CN105796299A - Special leg massage robot for nursing rehabilitation - Google Patents

Special leg massage robot for nursing rehabilitation Download PDF

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Publication number
CN105796299A
CN105796299A CN201610343691.4A CN201610343691A CN105796299A CN 105796299 A CN105796299 A CN 105796299A CN 201610343691 A CN201610343691 A CN 201610343691A CN 105796299 A CN105796299 A CN 105796299A
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CN
China
Prior art keywords
massage
leg
platform
roots
welded
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Granted
Application number
CN201610343691.4A
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Chinese (zh)
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CN105796299B (en
Inventor
沈永根
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jiangsu Suyun Medical Materials Co Ltd
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Anqing Haina Information Technology Co Ltd
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Priority to CN201610343691.4A priority Critical patent/CN105796299B/en
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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
    • A61H15/0078—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains power-driven
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H7/00—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
    • A61H7/007—Kneading
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
    • A61H2015/0007—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains with balls or rollers rotating about their own axis
    • A61H2015/0014—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains with balls or rollers rotating about their own axis cylinder-like, i.e. rollers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/10—Leg

Abstract

The invention relates to a special leg massage robot for nursing rehabilitation, which comprises a fixed rack, wherein the fixed rack comprises a lower platform; a transmission shaft is mounted at the middle part of the upper end face of the lower platform by a bearing; a transmission gear is mounted at the middle part of the transmission shaft by a key; the transmission gear is respectively meshed with six transmission branched chains in the axial direction; the middle part of a supporting disk is connected with the transmission shaft by a bearing; six support pillars are uniformly welded in a square shape on the lower end face of the supporting disk along the axis; the lower end faces of six support pillars are all mounted on the lower platform, so that the transmission shaft can stably rotate on the supporting disk under the drive of a planetary gear transmission mechanism; the upper end of the transmission shaft is connected with a turn screw by a coupler; two attaching lugs are symmetrically arranged on the upper end face of the upper platform; leg massage manipulators are mounted on two attaching lugs by bolts. The special leg massage robot for nursing rehabilitation, which is provided by the invention, can achieve a stable and automatic leg lifting massage function and provides a novel approach for leg massage.

Description

A kind of special leg massage robot of nursing rehabilitation
Technical field
The present invention relates to medical instruments field, specifically a kind of special leg massage robot of nursing rehabilitation.
Background technology
Along with the continuous progress of scientific and technological level, people are also more and more higher to the requirement of material and cultural life, and how health care becomes the thing paid special attention in people's daily life.Busy one day of people, human body, from top to bottom all in busy tense situation, if can not get loosening timely, goes down for a long time, human body can respectively be organized and cause damage, and serious meeting affects operation mechanism, even causes disease, is unfavorable for the health care of human body.And leg is one of position that human motion frequency is higher and stress is bigger, the massage of leg is loosened extremely important, but is often ignored by people.
nullExisting leg massor massaging way generally comprises one or two leg massager and massage ball walking mechanism，Wherein，Leg massager includes again the two massage ball mechanisms for human leg carries out massage，Two massage ball mechanisms are that left and right is arranged side by side，And be in transmission connection mutually with massage ball walking mechanism respectively，To drive the walking of two massage ball mechanisms that human leg is formed the effect of massage by massage ball walking mechanism，This leg massor due to prior art，Two massage ball mechanisms of its leg massager spacing in the process of walking generally keeps consistent，Cause that the massage ball of two massage ball mechanisms causes the massage force of human leg is not of uniform size in the different position of human leg，When spacing between two massage balls is minimum，Its massage force is maximum，Easily crush human leg，When spacing between two massage balls is maximum，Its massage force is minimum，The massage effect of human leg is poor，Inefficiency，And the massage range of this leg massor is little，Massage highly non-adjustable，Need to manually adjust massage position，The demand of whole leg massage can not be met，Leg massage width is non-adjustable，The people that different lower limb is wide can not be met，The scope of application is little，And there is shake in massage processes in existing this leg massor，Massage poor stability，Have impact on massage effect.
Summary of the invention
In order to solve the problems referred to above, the invention provides a kind of special leg massage robot of nursing rehabilitation, the leg massage height that can solve the existence of existing leg massor massaging way is non-adjustable, need to manually adjust massage position, massage range is little, massage width is non-adjustable, the scope of application is little, massage force is uneven, massage effect is poor, in massage processes there is shake and a difficult problem for massage stability difference in equipment, the automatic lifting massage functions that leg is stable can be realized, there is leg massage height adjustable, without manually adjusting massage position, massage range is big, massage width is adjustable, the scope of application is big, massage force is uniform, massage effect is good, it is absent from jitter phenomenon and massages the advantages such as stability is good, provide the new way of a kind of leg massage.
nullTo achieve these goals，The present invention realizes by the following technical solutions: a kind of special leg massage robot of nursing rehabilitation,Including fixed frame，Described fixed frame includes lower platform，By bearing, power transmission shaft is installed in the middle part of the upper surface of described lower platform，The middle part of power transmission shaft is provided with travelling gear by key，Travelling gear is in axial direction meshed with six transmission branch chain respectively，The mode simultaneously rotated with nutating gear from six angles by six transmission branch chain adds transmission twisting resistance，Improve the stationarity of transmission，Transmission branch chain includes the driving motor that bottom is arranged on lower platform by motor cabinet，The outfan of driving motor is connected with driving axle by shaft coupling，The middle part driving axle is provided with driving gear by key，Gear is driven to be meshed with travelling gear，And six in six transmission branch chain drive axle upper end to be all connected with support platform by bearing，Driving motor drives drive shaft turns，Drive axle to drive and drive pinion rotation，Thus constituting by six planetary gear mechanisms driving gear driven travelling gear to rotate，Improve the stationarity of transmission；The middle part of described support platform is connected with power transmission shaft by bearing, there is the six roots of sensation support column lower surface supporting platform along the square uniform welding of axis, the lower surface of six roots of sensation support column is installed on lower platform, six roots of sensation support column plays the uniformly fixing function supporting platform, so that what power transmission shaft can be stable under the drive of planetary gear mechanism is supporting rotation on platform；The upper end of described power transmission shaft is connected with turn-screw by shaft coupling, the middle part of turn-screw is threaded connection mode and is provided with driving block, driving block is regular hexagon structure, six end faces of driving block are respectively welded the six roots of sensation and move post, the six roots of sensation moves the end of post and is separately mounted on six line slide rails, make the six roots of sensation being welded on driving block move post by the regular hexagon structure of driving block and can do stable elevating movement on six line slide rails under the drive of turn-screw, six line slide rails are separately mounted in six pieces of gripper shoes by screw, six pieces of lower ends supported are respectively welded on lower platform, six pieces of gripper shoes play the fixing effect supporting six line slide rails, add the mobile post stability at a corresponding line slide rail；The upper end inwall of described six pieces of gripper shoes is respectively welded the spacing pillar of the six roots of sensation, the middle part of six roots of sensation limited post offers six square limited mouths respectively, the end of the spacing pillar of the six roots of sensation is respectively welded on fixed station, and the middle part of fixed station is connected with the upper end of turn-screw by bearing；The described six roots of sensation moves the upper surface of post and is separately installed with six side chains in parallel, the upper end of six side chains in parallel is uniformly arranged on upper mounting plate, and the middle part of each side chain in parallel is all located in the square limited mouth of corresponding spacing pillar, the square limited mouth of spacing pillar plays the effect limiting side chain range of movement in parallel, moving post by the six roots of sensation drives six side chains in parallel to do elevating movement respectively, six side chains in parallel synchronize to drive upper mounting plate to do elevating movement, stable drive performance by planetary gear mechanism, improve the stability in lifting process, so that the present invention can realize massaging adjustable for height function, the present invention is made to be applicable to the patient that different lower limb is high, the scope of application is big；nullDescribed side chain in parallel includes the hollow lower thread spindle that lower end is welded on mobile post，The mode that is threaded connection on hollow lower thread spindle is provided with a ball pivot，The upper end of a number ball pivot is threaded connection mode and is provided with a sleeve，The upper end of a number sleeve is threaded connection mode and is provided with a hydraulic cylinder，The upper end of a number hydraulic cylinder is threaded connection mode and is provided with No. two sleeves，The upper end of No. two sleeves is threaded connection mode and is provided with No. two ball pivots，The upper end of No. two ball pivots is threaded connection mode and is provided with hollow upper thread spindle，Hollow upper thread spindle is welded on the lower surface of upper mounting plate，The spherical pair S formed when the present invention is by a ball pivot job、The spherical pair S formed when the moving sets P formed during a number hydraulic cylinder extension and No. two ball pivot work constitutes SPS parallel connection side chain，And the fixed frame in the present invention is as fixed platform、Six SPS parallel connection side chains、Upper mounting plate constitutes 6-SPS parallel institution as moving platform，It is good that 6-SPS parallel institution has dynamic response、Rigidity is high、Bearing capacity is big、Good stability and kinematic accuracy advantages of higher，Upper mounting plate is driven to make repeatedly to move up and down by six hydraulic cylinders on six side chains in parallel，Advantage by 6-SPS parallel institution makes the present invention can realize stable automatic lifting massage functions，Leg massage position is regulated without patient oneself，Massage range is big，Easy and simple to handle，Work efficiency is high，And owing to the advantage of 6-SPS parallel institution makes the shake situation that this invention removes in work process，Stability is good；Described upper mounting plate upper surface is symmetrically arranged with two mounting ears, and two mounting ears are provided with leg massage machinery hands by bolt.
nullAs a preferred technical solution of the present invention，Described leg massage machinery hands includes the L-type base shaft being connected respectively by bolt with two mounting ears，The bottom of two L-type base shaft is symmetricly set on the back of L-type pedestal，The upper surface of L-type pedestal is symmetrically installed with two leg massagers，Leg massager includes the massage substrate being welded on L-type pedestal upper end left surface，Massage substrate inwall is provided with No. four hydraulic cylinders，The top of No. four hydraulic cylinders is provided with massage movable block，The left side of massage movable block is provided with No. two line slide rails，No. two line slide rails are arranged on the upper end left surface of L-type pedestal by screw，By No. two line slide rails, massage movable block left side is defined，Making to massage movable block left side can stable moving back and forth on No. two line slide rails，The lower surface of massage movable block is provided with No. three line slide rails，No. three line slide rails are arranged on the bottom surface of L-type pedestal upper end by screw，By No. three line slide rails, the bottom face of massage movable block is defined，Making to massage movable block bottom face can stable moving back and forth on No. three line slide rails，Massage movable block right side is symmetrically installed with four fore-sets，The end of four fore-sets is welded with massage platform，Four fore-sets play the effect supporting massage platform，The right side of massage platform is symmetrically arranged with two pairs of massage slide bars，Two pairs of massage slide bars are connected respectively through sliding matching mode and two massage chutes，Two massage chutes are welded on the back of massaging machine frame，The centre position, back of massaging machine frame is welded with massage tooth bar，Massage tooth bar is meshed with massage gear，The middle part of massage gear is fixed on the output shaft of massage motor，Massage motor is arranged on baffle plate by motor cabinet，Baffle plate is welded on the right side of massage platform；Described massaging machine frame inwall is arc-shaped structure, and massaging machine frame inwall is uniformly provided with massage side chain from top to bottom, improves uniform massage force by being uniformly arranged on the massage side chain of massaging machine frame inwall to leg patient；Described massage side chain includes two ends and is connected to the steel column of massaging machine frame inwall both sides, steel column is the arc-shaped structure corresponding with massaging machine frame inner wall shape, steel column is uniformly arranged with flexible massage cylinder, flexible massage cylinder material is soft rubber, the arc-shaped structure structure of steel column makes flexible massage cylinder can be attached to patient's leg surface uniformly mutually, also making flexible massage cylinder that patient's leg surface can provide uniform flexible extruding force, massage effect is good, and work efficiency is high.nullDuring use，First regulate the distance between two leg massagers，No. four hydraulic cylinders are started working，No. four hydraulic cylinders drive massage movable block at No. two line slide rails、Stable moving back and forth on No. three line slide rails，Massage movable block drives the massaging machine frame motion of massage platform dextral，Massaging machine frame drives all massage side chains on inwall to be synchronized with the movement，Have adjusted the distance between two leg massagers，It is achieved thereby that the broad-adjustable function of leg massage of the present invention，Meeting can not leg widths disease Man's Demands，The scope of application is big，Then massage side chain is started working，Massage pinion rotation is driven by massage motor，Massage gear driven drives massage tooth bar to move，Massage rack drives massaging machine frame synchronizing moving，Massaging machine frame two pairs of massage slide bars and two massage chutes auxiliary stopper motion under can be stable move up and down，Massaging machine frame drives all massage side chains on inwall that patient's leg carries out flexible extruding massage up and down simultaneously，Add massage range，Meet the massage demand of the whole leg of patient，It is achieved thereby that the automatic lifting massage functions that leg of the present invention is stable.
As a preferred technical solution of the present invention, adopt interlaced mode to be arranged on lower platform between described six transmission branch chain and six roots of sensation support column, both added the stationary performance of transmission, too increase the support column even support performance to supporting platform.
As a preferred technical solution of the present invention, the central axis of described lower platform and the central axis of upper mounting plate coincide, the advantages such as the rigidity by 6-SPS parallel institution is high and stability is good can make lower platform and upper mounting plate keeping parallelism all the time, so that patient is carried out to remain steady in leg lifting massage processes by leg massage machinery hands, eliminate jitter phenomenon, massage stability is good, and massage effect is good, and work efficiency is high.
As a preferred technical solution of the present invention, described massage chain branches is at least seven, and massage side chain quantity is more many, and on massage side chain, flexible massage cylinder is more good to the effect of patient's leg massage.
nullDuring work，The present invention is first arranged on the operation ground of required massage，First determine that the leg height of patient carrys out adjusting massage height，Six driving motors in six transmission branch chain start simultaneously at work，Six driving motors drive six drive shaft turns respectively，Six drive axle to drive six to drive pinion rotation，Six drive the motion of gear driven travelling gear，Travelling gear drives drive axis，Power transmission shaft drives turn-screw to rotate，Turn-screw drives driving block motion，Stable elevating movement can be done on six line slide rails under the drive of turn-screw owing to the regular hexagon structure of driving block makes the six roots of sensation being welded on driving block move post，The six roots of sensation moves post and drives six side chains in parallel to do elevating movement respectively，Six side chains in parallel synchronize to drive the leg massage machinery hands on upper mounting plate to do elevating movement，Stable drive performance by planetary gear mechanism，Improve the stability in lifting process，So that the present invention can realize massaging adjustable for height function，The present invention is made to be applicable to the patient that different lower limb is high，The scope of application is big，When the present invention reaches suitable leg massage height, driving motor quits work；Determine further according to the leg widths of patient and properly massage distance between two leg massagers, No. four hydraulic cylinders on two leg massagers are first started working, No. four hydraulic cylinders drive massage movable block at No. two line slide rails, stable moving back and forth on No. three line slide rails, massage movable block drives the massaging machine frame motion of massage platform dextral, massaging machine frame drives all massage side chains on inwall to be synchronized with the movement, have adjusted the distance between two leg massagers, it is achieved thereby that the present invention massages broad-adjustable function, the scope of application is big, when the present invention arrives suitable leg massage distance, No. four hydraulic cylinders quit work；nullAfter regulating leg massage width, patient's both legs are attached on the massage side chain of two massaging machine frame inwalls respectively，All massage side chains on latter two massaging machine frame start simultaneously at work，Massage pinion rotation is driven by massage motor，Massage gear driven drives massage tooth bar to move，Massage rack drives massaging machine frame synchronizing moving，Massaging machine frame two pairs of massage slide bars and two massage chutes auxiliary stopper motion under can be stable move up and down，Massaging machine frame drives all massages on inwall to prop up chain flexibility massage cylinder patient's leg carries out flexible extruding massage up and down simultaneously，Add massage range，But the long massage range of the leg of patient is still big not，Now a hydraulic cylinder is started working，Six hydraulic cylinders on six side chains in parallel drive the leg massage machinery hands on upper mounting plate to make repeatedly to move up and down，Advantage by 6-SPS parallel institution makes the present invention can realize stable automatic lifting massage functions，Further increase massage range，Thus meeting the massage demand of the whole leg of patient，And owing to the fixed frame in the present invention is as fixed platform、Six SPS parallel connection side chains、Upper mounting plate constitutes 6-SPS parallel institution as moving platform，It is good that 6-SPS parallel institution has dynamic response、Rigidity is high、Bearing capacity is big、Good stability and kinematic accuracy advantages of higher，The present invention makes the leg massage machinery hands being arranged on upper mounting plate can remain plateau in leg massage process by the premium properties of 6-SPS parallel institution，Eliminate the jitter phenomenon produced in massage processes，Add the stability of massage processes，Improve massage effect.
The invention has the beneficial effects as follows:
1, the present invention is by six planetary gear mechanisms driving gear to rotate with nutating gear simultaneously, thus driving six side chains in parallel to move stable moving up and down on post in the six roots of sensation, six parallel connections are propped up and are synchronized to drive the leg massage machinery hands on upper mounting plate to do elevating movement, stable drive performance by planetary gear mechanism, improve the stability in lifting process, so that the present invention can realize massaging adjustable for height function, making the present invention be applicable to the patient that different lower limb is high, the scope of application is big；
2, the present invention drives massage movable block move mode to regulate the distance between two leg massagers by No. four hydraulic cylinders, it is achieved thereby that the present invention massages broad-adjustable function, can meet different leg widths disease Man's Demands, and the scope of application is big；
3, the present invention drives the leg massage machinery hands that patient's leg is carried out on six hydraulic cylinders drive upper mounting plates that flexibility up and down extrudes on massage and six side chains in parallel by the flexible massage cylinder massaged on side chain simultaneously to make repeatedly to move up and down to realize stable automatic lifting massage functions by massage motor, add massage range, thus meeting the massage demand of the whole leg of patient；
4, the fixed frame in the present invention constitutes 6-SPS parallel institution as fixed platform, six SPS parallel connection side chains, upper mounting plates as moving platform, the present invention makes the leg massage machinery hands being arranged on upper mounting plate can remain plateau in leg massage process by the premium properties of 6-SPS parallel institution, eliminate the jitter phenomenon produced in massage processes, add the stability of massage processes, improve massage effect；
5, the invention solves the leg massage height of existing leg massor massaging way existence non-adjustable, need to manually adjust massage position, massage range is little, massage width is non-adjustable, the scope of application is little, massage force is uneven, massage effect is poor, in massage processes there is shake and a difficult problem for massage stability difference in equipment, the automatic lifting massage functions that leg is stable can be realized, there is leg massage height adjustable, without manually adjusting massage position, massage range is big, massage width is adjustable, the scope of application is big, massage force is uniform, massage effect is good, it is absent from jitter phenomenon and massages the advantages such as stability is good, provide the new way of a kind of leg massage.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is the structural representation of the present invention；
Fig. 2 present invention removes the structural representation after mounting ear, leg massage machinery hands；
Fig. 3 is that the A-A of Fig. 2 of the present invention is to sectional view；
Fig. 4 is that the B-B of Fig. 2 of the present invention is to sectional view；
Fig. 5 is the structural representation of leg massage machinery hands of the present invention；
Fig. 6 is the front view of leg massage machinery hands of the present invention；
Fig. 7 is the top view of leg massage machinery hands of the present invention.
Specific embodiment
For the technological means making the present invention realize, creation characteristic, reach purpose and effect and be easy to understand, below in conjunction with being specifically illustrating, the present invention is expanded on further.
nullAs shown in Figures 1 to 7，A kind of special leg massage robot of nursing rehabilitation,Including fixed frame 1，Described fixed frame 1 includes lower platform 11，By bearing, power transmission shaft 12 is installed in the middle part of the upper surface of described lower platform 11，The middle part of power transmission shaft 12 is provided with travelling gear 13 by key，Travelling gear 13 is in axial direction meshed with six transmission branch chain 14 respectively，The mode simultaneously rotated with nutating gear 13 from six angles by six transmission branch chain 14 adds transmission twisting resistance，Improve the stationarity of transmission，Transmission branch chain 14 includes the driving motor 141 that bottom is arranged on lower platform 11 by motor cabinet，The outfan of driving motor 141 is connected with driving axle 142 by shaft coupling，The middle part driving axle 142 is provided with driving gear 143 by key，Gear 143 is driven to be meshed with travelling gear 13，And six in six transmission branch chain 14 drive axle 142 upper end to be all connected with support platform 15 by bearing，Driving motor 41 drives and drives axle 142 to rotate，Driving axle 142 to drive drives gear 143 to rotate，Thus constituting by six planetary gear mechanisms driving gear 143 to rotate with nutating gear 13，Improve the stationarity of transmission；The middle part of described support platform 15 is connected with power transmission shaft 12 by bearing, there is six roots of sensation support column 16 lower surface supporting platform 15 along the square uniform welding of axis, the lower surface of six roots of sensation support column 16 is installed on lower platform 11, six roots of sensation support column 16 plays the uniformly fixing function supporting platform 15, so that what power transmission shaft 12 can be stable under the drive of planetary gear mechanism is supporting rotation on platform 15；nullThe upper end of described power transmission shaft 12 is connected with turn-screw 17 by shaft coupling，The middle part of turn-screw 17 is threaded connection mode and is provided with driving block 18，Driving block 18 is regular hexagon structure，Six end faces of driving block 18 are respectively welded the six roots of sensation and move post 19，The six roots of sensation moves the end of post 19 and is separately mounted on six line slide rails 110，Make the six roots of sensation being welded on driving block 18 move post 19 by the regular hexagon structure of driving block 18 and can do stable elevating movement on six line slide rails 110 under the drive of turn-screw 17，Six line slide rails 110 are separately mounted in six pieces of gripper shoes 111 by screw，Six pieces of lower ends supporting 111 are respectively welded on lower platform 11，Six pieces of gripper shoes 111 play the fixing effect supporting six line slide rails 110，Add the mobile post 19 stability at a corresponding line slide rail 110；The upper end inwall of described six pieces of gripper shoes 111 is respectively welded the spacing pillar 112 of the six roots of sensation, the middle part of six roots of sensation limited post 112 offers six square limited mouths respectively, the end of the spacing pillar 112 of the six roots of sensation is respectively welded on fixed station 113, and the middle part of fixed station 113 is connected with the upper end of turn-screw 17 by bearing；The described six roots of sensation moves the upper surface of post 19 and is separately installed with six side chains 2 in parallel, the upper end of six side chains 2 in parallel is uniformly arranged on upper mounting plate 3, and the middle part of each side chain 2 in parallel is all located in the square limited mouth of corresponding spacing pillar 112, the square limited mouth of spacing pillar 112 plays the effect limiting side chain 2 range of movement in parallel, moving post 19 by the six roots of sensation drives six side chains 2 in parallel to do elevating movement respectively, six side chains 2 in parallel synchronize to drive upper mounting plate 3 to do elevating movement, stable drive performance by planetary gear mechanism, improve the stability in lifting process, so that the present invention can realize massaging adjustable for height function, the present invention is made to be applicable to the patient that different lower limb is high, the scope of application is big；nullDescribed side chain 2 in parallel includes the hollow lower thread spindle 21 that lower end is welded on mobile post 19，The mode that is threaded connection on hollow lower thread spindle 21 is provided with a ball pivot 22，The upper end of a number ball pivot 22 is threaded connection mode and is provided with a sleeve 23，The upper end of a number sleeve 23 is threaded connection mode and is provided with a hydraulic cylinder 24，The upper end of a number hydraulic cylinder 24 is threaded connection mode and is provided with No. two sleeves 25，The upper end of No. two sleeves 25 is threaded connection mode and is provided with No. two ball pivots 26，The upper end of No. two ball pivots 26 is threaded connection mode and is provided with hollow upper thread spindle 27，Hollow upper thread spindle 27 is welded on the lower surface of upper mounting plate 3，The spherical pair S formed when the present invention is worked by a ball pivot 22、The spherical pair S formed when the moving sets P formed when a number hydraulic cylinder 24 stretches and No. two ball pivots 26 work constitutes SPS parallel connection side chain 2，And the fixed frame 1 in the present invention is as fixed platform、Six SPS parallel connection side chains 2、Upper mounting plate 3 constitutes 6-SPS parallel institution as moving platform，It is good that 6-SPS parallel institution has dynamic response、Rigidity is high、Bearing capacity is big、Good stability and kinematic accuracy advantages of higher，Upper mounting plate 3 is driven to make repeatedly to move up and down by six hydraulic cylinder 24 motions on six side chains 2 in parallel，Advantage by 6-SPS parallel institution makes the present invention can realize stable automatic lifting massage functions，Leg massage position is regulated without patient oneself，Massage range is big，Easy and simple to handle，Work efficiency is high，And owing to the advantage of 6-SPS parallel institution makes the shake situation that this invention removes in work process，Stability is good；Described upper mounting plate 3 upper surface is symmetrically arranged with two mounting ears 4, and two mounting ears 4 are provided with leg massage machinery hands 41 by bolt.
nullDescribed leg massage machinery hands 41 includes the L-type base shaft 31 being connected respectively by bolt with two mounting ears 4，The bottom of two L-type base shaft 31 is symmetricly set on the back of L-type pedestal 32，The upper surface of L-type pedestal 32 is symmetrically installed with two leg massagers 33，Leg massager 33 includes the massage substrate 331 being welded on L-type pedestal 32 upper end left surface，Massage substrate 331 inwall is provided with No. four hydraulic cylinders 332，The top of No. four hydraulic cylinders 332 is provided with massage movable block 333，The left side of massage movable block 333 is provided with No. two line slide rails 334，No. two line slide rails 334 are arranged on the upper end left surface of L-type pedestal 32 by screw，By No. two line slide rails 334, massage movable block 333 left side is defined，Making to massage movable block 333 left side can stable moving back and forth on No. two line slide rails 334，The lower surface of massage movable block 333 is provided with No. three line slide rails 335，No. three line slide rails 335 are arranged on the bottom surface of L-type pedestal 32 upper end by screw，By No. three line slide rails 335, the bottom face of massage movable block 333 is defined，Making to massage movable block 333 bottom face can stable moving back and forth on No. three line slide rails 335，Massage movable block 333 right side is symmetrically installed with four fore-sets 336，The end of four fore-sets 336 is welded with massage platform 337，Four fore-sets 336 play the effect supporting massage platform 337，The right side of massage platform 337 is symmetrically arranged with two pairs of massage slide bars 338，Two pairs of massage slide bars 338 are connected respectively through sliding matching mode and two massage chutes 339，Two massage chutes 339 are welded on the back of massaging machine frame 3310，The centre position, back of massaging machine frame 3310 is welded with massage tooth bar 3311，Massage tooth bar 3311 is meshed with massage gear 3312，The middle part of massage gear 3312 is fixed on the output shaft of massage motor 3313，Massage motor 3313 is arranged on baffle plate 3314 by motor cabinet，Baffle plate 3314 is welded on the right side of massage platform 337；Described massaging machine frame 3310 inwall is arc-shaped structure, and massaging machine frame 3310 inwall is uniformly provided with massage side chain 3315 from top to bottom, improves uniform massage force by being uniformly arranged on the massage side chain 3315 of massaging machine frame 3310 inwall to leg patient；Described massage side chain 3315 includes two ends and is connected to the steel column 3315a of massaging machine frame 3310 inwall both sides, steel column 3315a is the arc-shaped structure corresponding with massaging machine frame 3310 inner wall shape, steel column 3315a is uniformly arranged with flexible massage cylinder 3315b, flexible massage cylinder 3315b material is soft rubber, the arc-shaped structure structure of steel column 3315a makes flexible massage cylinder 3315b can be attached to patient's leg surface uniformly mutually, also make flexible massage cylinder 3315b that patient's leg surface can provide uniform flexible extruding force, massage effect is good, and work efficiency is high.nullDuring use，First regulate the distance between two leg massagers 33，No. four hydraulic cylinders 332 are started working，No. four hydraulic cylinders 332 drive massage movable block 333 at No. two line slide rails 334、Stable moving back and forth on No. three line slide rails 335，Massage movable block 333 drives the massaging machine frame 3310 on the right side of massage platform 337 to move，Massaging machine frame 3310 drives all massage side chains 3315 on inwall to be synchronized with the movement，Have adjusted the distance between two leg massagers 33，It is achieved thereby that the broad-adjustable function of leg massage of the present invention，Meeting can not leg widths disease Man's Demands，The scope of application is big，Then massage side chain 3315 is started working，Massage gear 3312 is driven to rotate by massage motor 3313，Massage gear 3312 drives massage tooth bar 3311 to move，Massage tooth bar 3311 drives massaging machine frame 3310 synchronizing moving，Massaging machine frame 3310 two pairs of massage slide bars 338 and two massage chutes 339 auxiliary stopper motion under can be stable move up and down，Massaging machine frame 3310 drives all massage side chains 3315 on inwall that patient's leg carries out flexible extruding massage up and down simultaneously，Add massage range，Meet the massage demand of the whole leg of patient，It is achieved thereby that the automatic lifting massage functions that leg of the present invention is stable.
Adopt interlaced mode to be arranged on lower platform 11 between described six transmission branch chain 14 and six roots of sensation support column 16, both added the stationary performance of transmission, too increase the support column 16 even support performance to supporting platform 15.
The central axis of described lower platform 11 and the central axis of upper mounting plate 3 coincide, the advantages such as the rigidity by 6-SPS parallel institution is high and stability is good can make lower platform 11 and upper mounting plate 3 keeping parallelism all the time, so that patient is carried out to remain steady in leg lifting massage processes by leg massage machinery hands 41, eliminate jitter phenomenon, massage stability is good, massage effect is good, and work efficiency is high.
Described massage side chain 3315 number is at least seven, and massage side chain 3315 quantity is more many, and on massage side chain 3315, flexible massage cylinder 3315b is more good to the effect of patient's leg massage.
nullDuring work，The present invention is first arranged on the operation ground of required massage，First determine that the leg height of patient carrys out adjusting massage height，Six driving motors 141 in six transmission branch chain 14 start simultaneously at work，Six driving motors 141 drive six to drive axle 142 to rotate respectively，Six drive axle 142 to drive six to drive gear 143 to rotate，Six drive gear 143 band nutating gear 13 to move，Travelling gear 13 drives power transmission shaft 12 to rotate，Power transmission shaft 12 drives turn-screw 17 to rotate，Turn-screw 17 drives driving block 18 to move，Stable elevating movement can be done on six line slide rails 110 under the drive of turn-screw 17 owing to the regular hexagon structure of driving block 18 makes the six roots of sensation being welded on driving block 18 move post 19，The six roots of sensation moves post 19 and drives six side chains 2 in parallel to do elevating movement respectively，Six side chains 2 in parallel synchronize to drive the leg massage machinery hands 41 on upper mounting plate 3 to do elevating movement，Stable drive performance by planetary gear mechanism，Improve the stability in lifting process，So that the present invention can realize massaging adjustable for height function，The present invention is made to be applicable to the patient that different lower limb is high，The scope of application is big，When the present invention reaches suitable leg massage height, driving motor 141 quits work；Determine further according to the leg widths of patient and properly massage distance between two leg massagers 33, No. four hydraulic cylinders 332 on two leg massagers 33 are first started working, No. four hydraulic cylinders 332 drive massage movable block 333 at No. two line slide rails 334, stable moving back and forth on No. three line slide rails 335, massage movable block 333 drives the massaging machine frame 3310 on the right side of massage platform 337 to move, massaging machine frame 3310 drives all massage side chains 3315 on inwall to be synchronized with the movement, have adjusted the distance between two leg massagers 33, it is achieved thereby that the present invention massages broad-adjustable function, the scope of application is big, when the present invention arrives suitable leg massage distance, No. four hydraulic cylinders 332 quit work；nullPatient's both legs are attached to respectively on the massage side chain 3315 of two massaging machine frame 3310 inwalls after regulating leg massage width，All massage side chains 3315 on latter two massaging machine frame 3310 start simultaneously at work，Massage gear 3312 is driven to rotate by massage motor 3313，Massage gear 3312 drives massage tooth bar 3311 to move，Massage tooth bar 3311 drives massaging machine frame 3310 synchronizing moving，Massaging machine frame 3310 two pairs of massage slide bars 338 and two massage chutes 339 auxiliary stopper motion under can be stable move up and down，Massaging machine frame 3310 drives the flexible massage cylinder 3315b of all massage side chains 3315 on inwall that patient's leg carries out flexible extruding massage up and down simultaneously，Add massage range，But the long massage range of the leg of patient is still big not，Now a hydraulic cylinder 24 is started working，Six hydraulic cylinder 24 motions on six side chains 2 in parallel drive the leg massage machinery hands 41 on upper mounting plate 3 to make repeatedly to move up and down，Advantage by 6-SPS parallel institution makes the present invention can realize stable automatic lifting massage functions，Further increase massage range，Thus meeting the massage demand of the whole leg of patient，And owing to the fixed frame 1 in the present invention is as fixed platform、Six SPS parallel connection side chains 2、Upper mounting plate 3 constitutes 6-SPS parallel institution as moving platform，It is good that 6-SPS parallel institution has dynamic response、Rigidity is high、Bearing capacity is big、Good stability and kinematic accuracy advantages of higher，The present invention makes the leg massage machinery hands 41 being arranged on upper mounting plate 3 can remain plateau in leg massage process by the premium properties of 6-SPS parallel institution，Eliminate the jitter phenomenon produced in massage processes，Add the stability of massage processes，Improve massage effect，The leg massage height solving the existence of existing leg massor massaging way is non-adjustable、Need to manually adjust massage position、Massage range is little、Massage width is non-adjustable、The scope of application is little、Massage force is uneven、Massage effect is poor、In massage processes there is shake and a difficult problem for massage stability difference in equipment，Reach purpose.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.Skilled person will appreciate that of the industry; the present invention is not restricted to the described embodiments; description in above-described embodiment and description is that principles of the invention is described; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements both fall within the claimed scope of the invention.Claimed scope is defined by appending claims and equivalent thereof.

Claims (5)

  1. null1. the special leg massage robot of nursing rehabilitation,It is characterized in that: include fixed frame (1)，Described fixed frame (1) includes lower platform (11)，By bearing, power transmission shaft (12) is installed in the middle part of the upper surface of described lower platform (11)，The middle part of power transmission shaft (12) is provided with travelling gear (13) by key，Travelling gear (13) is in axial direction meshed with six transmission branch chain (14) respectively，Transmission branch chain (14) includes the driving motor (141) that bottom is arranged on lower platform (11) by motor cabinet，The outfan of driving motor (141) is connected with driving axle (142) by shaft coupling，The middle part driving axle (142) is provided with driving gear (143) by key，Gear (143) is driven to be meshed with travelling gear (13)，And six on six transmission branch chain (14) drive axle (142) upper end to be all connected with support platform (15) by bearing；The middle part of described support platform (15) is connected with power transmission shaft (12) by bearing, there is six roots of sensation support column (16) lower surface supporting platform (15) along the square uniform welding of axis, and the lower surface of six roots of sensation support column (16) is installed on lower platform (11)；The upper end of described power transmission shaft (12) is connected with turn-screw (17) by shaft coupling, the middle part of turn-screw (17) is threaded connection mode and is provided with driving block (18), driving block (18) is regular hexagon structure, six end faces of driving block (18) are respectively welded the six roots of sensation and move post (19), the six roots of sensation moves the end of post (19) and is separately mounted on six No. one line slide rail (110), six No. one line slide rail (110) is separately mounted on six pieces of gripper shoes (111) by screw, the lower end of six pieces of gripper shoes (111) is respectively welded on lower platform (11)；The upper end inwall of described six pieces of gripper shoes (111) is respectively welded the spacing pillar of the six roots of sensation (112), the middle part of six roots of sensation limited post (112) offers six square limited mouths respectively, the end of the spacing pillar of the six roots of sensation (112) is respectively welded on fixed station (113), and the middle part of fixed station (113) is connected with the upper end of turn-screw (17) by bearing；The described six roots of sensation moves the upper surface of post (19) and is separately installed with six side chains in parallel (2), the upper end of six side chains in parallel (2) is uniformly arranged on upper mounting plate (3), and the middle part of each side chain (2) in parallel is all located in the square limited mouth of corresponding spacing pillar (112)；Described upper mounting plate (3) upper surface is symmetrically arranged with two mounting ears (4), and two mounting ears (4) are provided with leg massage machinery hands (41) by bolt；
    nullDescribed leg massage machinery hands (41) include by bolt respectively with the L-type base shaft (31) being connected on two mounting ears (4)，The bottom of two L-type base shaft (31) is symmetricly set on the back of L-type pedestal (32)，The upper surface of L-type pedestal (32) is symmetrically installed with two leg massagers (33)，Leg massager (33) includes the massage substrate (331) being welded on L-type pedestal (32) upper end left surface，Massage substrate (331) inwall is provided with No. four hydraulic cylinders (332)，The top of No. four hydraulic cylinders (332) is provided with massage movable block (333)，The left side of massage movable block (333) is provided with No. two line slide rails (334)，No. two line slide rails (334) are arranged on the upper end left surface of L-type pedestal (32) by screw，The lower surface of massage movable block (333) is provided with No. three line slide rails (335)，No. three line slide rails (335) are arranged on the bottom surface of L-type pedestal (32) upper end by screw，Massage movable block (333) right side is symmetrically installed with four fore-sets (336)，The end of four fore-sets (336) is welded with massage platform (337)，The right side of massage platform (337) is symmetrically arranged with two pairs of massage slide bars (338)，Two pairs of massage slide bars (338) are connected respectively through sliding matching mode and two massages chute (339)，Two massages chute (339) are welded on the back of massaging machine frame (3310)，The centre position, back of massaging machine frame (3310) is welded with massage tooth bar (3311)，Massage tooth bar (3311) is meshed with massage gear (3312)，The middle part of massage gear (3312) is fixed on the output shaft of massage motor (3313)，Massage motor (3313) is arranged on baffle plate (3314) by motor cabinet，Baffle plate (3314) is welded on the right side of massage platform (337)；Described massaging machine frame (3310) inwall is arc-shaped structure, and massaging machine frame (3310) inwall is uniformly provided with massage side chain (3315) from top to bottom；
    Described massage side chain (3315) includes two ends and is connected to the steel column (3315a) of massaging machine frame (3310) inwall both sides, steel column (3315a) is the arc-shaped structure corresponding with massaging machine frame (3310) inner wall shape, uniformly being arranged with flexible massage cylinder (3315b) on steel column (3315a), flexible massage cylinder (3315b) material is soft rubber.
  2. 2. a kind of special leg massage robot of nursing rehabilitation according to claim 1, it is characterised in that: adopt interlaced mode to be arranged on lower platform (11) between described six transmission branch chain (14) and six roots of sensation support column (16).
  3. 3. a kind of special leg massage robot of nursing rehabilitation according to claim 1, it is characterised in that: the central axis of the central axis of described lower platform (11) and upper mounting plate (3) coincides.
  4. null4. a kind of special leg massage robot of nursing rehabilitation according to claim 1，It is characterized in that: described side chain (2) in parallel includes the hollow lower thread spindle (21) that lower end is welded on mobile post (19)，The mode that is threaded connection on hollow lower thread spindle (21) is provided with a ball pivot (22)，The upper end of a number ball pivot (22) is threaded connection mode and is provided with a sleeve (23)，The upper end of a number sleeve (23) is threaded connection mode and is provided with a hydraulic cylinder (24)，The upper end of a number hydraulic cylinder (24) is threaded connection mode and is provided with No. two sleeves (25)，The upper end of No. two sleeves (25) is threaded connection mode and is provided with No. two ball pivots (26)，The upper end of No. two ball pivots (26) is threaded connection mode and is provided with hollow upper thread spindle (27)，Hollow upper thread spindle (27) is welded on the lower surface of upper mounting plate (3).
  5. 5. a kind of special leg massage robot of nursing rehabilitation according to claim 1, it is characterised in that: described massage side chain (3315) number is at least seven.
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CN106041387A (en) * 2016-08-03 2016-10-26 嘉应学院 Industrial welding robot
CN107080677A (en) * 2017-05-15 2017-08-22 宿州迅驰电子科技有限公司 Pinch leg massor is pressed in one kind circulation
CN107753260A (en) * 2017-11-27 2018-03-06 王国超 A kind of massage diagnosis and treatment all-in-one for orthopaedics patient with cervical Spondylopathy's physiotherapy
CN108743369A (en) * 2018-07-06 2018-11-06 贺婷 A kind of automation acupuncture bed
CN110353938A (en) * 2019-07-08 2019-10-22 上海丁阁仕电子商务有限公司 A kind of rehabilitation seat with massaging function for leg
CN110623825A (en) * 2019-09-24 2019-12-31 刘玉辉 Massage equipment of paediatrics shank
CN112206128A (en) * 2020-10-15 2021-01-12 重庆医科大学附属永川医院 Be applicable to apoplexy old man walking training with multi-functional nursing device
CN113290545A (en) * 2021-06-23 2021-08-24 哈尔滨工业大学 Multi-section three-parallel mechanism type mechanical arm device capable of achieving automatic folding and unfolding
CN114748305A (en) * 2022-01-20 2022-07-15 赵悦 High-flexibility exoskeleton robot

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CN204072672U (en) * 2014-09-09 2015-01-07 佳木斯大学 Parallel robot for rehabilitation of anklebone
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CN101292935A (en) * 2008-02-02 2008-10-29 河北工业大学 Robot for rehabilitation of anklebone
CN103070757A (en) * 2013-01-08 2013-05-01 北京工业大学 Parallel-type initiative/passive ankle rehabilitation training device
CN203244559U (en) * 2013-01-21 2013-10-23 江苏大学 Three-degree of freedom parallel serial upper limb rehabilitation robot
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Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106041387A (en) * 2016-08-03 2016-10-26 嘉应学院 Industrial welding robot
CN107080677A (en) * 2017-05-15 2017-08-22 宿州迅驰电子科技有限公司 Pinch leg massor is pressed in one kind circulation
CN107753260A (en) * 2017-11-27 2018-03-06 王国超 A kind of massage diagnosis and treatment all-in-one for orthopaedics patient with cervical Spondylopathy's physiotherapy
CN108743369B (en) * 2018-07-06 2020-05-26 许秋红 Automatic acupuncture bed
CN108743369A (en) * 2018-07-06 2018-11-06 贺婷 A kind of automation acupuncture bed
CN110353938A (en) * 2019-07-08 2019-10-22 上海丁阁仕电子商务有限公司 A kind of rehabilitation seat with massaging function for leg
CN110353938B (en) * 2019-07-08 2022-02-01 上海丁阁仕电子商务有限公司 Rehabilitation seat with leg massage function
CN110623825A (en) * 2019-09-24 2019-12-31 刘玉辉 Massage equipment of paediatrics shank
CN110623825B (en) * 2019-09-24 2021-09-07 漯河市第一人民医院 Massage equipment of paediatrics shank
CN112206128A (en) * 2020-10-15 2021-01-12 重庆医科大学附属永川医院 Be applicable to apoplexy old man walking training with multi-functional nursing device
CN113290545A (en) * 2021-06-23 2021-08-24 哈尔滨工业大学 Multi-section three-parallel mechanism type mechanical arm device capable of achieving automatic folding and unfolding
CN113290545B (en) * 2021-06-23 2022-04-08 哈尔滨工业大学 Multi-section three-parallel mechanism type mechanical arm device capable of achieving automatic folding and unfolding
CN114748305A (en) * 2022-01-20 2022-07-15 赵悦 High-flexibility exoskeleton robot
CN114748305B (en) * 2022-01-20 2023-11-21 天津三源电力信息技术股份有限公司 High-flexibility exoskeleton robot

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