着人们生活水平的不断提高,脑力劳动的时间大大增加,腰肌劳损等一些文明病悄然而至,严重影响了人们的正常生活、工作和学习。 [0002] With the continuous improvement of people's living standards, greatly increasing the mental time, some of the muscle strain and other diseases of civilization thanks to the widespread, seriously affecting people's normal life, work and study. 日常生活中,长期的固定体位或不良姿势,很容易造成腰肌劳损。 Daily life, long-term fixed posture or bad posture can easily lead to muscle strain.

[0003] 该疾病主要表现为腰部隐痛反复发作、劳累后加重、休息后缓解等,又称“功能性腰痛”或“腰背肌筋膜炎”等,主要是指腰骶部肌肉、筋膜等软组织慢性损伤。 [0003] The disease is mainly recurrent lower back pain, tired after the increase, relieved by rest and so on, also known as "functional back pain" or "back muscle fasciitis", mainly refers to the lumbosacral muscles, fascia and other chronic soft tissue injury. 多由急性腰扭伤后失治、误治,反复多次损伤;或由于劳动中长期维持某种不平衡体位,如长期从事弯腰工作;或由于习惯性姿势不良等引起。 After acute lumbar sprain and more from the loss of government mistreatment, repeated damage; or because of labor to maintain some kind of long-term imbalance position, such as bending over long been engaged in the work; or because of habitual bad posture caused. 腰骶椎先天性畸形者,使腰骶部两侧活动不一致,更易导致腰骰部软组织的疲劳而引起腰痛。 Lumbosacral congenital malformations, so that both sides of the lumbosacral activity inconsistent, leading to fatigue more dice waist portion of soft tissue to cause low back pain. 腰肌劳损患者有长期腰痛史,反复发作。 Muscle strain in patients with long-term history of low back pain, recurrent. 腰骶部一侧或两侧酸痛不舒,时轻时重,缠绵不愈。 Lumbosacral pain discomfort one or both sides, when light weight, lingering diseases. 酸痛在劳累后加剧,休息后减轻,并与天气变化有关。 Pain after exertion increased, reducing the rest, and with the changes in the weather-related. 腰肌劳损在急性发作时,各种症状均显著加重,腰部活动受限。 Lumbar muscle strain during attacks, symptoms were significantly worse, waist limited mobility.

[0004] 腰肌劳损的康复治疗临床上通常采用下列五种方法,即推拿与按摩疗法、针炙走罐及封闭疗法、运动疗法、腰肌牵拉术、中药疗法。 [0004] The following five methods commonly used in clinical rehabilitation of lumbar muscle strain, that massage and massage therapy, acupuncture and cupping closed therapy, exercise therapy, lumbar traction surgery, Chinese medicine therapy. 然而目前现代医学对本病的治疗尚无十分肯定的疗效,而采用中医的多种方法治疗慢性腰肌劳损疗效明显,特别是推拿与按摩疗法以其见效快、方法简便、疗效好、无不良反应等优点,日益受到广大慢性腰肌劳损患者的欢迎。 However, the current modern medical treatment of this disease is no very positive effect, while the use of a variety of traditional Chinese medicine treatment of chronic lumbar muscle strain curative effect, especially in massage and massage therapy for its quick, easy way, good effect, no adverse advantage reactions, increasingly welcomed by the majority of patients with chronic lumbar muscle strain.

[0005] 推拿按摩手法治疗慢性腰肌劳损可舒筋活血、松解粘连、缓解痉挛、消积导滞、祛瘀散积、改善微循环、促进炎症水肿的吸收,达到止痛的目的。 [0005] Treatment of chronic lumbar muscle strain massage manipulations can Shujinhuoxue, lysis of adhesions, spasticity, negatively Daozhi, Quyu bulk product, improve microcirculation, promote the absorption of the edema and inflammation, to achieve the purpose of pain.

[0006] 中医按摩作为一种医疗手段在中国已经发展了两千多年,强调的是“自然疗愈理论”,提倡应用按摩等自然手段,增强人体免疫能力,引导患者自然康复。 [0006] Chinese massage as a medical treatment in China has developed two thousand years, emphasized that the "natural healing theory", promote the use of massage and other natural means to enhance human immunity, and guide the patient's natural recovery. 中医按摩理论则是建立在自然哲学基础上的,它以动态的、整体的观点认识疾病的发生和发展。 Chinese massage theory is built on the basis of natural philosophy on its understanding of disease and development of a dynamic, holistic view. 在漫长的按摩实践中,总结了人体部位和疾病治疗的关系-中医穴位、经络理论。 In the long massage practice, summed up the relationship between the human body and treatment of disease - acupoint, meridian theory. 强调通过对经络穴位的手法和力量变化的刺激,提高免疫系统的能力,达到防病治病的目的。 She emphasized by stimulating the meridian points on the way and force change, improve the ability of the immune system, achieve the purpose of preventing and curing diseases.

[0007] 随着社会经济的进步,人们工作压力的增大,对健康的关注越来越广泛,中医按摩师的培养速度已经不能满足人们的需求,优秀的中医按摩师更是极度缺乏。 [0007] With the progress of society and economy, people work pressure increases, health concerns and more widely, the speed of traditional Chinese culture masseur has been unable to meet people's needs, excellent masseur Chinese medicine is extremely lacking. 因此,作为按摩师的替代,各种按摩器具应运而生。 Therefore, as an alternative masseur, a variety of massage apparatus came into being.

发明内容 SUMMARY

[0008] 本发明的目的是为了解决长期困扰着人们的腰肌劳损适应症,并且缓解社会对于高端中医按摩人才强烈需求的压力,本发明提供了一种用于治疗腰肌劳损适应症且可产品化的中医按摩机器人,针对腰肌劳损适应症灵活完成按、揉、振、滚四种中医按摩手法,结构稳定、安全、可靠,符合医疗产品行业的规范和要求。 [0008] The present invention is to solve the long-troubled people indications of lumbar muscle strain, and relieve the strong demand for high-end social talent of Chinese massage pressure, the present invention provides a method for the treatment of muscle strain and can be indications products of Chinese massage robot, indications for lumbar muscle strain flexible complete press, knead, vibration, rolling four kinds of traditional Chinese medicine massage, structural stability, safe and reliable, in line with medical products industry specifications and requirements.

[0009] 本发明的一种中医按摩机器人,包括按摩床体、两自由度仿人体移动龙门机构和三自由度仿人机械臂; [0009] A Chinese massage robot of the present invention, comprises a body massage, two degrees of freedom mimicking movement and three degrees of freedom gantry mechanism humanoid robot arm;

[0010] 按摩床体包括电控箱、支撑座、床架、拖链、拖链架和床垫; [0010] massage body comprising the electronic control box, the support base, a bed frame, towline, towline rack and mattresses;

[0011] 支撑座固定连接在床架底部,电控箱位于床架内部,拖链的一端固定连接在支撑座上,另一端固定连接拖链架,拖链架连接两自由度仿人体移动龙门机构的连接件,拖链用来放置和引导导线;床垫位于床架之上; [0011] At the bottom of the support base fixed to the bed frame, the bed frame is located inside the electric cabinet, one end fixedly connected to towline support base, and the other end fixedly connected to frame towline, towline connected to two degrees of freedom mimicking frame moving gantry connector means, and the guide wire used to place the towline; mattress located on the bed frame;

[0012] 两自由度仿人体移动龙门机构包括X轴移动导轨、Y轴移动导轨、X轴步进电机、纵向立杆、X轴滚珠丝杠、Y轴滚珠丝杠、Y轴步进电机、连接件、龙门支架、前后移动滑板、移动滑块、连接板; [0012] The two degrees of freedom mimicking gantry moving mechanism includes an X-axis moving guide, Y-axis moving guide, the X-axis stepper motor, longitudinal pole, the X-axis ball screw, Y-axis ball screw, Y-axis stepper motor, connecting member, gantry bracket, move the slide back and forth, movement of the slider, the connecting plate;

[0013] X轴移动导轨固定在床架内部的X轴方向两侧,X轴步进电机固定一个X轴移动导轨的一端,X轴滚珠丝杠的两端通过轴承及轴承座固定在X轴移动导轨的两端,其中X轴滚珠丝杠一端连接X轴步进电机的输出轴,移动滑块上设有圆孔,X轴滚珠丝杠穿过圆孔,移动滑块的底端连接X轴移动导轨,移动滑块通过连接件连接纵向立杆,移动滑块还连接龙门支架的一端,龙门支架的另一端连接另外一个连接件,连接件通过一个移动滑块连接另一侧的X轴导轨,连接件连接另一个纵向立杆;两个纵向立杆的一端通过连接板固定连接,Y轴移动导轨固定在连接板上,沿Y轴方向布置,Y轴步进电机固定在Y轴移动导轨的一端,Y轴滚珠丝杠的两端通过轴承及轴承座固定在Y轴移动导轨的两端,其中一端连接Y轴步进电机的输出轴;前后移动滑板上设有通孔,Y轴滚珠丝杠穿过通 [0013] X-axis moving guide in the X-axis direction is fixed inside the bed frame on both sides, the X-axis stepper motor having one end fixed to a X-axis moving guide, the X-axis ball screw both ends by bearings and bearing on the X axis both ends of the shift rail, wherein the output shaft is provided with a circular hole on the X-axis X-axis ball screw having one end connected to a stepping motor, movement of the slider, X-axis ball screw passes through the hole, the bottom end of the movement of the slider connecting X shift rail axis, move the slider by a connecting member connecting the longitudinal uprights, movement of the slider bracket is also connected to one end of the gantry, the gantry and the other end bracket is connected to another connecting member, the connecting member connecting the other side of the X-axis by moving a slider rail connecting member connecting the other longitudinal uprights; one of the two longitudinal uprights connected by a connecting plate fixed, the Y-axis moving guide is fixed to the connecting plate, are arranged in the Y-axis direction, a Y-axis stepper motor fixed to the Y-axis moving One end of the guide rail, both ends of the Y-axis ball screw housing through a bearing and fixed to both ends of the Y-axis moving guide, wherein one end of the Y-axis stepper motor connected to an output shaft; back and forth movement of the slide is provided with a through hole, the Y-axis The ball screw passes through the through ,前后移动滑板底端连接Y轴移动导轨,前后移动滑板能够沿着Y轴移动导轨移动; Move back and forth a bottom end connected to the Y-axis moving guide slider, the slider can be moved back and forth movement along the Y-axis moving guide;

[0014] 三自由度仿人机械臂包括U1轴滚珠丝杠、U1轴移动导轨、安装板A、Z轴直线导轨、U1轴步进电机、U1轴传动齿轮、U2轴制动装置、U2轴按摩手、Z轴电动推杆、安装板B、传感器、滚轮、U2轴步进电机、关节连接件、U1轴上下移动滑块; [0014] The three degrees of freedom of humanoid robot arm comprises a ball screw shaft U1, U1-axis moving guide, mounting plate A, Z-axis linear guide, U1 axis stepper motor, a transmission gear shaft U1, U2 shaft braking device, U2 shaft hand massage, Z-axis electric push rod, the mounting plate B, sensors, rollers, U2 axis stepper motor, the articulation member, the movement of the slider shaft Ul;

[0015] U1轴移动导轨固定在安装板B上,安装版B底端通过关节连接件固定连接前后移动滑板,通过连接前后移动滑板移动实现三自由度仿人机械臂的前后移动;安装版B上端通过电机座固定连接U1轴步进电机办轴传动齿轮包括一个大齿轮和一个小齿轮,U1轴步进电机的输出轴通过大齿轮连接小齿轮,小齿轮与U1轴滚珠丝杠的一端固定连接,U1轴滚珠丝杠上设有滑块,滑块固定连接安装板A,安装板A的两侧固定U1轴上下移动滑块,U1轴上下移动滑块能够在U1轴移动导轨上滑动,安装版A安装U1轴上下移动滑块的另外一面,两侧均固定连接一个Z轴直线导轨,Z轴直线导轨通过滑块固定在安装版A上,Z轴直线导轨中的导杆能够在滑块内上下滑动,Z轴直线导轨是用来保证机械臂的刚度的;2轴电动推杆固定在安装版A中间,Z轴电动推杆中间设有伸缩杆,伸缩杆的一端连接电 [0015] U1-axis moving rail fixed to the mounting plate B, B connected to the bottom mounting plate member back and forth movement of the slider is fixed by a joint, move back and forth to realize three degrees of freedom of humanoid robot arm by moving back and forth movement of the slide connector; B version Installation U1 is fixedly connected to the upper end of the stepper motor shaft through a transmission gear shaft to do the motor base comprises a large gear and a small gear, the output shaft of the stepping motor shaft U1 is connected via a pinion gear wheel, the pinion and an end of the ball screw shaft is fixed U1 connected with the slider, the slider is fixedly connected to the mounting plate U1 a ball screw shaft, both sides of the mounting plate a at the movement of the slider shaft is fixed U1, U1 at the slider moving shaft can slide on the shaft U1 shift rail, a mounting plate is mounted under the movement of the slider shaft U1 other side, are fixedly connected on both sides of a linear guide Z-axis, Z-axis linear guide fixed to the mounting plate a through the slider, a Z-axis linear guide rail capable of sliding bars slide up and down within the block, the Z-axis linear guide is used to ensure the stiffness of the manipulator; 2 push rod fixed to the intermediate shaft of the motor mounting plate a, the intermediate Z-axis telescopic rod is provided with an electric push rod, is electrically connected to one end of the telescopic rod 机,另一端连接传感器,传感器固定在U2轴步进电机的电机座上,传感器用于测量U2轴按摩手进行按摩时候的受力,U2轴步进电机固定在电机座上,U2轴步进电机的输出轴连接U2轴制动装置,U2轴制动装置连接U2轴按摩手,U2轴按摩手上还设有滚轮,实现按摩滚法。 Machine, and the other end connected to the sensor, the sensor base fixed to the motor shaft of the stepping motor U2, U2-axis sensor for measuring the force in hand massage the massage time, U2 stepping motor fixed on the motor shaft seat, U2 axis stepper an output shaft connected to the motor shaft braking device U2, U2 U2 shaft braking device connected to the shaft hand massage, hand massage shaft U2 also provided with rollers, to realize rolling massage method.

[0016] 本发明的优点在于: [0016] The advantage of the present invention:

[0017] 本发明能够方便的定位按摩位置,能够实现按摩滚法、指揉、掌揉、振法等中医按摩手法,可以在一定程度上替代中医按摩师的专业按摩操作。 [0017] The present invention can be conveniently positioned massage position of the massage roller method can be realized, kneading means, palm rubbing, vibration massage method Chinese medicine, TCM can replace professional masseur massage operation to some extent.

附图说明 BRIEF DESCRIPTION

[0018] 图1是本发明的构型总体图;[0019] 图2是本发明的按摩床体结构图; [0018] FIG. 1 is a general view of the configuration of the present invention; [0019] FIG. 2 is a structural view of the present body massage invention;

[0020] 图3是本发明的二自由度仿人体移动龙门机构的结构图; [0020] FIG. 3 is a two degree of freedom mimicking the structure of FIG moving gantry mechanism of the present invention;

[0021] 图4是本发明的三自由度仿人机械臂的正视图; [0021] FIG. 4 is a three degrees of freedom of the humanoid robot arm of the present invention is a front view;

[0022] 图5是本发明的三自由度仿人机械臂的侧视图; [0022] FIG. 5 is a side view of three degrees of freedom of the humanoid robot arm according to the present invention;

[0023] 图6是本发明的三自由度仿人机械臂结构图(部分); [0023] FIG 6 is a three degrees of freedom of humanoid robot arm configuration diagram (part) of the present invention;

[0024] 图7是本发明的按摩床的俯视图; [0024] FIG. 7 is a plan view of the invention of the massage;

[0025] 图8是本发明的按摩床的仰视图; [0025] FIG. 8 is a bottom view of the massage bed according to the present invention;

[0026] 图中: [0026] FIG:

[0027] 1-按摩床体2-两自由度仿人体移动龙门机构3-三自由度仿人机械臂 [0027] 1- 2- body massage two DOF human body moving gantry mechanism 3- three degrees of freedom of humanoid robot arm

[0028] 4-被动臂 [0028] 4- passive arm

[0029] 101-电控箱 102-支撑座 103-床架 [0029] The electronic control box 102- 101- 103- bedframe supporting base

[0030] 104-拖链 105-拖链架 106-床垫 [0030] 104- 105- towline towline rack 106- mattress

[0031] 201-X轴移动导轨212-Y轴移动导轨 202-X轴步进电机 [0031] 201-X axis guide rail 212-Y axis moving 202-X-axis stepper motor

[0032] 203-纵向立杆 204-X轴滚珠丝杠 205-Y轴滚珠丝杠 [0032] 203- longitudinal uprights 204-X axis ball screw 205-Y axis ball screw

[0033] 206-Y轴步进电机20`7-连接件 208-龙门支架 [0033] 206-Y-axis stepper motor 20`7- connector bracket gantry 208-

[0034] 209-前后移动滑板210-移动滑块 211-连接板 210- 211- slide movement of the slider moving web before and after the [0034] 209-

[0035] 301-¾轴滚珠丝杠302-¾轴移动导轨 303-安装板A [0035] 301-¾-axis ball screw shaft moving rail 302-¾ A mounting plate 303

[0036] 304-Z轴直线导轨305-¾轴步进电机 306-¾轴传动齿轮 [0036] 304-Z axis linear guide 305-¾-axis stepper motor shaft drive gear 306-¾

[0037] 307-¾轴制动装置308-¾轴按摩手 309-Z轴电动推杆 [0037] 307-¾ shaft braking device 308-¾ hand massage shaft 309-Z shaft of the electric putter

[0038] 310-安装板B 311-传感器 312-滚轮 [0038] The mounting plate B 311- 310- 312- wheel sensor

[0039] 313-¾轴步进电机314-关节连接件 315-¾轴上下移动滑块 [0039] 313-¾-axis stepper motor 314- 315-¾ articulation member at the slider moving shaft

具体实施方式 Detailed ways

[0040] 下面将结合附图和实施例对本发明作进一步的详细说明。 [0040] The accompanying drawings and the following embodiments of the present invention will be further described in detail.

[0041] 本发明是一种中医按摩机器人,如图1所示,包括按摩床体1、两自由度仿人体移动龙门机构2和三自由度仿人机械臂3。 [0041] The present invention is a Chinese massage robot, as shown in Fig 1 comprises a body massage, two degrees of freedom mimicking gantry moving mechanism 2 and the three degrees of freedom of humanoid robot arm 31.

[0042] 按摩床体I长边方向为X轴方向,短边为Y方向,三自由度仿人机械臂3为Z轴方向,U1轴步进电机305所在的竖直方向为U1轴,U2轴步进电机313所在的水平方向(手腕部)为队轴。 [0042] I massage body longitudinal direction X-axis direction, Y-direction short side, three degrees of freedom of humanoid robot arm 3 is a Z-axis direction, a vertical direction axis stepper motor 305 U1, U1 is located axis, U2 axis stepper motor 313 is located in the horizontal direction (wrist) to force the shaft.

[0043] 如图1、图2所示,按摩床体I用于支撑按摩机器人,放置按摩机器人的控制装置;按摩床体I包括电控箱101、支撑座102、床架103、拖链104、拖链架105和床垫106 ; [0043] As shown in FIG 1, FIG. 2, a control means I for supporting the massage the massage robot, the robot is placed massage body; I massage body comprising the electronic control box 101, the support base 102, the bed frame 103, towline 104 towline mattress frame 105 and 106;

[0044] 四个支撑座102固定连接在床架103底部,用于支撑床架103,电控箱101位于床架103内部,用于放置电气设备、电源等,拖链104的一端固定连接在支撑座102上,另一端固定连接拖链架105,拖链架105连接两自由度仿人体移动龙门机构2的连接件207,拖链104用来放置和引导导线,电控箱101内的导线经过拖链104连接两自由度仿人体移动龙门机构2。 [0044] The four fixed to the support base 102 is connected to the bottom of the bed frame 103, for supporting the bed frame 103, the electrical control box 101 is located inside the bed frame 103, for placing electrical equipment, power supply, etc., is fixedly connected to one end of the towline 104 upper support 102, the other end of the frame 105 fixedly connected towline, towline rack 105 connected to two degrees of freedom mimicking gantry moving mechanism 207 of the coupling member 2, and a towline 104 used to place the guide wire, the wires in the electrical control box 101 towline 104 is connected through two degrees of freedom mimicking gantry moving mechanism 2. 床架103设有一圈卡槽,床垫106位于卡槽之中。 Provided with a ring slot 103 bedstead, a mattress 106 positioned in the slot.

[0045] 如图3所示,两自由度仿人体移动龙门机构2包括X轴移动导轨201、Y轴移动导轨212、X轴步进电机202、纵向立杆203、X轴滚珠丝杠204、Y轴滚珠丝杠205、Y轴步进电机206、连接件207、龙门支架208、前后移动滑板209、移动滑块210、连接板211。 [0045] 3, two degrees of freedom mimicking gantry moving mechanism 2 includes an X-axis moving guide 201, Y-axis moving guide 212, the X-axis stepper motor 202, a vertical pole 203, an X-axis ball screw 204, Y-axis ball screw 205, the Y-axis stepper motor 206, connecting member 207, the gantry bracket 208, the slider 209 moves back and forth, movement of the slider 210, the connecting plate 211. [0046] X轴移动导轨201固定在床架103内部的X轴方向两侧,X轴步进电机202固定一个X轴移动导轨201的一端,X轴滚珠丝杠204的两端通过轴承及轴承座固定在X轴移动导轨201的两端,其中X轴滚珠丝杠204 —端连接X轴步进电机202的输出轴,移动滑块210上设有圆孔,X轴滚珠丝杠204穿过圆孔,移动滑块210的底端连接X轴移动导轨201,移动滑块210通过连接件207连接纵向立杆203,移动滑块210还连接龙门支架208的一端,龙门支架208的另一端连接另外一个连接件207,连接件207通过一个移动滑块连接另一侧的X轴导轨201,连接件207连接另一个纵向立杆203 ;两个纵向立杆203的一端通过连接板211固定连接,Y轴移动导轨212固定在连接板211上,沿Y轴方向布置,Y轴步进电机206固定在Y轴移动导轨212的一端,Y轴滚珠丝杠205的两端通过轴承及轴承座固定在Y轴移动导轨212的两端,其中一端连接Y [0046] X-axis moving guide 201 is fixed on both sides in the X-axis direction inside the bed frame 103, 202 fixed to a X-axis moving X-axis stepper motor end of the guide rail 201, both ends of the X-axis ball screw 204 through a bearing and seat fixed rail 201 at both ends of the X-axis movement, wherein the X-axis ball screw 204 - terminal connected to an output shaft of the X-axis stepper motor 202, move the slider 210 provided with circular holes, the X-axis ball screw 204 passes through circular holes, movement of the slider 210 is connected to the bottom end of the X-axis moving guide 201, longitudinal movement of the slider 210 is connected through the connecting member 207 pole 203, move the slider 210 is also connected to one end of the gantry bracket 208, the bracket 208 and the other end is connected to the gantry Further a connecting member 207, connecting member 207 connected to the other side of the X-axis by moving a slider guide 201, connecting member 207 is connected to the other longitudinal uprights 203; one of the two longitudinal uprights 203 are connected by the connecting plate 211 is fixed, Y-axis moving guide 212 is fixed to the connecting plate 211 disposed in the Y-axis direction, a Y-axis stepper motor 206 is fixed to an end of the Y-axis moving guide 212, both ends of the Y-axis ball screw 205 by a fixed bearing and housing Y-axis moving guides 212 at both ends, wherein one end connected to Y 轴步进电机206的输出轴;前后移动滑板209上设有通孔,Y轴滚珠丝杠205穿过通孔,前后移动滑板209底端连接Y轴移动导轨212,前后移动滑板209可以沿着Y轴移动导轨212移动。 Axis stepper motor output shaft 206; back and forth movement of the slide is provided with a through hole 209, the Y-axis ball screw 205 through the through holes, the slide plate 209 moves back and forth a bottom end connected to the Y-axis moving guide 212, the slider 209 can move back and forth along the Y-axis moving guide 212 moves.

[0047] X轴步进电机202启动后,驱动X轴滚珠丝杠204转动,带动移动滑块210沿X轴移动导轨201移动,通过连接件207,最终带动纵向立杆203沿X轴移动,Y轴步进电机206启动后,驱动Y轴滚珠丝杠205转动,带动前后移动滑板209沿Y轴移动导轨212移动。 [0047] After the X-axis stepper motor 202 starts driving the X-axis ball screw 204 is rotated, driven by movement of the slider 210 moves along the X-axis rail 201 is moved via connecting member 207, and ultimately drive the stem 203 is moved along the longitudinal axis X, after starting the Y-axis stepper motor 206, driving the Y-axis ball screw 205 is rotated, the slider 209 moves back and forth driven by the Y-axis moving guide 212 moves.

[0048] 如图4、图5、图6所示,三自由度仿人机械臂3包括U1轴滚珠丝杠301、U1轴移动导轨302、安装板A303、Z轴直线导轨304、仏轴步进电机305、仏轴传动齿轮306、U2轴制动装置307、U2轴按摩手308、Z轴电动推杆309、安装板B310、传感器311、滚轮312、U2轴步进电机313、关节连接件314、U1轴上下移动滑块315。 [0048] As shown in FIG 4, FIG 5, FIG. 6, three degrees of freedom of humanoid robot arm 3 comprises a ball screw shaft 301 U1, U1-axis moving guide 302, mounting plate A303, Z-axis linear guide 304, shaft step Fo stepper motor 305, Fo transfer gear 306, U2 shaft braking device 307, U2 hand massage shaft 308, Z-axis electric push rod 309, the mounting board B310, a sensor 311, the roller 312, U2-axis stepper motor 313, the articulation member 314, U1 move the slider 315 at the axis.

[0049] U1轴移动导轨302固定在安装板B310上,安装版B310底端通过关节连接件314固定连接前后移动滑板209,通过连接前后移动滑板209移动实现三自由度仿人机械臂3的前后移动。 [0049] U1-axis moving guide 302 is fixed to the mounting board B310, B310 bottom mounting plate 209 connected to the slider member 314 moves back and forth is fixedly connected by a joint, the slider 209 moves back and forth to realize three degrees of freedom of humanoid robot arm 3 by moving back and forth is connected mobile. 安装版B310上端通过电机座固定连接U1轴步进电机305。 B310 upper mounting plate fixedly connected U1-axis stepper motor 305 through the motor housing. U1轴传动齿轮306包括一个大齿轮和一个小齿轮,U1轴步进电机305的输出轴通过大齿轮连接小齿轮,小齿轮与U1轴滚珠丝杠301的一端固定连接,U1轴滚珠丝杠301上设有滑块,滑块固定连接安装板A303,安装板A303的两侧固定U1轴上下移动滑块315,¾轴上下移动滑块315能够在U1轴移动导轨302上滑动,安装版A303安装U1轴上下移动滑块315的另外一面,两侧均固定连接一个Z轴直线导轨304,Z轴直线导轨304通过滑块固定在安装版A303上,Z轴直线导轨304中的导杆可以在滑块内上下滑动,Z轴直线导轨304是用来保证机械臂的刚度的;Z轴电动推杆309固定在安装版A303中间,Z轴电动推杆309中间设有伸缩杆,伸缩杆的一端连接电机,另一端连接传感器311,传感器311固定在U2轴步进电机313的电机座上,传感器311用于测量U2轴按摩手308进行按摩时候的受力,U2轴步进电机313固定在电机座上, U1 transfer gear 306 includes a large gear and a small gear, U1-axis stepper motor 305 is connected to the output shaft through the large pinion gear, the pinion and a ball screw shaft at one end fixedly connected to U1 301, the ball screw shaft 301 U1 move the slider 315 is provided on both sides of the fixing shaft U1 as the slider is fixedly connected to the mounting plate A303, A303 of the mounting plate, the axis ¾ moving the slider 315 can slide on the shaft U1 shift rail 302, mounting plate mounted A303 U1 move the slider shaft at the other side, both sides 315 fixedly connected to a Z-axis linear guide 304, a Z-axis linear guide 304 is fixed to the slider mounting plate A303, Z-axis linear guide 304 in the guide rod can slide slide up and down within a block, Z-axis linear guide 304 is used to ensure the rigidity of the robot arm; the Z-axis electric push rod 309 fixed to the intermediate mounting plate A303, Z-axis electric push rod 309 is provided with an intermediate telescopic rod, one end of the telescopic rod connected motor, and the other end connected to sensor 311, sensor 311 fixed to the motor base U2-axis stepper motor 313, a sensor 311 for measuring a hand massage U2 shaft 308 forces the massage time, U2-axis stepper motor 313 is fixed to the motor housing on, U2轴步进电机313的输出轴连接U2轴制动装置307,U2轴制动装置307连接U2轴按摩手308,U2轴按摩手308上还设有滚轮312,实现按摩滚法。 U2-axis stepper motor 313 is connected to the output shaft axis U2 braking device 307, device 307 connected to the brake shaft U2 U2 hand massage shaft 308, the U2 shaft 308 also has a hand massage roller 312, to achieve a massage roller method. U2轴按摩手308是按摩机器人的执行部件,用来实现按摩滚法、指揉、掌揉、振法等中医按摩手法; U2 hand massage shaft member 308 is performing massaging robot, used to implement the method of rolling massage, rubbing finger, palm rubbing, vibration massage TCM method;

[0050] U1轴步进电机305转动时,带动U1轴传动齿轮306中大齿轮转动,大齿轮带动小齿轮转动,小齿轮与U1轴滚珠丝杠301固定连接,从而实现U1轴滚珠丝杠301的转动,通过U1轴滚珠丝杠301上滑块的移动,使得安装板A303上下移动,从而实现三自由度仿人机械臂3的上下移动,实现按摩手法中的振法。 [0050] When the stepping motor 305 rotates the shaft U1, U1 drive transfer gear 306 rotates the large gear, the large gear driven by rotation of the pinion, and the pinion 301 is fixedly connected to the ball screw shaft U1, U1 to achieve a ball screw shaft 301 rotation, by movement of the slider 301 on the ball screw shaft U1, move up and down so that the mounting plate A303, thereby realizing three degrees of freedom of humanoid robot arm 3 is moved vertically to achieve massage of the vibration method. Z轴电动推杆309中电机带动伸缩杆上下移动,实现U2轴按摩手308的上下移动,使U2轴按摩手308达到按摩位置。 Z-axis motor driven electric retractable plunger rod 309 move up, move down to achieve U2 hand massage shaft 308, so that U2 hand massage shaft 308 reaches the position of massage. U2轴步进电机313的转动带动U2轴按摩手308姿态的变化,实现指揉、掌揉、滚法、振法的按摩手法。 U2-axis stepper motor 313 rotates to drive the hand massage change posture U2 shaft 308, finger rub achieved, palm rubbing, rolling method, a vibration method massage. 当U2轴按摩手308到达按摩姿态后,通过控制U2轴制动装置307的通、断电(电磁原理吸附摩擦片),实现U2轴按摩手308姿态的固定锁死(当断电的时候,U2轴制动装置307将U2轴步进电机313输出轴锁死,固定U2轴按摩手308姿态,如果意外断电,也可以起到固定U2轴按摩手308的安全作用)。 When U2 shaft 308 reaches the hand massage massaging attitude, by controlling the braking device U2 shaft pass, power (the principle of electromagnetic suction disks), U2 achieved hand massage shaft 308 fixed posture lock 307 (when power-off time, U2 U2 shaft braking device axis stepper motor 307 output shaft 313 locked, the fixed shaft U2 massage hand gesture 308, if an unexpected power failure, can also play a role of fixing the safety U2 hand massage shaft 308).

[0051] 安装板B310上还设有被动臂4,被动臂4前端设有视觉系统,用于视觉伺服控制。 [0051] further provided on the mounting plate B310 passive arm 4, the front end of the passive arm 4 is provided with a vision system, a visual servo control.

[0052] 如图7、8所示,X轴移动导轨201需要保证一定的平行度,机构设计时在X轴移动导轨201底部附加上两个肋板,以保证X轴移动导轨201的刚度,防止其变形。 [0052] FIG. 7 and 8, an X-axis moving guide 201 of the need to ensure a certain degree of parallelism in the X axis moving mechanism designed rail 201 on the bottom of the two additional ribs, to assure the rigidity of the X-axis moving guide 201, prevent deformation. 这样设计的目的是为了防止龙门架机构在运动时因为X轴移动导轨201不平行导致卡死问题。 The purpose of this design is to prevent the gantry mechanism in motion as X-axis moving guide 201 is not parallel stuck when problems.

[0053] 在本发明中,按摩床体I支撑整个按摩装置,提供被按摩者一个舒适的躺卧位置, [0053] In the present invention, I support the entire body massage massage apparatus massages by providing a comfortable lying position,

二自由度仿人体移动龙门机构2和三自由度仿人机械臂3在传动装置的传动下,沿着X、Y、Z轴移动;Z轴电动推杆309自身的电机使按摩装置可以沿着Z轴来回震动;U2轴按摩手308通过电机控制,可以实现多个设定位置的悬停。 Two degrees of freedom mimicking gantry moving mechanism 2 and the three degrees of freedom of humanoid robot arm 3 in the transmission of the transmission, along the X, Y, Z axis; the Z shaft of the electric motor itself push rod 309 may extend along the massaging device Z-axis motion back and forth; U2 hand massage shaft 308 by a motor control can be realized hover plurality set position. U2轴按摩手308可以实现掌压、指按、滚轮滚压等按摩手法,传感器311实时的将U2轴按摩手308的按摩压力反馈给上位机,用来调节力的大小。 U2 hand massage shaft 308 may be implemented palm pressure, by means, other roller rolling massage, the sensor 311 in real time U2 hand massage massaging pressure shaft 308 to the host device, for adjusting the magnitude of force.

Claims (2)

1.一种中医按摩机器人,其特征在于,包括按摩床体、两自由度仿人体移动龙门机构和三自由度仿人机械臂; 按摩床体包括电控箱、支撑座、床架、拖链、拖链架和床垫; 支撑座固定连接在床架底部,电控箱位于床架内部,拖链的一端固定连接在支撑座上,另一端固定连接拖链架,拖链架连接两自由度仿人体移动龙门机构的连接件,拖链用来放置和引导导线;床垫位于床架之上; 两自由度仿人体移动龙门机构包括X轴移动导轨、Y轴移动导轨、X轴步进电机、纵向立杆、X轴滚珠丝杠、Y轴滚珠丝杠、Y轴步进电机、连接件、龙门支架、前后移动滑板、移动滑块、连接板; X轴移动导轨固定在床架内部的X轴方向两侧,X轴步进电机固定一个X轴移动导轨的一端,X轴滚珠丝杠的两端通过轴承及轴承座固定在X轴移动导轨的两端,其中X轴滚珠丝杠一端连接X轴步 A Chinese massage robot comprising massage body, two degrees of freedom mimicking moving gantry mechanism and three degrees of freedom of humanoid robot arm; massage body comprising the electronic control box, the support base, a bed frame, towline , towline rack and mattresses; support base fixed to the bottom of the bed frame is connected to the electrical control box is located inside the bed frame, one end of the towline attached to a support base fixed to the other end fixedly connected to towline frame, consisting of two connected racks towline of mimicking gantry moveable link mechanism, and the guide wire used to place the towline; mattress located on the bed frame; two degrees of freedom mimicking gantry moving mechanism includes an X-axis moving guide, Y-axis moving guide, the X-axis stepper motor, longitudinal pole, X-axis ball screw, Y-axis ball screw, Y-axis stepper motor, connector, gantry bracket, move the slide back and forth, movement of the slider, the connecting plate; X-axis guide rails fixed inside the bed frame both sides of the X-axis direction, X-axis stepper motor fixed to one end of a X-axis moving guides, ball screw both ends of the X-axis and bearing through a bearing at both ends of the X-axis moving guide, wherein the X-axis ball screw is fixed one end connected to the X-axis step 电机的输出轴,移动滑块上设有圆孔,X轴滚珠丝杠穿过圆孔,移动滑块的底端连接X轴移动导轨,移动滑块通过连接件连接纵向立杆,移动滑块还连接龙门支架的一端,龙门支架的另一端连接另外一个连接件,与龙门支架连接的连接件通过一个移动滑块连接另一侧的X轴移动导轨,与龙门支架连接的连接件连接另一个纵向立杆;两个纵向立杆的一端通过连接板固定连接,Y轴移动导轨固定在连接板上,沿Y轴方向布置,Y轴步进电机固定在Y轴移动导轨的一端,Y轴滚珠丝杠的两端通过轴承及轴承座固定在Y轴移动导轨的两端,其中一端连接Y轴步进电机的输出轴;前后移动滑板上设有通孔,Y轴滚珠丝杠穿过通孔,前后移动滑板底端连接Y轴移动导轨,前后移动滑板能够沿着Y轴移动导轨移动; 三自由度仿人机械臂包括U1轴滚珠丝杠、U1轴移动导轨、安装板A、Z The output shaft of the motor, the movement of the slider is provided with a circular hole, the X-axis ball screw passes through a circular hole, a bottom end connected to the X-axis movement of the slider moving rail, the longitudinal pole, move the slider to move the slider by a connecting member connecting is also connected at one end bracket gantry, the gantry and the other end bracket is connected to another connector, the connector is connected to the gantry X-axis moving bracket is connected on the other side by a guide movement of the slider, is connected to another connecting member connected to the gantry bracket vertical uprights; one of the two longitudinal uprights connected by a connecting plate fixed, the Y-axis moving guide is fixed to the connecting plate, are arranged in the Y-axis direction, a Y-axis stepper motor fixed to one end of the Y-axis moving guide, Y-axis ball both ends of the spindle by bearing and Y-axis moving guide seat fixed at both ends, wherein one end connected to the Y-axis stepper motor output shaft; back and forth movement of the slide is provided with a through hole, the Y-axis ball screw through the through hole , the bottom end of the slider moves back and forth movement connected to the Y-axis guide rail, the slider can be moved back and forth along the Y-axis moving guide; humanoid manipulator comprises three degrees of freedom of the ball screw shaft U1, U1-axis moving guide, mounting plate A, Z 直线导轨、U1轴步进电机、U1轴传动齿轮、U2轴制动装置、U2轴按摩手、Z轴电动推杆、安装板B、传感器、滚轮、U2轴步进电机、关节连接件、U1轴上下移动滑块; U1轴移动导轨固定在安装板B上,安装板B底端通过关节连接件固定连接前后移动滑板,通过连接前后移动滑板移动实现三自由度仿人机械臂的前后移动;安装板B上端通过电机座固定连接U1轴步进电机办轴传动齿轮包括一个大齿轮和一个小齿轮,U1轴步进电机的输出轴通过大齿轮连接小齿轮,小齿轮与U1轴滚珠丝杠的一端固定连接,U1轴滚珠丝杠上设有滑块,滑块固定连接安装板A,安装板A的一面,两侧固定U1轴上下移动滑块,U1轴上下移动滑块能够在U1轴移动导轨上滑动,安装板A的另外一面,两侧均固定连接一个Z轴直线导轨,Z轴直线导轨通过滑块固定在安装板A上,Z轴直线导轨中的导杆能够在滑 Linear guide, Ul-axis stepper motor, a transmission gear shaft Ul, U2 shaft braking device, U2 hand massage axis, Z-axis electric push rod, the mounting plate B, sensors, rollers, U2 axis stepper motor, a joint connection, Ul the movement of the slider shaft; Ul-axis moving guide rail fixed to the mounting plate B, the bottom mounting plate B by moving the front and rear articulation member is fixedly connected to the slider, the slider moves back and forth movement to achieve three degrees of freedom of the humanoid robot arm moves back and forth through the connection; mounting an upper end plate fixedly connected U1 B-axis stepper motor shaft drive gear comprises a run large gear and a small gear by a motor housing, the output shaft of the stepping motor shaft U1 is connected to the large gear by the pinion, the pinion and a ball screw shaft U1 one end fixedly connected with the slider, the slider is fixedly connected to the mounting plate a, a mounting plate on one side of the ball screw shaft U1, U1 movement of the slider is fixed at both sides of the shaft, the shaft U1 U1 shaft capable of moving the slider moving the slide rail, the other side of the mounting plate a, are fixedly connected on both sides of a linear guide Z-axis, Z-axis linear guide fixed to the mounting plate a through the slider, a Z-axis linear guide rail capable of sliding bars 块内上下滑动,Z轴直线导轨是用来保证机械臂的刚度的;Z轴电动推杆固定在安装板A中间,Z轴电动推杆中间设有伸缩杆,伸缩杆的一端连接电机,另一端连接传感器,传感器固定在U2轴步进电机的电机座上,传感器用于测量U2轴按摩手进行按摩时候的受力,U2轴步进电机固定在电机座上,U2轴步进电机的输出轴连接U2轴制动装置,U2轴制动装置连接U2轴按摩手,U2轴按摩手上的滚轮,实现按摩滚法。 Slide up and down within the block, the Z-axis linear guide is used to ensure the stiffness of the manipulator; Z push rod fixed to the intermediate shaft of the motor mounting plate A, the intermediate Z-axis telescopic rod is provided with an electric push rod, one end of the telescoping rod is connected to the motor, the other one end connected to the sensor, the sensor base fixed to the motor shaft of the stepping motor U2, U2-axis sensor for measuring the force in hand massage the massage time, U2 stepping motor fixed on the motor shaft seat, the stepper motor output shaft U2 U2 shaft connecting shaft braking device, the braking device connected to the shaft U2 U2 shaft hand massage, hand massage roller shaft U2 realize rolling massage method.
2.根据权利要求1所述的一种中医按摩机器人,其特征在于,X轴移动导轨底部设有肋板。 2. According to one Chinese massage robot according to claim 1, characterized in that the X-axis moving plate is provided with the rib bottom rail.
CN2011103083765A 2011-10-12 2011-10-12 Chinese medical massage robot CN102499850B (en)

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CN104161649A (en) * 2014-08-21 2014-11-26 上海中医药大学附属岳阳中西医结合医院 Pressing and swinging massage simulation device
CN104523415A (en) * 2014-11-24 2015-04-22 周维虎 Suspension-type active joint and passive joint mixed traditional Chinese medicine massage robot
CN104972932B (en) * 2015-06-03 2017-09-26 西安电子科技大学 A kind of method of anti-cinetosis seat and its adjustment
CN105662812B (en) * 2016-02-04 2019-03-01 安凯 A kind of electric massaging machine and its control method with learning functionality
CN105662838A (en) * 2016-03-10 2016-06-15 程瑜 Intelligent acupoint-pressing manipulator
CN105769523B (en) * 2016-03-31 2018-07-03 李僖年 A kind for the treatment of and health active massaging device
CN106038219B (en) * 2016-05-22 2017-12-15 王润理 A kind of arm-massage machine people for medical neurology department
CN106264956B (en) * 2016-09-14 2018-04-20 何胜 Massage bed
CN107343846B (en) * 2016-09-23 2019-12-17 朱海燕 Bed suitable for cervical spondylosis and lumbar spondylosis and working method thereof
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