CN104382702B - A kind of Multifunction restoring wheelchair - Google Patents

A kind of Multifunction restoring wheelchair Download PDF

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Publication number
CN104382702B
CN104382702B CN201410605968.7A CN201410605968A CN104382702B CN 104382702 B CN104382702 B CN 104382702B CN 201410605968 A CN201410605968 A CN 201410605968A CN 104382702 B CN104382702 B CN 104382702B
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CN
China
Prior art keywords
push rod
support
electricity push
electricity
hinged
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CN201410605968.7A
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Chinese (zh)
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CN104382702A (en
Inventor
张利
李肖漫
刘征宇
张建军
魏振春
张帅
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合肥工业大学
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Priority to CN201410605968.7A priority Critical patent/CN104382702B/en
Publication of CN104382702A publication Critical patent/CN104382702A/en
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Publication of CN104382702B publication Critical patent/CN104382702B/en

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Abstract

The invention discloses a kind of Multifunction restoring wheelchair, include support, lifting mechanism, lathe bed mechanism and power set, it is integrated with intelligent walking, carries out the step multiple function such as rehabilitation, the regulation of many poses, under the effect of electricity push rod, seat, the switching of sleeping, vertical three kinds of attitudes can be realized and carry out step rehabilitation training.This Multifunction restoring wheelchair is multiple functional, easy to operate, compact conformation, can meet the different needs of different crowd, alleviates artificial physical therapy and nursing difficulty, promotes patient's early recovery, alleviate the burden of society and family.

Description

A kind of Multifunction restoring wheelchair

Technical field

The present invention relates to rehabilitation wheelchair field, specifically a kind of Multifunction restoring wheelchair.

Background technology

Huge physical disabilities crowd and increasingly serious social senilization's problem, create and expedited the emergence of limb rehabilitating medical treatment Equipment new industry, mostly there is ability to act in various degree and loses, to its medical treatment with nursing in old people and disabled Become the immense pressure of society.The most domestic high-end healing robot is based on foreign country's import, but it is expensive, general family Front yard is difficult to bear, and the rehabilitation machines care appliances technology that domestic independent research produces is the most ripe, mechanization, automaticity The highest, need extra artificial assistance.

For existing situation, the present invention devises a Multifunction restoring wheelchair, it is intended to replace the labor of people with robot Dynamic, alleviate artificial physical therapy and nursing difficulty, to promote the rehabilitation of patient, thus alleviate the burden of society and family.

Summary of the invention it is an object of the invention to provide a kind of Multifunction restoring wheelchair, to overcome deficiency of the prior art, It is devoted to solve rehabilitation and the nursing problem of the elderly and the disabled, alleviates rehabilitation nursing difficulty.

In order to achieve the above object, the technical solution adopted in the present invention is:

A kind of Multifunction restoring wheelchair, it is characterised in that: include support, lifting mechanism, lathe bed mechanism, power set, Wherein:

Described support includes the underframe U-tube keeping flat setting, each U-shaped arm of underframe U-tube is respectively welded and vertically sets The bracing frame put, is constituted support by underframe U-tube, two bracing frames;

Described lifting mechanism includes keeping flat respectively and arranges and U-shaped fixed support, travel(l)ing rest are, and the electricity that hoists for a pair Push rod, described fixed support be arranged in the middle part of two bracing frames between rear, and fixed support two U-shaped arm arm end one_to_one corresponding welding At two bracing frame inside middle portion, described travel(l)ing rest is arranged on rear between two bracing frame tops, travel(l)ing rest two U-shaped arm arm end Being connected to the connecting rod downwardly extended, and connecting rod bottom one_to_one corresponding is hinged on fixed support two U-shaped arm arm end, two hoist electricity Push rod is symmetrical arranged, and the two fixing ends hoisting electricity push rod are respectively hinged on the U-shaped beam of underframe U-tube, and two hoist electricity push rod Expansion link upwardly extends respectively, and two rod ends hoisting electricity push rod expansion link are respectively hinged on the U-shaped beam of travel(l)ing rest, by solid Fixed rack, travel(l)ing rest, two hoist electricity push rod constitute lifting mechanism;

Described lathe bed mechanism is arranged between two bracing frames, and lathe bed mechanism includes vertically arranged back mechanism plate, fixing It is connected to the head support board at back mechanism plate top, is arranged on bottom back mechanism plate by same axis of rotation for a pair Big leg mechanism plate, it is rotatably installed in little leg mechanism plate bottom big leg mechanism plate respectively, is rotatably installed in little leg mechanism plate respectively Bottom foot-operated, and the axis of rotation of back structures plate and the connection of two big leg mechanism plates is arranged in the U-shaped mouth of travel(l)ing rest;

Described power set include the most vertically arranged upper support electricity push rod, a centering support electricity push rod and a pair time Supportting electricity push rod, described upper support electricity push rod is fixed end and is hinged on the U-shaped top surface of the beam of travel(l)ing rest in lifting mechanism, and upper support electricity pushes away In bar, expansion link upwardly extends, and the upper expansion link rod end supporting electricity push rod is hinged in lathe bed mechanism on rear side of back mechanism plate, In two, support electricity push rod is fixed end and is respectively hinged at the U-shaped soffit of travel(l)ing rest in lifting mechanism, supports in electricity push rod in two Expansion link downwardly extends, and the expansion link rod end one_to_one corresponding supporting electricity push rod in two is hinged on two big leg mechanism in lathe bed mechanism On rear side of plate, support electricity push rod for twice and lay respectively at support electricity push rod lower outer, the fixing end one that twice support electricity push rods in two One correspondence is hinged in lathe bed mechanism on rear side of two big leg mechanism plates, supports expansion link in electricity push rod for twice and downwardly extends, and twice The expansion link rod end one_to_one corresponding supporting electricity push rod is hinged in lathe bed mechanism on rear side of two little leg mechanism plates.

Described a kind of Multifunction restoring wheelchair, it is characterised in that: in the underframe U-tube of support, two U of underframe U-tube Arm arm end is rotatablely equipped with universal wheel respectively, and the U-shaped beam two ends of underframe U-tube are rotatablely equipped with driving wheel respectively.

Described a kind of Multifunction restoring wheelchair, it is characterised in that: described power set also include a pair motor, supporting confession Electricity is separately positioned in the underframe U-tube outside every side stand component to the accumulator of motor, motor and supporting accumulator thereof, and two Motor and two driving wheel one_to_one corresponding are in transmission connection, described accumulator supply power to the most respectively to hoist electricity push rod, upper support electricity push rod, Middle support electricity push rod, lower support electricity push rod.

Described a kind of Multifunction restoring wheelchair, it is characterised in that: in support, two bracing frame tops are respectively fixed with handrail Arm, each handrail arm front end is separately installed with handrail.

Compared with prior art, the invention have the advantage that 1) use modular design concept, there is multiple functional, behaviour Make the features such as convenience, compact conformation, meet the different needs of different crowd;2) it is integrated with intelligent walking, carries out step rehabilitation, many poses The multiple functions such as regulation, the work replacing people with robot, alleviate artificial physical therapy difficulty;3) Human Engineering Principle is met, body The design concept of existing " people-oriented ".

Accompanying drawing explanation

Fig. 1 is the organization of human body five-rod principle schematic that a kind of Multifunction restoring wheelchair of the present invention sets.

Fig. 2 is the lifting mechanism structure principle chart of a kind of Multifunction restoring wheelchair of the present invention.

Fig. 3 is the sitting posture schematic diagram of a kind of Multifunction restoring wheelchair of the present invention.

Fig. 4 is the prone position schematic diagram of a kind of Multifunction restoring wheelchair of the present invention.

Fig. 5 is that the vertical of a kind of Multifunction restoring wheelchair of the present invention throws off restraint schematic diagram.

Fig. 6 is the shoe step rehabilitation training schematic diagram of a kind of Multifunction restoring wheelchair of the present invention.

Detailed description of the invention

As shown in figures 3 to 6, a kind of Multifunction restoring wheelchair, include support A, lifting mechanism B, lathe bed mechanism C, power Device D, wherein:

Support A includes underframe U-tube A1 keeping flat setting, each U-shaped arm of underframe U-tube A1 is respectively welded and vertically sets The bracing frame A2 put, is constituted support A by underframe U-tube A1, two bracing frame A2;

Lifting mechanism B includes keeping flat setting and U-shaped fixed support B2, travel(l)ing rest B1 respectively, and hoists for a pair Electricity push rod D6, D7, fixed support B2 be arranged in the middle part of two bracing frame A2 between rear, and fixed support B2 two U-shaped arm arm end one One correspondence is welded on two bracing frame A2 inside middle portion, and travel(l)ing rest B1 is arranged on rear between two bracing frame A2 tops, activity Frame B1 two U-shaped arm arm end is connected to the connecting rod downwardly extended, and connecting rod bottom one_to_one corresponding is hinged on fixed support B2 two U Arm arm end, two hoist electricity push rod D6, D7 are symmetrical arranged, and two hoist, and to be respectively hinged at underframe U-shaped for the fixing ends of electricity push rod D6, D7 On the U-shaped beam of pipe A1, two hoist electricity push rod D6, D7 expansion links upwardly extend respectively, and two hoist electricity push rod D6, D7 expansion link Rod end be respectively hinged on the U-shaped beam of travel(l)ing rest B1, by fixed support B2, travel(l)ing rest B1, two hoist electricity push rod D6, D7 Constitute lifting mechanism;

Lathe bed mechanism C is arranged between two bracing frame A2, and lathe bed mechanism C includes vertically arranged back mechanism plate C2, solid Surely it is connected to the head support board C1 at back mechanism plate C2 top, is arranged on back mechanism plate by same axis of rotation a pair Big leg mechanism plate C3 bottom C2, it is rotatably installed in little leg mechanism plate C4 bottom big leg mechanism plate C3 respectively, rotates peace respectively It is contained in the foot-operated C5 bottom little leg mechanism plate C4, and the axis of rotation that the big leg mechanism plate C3 of back structures plate C2 and two connects is installed In the U-shaped mouth of travel(l)ing rest B1;

Power set D includes the most vertically arranged upper support electricity push rod D1, centering support electricity push rod D2, a D3 and a pair Lower support electricity push rod D4, D5, upper support electricity push rod D1 fixes end and is hinged on the U-shaped top surface of the beam of travel(l)ing rest B1 in lifting mechanism B, In upper support electricity push rod D1, expansion link upwardly extends, and the upper expansion link rod end supporting electricity push rod D1 is hinged in lathe bed mechanism C On rear side of back mechanism plate C2, in two, support electricity push rod D2, D3 fix end and are respectively hinged at the U of travel(l)ing rest B1 in lifting mechanism B Type soffit, supports expansion link in electricity push rod D2, D3 and downwardly extends, and support the expansion link bar of electricity push rod D2, D3 in two in two End one_to_one corresponding is hinged in lathe bed mechanism C on rear side of two big leg mechanism plate C3, supports electricity push rod D4, D5 for twice and lays respectively in two Supporting electricity push rod D2, D3 lower outer, the fixing end one_to_one corresponding supporting electricity push rod D4, D5 for twice is hinged in lathe bed mechanism C On rear side of two big leg mechanism plate C3, support expansion link in electricity push rod D4, D5 for twice and downwardly extend, and support electricity push rod D4, D5 for twice Expansion link rod end one_to_one corresponding be hinged in lathe bed mechanism C on rear side of two little leg mechanism plate C4.

In underframe U-tube A1 of support A, two U-shaped arm arm ends of underframe U-tube A1 are rotatablely equipped with universal wheel 4, the end respectively The U-shaped beam two ends of frame U-tube A1 are rotatablely equipped with driving wheel 3 respectively.

Power set D also includes a pair motor D9, the supporting storage batteries D 8 supplying power to motor D9, motor D9 and supporting Storage batteries D 8 is separately positioned in underframe U-tube A1 outside every side stand component A2, and two motor D9 and two driving wheel 3 one_to_one corresponding Being in transmission connection, storage batteries D 8 supply power to the most respectively to hoist electricity push rod, upper support electricity push rod, middle support electricity push rod, lower support electricity pushes away Bar.

In support A, two bracing frame A2 tops are respectively fixed with handrail arm 1, and each handrail arm 1 front end is separately installed with handrail 2。

In the present invention, in lathe bed mechanism, foot-operated, little leg mechanism plate, big leg mechanism plate are and are arranged in pairs, and each several part all divides Not An Zhuan electricity push rod, each motor individually controls, it is possible to achieve the independently moving of back, thigh and shank;Push away at upper support electricity Under the effect of bar D1, the regulation of back angle can be realized;Under the middle effect supporting electricity push rod D2, D3, big leg mechanism can be realized The regulation of angle;Under the lower effect supporting electricity push rod D4, D5, the regulation of little leg mechanism angle can be realized.

In lifting mechanism, under the effect of electricity push rod D6, the D7 that hoist, travel(l)ing rest can rotate rising around fixed support, from And make wheelchair integral lathe bed raise, become upright posture.

Multifunction restoring wheelchair, under the effect of different electricity push rods, acts not only as common electric wheelchair and uses, also may be used Realize seat, the switching of sleeping, vertical three kinds of attitudes, and the rehabilitation training of shoe portion can be carried out.

With detailed description of the invention, the present invention is described in further detail below in conjunction with the accompanying drawings:

As it is shown in figure 1, be the organization of human body five-rod simplified, according to the skeletal structure of the person, by anthropometric dummy letter Turning to five-rod model, for convenience, model ignores the head of people and the effect of arm, and upper half of human body is reduced to one Individual rigid bar, every lower limb is reduced to two rigid bars being connected by the Hinge joint that sagittal plane is vertical, and omits Foot affect part, normal gait can be simulated according to this Multifunction restoring wheelchair designed, the patient to lower limb disability Rehabilitation training effect is provided,

As in figure 2 it is shown, be lifting mechanism structure principle chart.Lifting mechanism B include fixed support B1, travel(l)ing rest B2 and Hoist electricity push rod D6, push rod D7, travel(l)ing rest B1 are hinged with fixed support B2 for the electricity that hoists, under the effect of electricity push rod, movable prop up Frame B2 can rotate around fixed support B1 and raise, so that wheelchair integral lathe bed raises.

A kind of Multifunction restoring wheelchair as shown in Fig. 3 Fig. 6, include support A, lifting mechanism B, lathe bed mechanism C and Power set D, its medium-height trestle A include that the bracing frame A2 of underframe U-tube A1 and both sides, bracing frame A2 are welded on underframe U-tube A1 both sides, are respectively provided with universal wheel 4 and driving wheel 3 before and after underframe U-tube, handrail 2 is fixedly connected on the bracing frame A2 of both sides; Lifting mechanism B includes fixed support B2, travel(l)ing rest B1 and the electricity push rod D6 that hoists, hoist electricity push rod D7, fixed support B2 two End is welded on the bracing frame A2 of both sides, and travel(l)ing rest B1 is hinged with fixed support B2, and the electricity push rod D6 that hoists, hoist electric push rod D7 Expansion link be hinged on travel(l)ing rest B1, fixing end is hinged in underframe U-tube A1;Lathe bed mechanism C is hinged on lifting mechanism B Travel(l)ing rest B1 on, including foot-operated C5, little leg mechanism plate C4, big leg mechanism plate C3, back mechanism plate C2 and head support board C1, foot-operated close little leg mechanism plate end is connected with little leg mechanism board shaft, and little leg mechanism plate is near big leg mechanism plate end and thigh machine Structure board shaft connects, and big leg mechanism plate is connected with back mechanism board shaft near back mechanism plate, back mechanism plate and head support board Fixing connection;Power set include that storage batteries D 8, motor D9 and electricity push rod D1-D7, motor D9, storage batteries D 8 are installed in underframe In U-tube A1, the upper expansion link supporting electricity push rod D1 is hinged on backboard C2, fixing end and the travel(l)ing rest B1 of lifting mechanism B Hinged, middle support electricity push rod D2, middle support electricity push rod D3 expansion link are respectively hinged on left and right big leg mechanism plate C3, fixing end Being hinged on the travel(l)ing rest B1 of lifting mechanism B, lower electricity push rod D4, the lower support electricity push rod D5 of supporting fixes end and is respectively hinged at a left side On right thigh mechanism C3, telescopic end is hinged on left and right little leg mechanism plate C4.Under the effect of different push-rod electric machines, multi-functional Rehabilitation wheelchair can realize seat, the switching of sleeping, vertical three kinds of attitudes, and can carry out shoe portion reconditioning.

As it is shown on figure 3, be the sitting posture schematic diagram of Multifunction restoring wheelchair, when the upper electricity push rod D1 expansion link that supports stretches out, its When remaining electricity push rod is in original state, Multifunction restoring wheelchair presents chair state, can use as common electric wheelchair, at stick Effect under, can realize advancing, fall back, turn left, the function such as right-hand rotation.

As shown in Figure 4, for the prone position schematic diagram of Multifunction restoring wheelchair, electricity push rod D4, lower support electricity push rod are instantly supported D5 expansion link stretches out, and when remaining electricity push rod is in original state, little leg mechanism plate, big leg mechanism plate and back mechanism plate become one Bar straight line, Multifunction restoring wheelchair can be changed into a state, takes a break for user.

It is tired and multiple uncomfortable that the sitting and lying of long-time constant posture can make wheelchair user produce, and the present invention designs Multifunction restoring wheelchair, by the reciprocating motion of electricity push rod, back angle, little leg mechanism angle can arbitrarily regulate, and is using Time according to the situation of user, wheelchair can be adjusted to best angle.By conversion health pose, leg, the back of the body to user Portion serves certain nursing role, strengthens the activity of human body, reaches optimal recovering aid effect, improves physical rehabilitation speed Degree.

As it is shown in figure 5, be the vertical schematic diagram of throwing off restraint of Multifunction restoring wheelchair, instantly support electricity push rod D4, lower support electricity push rod D5, the electricity push rod D6 that hoists, the electricity push rod D7 expansion link that hoists stretch out, and when remaining electricity push rod is in original state, multifunctional recovery is taken turns Chair can become erectility, and being available for users to take exceeds article or viewing landscape at a distance.

As shown in Figure 6, when Multifunction restoring wheelchair is in erectility, by control in support electricity push rod D2, in Support electricity push rod D3, lower support electricity push away D4, the motion of lower support electricity push rod D5 expansion link, control left and right thigh, the swing of shank, can Single lower limb swings, it is possible to both legs swing simultaneously, it is achieved carry out step rehabilitation training.

Claims (4)

1. a Multifunction restoring wheelchair, it is characterised in that: include support, lifting mechanism, lathe bed mechanism, power set, its In:
Described support includes the underframe U-tube keeping flat setting, each U-shaped arm of underframe U-tube is respectively welded vertically arranged Bracing frame, is constituted support by underframe U-tube, two bracing frames;
Described lifting mechanism include keeping flat respectively arrange and U-shaped fixed support, travel(l)ing rest, and the electricity that hoists for a pair push away Bar, described fixed support be arranged in the middle part of two bracing frames between rear, and fixed support two U-shaped arm arm end one_to_one corresponding is welded on Two bracing frame inside middle portion, described travel(l)ing rest is arranged on rear between two bracing frame tops, and travel(l)ing rest two U-shaped arm arm end divides Lian Jie not have a connecting rod downwardly extended, and connecting rod bottom one_to_one corresponding is hinged on fixed support two U-shaped arm arm end, two electricity that hoist push away Bar is symmetrical arranged, and the two fixing ends hoisting electricity push rod are respectively hinged on the U-shaped beam of underframe U-tube, and two hoist electricity the stretching of push rod Contracting bar upwardly extends respectively, and two rod ends hoisting electricity push rod expansion link are respectively hinged on the U-shaped beam of travel(l)ing rest, by fixing Support, travel(l)ing rest, two hoist electricity push rod constitute lifting mechanism;
Described lathe bed mechanism is arranged between two bracing frames, and lathe bed mechanism includes vertically arranged back mechanism plate, fixing connection Head support board at back mechanism plate top, it is arranged on the thigh bottom back mechanism plate for a pair by same axis of rotation Mechanism's plate, it is rotatably installed in little leg mechanism plate bottom big leg mechanism plate respectively, is rotatably installed in bottom little leg mechanism plate respectively Foot-operated, and the axis of rotation of back structures plate and the connection of two big leg mechanism plates is arranged in the U-shaped mouth of travel(l)ing rest;
Described power set include the most vertically arranged upper support electricity push rod, a centering support electricity push rod and support electricity a pair time Push rod, described upper support electricity push rod is fixed end and is hinged on the U-shaped top surface of the beam of travel(l)ing rest in lifting mechanism, in upper support electricity push rod Expansion link upwardly extends, and the upper expansion link rod end supporting electricity push rod is hinged in lathe bed mechanism on rear side of back mechanism plate, in two Support electricity push rod is fixed end and is respectively hinged at the U-shaped soffit of travel(l)ing rest in lifting mechanism, supports in electricity push rod and stretch in two Bar downwardly extends, and the expansion link rod end one_to_one corresponding supporting electricity push rod in two is hinged in lathe bed mechanism after two big leg mechanism plates Side, supports electricity push rods for twice and lays respectively at and support electricity push rod lower outer in two, supports the fixing end one a pair of electricity push rods for twice Should be hinged in lathe bed mechanism on rear side of two big leg mechanism plates, support expansion link in electricity push rod for twice and downwardly extend, and twice support The expansion link rod end one_to_one corresponding of electricity push rod is hinged in lathe bed mechanism on rear side of two little leg mechanism plates.
A kind of Multifunction restoring wheelchair the most according to claim 1, it is characterised in that: in the underframe U-tube of support, underframe Two U-shaped arm arm ends of U-tube are rotatablely equipped with universal wheel respectively, and the U-shaped beam two ends of underframe U-tube are rotatablely equipped with driving respectively Wheel.
A kind of Multifunction restoring wheelchair the most according to claim 2, it is characterised in that: described power set also include a pair Motor, the supporting accumulator supplying power to motor, motor and supporting accumulator thereof are separately positioned on the underframe U outside every side stand component On type pipe, and two motors and two driving wheel one_to_one corresponding are in transmission connection, described accumulator supply power to the most respectively to hoist electricity push rod, on Support electricity push rod, middle support electricity push rod, lower support electricity push rod.
A kind of Multifunction restoring wheelchair the most according to claim 1, it is characterised in that: in support, two bracing frame tops are respectively Being fixed with handrail arm, each handrail arm front end is separately installed with handrail.
CN201410605968.7A 2014-10-30 2014-10-30 A kind of Multifunction restoring wheelchair CN104382702B (en)

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CN104382702B true CN104382702B (en) 2016-08-17

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Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104814840A (en) * 2015-04-08 2015-08-05 合肥工业大学 Robot mechanism for lower-limb rehabilitation
CN105476815B (en) * 2015-12-28 2017-11-14 芜湖天人智能机械有限公司 The portable balance standing bed of lower limb
CN105943263B (en) * 2016-03-23 2018-03-13 合肥工业大学 Can tri-state regulation lower limb recovery wheelchair
CN105945993A (en) * 2016-03-23 2016-09-21 合肥工业大学 Leg mechanical support rod mechanism capable of automatically moving
CN106176143B (en) * 2016-08-30 2019-03-19 合肥工业大学 A kind of healthy plint of multi-pose lower limb
CN106389065B (en) * 2016-08-30 2019-03-15 合肥工业大学 One kind is sleeping, sits, the vertical healthy trained equipment of three posture lower limb
CN106236508B (en) * 2016-08-30 2019-03-19 合肥工业大学 One kind is sleeping, sits, the vertical three healthy training devices of posture lower limb
CN109758340A (en) * 2019-03-01 2019-05-17 湖南文理学院 A kind of lower extremity movement rehabilitation apery body athletic rehabilitation device

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US4431076A (en) * 1981-06-24 1984-02-14 Simpson Robert C Adjustable collapsible wheelchair
CN202459172U (en) * 2011-12-30 2012-10-03 太仓市康辉科技发展有限公司 Wrist rehabilitation training mechanism
CN202568663U (en) * 2011-08-12 2012-12-05 高慧生 A relaxation wheelchair allowing one to sit down and lie down

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US4431076A (en) * 1981-06-24 1984-02-14 Simpson Robert C Adjustable collapsible wheelchair
CN202568663U (en) * 2011-08-12 2012-12-05 高慧生 A relaxation wheelchair allowing one to sit down and lie down
CN202459172U (en) * 2011-12-30 2012-10-03 太仓市康辉科技发展有限公司 Wrist rehabilitation training mechanism

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