CN106038191A - Leg massaging robot for medical nursing - Google Patents
Leg massaging robot for medical nursing Download PDFInfo
- Publication number
- CN106038191A CN106038191A CN201610343723.0A CN201610343723A CN106038191A CN 106038191 A CN106038191 A CN 106038191A CN 201610343723 A CN201610343723 A CN 201610343723A CN 106038191 A CN106038191 A CN 106038191A
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- Prior art keywords
- massage
- leg
- platform
- welded
- hydraulic cylinders
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Classifications
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- 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
-
- 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
-
- 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
- A61H2201/1238—Driving means with hydraulic or pneumatic 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
- A61H2201/1481—Special movement conversion means
- A61H2201/149—Special movement conversion means rotation-linear or vice versa
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1664—Movement of interface, i.e. force application means linear
- A61H2201/1669—Movement of interface, i.e. force application means linear moving along the body in a reciprocating manner
-
- 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 leg massaging robot for medical nursing. The leg massaging robot comprises a lower platform, wherein six parallel branched chains are uniformly arranged on the upper end face of the lower platform in an axial direction, and the upper ends of the six parallel branched chains are uniformly arranged on an upper platform; two cushion blocks are symmetrically arranged on the left side of the upper end face of the upper platform; two pairs of No.1 fixing lugs are separately arranged on the two cushion blocks; two No.2 fixing lugs are arranged on the two pairs of No.1 fixing lugs by virtue of pin shafts; the two No.2 fixing lugs are arranged at the tail ends of No.1 regulating rods; a regulating plate is welded at the top ends of the two No.1 regulating rods, and two angle regulating branched chains are connected between the lower end faces of the two No.1 regulating rods and the upper platform; and by virtue of the angle regulating branched chains, the inclination angles of the No.1 regulating rods, relative to the upper platform, are regulated. The leg massaging robot disclosed by the invention can achieve a stable automatic lifting massaging function on legs; therefore, a new way is provided for massaging the legs.
Description
Technical field
The present invention relates to medical instruments field, a kind of leg massage machine people for medical treatment and nursing.
Background technology
Along with the continuous progress of scientific and technological level, people are more and more higher to the requirement of material and cultural life, and how health preserving is protected
It is good for and becomes the thing paid special attention in people's daily life.Busy one day of people, human body is from top to bottom all in busy nervous shape
State, if can not get loosening timely, goes down for a long time, can cause damage by tissue each to human body, and serious meeting affects operation mechanism,
Even cause disease, be unfavorable for the health care of human body.And leg be human motion frequency is higher and stress is bigger position it
One, the massage to leg is loosened extremely important, but is often ignored by people.
Existing leg massor massaging way generally comprises one or two leg massager and massage ball vehicle with walking machine
Structure, wherein, leg massager includes again the two massage ball mechanisms for human leg carries out massage, two massage ball machines
Structure is that left and right is arranged side by side, and is in transmission connection mutually with massage ball walking mechanism respectively, to drive two massages by massage ball walking mechanism
Ball mechanism walks and human leg is formed the effect of massage, due to this leg massor of prior art, and its leg
Two massage ball mechanisms of massage machine spacing in the process of walking typically keeps consistent, causes the massage ball of two massage ball mechanisms
The massage force cause not of uniform size to human leg in the different position of human leg, during spacing minimum between two massage balls,
Its massage force is maximum, easily crushes human leg, and during spacing maximum between two massage balls, its massage force is minimum, to human body
The massage effect of leg is poor, inefficiency, and the massage angle of this leg massor is non-adjustable, it is impossible to meet leg each
The massage demand at individual position, massage range is little, massages the most non-adjustable, needs to manually adjust massage position, it is impossible to meets whole
The demand of leg massage, leg massage width is non-adjustable, it is impossible to meeting the people that different lower limb is wide, the scope of application is little, and existing
This leg massor in massage processes, there is shake, 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 leg massage machine people for medical treatment and nursing, can solve
The leg massage height that certainly existing leg massor massaging way exists is non-adjustable, need to manually adjust massage position, massage model
Enclose little, massage angle is non-adjustable, width is non-adjustable, the scope of application is little, massage force is uneven, massage effect is poor, massaged in massage
In journey there is shake and a difficult problem for massage stability difference in equipment, it is possible to achieve the automatic lifting massage functions that leg is stable, tool
Have leg massage height adjustable, without manually adjust massage position, massage range is big, massage angle is adjustable, massage width adjustable,
The scope of application is big, massage force is uniform, massage effect is good, there is not jitter phenomenon and massage the advantages such as stability is good, it is provided that
A kind of new way of leg massage.
To achieve these goals, the present invention realizes by the following technical solutions: a kind of leg for medical treatment and nursing
Massage robot, including lower platform, the upper surface of described lower platform is the most uniformly provided with six side chains in parallel, six
The upper end of side chain in parallel is uniformly arranged on upper mounting plate；Described side chain in parallel includes the hollow lower spiral shell that lower end is welded on lower platform
Stricture of vagina axle, mode that hollow lower thread spindle is threaded connection is provided with a ball pivot, and the upper end of a ball pivot is threaded connection
Mode is provided with a sleeve, and the upper end of a sleeve is threaded connection mode and is provided with a hydraulic cylinder, a hydraulic cylinder
Upper end be threaded connection mode No. two sleeves be installed, the upper end of No. two sleeves is threaded connection mode and is provided with No. two
Ball pivot, the upper end of No. two ball pivots is threaded connection mode and is provided with hollow upper thread spindle, and hollow upper thread spindle is welded on flat
On the lower surface of platform, the movement formed when spherical pair S formed when the present invention is by a ball pivot job, a hydraulic cylinder extension
Spherical pair S formed when secondary P and No. two ball pivot work constitutes SPS parallel connection side chain, and the lower platform in the present invention is as allocating
Platform, six SPS parallel connection side chains, upper mounting plates constitute 6-SPS parallel institution as moving platform, and 6-SPS parallel institution has dynamically
Respond, rigidity is high, bearing capacity big, good stability and kinematic accuracy advantages of higher, by six on six side chains in parallel
A number hydraulic cylinder drives upper mounting plate to make elevating movement so that the present invention can realize massaging adjustable for height function, is suitable for
In the patient that different lower limbs are high, the scope of application is big, it is not necessary to patient oneself regulates leg massage position, and massage range is big, work efficiency
Height, and owing to the advantage of 6-SPS parallel institution makes the shake situation that this invention removes in work process, stability is good；
It is symmetrically installed with two cushion blocks on the left of described upper mounting plate upper surface, two cushion blocks is respectively arranged with two to a fixing ear, two
Determining No. one to be separately installed with two No. two fixing ears by bearing pin on ear, two No. two fixing ears are separately positioned on a regulation
The end of bar, the top of two adjusting rods is welded with between adjustable plate, and two adjusting rod lower surfaces and upper mounting plate
It is connected to two angular adjustment side chains, regulates the adjusting rod inclination angle relative to upper mounting plate by angular adjustment side chain
Degree；Being welded with No. two adjusting rods in the middle part of described adjustable plate, No. two adjusting rods are provided with two No. three fixing ears, fix for two No. three
Being provided with No. four fixing ears by bearing pin between ear, No. four fixing ears are arranged on the top of No. three adjusting rods；Described No. two regulations
It is provided with two hangers on the downside of the bottom of bar, between two hangers, by bearing pin No. two hydraulic cylinders is installed, No. two
The top of hydraulic cylinder is arranged on two No. two hangers by bearing pin, and two No. two hangers are arranged on a left side, bottom for No. three adjusting rods
Side, regulates No. three adjusting rods angle of inclination relative to No. two adjusting rods by No. two hydraulic cylinders；The end of described No. three adjusting rods
End lateral symmetry is provided with two mounting ears, and two mounting ears are provided with leg massage machinery hands by bolt.Due to difference
The surface profile line of patient's leg is different, so that leg massage machinery hands of the present invention can be attached to patient's leg table completely
Face, leg massage machinery hands needs to regulate angle of inclination according to patient's leg surface profile line, and two angular adjustment side chains are simultaneously
Starting working, two angular adjustment side chains drive two adjusting rods to rotate on two cushion blocks respectively, thus have adjusted one
Number adjusting rod is relative to the angle of inclination of upper mounting plate, and then No. two hydraulic cylinders are started working, and No. three adjusting rods of No. two hydraulic cylinders exist
Rotating on No. two adjusting rods, thus have adjusted No. three adjusting rods angle of inclination relative to No. two adjusting rods, No. three adjusting rods are same
Step drives the rotation of leg massage machinery hands, the angular adjustment driven by angular adjustment side chain and No. two hydraulic cylinder drives
Secondary angular adjustment makes leg massage machinery hands can be adjusted to the angle corresponding with patient's leg surface profile line, so that
Obtain leg massage machinery hands of the present invention and can be attached to patient's leg surface completely, it is achieved that the adjustable merit of massage angle of the present invention
Can, massage effect is good, and the scope of application is big.
As a preferred technical solution of the present invention, described leg massage machinery hands include by bolt respectively with two
The L-type base shaft that mounting ear is connected, 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
Being symmetrically installed with two leg massagers, leg massager includes the massage substrate being welded on L-type pedestal upper end left surface,
Being provided with No. four hydraulic cylinders on massage substrate inwall, the top of No. four hydraulic cylinders is provided with massage movable block, massage movable block
Left side is provided with No. two line slide rails, and No. two line slide rails are arranged on the upper end left surface of L-type pedestal by screw, by two
Massage movable block left side is defined by number line slide rail so that massage movable block left side can be on No. two line slide rails
Stable moves back and forth, and the lower surface of massage movable block is provided with No. three line slide rails, and No. three line slide rails are installed by screw
In the bottom surface of L-type pedestal upper end, by No. three line slide rails, the bottom face of massage movable block is defined so that massage is mobile
Block bottom face can stable moving back and forth on No. three line slide rails, massage movable block right side be symmetrically installed with four tops
Post, the end of four fore-sets is welded with massage platform, and four fore-sets play the effect supporting massage platform, the right-hand member of massage platform
Face be symmetrically arranged with two to massage slide bar, two to massage slide bar respectively by sliding matching mode and two massage chutes be connected,
Two massage chutes are welded on the back of massaging machine frame, and the centre position, back of massaging machine frame is welded with massage tooth bar, massage teeth
Bar is meshed with massage gear, and the middle part of massage gear is fixed on the output shaft of massage motor, and massage motor passes through motor cabinet
Being arranged on baffle plate, baffle plate is welded on the right side of massage platform；Described massaging machine frame inwall is arc-shaped structure, massage appliance
Frame inwall is the most uniformly provided with massage side chain, comes to leg by being uniformly arranged on the massage side chain of massaging machine frame inwall
Patient improves uniform massage force；Described massage side chain includes that two ends are connected to the steel column of massaging machine frame inwall both sides, and 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 circle
Post material is soft rubber, and the arc-shaped structure structure of steel column makes flexible massage cylinder can be attached to patient's leg table mutually
Face, also makes flexible massage cylinder that patient's leg surface can provide uniform flexible extruding force, and massage effect is good, work effect
Rate is high.During use, first regulating the distance between two leg massagers, No. four hydraulic cylinders are started working, No. four hydraulic cylinder bands
Dynamic massage movable block stable moving back and forth on No. two line slide rails, No. three line slide rails, massage movable block drives massage flat
Massaging machine frame motion on the right side of platform, massaging machine frame drives all massage side chains on inwall to be synchronized with the movement, have adjusted two legs
Distance between massage machine, 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, and then massage side chain is started working, and drives massage pinion rotation, massage teeth by massage motor
Wheel drive drive massage tooth bar move, massage rack drives massaging machine frame synchronizing moving, massaging machine frame two to massage slide bar and
The auxiliary stopper motion of two massage chutes lower can be stable move up and down, what massaging machine frame drove on inwall all presses
The side chain that rubs carries out the most flexible extruding massage simultaneously to patient's leg, adds massage range, meets the whole leg of patient
Massage demand, 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, the central axis phase of the central axis of described lower platform and upper mounting plate
Overlapping, 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 holding all the time
Parallel, 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 angular adjustment side chain includes being arranged on upper mounting plate by screw
On short T-shaped frame and long T-shaped frame, short T-shaped frame and long T-shaped frame top be welded with arc-shaped limit frame, T-shaped frame and long T-shaped erects
Support the function of arc position-limited rack, arc-shaped limit frame is provided with arc-shaped limit mouth, arc-shaped limit mouth has been slidably installed
No. three hydraulic cylinders, the top of No. three hydraulic cylinders is arranged in ear mount by bearing pin, and ear mount is welded on the lower surface of an adjusting rod,
The bottom of No. three hydraulic cylinders is threaded connection mode and is provided with connecting cylinder, and the lower end of connecting cylinder is threaded connection mode and installs
Having No. three ball pivots, No. three ball pivots to be threaded connection mode and be arranged on Triangulum, Triangulum is arranged on upper mounting plate, and arc limits
Position mouth plays No. three hydraulic cylinder effects of slewing area on No. three ball pivots of restriction, also defines that No. three hydraulic cylinders drive a tune
Pole is in the slewing area of cushion block, thus defines the adjusting rod rotational angle relative to upper mounting plate.During use, No. three liquid
Cylinder pressure is started working, and No. three hydraulic cylinders drive ear mount to move under the effect of No. three ball pivots, and ear mount drives an adjusting rod at pad
Rotate on block, thus have adjusted the adjusting rod angle of inclination relative to upper mounting plate.
As a preferred technical solution of the present invention, described massage chain branches is at least seven, massages side chain quantity
The most, on massage side chain, flexible massage cylinder is the best to the effect of patient's leg massage.
During work, the present invention is first arranged on the operation ground of required massage, first determines that the leg height of patient is adjusted
Joint massage height, six side chains in parallel synchronize to start working, by six hydraulic cylinder bands on six side chains in parallel
Leg massage machinery hands on dynamic upper mounting plate makees elevating movement so that the present invention can realize massaging adjustable for height function, suitable
For the patient that different lower limbs are high, the scope of application is big, it is not necessary to patient oneself regulates leg massage position, and massage range is big, when this
Sensible quit work to number hydraulic cylinder during suitable leg massage height；Leg widths further according to patient determines two legs
Properly massaging distance between massage machine, No. four hydraulic cylinders on two leg massagers are first started working, No. four hydraulic pressure
Cylinder drives massage movable block stable moving back and forth on No. two line slide rails, No. three line slide rails, and massage movable block drives to be pressed
Rub the massaging machine frame motion of platform dextral, and massaging machine frame drives all massage side chains on inwall to be synchronized with the movement, have adjusted two
Distance between leg massager, it is achieved thereby that the present invention massages broad-adjustable function, the scope of application is big, works as the present invention
When arriving suitable leg massage distance, No. four hydraulic cylinders quit work；After regulating leg massage width, patient's both legs are distinguished
It is attached on the massage side chain of two massaging machine frame inwalls, then regulates leg massage machinery hands according to patient's leg surface profile line
Massage angle, two angular adjustment side chains start simultaneously at work, two No. three hydraulic cylinders on two angular adjustment side chains with
Time start working, No. three hydraulic cylinders drive ear mount to move under the effect of No. three ball pivots, ear mount drive an adjusting rod at cushion block
Upper rotation, thus have adjusted the adjusting rod angle of inclination relative to upper mounting plate, then No. two hydraulic cylinders are started working, No. two
No. three adjusting rods of hydraulic cylinder rotate on No. two adjusting rods, thus have adjusted the inclination relative to No. two adjusting rods of No. three adjusting rods
Angle, No. three adjusting rods synchronize to drive leg massaging machine tool handss to rotate, an angular adjustment being driven by No. three hydraulic cylinders and
The secondary angular adjustment of No. two hydraulic cylinder drives makes leg massage machinery hands can be adjusted to and patient's leg surface profile line phase
Corresponding angle, so that leg massage machinery hands of the present invention can be attached to patient's leg surface completely, it is achieved that the present invention
The adjustable function of massage angle, massage effect is good, and the scope of application is big, No. three liquid when the present invention reaches suitable leg massage angle
Cylinder pressure, No. two hydraulic cylinders quit work；All massage side chains on latter two massaging machine frame start simultaneously at work, by massage
Driven by motor massage pinion rotation, massage gear driven drives massage tooth bar to move, and massage rack drives massaging machine frame synchronizes to move
Dynamic, massaging machine frame can move down on stable carrying out under the two auxiliary stopper motions to massage slide bar and two massage chutes
Dynamic, massaging machine frame drives all massages on inwall to prop up chain flexibility massage cylinder patient's leg carries out the most flexible extruding simultaneously
Massage, adds massage range, it is achieved that stable automatic lifting massage functions, and the massage meeting the whole leg of patient needs
Ask, and owing to the lower platform in the present invention constitutes 6-as fixed platform, six SPS parallel connection side chains, upper mounting plates as moving platform
SPS parallel institution, 6-SPS parallel institution has that dynamic response is good, 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 by the premium properties of 6-SPS parallel institution
Plateau can be remained during leg massage, eliminate in massage processes produce jitter phenomenon, add by
The stability of process of rubbing, improves massage effect.
The invention has the beneficial effects as follows:
1, the present invention drives the leg massage on upper mounting plate by six hydraulic cylinders on six side chains in parallel
Elevating movement made by mechanical hand so that the present invention can realize massaging adjustable for height function, it is adaptable to the patient that different lower limbs are high, suitable
Big by scope, it is not necessary to patient oneself regulates leg massage position, massage range is big, and work efficiency is high；
2, the present invention by No. four hydraulic cylinders drive massage movable block move modes regulate two leg massagers it
Between distance, it is achieved thereby that the present invention massages broad-adjustable function, different leg widths disease Man's Demands can be met, be suitable for
Scope is big；
3, the present invention is driven by No. three hydraulic cylinders an angular adjustment and the secondary angle of No. two hydraulic cylinder drives are adjusted
Joint makes leg massage machinery hands can be adjusted to the angle corresponding with patient's leg surface profile line, so that lower limb of the present invention
Portion's massaging manipulator can be attached to patient's leg surface completely, it is achieved that the adjustable function of massage angle of the present invention, massage effect
Good, the scope of application is big；
4, the present invention by massage motor drive massage side chain on flexible massage cylinder patient's leg is carried out simultaneously on
Lower flexible extruding massage, it is achieved that stable automatic lifting massage functions, adds massage range, thus it is whole to meet patient
The massage demand of leg；
5, the lower platform in the present invention constitutes 6-as fixed platform, six SPS parallel connection side chains, upper mounting plates as moving platform
SPS parallel institution, the present invention makes the leg massage being arranged on upper mounting plate mechanical by the premium properties of 6-SPS parallel institution
Hands can remain plateau during leg massage, eliminates the jitter phenomenon produced in massage processes, adds
The stability of massage processes, improves massage effect；
6, the present invention solves that the leg massage height that existing leg massor massaging way exists is non-adjustable, it is artificial to need
Adjust massage position, massage range is little, massage angle is non-adjustable, width is non-adjustable, the scope of application is little, massage force is uneven in massage
Even, massage effect is poor, equipment exists shake and a difficult problem for massage stability difference in massage processes, it is possible to achieve leg is stable
Automatic lifting massage functions, has leg massage height adjustable, massage position, massage range be big, massage angle without manually adjusting
Spend adjustable, width is adjustable, the scope of application is big, massage force is uniform, massage effect is good in massage, there is not jitter phenomenon and massage is stable
The advantages such as performance is good, it is provided that the new way of a kind of leg massage.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the full sectional view that the present invention removes after leg massage machinery hands；
Fig. 3 is the structural representation of leg massage machinery hands of the present invention；
Fig. 4 is the front view of leg massage machinery hands of the present invention；
Fig. 5 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 be easy to understand with effect, below knot
Conjunction is specifically illustrating, and the present invention is expanded on further.
As shown in Figures 1 to 5, a kind of leg massage machine people for medical treatment and nursing, including lower platform 1, described lower flat
The upper surface of platform 1 is the most uniformly provided with six side chains 2 in parallel, and the upper end of six side chains 2 in parallel is uniformly arranged on
On platform 3；Described side chain 2 in parallel includes the hollow lower thread spindle 21 that lower end is welded on lower platform 1, on hollow lower thread spindle 21
The mode of being threaded connection is provided with a ball pivot 22, and the upper end of a ball pivot 22 is threaded connection mode and is provided with a set
Cylinder 23, the upper end of a sleeve 23 is threaded connection mode and is provided with a hydraulic cylinder 24, and the upper end of a hydraulic cylinder 24 leads to
Crossing thread connecting mode and be 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, and hollow upper thread spindle 27 is welded on
On the lower surface of upper mounting plate 3, when spherical pair S formed when the present invention is worked by a ball pivot 22, a hydraulic cylinder 24 stretch
Spherical pair S that the moving sets P formed and No. two ball pivots 26 are formed when working constitutes SPS parallel connection side chain 2, and in the present invention under
Platform 1 constitutes 6-SPS parallel institution as fixed platform, six SPS parallel connection side chains 2, upper mounting plates 3 as moving platform, and 6-SPS is also
Online structure has that dynamic response is good, rigidity is high, bearing capacity is big, good stability and kinematic accuracy advantages of higher, by six also
Six hydraulic cylinder 24 motions on connection side chain 2 drive upper mounting plate 3 to make elevating movement so that the present invention can realize massage height
Spend adjustable function, it is adaptable to the patient that different lower limbs are high, the scope of application is big, it is not necessary to patient oneself regulates leg massage position, presses
Scope of rubbing is big, and work efficiency is high, and owing to the advantage of 6-SPS parallel institution makes the shake that this invention removes in work process
Situation, stability is good；It is symmetrically installed with two cushion blocks 4 on the left of described upper mounting plate 3 upper surface, two cushion blocks 4 are respectively provided with
Having two to a fixing ear 4a, No. one is determined to be separately installed with two No. two fixing ear 5a by bearing pin on ear 4a by two, two two
Number fixing ear 5a is separately positioned on the end of an adjusting rod 5, and the top of two adjusting rods 5 is welded with adjustable plate 6, and two
It is connected to two angular adjustment side chains 7, by angular adjustment side chain 7 between individual adjusting rod 5 lower surface and upper mounting plate 3
Regulate the adjusting rod 5 angle of inclination relative to upper mounting plate 3；No. two adjusting rods 8 it are welded with in the middle part of described adjustable plate 6, No. two
Adjusting rod 8 is provided with two No. three fixing ear 8a, is provided with No. four fixing ear 9a by bearing pin between two No. three fixing ear 8a,
No. four fixing ear 9a are arranged on the top of No. three adjusting rods 9；It is provided with two No. one on the downside of the bottom of described No. two adjusting rods 8 to hang
Ear 8b, is provided with No. two hydraulic cylinders 10 by bearing pin between two hanger 8b, and bearing pin is passed through on the top of No. two hydraulic cylinders 10
Being arranged on two No. two hanger 9b, two No. two hanger 9b are arranged on the left of the bottom of No. three adjusting rods 9, by No. two hydraulic pressure
Cylinder 10 regulates No. three adjusting rods 9 angle of inclination relative to No. two adjusting rods 8；The bottom lateral symmetry of described No. three adjusting rods 9
It is provided with two mounting ear 9c, two mounting ear 9c are provided with leg massage machinery hands 41 by bolt.Due to different patients
The surface profile line of leg is different, so that leg massage machinery hands 41 of the present invention can be attached to patient's leg table completely
Face, leg massage machinery hands 41 needs to regulate angle of inclination according to patient's leg surface profile line, and two angular adjustment side chains 7 are same
Time start working, two angular adjustment side chains 7 drive two adjusting rods 5 to rotate on two cushion blocks 4 respectively, thus regulate
Number adjusting rod 5 angle of inclination relative to upper mounting plate 3, then No. two hydraulic cylinders 10 are started working, No. two hydraulic cylinders 10 3
Number adjusting rod 9 rotates on No. two adjusting rods 8, thus have adjusted No. three adjusting rods 9 inclination angle relative to No. two adjusting rods 8
Degree, No. three adjusting rods 9 synchronize to drive leg massaging machine tool hands 41 to rotate, and the angle driven by angular adjustment side chain 7 is adjusted
The secondary angular adjustment of joint and No. two hydraulic cylinder 10 drives makes leg massage machinery hands 41 can be adjusted to and patient's leg surface
The angle that contour line is corresponding, so that leg massage machinery hands 41 of the present invention can be attached to patient's leg surface completely, real
Having showed the adjustable function of massage angle of the present invention, massage effect is good, and the scope of application is big.
Described leg massage machinery hands 41 includes the L-type base shaft 31 being connected respectively by bolt with two mounting ear 9c, two
The bottom of individual L-type base shaft 31 is symmetricly set on the back of L-type pedestal 32, and the upper surface of L-type pedestal 32 is symmetrically installed with two lower limbs
Portion's massage machine 33, leg massager 33 includes the massage substrate 331 being welded on L-type pedestal 32 upper end left surface, massages base
Being provided with No. four hydraulic cylinders 332 on plate 331 inwall, the top of No. four hydraulic cylinders 332 is provided with massage movable block 333, and massage moves
The left side of motion block 333 is provided with No. two line slide rails 334, and No. two line slide rails 334 are arranged on L-type pedestal 32 by screw
Upper end left surface, is defined massage movable block 333 left side by No. two line slide rails 334 so that 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 be provided with No. three straight
Line slide rail 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
The bottom face of 335 pairs of massage movable blocks 333 is defined so that massage movable block 333 bottom face can be at No. three line slide rails
Stable moving back and forth on 335, massage movable block 333 right side is symmetrically installed with four fore-sets 336, the end of four fore-sets 336
End is welded with massage platform 337, and four fore-sets 336 play the effect supporting massage platform 337, the right side of massage platform 337
Be symmetrically arranged with two to massage slide bar 338, two to massage slide bar 338 respectively by sliding matching mode with two massage chutes
339 are connected, and two massage chutes 339 are welded on the back of massaging machine frame 3310, centre position, the back weldering of massaging machine frame 3310
Be connected to massage tooth bar 3311, massage tooth bar 3311 with massage gear 3312 be meshed, massage gear 3312 middle part be fixed on by
On the output shaft of dynamo 3313, massage motor 3313 is arranged on baffle plate 3314 by motor cabinet, baffle plate 3314 be welded on by
Rub on the right side of platform 337；Described massaging machine frame 3310 inwall is arc-shaped structure, and massaging machine frame 3310 inwall is from top to bottom
Massage side chain 3315 is uniformly installed, comes to leg sick by being uniformly arranged on the massage side chain 3315 of massaging machine frame 3310 inwall
People improves uniform massage force；Described massage side chain 3315 includes that two ends are connected to the steel column of massaging machine frame 3310 inwall both sides
3315a, steel column 3315a are the arc-shaped structure corresponding with massaging machine frame 3310 inner wall shape, the most sheathed on steel column 3315a
Having flexible massage cylinder 3315b, flexible massage cylinder 3315b material is soft rubber, and the arc-shaped structure structure of steel column 3315a makes
Flexible massage cylinder 3315b can be attached to patient's leg surface mutually, also make the flexible massage cylinder 3315b can be right
Patient's leg surface provides uniform flexible extruding force, and massage effect is good, and work efficiency is high.During use, first two legs of regulation
Distance between massage machine 33, No. four hydraulic cylinders 332 start working, and No. four hydraulic cylinders 332 drive massage movable blocks 333 two
Stable moving back and forth on number 334, No. three line slide rails 335 of line slide rail, massage movable block 333 drives massage platform 337 right
The massaging machine frame 3310 of side moves, and massaging machine frame 3310 drives all massage side chains 3315 on inwall to be synchronized with the movement, and have adjusted
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, and then massage side chain 3315 is started working, and is driven by massage motor 3313 and presses
The gear 3312 that rubs rotates, and massage gear 3312 drives massage tooth bar 3311 to move, and massage tooth bar 3311 drives massaging machine frame
3310 synchronizing movings, massaging machine frame 3310 can under the two auxiliary stopper motions to massage slide bar 338 and two massage chutes 339
Moving up and down with stable, massaging machine frame 3310 drives all massage side chains 3315 on inwall to enter patient's leg simultaneously
Row the most flexible extruding massage, adds massage range, meets the massage demand of the whole leg of patient, it is achieved thereby that this
The automatic lifting massage functions that bright leg is stable.
The central axis of described lower platform 1 coincides with the central axis of upper mounting plate 3, firm by 6-SPS parallel institution
The advantages such as degree height is good with stability can make lower platform 1 and upper mounting plate 3 keeping parallelism, all the time so that leg massage is mechanical
Patient is carried out to remain steady in leg lifting massage processes by hands 41, eliminates jitter phenomenon, massages stability
Good, massage effect is good, and work efficiency is high.
Described angular adjustment side chain 7 includes short T-shaped frame 71 and the T-shaped frame 72 of length being arranged on upper mounting plate 3 by screw, short
T-shaped frame 71 and long T-shaped frame 72 top are welded with arc-shaped limit frame 73, T-shaped frame 71 and long T-shaped frame 72 and play support arc position-limited rack
The function of 73, arc-shaped limit frame 73 is provided with arc-shaped limit mouth, and arc-shaped limit mouth has been slidably installed No. three hydraulic cylinders
74, the top of No. three hydraulic cylinders 74 is arranged in ear mount 75 by bearing pin, and ear mount 75 is welded on the lower surface of an adjusting rod 5,
The bottom of No. three hydraulic cylinders 74 is threaded connection mode and is provided with connecting cylinder 76, the lower end side of being threaded connection of connecting cylinder 76
Formula is provided with No. three ball pivots 77, and No. three ball pivots 77 are threaded connection mode and are arranged on Triangulum 78, and Triangulum 78 is arranged on
On upper mounting plate 3, arc-shaped limit mouth plays No. three hydraulic cylinder 74 effects of slewing area on No. three ball pivots 77 of restriction, also defines
No. three hydraulic cylinders 74 drive an adjusting rod 5 in the slewing area of cushion block 4, thus define that an adjusting rod 5 is flat relative to upper
The rotational angle of platform 3.During use, No. three hydraulic cylinders 74 are started working, and No. three hydraulic cylinders 74 carry under the effect of No. three ball pivots 77
Dynamic ear mount 75 is moved, and ear mount 75 drives an adjusting rod 5 to rotate on cushion block 4, thus have adjusted an adjusting rod 5 relative to upper
The angle of inclination of platform 3.
Described massage side chain 3315 number is at least seven, and massage side chain 3315 quantity is the most, soft on massage side chain 3315
Sex massage cylinder 3315b is the best to the effect of patient's leg massage.
During work, the present invention is first arranged on the operation ground of required massage, first determines that the leg height of patient is adjusted
Joint massage height, six side chains 2 in parallel are synchronized to start working, are transported by six hydraulic cylinders 24 on six side chains 2 in parallel
The dynamic leg massage machinery hands 41 driven on upper mounting plate 3 makees elevating movement so that the present invention can realize massaging adjustable for height
Function, it is adaptable to the patient that different lower limbs are high, the scope of application is big, it is not necessary to patient oneself regulates leg massage position, and massage range is big,
When the present invention reaches suitable leg massage height, a number hydraulic cylinder 24 quits work；Leg widths further according to patient determines
Properly massaging distance between two leg massagers 33, No. four hydraulic cylinders 332 on two leg massagers 33 are first opened
Beginning work, No. four hydraulic cylinders 332 drive massage movable block 333 stable on 334, No. three line slide rails 335 of No. two line slide rails
Move back and forth, massage movable block 333 drive massage platform 337 on the right side of massaging machine frame 3310 move, massaging machine frame 3310 carries
All massage side chains 3315 on dynamic inwall are synchronized with the movement, and have adjusted the distance between two leg massagers 33, thus real
Having showed the present invention and massaged broad-adjustable function, the scope of application is big, No. four liquid when the present invention arrives suitable leg massage distance
Cylinder pressure 332 quits work；After regulating leg massage width, patient's both legs are attached to respectively two massaging machine frame 3310 inwalls
Massage side chain 3315 on, then according to patient's leg surface profile line regulation leg massage machinery hands 41 massage angle, two
Individual angular adjustment side chain 7 starts simultaneously at work, and two No. three hydraulic cylinders 74 on two angular adjustment side chains 7 start simultaneously at work
Making, No. three hydraulic cylinders 74 drive ear mount 75 to move under the effect of No. three ball pivots 77, and ear mount 75 drives an adjusting rod 5 at cushion block
Rotating on 4, thus have adjusted the adjusting rod 5 angle of inclination relative to upper mounting plate 3, then No. two hydraulic cylinders 10 start work
Making, 10 No. three adjusting rods 9 of No. two hydraulic cylinders rotate on No. two adjusting rods 8, thus have adjusted No. three adjusting rods 9 relative to No. two
The angle of inclination of adjusting rod 8, No. three adjusting rods 9 are synchronized to drive leg massaging machine tool hands 41 to rotate, are carried by No. three hydraulic cylinders 74
The secondary angular adjustment of a dynamic angular adjustment and No. two hydraulic cylinder 10 drives makes leg massage machinery hands 41 to be adjusted to
The angle corresponding with patient's leg surface profile line, so that leg massage machinery hands 41 of the present invention can be attached to disease completely
People's leg surface, it is achieved that the adjustable function of massage angle of the present invention, massage effect is good, and the scope of application is big, when the present invention reaches
During suitable leg massage angle, 74, No. two hydraulic cylinders 10 of No. three hydraulic cylinders quit work；On latter two massaging machine frame 3310
All massage side chains 3315 start simultaneously at work, drive massage gear 3312 to rotate by massage motor 3313, massage gear
3312 drive massage tooth bar 3311 to move, and massage tooth bar 3311 drives massaging machine frame 3310 synchronizing moving, massaging machine frame
3310 two to massage slide bar 338 and two massage chutes 339 auxiliary stopper motion under can be stable move up and down,
Massaging machine frame 3310 drives on inwall on patient's leg is carried out by the flexible massage cylinder 3315b of all massage side chains 3315 simultaneously
Lower flexible extruding massage, adds massage range, it is achieved that stable automatic lifting massage functions, meets the whole leg of patient
Massage demand, and due to the lower platform 1 in the present invention as fixed platform, six SPS parallel connection side chains 2, upper mounting plates 3 as dynamic flat
Platform constitutes 6-SPS parallel institution, and 6-SPS parallel institution has that dynamic response is good, rigidity is high, bearing capacity is big, good stability
With kinematic accuracy advantages of higher, the present invention makes the leg being arranged on upper mounting plate 3 by the premium properties of 6-SPS parallel institution
Massaging manipulator 41 can remain plateau during leg massage, eliminates the shake produced in massage processes existing
As, add the stability of massage processes, improve massage effect, solve the lower limb that existing leg massor massaging way exists
Portion's massage is the most non-adjustable, need to manually adjust massage position, massage range is little, massage angle is non-adjustable, massage width can not
Adjust, the scope of application is little, massage force is uneven, massage effect is poor, equipment exists shake and massage stability is poor in massage processes
A difficult problem, reached purpose.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.The technical staff of the industry should
Understanding, the present invention is not restricted to the described embodiments, the simply explanation present invention's of the description in above-described embodiment and description
Principle, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, and these change and change
Enter to both fall within scope of the claimed invention.Claimed scope is by appending claims and equivalent thereof
Define.
Claims (6)
1. the leg massage machine people for medical treatment and nursing, it is characterised in that: include lower platform (1), described lower platform (1)
Upper surface six side chains in parallel (2) are the most uniformly installed, the upper end of six side chains in parallel (2) is uniformly arranged on
On platform (3)；It is symmetrically installed with two cushion blocks (4) on the left of described upper mounting plate (3) upper surface, two cushion blocks (4) are respectively provided with
Having two to a fixing ear (4a), two are separately installed with two No. two fixing ears on a fixing ear (4a) by bearing pin
(5a), two No. two fixing ears (5a) are separately positioned on the end of an adjusting rod (5), the top of two No. one adjusting rod (5)
It is welded with between adjustable plate (6), and two No. one adjusting rod (5) lower surface and upper mounting plate (3) and is connected to two angles tune
Joint side chain (7)；Described adjustable plate (6) middle part is welded with No. two adjusting rods (8), and No. two adjusting rods (8) are provided with two No. three admittedly
Determining ear (8a), be provided with No. four fixing ears (9a) by bearing pin between two No. three fixing ears (8a), No. four fixing ears (9a) set
Put the top No. three adjusting rods (9)；Two No. one hanger (8b) it is provided with on the downside of the bottom of described No. two adjusting rods (8), two
Being provided with No. two hydraulic cylinders (10) by bearing pin between an individual hanger (8b), the top of No. two hydraulic cylinders (10) is pacified by bearing pin
Being contained on two No. two hangers (9b), two No. two hangers (9b) are arranged on the left of the bottom of No. three adjusting rods (9)；Described No. three
The bottom lateral symmetry of adjusting rod (9) is provided with two mounting ears (9c), and two mounting ears (9c) are provided with lower limb by bolt
Portion's massaging manipulator (41)；
Described leg massage machinery hands (41) includes the L-type base shaft (31) being connected respectively by bolt with two mounting ears (9c),
The bottom of two L-type base shaft (31) is symmetricly set on the back of L-type pedestal (32), and the upper surface of L-type pedestal (32) is symmetrically installed
Having two leg massagers (33), leg massager (33) includes the massage being welded on L-type pedestal (32) upper end left surface
Substrate (331), massage substrate (331) inwall is provided with No. four hydraulic cylinders (332), and the top of No. four hydraulic cylinders (332) is installed
There are massage movable block (333), the left side of massage movable block (333) that No. two line slide rails (334), No. two line slide rails are installed
(334) be 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 rail (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), and the end of four fore-sets (336) is welded with massage platform (337), presses
The rub right side of platform (337) is symmetrically arranged with two to massage slide bar (338), two to massage slide bar (338) respectively by sliding
Fit system and two massages chute (339) are connected, and 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) and massage gear
(3312) being meshed, the middle part of massage gear (3312) is fixed on the output shaft of massage motor (3313), massage motor
(3313) being arranged on baffle plate (3314) by motor cabinet, baffle plate (3314) is welded on the right side of massage platform (337)；Institute
Stating massaging machine frame (3310) inwall is arc-shaped structure, and massaging machine frame (3310) inwall is the most uniformly provided with massage side chain
(3315)。
A kind of leg massage machine for medical treatment and nursing the most according to claim 1 everybody, it is characterised in that: under described
The central axis of platform (1) coincides with the central axis of upper mounting plate (3).
A kind of leg massage machine people for medical treatment and nursing the most according to claim 1, it is characterised in that: described parallel connection
Side chain (2) includes the hollow lower thread spindle (21) that lower end is welded on lower platform (1), and hollow lower thread spindle (21) passes through screw thread
Connected mode is provided with a ball pivot (22), and the upper end of a ball pivot (22) is threaded connection mode and is provided with a sleeve
(23), the upper end of a sleeve (23) is threaded connection mode and is provided with a hydraulic cylinder (24), a hydraulic cylinder (24)
Upper end is threaded connection mode and is provided with No. two sleeves (25), and the upper end of No. two sleeves (25) is threaded connection mode and installs
Having 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).
A kind of leg massage machine people for medical treatment and nursing the most according to claim 1, it is characterised in that: described angle
Regulation side chain (7) includes short T-shaped frame (71) and long T-shaped frame (72), the short T-shaped frame being arranged on upper mounting plate (3) by screw
(71) and long T-shaped frame (72) top is welded with arc-shaped limit frame (73), arc-shaped limit frame is provided with arc-shaped limit mouth, arc on (73)
Be slidably installed on shape limited mouth No. three hydraulic cylinders (74), and the top of No. three hydraulic cylinders (74) is arranged on ear mount by bearing pin
(75), on, ear mount (75) is welded on the lower surface of an adjusting rod (5), the bottom side of being threaded connection of No. three hydraulic cylinders (74)
Formula is provided with connecting cylinder (76), and the lower end of connecting cylinder (76) is threaded connection mode and is provided with No. three ball pivots (77), No. three balls
Hinge (77) mode of being threaded connection is arranged on Triangulum (78), and Triangulum (78) is arranged on upper mounting plate (3).
A kind of leg massage machine people for medical treatment and nursing the most according to claim 1, it is characterised in that: described massage
Side chain (3315) number is at least seven.
A kind of leg massage machine people for medical treatment and nursing, it is characterised in that: described
Massage side chain (3315) includes that two ends are connected to the steel column (3315a) of massaging machine frame (3310) inwall both sides, and 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 circle
Post (3315b), flexible massage cylinder (3315b) material is soft rubber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610343723.0A CN106038191B (en) | 2016-05-22 | 2016-05-22 | A kind of leg massage machine people for medical treatment and nursing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610343723.0A CN106038191B (en) | 2016-05-22 | 2016-05-22 | A kind of leg massage machine people for medical treatment and nursing |
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| CN106038191A true CN106038191A (en) | 2016-10-26 |
| CN106038191B CN106038191B (en) | 2018-01-16 |
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| CN106618952A (en) * | 2016-11-15 | 2017-05-10 | 合肥工业大学 | Series-parallel connected multistage rehabilitation training machine |
| CN107411946A (en) * | 2017-05-27 | 2017-12-01 | 韩登银 | A kind of leg massage instrument |
| CN108338900A (en) * | 2018-02-20 | 2018-07-31 | 郭双伟 | A kind of intelligence leg medical massage instrument |
| CN108578121A (en) * | 2018-03-21 | 2018-09-28 | 张方霞 | A kind of Cardiological Multifunctional nursing device |
| CN108871534A (en) * | 2018-04-08 | 2018-11-23 | 常州信息职业技术学院 | Electronic scale |
| CN114469682A (en) * | 2022-02-24 | 2022-05-13 | 高兰芝 | Leg massage device for neurology nursing |
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| CN1513644A (en) * | 2003-07-18 | 2004-07-21 | 江苏大学 | Massage robot for traumatological department of traditional chinese medicine |
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| KR100267027B1 (en) * | 1998-06-24 | 2000-09-15 | 연성찬 | Bed robot having mechanical brain for the finger-pressure treatment and massage |
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| CN106618952B (en) * | 2016-11-15 | 2023-04-21 | 合肥工业大学 | Series-parallel multistage rehabilitation training machine |
| CN107411946A (en) * | 2017-05-27 | 2017-12-01 | 韩登银 | A kind of leg massage instrument |
| CN108338900A (en) * | 2018-02-20 | 2018-07-31 | 郭双伟 | A kind of intelligence leg medical massage instrument |
| CN108338900B (en) * | 2018-02-20 | 2019-11-08 | 王伟 | A kind of intelligence leg medical massage instrument |
| CN108578121A (en) * | 2018-03-21 | 2018-09-28 | 张方霞 | A kind of Cardiological Multifunctional nursing device |
| CN108871534A (en) * | 2018-04-08 | 2018-11-23 | 常州信息职业技术学院 | Electronic scale |
| CN114469682A (en) * | 2022-02-24 | 2022-05-13 | 高兰芝 | Leg massage device for neurology nursing |
| CN114469682B (en) * | 2022-02-24 | 2024-04-12 | 高兰芝 | Leg massage device for neurology nursing |
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| CN106038191B (en) | 2018-01-16 |
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Inventor after: Yuan Qing Inventor after: Li Fu Inventor after: Feng Xiushuan Inventor after: Xue Juan Inventor before: Shen Yonggen |
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Effective date of registration: 20171220 Address after: 266555 Central Hospital of Qingdao West Coast new area, No. 7, Huangpu River Road, Huangdao District, Qingdao, Shandong Applicant after: Yuan Qing Address before: 246001, room 3, building 80, No. 409, Tianzhu mountain road, Anqing Development Zone, Anhui, China Applicant before: ANQING HAINA INFORMATION TECHNOLOGY CO., LTD. |
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