CN106667733A - Simulated hand and shoulder massaging device - Google Patents
Simulated hand and shoulder massaging device Download PDFInfo
- Publication number
- CN106667733A CN106667733A CN201611114083.2A CN201611114083A CN106667733A CN 106667733 A CN106667733 A CN 106667733A CN 201611114083 A CN201611114083 A CN 201611114083A CN 106667733 A CN106667733 A CN 106667733A
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- China
- Prior art keywords
- connecting plate
- massage
- support plate
- tooth bar
- gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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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
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0119—Support for the device
- A61H2201/0138—Support for the device incorporated in furniture
- A61H2201/0149—Seat or chair
-
- 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
- A61H2201/1657—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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5071—Pressure sensors
-
- 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
- A61H2205/06—Arms
- A61H2205/062—Shoulders
Landscapes
- Health & Medical Sciences (AREA)
- Dermatology (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Massaging Devices (AREA)
Abstract
The invention relates to a simulated hand and shoulder massaging device. The simulated hand and shoulder massaging device comprises a chair, a connecting mechanism, an X-direction moving mechanism, a Y-direction moving mechanism and a massaging force applying mechanism, wherein the connecting mechanism is arranged on the back of the chair; the X-direction moving mechanism is arranged at the upper end of the connecting mechanism; the Y-direction moving mechanism is arranged at the upper end of the X-direction moving mechanism; the massaging force applying mechanism is arranged on a side surface of the Y-direction moving mechanism; the connecting mechanism comprises a fixing support, a fixing clip, a connecting plate and a supporting plate; the fixing clip is arranged between the fixing support and the chair; the connecting plate is arranged at the upper end of the fixing support and is connected with the fixing support through bolts; the supporting plate is arranged at the upper end of the connecting plate and is connected with the connecting plate through bolts; and a chute is formed in a side surface of the supporting plate.
Description
Technical field
The present invention relates to massage apparatus field, more particularly to a kind of Simulated hand shoulder massage machine.
Background technology
Massage machine in the market is mainly integrated with chair, or single function, and not intelligent, existing
Some massage armchairs are heavier, take up room larger, and portability is too poor, and massage motion is single, it is impossible to realize the massage fortune of handss
Dynamic, for considering from the angle of portability and ease for use, existing massage machine cannot meet the crowd for moiling in work
Relax one's muscles after work, it is impossible to make user improve work efficiency, accordingly, it would be desirable to a kind of convenient handy massage machine is solving
Certainly this problem.
The content of the invention
It is an object of the invention to provide a kind of Simulated hand shoulder massage machine, for realizing the massaging action of handss, Neng Goushi
Shi Di, neatly adjusting massage contact trace, massage contact force size, contact persistence, massage contact multiplicity and massage connect
Tactile frequency, improves convenience and practicality.
The present invention is for the solution technical scheme that adopted of its technical problem,
A kind of Simulated hand shoulder massage machine, including chair, be arranged at the bindiny mechanism at chair back, be arranged at the company
The X of connection mechanism upper end to motion, be arranged at Y-direction motion from the X to motion upper end, be arranged at the Y-direction
The massage force applying mechanism of motion side：
The bindiny mechanism includes fixed support, the fixation clamp being arranged between the fixed support and chair, arranges
The connecting plate that is bolted in the fixed support upper end and with fixed support, be arranged at the connecting plate upper end and with even
The support plate that fishplate bar is bolted, the support plate side offers chute；
The X to motion include being arranged at the X of the support plate upper end to tooth bar, be arranged at the X to tooth bar two
The X at end to positive stop, the X for being arranged at the X and being connected to tooth bar to tooth bar upper end and with X to gear, be arranged at the X to
Gear side and the X that is connected to gear by output shaft and X to motor, be arranged at the X to the X of motor side
To connecting plate for electric motor, the X for being arranged at the support plate side and being embedded inside the chute of support plate side to guide runner, set
The X is placed in guide runner and X to the slide attachment plate between connecting plate for electric motor；
The Y-direction motion structure include being arranged at X to connecting plate for electric motor upper end and by bolt with X to connecting plate for electric motor phase
The Y-direction connecting plate for electric motor of connection, the Y-direction stepping motor for being arranged at the Y-direction motor connection intralaminar part, be arranged at Y-direction stepping electricity
Pusher side face and with Y-direction stepping motor the Y-direction gear being connected by output shaft, the Y-direction tooth for being arranged at the Y-direction gear side
Bar, the Y-direction positive stop for being arranged at the Y-direction tooth bar upper end, the Y-direction support plate for being arranged at the Y-direction tooth bar back, it is arranged at
The upper bracket of the Y-direction support plate upper end, the Y-direction guide post for being arranged at Y-direction support plate both sides, it is arranged at the Y-direction guide post
The fairlead of end；
The massage force applying mechanism includes servomotor connecting plate, is arranged at watching for the servomotor connecting plate side
The feed screw nut pair that take motor, is arranged at the servomotor side and is connected with servomotor, it is arranged at the screw mandrel spiral shell
The massage finger of female one end, the pressure transducer being arranged between the massage finger and feed screw nut pair；
Further, the support plate back is additionally provided with touch screen, and the position in X, Y-direction can be arranged on the touchscreen
Shifting amount, massages the size of contact force, the size of the point duration of contact of massage force, pressing at certain position at X, Y location
Rub number of times, per these parameters of the time interval of applying massage force twice；
Further, the Y-direction support plate is connected by upper bracket with servomotor connecting plate, Y-direction tooth bar front end and Y
It is connected to gear；
The massage machine is also circumscribed with control system, and control system is made up of single-chip microcomputer and sensor etc., by setting X, Y
Displacement on direction, control X to motor and Y-direction stepping motor are moved, and make up to required position, control system
Achievable massage position is continually changing, the contact force signal of pressure transducer detection massage finger massage every time, and is transferred to
Control system, the contact force of detection is compared with massage pre set force, hence into feedback regulation, is allowed to be constant at set
Massage contact force, control system be capable of achieving massage force gradually increasing or decreasing, by arrange massage contact force lasting point
Time of contact, different massage persistence are obtained, control system is capable of achieving the gradually increasing or decreasing of persistence, by arranging certain position
The massage number of times at the place of putting is capable of achieving different massage multiplicities, and control system is capable of achieving the gradually increasing or decreasing of multiplicity, leads to
Cross the time interval arranged per contact force is massaged twice, obtain different massage contact frequencies, control system be capable of achieving frequency by
Gradually increasing or decreasing.Control system is capable of achieving track motion, massage force size, massage persistence, massage multiplicity, massage frequency
These parameters are automatically adjusted, and control system has memory function, preserve the massaging way of different parameters composition, are easy to adjust
With so that using more convenient.
It is an advantage of the current invention that
This kind of Simulated hand shoulder massage machine carries easy, is flexibly installed on most chair, can make at any time
With.The real-time tune of massage position, massage force size, massage persistence, contact multiplicity, massage frequency is realized by control system
Section, and according to memory function, the massaging action of a certain combination can be used for multiple times, due to its portability and ease for use, Neng Gourang
The people for moiling experience at any time shoulder massage contact movement and make loosening all muscless, at a desk can also side even if sitting
The work of massage side, so as to allow the healthy of user, improves work efficiency.
Description of the drawings
Fig. 1 is the structural representation of Simulated hand shoulder massage machine proposed by the present invention；
Fig. 2 is Simulated hand shoulder massage machine X proposed by the present invention structural representations upwards；
Fig. 3 is the structural representation in Simulated hand shoulder massage machine Y-direction proposed by the present invention；
Wherein：1- chairs；2- fixed supports；3- fixation clamps；4- connecting plates；5- support plates；6-X is to tooth bar；7-X is to limit
Position block；8-X is to gear；9-X is to motor；10-X is to connecting plate for electric motor；11-X is to guide runner；12- slide attachment plates；
13-Y is to connecting plate for electric motor；14-Y is to motor；15-Y is to gear；16-Y is to tooth bar；17-Y is to positive stop；18-Y to
Board；19- upper brackets；20-Y is to guide post；21- fairleads；22- servomotor connecting plates；23- servomotors；24- screw mandrel spiral shells
It is female secondary；25- massages finger；26- pressure transducers；27- touch screens.
Specific embodiment
In order that technological means, creation characteristic, reached purpose and effect that the present invention is realized are easy to understand, tie below
Diagram and specific embodiment are closed, the present invention is expanded on further.
As shown in Figure 1 to Figure 3, Simulated hand shoulder massage machine proposed by the present invention includes chair 1, is arranged at chair back
Bindiny mechanism, be arranged at the X of the bindiny mechanism upper end to motion, be arranged at the X to the Y-direction of motion upper end
Motion, the massage force applying mechanism for being arranged at the Y-direction motion side：
The bindiny mechanism includes fixed support 2, the fixation clamp 3 being arranged between the fixed support and chair, sets
The connecting plate 4 that is placed in the fixed support upper end and is bolted with fixed support, be arranged at the connecting plate upper end and
The support plate 5 being bolted with connecting plate, the support plate side offers chute；
The X to motion include being arranged at the X of the support plate upper end to tooth bar 6, be arranged at the X to tooth bar two
The X at end to positive stop 7, the X for being arranged at the X and being connected to tooth bar to tooth bar upper end and with X to gear 8, be arranged at the X
The X being connected to gear side and by output shaft and X to gear to motor 9, be arranged at the X to motor side
X to connecting plate for electric motor 10, the X for being arranged at the support plate side and being embedded inside the chute of support plate side to be oriented to slide
Block 11, the X is arranged to guide runner and X to the slide attachment plate 12 between connecting plate for electric motor, driven from X to motor
X to gear rotates, and X is fixed on support plate to tooth bar and does not move, and so as to realize linear motions of the X to connecting plate, X is to connecting plate
On slide attachment plate, X is driven to move in chute to guide runner by slide attachment plate, X to guide runner is played
Supporting and guide effect, X to positive stop limit X to limit of sports record position；
The Y-direction motion structure include being arranged at X to connecting plate for electric motor upper end and by bolt with X to connecting plate for electric motor phase
The Y-direction connecting plate for electric motor 13 of connection, the Y-direction stepping motor 14 for being arranged at the Y-direction motor connection intralaminar part, be arranged at Y-direction step
Stepper motor side and with Y-direction stepping motor the Y-direction gear 15 being connected by output shaft, the Y for being arranged at the Y-direction gear side
To tooth bar 16, it is arranged at the Y-direction positive stop 17 of the Y-direction tooth bar upper end, is arranged at the Y-direction supporting at the Y-direction tooth bar back
Plate 18, the upper bracket 19 for being arranged at the Y-direction support plate upper end, it is arranged at Y-direction guide post 20 to support plate both sides, is arranged at
The Y-direction is oriented to the fairlead 21 of boom end；The rotation of Y-direction gear is driven by Y-direction stepping motor, so as to realize the straight of Y-direction tooth bar
Line is moved, and Y-direction tooth bar is arranged on Y-direction support plate, because servomotor connecting plate is connected to by upper bracket with Y-direction support plate
Together, you can realize the applying mechanism Y-direction motion of massage force, Y-direction guide post plays Y-direction guide effect, and Y-direction positive stop is limited
The limit of sports record position of Y-direction；
The massage force applying mechanism includes servomotor connecting plate 22, is arranged at the servomotor connecting plate side
Servomotor 23, the feed screw nut pair 24 for being arranged at the servomotor side and being connected with servomotor, be arranged at it is described
The massage finger 25 of feed screw nut one end, the pressure transducer 26 being arranged between the massage finger and feed screw nut pair, watch
Taking motor drives the motion of screw pair drive mechanism, nut to fix, and leading screw is for linear motion, middle through pressure transducer,
Massage finger is passed in motion, the applying action of massage contact force is realized；
Further, the support plate back is additionally provided with touch screen 27, can arrange on the touchscreen in X, Y-direction
Displacement, massages the size of contact force, the size of the point duration of contact of massage force at X, Y location, at certain position
Massage number of times, per these parameters of the time interval of applying massage force twice；
Further, the Y-direction support plate is connected by upper bracket with servomotor connecting plate, Y-direction tooth bar front end and Y
It is connected to gear；
The massage machine is also circumscribed with control system, and control system is made up of single-chip microcomputer and sensor etc., by setting X, Y
Displacement on direction, control X to motor and Y-direction stepping motor are moved, and make up to required position, control system
Achievable massage position is continually changing, the contact force signal of pressure transducer detection massage finger massage every time, and is transferred to
Control system, the contact force of detection is compared with massage pre set force, hence into feedback regulation, is allowed to be constant at set
Massage contact force, control system be capable of achieving massage force gradually increasing or decreasing, by arrange massage contact force lasting point
Time of contact, different massage persistence are obtained, control system is capable of achieving the gradually increasing or decreasing of persistence, by arranging certain position
The massage number of times at the place of putting is capable of achieving different massage multiplicities, and control system is capable of achieving the gradually increasing or decreasing of multiplicity, leads to
Cross the time interval arranged per contact force is massaged twice, obtain different massage contact frequencies, control system be capable of achieving frequency by
Gradually increasing or decreasing.Control system is capable of achieving track motion, massage force size, massage persistence, massage multiplicity, massage frequency
These parameters are automatically adjusted, and control system has memory function, preserve the massaging way of different parameters composition, are easy to adjust
With so that using more convenient.
Ultimate principle, principal character and the advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel it should be appreciated that the present invention is not restricted to the described embodiments, the simply explanation described in above-described embodiment and description this
The principle of invention, of the invention without departing from the spirit and scope of the present invention also to have various changes and modifications, these changes
Change and improvement is both fallen within scope of the claimed invention.The claimed scope of the invention by appending claims and its
Equivalent is defined.
Claims (3)
1. a kind of Simulated hand shoulder massage machine, including chair, the bindiny mechanism for being arranged at chair back, the connection is arranged at
The X of mechanism upper end to motion, be arranged at Y-direction motion from the X to motion upper end, be arranged at Y-direction fortune
The massage force applying mechanism of motivation structure side, it is characterised in that：
The bindiny mechanism includes fixed support, the fixation clamp being arranged between the fixed support and chair, is arranged at institute
The connecting plate stating fixed support upper end and be bolted with fixed support, it is arranged at the connecting plate upper end and and connecting plate
The support plate being bolted, the support plate side offers chute；
The X to motion include being arranged at the X of the support plate upper end to tooth bar, be arranged at the X to the X at tooth bar two ends
To positive stop, the X for being arranged at the X and being connected to tooth bar to tooth bar upper end and with X to gear, the X is arranged to gear
Side and the X that is connected to gear by output shaft and X to motor, be arranged at the X to the X of motor side to electricity
Machine connecting plate, be arranged at the support plate side and the X that is embedded inside the chute of support plate side to guide runner, be arranged at
The X is to guide runner and X to the slide attachment plate between connecting plate for electric motor；
The Y-direction motion structure includes that be arranged at X is connected with X to connecting plate for electric motor upper end and by bolt to connecting plate for electric motor
Y-direction connecting plate for electric motor, be arranged at the Y-direction stepping motor of the Y-direction motor connection intralaminar part, be arranged at Y-direction stepping motor side
Face and with Y-direction stepping motor the Y-direction gear being connected by output shaft, the Y-direction tooth bar for being arranged at the Y-direction gear side, set
The Y-direction positive stop of the Y-direction tooth bar upper end is placed in, the Y-direction support plate at the Y-direction tooth bar back is arranged at, is arranged at the Y
Upper bracket to support plate upper end, the Y-direction guide post for being arranged at Y-direction support plate both sides, it is arranged at the Y-direction and is oriented to boom end
Fairlead；
The massage force applying mechanism includes servomotor connecting plate, is arranged at the servo electricity of the servomotor connecting plate side
Machine, the feed screw nut pair for being arranged at the servomotor side and being connected with servomotor, it is arranged at the feed screw nut one
The massage finger at end, the pressure transducer being arranged between the massage finger and feed screw nut pair.
2. a kind of Simulated hand shoulder massage machine according to claim 1, it is characterised in that：The support plate back also sets
It is equipped with touch screen.
3. a kind of Simulated hand shoulder massage machine according to claim 1, it is characterised in that：The Y-direction support plate passes through
Upper bracket is connected with servomotor connecting plate, and Y-direction tooth bar front end is connected with Y-direction gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611114083.2A CN106667733A (en) | 2016-12-07 | 2016-12-07 | Simulated hand and shoulder massaging device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611114083.2A CN106667733A (en) | 2016-12-07 | 2016-12-07 | Simulated hand and shoulder massaging device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106667733A true CN106667733A (en) | 2017-05-17 |
Family
ID=58867679
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611114083.2A Pending CN106667733A (en) | 2016-12-07 | 2016-12-07 | Simulated hand and shoulder massaging device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106667733A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108210268A (en) * | 2017-12-27 | 2018-06-29 | 钟光文 | A kind of medical treatment and nursing shoulder massage apparatus |
| CN113197755A (en) * | 2021-05-06 | 2021-08-03 | 上海大学 | Intelligent three-dimensional motion massage mechanical device |
| CN113576880A (en) * | 2021-08-02 | 2021-11-02 | 南华大学 | Vaccine vehicle-mounted automatic heart pressing device and method |
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| US20110140484A1 (en) * | 2009-12-11 | 2011-06-16 | Chin An Chang | Multi-Function Chair |
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| CN102319168A (en) * | 2011-08-01 | 2012-01-18 | 山东康泰实业有限公司 | Massaging device with multiple massaging manipulations |
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| CN103655116A (en) * | 2013-12-11 | 2014-03-26 | 天津市耐特家具有限公司 | Five-shaft linkage massage device |
| CN103948483A (en) * | 2014-04-21 | 2014-07-30 | 安阳工学院 | Upper limb rehabilitation trainer |
| CN204698948U (en) * | 2015-06-08 | 2015-10-14 | 田昕 | A kind of cervical muscle massage machine |
| CN105411831A (en) * | 2016-01-10 | 2016-03-23 | 西北工业大学 | Massage robot in tracking mode |
| CN105748260A (en) * | 2016-04-26 | 2016-07-13 | 华北理工大学 | Shoulder rehabilitation training robot with three degrees of freedom |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100804723B1 (en) * | 2006-11-29 | 2008-02-19 | 창명제어기술 (주) | The left arm and direction change the right arm ease one shoulder joint treatment flag |
| US20110140484A1 (en) * | 2009-12-11 | 2011-06-16 | Chin An Chang | Multi-Function Chair |
| CN101862144A (en) * | 2010-06-03 | 2010-10-20 | 东南大学 | Domestic back rubbing and massaging manipulator |
| CN102283765A (en) * | 2010-06-16 | 2011-12-21 | 山东康泰实业有限公司 | Rectangular coordinate and joint type combined traditional Chinese massage robot |
| CN102319168A (en) * | 2011-08-01 | 2012-01-18 | 山东康泰实业有限公司 | Massaging device with multiple massaging manipulations |
| CN202236177U (en) * | 2011-08-01 | 2012-05-30 | 山东康泰实业有限公司 | Gantry type traditional Chinese medicine massage robot |
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| CN103948483A (en) * | 2014-04-21 | 2014-07-30 | 安阳工学院 | Upper limb rehabilitation trainer |
| CN204698948U (en) * | 2015-06-08 | 2015-10-14 | 田昕 | A kind of cervical muscle massage machine |
| CN105411831A (en) * | 2016-01-10 | 2016-03-23 | 西北工业大学 | Massage robot in tracking mode |
| CN105748260A (en) * | 2016-04-26 | 2016-07-13 | 华北理工大学 | Shoulder rehabilitation training robot with three degrees of freedom |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108210268A (en) * | 2017-12-27 | 2018-06-29 | 钟光文 | A kind of medical treatment and nursing shoulder massage apparatus |
| CN113197755A (en) * | 2021-05-06 | 2021-08-03 | 上海大学 | Intelligent three-dimensional motion massage mechanical device |
| CN113576880A (en) * | 2021-08-02 | 2021-11-02 | 南华大学 | Vaccine vehicle-mounted automatic heart pressing device and method |
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Application publication date: 20170517 |