CN106726326B - A kind of orthopedic rehabilitation therapeutic equipment with magnetic therapy blood circulation-promoting functions - Google Patents
A kind of orthopedic rehabilitation therapeutic equipment with magnetic therapy blood circulation-promoting functions Download PDFInfo
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- CN106726326B CN106726326B CN201710105592.7A CN201710105592A CN106726326B CN 106726326 B CN106726326 B CN 106726326B CN 201710105592 A CN201710105592 A CN 201710105592A CN 106726326 B CN106726326 B CN 106726326B
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G15/00—Operating chairs; Dental chairs; Accessories specially adapted therefor, e.g. work stands
- A61G15/007—Physiotherapeutic chairs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G15/00—Operating chairs; Dental chairs; Accessories specially adapted therefor, e.g. work stands
- A61G15/10—Parts, details or accessories
-
- 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
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N2/00—Magnetotherapy
- A61N2/002—Magnetotherapy in combination with another treatment
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N2/00—Magnetotherapy
- A61N2/06—Magnetotherapy using magnetic fields produced by permanent magnets
-
- 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
- A61H2201/10—Characteristics of apparatus not provided for in the preceding codes with further special therapeutic means, e.g. electrotherapy, magneto therapy or radiation therapy, chromo therapy, infrared or ultraviolet therapy
-
- 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
- A61H2201/1628—Pelvis
- A61H2201/1633—Seat
-
- 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
Abstract
The present invention relates to a kind of orthopedic rehabilitation therapeutic equipments with magnetic therapy blood circulation-promoting functions, including mounting plate, lifting regulating mechanism and two the linear guides there are two being symmetrically installed above mounting plate leading flank, two the linear guides are located between two lifting regulating mechanisms, adjustable plate is installed, the both ends of adjustable plate are symmetrically mounted on two lifting regulating mechanisms in two the linear guides；The lower end of adjustable plate is symmetrically installed that there are two height to adjust hydraulic cylinder, and the tops that two height adjust hydraulic cylinder are equipped with support plate by flange, and the lower end of support plate is symmetrically installed that there are two shoulder massage machines by gusset；Physiotherapy chair is installed below the leading flank of mounting plate, is respectively provided with that there are one magnetic therapy mechanisms inside the front end face upper interior and middle-end of Physiotherapy chair.The rehabilitation function of both shoulders comprehensive flexible cycle massage and magnetic therapy relaxing tendons and activating collaterals may be implemented in the present invention, has many advantages, such as that massage force is uniform, massage effect is good, treatment comfort level is good and rehabilitation speed is fast.
Description
Technical field
The present invention relates to medical rehabilitation treatment technology field, specifically a kind of orthopaedics health with magnetic therapy blood circulation-promoting functions
Multiple therapeutic equipment.
Background technology
Common orthopaedic disease has scapulohumeral periarthritis, cervical spondylosis, protrusion of lumber intervertebral disc, myotenositis, arthritis, synovitis, joint
Dislocation and fracture etc., what wherein incidence was more most is exactly scapulohumeral periarthritis；Scapulohumeral periarthritis is also known as the periarthritis of shoulderjoint, is commonly called as coagulating
Originally shoulder, frozen shoulder, morbidity gradually generate pain with shoulder, night is that very, morbidity mid-term gradually aggravates, shoulder mobility function
It is limited and increasingly aggravates, gradually alleviate after reaching to a certain degree, until being finally restored to the shoulder joint mainly showed completely
The chronic specific inflammatory of capsule and its surrounding ligaments, tendon and synovial bursa.Scapulohumeral periarthritis is based on shoulder arthralgia and inconvenient activity
The common disease of symptom is wanted, such as cannot effectively be treated, it is possible to seriously affect the functional activity of shoulder joint.
It is with the thumb or palm for being good for side that the primary treatment regimen of existing scapulohumeral periarthritis, which uses self-massage mode, main method,
The front and outside of Ipsilateral shoulder joint are rubbed from top to bottom, then rub shoulder joint rear portion with the 2nd~4 finger pulp referred to of healthy side hand
Each position, then with the upper arm muscles for the teamwork kneading ipsilateral upper limb for being good for side thumb and remaining finger, from the bottom to top
Kneading is to shoulder；This manual massage mode, complicated for operation, massage force is not of uniform size, and massage effect is poor, rehabilitation speed
Slowly；Although having many scapulohumeral periarthritis utensils on existing market, such as the electromechanics that China Patent No. is 201410162557.5
Integrated scapulohumeral periarthritis device is completed two shoulders while mainly so that shoulder correlation acupuncture point is obtained massage by transmission mechanism and is stretched backward
Exhibition movement moves to realize, but since mechanical transmission structure is comparatively rigid, the morbidity patient of scapulohumeral periarthritis is largely for more than 50
The elderly in year, this mechanical rehabilitation stretching routine therapeutic modality can feel feeling of pain, are not suitable for old man and use, treatment is relaxed
Under moderately low, rehabilitation effect is poor；A kind of scapulohumeral periarthritis medical treatment that for another example China Patent No. is 2015100700516 assists
Instrument is mainly to move back and forth to tap patient's shoulder after the motor of pulse current control drives hand hammer to do by crank and rocker mechanism,
To the effect of massage therapy scapulohumeral periarthritis, but since the hand hammer of mechanical drive mode driving beats the bad control of shoulder dynamics repeatedly
System, differs to the strength that shoulder beats, and beats that massage comfort level is low, and rehabilitation effect is poor, in consideration of it, being badly in need of a kind of
Without manual massage, the scapulohumeral periarthritis therapeutic equipment that massage force is uniform, massage effect is good and rehabilitation efficacy is good.
Invention content
To solve the above-mentioned problems, the present invention provides a kind of orthopedic rehabilitation therapeutic equipment with magnetic therapy blood circulation-promoting functions,
It can solve complicated for operation, massage force existing for existing scapulohumeral periarthritis manual massage therapeutic modality and machine automatization rehabilitation mode
The problems such as not of uniform size, massage effect is poor, treatment comfort level is low and rehabilitation speed is slow are spent, it is comprehensive that both shoulders may be implemented
The rehabilitation function of flexible cycle massage and magnetic therapy relaxing tendons and activating collaterals, without human intervention, massage effect uniform with massage force
The advantages that fruit is good, treatment comfort level is good and rehabilitation speed is fast.
To achieve the goals above, the present invention is realized using following technical scheme：It is a kind of with magnetic therapy blood circulation-promoting functions
Orthopedic rehabilitation therapeutic equipment, including mounting plate, be symmetrically installed above the mounting plate leading flank there are two lifting regulating mechanism and
Two the linear guides, two the linear guides are located between two lifting regulating mechanisms, and adjustable plate is equipped in two the linear guides,
The both ends of adjustable plate are symmetrically mounted on two lifting regulating mechanisms, the lifting regulating mechanism band being uniformly arranged symmetrically by two
Dynamic adjustable plate carries out stable height in two the linear guides and adjusts so that the present invention can be suitably used for different scapulohumeral periarthritis patients'
Rehabilitation；The lower end of the adjustable plate is symmetrically installed there are two height adjusting hydraulic cylinder, and two height adjust the tops of hydraulic cylinder
End is equipped with support plate by flange, the lower end of support plate by gusset be symmetrically installed there are two shoulder massage machine, pass through two
A shoulder massage machine is carried out at the same time comprehensive flexible cycle massage to scapulohumeral periarthritis patient's both shoulders, and massage force is uniform, massage effect
Fruit is good, and rehabilitation efficacy is good；Physiotherapy chair is installed, the front end face upper interior of Physiotherapy chair is in below the leading flank of the mounting plate
End is internal to be respectively provided with there are one magnetic therapy mechanism, can allow scapulohumeral periarthritis patient while carrying out recovering massage to the back of the body by Physiotherapy chair
Portion and hip position carry out magnetic physiotherapeutic, considerably increase massage comfort level and massage effect, are controlled to considerably increase rehabilitation
Treat speed.
The shoulder massage machine includes the arc bracket being welded on gusset, is symmetrically installed on the inner wall of arc bracket
Two movement supporting rings each move arc limit slot there are one being respectively provided in the middle part of supporting ring, pass through sliding in each arc limit slot
Fit system is mounted on a kinematic axis, is all connected on the outside of every kinematic axis there are one driving mechanism, two move supporting rings
On two kinematic axis between the massage roller being made of elastic material is installed, two driving machines being connected with two kinematic axis
Structure is symmetrically mounted on arc bracket inner wall, and the driving mechanism being arranged symmetrically by two works at the same time to drive two kinematic axis
Movement, two kinematic axis drive massage roller movement；The lower end of the arc bracket is connected with the fabric with massage function of U-shaped structure,
The material selection Elastic Carbon Fiber Materials of fabric with massage function, carbon fiber are a kind of high intensity, the new fiber materials of high-modulus, nontoxic
It is harmless, there is preferable flexibility, flexible massage, the inner wall two of fabric with massage function are carried out to scapulohumeral periarthritis both shoulders by fabric with massage function
End is symmetrically connected with two flexible skirts, and annular is close to a circle flexible massage pole on the inner wall of fabric with massage function, and each elasticity is pressed
The rub upper end of column is respectively mounted there are one matrix, is connected by a limit spring between two matrixs of arbitrary neighborhood, and be located at
Fabric with massage function both sides the lowermost matrix is connected with two flexible skirts respectively, and limit spring plays the two neighboring matrix of connection
Effect, the composition massage base so that all matrixs can all link together, and the present invention passes through two flexible skirts
Massage base is connected on fabric with massage function both sides, and since the flexible limit connection function of limit spring makes under external force
Base, which must be massaged, can carry out flexible concertina adjusting, to drive corresponding circle flexible massage pole by fabric with massage function to scapulohumeral periarthritis
Shoulder carries out comprehensive recovering massage movement, and the massage roller lower end is tightly attached on longitudinal corresponding row matrix, and is massaged
The diameter of idler wheel is more than the distance between matrix upper surface and arc bracket inner wall under fabric with massage function normal condition, it is ensured that is located at
Flexible massage pole immediately below massage roller on matrix can be downwardly projecting, is driven by bad move back and forth of following of massage roller
The circle flexible massage pole massaged in base carries out comprehensive recovering massage movement, massage by fabric with massage function to scapulohumeral periarthritis shoulder
Dynamics is uniform, and massage effect is good, and treatment comfort level is good, and rehabilitation effect is good.
It is described to include the magnetic therapy panel being made of carbon fibre materials including magnetic therapy mechanism and be uniformly mounted on inside Physiotherapy chair
Magnetite, carbon fiber is a kind of high intensity, the new fiber materials of high-modulus, nontoxic, has preferable flexibility, magnetic therapy
The lateral surface of panel lateral surface corresponding with Physiotherapy chair is concordant, and magnetic therapy panel inner wall is tightly attached on magnetite, and the present invention utilizes carbon fiber
Tieing up preferable flexibility ensures that back and hip position can while scapulohumeral periarthritis patient is sitting in progress recovering massage on Physiotherapy chair
It is tightly attached on magnetic therapy panel, is then tightly attached on magnetic therapy panel to scapulohumeral periarthritis patient back and hip by the magnetite being evenly arranged
Position carries out magnetic therapy, and magnetic therapy has the function of, to scapulohumeral periarthritis patient's relaxing tendons and activating collaterals, considerably increasing massage comfort level and massage being imitated
Fruit, to considerably increase rehabilitation speed.
As a preferred technical solution of the present invention, the lifting regulating mechanism includes being mounted on mounting plate leading flank
The elevation base plate of side, is equipped with sliding rail on elevation base plate inner wall, on sliding rail installation shifting is installed on two sliding blocks there are two sliding block
Carry-over bar, mobile rack are meshed with transmission gear, are mounted on transmission shaft by bearing in the middle part of transmission gear, transmission shaft setting
On mounting plate leading flank, the transmission gear is meshed with driving gear, and the defeated of driving motor is mounted in the middle part of driving gear
On shaft, driving motor is mounted on by motor cabinet on mounting plate leading flank, two movements of described two lifting regulating mechanisms
Rack upper end is welded with adjustable plate；The present invention drives driving gear rotation, driving gear band nutating gear by driving motor
It is rotated on transmission shaft, transmission gear drives mobile rack to carry out up and down adjustment movement on two sliding blocks of sliding rail, the present invention
The lifting regulating mechanism being arranged symmetrically by two drives adjustable plate to carry out under the transmission of two pairs of transmission gears and mobile rack
Lift adjustment moves so that and the present invention can be suitably used for different scapulohumeral periarthritis patients and be sitting on Physiotherapy chair to both shoulders progress rehabilitation,
The present invention selects two pairs of transmission gears with mobile rack as transmission parts, and it is good to be driven effect for stable drive.
As a preferred technical solution of the present invention, the transmission ratio of the driving gear and transmission gear is more than 1
Step-down ratio increases transmission stability, further increases to reduce the elevating movement speed of corresponding mobile rack
It is driven effect.
As a preferred technical solution of the present invention, the center of the arc bracket and arc limit slot on movement supporting ring
Central axis overlap, arc bracket and the structure that matches of arc limit slot ensure that two fortune of massage roller both sides
Moving axis can be moved smoothly at two in two arc limit slots of movement supporting ring, to ensure that the steady of massage roller movement
It is qualitative, then and ensure that the circle flexible massage pole in massage base and comprehensive health is carried out to scapulohumeral periarthritis shoulder by fabric with massage function
The stability of multiple massage motion, considerably increases massage effect.
As a preferred technical solution of the present invention, the driving mechanism includes being mounted on consolidating on the outside of corresponding kinematic axis
Determine plectane, driving motor is equipped with by motor cabinet on fixed disc, driving gear is installed on the output shaft of driving motor, drives
Moving gear is connected with the arc gear ring of arc-shaped structure, and arc gear ring is mounted on arc bracket inner wall, passes through driving motor band
Dynamic sliding tooth wheel rotation, driving gear can carry out circulating rolling back and forth under the action of driving force in arc gear ring, to drive
Kinematic axis can shuttling movement, the present invention drive two fortune by two driving mechanisms back and forth in arc limit slot on fixed disc
Massage roller between moving axis synchronizes shuttling movement back and forth, and both sides driving force is uniform, and driving effect is good, and motion process is stablized.
As a preferred technical solution of the present invention, two pairs of buffers are symmetrically installed on the inner wall of the arc bracket
The installation site of structure, each buffer gear is respectively positioned between corresponding movement supporting ring and corresponding arc gear ring, and each pair of buffer gear
Installation site to move to the left and right sides position of lowest point with corresponding driving mechanism corresponding；The buffer gear includes setting
The buffering base station on arc bracket inner wall is set, the lower face for buffering base station is evenly arranged with buffer spring, under buffer spring
End is connected with the tip-tilted buffer table in end, and buffer spring has the function of good bumper and absorbing shock, two pairs of buffer gears pair two
Driving mechanism plays good kicking motion when moving to left and right sides end, and be end tilt upward the buffer table of structure can
Ensure to buffer driving mechanism, good buffer effect prevents two driving mechanisms since movement driving force is excessive and inertia effect etc.
Factor cannot stop being in the presence of hitting circular arc support plate immediately, so as to cause the rehabilitation of vibratory sensation influence scapulohumeral periarthritis patient is generated
Massage therapy effect, and the present invention is provided with two pairs of buffer gears, solves two driving mechanisms using cushion effect and hits
Circular arc support plate generates the problem of vibratory sensation, increases massage comfort level, massage effect is good, and rehabilitation effect is good.
When work, two lifting regulating mechanisms first start simultaneously at work, and driving motor drives driving gear rotation, actively
Gear band nutating gear rotates on transmission shaft, and transmission gear drives mobile rack to be carried out on two sliding blocks of sliding rail up and down
Movement is adjusted, the lifting regulating mechanism that the present invention is arranged symmetrically by two is under the transmission of two pairs of transmission gears and mobile rack
Adjustable plate is driven to carry out lift adjustment movement, when adjustable plate drives two shoulder massage machine movements that scapulohumeral periarthritis patient is suitble to be seated in
Two lifting regulating mechanisms are stopped when height, and scapulohumeral periarthritis patient sits to Physiotherapy chair at this time, pass through the magnetite being evenly arranged
It is tightly attached to user back and hip position on magnetic therapy panel and carries out magnetic therapy, magnetic therapy has the work to scapulohumeral periarthritis patient's relaxing tendons and activating collaterals
With starting counter motion two shoulder massage machines driven to be tightly attached to scapulohumeral periarthritis to suffer from starting magnetic therapy latter two lifting regulating mechanism
On person's both shoulders, at the same time shoulder massage machine is started to work, and the driving motor in driving mechanism drives the rotation of sliding tooth wheel, drives
Moving gear can carry out circulating rolling back and forth under the action of driving force in arc gear ring, to drive kinematic axis energy on fixed disc
Shuttling movement, the present invention drive the massage roller between two kinematic axis by two driving mechanisms back and forth in arc limit slot
Synchronous shuttling movement back and forth leads to by bad move back and forth of following of massage roller to drive one in massage base to enclose flexible massage pole
It crosses fabric with massage function and comprehensive recovering massage movement is carried out to scapulohumeral periarthritis shoulder, realize the comprehensive flexible cycle massage of both shoulders and magnetic
The rehabilitation function of relaxing tendons and activating collaterals is treated, without human intervention.
The beneficial effects of the invention are as follows：
1, transmission of the lifting regulating mechanism that the present invention is arranged symmetrically by two in two pairs of transmission gears and mobile rack
Lower drive adjustable plate carries out lift adjustment movement so that the present invention can be suitably used for different scapulohumeral periarthritis patients and be sitting on Physiotherapy chair to double
Shoulder carries out rehabilitation, and the present invention selects two pairs of transmission gears with mobile rack as transmission parts, and stable drive is driven effect
It is good；
2, the transmission ratio of driving gear and transmission gear selects the deceleration transmission more than 1 on lifting regulating mechanism of the present invention
Than reducing the rotating speed of transmission gear, to reduce the elevating movement speed of corresponding mobile rack, increasing stable drive
Property, further increase transmission effect；
3, arc bracket of the present invention ensure that two movements of massage roller both sides with the structure that matches of arc limit slot
Axis can be moved smoothly at two in two arc limit slots of movement supporting ring, to ensure that the stabilization of massage roller movement
Property, then and ensure that the circle flexible massage pole in massage base and comprehensive rehabilitation is carried out to scapulohumeral periarthritis shoulder by fabric with massage function
The stability of massage motion, considerably increases massage effect；
4, the diameter of massage roller of the present invention is more than matrix upper surface and arc bracket inner wall under fabric with massage function normal condition
The distance between, it is ensured that the flexible massage pole being located at immediately below massage roller on matrix can be downwardly projecting, by massage roller
Wheel follows bad move back and forth to drive the circle flexible massage pole in massage base to be carried out to scapulohumeral periarthritis shoulder by fabric with massage function
Comprehensive recovering massage movement, massage force is uniform, and massage effect is good, and treatment comfort level is good, and rehabilitation effect is good；
5, the present invention drives the massage roller between two kinematic axis to synchronize shuttling movement back and forth by two driving mechanisms,
Both sides driving force is uniform, and driving effect is good, it is ensured that the motion process of massage roller is stablized；
6, the present invention is provided with two pairs of buffer gears, and the installation site of each pair of buffer gear is moved with corresponding driving mechanism
Position to left and right sides lowest point is corresponding, and solving two driving mechanisms using cushion effect occurs hitting the generation of circular arc support plate
The problem of vibratory sensation increases massage comfort level, and massage effect is good, and rehabilitation effect is good；
7, the present invention ensures that scapulohumeral periarthritis patient is sitting on Physiotherapy chair using the preferable flexibility of carbon fiber and carries out recovering massage
While back and hip position can be tightly attached on magnetic therapy panel, magnetic therapy panel is then tightly attached to by the magnetite being evenly arranged
On magnetic therapy is carried out to scapulohumeral periarthritis patient back and hip position, magnetic therapy has the function of to scapulohumeral periarthritis patient's relaxing tendons and activating collaterals, significantly
Massage comfort level and massage effect are increased, to considerably increase rehabilitation speed；
8, compared with prior art, the present invention can solve existing scapulohumeral periarthritis manual massage therapeutic modality and machine automatization rehabilitation
It is complicated for operation existing for therapeutic modality, massage force is not of uniform size, massage effect is poor, treatment comfort level is low and rehabilitation is fast
The problems such as slow are spent, the rehabilitation function of both shoulders comprehensive flexible cycle massage and magnetic therapy relaxing tendons and activating collaterals may be implemented, be not necessarily to people
Work operates, and has many advantages, such as that massage force is uniform, massage effect is good, treatment comfort level is good and rehabilitation speed is fast.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the structural schematic diagram of the present invention；
Fig. 2 is the structural schematic diagram of lifting regulating mechanism of the present invention；
Fig. 3 is the structural schematic diagram of shoulder massage machine of the present invention；
Fig. 4 is the full sectional view of shoulder massage machine of the present invention；
Fig. 5 is the sectional view along A-A of Fig. 4 of the present invention；
Fig. 6 is between arc bracket of the present invention, movement supporting ring, kinematic axis, driving mechanism, massage roller and buffer gear
Structural schematic diagram；
Fig. 7 is the structural schematic diagram of buffer gear of the present invention；
Fig. 8 is the sectional view of Physiotherapy chair of the present invention.
Specific embodiment
In order to make the technical means, the creative features, the aims and the efficiencies achieved by the present invention be easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is further explained.
As shown in Figures 1 to 8, a kind of orthopedic rehabilitation therapeutic equipment with magnetic therapy blood circulation-promoting functions, including mounting plate 1, institute
State lifting regulating mechanism 2 and two the linear guides 3 there are two being symmetrically installed above 1 leading flank of mounting plate, two the linear guides 3
Between two lifting regulating mechanisms 2, adjustable plate 4 is installed in two the linear guides 3, the both ends of adjustable plate 4 are symmetrically mounted on
On two lifting regulating mechanisms 2, drive adjustable plate 4 in two straight lines by two lifting regulating mechanisms being uniformly arranged symmetrically 2
It carries out stable height on guide rail 3 to adjust so that the present invention can be suitably used for the rehabilitation of different scapulohumeral periarthritis patients；The adjusting
The lower end of plate 4 is symmetrically installed there are two height adjusting hydraulic cylinder 5, and the tops that two height adjust hydraulic cylinders 5 are installed by flange
There are support plate 6, the lower end of support plate 6 to be symmetrically installed there are two shoulder massage machine 8 by gusset 7, massaged by two shoulders
Device 8 is carried out at the same time comprehensive flexible cycle massage to scapulohumeral periarthritis patient's both shoulders, and massage force is uniform, and massage effect is good, rehabilitation
Effect is good；Physiotherapy chair 11 is installed, in the front end face upper interior and middle-end of Physiotherapy chair 11 below the leading flank of the mounting plate 1
Portion is respectively provided with there are one magnetic therapy mechanism 12, can allow scapulohumeral periarthritis patient while carrying out recovering massage to the back of the body by Physiotherapy chair 11
Portion and hip position carry out magnetic physiotherapeutic, considerably increase massage comfort level and massage effect, are controlled to considerably increase rehabilitation
Treat speed.
The shoulder massage machine 8 includes being welded on arc bracket 81 on gusset 7, symmetrical on the inner wall of arc bracket 81
Supporting ring 82 is moved there are two installing, and each moves arc limit slot there are one being respectively provided in the middle part of supporting ring 82, each arc limit slot
It is upper that a kinematic axis 83 is mounted on by sliding matching mode, the outside of every kinematic axis 83 be all connected with there are one driving mechanism
84, two movement supporting rings 82 on two kinematic axis 83 between the massage roller 85 being made of elastic material is installed, with two
Two connected driving mechanisms 84 of kinematic axis 83 are symmetrically mounted on 81 inner wall of arc bracket, the driving being arranged symmetrically by two
Mechanism 84 works at the same time that two kinematic axis 83 is driven to move, and two kinematic axis 83 drive massage roller 85 to move；The arc
The lower end of holder 81 is connected with the fabric with massage function 86 of U-shaped structure, the material selection Elastic Carbon Fiber Materials of fabric with massage function 86, carbon
Fiber is a kind of high intensity, the new fiber materials of high-modulus, nontoxic, has preferable flexibility, passes through fabric with massage function
86 to carry out flexible massage to scapulohumeral periarthritis both shoulders, and the inner wall both ends of fabric with massage function 86 are symmetrically connected with two flexible skirts 87, press
Annular on the inner wall of fabric 86 of rubbing is close to a circle flexible massage pole 88, there are one the upper end of each flexible massage pole 88 is respectively mounted
Matrix 89 is connected by a limit spring 80 between two matrixs 89 of arbitrary neighborhood, and most positioned at 86 both sides of fabric with massage function
The matrix 89 of lower end is connected with two flexible skirts 87 respectively, and limit spring 80 plays the role of the two neighboring matrix 89 of connection,
The composition massage base so that all matrixs 89 can all link together, and the present invention will by two flexible skirts 87
Massage base is connected on 86 both sides of fabric with massage function, and under external force due to the flexible limit connection function of limit spring 80
So that massage base can carry out flexible concertina adjusting, to drive corresponding circle flexible massage pole 88 right by fabric with massage function 86
Scapulohumeral periarthritis shoulder carries out comprehensive recovering massage movement, and 85 lower end of the massage roller is tightly attached to longitudinal corresponding row matrix 89
On, and the diameter of massage roller 84 is more than under 86 normal condition of fabric with massage function between 81 inner wall of 89 upper surface of matrix and arc bracket
Distance, it is ensured that be located at 84 underface matrix 89 of massage roller on flexible massage pole 88 can be downwardly projecting, by massage
Idler wheel 84 follows bad move back and forth to drive the circle flexible massage pole 88 in massage base by fabric with massage function 86 to scapulohumeral periarthritis
Shoulder carries out comprehensive recovering massage movement, and massage force is uniform, and massage effect is good, and treatment comfort level is good, rehabilitation effect
It is good.
It is described to include the magnetic therapy panel 121 being made of carbon fibre materials including magnetic therapy mechanism 12 and be uniformly mounted on Physiotherapy chair
Magnetite 122 inside 11, carbon fiber are a kind of high intensity, the new fiber materials of high-modulus, nontoxic, are had preferable soft
The lateral surface lateral surface corresponding with Physiotherapy chair 11 of toughness, magnetic therapy panel 121 is concordant, and 121 inner wall of magnetic therapy panel is tightly attached to magnetite
On 122, the present invention ensures that scapulohumeral periarthritis patient is sitting on Physiotherapy chair 11 using the preferable flexibility of carbon fiber and carries out recovering massage
Back and hip position can be tightly attached on magnetic therapy panel 121 simultaneously, then be tightly attached to magnetic therapy by the magnetite 122 being evenly arranged
Magnetic therapy is carried out to scapulohumeral periarthritis patient back and hip position on panel 121, magnetic therapy has the work to scapulohumeral periarthritis patient's relaxing tendons and activating collaterals
With massage comfort level and massage effect being considerably increased, to considerably increase rehabilitation speed.
The lifting regulating mechanism 2 includes the elevation base plate 21 being mounted on above 1 leading flank of mounting plate, in elevation base plate 21
Sliding rail 22 is installed on wall, on sliding rail 22 installation mobile rack 24, mobile tooth are installed on two sliding blocks 23 there are two sliding block 23
Item 24 is meshed with transmission gear 25, and 25 middle part of transmission gear is mounted on by bearing on transmission shaft 26, and the setting of transmission shaft 26 exists
On 1 leading flank of mounting plate, the transmission gear 25 is meshed with driving gear 27, and 27 middle part of driving gear is mounted on driving motor
On 28 output shaft, driving motor 28 is mounted on by motor cabinet on 1 leading flank of mounting plate, described two lifting regulating mechanisms 2
Two 24 upper ends of mobile rack be welded with adjustable plate 4；The present invention drives driving gear 27 to rotate by driving motor 28, actively
Gear 27 is rotated with nutating gear 25 on transmission shaft 26, and transmission gear 25 drives mobile rack 24 in two cunnings of sliding rail 22
Up and down adjustment movement is carried out on block 23, the present invention is by two lifting regulating mechanisms being arranged symmetrically 2 in two pairs of transmission gears 25
Adjustable plate 4 is driven to carry out lift adjustment movement under transmission with mobile rack 24 so that the present invention can be suitably used for different scapulohumeral periarthritis
Patient is sitting on Physiotherapy chair 11 carries out rehabilitation to both shoulders, and the present invention selects two pairs of transmission gears 25 and 24 conduct of mobile rack
Transmission parts, stable drive, transmission effect are good.
The transmission ratio of the driving gear 27 and transmission gear 25 is the step-down ratio more than 1, to reduce correspondence
The elevating movement speed of mobile rack 24, increases transmission stability, further increases transmission effect.
The center of the arc bracket 81 and the central axis of arc limit slot on movement supporting ring 82 overlap, arc branch
Frame 81 ensure that two kinematic axis 83 of 85 both sides of massage roller can be smoothly two with the structure that matches of arc limit slot
It moves in two arc limit slots of a movement supporting ring 82, to ensure that the stability of the movement of massage roller 85, then and ensures
A circle flexible massage pole 88 in massage base carries out comprehensive recovering massage fortune by fabric with massage function 86 to scapulohumeral periarthritis shoulder
Dynamic stability, considerably increases massage effect.
The driving mechanism 84 includes being mounted on the fixed disc 841 in 83 outside of corresponding kinematic axis, is led on fixed disc 841
It crosses motor cabinet and driving motor 842 is installed, driving gear 843 is installed on the output shaft of driving motor 842, drives gear 843
It is connected with the arc gear ring 844 of arc-shaped structure, arc gear ring 844 is mounted on 81 inner wall of arc bracket, passes through driving motor
842 drive driving gear 843 to rotate, and driving gear 843 can back and forth be recycled under the action of driving force in arc gear ring 844
It rolls, to drive, kinematic axis 83 can shuttling movement, the present invention pass through two back and forth in arc limit slot on fixed disc 841
Driving mechanism 84 drives the massage roller 85 between two kinematic axis 83 to synchronize shuttling movement back and forth, and both sides driving force is uniform, drives
Dynamic effect is good, and motion process is stablized.
Two pairs of buffer gears 810, the installation of each buffer gear 810 are symmetrically installed on the inner wall of the arc bracket 81
Position is respectively positioned between corresponding movement supporting ring 82 and corresponding arc gear ring 844, and the installation site of each pair of buffer gear 810 with
The position that corresponding driving mechanism 84 moves to left and right sides lowest point is corresponding；The buffer gear 810 includes being arranged in arc
The lower face of buffering base station 8101 on 81 inner wall of holder, buffering base station 8101 is evenly arranged with buffer spring 8102, buffering elastic
The lower end of spring 8102 is connected with the tip-tilted buffer table 8103 in end, and buffer spring 8102 has the function of good bumper and absorbing shock,
Two pairs of buffer gears 810 play good kicking motion when moving to left and right sides end to two driving mechanisms 84, and are end
Hold the buffer table 8103 for structure of tilting upward that can ensure to buffer driving mechanism 84, good buffer effect prevents two driving mechanisms
84 cannot stop being in the presence of hitting circular arc support plate 81 immediately since movement driving force is excessive with factors such as inertia effects, to
Lead to the recovering massage therapeutic effect for generating vibratory sensation influence scapulohumeral periarthritis patient, and the present invention is provided with two pairs of buffer gears 810,
It solves the problems, such as that two driving mechanisms 84 occur hitting 81 generation vibratory sensation of circular arc support plate using cushion effect, increases massage and relax
Appropriateness, massage effect is good, and rehabilitation effect is good.
When work, two lifting regulating mechanisms 2 first start simultaneously at work, and driving motor 28 drives 27 turns of driving gear
Dynamic, driving gear 27 is rotated with nutating gear 25 on transmission shaft 26, and transmission gear 25 drives mobile rack 24 in sliding rail 22
Two sliding blocks 23 on carry out up and down adjustment movement, the present invention passed by two lifting regulating mechanisms being arranged symmetrically 2 at two Duis
Moving gear 25 drives adjustable plate 4 to carry out lift adjustment movement under the transmission of mobile rack 24, when adjustable plate 4 drives two shoulders
Two lifting regulating mechanisms 2 are stopped when the movement of massage machine 8 is suitble to scapulohumeral periarthritis patient to be seated in height, at this time scapulohumeral periarthritis patient
It sits to Physiotherapy chair 11, being tightly attached to user back and hip position on magnetic therapy panel 121 by the magnetite 122 being evenly arranged carries out
Magnetic therapy, magnetic therapy have the function of that scapulohumeral periarthritis patient's relaxing tendons and activating collaterals, latter two lifting regulating mechanism 2 starts reversely in beginning magnetic therapy
Movement drives two shoulder massage machines 8 to be tightly attached on scapulohumeral periarthritis patient's both shoulders, and at the same time shoulder massage machine 8 starts work
Make, the driving motor 842 in driving mechanism 84 drives driving gear 843 to rotate, and drives energy under the action of driving force of gear 843
Circulating rolling back and forth is carried out in arc gear ring 844, to drive kinematic axis 83 on fixed disc 841 can be in arc limit slot
Shuttling movement is returned, the present invention drives the synchronization of massage roller 85 between two kinematic axis 83 to follow back and forth by two driving mechanisms 84
Ring moves, and passes through massage by bad move back and forth of following of massage roller 84 to drive one in massage base to enclose flexible massage pole 88
Fabric 86 carries out comprehensive recovering massage movement to scapulohumeral periarthritis shoulder, realizes the comprehensive flexible cycle massage of both shoulders and magnetic therapy is relaxed
The rehabilitation function of muscle promoting blood circulation solves existing scapulohumeral periarthritis manual massage therapeutic modality and machine automatization without human intervention
It is complicated for operation existing for rehabilitation mode, massage force is not of uniform size, massage effect is poor, treatment comfort level is low is controlled with rehabilitation
The problems such as speed is slow are treated, purpose has been reached.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the description in above embodiments and description only illustrates the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these change and change
Into all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
It defines.
Claims (5)
1. a kind of orthopedic rehabilitation therapeutic equipment with magnetic therapy blood circulation-promoting functions, it is characterised in that：Including mounting plate (1), the peace
Lifting regulating mechanism (2) and two the linear guides (3) there are two being symmetrically installed above loading board (1) leading flank, two the linear guides
(3) it is located between two lifting regulating mechanisms (2), adjustable plate (4) is installed on two the linear guides (3), the two of adjustable plate (4)
End is symmetrically mounted on two lifting regulating mechanisms (2)；The lower end of the adjustable plate (4) highly adjusts liquid there are two being symmetrically installed
Cylinder pressure (5), the top that two height adjust hydraulic cylinder (5) are equipped with support plate (6) by flange, and the lower end of support plate (6) is logical
Gusset (7) is crossed to be symmetrically installed there are two shoulder massage machine (8)；Physiotherapy chair is installed below the leading flank of the mounting plate (1)
(11), magnetic therapy mechanism (12) there are one being respectively provided with inside the front end face upper interior and middle-end of Physiotherapy chair (11)；
The shoulder massage machine (8) includes being welded on arc bracket (81) on gusset (7), on the inner wall of arc bracket (81)
It is symmetrically installed there are two supporting ring (82) is moved, each moves arc limit slot there are one being respectively provided in the middle part of supporting ring (82), each arc
A kinematic axis (83) is mounted on by sliding matching mode on shape limiting slot, is respectively connected on the outside of every kinematic axis (83)
One driving mechanism (84) is equipped between two kinematic axis (83) on two movements supporting rings (82) and to be made of elastic material
Massage roller (85), two driving mechanisms (84) being connected with two kinematic axis (83) are symmetrically mounted on arc bracket (81) inner wall
On；The lower end of the arc bracket (81) is connected with the fabric with massage function (86) of U-shaped structure, the material selection of fabric with massage function (86)
Elastic Carbon Fiber Materials, flexible skirt (87) that there are one each connections in inner wall both ends of fabric with massage function (86), and flexible skirt (87)
It is arranged symmetrically, annular is close to a circle flexible massage pole (88) on the inner wall of fabric with massage function (86), each flexible massage pole (88)
Upper end is respectively mounted there are one matrix (89), is connected by a limit spring (80) between two matrixs (89) of arbitrary neighborhood,
And be connected respectively with two flexible skirts (87) positioned at fabric with massage function (86) both sides the lowermost matrix (89), the massage roller
(85) lower end is tightly attached on longitudinal corresponding row matrix (89)；
It is described to include the magnetic therapy panel (121) being made of carbon fibre materials including magnetic therapy mechanism (12) and be uniformly mounted on Physiotherapy chair
(11) internal magnetite (122), the lateral surface lateral surface corresponding with Physiotherapy chair (11) of magnetic therapy panel (121) is concordant, and magnetic therapy face
Plate (121) inner wall is tightly attached on magnetite (122)；
The lifting regulating mechanism (2) includes the elevation base plate (21) being mounted on above mounting plate (1) leading flank, elevation base plate
(21) sliding rail (22) is installed on inner wall, on sliding rail (22) installation shifting is installed on two sliding blocks (23) there are two sliding block (23)
Carry-over bar (24), mobile rack (24) are meshed with transmission gear (25), are mounted on and are passed by bearing in the middle part of transmission gear (25)
On moving axis (26), transmission shaft (26) is arranged on mounting plate (1) leading flank, the transmission gear (25) and driving gear (27) phase
Engagement, driving gear (27) middle part are mounted on the output shaft of driving motor (28), and driving motor (28) is installed by motor cabinet
On mounting plate (1) leading flank, two mobile rack (24) upper ends of described two lifting regulating mechanisms (2) are welded with adjustable plate
(4)；
The driving mechanism (84) includes the fixed disc (841) being mounted on the outside of corresponding kinematic axis (83), fixed disc (841)
It is upper that driving motor (842) is equipped with by motor cabinet, driving gear (843) is installed on the output shaft of driving motor (842), is driven
Moving gear (843) is connected with the arc gear ring (844) of arc-shaped structure, and arc gear ring (844) is mounted in arc bracket (81)
On wall.
2. a kind of orthopedic rehabilitation therapeutic equipment with magnetic therapy blood circulation-promoting functions according to claim 1, it is characterised in that：Institute
The transmission ratio for stating driving gear (27) and transmission gear (25) is the step-down ratio more than 1.
3. a kind of orthopedic rehabilitation therapeutic equipment with magnetic therapy blood circulation-promoting functions according to claim 1, it is characterised in that：Institute
The center and the central axis of arc limit slot on movement supporting ring (82) for stating arc bracket (81) overlap.
4. a kind of orthopedic rehabilitation therapeutic equipment with magnetic therapy blood circulation-promoting functions according to claim 1, it is characterised in that：Institute
It states and is symmetrically installed with two pairs of buffer gears (810) on the inner wall of arc bracket (81), the installation site of each buffer gear (810)
It is respectively positioned between corresponding movement supporting ring (82) and corresponding arc gear ring (844), and the installation site of each pair of buffer gear (810) is equal
It is corresponding that the left and right sides position of lowest point is moved to corresponding driving mechanism (84).
5. a kind of orthopedic rehabilitation therapeutic equipment with magnetic therapy blood circulation-promoting functions according to claim 4, it is characterised in that：Institute
It includes the buffering base station (8101) being arranged on arc bracket (81) inner wall to state buffer gear (810), buffering base station (8101)
Lower face is evenly arranged with buffer spring (8102), and the lower end of buffer spring (8102) is connected with the tip-tilted buffer table in end
(8103)。
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710105592.7A CN106726326B (en) | 2017-02-26 | 2017-02-26 | A kind of orthopedic rehabilitation therapeutic equipment with magnetic therapy blood circulation-promoting functions |
| CN201810422382.5A CN108379023B (en) | 2017-02-26 | 2017-02-26 | A kind of medical treatment orthopaedics magnetic therapy promoting blood circulation therapeutic instrument for rehabilitation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710105592.7A CN106726326B (en) | 2017-02-26 | 2017-02-26 | A kind of orthopedic rehabilitation therapeutic equipment with magnetic therapy blood circulation-promoting functions |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810422382.5A Division CN108379023B (en) | 2017-02-26 | 2017-02-26 | A kind of medical treatment orthopaedics magnetic therapy promoting blood circulation therapeutic instrument for rehabilitation |
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| Publication Number | Publication Date |
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| CN106726326A CN106726326A (en) | 2017-05-31 |
| CN106726326B true CN106726326B (en) | 2018-09-21 |
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| CN201710105592.7A Expired - Fee Related CN106726326B (en) | 2017-02-26 | 2017-02-26 | A kind of orthopedic rehabilitation therapeutic equipment with magnetic therapy blood circulation-promoting functions |
| CN201810422382.5A Active CN108379023B (en) | 2017-02-26 | 2017-02-26 | A kind of medical treatment orthopaedics magnetic therapy promoting blood circulation therapeutic instrument for rehabilitation |
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| CN201810422382.5A Active CN108379023B (en) | 2017-02-26 | 2017-02-26 | A kind of medical treatment orthopaedics magnetic therapy promoting blood circulation therapeutic instrument for rehabilitation |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109399545A (en) * | 2018-12-10 | 2019-03-01 | 连云港步升机械有限公司 | A kind of anti-rock oil transfer arm with Residual oil automatic collection function |
| CN110063882B (en) * | 2019-06-04 | 2021-10-01 | 嘉兴问珈锘智能设备科技有限公司 | Massage armchair equipment for massaging driver |
| CN110327183B (en) * | 2019-07-15 | 2021-08-10 | 青岛大学附属医院 | Medical orthopedics rehabilitation equipment |
| CN110464624A (en) * | 2019-09-04 | 2019-11-19 | 中国人民解放军第四军医大学 | A kind of Breast Surgery postoperative rehabilitation auxiliary device |
| CN111481412A (en) * | 2020-04-16 | 2020-08-04 | 冯春凤 | Scraping chair for traditional Chinese medicine rehabilitation physiotherapy department |
| CN113367954B (en) * | 2021-05-11 | 2023-12-05 | 丰都县人民医院 | Upper limb muscle exercise device for neurology department |
| CN113749919B (en) * | 2021-10-18 | 2024-01-23 | 北京中科富邦医疗设备有限公司 | Adjustable cardiovascular and cerebrovascular therapeutic apparatus and use method thereof |
Family Cites Families (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2303617Y (en) * | 1997-03-03 | 1999-01-13 | 曹世民 | Crank massage-chair |
| JP3714012B2 (en) * | 1999-03-30 | 2005-11-09 | 三菱電機株式会社 | Massage machine |
| KR20020089883A (en) * | 2001-05-25 | 2002-11-30 | 주식회사 지인텍 | Massage device |
| JP4449577B2 (en) * | 2004-05-28 | 2010-04-14 | パナソニック電工株式会社 | Massage chair |
| CN101810538B (en) * | 2009-02-24 | 2013-08-21 | 徐克林 | Multifunctional detachable physiotherapy massage device |
| JP5232181B2 (en) * | 2010-02-23 | 2013-07-10 | パナソニック株式会社 | Massage machine |
| US9192503B1 (en) * | 2011-07-05 | 2015-11-24 | Peter W. Peterson | Mechanical massage and traction apparatus |
| US20150272814A1 (en) * | 2014-03-26 | 2015-10-01 | St Life Co., Ltd. | Clamping-Style Neck-Back-Waist-Leg Massager |
| CN103989576B (en) * | 2014-04-22 | 2015-09-16 | 广西大学 | Electromechanical scapulohumeral periarthritis device |
| CN104095733A (en) * | 2014-07-04 | 2014-10-15 | 奥弗锐(福建)电子科技有限公司 | Massage armchair with novel structure |
| CN104606040B (en) * | 2015-02-10 | 2016-12-07 | 东北大学 | A kind of scapulohumeral periarthritis medical auxiliary apparatus |
| DE202015102818U1 (en) * | 2015-06-01 | 2015-08-14 | Gabriele Bennecke | Massage aid for biomechanical muscle stimulation |
| CN105796310B (en) * | 2016-05-22 | 2017-11-10 | 佛山玉玄宫科技股份有限公司 | A kind of medical shoulder massage robot |
-
2017
- 2017-02-26 CN CN201710105592.7A patent/CN106726326B/en not_active Expired - Fee Related
- 2017-02-26 CN CN201810422382.5A patent/CN108379023B/en active Active
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| CN108379023A (en) | 2018-08-10 |
| CN106726326A (en) | 2017-05-31 |
| CN108379023B (en) | 2019-08-30 |
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